Abstract: In this paper, aiming at a new type of inertial actuator, magnetically suspended control moment gyro (MSCMG), based on the pyramid configuration, the ground closed loop test research for satellite platform agile maneuvering control is carried out to verify its attitude control performance. Firstly, the ground test system for satellite platform control based on the MSCMG is built, and the dynamics and kinematics models are established. Secondly, the attitude control algorithm is designed based on the variable parameter sliding mode control to solve the external disturbance suppression and the large angle agile maneuvering control problems. Thirdly, the robust pseudo inverse method is used to allocate the angular velocity of the MSCMG group gimbal, and the gimbal angular velocity and angular acceleration are limited according to the characteristics of MSCMG. Finally, the closed loop control test research is carried out. The results show that it can achieve the attitude stability better than 5×10-4 (°)/s in the attitude stability control experiment, and when the maneuver ability index of 30 °/15 s is achieved, the MSCMG gimbal angular velocity can track the command well, and the magnetic suspended rotor still maintains stable levitation when outputting the large torque, which has strong robustness. This paper verifies the excellent performance of MSCMG as the attitude control actuator by ground closed loop tests, and lays the foundation for its further application research in the future.

Key words: Three axis air bearing table, Magnetically suspended control moment gyro, Pyramid configuration, Agile maneuver, Test system