本論文旨在應對衛星反應輪馬達之轉子位置霍爾感測器訊號受到環境干擾而故障時，能夠即時切換角度估測模式，避免故障之轉子位置訊號影響馬達驅動，進而影響衛星之姿態控制。霍爾故障類型主要可分為三種：(1)霍爾向量變化順序錯誤；(2)零向量故障；(3)霍爾超前/落後故障，而傳統之霍爾故障偵測法僅針對訊號本身進行分析，因此不易即時發現故障，造成暫態電流突波、轉矩下降等問題，且多數文獻僅假設單次事件僅單一霍爾故障，無法因應環境干擾而同時雙霍爾失效的情形。
本文將霍爾感測器訊號結合向量追蹤觀測器作為主要角位置估測，並將該結果視為判斷感測器故障之參考，因此能夠更及時發現故障，其造成之最大估測誤差僅20°。觀測器估測模式主要應對健康狀態、單顆及雙顆霍爾故障情形；而全數霍爾故障時，將以無感測器控制法介入，達成任何霍爾故障訊號皆不影響反應輪馬達之運作。

This thesis aims to address the issue of the hall rotor position sensor signals of satellite reaction wheel motors being affected by environmental interference. It proposes an immediate switching mechanism for angle estimation modes when such faults occur, thereby preventing the faulty rotor position signals from impacting the motor drive and subsequently affecting the satellite's attitude control. The main types of hall sensor faults can be categorized into three: (1) hall vector sequence errors, (2) zero vector faults, and (3) Hall sensor lead/lag faults. Conventional hall fault detection methods only analyze the signals themselves, making it difficult to detect faults promptly, which can lead to issues like transient current spikes and torque drops. Additionally, most studies assume that only a single hall fault occurs at a time, failing to account for scenarios where dual hall failures happen simultaneously due to environmental interference.
In this thesis, the hall sensor signals are combined with a vector tracking observer as the primary method for angle position estimation, with the results being used as a reference for sensor fault detection. This approach enables more timely fault detection, with a maximum estimation error of only 20°. The observer estimation mode mainly handles scenarios of healthy states, single, and dual hall faults; in cases of total hall sensor failure, a sensorless control method is implemented to ensure that no hall fault signal affects the operation of the reaction wheel motor.

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