CN110943245B - Fuel cell diagnosis harmonic current generation method and system and diagnosis device - Google Patents
Fuel cell diagnosis harmonic current generation method and system and diagnosis device Download PDFInfo
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- H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
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Abstract
The invention provides a fuel cell diagnosis harmonic current generation method and system and a diagnosis device, comprising a control module and a harmonic excitation module, wherein the control module comprises a comparator, a PR controller and a voltage modulation module; the comparator is used for calculating the difference value between the given diagnosis harmonic current and the actual diagnosis harmonic current and transmitting the difference value to the PR controller; the PR controller is used for generating a control signal according to the difference value; the voltage modulation module is used for carrying out pulse width modulation on the control signal and transmitting the modulated control signal to the harmonic excitation module; the harmonic excitation module is used for generating diagnosis harmonic current according to the modulated control signal. In the invention, the PR controller is adopted to replace the traditional PI controller, thereby realizing the tracking control without static error of the PR controller, further improving the quality, the control precision and the following performance of diagnosing harmonic current and improving the dynamic response capability of a system.
Description
Technical Field
The invention relates to the technical field of fuel cells, in particular to a method and a system for generating a fuel cell diagnosis harmonic current and a diagnosis device.
Background
Compared with the traditional automobile, the fuel cell automobile has the advantages of zero emission, reduction of water pollution caused by engine oil leakage, improvement of fuel economy, stable operation, no noise and the like, and is always used as one of important routes of new energy automobile technology.
On-board operation of the fuel cell needs to be based on reliable on-line diagnosis to react to stack faults, estimate stack states, and optimize fuel cell system control, but since the fuel cell stack has strict sealing requirements and high integration level, it is difficult to effectively arrange sensors in the stack, and therefore, the general on-line diagnosis method only has on-line diagnosis based on cell voltage and on-line diagnosis based on ac impedance.
The online diagnosis hardware based on the cell voltage is simple, but the cell voltage information is too simple, and complex failure and the internal state of the galvanic pile are difficult to distinguish. The alternating current impedance-based diagnosis method is characterized in that sine current excitation is superposed on the basis of the output current of the galvanic pile, so that the impedance of the galvanic pile is measured at different frequency points, various polarization losses, gas diffusion, electrode characteristics and the like of the galvanic pile can be effectively reflected, and the method is the main development direction of fuel cell online diagnosis.
The on-line diagnosis method based on the alternating-current impedance needs to depend on physical hardware to superpose sinusoidal current excitation in the normal output of the fuel cell, and the quality of the sinusoidal current excitation is very important for the impedance diagnosis effect. In order to obtain better sinusoidal current excitation, i.e. better diagnostic harmonic current, the existing fuel cell diagnostic harmonic current generation methods include a diagnostic harmonic current injection method based on the dc-ac principle: the method generally adds a branch circuit to the output of the fuel cell, the fuel cell outputs energy from the main circuit, and the diagnosis harmonic current is generated in the branch circuit. Since the branch circuit has no DC bias, the branch circuit current, i.e. the diagnostic harmonic current, is an AC current. Although the diagnostic harmonic current generated by the method can effectively realize on-line diagnosis of the fuel cell, the quality and control accuracy of the diagnostic harmonic current still need to be improved.
Disclosure of Invention
In view of this, the invention provides a method and a system for generating a fuel cell diagnostic harmonic current, and a diagnostic device, so as to improve the quality and control accuracy of the fuel cell diagnostic harmonic current.
In order to achieve the purpose, the invention provides the following technical scheme:
a fuel cell diagnostic harmonic current generation system comprising a control module and a harmonic excitation module, the control module comprising a comparator, a PR controller and a voltage modulation module;
the comparator is used for calculating the difference value between the given diagnosis harmonic current and the actual diagnosis harmonic current and transmitting the difference value to the PR controller;
the PR controller is used for generating a control signal according to the difference value;
the voltage modulation module is used for carrying out pulse width modulation on the control signal and transmitting the modulated control signal to the harmonic excitation module;
the harmonic excitation module is used for generating diagnosis harmonic current according to the modulated control signal.
