本論文主要研究目的在於發展一冷流氣體之控制系統，其推進系統是以氣瓶與電磁閥加上噴嘴組成，為了確認推進系統之特性，在本論文中使用應變規架設一推力測試平台量測推力。系統先以Euler-Lagrange方法建立動態數學模型，因電磁閥只有開關之特性，依此特性設計Bang-Bang控制器，接著利用MATLAB/Simulink軟體進行模擬評估控制器。在實作上，本系統使用德州儀器公司(Texas Instruments, TI)所生產的數位訊號處理器TMS320F2812做為控制核心並使用姿態感測器作為回授以實現系統之姿態控制的目的。由實驗與模擬結果驗證了控制演算法的可行性，完成冷流姿態控制系統之研發。

The objective of the thesis is to develop a cold-gas-based attitude control system. The thruster consists of a gas tank and two solenoid valves with nozzles. In this thesis, the Euler-Lagrange method is used to derive the dynamic model of the system. The strain gauge is used to measure the thrust from the nozzle. Because of use of the on-off solenoid valve, a bang-bang controller is designed to control the valve. Then, MATLAB/Simulink software is used to simulate the control system. In the experiment, the control law is implemented through a digital signal processor (TMS320F2812) and the attitude sensor is used to provide the feedback signals. The effectiveness of the control system is verified through simulation and experimental studies. The experimental results show that the cold-gas-based attitude control system performs well.

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