Ubuntu has no built-in fan control so your BIOS is already controlling the fan.
Your laptop has the HM170 chip-set. The manual for this is available here. This states that the chip-set has a built-in fan speed controller that is capable of reading the speeds of up to 8 fans and controlling the speeds of up to 4 fans. There is also an on-chip temperature sensor. This can be used to read the temperature of the chip itself. However it has another mode in which it creates an interrupt when the temperature goes above a certain level called "hot" and the BIOS can use this to turn the fan on. It will not generate another interrupt until the temperature drops below "cool" and this will turn the fan off. It therefore sounds like the fan is operating exactly as intended. The values of "hot" and "cool" are set by the BIOS.
If the fan is coming on under Ubuntu but not for example Debian I would suggest installing lm-sensors
and P-Sensors
or XSensors
and monitoring the utilisation and temperatures of the CPU and GPU to see what is getting hot.
Although the datasheet states that the temperature sensor can be read it does not indicate that any fan speed can so I do not think you are going to be able to control the fan speed using a program like Fancontrol.