Optionally, the transfer function of the PR controller is:
wherein k isp、kr、w0Respectively proportional gain, resonance gain and resonance frequency, s being the laplace operator.
Optionally, the PR controller is a quasi-PR controller, and a transfer function of the quasi-PR controller is:
wherein k isp、kr、w0Proportional gain, resonant gain and resonant frequency, w, respectivelycIs the bandwidth coefficient and s is the laplacian operator.
Optionally, the quasi-PR controller is a discretized PR controller having a transfer function of:
optionally, the harmonic excitation module is a two-phase bridge inversion topology.
Optionally, a first input end of the topology is connected to a first output end of the boost DC-DC module, and a second input end of the topology is connected to a second output end of the boost DC-DC module;
the first output end of the topological structure is connected with the first output end of the fuel cell stack through a first load, and the second output end of the topological structure is connected with the second output end of the fuel cell stack through a second load;
the first input end of the boosting DC-DC module is connected with the first output end of the fuel cell stack, and the second input end of the boosting DC-DC module is connected with the second output end of the fuel cell stack.
Optionally, a current sensor is further included;
the current sensor is used for detecting the actual diagnosis harmonic current output by the harmonic excitation module and transmitting the actual diagnosis harmonic current to the comparator.
A fuel cell diagnostic harmonic current generation method applied to the fuel cell diagnostic harmonic current generation system as described in any one of the above, the generation method comprising:
calculating a difference between the given diagnostic harmonic current and the actual diagnostic harmonic current by a comparator;
generating a control signal according to the difference value through a PR controller;
performing pulse width modulation on the control signal through a voltage modulation module;
and generating a diagnostic harmonic current according to the modulated control signal through a harmonic excitation module.
Optionally, the method further comprises:
detecting an actual diagnostic harmonic current output by the harmonic excitation module through a current sensor.
A fuel cell diagnostic apparatus comprising the fuel cell diagnostic harmonic current generation system as described in any of the above.
Compared with the prior art, the technical scheme provided by the invention has the following advantages:
according to the fuel cell diagnosis harmonic current generation method, the system and the diagnosis device, the PR controller is adopted to replace a traditional PI controller, so that the forward gain of the PR controller at the fixed frequency of the given diagnosis harmonic current can be improved by utilizing the resonance principle, the tracking control without static errors of the PR controller is realized by enabling the gain to tend to be infinite, the quality, the control precision and the following performance of the diagnosis harmonic current can be improved, and the dynamic response capability of the system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a fuel cell diagnostic harmonic current generation system according to an embodiment of the present invention;
FIG. 2 is a Bode diagram of a digital PR controller according to an embodiment of the invention;
FIG. 3 is a schematic diagram illustrating the connection relationship of a diagnostic harmonic current generation system according to an embodiment of the present invention;
FIG. 4 is a graph of a given diagnostic harmonic current and an actual diagnostic harmonic current provided by an embodiment of the present invention;
FIG. 5 is a graph of total output current of a fuel cell provided by an embodiment of the present invention;
FIG. 6 is a fuel cell diagnostic harmonic mass analysis plot provided by an embodiment of the present invention;
fig. 7 is a flow chart of a fuel cell diagnostic harmonic current generation method according to an embodiment of the present invention.
Detailed Description
As mentioned in the background, the quality and control accuracy of the diagnostic harmonic currents generated by the prior art remains to be improved. The inventor researches and discovers that the conventional fuel cell diagnosis harmonic current generation method is controlled by a conventional Proportional Integral (PI) controller.
Since the conventional PI controller is a first-order controller, the gain at a fixed frequency of a given diagnostic harmonic current is finite, and thus, a steady-state error, i.e., a phase error and an amplitude error, occurs when tracking and controlling the harmonic current signal. Although the gain of the PI controller can be increased by increasing the scaling factor to reduce the static error, it is not possible to eliminate the static error. The presence of static errors may result in the generation of diagnostic harmonic currents of which the quality and control accuracy cannot be further improved.
