CN112065758A - Server fan control method and system - Google Patents
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
- F04D27/004—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids by varying driving speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D29/00—Details, component parts, or accessories
- F04D29/66—Combating cavitation, whirls, noise, vibration or the like; Balancing
- F04D29/661—Combating cavitation, whirls, noise, vibration or the like; Balancing especially adapted for elastic fluid pumps
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Abstract
The application discloses a server fan control method and a system, wherein the method comprises the following steps: determining a linear model of the direct current motor by using a motor transfer function, determining a first comprehensive model of the direct current motor according to the linear model and a nonlinear model, converting the first comprehensive model into a fourth comprehensive model according to a tracking error, and determining an acceleration function of the motion of the direct current motor according to the fourth comprehensive model; integrating the acceleration function to obtain a rotating speed function of the server fan; and integrating the rotating speed function of the server fan to obtain a position function of the server fan. The system comprises: the device comprises a linear model determining module, a nonlinear model calculating module, a first comprehensive model determining module, a converting module, an acceleration function determining module, a rotating speed function determining module and a position function determining module. Through the method and the device, the rotating speed and the position tracking timeliness of the server fan can be effectively improved, the control accuracy is improved, and the heat dissipation efficiency of the server fan is further improved.
Description
Technical Field
The present disclosure relates to the field of server cooling technologies, and in particular, to a server fan control method and system.
Background
With the development of server technology, the operation rate, the operation time and the data throughput of the server are improved, the hardware structure of the server is more and more complex, and accordingly, the heat dissipation capacity of the whole server is larger. How to use a server fan to dissipate heat of a server so as to ensure the stability of operation of each component is an important technical problem.
The current server fan control scheme generally refers to controlling the fan speed. Specifically, a BMC (Baseboard Management Controller) is used to directly output a PWM (Pulse Width Modulation) wave to the motor, the motor controls the fan speed of the server, and the BMC controls the speed by changing the duty ratio of the PWM wave.
However, in the current server fan control scheme, because PWM control has hysteresis, BMC is not timely enough to track the fan speed, so that the heat dissipation of the server fan is not timely enough. In addition, the current server fan control scheme only controls the rotating speed of the fan, and cannot control the position of the fan, so that the control accuracy is not high enough.
Disclosure of Invention
The application provides a server fan control method and system, and aims to solve the problems that in the prior art, the rotating speed of a server fan is poor in tracking timeliness and not high in control accuracy.
In order to solve the technical problem, the embodiment of the application discloses the following technical scheme:
a server fan control method, the method comprising:
using motor transfer function
A linear model of the dc motor in the server fan is determined, wherein,
is the acceleration of the motion of the dc motor,
as the fan speed, x is the position at which the fan stops at 0, M, D, Fm、FloadRespectively representing inertia, viscosity, generated force and load force in mechanical parameters; u, Ia, Ra and La respectively represent input linear voltage, armature current and armatureResistance and armature inductance; kf represents a motor function conversion parameter; ke is the back-emf motor constant;
using formulas
Calculating a non-linear model of the DC motor, wherein FrippleAs wave power, FfrictionIs a non-linear electromagnetic force;
according to the linear model and the nonlinear model, determining a first comprehensive model of the direct current motor as follows:
converting the first comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form according to the tracking error:
wherein,
x1、x2and x3Is a system state variable, and
x2＝e，
determining the acceleration function of the motion of the direct current motor according to the fourth comprehensive model
Performing primary integration on the acceleration function to obtain a rotating speed function of the server fan through calculation
And performing primary integration on the rotating speed function of the server fan to calculate a position function x (t) of the server fan.
Optionally, the converting the first comprehensive model into a fourth comprehensive model of the dc motor in an equivalent state space form according to the tracking error includes:
definition of
Converting the first comprehensive model into a second comprehensive model of the direct current motor:
wherein,
is a non-linear function assuming smoothing;
defining tracking error e ═ xd-x, determining a third integral model of the dc motor from said second integral model:
wherein x isdThe actual position of the fan when the rotating speed of the fan is 0, and x is the target position of the fan when the rotating speed of the fan is 0;
defining a system state variable x ═ x1,x2,x3]TAnd converting the third comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form.
