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系統識別號 U0026-1708202015375500
論文名稱(中文) 具量測不確定性下之冷卻扇系統數學建模、參數鑑別與控制器設計
論文名稱(英文) Modelling, Identification and Controller Design for a Cooling Fan System Subject to Measurement Uncertainty
校院名稱 成功大學
系所名稱(中) 航空太空工程學系
系所名稱(英) Department of Aeronautics & Astronautics
學年度 108
學期 2
出版年 109
研究生(中文) 蘇宸儀
研究生(英文) Cheng-Yi Su
學號 P46074317
學位類別 碩士
語文別 中文
論文頁數 74頁
口試委員 指導教授-彭兆仲
口試委員-陳介力
口試委員-姚賀騰
口試委員-陳智強
口試委員-莊偉立
中文關鍵字 冷卻扇  建模與鑑別  回授控制  轉速即時預測  線上監診 
英文關鍵字 Cooling Fan  Modelling and Identification  Feedback Control  Real-time Speed Prediction  Online Monitoring and Diagnosis 
學科別分類
中文摘要 本研究提出對於冷卻扇系統一套完整的系統建模、鑑別與控制流程,並且透過預測轉速建立容許誤差範圍,達到即時監控冷卻扇狀態的目的。首先,基於空氣動力學與牛頓力學建立系統之數學模型,同時為了掌握系統特性,參數鑑別有其必要性。據此,先將動態模型以雙線性轉換映射到離散時域,再利用常見的最小平方法進行資料擬合,以取得一組最佳參數,然而,此最佳解可能受雜訊的影響造成擬合失真,此時可藉由最小差距濾波器(Minimum Difference Filter,MDF)獲得改善。除此之外,本研究對於參數鑑別有更進一步之改良,首先根據最小平方法之最佳解,再以萊文貝格-馬夸特方法的迭代技巧,可找到另一組最佳參數達到最小擬合誤差,並且對系統的描述更加完備。而有了這此組最佳參數,本研究即可進行冷卻扇之轉速預測與控制。轉速動態監控方面是基於模型預測,並建立轉速的容許誤差範圍,針對進氣口遭遮蔽的障誤或是驅動電路老化異常的狀況下進行診斷,且以LED燈號即時發出警示,讓使用者提早採取應變措施。另一方面,轉速控制則是採用非線性PI控制器,由於系統內部存在不確定性,且本身受外部擾動及雜訊的影響,藉由選擇適當的切換增益可達到抑制,同時增加控制器的強健性,以達到期望轉速。最後,本研究以模擬確立此套流程的正確性,再藉由實驗驗證其可行性,達到對冷卻扇系統即時監控的完整性。
英文摘要 This research proposes a full procedure of modelling, system identification, control for a cooling fan system. First of all, a physical model is established based on the aerodynamics. Secondly, to carry out the parameter identification, discretize the model by the bilinear transform. With the aid of the minimum difference filter(MDF), the noise effect to the least square regressors can be reduced. Though the least square solution provides an optimal set of parameters, there exists difference between the real and the fitting data. Therefore, seek the iteration of the Levenberg–Marquardt algorithm and the system identification will be improved. With an optimal set of parameters, the speed prediction and fault diagnosis can be realized. By setting an upper and lower bound for the predicted speed, it is convenient to monitor the status of a cooling fan system. In this paper, the covered inlet is assumed to be a fault and can be diagnosed by the abnormal speed. Furthermore, with the nonlinear PI type controller, it is possible for the fan to reach a desired speed subject to the model uncertainty and disturbance. Last but not least, simulation and experiment are performed to verify the feasibility and applicability of the proposed approach.
論文目次 摘要 i
Extended Abstract ii
誌謝 xv
目錄 xvi
表目錄 xviii
圖目錄 xix
第1章 緒論 1
1.1. 研究動機與目的 1
1.2. 文獻回顧 1
1.3. 論文架構 3
第2章 冷卻扇動態系統 5
2.1. 空氣動力學緒論 5
2.2. 冷卻扇之動態模型推導與分析 8
2.3. 模擬結果 8
第3章 系統參數鑑別方法 10
3.1. 冷卻扇系統離散化 10
3.2. 最小差距濾波器之應用 11
3.3. 最小平方法 14
3.4. 萊文貝格-馬夸特方法 19
第4章 控制器設計 24
4.1. 控制系統描述 24
4.2. 傳統PI控制器設計分析 25
4.3. 非線性PI控制器設計分析 28
第5章 冷卻扇轉速控制之實驗驗證 31
5.1. 實驗平台建置 31
5.1.1. 冷卻扇模組 31
5.1.2. 實驗流程圖 34
5.2. 實驗結果與討論 37
5.2.1. 參數鑑別實驗結果 37
5.2.2. 轉速預測實驗結果 42
5.2.3. 傳統與非線性PI控制器之轉速控制實驗結果 45
5.2.4. 非線性PI控制器之轉速控制改善 56
第6章 結論與未來研究方向 60
6.1. 結論 60
6.2. 未來研究方向 60
A 附錄 62
A.1 實驗影片二維碼 62
A.2 關於系統不確定性之推導 62
A.2.1 傳統PI控制器 63
A.2.2 非線性PI控制器 67
參考文獻 72
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