主動式姿態控制技術至今甚少被實現於奈米級或皮米級衛星。一般而言，被動式穩定控制技術之最大優點為其結構單純且易於使用。然而，為了提昇奈米級衛星之能力，以面對未來更複雜的任務，進階姿態控制技術之發展與測試是必要的。

此論文主要目的在為PACE任務發展一穩定的姿態控制法則，以於此二 公斤的太空載具實現姿態控制實驗。PACE為國內第一顆自製、由國立成功大學研發的奈米級衛星。本論文將呈現動量偏移穩定與純磁力控制的控制法則、模擬與實現。PACE計畫相當獨特的即是使用單一動量飛輪做為奈米級衛星姿態控制元件，而此方法也從未在此論文發表前實現過。同時為了即時估計衛星姿態，本篇論文亦發展並模擬了擴展型卡爾曼濾波器。

這些模擬展示了姿態判定過程的效能，並顯示在有擾動的情況下動量飛輪相較於被動式磁力矩控制所擁有的優勢。所有本論文發表的姿態控制模組具有新式、可得性高與微型化的特點，也使PACE衛星成為一個發展姿態控制實驗的理想平台。

The implementation of active attitude control techniques is still barely exploited for nano- and picosatellites. Commonly, pure passive stabilization, if at all, is preferred due to its simplicity. But in order to enhance the capabilities of nanosatellites in the perspective of ever challenging mission objectives, advanced attitude control strategies need to be developed and tested.

The primary purpose of this thesis is to develop a consistent attitude control strategy for the PACE mission, in order to carry out attitude control experiments on this 2 kg space-craft. PACE is the first indigenous nanosatellite developed at the National Cheng Kung Uni-versity (NCKU) in Taiwan. Control laws for pure magnetic actuation as well as for momen-tum-biased stabilization are presented, implemented and simulated. The use of a single mo-mentum wheel for attitude control of a nanosatellite is unique to the PACE mission and has not been carried out prior to this thesis. For the on-board estimation of the satellite’s attitude, an Extended Kalman Filter has been developed and simulated.

The simulations access the performance of the attitude determination process and demonstrate the superiority of the momentum-biased stabilization over the pure magnetic stabilization in the presence of the disturbance forces. All the presented attitude modes take advantage of novel and/or commercially available, highly miniaturized devices that make the PACE nanosatellite truly an ideal platform for attitude control experiments.

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