小型空調MIMO時延系統之控制與實作

Abstract

空調系統（HVAC）在我們的日常生活中佔著不可取代的位置。一個基本的空調系統有著多輸入多輸出（MIMO）的屬性，而如何有效的控制風熱系統扮演著節能減碳的重要影響。再來，現實系統中時間延遲效應隨處可見。造成時間延遲的因素因於系統讀取感測器的訊號和控制器傳送訊號給驅動器所需的時間並不是即時，乃至對於系統控制有不良的影響。現實的控制系統還需考量系統的不確定性與外部干擾，而如何有效的控制一個多輸入多輸出、含有時間延遲、系統不確定性與外部干擾等之系統將會是本論文的主旨。 本論文主旨在於利用實驗室所開發之控制理論，實踐於一個小型空調MIMO時延系統，使其能夠追踪訊號，並且在含有系統不確定性或外部干擾的情況下有效的抑制干擾與穩定此系統。本論文使用的控制架構乃修正史密斯預測器架構（Modified Smith Predictor）且加入雙互質分解合成的Vidyasagar’s架構。此小型空調系統使用風扇與加熱器來代表真實空調系統中的散熱與加熱功能。

Heating, ventilation and air-conditioning (HVAC) system is unreplaceable in our life. With the rise of energy cost and the need for a better energy efficiency, the development and implementation of a better and more efficient control system is of primary importance. In the aspect of control, HVAC is a multi-input multi-output (MIMO) system, and control techniques of a MIMO system has always been one of the main research interest in control engineering field. To increase the complexity of the subject, dead time, a time delay phenomenon generally caused by processing time of sensor, persist in the system. Additionally, uncertainties and external disturbances are unpreventable in reality. The objective of our study is to improve the tracking performance of the HVAC system with the presence of dead times, to attenuate surrounding disturbances, and to enhance the robustness to model uncertainties. The research begins with the construction of an experimental HVAC system which has a loosely coupled MIMO property with multiple dead times. The HVAC system is consists of a fan and heater. While only a portion of an overall HVAC system, it is representative of an air-conditioning and heating system, and the system exhibits the control objectives of this thesis. A control structure that is based on modified Smith Predictor and Vidyasagar’s observer-controller compensator is implemented on the HVAC system to verify the performance of the controller.