Optionally, the input line voltage is subjected to feedforward control, feedback control, and RBF (Radial Basis Function) adapter control.
Optionally, the feedback control is PID control of full state feedback.
Optionally, the method for performing feedforward control, feedback control and nonlinear RBF adapter control on the input linear voltage specifically includes:
using the formula u ═ uFF+uRBF+uPIDCalculating an input linear voltage, wherein the control voltage is fed forward
Feedback control voltage uPID＝Kx＝kx1+kd1x2+kd2x3The nonlinear RBF function is:
alternatively, the nonlinear electromagnetic force FfrictionThe calculation formula of (2) is as follows:
wherein, FsDenotes static friction force, FcThe minimum value of the coulomb friction is represented,
and FvAre lubrication and load parameters, and are empirical parameters.
A server fan control system, the system comprising:
a linear model determination module for utilizing the motor transfer function
A linear model of the dc motor in the server fan is determined, wherein,
is the acceleration of the motion of the dc motor,
as the fan speed, x is the position at which the fan stops at 0, M, D, Fm、FloadRespectively representing inertia, viscosity, generated force and load force in mechanical parameters; u, Ia, Ra and La respectively represent input linear voltage, armature current, armature resistance and armature inductance; kf represents a motor function conversion parameter; ke is the back-emf motor constant;
a nonlinear model calculation module for using the formula
Calculating a non-linear model of the DC motor, wherein FrippleAs wave power, FfrictionIs a non-linear electromagnetic force;
the first comprehensive model determining module is used for determining a first comprehensive model of the direct current motor as follows according to the linear model and the nonlinear model:
the conversion module is used for converting the first comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form according to the tracking error:
wherein,
x1、x2and x3Is a system state variable, and
x2＝e，
an acceleration function determination module for determining the acceleration function of the DC motor motion according to the fourth comprehensive model
A rotation speed function determining module for performing primary integration on the acceleration function to calculate a rotation speed function of the server fan
And the position function determining module is used for performing primary integration on the rotating speed function of the server fan to calculate a position function x (t) of the server fan.
Optionally, the conversion module comprises:
a second comprehensive model determination unit for defining
Converting the first comprehensive model into a second comprehensive model of the direct current motor:
wherein,
is a non-linear function assuming smoothing;
a third integrated model determining unit for defining a tracking error e ═ xd-x, determining a third integral model of the dc motor from said second integral model:
wherein x isdThe actual position of the fan when the rotating speed of the fan is 0, and x is the target position of the fan when the rotating speed of the fan is 0;
a fourth integrated model determination unit for defining a system state variable x ═ x1,x2,x3]TAnd converting the third comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form.
Optionally, the system further includes: and the control module is used for performing feedforward control, feedback control and RBF adapter control on the input linear voltage to determine the input linear voltage.
Optionally, the control module comprises:
a feedforward control unit for utilizing the formula
Calculating to obtain feedforward control voltage;
a feedback control unit for using the formula uPID＝Kx＝kx1+kd1x2+kd2x3Calculating to obtain a feedback control voltage;
a non-linear RBF adapter control unit for utilizing a formula
And calculating to obtain the nonlinear RBF voltage.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
the application provides a server fan control method, which firstly utilizes a motor transfer function to determine a linear model of a direct current motor in a server fan, then calculating a non-linear model of the DC motor, determining a first comprehensive model of the DC motor according to the two models, the first comprehensive model is converted into a fourth comprehensive model, and finally the acceleration function of the motion of the direct current motor is determined according to the fourth comprehensive model, the rotating speed function of the server fan can be calculated by integrating the acceleration function, the rotating speed function is integrated, the position function of the server fan can be calculated, so that the actual rotating speed and the actual position of the server fan can be controlled more accurately according to the set rotating speed and the set stop position of the fan, the tracking timeliness of the rotating speed and the position is good, the control accuracy is high, and the improvement of the heat dissipation efficiency of the server fan is facilitated. The control method in the embodiment comprises the step of controlling the stop position of the server fan, so that the noise generated by continuous vibration after the rotating speed of the fan is reduced to 0 can be avoided, the noise can be effectively reduced, and the user experience is improved.
