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Three-axis air-bearing test bed is important semiphysical simulation equipment for spacecraft, which can simulate spacecraft attitude control, rendezvous, and docking with high confidence. When the three-axis air-bearing table is maneuvering at a large angle, if it is only controlled by the flywheel, it will cause the problems of slow maneuvering speed and high energy consumption, and when the external interference torque becomes large, the control accuracy will decline. A combined actuator including flywheel, air-conditioner thruster, and automatic balancing device is designed, and a hierarchical saturation PD control algorithm is proposed to improve the control accuracy and anti-interference ability of the three-axis air-bearing test bed. Finally, the mathematical simulation of the proposed control algorithm is carried out, and the physical verification is carried out on the three-axis air-bearing test bed. The results show that the control algorithm has higher control accuracy than the traditional control algorithm, and the control accuracy is better than 0.1 ∘ and basically meets the attitude control requirements of the ground simulation in-orbit satellite.

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