在太空運行的載具，例如衛星、登月器或太空船，在執行任務時需頻繁調整自身姿態，以適應不同的運行需求。這些載具的天線、降落架或主推進引擎通常安裝於固定位置，即使設計為可動式，其活動範圍也多受限於小角度。因此，必須配備一個專門的次系統負責姿態控制，以確保載具在軌道運行或著陸過程中能夠精確指向目標或穩定姿態。姿態控制的致動器依據輸出力矩形式可分為兩類：(1) 連續輸出的線性致動器，如動量輪和磁力矩器，其輸出力矩較小，主要用於消除穩態誤差並維持精細的姿態控制；(2) 僅能開關的非線性致動器，代表為反應控制系統（RCS），通過推進器產生較大力矩，適用於大角度的快速姿態機動。然而，RCS因推進器的固有延遲、數位控制器的離散特性以及開關式致動器的運作模式，在控制過程中不可避免地會進入極限環振盪，影響控制精度。為此，實際應用中，載具通常同時配備線性與非線性致動器，以結合兩者優勢：線性致動器提供穩態精確調整，非線性致動器實現快速、大幅度的姿態變換。
本研究聚焦於採用比例-微分（PID）控制器結合脈寬脈頻調變器（PWPFM）作為姿態控制演算法，驗證過氧化氫單基推進器在太空載具姿態控制系統中的應用可行性。研究設計並製造了過氧化氫推進器，通過實驗評估其推力與動態響應，並利用實驗數據（如最小脈寬與推力水平）調校控制參數。隨後進行三軸姿態控制實驗，結果顯示系統可在約6秒內將姿態穩定至參考值，與數值模擬結果大致相符。然而，實驗中發現最小脈寬在實驗中短於預期，顯示理論模型與實際應用之間存在差異。本研究證實過氧化氫推進器在姿態控制系統中的潛力，但未來需進一步探究動態特性並優化控制演算法，以提升系統性能。

This thesis explores the feasibility of utilizing hydrogen peroxide monopropellant thrusters as actuators in spacecraft attitude control systems (ACS). A hydrogen peroxide monopropellant thruster was designed and its real-world performance evaluated through experiments. The control algorithm integrates a Proportional-Derivative (PD) controller with a Pulse Width Pulse Frequency Modulator (PWPFM), with parameters tuned using experimental data from the thruster, including minimum pulse length and thrust level. Subsequently, a three-dimensional attitude control experiment was conducted, demonstrating that the system can stabilize the attitude to a reference point within approximately 5 seconds. While these results closely align with simulations, several issues warrant further discussion and investigation. Notably, in the initial experiment, the z-axis exhibited an overshoot of about 20°, potentially due to a cold start of the thruster affecting its dynamic response. Additionally, the minimum pulse length observed in experiments was shorter than anticipated, suggesting discrepancies between theoretical models and hardware behavior, possibly influenced by thruster dynamics、environment noise or control tuning. These findings validate the potential of hydrogen peroxide thrusters for ACS applications, providing a foundation for future refinements in thruster design and control strategies to mitigate overshoot and optimize pulse width performance.

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