The comprehensive model established in the embodiment can take the linear model of the direct current motor into consideration, can also take the nonlinear models such as wave power, nonlinear electromagnetic force and the like into consideration, integrates more factors to realize the control of the rotating speed of the server fan, and is beneficial to further improving the timeliness of the rotating speed and the position tracking of the server fan, thereby improving the accuracy of the control and the heat dissipation efficiency of the server fan. The control method of the embodiment further comprises the steps of performing feedforward control, feedback control and RBF adapter control on the input linear voltage, so that the linear model and the nonlinear model of the direct current motor are further corrected, the rotating speed and the position tracking timeliness of the server fan are further improved, the control accuracy is improved, and the heat dissipation efficiency of the server fan is improved.
The present application further provides a server fan control system, which mainly includes: the device comprises a linear model determining module, a nonlinear model calculating module, a first comprehensive model determining module, a converting module, an acceleration function determining module, a rotating speed function determining module and a position function determining module. The method comprises the steps of adding a linear model determining module and a nonlinear model calculating module to obtain a first comprehensive model determining module, then converting the first comprehensive model into a fourth comprehensive model by using a converting module, finally determining an acceleration function of a direct current motor in a server fan by using an acceleration function determining module according to the fourth comprehensive model, and then obtaining the rotating speed and the position of the fan by using a rotating speed function determining module and a position function determining module respectively, so that the rotating speed and the position of the server fan are accurately controlled.
In this embodiment, the linear model determining module and the nonlinear model calculating module are arranged, so that linear factors and nonlinear factors of the dc motor in the high-speed motion condition can be comprehensively considered, and the accuracy of controlling the rotating speed and the position of the server fan can be improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart illustrating a server fan control method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a linear model of a DC motor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a comprehensive model of a DC motor according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a composite control algorithm for a DC motor according to an embodiment of the present application;
FIG. 5 is a schematic diagram of simulation system speed input;
FIG. 6 is a schematic diagram illustrating fan speed simulation output after the control method in the embodiment of the present application is adopted;
FIG. 7 is a graphical illustration of the speed response of the no control algorithm;
FIG. 8 is a schematic diagram of simulation system position input;
FIG. 9 is a schematic diagram of position simulation output after the control method in the embodiment of the present application is adopted;
FIG. 10 is a schematic of the position response of the non-controlled algorithm;
fig. 11 is a schematic structural diagram of a server fan control system according to an embodiment of the present disclosure.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For a better understanding of the present application, embodiments of the present application are explained in detail below with reference to the accompanying drawings.
Example one
The control of the server fan in the embodiment comprises speed control and position control, wherein the speed control refers to the control of the operation of the server fan when more heat is generated by the server; the position control is the position control when the server fan stops rotating and generates little or no heat.
Referring to fig. 1, fig. 1 is a schematic flowchart of a server fan control method according to an embodiment of the present disclosure. As shown in fig. 1, the method for controlling a server fan in this embodiment mainly includes the following steps:
s1: using motor transfer function
A linear model of a dc motor in a server fan is determined.
Wherein,
is the acceleration of the motion of the dc motor,
as the fan speed, x is the position at which the fan stops at 0, M, D, Fm、FloadRespectively representing inertia, viscosity, generated force and load force in mechanical parameters; u, Ia, Ra and La respectively represent input linear voltage, armature current, armature resistance and armature inductance; kf represents a motor function conversion parameter; ke is the back emf motor constant.
In this embodiment, the relationship between the parameters is:
and Fm＝KfIa。
Since the electrical time constant of the dc motor is usually much smaller than the mechanical time constant, the electrical transient response delay of the dc motor can be neglected in the present embodiment assuming that the armature inductance La is 0 in the motor transfer function.
