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系統識別號 U0026-0708201317154200
論文名稱(中文) 奈米衛星之三軸穩定控制流程之探討
論文名稱(英文) Investigation of the Processing of Three-axis Stabilization Control for Nano Satellites
校院名稱 成功大學
系所名稱(中) 電機工程學系碩博士班
系所名稱(英) Department of Electrical Engineering
學年度 101
學期 2
出版年 102
研究生(中文) 黃俊豪
研究生(英文) Jyun-Hau Huang
學號 n26001149
學位類別 碩士
語文別 英文
論文頁數 91頁
口試委員 指導教授-莊智清
口試委員-苗君易
口試委員-壽鶴年
口試委員-余國瑞
口試委員-許佳興
中文關鍵字 奈米衛星  三軸穩定控制  姿態控制 
英文關鍵字 PACE  PHOENIX  momentum-biased stabilization  three-axis stabilization  spinning control  attitude control  attitude maneuver  Nanosatellite 
學科別分類
中文摘要 在台灣,國立成功大學之PACE實驗室發展一枚奈米級的2U立方衛星-PACE (Platform for Attitude Control Experiment)。PACE衛星有兩項主要的任務,分別為進行姿態控制之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。PACE衛星的姿態控制與判定次系統已發展了三軸穩定控制,然而此控制法則未能完善的控制衛星至參考姿態,一旦更改了模擬環境的參數,衛星便會失去控制。此外,PACE實驗室最近也參與了另一項新的計畫-QB50。在QB50計畫中,PHOENIX衛星也必須執行三軸穩定控制使酬載能面向飛行方向收集所需要的資料。
因此,本篇論文的主要目標是設計並建立一套三軸穩定之控制程序,使其控制體座標配置不相同之PACE與PHOENIX衛星皆能達到各自的任務需求。控制流程分為三個步驟:首先是執行減速控制來降低衛星的角速度;接著藉由旋轉控制來進行大角度的姿態調整,並使體座標之Y軸與軌道座標之Y軸重合;最後由動量偏斜控制將衛星之角動量轉換到動量飛輪上並提供慣性之剛性使衛星不易受到干擾的影響。此兩枚衛星皆配置了三軸磁力棒與Y軸之動量飛輪。在依序執行完三軸穩定控制流程後,可控制兩枚衛星之體座標與軌道座標重合,PACE衛星之長軸指向地球,PHOENIX衛星之長軸則指向飛行方向,且兩者之指向精度皆低於±10度。
英文摘要 PACE (Platform for Attitude Control Experiment) satellite is a 2U CubeSat under the developing of PACE lab at National Cheng Kung University (NCKU) in Taiwan. There are two mission objectives for PACE satellite. One is to conduct attitude control experiments while the other one is to demonstrate the technology used in the future. In the ADCS subsystem of the PACE, the three axis stabilization have already be developed, however, the control law still can’t control the satellite properly. The control law can only perform the control in certain scenario and it will lose the controllability if some parameters are changed.
Besides, PACE lab have participated in another new project, the QB50, recent years. In QB50 project, the PHOENIX satellite also have to perform the three-axis stabilization control such that the science payload can align with the velocity vector and collect the desired data.
So, the main purpose of this thesis is to design and build up the control processing of three-axis stabilization which can achieve both requirements of PACE and PHOENIX satellites in any initial condition even though the configuration of body frame of both satellites are different. The control processing can be separated into three steps: first step is detumbling control that can decrease the angular rate of satellite; second step is the large attitude maneuver by spinning control which can align the body Y axis with the orbit Y axis; third step is the momentum-biased stabilization that can transfer the angular momentum from satellite to the wheel and provide the inertial stiffness against the disturbance. Both satellites have three axes magnetic torqrods and one momentum wheel along Y axis. After the processing of three-axis stabilization control are implemented in sequence, both satellites can be controlled to align with the orbit frame. The long axis of PACE will point to earth while that of PHOENIX will lie in the direction of velocity vector and the pointing errors are all below ±10 degree.
論文目次 摘要 I
Abstract II
Acknowledgement IV
Contents V
List of Tables VII
List of Figures VIII
1. Introduction 1
1.1. Background 1
1.2. PACE Nanosatellite 2
1.2.1. Mission Objectives 2
1.2.2. Satellite Bus 3
1.2.3. ADCS Requirements and Hardware 4
1.3. PHOENIX Nanosatellite 6
1.3.1. Mission Objectives 8
1.3.2. Satellite Bus and System Requirements 9
1.3.3. ADCS Requirements and Hardware 14
2. Satellite & Environment Model 18
2.1. Attitude Definitions 18
2.1.1. Euler Angles 18
2.1.2. Angular Velocity Vector of a Rotating Frame 20
2.1.3. Quaternion 20
2.2. Coordinate Systems 21
2.3. Coordinate Frame Transformation 26
2.4. Keplerian Orbit 29
2.4.1. Orbit Elements 30
2.4.2. Julian Date 31
2.4.3. Position and Velocity of the Satellite 32
2.5. Space Environment Model 33
2.5.1. Magnetic Field Model (IGRF Model) 34
2.5.2. Sun Position Model 37
2.5.3. Disturbance Model 39
3. Attitude Control for PACE & PHOENIX 43
3.1. Equation of Motions 43
3.1.1. Dynamic Equations 43
3.1.2. Linearized Attitude Dynamic Equations of Motion 45
3.1.3. Kinematic Equations 46
3.2. Process of Three-axis Stabilization Control 47
3.2.1. Detumbling 47
3.2.1.1. B dot Control Law 48
3.2.2. Attitude Maneuver by Spinning Stabilization 49
3.2.2.1. Y-axis Rate Control Law 50
3.2.3. Three-axis Stabilization by Momentum-Biased Control 53
3.2.3.1. Pitch Control Law 53
3.2.3.2. Dumping Control Law 54
3.2.4. Transition between Process States of Three-axis Stabilization 56
3.3. Verification Platform of ADCS 61
4. Simulation Result 64
4.1. Simulation Results of PACE 68
4.2. Simulation Results of PHOENIX 76
4.3. Simulation Results of Previous Work 84
5. Conclusions 87
5.1. Discussion of Results 87
5.2. Future Work 87
Reference 89
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