反應輪係從事衛星姿態控制之關鍵組件，而永磁同步馬達因具多項優點而逐漸被用為其致動器。本論文開發一個以數位訊號處理器為主之永磁同步馬達驅動衛星反應輪系統，其直流鏈電壓可依馬達轉速及太陽能電池電壓而調整，以在寬廣速度範圍下具良好之驅控性能。首先，由估測之關鍵參數建立永磁同步馬達驅動衛星反應輪系統之動態模式，並據以發展新式電流控制脈寬調制機構。傳統比例積分控制輔以內模式共振控制及強健誤差消除控制，以在弦波反電動勢影響下具精準之暫態及穩態弦波電流追蹤特性，且其追蹤性能不受系統操作條件及參數改變之影響。接著從事永磁同步馬達驅動衛星反應輪之強健扭力控制，以獲得估測扭力之快速控制響應。
在速度控制方面，首先於選定之工作條件下，根據所估測之動態模式及定義響應軌跡之參考模式，量化設計回授控制器。當操作條件改變時，再以強健速度誤差消除控制維持所定義之響應軌跡。對於大速度命令變動，安排一具適當斜率之斜坡命令，避免長時間之控制力飽和。同時，利用馬達驅動系統之正規反動態模式萃取觀測之擾動信號，並用以估測反應輪之摩擦狀況。
最後，為從變動之直流電源電壓建立可調整及穩定之直流鏈電壓，開發一升壓型及一升降壓型之直流至直流前端轉換器，並比較評估其對後接永磁同步馬達驅動衛星反應輪於廣速度範圍效能之增進。此外，設計建構一切換控制動態煞車電路以獲得穩定之煞車操控特性。

Reaction wheel is a key component in performing satellite attitude control, and permanent magnet synchronous motor (PMSM) has been gradually employed as its actuator owing to many advantages. This dissertation presents the development of a digital signal processor (DSP)-based PMSM driven satellite reaction wheel, its DC-link voltage is adjustable in accordance with wheel speed and varied photovoltaic cell voltage to yield good driving performance under wide speed range. First, the dynamical model of the PMSM driven reaction wheel is established with the key parameters being estimated. Accordingly, the novel current controlled PWM scheme is developed. The conventional proportional plus integral (PI) control is augmented with internal model resonant control (IMRC) and robust error cancellation controller to yield precise transient and steady-state sinusoidal current tracking characteristics under sinusoidal speed-dependent back electromotive force (EMF). And the tracking control performance is insensitive to system operating condition and parameter changes. Then the robust torque control of the PMSM driven reaction wheel is performed to yield quick observed torque control response.
As to the speed control loop, a feedback controller is first quantitatively designed at nominal case according to the estimated dynamic plant model and the defined reference response. As the changes of system operating conditions are occurred, a simple robust speed error cancellation control scheme is developed to preserve the defined response trajectory. For larger speed command change, the ramp command with suited ramping rate is arranged to avoid long duration control effort saturation. Meanwhile, an observed disturbance is obtained using the nominal inverse motor drive model, and it is employed to estimate the wheel frictional condition.
Finally, to provide adjustable and well-regulated DC-link voltage from the fluctuated photovoltaic DC source voltage, a DC-DC boost and a DC-DC buck-boost front-end converters are established and comparatively evaluated their effectiveness in enhancing the followed PMSM driven wheel performances under wide speed range. In addition, the chopping dynamic braking mechanism is also equipped to yield stable braking operation.

A. Satellite Attitude Control and Reaction Wheel
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