A linear model of the dc motor in this embodiment can be seen in fig. 2. As shown in FIG. 2, the input signal of the server fan control method is voltage u (t), and the output signal of the control system is a position functionNumber x (t) of acceleration function of
Processing the obtained data to obtain a rotating speed function
To function of rotational speed
After processing, a position function x (t) is obtained.
With continued reference to fig. 1, after determining the linear model of the dc motor in the server fan, step S2 is performed: using formulas
And calculating to obtain a nonlinear model of the direct current motor.
Wherein, FrippleAs wave power, FfrictionIs a nonlinear electromagnetic force.
The nonlinear power effect is a nonlinear function and is used for representing a dynamic combination set of wave power, nonlinear electromagnetic force and the like.
Further, the nonlinear electromagnetic force F in the present embodimentfrictionThe calculation formula of (2) is as follows:
wherein, FsDenotes static friction force, FcThe minimum value of the coulomb friction is represented,
and FvAre lubrication and load parameters, and are empirical parameters.
S3: according to the linear model and the nonlinear model, determining a first comprehensive model of the direct current motor as follows:
in this embodiment, the comprehensive model of the dc motor may be determined according to the linear model and the nonlinear model of the dc motor in the server fan, and the first comprehensive model is obtained first. A schematic diagram of a comprehensive model of the dc motor in the present embodiment can be seen in fig. 3. The accuracy of the first comprehensive model in the embodiment can be effectively improved by integrating the linear model and the nonlinear model of the direct-current motor, so that the accuracy of controlling the rotating speed and the position of the server fan is improved.
With continued reference to FIG. 1, after the first integrated model is determined, step S4 is performed: and converting the first comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form according to the tracking error:
wherein,
x1、x2and x3Is a system state variable, and
x2＝e，
further, step S4 in this embodiment includes the following steps:
s41: definition of
Converting the first comprehensive model into a second comprehensive model of the direct current motor:
wherein,
is a nonlinear function assuming smoothing.
S42: defining tracking error e ═ xd-x, determining a third integral model of the dc motor from the second integral model:
wherein x isdThe actual position at which the fan stops when the fan speed is 0, and x is the target position at which the fan stops when the fan speed is 0.
S43: defining a system state variable x ═ x1,x2,x3]TAnd converting the third comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form.
Through the steps S41-S43, the first comprehensive model of the direct current motor is gradually converted into the fourth comprehensive model, through the conversion steps, a control state equation of the direct current motor in the server fan can be established, the calculation process is simplified, corresponding parameters can be rapidly and accurately collected in practical application, and the fourth comprehensive model is obtained through calculation according to the parameters.
With continued reference to fig. 1, after determining the fourth integrated model of the dc motor, step S5 is performed: determining the acceleration function of the DC motor motion according to the fourth comprehensive model
S6: performing primary integration on the acceleration function to obtain a rotating speed function of the server fan through calculation
S7: and performing primary integration on the rotating speed function of the server fan to calculate a position function x (t) of the server fan.
Further, the method in this embodiment further includes step S8: and performing feedforward control, feedback control and RBF adapter control on the input linear voltage.
The feedback control method in this embodiment adopts PID control of full-state feedback.
In step S8, the input linear voltage u is controlled in three parts to realize a composite control algorithm for the dc motor. Wherein the feedforward control relies on a control state equation, i.e. a fourth integrated model; the feedback control adopts PID control; the RBF adapter control is a compensator based control of the non-linear radial function, mainly for adapting the non-linear part of the fourth synthetic model. Therefore, the method in this embodiment can realize comprehensive control over the linear part and the nonlinear part in the fourth comprehensive model for three-part control of the input linear voltage, so as to realize disturbance removal, and is beneficial to further improving the accuracy and stability of the control of the rotating speed and the position of the direct-current motor, thereby further improving the control precision and the control efficiency of the server fan.
A schematic diagram of the structure conforming to the control algorithm of the dc motor in the present embodiment can be seen in fig. 4. The linear motor in fig. 4 is a dc motor.
