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Double-gimbal magnetically suspended CMG is a novel attitude control actuator for the agile maneuver spacecraft. Taking the double-gimbal magnetically suspended control moment gyro used on agile maneuver spacecraft as the research object, the dynamic model of the magnetically suspended rotor, the inner gimbal, and the outer gimbal of double-gimbal magnetically suspended control moment gyro is built. The nonlinear coupling characteristic between the rotor, the gimbal, and the spacecraft is given. It can be seen that the motion of magnetically suspended rotor does not only rely on magnetic bearing force but also suffer from the influence of gimbal servo system and spacecraft motion. The coupling torque includes the gyro coupling torque and the inertial coupling torque. The work in this paper provides the foundation for further studies

The Coupling Characteristic Investigation of Double-Gimbal Magnetically Suspended Control Moment Gyro Used on Agile Maneuver Spacecraft