阅读说明：本技术 燃料电池空气系统解耦控制方法、装置和存储介质 (Fuel cell air system decoupling control method and device and storage medium ) 是由 单亚飞 邵力成 毛强 陈杰 李刚 于 2021-08-23 设计创作，主要内容包括：本发明提供一种燃料电池空气系统解耦控制方法,包括：根据燃料电池工作点确定相应的目标空气压力和目标空气流量；通过目标空气压力和目标空气流量分别查相应的标定表,得到前馈节流阀开度和前馈空压机转速；通过采集得到实时的空气入堆压力和空气入堆流量；计算目标空气压力和空气入堆压力的差值,并对该压力差进行PID控制,得到节流阀开度调整值；通过前馈节流阀开度和节流阀开度调整值查相应的开度对转速修正的标定表,得到空压机转速修正值；计算目标空气流量和空气入堆流量的差值,并对该流量差进行PID控制,得到空压机转速调整值；通过前馈空压机转速和空压机转速调整值查相应的转速对开度修正的标定表,得到节流阀开度修正值；求和得到最终的节流阀开度；求和得到最终的空压机转速。本发明简单易实现,实用性强,准确度高。(The invention provides a fuel cell air system decoupling control method, which comprises the following steps: determining corresponding target air pressure and target air flow according to the working point of the fuel cell; respectively checking corresponding calibration tables according to the target air pressure and the target air flow to obtain the opening of a feedforward throttle valve and the rotating speed of a feedforward air compressor; acquiring real-time air pile-entering pressure and air pile-entering flow by collection; calculating the difference value between the target air pressure and the air stacking pressure, and carrying out PID control on the pressure difference to obtain a throttle opening adjustment value; checking a calibration table of corresponding opening degree to rotating speed correction according to the feedforward throttle opening degree and the throttle opening degree adjustment value to obtain a rotating speed correction value of the air compressor; calculating the difference value between the target air flow and the air inlet flow, and performing PID control on the flow difference to obtain a rotating speed adjusting value of the air compressor; looking up a corresponding calibration table of the rotating speed to the opening correction according to the feedforward air compressor rotating speed and the air compressor rotating speed adjustment value to obtain a throttle valve opening correction value; summing to obtain the final throttle valve opening; and summing to obtain the final rotating speed of the air compressor. The method is simple and easy to implement, strong in practicability and high in accuracy.)

1. A fuel cell air system decoupling control method, comprising:

determining corresponding target air pressure and target air flow according to the working point of the fuel cell;

respectively checking corresponding calibration tables according to the target air pressure and the target air flow to obtain the opening of a feedforward throttle valve and the rotating speed of a feedforward air compressor;

acquiring real-time air pile-entering pressure and air pile-entering flow by collection;

calculating the difference value between the target air pressure and the air stacking pressure, and carrying out PID control on the pressure difference to obtain a throttle opening adjustment value; at the moment, a corresponding calibration table of the opening degree to the rotating speed correction is checked through the feedforward throttle opening degree and the throttle opening degree adjusting value, and the rotating speed correction value of the air compressor is obtained;

calculating the difference value between the target air flow and the air inlet flow, and performing PID control on the flow difference to obtain a rotating speed adjusting value of the air compressor; at the moment, a corresponding calibration table of the rotating speed to the opening correction is checked through the feedforward of the rotating speed of the air compressor and the rotating speed adjustment value of the air compressor, and the opening correction value of the throttle valve is obtained;

summing according to the feedforward throttle opening, the throttle opening adjustment value and the throttle opening correction value to obtain the final throttle opening;

and summing the rotating speed of the air compressor according to the feedforward rotating speed of the air compressor, the rotating speed adjusting value of the air compressor and the rotating speed correcting value of the air compressor to obtain the final rotating speed of the air compressor.

2. The fuel cell air system decoupling control method of claim 1,

the air in-pile pressure and the air in-pile flow are respectively obtained by collecting after being measured by a pressure sensor and a flowmeter which are arranged at the inlet of the galvanic pile.

