CN111952646A - Decoupling control method and system for fuel cell air system - Google Patents
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Abstract
The invention relates to a decoupling control method and a system of a fuel cell air system, which comprises the following steps: identifying and calculating air parameters to generate a gain coefficient and a time coefficient of a decoupling control matrix, wherein the air parameters are input variables and output variables obtained by test tests; generating an input and output parameter model in an air parameter control loop according to an autoregressive moving average model with a controlled variable; substituting a gain coefficient and a time coefficient of a decoupling control matrix into an input and output parameter model in the air parameter control loop to generate a system transfer function relation matrix; and decoupling the system transfer function relation matrix to generate a decoupling control matrix, and designing a decoupling controller according to the decoupling control matrix. The invention provides a method which can enable parameters with strong coupling in a fuel cell air system to be controlled relatively independently, namely decoupling control, real-time online operation is realized, and the stable operation of the whole system is more facilitated.
Description
Technical Field
The invention relates to the field of decoupling control, in particular to a decoupling control method and system for a fuel cell air system.
Background
With the commercialization of fuel cells, many fuel cell applications such as fuel cell vehicles, fuel cell power supplies, and small and medium-sized fuel cell power plants have been developed. Fuel cell vehicles are an important development direction for future energy technologies, with the background that the environment and energy are becoming global co-concerns. The proton exchange membrane fuel cell has the advantages of high energy conversion rate, quick start, long service life, high specific power and specific energy and the like, consumes hydrogen and oxygen in reaction, only generates water and heat, and does not pollute the environment. All major automobile manufacturers and research and development organizations in the world consider that fuel cell automobiles with the advantages of high efficiency and zero emission have wide development prospects.
Proton Exchange Membrane Fuel Cells (PEMFCs) are the most widely used energy supply source for fuel cell vehicles, and there is a need to reduce mass, reduce volume, and increase power density. The supply of sufficient oxygen to the cathode of a fuel cell system is critical in determining the useful life of the fuel cell system and in improving the performance and efficiency of the system. Research shows that when the fuel cell works under the condition of increasing pressure, the activation loss and the loss in the mass transfer process can be reduced, the activity of the catalyst is improved, and the physical parameters in the fuel cell stack are uniformly distributed. Therefore, in order to improve the performance and net output of the fuel cell system, it is necessary to increase the supply air pressure of the fuel cell system. However, as the pressure increases, many additional devices are required to provide the high-pressure air required by the fuel cell, and the air parameters of the fuel cell system are strongly coupled, time-varying and nonlinear variables, the air pressure and the air flow of the fuel electrical system are correlated and influenced when the fuel electrical system is in operation, so that the system control process is very complicated. Therefore, there is a need for a control algorithm that effectively decouples the air parameters of the fuel cell air circuit.
Disclosure of Invention
The invention provides a decoupling control method and a decoupling control system for a fuel cell air system, which solve the problem that the air parameter of the fuel cell system is a strongly coupled, time-varying and nonlinear variable, and the air pressure and the air flow of the fuel cell system are mutually associated and mutually influenced when the fuel cell system runs, so that the control process of the system is very complicated.
The invention provides a decoupling control method of a fuel cell air system for solving the technical problem, which comprises the following steps:
s1, identifying and calculating air parameters to generate a gain coefficient and a time coefficient of a decoupling control matrix, wherein the air parameters are input variables and output variables obtained by a test;
s2, generating an input and output parameter model in the air parameter control loop according to the autoregressive moving average model with the controlled variable; substituting the gain coefficient and the time coefficient of the decoupling control matrix into an input and output parameter model in the air parameter control loop to generate a system transfer function relation matrix;
and S3, decoupling the system transfer function relation matrix to generate a decoupling control matrix, and designing a decoupling controller according to the decoupling control matrix.
Further, in the decoupling control method of the fuel cell air system of the present invention, the specific formula of the system transfer function relationship matrix in step S2 is as follows:
wherein y1 is the air flow output value and y2 is the air pressure output value; u1 is the rotating speed of the air compressor, and u2 is the opening degree of the back pressure valve; b11,b12,b21,b22Gain coefficients for the decoupling control matrix; a is11，a12,a21,a22Time coefficients for the decoupling control matrix; s is the laplace operator.
