在台灣，國立成功大學之PACE實驗室發展一枚奈米級的2U立方衛星-PACE (Platform for Attitude Control Experiment)。PACE衛星有兩項主要的任務，分別為進行姿態控制之實驗與驗證酬載的功能性以期能做為未來小型衛星的裝備。PACE衛星的姿態控制與判定次系統已發展了三軸穩定控制，然而此控制法則未能完善的控制衛星至參考姿態，一旦更改了模擬環境的參數，衛星便會失去控制。此外，PACE實驗室最近也參與了另一項新的計畫-QB50。在QB50計畫中，PHOENIX衛星也必須執行三軸穩定控制使酬載能面向飛行方向收集所需要的資料。
因此，本篇論文的主要目標是設計並建立一套三軸穩定之控制程序，使其控制體座標配置不相同之PACE與PHOENIX衛星皆能達到各自的任務需求。控制流程分為三個步驟：首先是執行減速控制來降低衛星的角速度；接著藉由旋轉控制來進行大角度的姿態調整，並使體座標之Y軸與軌道座標之Y軸重合；最後由動量偏斜控制將衛星之角動量轉換到動量飛輪上並提供慣性之剛性使衛星不易受到干擾的影響。此兩枚衛星皆配置了三軸磁力棒與Y軸之動量飛輪。在依序執行完三軸穩定控制流程後，可控制兩枚衛星之體座標與軌道座標重合，PACE衛星之長軸指向地球，PHOENIX衛星之長軸則指向飛行方向，且兩者之指向精度皆低於±10度。

PACE (Platform for Attitude Control Experiment) satellite is a 2U CubeSat under the developing of PACE lab at National Cheng Kung University (NCKU) in Taiwan. There are two mission objectives for PACE satellite. One is to conduct attitude control experiments while the other one is to demonstrate the technology used in the future. In the ADCS subsystem of the PACE, the three axis stabilization have already be developed, however, the control law still can’t control the satellite properly. The control law can only perform the control in certain scenario and it will lose the controllability if some parameters are changed.
Besides, PACE lab have participated in another new project, the QB50, recent years. In QB50 project, the PHOENIX satellite also have to perform the three-axis stabilization control such that the science payload can align with the velocity vector and collect the desired data.
So, the main purpose of this thesis is to design and build up the control processing of three-axis stabilization which can achieve both requirements of PACE and PHOENIX satellites in any initial condition even though the configuration of body frame of both satellites are different. The control processing can be separated into three steps: first step is detumbling control that can decrease the angular rate of satellite; second step is the large attitude maneuver by spinning control which can align the body Y axis with the orbit Y axis; third step is the momentum-biased stabilization that can transfer the angular momentum from satellite to the wheel and provide the inertial stiffness against the disturbance. Both satellites have three axes magnetic torqrods and one momentum wheel along Y axis. After the processing of three-axis stabilization control are implemented in sequence, both satellites can be controlled to align with the orbit frame. The long axis of PACE will point to earth while that of PHOENIX will lie in the direction of velocity vector and the pointing errors are all below ±10 degree.

[1] H. Bolandi, and B. G. Vaghei, “Stable Supervisory-Adaptive Controller for Spinning Satellite using Only Magnetorquers,” IEEE Transactions on Aerospace and Electronic Systems, vol. 45, no. 1, pp. 192-208, 2009.
[2] C. Y. Chong, “Design, Implementation and Verification of Microsatellite Attitude Determination and Control Subsystem,” Master Thesis, Department of Aerospace Engineering, NCKU, 2011.
[3] C. L. Dhiren Kataria, Alan Smith, Rahil Chaudery, , and A. A. Peter Coker, Sensors and Science, System Engineering Document, Von Karman Institute for Fluid Dynamics, 2013.
[4] E. I. Ergin, and P. C. Wheeler, Magnetic Attitude Control of a Spinning Satellite, Washington, D. C.: AIAA, 1964.
[5] T. H. Hoang, “Implementation of Attitude Determination and Control System into PACE Nanosatellite,” Master Thesis, Department of Aerospace Engineering, NCKU, 2013.
[6] B. Hyochoong, and C. Hyung Don, “Attitude control of a bias momentum satellite using moment of inertia,” IEEE Transactions on Aerospace and Electronic Systems, vol. 38, no. 1, pp. 243-250, 2002.
[7] V. Lappas, QB50 ADCS + GPS, System Engineering Document, University of Surrey, 2012.
[8] H. S. Ousaloo, and A. Badpa, “Magnetic Attitude Control System for Spin Stabilized Satellite,” in Electrical Engineering (ICEE), 2012 20th Iranian Conference on Tehran, pp. 1029-1034.
[9] C. O. A. R. Reinhard, Mission Objectives of QB50, System Engineering Document, von Karman Institute for Fluid Dynamics, 2013.
[10] A. Scholz, “Implementation of Advanced Attitude Determination and Control Techniques into a Nanosatellite,” Master Thesis, Department of Aerospace Engineering, NCKU, 2008.
[11] A. Scholz., Mission Statement Document, System Engineering Document, PACE lab, 2011.
[12] A. Scholz., Technical Requirements Specification, System Engineering Document, von Karman Institute for Fluid Dynamics, PACE lab, 2012.
[13] M. J. Sidi, Spacecraft Dynamics and Control : a Practical Engineering Approach, Cambridge ; New York: Cambridge University Press, 1997.
[14] F. Singarayar, Overall QB50 Requirements, System Engineering Document, von Karman Institute for Fluid Dynamics, 2013.
[15] A. Sofyali, and E. M. Jafarov, “Three-axis Attitude Control of a Small Satellite by Magnetic PD-like Controller Integrated with Passive Pitch Bias Momentum Method,” in Recent Advances in Space Technologies (RAST), 2011 5th International Conference on Istanbul, pp. 307-311.
[16] Y. M. Suen, “Design and Simulation of a Picosatellite Attitude Control Subsystem,” Department of Electrical Engineering, NCKU, 2003.
[17] J. Thoemel. “QB50,” 2013; https://www.qb50.eu/.
[18] Y. P. Tsai, “Development of Modular and Flexible Nano Satellite Flight Software,” Master Thesis, Department of Electrical Engineering, NCKU, 2013.
[19] B. Y. Tseng, “Thermal Analysis and Environmental Test of PACE Satellite,” Master Thesis, Department of Aerospace Engineering, NCKU, 2013.
[20] J. Vannitsen, QB50/PHOENIX PDR, System Engineering Document, PACE lab, 2013.
[21] K. N. Wang, “Design and Validation of Micro Satellite Attitude Determination and Control Subsystem,” Master Thesis, Department of Electrical Engineering, NCKU, 2009.
[22] J. R. Wertz, Spacecraft Attitude Determination and Control, Dordrecht ; Boston: Kluwer Academic Pub., 1978.
[23] S. H. Wu, “Design and Implementation of a Picosat Attitude Control Subsystem,” Master Thesis, Department of Electrical Engineering, NCKU, 2006.
[24] X. Z. Yang, “Development and Verification of the Microsatellite Attitude Control Subsystem Based on Processor-in-the-Loop Method,” Master Thesis, Department of Electrical Engineering, NCKU, 2010.
[25] 莊智清、黃國興, 電子導航, 全華科技圖書股份有限公司, 2003.