3. The fuel cell air system decoupling control method of claim 1,

the calibration table for correcting the opening degree to the rotating speed is obtained by testing and calibrating a test bed, and the steps are as follows:

s11, setting a throttle valve opening, then increasing the opening and recording the opening variation; the increase of the opening brings about the increase of the air inlet flow, at the moment, the rotating speed of the air compressor should be reduced to offset the influence, and at the moment, the corrected rotating speed should be a negative value; keeping the air pile-entering flow unchanged by adjusting the rotating speed, and recording the rotating speed variation at the moment, namely the rotating speed correction value of the air compressor;

s12, recording corresponding air compressor rotation speed correction values when the throttle valve opening is increased in sequence and different opening degrees are increased;

s13, similarly, the throttle opening is decreased and the amount of change in the opening is recorded; the reduction of the opening brings about the reduction of the flow rate of air entering the pile, at the moment, the rotating speed of the air compressor should be increased to offset the influence, and at the moment, the corrected rotating speed should be a positive value; keeping the air pile-entering flow unchanged by adjusting the rotating speed, and recording the rotating speed variation at the moment, namely the rotating speed correction value of the air compressor;

s14, recording corresponding air compressor rotation speed correction values when different opening degrees are reduced when the opening degrees of the throttle valves are sequentially recorded;

s15, summarizing to obtain a calibration table for correcting the rotating speed when the opening changes under the opening of the throttle valve;

and S16, changing the initial throttle opening, measuring and recording the steps S11, S12, S13, S14 and S15, and obtaining a final calibration table of the opening to the rotating speed correction under different opening degrees.

4. The fuel cell air system decoupling control method of claim 1,

the calibration table for correcting the opening degree by the rotating speed is obtained by testing and calibrating a test bed, and the steps are as follows:

s21, setting the rotating speed of an air compressor, increasing the rotating speed and recording the variation of the rotating speed; the rotation speed is increased to increase the pressure of air entering the reactor, the throttle valve is increased to counteract the influence, and the corrected opening is a positive value; keeping the pressure of air entering the reactor unchanged by adjusting the opening, and recording the change of the opening at the moment, namely the correction value of the opening of the throttle valve;

s22, sequentially recording corresponding throttle valve opening correction values when the rotating speed of the air compressor is increased and different rotating speeds are increased;

s23, similarly, decreasing the rotation speed of the air compressor at the rotation speed, and recording the amount of change in the rotation speed; reducing the rotating speed brings the reduction of the air stacking pressure, at the moment, the opening of the throttle valve should be reduced to offset the influence, and at the moment, the corrected rotating speed should be a negative value; keeping the pressure of air entering the reactor unchanged by adjusting the opening, and recording the change of the opening at the moment, namely the correction value of the opening of the throttle valve;

s24, sequentially recording corresponding throttle valve opening correction values when the rotating speed of the air compressor is reduced and different rotating speeds are reduced;

s25, summarizing to obtain a calibration table for correcting the openness when the rotating speed of the air compressor changes;

and S26, changing the initial air compressor rotating speed, and then carrying out the measurement and recording in the steps S21, S22, S23, S24 and S25 to obtain a final calibration table for correcting the rotating speed to the opening degree under different air compressor rotating speeds.

5. A fuel cell air system decoupling control device, comprising:

a memory storing a computer program;

a processor for running the computer program, the computer program when running performing the steps of the method of any of claims 1-2.

6. A storage medium characterized in that,

the storage medium has stored therein a computer program configured to perform the steps of the method of any of claims 1-2 when executed.

Technical Field

The invention relates to the field of fuel cell air system control, in particular to a fuel cell air system decoupling control method.

Background

In response to the severe demands for environmental pollution, the automotive market is transforming from traditional chemical energy to new energy. Among them, the hydrogen fuel cell system is competitively developed by various automobile manufacturers all over the world due to its advantages of zero emission, high efficiency, wide sources, etc. The air supply system is used as a unit with larger power consumption as a system accessory, and the control and optimization of the system are significant to the stable operation and the output efficiency of the whole fuel cell system.

Air system control involves the control of two important parameters: air pressure and air flow. The two parameters of air pressure and air flow are highly coupled in the actual control process, and the difficulty of realizing the independent control of the two parameters is large. In the prior art, an advanced control method such as transfer function decoupling, feedback linearization, active disturbance rejection control and the like is adopted, so that the decoupling control effect can be achieved to a certain extent, but the prior art is relatively complex and has poor practicability. The patent CN111293333A performs decoupling control by solving a correction coefficient, and the process of solving the coefficient is relatively complex; patent CN110970642A makes PID correction of throttle opening by flow difference and PID correction of air compressor rotation speed by pressure difference, and this decoupling mode by correcting PID has a slightly slow response speed to air flow and air pressure; patent CN111403783A adopts self-interference control to realize decoupling, and theoretical stronger, the practicality is relatively poor.

