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针对双框架变速率控制力矩陀螺(DGVSCMG)两种工作模式下内、外框架系统存在的不匹配干扰抑制问题,提出一种基于扩张状态观测器与状态反馈的扰动抑制方法.在对飞轮工作模式和陀螺工作模式下内、外框架系统的干扰进行建模和分析的基础上,针对其不匹配干扰设计了扩张状态观测器,通过坐标变换减小框架系统扰动对不匹配通道的影响,并结合状态反馈控制设计了复合控制器,同时对全局系统稳定性进行了分析.对框架系统进行的仿真结果验证了所提复合控制方法的有效性.实验结果表明,所提出的控制方法能有效减小耦合力矩对内外框架角速率带来的影响,在飞轮模式下使得内外框架的角速率跳动量分别降低了85％和78％,且在陀螺模式下使外框架角速率跳动量降低了75％.“,”To handle the mismatched disturbance affecting the accuracy of double-gimbal system angular speed control in both working conditions of the Double Gimbal Variable Speed Control Moment Gyroscope (DGVSCMG),a composite controller combining Extended State Observer (ESO) and state feedback control are proposed.Based on modeling and analyzing the mismatched disturbances of the gimbal system in both flywheel mode and CMG mode,a novel ESO method for estimating mismatched disturbances is designed,and a composite controller combining state feedback control is proposed with an appropriately chosen coordinate transformation to decrease the mismatched disturbance impact on the gimbal system.The stability of the overall system is also analyzed.The simulation results validate the effectiveness of the proposed control method.The experimental results show that the proposed controller can effectively reduce the influence of coupling moment on the inner and outer gimbal angular rates.The angular rate fluctuations of the inner and outer gimbals are reduced by 85 ％ and 78％ respectively in the flywheel mode,and the angular rate fluctuation of the outer gimbal decreases by 75％ in the CMG mode.