控制力矩陀螺(CMG)框架系统的速率控制精度是影响其输出力矩精度的重要因素，系统中谐波减速器提高了框架系统的动态响应能力，但其产生的机械谐振大幅降低了系统的控制精度。为抑制框架系统的谐振并满足系统的控制精度，本文建立了框架系统的动力学模型，根据系统动态性能要求选取合适的阻尼系数来设计系统主导极点，使控制器产生的零点与机械谐振对应的极点重合形成偶极子，从而抑制系统的机械谐振。仿真和实验结果显示：提出的方法有效地抑制了控制力矩陀螺框架系统的谐振，0.175 rad/s恒速控制精度为0.002，0.175 sin(2πt) rad/s正弦随动控制的幅值相对误差为3.28%，相位差为0.13 rad。结果很好地满足了控制力矩陀螺的高精度输出力矩需求。

The control precision of gimbal system for a Control Moment Gyro (CMG) is a main factor affecting the output torque accuracy of the CMG. Generally,a harmonic driver a harmonic driver is adopted to improve the dynamic response ability of the gimbal system, however,the induced mechanical resonance seriously reduces the control precision of the gimbal system. In order to eliminate the resonance and satisfy the control precision of the gimbal system, a kinetic model was set up. A proper damping ratio was chosen to design the dominating poles according to the demands of gimbal system for dynamic performance. The zeroes induced by a controller were calculated to be equal to the poles induced by mechanical resonance, so that the mechanical resonance was eliminated. Simulation and experiment results show that the proposed method eliminates the gimbal resonance of the CMG, and the control precision of 0.175 rad/s is 0.002.When the gimbal system tracks a 0.175 sin(2πt) rad/s sine given velocity, the relative amplitude error is 3.28% and the phase error is 0.13 rad. The control performance satisfies the demands of CMG for high output torque precision very well.