Specifically, step S8 includes the following processes:
using the formula u ═ uFF+uRBF+uPIDCalculating an input linear voltage, wherein the control voltage is fed forward
Feedback control voltage uPID＝Kx＝kx1+kd1x2+kd2x3The nonlinear RBF function is:
wherein, when performing feedforward control, feedforward control term matching is used in the control signal
And (4) performing item, namely completing feedforward control.
In feedback control, the PID control law is generally: u. ofPID＝-(r0+1)BTPx (t), where P is a positive solution of the ricati equation.
According to ATP+PA-PBBTP + Q ═ 0, and Q ═ HTH, where H is typically a weighting parameter for the associated method. r is0Is independent of P, introduces r0The main effect of (a) is to equalize the relative effect between control force and control error. This feedback therefore only requires the parameters a, B of the second order parametric model and the user-set error weights.
In the control of RBF adapter, because
Is a non-linear function that can be expressed as:
wherein,
is a radial basis function RBF, and
wherein,
in this model, assume that an ideal weight has been defined within a range of known positive values, such that | wi|≤wMThese two parameters represent the weight and the ideal weight, i ═ 1, 2.. m, respectively. Suppose there is oneM> 0, such that
The two parameters respectively represent a function of position and speed and an ideal maximum value, and then the pair is aligned
Is estimated as
in order to verify the effect of the server fan control method in this embodiment, a simulation test method may be adopted, and parameters and a simulation block diagram are set in Simulink of Matlab.
Firstly, a rotating speed simulation test is carried out, fig. 5 is a schematic diagram of speed input of a simulation system, and the transient response of the speed of the direct current motor is checked under the input shown in fig. 5. As can be seen from fig. 5, when the load of the system abruptly changes at 0.09s, the disturbance is suppressed.
FIG. 6 is a schematic diagram illustrating the simulation output of the rotational speed of the fan after the control method in the embodiment of the present application, as can be seen from FIG. 6, in the simulation system, when the speed input of the system is 0-0.01 s, the input speed is 100rad/s, and after 0.01s, the system speed is 110 rad/s.
Fig. 7 is a speed response diagram of the control-free algorithm, and as can be seen from fig. 7, the speed value is changed in the optimized control algorithm of the present embodiment, and it can be seen that the speed of the dc motor can well track the set speed. As can be seen from comparing fig. 6 and fig. 7, after the optimized control algorithm of the present embodiment, the speed response fluctuation of the dc motor is smaller, and the performance is better.
And performing position simulation, wherein fig. 8 is a schematic diagram of the position input of a simulation system, and the system position is set to 100 in the simulation system. Fig. 9 is a schematic diagram of position simulation output after the control method in the embodiment of the present application is adopted, and fig. 10 is a schematic diagram of position response without a control algorithm. As can be seen from fig. 9 and 10, the position of the dc motor can be controlled to a set target position better by the control method in the present embodiment, and the tracking performance is good.
Example two
Referring to fig. 11 based on the embodiments shown in fig. 1-10, fig. 11 is a schematic structural diagram of a server fan control system according to an embodiment of the present disclosure. As can be seen from fig. 11, the server fan control system in this embodiment mainly includes: the device comprises a linear model determining module, a nonlinear model calculating module, a first comprehensive model determining module, a converting module, an acceleration function determining module, a rotating speed function determining module and a position function determining module.