Further, in the decoupling control method of the fuel cell air system of the present invention, the specific formula of the decoupling control matrix in step S3 is as follows:
wherein Gp11(s)、Gp12(s)、Gp21(s)、Gp22(s) is the system transfer function.
Further, in the decoupling control method of the fuel cell air system according to the present invention, the identification calculation in step S1 employs a batch least squares algorithm.
Further, in the decoupling control method of the fuel cell air system of the present invention, in step S3, the decoupling control matrix is a decoupling control matrix based on off-line identification.
Further, in the decoupling control method of the fuel cell air system according to the present invention, the identification calculation in step S1 employs a recursive least squares algorithm.
Further, in the decoupling control method of the fuel cell air system, the decoupling control matrix in the step S3 is a decoupling control matrix identified on line in real time.
Further, the invention discloses a decoupling control system of a fuel cell air system, which comprises the following modules:
the transfer function generation module is used for carrying out identification calculation on system data obtained by a test experiment to generate a system transfer function;
the system transfer function relation matrix generation module is used for generating an input parameter model and an output parameter model in the air parameter control loop according to the autoregressive moving average model with the control quantity; substituting the gain coefficient and the time coefficient of the decoupling control matrix into an input and output parameter model in the air parameter control loop to generate a system transfer function relation matrix;
and the decoupling control matrix module is used for generating a decoupling control matrix according to the system transfer function relation matrix.
Further, in the decoupling control system of the fuel cell air system of the present invention, the specific formula of the system transfer function relationship matrix in the system transfer function relationship matrix generation module is as follows:
wherein y1 is the air flow output value and y2 is the air pressure output value; u1 is the rotating speed of the air compressor, and u2 is the opening degree of the back pressure valve; b11,b12,b21,b22Gain coefficients for the decoupling control matrix; a is11，a12,a21,a22Time coefficients for the decoupling control matrix; s is the laplace operator.
Further, in the decoupling control system of the fuel cell air system of the present invention, a specific formula of the decoupling control matrix in the decoupling control matrix module is as follows:
wherein Gp11(s)、Gp12(s)、Gp21(s)、Gp22(s) is the system transfer function.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a method which can enable parameters with strong coupling in a fuel cell air system to be controlled relatively independently, namely decoupling control, real-time online operation is realized, and the stable operation of the whole system is more facilitated. Meanwhile, the pressure and the flow of the air supply of the fuel cell system can be optimized and coordinately controlled, so that the system can obtain good dynamic and static characteristics integrally.
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The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a block diagram of the decoupling control of the present invention;
fig. 2 is a structural view of a fuel cell air system of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, which is a structure diagram of the decoupling control of the present invention, a multivariable control system is a control system with advanced and complex processes, and the air flow and air pressure are two variables with strong coupling in the fuel cell air system, including an air flow control loop and an air pressure control loop. Increasing the speed of the air compressor increases the air flow and air pressure, while decreasing the opening of the back pressure valve decreases the air flow and increases the air pressure. In the double-loop control of the fuel cell air system, the air flow and the air pressure are variables with nonlinearity, time-varying property and strong coupling, and in order to enable the air flow and air pressure control loop to act on line independently, the decoupling design needs to be carried out on two parameters with strong coupling of the air flow and the air pressure of the fuel cell air system.
The invention provides a decoupling control method and a system of a fuel cell air system, according to the test data of the actual experiment, an input variable model and an output variable model in an air parameter control loop are established by adopting a controlled auto-regressive moving average model (CARMA model) with a controlled quantity, a system transfer function is obtained by batch processing least square algorithm identification, a decoupler is designed by a diagonal matrix decoupling method, a system transfer function relation matrix of the relation between an input variable and an output variable is obtained, a transfer function is obtained by identification calculation of the tested experimental data by Matlab, the rotating speed and the opening degree of a back pressure valve of an air compressor can describe the dynamic characteristics of the air compressor and the back pressure valve by a first-order inertial link approximately, if the system precision needs to be improved, the position can be regarded as a second-order system or higher, the invention designs a decoupling controller by a diagonal matrix method, the decoupling control matrix based on off-line identification is obtained. Furthermore, the system real-time control model researched by the invention is in the process of dynamic random change, and in order to obtain a better identification effect, the model parameters are identified by adopting a recursive least square method to obtain a decoupling control matrix for online real-time identification of the fuel cell air system.