In view of the foregoing, there is a need for an air system control method with high practicability and high accuracy to effectively improve the output efficiency of a fuel cell system.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a fuel cell air system decoupling control method which can obviously accelerate the response speed of air flow and air pressure control, has strong practicability and high accuracy and can more easily realize the decoupling control of air pressure and air flow. In order to achieve the technical purpose, the embodiment of the invention adopts the technical scheme that:

in a first aspect, an embodiment of the present invention provides a fuel cell air system decoupling control method, including:

determining corresponding target air pressure and target air flow according to the working point of the fuel cell;

respectively checking corresponding calibration tables according to the target air pressure and the target air flow to obtain the opening of a feedforward throttle valve and the rotating speed of a feedforward air compressor;

acquiring real-time air pile-entering pressure and air pile-entering flow by collection;

calculating the difference value between the target air pressure and the air stacking pressure, and carrying out PID control on the pressure difference to obtain a throttle opening adjustment value; at the moment, a corresponding calibration table of the opening degree to the rotating speed correction is checked through the feedforward throttle opening degree and the throttle opening degree adjusting value, and the rotating speed correction value of the air compressor is obtained;

calculating the difference value between the target air flow and the air inlet flow, and performing PID control on the flow difference to obtain a rotating speed adjusting value of the air compressor; at the moment, a corresponding calibration table of the rotating speed to the opening correction is checked through the feedforward of the rotating speed of the air compressor and the rotating speed adjustment value of the air compressor, and the opening correction value of the throttle valve is obtained;

summing according to the feedforward throttle opening, the throttle opening adjustment value and the throttle opening correction value to obtain the final throttle opening;

and summing the rotating speed of the air compressor according to the feedforward rotating speed of the air compressor, the rotating speed adjusting value of the air compressor and the rotating speed correcting value of the air compressor to obtain the final rotating speed of the air compressor.

Further, the air pile entering pressure and the air pile entering flow are respectively obtained by collecting after being measured by a pressure sensor and a flowmeter which are arranged at the inlet of the galvanic pile.

Further, the calibration table for correcting the opening degree to the rotating speed is obtained by testing and calibrating the test bed, and the steps are as follows:

s11, setting a throttle valve opening, then increasing the opening and recording the opening variation; the increase of the opening brings about the increase of the air inlet flow, at the moment, the rotating speed of the air compressor should be reduced to offset the influence, and at the moment, the corrected rotating speed should be a negative value; keeping the air pile-entering flow unchanged by adjusting the rotating speed, and recording the rotating speed variation at the moment, namely the rotating speed correction value of the air compressor;

s12, recording corresponding air compressor rotation speed correction values when the throttle valve opening is increased in sequence and different opening degrees are increased;

s13, similarly, the throttle opening is decreased and the amount of change in the opening is recorded; the reduction of the opening brings about the reduction of the flow rate of air entering the pile, at the moment, the rotating speed of the air compressor should be increased to offset the influence, and at the moment, the corrected rotating speed should be a positive value; keeping the air pile-entering flow unchanged by adjusting the rotating speed, and recording the rotating speed variation at the moment, namely the rotating speed correction value of the air compressor;

s14, recording corresponding air compressor rotation speed correction values when different opening degrees are reduced when the opening degrees of the throttle valves are sequentially recorded;

s15, summarizing to obtain a calibration table for correcting the rotating speed when the opening changes under the opening of the throttle valve;

and S16, changing the initial throttle opening, measuring and recording the steps S11, S12, S13, S14 and S15, and obtaining a final calibration table of the opening to the rotating speed correction under different opening degrees.

Further, a calibration table for correcting the opening degree by the rotating speed is obtained by testing and calibrating the test bed, and the steps are as follows:

s21, setting the rotating speed of an air compressor, increasing the rotating speed and recording the variation of the rotating speed; the rotation speed is increased to increase the pressure of air entering the reactor, the throttle valve is increased to counteract the influence, and the corrected opening is a positive value; keeping the pressure of air entering the reactor unchanged by adjusting the opening, and recording the change of the opening at the moment, namely the correction value of the opening of the throttle valve;

s22, sequentially recording corresponding throttle valve opening correction values when the rotating speed of the air compressor is increased and different rotating speeds are increased;

s23, similarly, decreasing the rotation speed of the air compressor at the rotation speed, and recording the amount of change in the rotation speed; reducing the rotating speed brings the reduction of the air stacking pressure, at the moment, the opening of the throttle valve should be reduced to offset the influence, and at the moment, the corrected rotating speed should be a negative value; keeping the pressure of air entering the reactor unchanged by adjusting the opening, and recording the change of the opening at the moment, namely the correction value of the opening of the throttle valve;

s24, sequentially recording corresponding throttle valve opening correction values when the rotating speed of the air compressor is reduced and different rotating speeds are reduced;

s25, summarizing to obtain a calibration table for correcting the openness when the rotating speed of the air compressor changes;

and S26, changing the initial air compressor rotating speed, and then carrying out the measurement and recording in the steps S21, S22, S23, S24 and S25 to obtain a final calibration table for correcting the rotating speed to the opening degree under different air compressor rotating speeds.