Wherein the linear model determining module is used for utilizing the motor transfer function
A linear model of the dc motor in the server fan is determined, wherein,
is the acceleration of the motion of the dc motor,
as the fan speed, x is the position at which the fan stops at 0, M, D, Fm、FloadRespectively representing inertia, viscosity, generated force and load force in mechanical parameters; u, Ia, Ra and La respectively represent input linear voltage, armature current, armature resistance and armature inductance; kf represents a motor function conversion parameter; ke is the back emf motor constant. A nonlinear model calculation module for using the formula
Calculating a non-linear model of the DC motor, wherein FrippleAs wave power, FfrictionIs a nonlinear electromagnetic force. The first comprehensive model determining module is used for determining a first comprehensive model of the direct current motor as follows according to the linear model and the nonlinear model:
the conversion module is used for converting the first comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form according to the tracking error:
wherein,
x1、x2and x3Is a system state variable, and
x2＝e，
an acceleration function determination module for determining the acceleration function of the DC motor motion according to the fourth comprehensive model
A rotation speed function determining module for performing primary integration on the acceleration function to obtain a rotation speed function of the server fan
And the position function determining module is used for performing primary integration on the rotating speed function of the server fan and calculating to obtain a position function x (t) of the server fan.
Further, the conversion module includes: a second integrated model determining unit, a third integrated model determining unit and a fourth integrated model determining unit.
Wherein the second comprehensive model determining unit is used for defining
Converting the first comprehensive model into a second comprehensive model of the direct current motor:
wherein,
is a nonlinear function assuming smoothing. A third integrated model determining unit for defining a tracking error e ═ xd-x, determining a third integral model of the dc motor from the second integral model:
wherein x isdThe actual position at which the fan stops when the fan speed is 0, and x is the target position at which the fan stops when the fan speed is 0. A fourth integrated model determination unit for defining a system state variable x ═ x1,x2,x3]TAnd converting the third comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form.
Further, the server fan control system in this embodiment further includes a control module, configured to perform feed-forward control, feedback control, and RBF adapter control on the input linear voltage, and determine the input linear voltage.
The control module includes: the device comprises a feedforward control unit, a feedback control unit and a nonlinear RBF adapter control unit. Wherein the feedforward control unit is used for utilizing a formula
Calculating to obtain feedforward control voltage; a feedback control unit for using the formula uPID＝Kx＝kx1+kd1x2+kd2x3Calculating to obtain a feedback control voltage; a non-linear RBF adapter control unit for utilizing a formula
And calculating to obtain the nonlinear RBF voltage.
The working principle and working method of the server fan control system in this embodiment have been described in detail in the embodiments shown in fig. 1 to 10, and are not described herein again.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A server fan control method, the method comprising:
using motor transfer function
A linear model of the dc motor in the server fan is determined, wherein,
is the acceleration of the motion of the dc motor,
as the fan speed, x is the position at which the fan stops at 0, M, D, Fm、FloadRespectively representing inertia, viscosity, generated force and load force in mechanical parameters; u, Ia, Ra and La respectively represent input linear voltage, armature current, armature resistance and armature inductance; kf represents a motor function conversion parameter; ke is the back-emf motor constant;
using formulas
Calculating a non-linear model of the DC motor, wherein FrippleAs wave power, FfrictionIs a non-linear electromagnetic force;
according to the linear model and the nonlinear model, determining a first comprehensive model of the direct current motor as follows:
converting the first comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form according to the tracking error:
wherein,
x1、x2and x3Is a system state variable, and
x2＝e，
determining the acceleration function of the motion of the direct current motor according to the fourth comprehensive model
Performing primary integration on the acceleration function to obtain a rotating speed function of the server fan through calculation
And performing primary integration on the rotating speed function of the server fan to calculate a position function x (t) of the server fan.
2. The server fan control method according to claim 1, wherein the converting the first integrated model into a fourth integrated model of the dc motor in an equivalent state space form according to the tracking error comprises:
definition of
Converting the first comprehensive model into a second comprehensive model of the direct current motor:
wherein,
is a non-linear function assuming smoothing;
defining tracking error e ═ xd-x, determining a third integral model of the dc motor from said second integral model:
wherein x isdThe actual position of the fan when the rotating speed of the fan is 0, and x is the target position of the fan when the rotating speed of the fan is 0;
defining a system state variable x ═ x1,x2,x3]TAnd converting the third comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form.
3. The server fan control method of claim 1, wherein the input line voltage is subjected to feedforward control, feedback control and RBF adapter control.
