In the engineering implementation of gyrowheel, the influence of orthogonal support non-coplanar is inevitable. However, when the gyrowheel is used for satellite inertial angular velocity measurement, this non-ideal factor will inevitably have an adverse impact on the accuracy of angular velocity measurement. Therefore, the dynamic model of gyrowheel with non-coplanar orthogonal support is established, and the influence of the non-coplanarity support on the vibration frequency is analysed. Finally, the correctness of this research is verified by simulation.

Gyrowheel is a new electromechanical servo device which can realize the integration of spacecraft attitude control and attitude measurement. Due to the existence of machining and assembly errors, there must be a deviation between the rotor centroid of the gyrowheel and the support center, that is, the centroid offset. Firstly, to solve this problem, the dynamic modeling of rotor center of mass offset is carried out from the perspective of vector mechanics by using D'Alembert principle. Secondly, the established dynamic model is simplified, and the influence of rotor center of mass offset on the micro vibration of gyrowheel is analyzed. Finally, the correctness of this method is verified by simulation.