In a second aspect, an embodiment of the present invention further provides a fuel cell air system decoupling control apparatus, including:

a memory storing a computer program;

a processor for executing the computer program, the computer program executing the steps of the method as described hereinbefore.

In a third aspect, an embodiment of the present invention also proposes a storage medium having stored therein a computer program configured to perform the steps of the method as described above when executed.

The technical scheme provided by the embodiment of the invention has the following beneficial effects:

1) compared with the prior art, the method provided by the application can realize decoupling control of the air pressure and the air flow more easily.

2) The air compressor can be effectively prevented from working in a dangerous area (surge area) of the air compressor, and the air compressor is guaranteed to be always in a safe working state.

3) The decoupling control of the corrected calibration table is inquired, so that the response time of air pressure and air flow control can be remarkably shortened;

4) the corrected calibration table is easy to manufacture and obtain, simple and easy to realize, strong in practicability and high in accuracy.

Drawings

Fig. 1 is a schematic diagram of a fuel cell air system in an embodiment of the present invention.

Fig. 2 is a flowchart of a decoupling control method in the embodiment of the present invention.

Fig. 3 is a schematic block diagram of a fuel cell air system control in an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The fuel cell air system is schematically shown in figure 1 and comprises an air filter, an air compressor, an intercooler, a humidifier, a protection valve, a pressure sensor and a flow meter (not shown in figure 1) arranged at the inlet of a galvanic pile, a throttle valve, an ECU controller and the like; for an actual galvanic pile, air needs to be subjected to a series of processes of filtering, pressurizing, cooling and humidifying to ensure high-efficiency chemical reaction of the galvanic pile;

the air filter is arranged at the foremost end and is used for filtering impurities and harmful gases in the air so as to avoid damage to the membrane electrode of the electric pile;

the filtered air enters an air compressor for pressurization and is matched with a tail end throttle valve to ensure the working pressure during the actual galvanic pile reaction; meanwhile, the rotating speed of the air compressor is controlled to meet the air flow required by the actual operation of the electric pile;

the temperature of the gas pressurized by the air compressor is high, and the gas needs to be controlled by an intercooler to be cooled, so that the optimal working temperature of the actual high-efficiency reaction of the electric pile is met;

the air of the reaction also needs a certain humidity to ensure the high-efficiency reaction of the galvanic pile, and the air after the intercooler needs to enter a humidifier to carry out humidification control on the air before entering the galvanic pile;

the protection valves and the throttle valves at the front and the back of the galvanic pile are power-off normally-closed valves, and are used for cutting off the mutual communication between the galvanic pile and the external air when the system is shut down, keeping the galvanic pile in a vacuum state as much as possible and prolonging the service life of the galvanic pile;

thus, two important parameters that need to be addressed for air systems: the ECU controller is respectively acquired after measurement by a pressure sensor and a flowmeter which are arranged at the inlet of the galvanic pile; the air pressure and air flow are mainly controlled by the opening degree of a throttle valve and the rotating speed of an air compressor; the whole control and regulation process is shown in figure 2;

in a first aspect, an embodiment of the present invention provides a fuel cell air system decoupling control method, including:

determining corresponding target air pressure and target air flow according to the working point of the fuel cell;

respectively checking corresponding calibration tables according to the target air pressure and the target air flow to obtain the opening of a feedforward throttle valve and the rotating speed of a feedforward air compressor;

acquiring real-time air pile-entering pressure and air pile-entering flow by collection;

calculating the difference value between the target air pressure and the air stacking pressure, and carrying out PID control on the pressure difference to obtain a throttle opening adjustment value; at the moment, a corresponding calibration table of the opening degree to the rotating speed correction is checked through the feedforward throttle opening degree and the throttle opening degree adjusting value, and the rotating speed correction value of the air compressor is obtained;

calculating the difference value between the target air flow and the air inlet flow, and performing PID control on the flow difference to obtain a rotating speed adjusting value of the air compressor; at the moment, a corresponding calibration table of the rotating speed to the opening correction is checked through the feedforward of the rotating speed of the air compressor and the rotating speed adjustment value of the air compressor, and the opening correction value of the throttle valve is obtained;

summing according to the feedforward throttle opening, the throttle opening adjustment value and the throttle opening correction value to obtain the final throttle opening;

and summing the rotating speed of the air compressor according to the feedforward rotating speed of the air compressor, the rotating speed adjusting value of the air compressor and the rotating speed correcting value of the air compressor to obtain the final rotating speed of the air compressor.