4. The server fan control method according to claim 3, wherein the feedback control is a PID control of full-state feedback.
5. The method as claimed in claim 4, wherein the method for performing feedforward control, feedback control and nonlinear RBF adapter control on the input linear voltage comprises:
using the formula u ═ uFF+uRBF+uPIDCalculating an input linear voltage, wherein the control voltage is fed forward
Feedback control voltage uPID＝Kx＝kx1+kd1x2+kd2x3The nonlinear RBF function is:
6. the server fan control method according to any one of claims 1 to 5, wherein the nonlinear electromagnetic force FfrictionThe calculation formula of (2) is as follows:
wherein, FsDenotes static friction force, FcThe minimum value of the coulomb friction is represented,
and FvAre lubrication and load parameters, and are empirical parameters.
7. A server fan control system, the system comprising:
a linear model determination module for utilizing the motor transfer function
A linear model of the dc motor in the server fan is determined, wherein,
is the acceleration of the motion of the dc motor,
as the fan speed, x is the position at which the fan stops at 0, M, D, Fm、FloadRespectively representing inertia, viscosity, generated force and load force in mechanical parameters; u, Ia, Ra and La respectively represent input linear voltage, armature current, armature resistance and armature inductance; kf represents a motor function conversion parameter; ke is the back-emf motor constant;
a nonlinear model calculation module for using the formula
Calculating a non-linear model of the DC motor, wherein FrippleAs wave power, FfrictionIs a non-linear electromagnetic force;
the first comprehensive model determining module is used for determining a first comprehensive model of the direct current motor as follows according to the linear model and the nonlinear model:
the conversion module is used for converting the first comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form according to the tracking error:
wherein,
x1、x2and x3Is a system state variable, and
x2＝e，
an acceleration function determination module for determining the acceleration function of the DC motor motion according to the fourth comprehensive model
A rotational speed function determination module for determining the acceleration functionPerforming primary integration to calculate out a rotating speed function of the server fan
And the position function determining module is used for performing primary integration on the rotating speed function of the server fan to calculate a position function x (t) of the server fan.
8. The server fan control system of claim 7, wherein the conversion module comprises:
a second comprehensive model determination unit for defining
Converting the first comprehensive model into a second comprehensive model of the direct current motor:
wherein,
is a non-linear function assuming smoothing;
a third integrated model determining unit for defining a tracking error e ═ xd-x, determining a third integral model of the dc motor from said second integral model:
wherein x isdThe actual position of the fan when the rotating speed of the fan is 0, and x is the target position of the fan when the rotating speed of the fan is 0;
a fourth integrated model determination unit for defining a system state variable x ═ x1,x2,x3]TAnd converting the third comprehensive model into a fourth comprehensive model of the direct current motor in an equivalent state space form.
9. The server fan control system according to claim 7 or 8, further comprising: and the control module is used for performing feedforward control, feedback control and RBF adapter control on the input linear voltage to determine the input linear voltage.
10. The server fan control system of claim 9, wherein the control module comprises:
a feedforward control unit for utilizing the formula
Calculating to obtain feedforward control voltage;
a feedback control unit for using the formula uPID＝Kx＝kx1+kd1x2+kd2x3Calculating to obtain a feedback control voltage;
a non-linear RBF adapter control unit for utilizing a formula
And calculating to obtain the nonlinear RBF voltage.
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| CN106788036A (en) * | 2016-12-30 | 2017-05-31 | 南京邮电大学 | The modified active disturbance rejection positioner and its method for designing of a kind of direct current generator |
| CN111075745A (en) * | 2019-12-13 | 2020-04-28 | 苏州浪潮智能科技有限公司 | Server fan regulation and control method and system based on total system current |
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| CN106788036A (en) * | 2016-12-30 | 2017-05-31 | 南京邮电大学 | The modified active disturbance rejection positioner and its method for designing of a kind of direct current generator |
| CN111075745A (en) * | 2019-12-13 | 2020-04-28 | 苏州浪潮智能科技有限公司 | Server fan regulation and control method and system based on total system current |
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