本論文根據皮米衛星所設計的任務目標，即軌道高度600公里，傾角98度，三軸穩定控制且具備5度以內的地球指向精度的需求，姿態控制次系統選用三軸磁力主動控制結合動量偏斜姿態穩定的架構。在衛星脫離火箭搜尋階段，採用穩健的B-dot控制法則，搭配磁力計、磁力線圈等硬體，以有效的降低初始角速度。任務操作階段中的控制，則設計在衛星Y軸配置一動量飛輪來控制衛星俯仰的角度，以及提供X、Z軸穩定，再配合三軸的磁力線圈作指向控制及移除動量飛輪多餘的角動量，以達成三軸穩定及指向精度。姿態控制次系統設計的內容包含建立地球磁場、軌道運動、衛星動態、及環境干擾模型，選擇適當控制法則與控制器參數進行模擬。姿態判定方面使用磁力計、陀螺儀及太陽感測器，搭配擴張卡爾曼濾波理論，以完成姿態估測演算法的設計。最後為了驗證整個控制系統的可行性及飛行軟體的正確性，使用xPC Target工具建立一套即時動態模擬系統，配合姿態控制處理器進行硬體迴路測試。本文並包含幾個不同條件之案例，模擬結果顯示所設計之姿態控制次系統，能滿足任務需求。

　　In this thesis, according to a pico-satellite design specification of 600 Km altitude, 98 degree inclination, 3-axis stabilization, and the requirement of 5 degree earth pointing accuracy, the attitude control subsystem is considered based on the method of 3-axis magnetic active control combined with momentum-biased stabilization. In the initial acquisition mode, de-tumbling is accomplished by using three orthogonal magnetic coils with robust B-dot control law. In the normal mode, a momentum wheel is used with its spin axis aligned along the satellite Y axis to control pitch motion and provide roll/yaw stabilization. Together, the magnetic coils are used to perform pointing control and momentum dumping to prevent the momentum wheel from saturation. For attitude determination, measurement sensors used include a 3-axis magnetometer, a gyroscope, and a coarse sun sensor. The Extend Kalman Filter is selected as the estimation algorithm. To test the correctness and to evaluate the reliability of the designed attitude control flight software, a simulation platform using the xPC toolbox with an attitude control 8051 micro-processor is established to perform real-time hardware-in-the-loop experiment. Several cases with different environmental conditions were tested and the simulation results are included which indicate that the control and determination algorithm is able to satisfy the attitude control requirement.

目 錄

中文摘要..............................................................i
英文摘要..............................................................ii
目錄..................................................................iii
圖目錄................................................................vi
表目錄................................................................x

第一章 緒論
1.1 研究動機.....................................................1
1.2 研究方法.....................................................2
1.3 文獻回顧.....................................................3
1.4 論文架構.....................................................3
第二章 座標系統與軌道
2.1 座標系統之定義...............................................5
2.1.1 地球固定座標.................................................5
2.1.2 地球慣性座標.................................................6
2.1.3 軌道座標.....................................................6
2.1.4 體座標.......................................................7
2.1.5 座標轉換.....................................................8
2.2 衛星軌道計算.................................................8
2.2.1 軌道六元素...................................................8
2.2.2 克卜勒方程式.................................................9
2.2.3 太陽同步軌道................................................12
第三章 PACE衛星之姿態控制
3.1 姿態控制次系統..............................................14
3.2 環境干擾力矩................................................15
3.2.1 重力梯度力矩................................................16
3.2.2 空氣動力矩..................................................17
3.2.3 磁性干擾力矩................................................18
3.3 動態方程式與運動式..........................................22
3.4 姿態控制法則................................................26
3.4.1 磁力矩控制..................................................26
3.4.2 搜尋模式控制法則則..........................................26
3.4.3 動量飛輪控制法則............................................28
3.4.4 動量卸除控制法則............................................30
3.4.5 指向控制法則................................................31
第四章 姿態判定設計
4.1 姿態估測方法介紹............................................33
4.2 擴張卡爾曼濾波理論..........................................34
4.3 姿態估測演算法的設計........................................39
4.4 姿態估測演算法的測試與討論..................................43
第五章 程式模擬與結果分析
5.1 系統參數估測................................................50
5.1.1 衛星質心與慣量估測..........................................50
5.1.2 控制器參數估測..............................................51
5.2 程式模擬流程................................................53
5.3 模擬結果與討論..............................................54
第六章 硬體迴路測試
6.1 MATLAB/Simulink xPC Target介紹.............................73
6.2 姿態控制處理器.............................................75
6.3 實驗設備...................................................77
6.4 測試結果與討論.............................................83
第七章 結論與未來展望
7.1 結論.......................................................88
7.2 未來展望...................................................89
參考文獻.............................................................90
附錄A 姿態判定與控制次系統硬體規格..............................93

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