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研究生： 吳世驊
Wu, Shi-Hua
論文名稱： 皮米級衛星姿態控制次系統之設計與實現
Design and Implementation of a Picosat Attitude Control Subsystem
指導教授： 莊智清
Juang, Jyh-Ching
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 電機工程學系
Department of Electrical Engineering
論文出版年： 2006
畢業學年度： 94
語文別： 中文
論文頁數： 108
中文關鍵詞： 硬體測試迴路 、姿態控制 、皮米級衛星
外文關鍵詞： HWIL, ADCS, PicoSat
相關次數： 點閱：121  下載：13 
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    • 在台灣，成功大學的學生和技術人員組成了團隊正致力於研發並自製一枚具備三軸穩定的皮米級衛星―PACE（Platform for Attitude Control Experiment）。PACE是學術界首枚實現三軸穩定功能之皮米級衛星，其軌道高度暫定為650公里，傾斜角98度之太陽同步軌道，三軸穩定在5度以內的地球指向精度。本論文說明PACE之系統設計與發展並強調姿態控制次系統之設計與實現。當衛星脫離發射載具後，使用磁力計、磁力線圈、太陽感測器搭配磁場微分控制法則穩定衛星旋轉角速度，再者搭配陀螺儀、動量飛輪，以動量偏斜控制系統達到三軸姿態穩定。於衛星本體之Y軸上安裝一個國內自製之動量飛輪，控制衛星俯仰角度，以增加X、Z軸的指向性，另外搭配Y軸上之磁力線圈，消除章動與進動的現象，並對動量飛輪作動量卸除的功能。此外，除了模擬與分析之方式調整控制器參數，更於地面建立一套即時硬體測試迴路系統，利用原型控制器快速製作之功能模擬太空環境與衛星動態，經由衛星姿態控制之電腦執行控制律之運算，控制衛星致動器之輸出，以增加模擬之精確度。

    In Taiwan, a three-axis stabilizing CubeSat, PACE (Platform for Attitude Control Experiment), is developed and manufactured by the students and staff at NCKU. PACE is unique in the sense that it is one of the first CubeSats to employ three-axis stabilization technique. The PACE requirement is to achieve 5 degree earth pointing accuracy at 650 km altitude, 98 degree inclination of sun-synchronous orbit. The thesis presents the system design and analysis of the PACE with emphasis on the design and implementation of the attitude control and determination subsystem (ADCS). After PACE is departed from the launcher, ADCS is required to stabilize the angular rate with the B-dot control law by using a three-axis magnetometer, magnetic coils, and sun sensors. Afterward, three-axis stabilization is achieved through a momentum-biased control with the use of gyro and momentum wheel. A domestically manufactured momentum wheel mounted on Y axis of body coordinate is employed to control the pitch angle and stabilize the roll/yaw dynamics. In addition, three orthogonal magnetic coils are used to eliminate nutation and precession phenomena, and prevent the momentum wheel from saturation. To assess the effectiveness of the ADCS design, a real time hardware in the loop (HWIL) system is set up to facilitate control parameter tuning and fight software development. It can enhance the simulation accuracy by using the rapid prototyping method to simulate the space environment and satellite’s movement and control the output of actuators.

    誌謝.......................................iii 目錄.......................................iv 圖目錄.....................................vii 表目錄.....................................ix 符號表.....................................x 第一章 序論.........................................1 1.1 研究動機與方法.........................1 1.2 文獻回顧...............................2 1.3 論文架構...............................3 第二章 PACE衛星系統介紹....................4 2.1 軌道分析與模擬.........................4 2.2 姿態控制次系統.........................5 2.3 通訊次系統與衛星地面站.................6 2.4 命令與資料處理次系統...................8 2.5 電力次系統.............................11 2.6 結構次系統.............................14 2.7 熱控次系統.............................19 2.8 實驗酬載次系統..............................................20 2.9 小結........................................................21 第三章 數學法則回顧................................................22 3.1 定義座標系統................................................22 3.1.1 地球慣性座標系統............................................22 3.1.2 地球固定座標系統............................................22 3.1.3 軌道座標系統................................................23 3.1.4 體座標系統..................................................24 3.2 座標系統換算法..............................................25 3.2.1 尤拉角之座標轉換矩陣........................................25 3.2.2 地球慣性座標與地球固定座標之座標轉換矩陣....................27 3.2.3 地球慣性座標與軌道座標之座標換算法..........................27 3.2.4 地球慣性座標與體座標之座標換算法............................28 3.2.5 軌道座標與體座標之座標換算法................................29 3.3 刻卜勒方程式演算法..........................................30 3.4 地球磁場演算法..............................................32 3.5 太空中之干擾力矩演算法......................................35 3.5.1 重力梯度力矩................................................36 3.5.2 空氣動力力矩................................................36 3.5.3 磁干擾力矩..................................................36 3.6 太陽位置演算法..............................................37 3.7 太陽感測器姿態判別法........................................38 第四章 PACE衛星姿態控制理論........................................41 4.1 動態與運動方程式............................................41 4.2 姿態控制法則................................................44 4.2.1 磁力矩控制法則..............................................44 4.2.2 磁場微分控制法則............................................44 4.2.3 動量飛輪控制法則............................................45 4.2.4 動量卸除控制法則............................................46 4.2.5 指向控制法則................................................47 4.3 模擬結果與分析..............................................47 4.3.1 太空環境與外部干擾力矩模擬..................................51 4.3.2 待命模式之模擬與分析........................................53 4.3.3 三軸模式之模擬與分析........................................55 第五章 即時模擬系統................................................59 5.1 即時模擬系統之介紹..........................................59 5.2 即時硬體迴路測試系統之硬體架構..............................60 5.2.1 數位信號處理控制卡..........................................60 5.2.2 ADCS微處理器................................................62 5.2.3 ADCS之感測器與致動器........................................62 5.3 即時硬體迴路測試系統之軟體架構..............................63 5.3.1 MATLAB之即時編譯軟體........................................64 5.3.2 ControlDesk整合型操作介面...................................67 5.4 即時模擬結果與分析..........................................68 5.4.1 待命模式之即時模擬與分析....................................68 5.4.2 三軸模式之即時模擬與分析....................................69 第六章 結論與未來工作..............................................71 6.1 結論........................................................71 6.2 未來工作....................................................72 參考文獻.............................................................73 附錄A ADCS硬體介紹..................................................77 A.1 三軸磁力計.......................................................77 A.2 陀螺儀...........................................................79 A.3 磁力線圈.........................................................81 A.4 動量飛輪.........................................................83 A.5 ADCS微處理器.....................................................86 A.6 ADCS印刷電路板...................................................89 附錄B ADCS微處理器軟體實現..........................................93 B.1 目的與功能描述...................................................93 B.2 資料型態.........................................................93 B.2.1 下傳資料型態...................................................93 B.2.2 上傳資料型態...................................................97 B.2.3 其餘資料型態...................................................99 B.2.4 全域變數.......................................................101 B.3 函數功能描述.....................................................105

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