Two key modified calibration tables for air system decoupling control are obtained as follows:

the calibration table for correcting the opening degree to the rotating speed is obtained by testing and calibrating a test bed, and the steps are as follows:

s11, setting a throttle valve opening, then increasing the opening and recording the opening variation; the increase of the opening brings about the increase of the air inlet flow, at the moment, the rotating speed of the air compressor should be reduced to offset the influence, and at the moment, the corrected rotating speed should be a negative value; keeping the air pile-entering flow unchanged by adjusting the rotating speed, and recording the rotating speed variation at the moment, namely the rotating speed correction value of the air compressor;

s12, recording corresponding air compressor rotation speed correction values when the throttle valve opening is increased in sequence and different opening degrees are increased;

s13, similarly, the throttle opening is decreased and the amount of change in the opening is recorded; the reduction of the opening brings about the reduction of the flow rate of air entering the pile, at the moment, the rotating speed of the air compressor should be increased to offset the influence, and at the moment, the corrected rotating speed should be a positive value; keeping the air pile-entering flow unchanged by adjusting the rotating speed, and recording the rotating speed variation at the moment, namely the rotating speed correction value of the air compressor;

s14, recording corresponding air compressor rotation speed correction values when different opening degrees are reduced when the opening degrees of the throttle valves are sequentially recorded;

s15, summarizing to obtain a calibration table for correcting the rotating speed when the opening changes under the opening of the throttle valve;

and S16, changing the initial throttle opening, measuring and recording the steps S11, S12, S13, S14 and S15, and obtaining a final calibration table of the opening to the rotating speed correction under different opening degrees.

The calibration table for correcting the opening degree by the rotating speed is obtained by testing and calibrating a test bed, and the steps are as follows:

s21, setting the rotating speed of an air compressor, increasing the rotating speed and recording the variation of the rotating speed; the rotation speed is increased to increase the pressure of air entering the reactor, the throttle valve is increased to counteract the influence, and the corrected opening is a positive value; keeping the pressure of air entering the reactor unchanged by adjusting the opening, and recording the change of the opening at the moment, namely the correction value of the opening of the throttle valve;

s22, sequentially recording corresponding throttle valve opening correction values when the rotating speed of the air compressor is increased and different rotating speeds are increased;

s23, similarly, decreasing the rotation speed of the air compressor at the rotation speed, and recording the amount of change in the rotation speed; reducing the rotating speed brings the reduction of the air stacking pressure, at the moment, the opening of the throttle valve should be reduced to offset the influence, and at the moment, the corrected rotating speed should be a negative value; keeping the pressure of air entering the reactor unchanged by adjusting the opening, and recording the change of the opening at the moment, namely the correction value of the opening of the throttle valve;

s24, sequentially recording corresponding throttle valve opening correction values when the rotating speed of the air compressor is reduced and different rotating speeds are reduced;

s25, summarizing to obtain a calibration table for correcting the openness when the rotating speed of the air compressor changes;

and S26, changing the initial air compressor rotating speed, and then carrying out the measurement and recording in the steps S21, S22, S23, S24 and S25 to obtain a final calibration table for correcting the rotating speed to the opening degree under different air compressor rotating speeds.

According to the air system decoupling control method, the air pressure change caused by the change of the rotating speed can be compensated by adding the corrected value of the opening of the throttle valve when the rotating speed of the air compressor changes, namely the corrected value of the opening of the throttle valve; similarly, when the opening of the throttle valve is changed, the corrected value of the rotating speed of the air compressor is used for compensating the flow influence caused by the change of the opening, namely the corrected value of the rotating speed of the air compressor; such mutual correction values may enable decoupled control of air pressure and air flow; the decoupling control method is simple and easy to implement, has strong practicability, and can effectively prevent the air compressor from working in a surge area; and the control method under the combined action of the feedforward and the PID adjustment values is more accurate in control of the air system, and is more beneficial to improving the system output efficiency of the fuel cell.

In a second aspect, an embodiment of the present invention further provides a fuel cell air system decoupling control apparatus, including: a processor and a memory; the processor and the memory communicate with each other, for example, by being connected to and communicating with each other via a communication bus; the memory has stored therein a computer program; the processor is configured to run the computer program, which when run performs the steps of the method as described above; the Processor may be an ECU controller shown in fig. 1, or other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other Programmable logic device;

in a third aspect, embodiments of the present invention also propose a storage medium having a computer program stored therein, the computer program being configured to perform the steps of the method as described hereinbefore when executed; the storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.

Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.