最佳控制法則在均質進氣壓燃引擎之應用研究｜國立臺灣科技大學博碩士論文系統

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研究生：	陳建霖 Jian-Ling Chen
論文名稱：	最佳控制法則在均質進氣壓燃引擎之應用研究 Application of Optimal Control on Homogeneous Charge Compression Ignition (HCCI) Engines
指導教授：	姜嘉瑞 Chia-Jui Chiang
口試委員:	陳亮光 Liang-kuang Chen 蘇裕軒 Yu-Hsuan Su
學位類別：	碩士 Master
系所名稱：	工程學院 - 機械工程系 Department of Mechanical Engineering
論文出版年：	2009
畢業學年度：	97
語文別：	中文
論文頁數：	86
中文關鍵詞：	線性二階調節器、模型預測控制、卡爾曼濾波器
外文關鍵詞：	LQR
相關次數：	點閱：203 下載：12
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本篇文章中，利用線性控制中線性二階調節器LQR(Linear Quadratic Regulator)以及模型預測控制MPC(Model Predictive Control)的技術設計控制器來控制均質進氣壓燃(Homogeneous Charge Compression Ignition, HCCI)引擎。控制目標是在給定一個燃油的步階變化以及定值的引擎轉速下能夠藉由調整再回吸揚程RBL(Rebreathing Valve Lift)以及廢氣再循環閥EGR(Exhaust gas recirculation)的開度來控制燃油燃燒時間點以及空氣燃油比AFR(Air Fuel Ratio)。為了進行以模型為基礎之控制器設計，一個單缸HCCI引擎之高階模型將先被線性化，而線性化的模型將以線性控制為基礎進行線性二階調節器LQR(Linear Quadratic Regulator)以及模型預測控制MPC(Model Predictive Control)控制器的設計。並且主要分成四種控制器的情形去討論:LQR、MPC、LQR加上積分器、MPC加上積分器。另外，由於實際情形下，均質進氣壓燃(HCCI)引擎系統中存在難以量測的狀態變數，故此我們也設計了估測器來估測這些狀態。

In this thesis, a linear controller for homogeneous charge compression ignition (HCCI) engines is developed based on LQR(linear quadratic regulator) and MPC(model predictive control) control techniques. The control goal is to maintain the combustion of 50% fuel burned and AFR(Air Fuel Ratio) by modulating RBL(Rebreathing Valve Lift) and EGR(Exhaust gas recirculation)during fuel step changes. In order to design a linear controller, a single-cylinder high order HCCI engine is first linearized. The linearized model is used to design LQR and MPC controller. There are four simulation results discussed: LQR、MPC、LQR plus integrator、MPC plus integrator. Furthermore, there exist some stats that are not easily measured in a HCCI engine, so a observer is then designed to estimate these stats.

目錄
摘要 ............................................................................................................................Ⅱ
Abstract .......................................................................................................................Ⅲ
致謝 ............................................................................................................................Ⅳ
目錄 ............................................................................................................................Ⅴ
圖目錄  ......................................................................................................................Ⅶ
表目錄..........................................................................................................................Ⅸ
第一章	緒論 ..............................................................................................................1
    1.1	背景介紹........................................................................................................1
   1.2	文獻探討........................................................................................................3
      1.2.1 HCCI文獻回顧.......................................................................................3
       1.2.2 Model Predictive Control (模型預測控制)文獻回顧 ..........................4
    1.3	論文架構 ......................................................................................................6
第二章	模型組成........................................................................................................7
    2.1	進氣歧管填充之動態行為 ..........................................................................9
    2.2	進氣歧管關閉時( IVC )汽缸內的狀態.........................................................9
    2.3	燃燒模型 .....................................................................................................10
    2.4	引擎模型每一循環之延遲效應..................................................................14
    2.5	排氣歧管動態行為模型 ............................................................................ 15
    2.6	高階模型討論 ............................................................................................18
第三章	控制器建立..................................................................................................20
3.1 線性化分析..................................................................................................20
    3.2	線性二階調節器(LQR)控制器  ...............................................................23
3.3	模型預測控制(MPC)控制器 .....................................................................24
        3.3.1引言.....................................................................................................24
    3.3.2模型預測控制(MPC)的基本架構與原理..........................................24
3.4 估測器設計...................................................................................................30
    3.5	加入積分器的控制......................................................................................30
        3.5.1 加入積分器後擴張的狀態空間表示式 ..........................................30
        3.5.2 加入積分器後的LQR與MPC ........................................................31
    3.6	參數的選取..................................................................................................32
        3.6.1 可觀性分析 .....................................................................................32
        3.6.2卡爾曼濾波器(Kalman filter)、LQR以及MPC的參數選取 ..........34
第四章	模擬結果 ....................................................................................................37
    4.1	估測器模擬結果 ........................................................................................37
    4.2	控制器對線性模型之控制結果 ................................................................39
        4.2.1 LQR模擬結果  ...............................................................................39
    4.2.2 MPC模擬結果....................................................................................42
4.3	加入積分器後控制器對線性模型之控制結果..........................................47
    4.3.1 LQR模擬結果 ..................................................................................47
    4.3.2 MPC模擬結果 .................................................................................51
    4.4	控制器對非線性模型之控制結果  ..........................................................56
        4.4.1有估測器之LQR與MPC比較結果 ...............................................56
 4.4.2有估測器加積分器之LQR與加入限制條件的MPC比較結果 ....58
4.4.3輸出有量測雜訊時加入估測器與積分器之LQR與MPC的比較結   果 .....................................................................................................60

第五章	結論與未來展望 .........................................................................................63
5.1	結論 .............................................................................................................63
5.2	未來展望 .....................................................................................................64
附錄......................................................................................................................65
  參考文獻 .................................................................................................................70

                                

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