2-SPEED, a single-gimbal control moment gyro attitude control system

In 2-SPEED (Two Scissored Pair Ensemble, Explicit Distribution) four single-gimbal control moment gyros (SGCMGs) configured into two scissored pairs are combined with an explicit distribution of angular momentum between pairs to produce a system relatively insensitive to the singularity problems which have plagued other SGCMG concepts. In this system, the singularity surfaces in momentum space degenerate to discrete curves. Further, the system permits a smooth passage through these remaining singularities with, at worst, a temporary delay while momentum redistribution takes place. Finally, CMG-out operation is possible within the full volume of the reduced momentum envelope.