本篇論文描述微衛星PACE之姿態判定與控制系統的實現。PACE衛星是國立成功大學開發的2U立方衛星，重量小於兩公斤，體積為100 mm x 100 mm x 227 mm。PACE衛星有兩個主要的任務，分別為進行姿態控制的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。姿態判定與控制次系統的目標為題提供主動控制，例如減速控制、姿態判定以及姿態穩定。更重要的是PACE衛星的任務操作允許使用者上傳ADCS演算法，如此一來演算法便可在太空中被驗證。為了要驗證嵌入式ADCS飛行軟體，發展了程序迴路模擬(Processor-in-the-loop)平台，此模擬由許多模型構成，像是太空環境、軌道動態、姿態動態、感測器與制動器模型…等、這些模型都在Labview軟體裡模擬。及時控制器CompactRIO用來做為模擬器，執行Labview軟體模擬各個模型並提供即時的介面與ADCS模組連接。而所有的演算法與ADCS模組也都已實現並驗證。

The thesis describes the implementation of an active attitude determination and control system (ADCS) for the PACE nanosatellite. PACE satellite is a 2U cubesat under developed at National Cheng Kung University (NCKU) with a mass less than 2 kg and dimension of 100 mm x 100 mm x 227 mm. Two main missions of PACE satellite are to conduct attitude control experiments and to demonstrate the technology to be used in future missions for small satellite. The ADCS sub-system aims to provide functions for active attitude control such as detumbling, determination and stabilization. More importantly, the operation of the PACE mission will allow users to upload ADCS algorithms so that the algorithm can be tested and verified in space. In order to fully verify the embedded ADCS software, a verification system and a Processor-in-the-loop (PIL) simulation are developed. The simulation models consisting of space environment, orbit dynamic, attitude dynamic, and sensor/actuator are modeled using Labview software. A CompactRIO real-time controller is adopted as a simulator to execute simulation models into Labview and also to provide real-time interface with ADCS board. For the results, algorithms and functions for ADCS software are both implemented and verified. The results are met the requirements for ADCS.

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