Based on this, the present invention provides a fuel cell diagnostic harmonic current generation method and system, and a diagnostic device to overcome the above problems of the prior art, wherein the fuel cell diagnostic harmonic current generation system comprises:
the harmonic excitation control circuit comprises a control module and a harmonic excitation module, wherein the control module comprises a comparator, a PR controller and a voltage modulation module;
the comparator is used for calculating the difference value between the given diagnosis harmonic current and the actual diagnosis harmonic current and transmitting the difference value to the PR controller;
the PR controller is used for generating a control signal according to the difference value;
the voltage modulation module is used for carrying out pulse width modulation on the control signal and transmitting the modulated control signal to the harmonic excitation module;
the harmonic excitation module is used for generating diagnosis harmonic current according to the modulated control signal.
According to the method, the system and the diagnostic device for generating the diagnostic harmonic current of the fuel cell, the PR controller is adopted to replace a traditional PI controller, so that the forward gain of the PR controller at the fixed frequency of the given diagnostic harmonic current can be improved by utilizing the resonance principle, the tracking control without static errors of the PR controller is realized by enabling the gain to tend to be infinite, the quality, the control precision and the following performance of the diagnostic harmonic current can be improved, and the dynamic response capability of the system is improved.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that the above is the core idea of the present invention, and the above objects, features and advantages of the present invention can be more clearly understood. 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 invention.
An embodiment of the present invention provides a fuel cell diagnostic harmonic current generation system, as shown in fig. 1, including a control module 1 and a harmonic excitation module 2, where the control module 1 includes a comparator 10, a PR (proportional resonance) controller 11, and a voltage modulation module 12;
the comparator 10 is configured to calculate a difference between a given diagnostic harmonic current and an actual diagnostic harmonic current, and transmit the difference to the PR controller 11;
the PR controller 11 is used for generating a control signal according to the difference value;
the voltage modulation module 12 is configured to perform pulse width modulation on the control signal and transmit the modulated control signal to the harmonic excitation module 2;
the harmonic excitation module 2 is configured to generate a diagnostic harmonic current according to the modulated control signal.
In an embodiment of the present invention, the given diagnostic harmonic current is a given diagnostic harmonic current set according to a diagnostic harmonic current to be generated, the frequency and amplitude of the given diagnostic harmonic current being fixed. After the difference value between the given diagnosis harmonic current and the actual diagnosis harmonic current is calculated by the comparator 10, the PR controller 11 generates a control signal according to the difference value, the voltage modulation module 12 performs pulse width modulation on the control signal, and the modulated control signal controls the harmonic excitation module 2 to generate the diagnosis harmonic current, that is, the PR controller 11 can realize tracking control of the diagnosis harmonic current, so that the diagnosis harmonic current generated by the harmonic excitation module 2, that is, the actual diagnosis harmonic current, is infinitely close to the given diagnosis harmonic current.
In the embodiment of the present invention, the transfer function of the PR controller 11 is as follows:
wherein k isp、kr、w0Respectively proportional gain, resonance gain and resonance frequency, s being the laplace operator.
Since the transfer function of the PR controller 11 has two open-loop poles at a fixed frequency on the imaginary axis, a resonance can be formed at that frequency, so that the gain of the PR controller 11 at the design frequency, i.e., at the fixed frequency for a given diagnostic harmonic current, approaches infinity, and a fixed frequency-free tracking control given to the sine of that fixed frequency can be achieved.
Based on this, in the embodiment of the present invention, the PR controller 11 is adopted to replace the conventional PI controller, the forward gain of the PR controller 11 at the fixed frequency of the given diagnostic harmonic current is improved by using the resonance principle, and by making the gain tend to infinity, the tracking control of the PR controller 11 without static error is realized, so that the quality, the control accuracy and the following performance of the diagnostic harmonic current are improved, and the dynamic response capability of the system is improved.
