Abstract
In contrast to past studies that treat each configuration of Single Gimbal Control Moment Gyros (SGCMGs) individually, this paper introduces a unified coordinate frame such that two SGCMGs in arbitrary configuration can be transformed into a unified description. Using this description, the angle between two fixed gimbal axes becomes the unique parameter to determine the shape of the momentum envelope and various singular surface, which offers the convenience for singularity analysis and configuration optimization. For different angles of two gimbal axes, we investigate its corresponding singularity and provide a thorough analysis. Consequently, this angle is optimized from the viewpoint of maximizing the momentum envelope. This work may lay foundation for the application of two SGCMGs in satellite attitude control.
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