给出了该零运动微分动力学下具有冗余度的单框架控制力矩陀螺系统奇异状态的性质，并改进了奇异可脱离性的判别方法。
The character of SGCMG system in the form of zero motion differential dynamic equation is given. The criterion of singularity escapable from reference 4 is improved.
首先分析总结了线性离散变系数奇异系统可解性及其广义状态解的一般概念。
First, the general notion of solvability and generalized state solutions for linear discrete coefficient_vary singular systems are analyzed.
同时利用带位的奇异积分方程理论得到了这一问题可解的主要条件及指数计算公式。
By the singular integral equation theory we obtain the resolvable sufficient and necessary condition and the formula of counting index for the problem.
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