However, in practical applications, since an ideal PR controller is difficult to implement and in order to avoid the system instability problem caused by infinite gain, in another embodiment of the present invention, the PR controller 11 is a quasi-PR controller, and the transfer function of the quasi-PR controller is:
wherein k isp、kr、w0Proportional gain, resonant gain and resonant frequency, w, respectivelycIs the bandwidth coefficient and s is the laplacian operator.
Wherein, w0It was 314.1593 rad/s. The quasi-PR controller has 3 control parameters kp，kr，wcBy designing these three control parameters, the performance of the fuel cell diagnostic harmonic current generation system can be improved. Wherein k ispIs a proportional parameter and needs to be calibrated according to simulation and actual results; k is a radical ofrOnly the gain of the quasi-PR controller is affected, while the bandwidth of the aligned PR controller has no effect. k is a radical ofrCan increase the gain and reduce the steady state error, however, if k is increasedrToo large, harmonic components can be amplified, which can degrade current quality at fundamental frequencies, i.e., degrade a given diagnosisThe quality of the diagnostic harmonic current generated at a fixed frequency of the harmonic current. With wcBecause of the increased bandwidth of the quasi-PR controller and the increased gain at non-fundamental frequencies, it is desirable to determine the bandwidth of the PR controller based on the allowable fluctuation range of the excitation frequency, i.e., the fixed frequency of the given diagnostic harmonic current, and to select wc。
Alternatively, in embodiments of the invention, kp＝0.1；kr＝1；wc＝5，w0 2Is approximately 105And further obtaining a continuous transfer function of the quasi-PR controller as follows:
since the fuel cell system on-board controller is a digital controller system, a digital controller is used, and therefore, the alignment PR controller needs to be discretized. Using bilinear variation, the variation equation is:
after the continuous transfer function is brought in, a discretized quasi-PR controller is obtained:
after amplitude-frequency analysis and phase-frequency analysis are performed on the discretized quasi-PR controller, as shown in FIG. 2, the amplitude and phase characteristics at the design point (50Hz) meet the requirements.
Optionally, the voltage Modulation module 12 in the embodiment of the present invention adopts an SPWM (Sinusoidal Pulse Width Modulation) algorithm based on a bipolar triangular carrier. That is to say, in the embodiment of the present invention, the voltage modulation module 12 adopts a bipolar PWM modulation method, the carrier wave is a bipolar triangular wave, the carrier frequency is 10k, and the modulated wave is the control signal that is the output of the PR controller 11.
Optionally, as shown in fig. 3, the harmonic excitation module 2 in the embodiment of the present invention is a two-phase bridge inversion topology, a first input end of the topology is connected to a first output end of the boost DC-DC module 4, and a second input end of the topology is connected to a second output end of the boost DC-DC module 4;
the first output end of the topological structure is connected with the first output end of the fuel cell stack 3 through a first load 6, and the second output end of the topological structure is connected with the second output end of the fuel cell stack 3 through a second load 7;
a first input terminal of the boost DC-DC module 4 is connected to a first output terminal of the fuel cell stack 3, and a second input terminal of the boost DC-DC module 4 is connected to a second output terminal of the fuel cell stack 3.
Wherein the first load 6 and the second load 7 both comprise resistive-inductive loads. The application of positive and negative voltage values to the resistive load, based on the characteristics of the resistive load, may reflect the rate and ability of the positive and negative change in current. In order to accurately control the current with high frequency change, the invention provides a novel bridge topology by utilizing the characteristic that the voltages of two ends of DC-DC at the rear end of the fuel cell are the same, namely a two-phase bridge inversion topology structure shown in figure 3, and when bipolar voltage modulation is carried out, a higher positive and negative level can be provided for a load, so that the dynamic property of the controlled current is improved.
In addition, the first output terminal and the first input terminal are positive electrodes, and the second output terminal and the second input terminal are negative electrodes. i ═ i1+i2，i1The diagnostic harmonic current, i, generated by the harmonic excitation module 2 of the branch and injected at the output of the fuel cell stack 32Is an output main circuit of the fuel cell for supplying current to a vehicle-mounted load or the like.
