本論文旨在研究控制力矩陀螺致動器，此致動器擁有較小的體積卻可產生較大之轉矩，為了瞭解控制力矩陀螺致動器之動態及產生之力矩，本論文架設一倒單擺系統，將控制力矩陀螺做為倒單擺平衡控制的致動器。系統先以Euler-Lagrange方法建立控制力矩陀螺致動倒單擺動態數學模型，接著使用物理建模軟體MapleSim建構系統模型，此軟體可以將所建構出的系統模型轉換出數學動態模型用以驗證所推導出的數學動態方程式之正確性，並將所設計出LQR平衡控制器加入MapleSim所建構之系統模型進行模擬評估控制系統的可行性。在實作上，本系統使用德州儀器公司(Texas Instrument, TI)所生產的數位訊號處理器TMS320F2812做為控制核心並使用C語言撰寫控制器程式以實現整個控制系統，經模擬及實作顯示控制力矩陀螺可使倒單擺平衡且能承受較大的擾動。

　　The objective of the thesis is to study the actuator of control moment gyros. This actuator has a compact size and can generate large torque. In order to understand the dynamics of the control moment gyro actuator, this thesis consider the problem of controlling an inverted pendulum actuated by the control moment gyros. In this thesis, the Euler-Lagrange method is used to derive the dynamic model of the system. The balance controller design is based on the LQR control theory. MapleSim is used to design and simulate the control system. In the experiment, the control law is implemented through a digital signal processor (TMS320F2812) and the optical encoders are used to provide feedback signals. The effectiveness of the control system is verified through simulation and experimental studies. The experimental results show that the system performs well.

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