本論文係研究如何高精度地控制工具水冷卻機的出水溫度，因為出水溫會受到持續變化的熱負載影響，所以利用壓縮機出口的熱氣旁通調變冷凍循環系統蒸發器內冷媒蒸發溫度，藉以控制工具水冷卻機的出水溫度。
文中一開始以熱傳學理論推導建立出水溫系統模型，再以最小平方法估測其系統參數以符合實驗數據，最後利用直接合成法，設計含有Anti-windup回授補償的PID控制器來控制工具水冷卻機的出水溫度。除了PID控制，文中另一重點在設計直流增益規劃補償，用以線性化受控廠非線性的直流增益，及設計熱負載估測器來抑制動態改變的熱負載。文末附上表現較佳的實驗結果來說明控制器控制情形。

This thesis aims at controlling the temperature of an industrial water-cooling machine to a high precision even under constantly changing thermal load. The cooling water temperature at the outlet of the cooling machine is regulated by adjusting the evaporator temperature by changing the amount of gas being bypassed from the compressor to the evaporator. First, the temperature model of the hot-gas-bypass cooling machine is derived by Heat Transfer theory. Second, the least squares method is utilized to estimate the model parameters by the fitting of experimental data. Finally, a PID controller with Anti-windup feedback is designed using the direct synthesis method. Besides PID control, special emphasis is put on the design of a gain scheduling compensator for linearizing the plant model and a feedforward compensator for rejection of dynamically changing thermal load. The experimental result shows the superior performance of the proposed controller.

論文審定書i
致謝ii
摘要iii
Abstractiv
目錄v
圖目錄viii
表目錄xi
第一章 緒論1
1.1 研究動機與目的1
1.2 文獻回顧與介紹2
1.2.1熱氣旁通法相關文獻回顧2
1.2.2 工具水冷卻機運作介紹2
1.2.3 熱氣旁通法介紹5
1.3 論文貢獻與架構7
第二章 水冷卻機出水溫溫控系統模型建立8
2.1 建立旁通閥步數對應蒸發器穩態溫度的函數8
2.2 建立蒸發器溫度動態模型13
2.3 建立冷卻水出水溫動態模型15
2.3.1 熱傳理論推導15
2.3.2 熱導比校正18
2.4 理論模型與實際冷卻水出水溫震盪溫度曲線的比較21
第三章 控制器設計26......
3.1 建立控制力轉換函數26
3.2 直接合成法設計PID控制器29
3.3 熱負載影響消除33
3.3.1 熱負載模擬方法29
3.3.2 熱負載估測器設計30
3.4 前饋設計37
3.5 控制力飽和補償設計38
3.6 離散化模型39
第四章 Matlab模擬結果41
4.1 無載改變設定溫的出水溫及控制力曲線變化模擬41
4.2 加熱負載後的出水溫及控制力曲線變化模擬43
4.2.1 步階加熱負載及步階卸熱負載的出水溫及控制力曲線變化模擬43
4.2.2 一次加卸足熱負載的出水溫及控制力曲線變化模擬45
4.3 熱負載過載的出水溫及控制力曲線變化模擬46
4.3.1 控制器含Anti-windup的出水溫及控制力曲線變化模擬46
4.3.2 控制器不含Anti-windup的出水溫及控制力曲線變化模擬47
第五章 機台實驗結果49
5.1 控制器的PID參數選取49
5.2 無載改變設定溫的出水溫及控制力曲線實驗結果50
5.3 加熱負載後的出水溫及控制力曲線實驗結果52
5.3.1 步階加載及步階卸載的出水溫及控制力曲線實驗結果52
5.3.2 一次加卸足熱負載的出水溫及控制力曲線實驗結果53
5.4 熱負載過載的出水溫及控制力曲線實驗結果54
5.4.1 控制器含Anti-windup的出水溫及控制力曲線實驗結果54
5.4.2 控制器不含Anti-windup的出水溫及控制力曲線實驗結果56
5.5 改善無載出水溫升溫實驗的過衝現象58
5.5.1熱力學觀點解釋過衝原因60
5.5.2 作Anti-windup區間修正60
5.5.3 無載升降溫實驗比較61
5.5.4 熱負載步階加卸載實驗比較62
5.5.5一次加足加卸熱負載實驗比較63
5.5.6熱負載過載實驗比較(皆含Anti-Windup功能)64
第六章 結論與未來展望65
6.1 結論65
6.2 未來展望66
參考文獻68
Appendix .A 量測媒介介紹71
Appendix .B 本論文的估測系統參數方法75

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