As shown in fig. 3, the fuel cell diagnostic harmonic current generation system provided by the embodiment of the present invention further includes a current sensor 5; the current sensor 5 is configured to detect an actual diagnostic harmonic current output by the harmonic excitation module 2 and transmit the actual diagnostic harmonic current to the comparator 10 in the control module 1.
The fuel cell diagnosis harmonic current generation system provided by the invention is simulated, the fixed frequency of the diagnosis harmonic current is given as 50Hz, the fixed amplitude of the diagnosis harmonic current is given as 25A, and the control precision and the following capability of the control module 1 are verified. As shown in fig. 4, the given diagnostic harmonic current and the actual diagnostic harmonic current have good dynamic followability; as shown in fig. 5, the fuel cell output is superimposed with the diagnostic harmonic current as needed; as shown in fig. 6, the THD (harmonic distortion) is 1.8%, the diagnostic harmonic current quality is good, and can meet the fuel cell on-board diagnostic application.
At present, most of fuel cell vehicles need to inject diagnostic harmonic current at the output end of a stack, and diagnose a fuel cell according to the injected current and voltage response, so as to optimize the control of a fuel cell system. The precision and the operation quantity of the diagnosis algorithm are closely related to the Distortion rate of the injected Harmonic current, so that the control of the frequency and the amplitude of the Harmonic at the output end of the fuel cell stack and the effective reduction of the Total Harmonic Distortion (THD) of the current Harmonic are one of the core technologies of the on-line diagnosis of the fuel cell vehicle.
The fuel cell diagnosis harmonic current generation system based on the PR controller provided by the embodiment of the invention injects high-frequency harmonic current under the condition of not influencing the normal operation of the fuel cell, provides an effective physical excitation method for the on-line diagnosis of the fuel cell, and has the advantages of high harmonic quality, small power level, low control system cost and the like.
Embodiments of the present invention further provide a fuel cell diagnostic apparatus, including the fuel cell diagnostic harmonic current generation system provided in any of the above embodiments. The fuel cell diagnostic apparatus further includes a voltage sensor or the like for detecting a voltage between the first output terminal and the second output terminal of the fuel cell stack and transmitting the voltage to the control module so that the control module diagnoses the fuel cell based on the injected diagnostic harmonic current and voltage.
An embodiment of the present invention further provides a method for generating a fuel cell diagnostic harmonic current, which is applied to the fuel cell diagnostic harmonic current generation system provided in any of the above embodiments, and as shown in fig. 7, the method includes:
s101: calculating a difference between the given diagnostic harmonic current and the actual diagnostic harmonic current by a comparator;
s102: generating a control signal according to the difference value through a PR controller;
s103: performing pulse width modulation on the control signal through a voltage modulation module;
s104: and generating a diagnostic harmonic current according to the modulated control signal through a harmonic excitation module.
In an embodiment of the present invention, the given diagnostic harmonic current is a given diagnostic harmonic current set according to a diagnostic harmonic current to be generated, the frequency and amplitude of the given diagnostic harmonic current being fixed. Referring to fig. 1, after a difference between a given diagnostic harmonic current and an actual diagnostic harmonic current is calculated by a comparator 10, a PR controller 11 generates a control signal according to the difference, and after the control signal is pulse-width modulated by a voltage modulation module 12, the modulated control signal controls a harmonic excitation module 2 to generate a diagnostic harmonic current, that is, the PR controller 11 can realize tracking control of the diagnostic harmonic current, so that the diagnostic harmonic current generated by the harmonic excitation module 2, that is, the actual diagnostic harmonic current, is infinitely close to the given diagnostic harmonic current.
Optionally, the method provided in the embodiment of the present invention further includes:
detecting an actual diagnostic harmonic current output by the harmonic excitation module through a current sensor.