The invention discloses a decoupling control method of a fuel cell air system, which specifically comprises the following steps:
s1, identifying and calculating air parameters to generate a gain coefficient and a time coefficient of a decoupling control matrix, wherein the air parameters are input variables and output variables obtained by a test;
s2, generating an input and output parameter model in the air parameter control loop according to the autoregressive moving average model with the controlled variable; substituting the gain coefficient and the time coefficient of the decoupling control matrix into an input and output parameter model in the air parameter control loop to generate a system transfer function relation matrix;
and S3, decoupling the system transfer function relation matrix to generate a decoupling control matrix, and designing a decoupling controller according to the decoupling control matrix.
In step S1, the air parameters are specifically: output variables including air flow y1 and air pressure y 2; input variables including an air compressor rotation speed u1 and a back pressure valve opening u 2; and an air flow adjustment amount uc1 and an air pressure adjustment amount uc2 output from the PID controller. Through identifying and calculating the parameters in step S1, the gain coefficient and the time coefficient of the decoupling control matrix can be obtained as follows:
if test data of part of actual experiments are obtained, the air parameters can be identified and calculated by a batch least square algorithm, and a decoupling control matrix based on off-line identification is finally obtained, wherein the batch least square algorithm is as follows:
setting an air parameter matrix as
There are L groups of input/output observation data obtained from practical experiment, then the air parameter matrix
The calculation process of (2) is as follows:
by
Φ(k)＝[-y(k-1),u(k-1)]T，
Air parameter matrix can be identified
Wherein k is the number of the observed data, and k is 1, 2. y (k) is the k-th set of output data matrix observed in practical experiment, and y (k) is [ y [1(k),y2(k)],y1(k) Is the air flow rate of the k group, y2(k) Air pressure for the kth group; u (k) is the k-th input data matrix observed in practical experiment, u (k) is [ u [, ]1(k),u2(k)]，u1(k) Speed of air compressor of kth group, u2(k) The opening degree of the back pressure valve of the kth group; finally, obtaining a system transfer function matrix:
wherein, b11,b12,b21,b22Gain coefficients for the decoupling control matrix; a is11，a12,a21,a22Time coefficients of the control matrix are decoupled.
If the recursive least square algorithm is adopted for identification and calculation, the fuel cell air system can be operated on line in real time, and finally the decoupling control matrix identified on line in real time is obtained. The specific recursion process is as follows:
the k-th set of air parameter matrices
Substituting equation (3) can obtain the system transfer function coefficient matrix of the k-1 th group of the fuel cell air system during operation
Where I is the identity matrix, P (k) is the covariance matrix, and K (k) is the gain vector.
In the above formula, an initial value P (0) is determined,
if the data of the actual experiment are not measured, directly making:
wherein α is a sufficiently large positive real number (10)4-1010) And is a zero vector.
If test data of L groups of actual experiments are obtained, a batch least square algorithm is utilized:
in step S2, an autoregressive moving average model with controlled variables is used to establish an input and output parameter model in the air parameter control loop, as follows:
A(s)y(t)＝B(s)u(t)+C(s)ζ(t) (6)
where ζ (t) is white noise; a(s), B(s), C(s) are system transfer functions, y (t) are air parameter output values, and u (t) are air parameter input values.
Gain factor b according to decoupling control matrix11,b12,b21,b22Decoupling the time coefficients a of the control matrix11，a12,a21,a22And the model provided by the formula (6) can be derived to obtain a system transfer function relation matrix, which is as follows:
wherein y1 is the air flow output value and y2 is the air pressure output value; u1 is the rotating speed of the air compressor, and u2 is the opening degree of the back pressure valve; s is a laplace operator; b11,b12,b21,b22Gain coefficients for the decoupling control matrix in equation (2); a is11，a12,a21,a22Is the time coefficient of the decoupling control matrix in equation (2).