According to the method for generating the diagnostic harmonic current of the fuel cell, the PR controller is adopted to replace a traditional PI controller, so that the forward gain of the PR controller at the fixed frequency of the given diagnostic harmonic current can be improved by utilizing the resonance principle, the tracking control without static errors of the PR controller is realized by enabling the gain to tend to be infinite, the quality, the control precision and the following performance of the diagnostic harmonic current can be further improved, and the dynamic response capability of a system is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. 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 invention. Thus, the present invention 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 fuel cell diagnostic harmonic current generation system comprising a control module and a harmonic excitation module, the control module comprising a comparator, a PR controller and a voltage modulation module;
the comparator is used for calculating the difference value between the given diagnosis harmonic current and the actual diagnosis harmonic current and transmitting the difference value to the PR controller;
the PR controller is used for generating a control signal according to the difference value;
the voltage modulation module is used for carrying out pulse width modulation on the control signal and transmitting the modulated control signal to the harmonic excitation module;
the harmonic excitation module is used for generating diagnosis harmonic current according to the modulated control signal.
2. The fuel cell diagnostic harmonic current generation system of claim 1 wherein the transfer function of the PR controller is:
wherein k isp、kr、w0Respectively proportional gain, resonance gain and resonance frequency, s being the laplace operator.
3. The fuel cell diagnostic harmonic current generation system of claim 1 wherein the PR controller is a quasi-PR controller having a transfer function of:
wherein k isp、kr、w0Proportional gain, resonant gain and resonant frequency, w, respectivelycIs the bandwidth coefficient and s is the laplacian operator.
4. The fuel cell diagnostic harmonic current generation system of claim 3 wherein the quasi-PR controller is a discretized PR controller having a transfer function of:
5. the fuel cell diagnostic harmonic current generation system of claim 1 wherein the harmonic excitation module is a two-phase bridge inverter topology.
6. The fuel cell diagnostic harmonic current generation system of claim 5 wherein a first input of the topology is connected to a first output of a boost DC-DC module and a second input of the topology is connected to a second output of the boost DC-DC module;
the first output end of the topological structure is connected with the first output end of the fuel cell stack through a first load, and the second output end of the topological structure is connected with the second output end of the fuel cell stack through a second load;
the first input end of the boosting DC-DC module is connected with the first output end of the fuel cell stack, and the second input end of the boosting DC-DC module is connected with the second output end of the fuel cell stack.
7. The fuel cell diagnostic harmonic current generation system of claim 1 further comprising a current sensor;
the current sensor is used for detecting the actual diagnosis harmonic current output by the harmonic excitation module and transmitting the actual diagnosis harmonic current to the comparator.
8. A fuel cell diagnostic harmonic current generation method applied to the fuel cell diagnostic harmonic current generation system according to any one of claims 1 to 7, the generation method comprising:
calculating a difference between the given diagnostic harmonic current and the actual diagnostic harmonic current by a comparator;
generating a control signal according to the difference value through a PR controller;
performing pulse width modulation on the control signal through a voltage modulation module;
and generating a diagnostic harmonic current according to the modulated control signal through a harmonic excitation module.
9. The fuel cell diagnostic harmonic current generation method of claim 8, further comprising:
detecting an actual diagnostic harmonic current output by the harmonic excitation module through a current sensor.
10. A fuel cell diagnostic device comprising the fuel cell diagnostic harmonic current generation system according to any one of claims 1 to 7.
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| JP4967380B2 (en) * | 2006-03-07 | 2012-07-04 | パナソニック株式会社 | Fuel cell power generation system |
| US8872392B1 (en) * | 2008-07-08 | 2014-10-28 | Bloom Energy Corporation | Fuel cell control system |
| KR101592760B1 (en) * | 2014-08-29 | 2016-02-12 | 현대자동차주식회사 | Apparatus for diagnising state of fuel cell stack and method thereof |
| KR101702224B1 (en) * | 2015-06-23 | 2017-02-03 | 강남대학교 산학협력단 | Apparatus for monitoring condition of stack of fuel cell using spectrum and method thereof |
| CN105116340B (en) * | 2015-08-13 | 2018-04-03 | 北京交通大学 | Battery life detecting system and harmonic current control method based on harmonic detecting |
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