In step S3, according to the decoupling concept, the system transfer function relationship matrix may be further transformed as follows:
wherein, Y1(s) is the air flow transfer function, Y2(s) is the air pressure transfer function, Uc1(s) is the air flow regulation transfer function, Uc2(s) is the air pressure regulation transfer function if
As can be seen from equation (8):
and obtaining a decoupling control matrix:
wherein Gp is11(s)、Gp12(s)、Gp21(s)、Gp22(s) is a system transfer function, and is calculated by gain coefficients b11, b12, b21 and b22 of the decoupling control matrix and time coefficients a11, a12, a21 and a22 of the decoupling control matrix; parameter N in the decoupled control matrix obtained by equation (10)11(s)、N12(s)、N21(s)、N22(s) designing a decoupling controller.
Referring to fig. 2, it is a structural diagram of a fuel cell air system of the present invention, the fuel cell air supply system mainly includes an air filter, an air compressor, an intercooler, a humidifier, a back pressure valve, a sensor and a pipeline, air enters a fuel cell stack through the air filter, the intercooler and the humidifier, and both the air compressor rotation speed and the back pressure valve opening can affect the air flow and pressure of the fuel cell.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A method of decoupled control of a fuel cell air system, comprising the steps of:
s1, identifying and calculating air parameters to generate a gain coefficient and a time coefficient of a decoupling control matrix, wherein the air parameters are input variables and output variables obtained by a test;
s2, generating an input and output parameter model in the air parameter control loop according to the autoregressive moving average model with the controlled variable; substituting the gain coefficient and the time coefficient of the decoupling control matrix into an input and output parameter model in the air parameter control loop to generate a system transfer function relation matrix;
and S3, decoupling the system transfer function relation matrix to generate a decoupling control matrix, and designing a decoupling controller according to the decoupling control matrix.
2. The fuel cell air system decoupling control method of claim 1, wherein the system transfer function relationship matrix in step S2 is specifically formulated as:
wherein y1 is the air flow output value and y2 is the air pressure output value; u1 is the rotating speed of the air compressor, and u2 is the opening degree of the back pressure valve; b11,b12,b21,b22Gain coefficients for the decoupling control matrix; a is11，a12,a21,a22Time coefficients for the decoupling control matrix; s is the laplace operator.
3. The decoupling control method of the fuel cell air system according to claim 2, wherein the decoupling control matrix in step S3 is specifically formulated as:
wherein Gp11(s)、Gp12(s)、Gp21(s)、Gp22(s) is the system transfer function.
4. The fuel cell air system decoupling control method of claim 1 wherein said identification calculation in step S1 employs a batch least squares algorithm.
5. The fuel cell air system decoupling control method of claim 4, wherein the decoupling control matrix in step S3 is an offline identification-based decoupling control matrix.
6. The fuel cell air system decoupling control method of claim 1, wherein said identification calculation in step S1 employs a recursive least squares algorithm.
7. The decoupling control method of the fuel cell air system of claim 6, wherein the decoupling control matrix in the step S3 is an online real-time identified decoupling control matrix.
8. A decoupled control system for a fuel cell air system, comprising the following modules:
the transfer function generation module is used for carrying out identification calculation on system data obtained by a test experiment to generate a system transfer function;
the system transfer function relation matrix generation module is used for generating an input parameter model and an output parameter model in the air parameter control loop according to the autoregressive moving average model with the control quantity; substituting the gain coefficient and the time coefficient of the decoupling control matrix into an input and output parameter model in the air parameter control loop to generate a system transfer function relation matrix;
and the decoupling control matrix module is used for generating a decoupling control matrix according to the system transfer function relation matrix.
9. The fuel cell air system decoupling control system of claim 8 wherein said system transfer function relationship matrix generation module has a system transfer function relationship matrix having the specific formula:
wherein y1 is the air flow output value and y2 is the air pressure output value; u1 is the rotating speed of the air compressor, and u2 is the opening degree of the back pressure valve; b11,b12,b21,b22Gain coefficients for the decoupling control matrix; a is11，a12,a21,a22Time coefficients for the decoupling control matrix; s is the laplace operator.
10. The fuel cell air system decoupling control system of claim 9, wherein the decoupling control matrix in the decoupling control matrix module is specifically formulated as:
wherein Gp11(s)、Gp12(s)、Gp21(s)、Gp22(s) is the system transfer function.
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