CN117810493A - Control method and device of battery air inlet system, electronic equipment and medium - Google Patents
Control method and device of battery air inlet system, electronic equipment and medium Download PDFInfo
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- 230000036284 oxygen consumption Effects 0.000 claims description 34
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 14
- 239000001301 oxygen Substances 0.000 claims description 14
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Abstract
The invention discloses a control method, a device, electronic equipment and a medium of a battery air inlet system, which relate to the field of control of the fuel battery air inlet system, and comprise the steps of firstly determining the current total current of a plurality of electric stacks of a fuel battery, then determining the current outlet flow, expected rotating speed and response time of an air compressor of the air inlet system of the fuel battery, then determining the expected air inlet flow error and expected air inlet pressure error of the air inlet system according to the determined current total current, the current outlet flow, the expected rotating speed and the response time, finally determining the expected opening of a back pressure valve of the air inlet system based on the determined expected air inlet flow error and expected air inlet pressure error, controlling the current rotating speed of the air compressor to be converted into the expected rotating speed and controlling the current opening of the back pressure valve to be converted into the expected opening, so as to accurately control the air inlet process of the fuel battery air inlet system, and improving the stability of the air inlet system.
Description
Technical Field
The present invention relates to the field of control of a fuel cell air intake system, and in particular, to a method, an apparatus, an electronic device, and a medium for controlling a fuel cell air intake system.
Background
The fuel cell is a device for converting chemical energy into electric energy, and has the advantages of zero emission and no pollution, wherein the proton exchange membrane fuel cell (Proton exchange membrane fuel cell, PEMFC) has the advantages of high power density, high efficiency and low working temperature, and is widely focused. The core component of the proton exchange membrane fuel cell is a galvanic pile, and air and hydrogen are respectively introduced into the cathode side and the anode side of the galvanic pile, so that electrochemical reaction occurs under the action of a catalyst, electric energy is generated, and the accessory product is water, so that the environment is not polluted. The proton exchange membrane fuel cell system comprises a cathode air inlet system, an anode air inlet system, a temperature management system, a humidity management system and an energy management system, wherein the cathode air inlet system is used for providing air with certain flow and pressure for the electric pile, so that the consumption of the electric pile during power generation is met, and the electric pile can continuously and stably generate power.
The cathode air inlet system comprises an air filter, an air compressor, an air inlet manifold, an intercooler, a humidifier, a pile cathode and a back pressure valve, wherein the air compressor is used for providing air with a certain flow rate for the pile, controlling the air inlet flow rate by adjusting the rotating speed, the back pressure valve is used for controlling the air side exhaust flow rate, adjusting the exhaust flow rate by adjusting the opening of the back pressure valve, and further controlling the air side pressure. The air inflow and the pressure can influence the performance and the service life of the electric pile, oxygen hunger and thirst can be generated due to insufficient air inflow, the service life of the proton exchange membrane is reduced, the air compressor energy consumption can be increased due to excessive air inflow, and the system efficiency is reduced; the pressure is more critical to the proton exchange membrane, and excessive pressure difference between the cathode side and the anode side can cause permanent damage to the proton exchange membrane caused by rupture, so accurate control of the gas flow and pressure on the cathode side is important for stable operation of the system. However, the air side air flow and the pressure have coupling characteristics, and changing the rotation speed of the air compressor or the opening degree of the back pressure valve can simultaneously affect the flow and the pressure, but no method in the prior art can accurately control the cathode side air flow and the pressure of the electric pile.
Disclosure of Invention
The invention aims to provide a control method, a device, electronic equipment and a medium of a battery air inlet system, wherein the control method, the device, the electronic equipment and the medium can accurately determine the expected opening of a back pressure valve in the air inlet system corresponding to a fuel battery, control the current rotation speed of an air compressor in the air inlet system to be converted into the expected rotation speed and control the current opening of the back pressure valve to be converted into the expected opening, so as to accurately control the air inlet process of the fuel battery air inlet system, and improve the stability of the air inlet system.
In order to solve the technical problems, the invention provides a control method of a battery air inlet system, comprising the following steps:
determining a present total current of a plurality of stacks of the fuel cell;
determining a current outlet flow, a desired rotational speed, and a response time of an air compressor of an air intake system of the fuel cell;
determining an expected air inlet flow error and an expected air inlet pressure error of the air inlet system according to the current total current, the current outlet flow, the expected rotating speed and the response time;
and determining the expected opening degree of a back pressure valve of the air inlet system based on the expected air inlet flow error and the expected air inlet pressure error, and controlling the conversion of the current rotating speed of the air compressor into the expected rotating speed and the conversion of the current opening degree of the back pressure valve into the expected opening degree so as to control the air inlet process of the air inlet system.
Optionally, the determining the desired intake air flow error and the desired intake air pressure error of the intake system according to the current total current, the current outlet flow, the desired rotational speed and the response time includes:
determining the number of the electric stacks;
determining a current oxygen consumption value of the air intake system based on the number, the current total current and the oxygen consumption value determining formula;
determining the desired intake air flow error and the desired intake air pressure error according to the current oxygen consumption value, the current outlet flow, the desired rotational speed, and the response time;
wherein, the oxygen consumption value determination formula is:for the current oxygen consumption value, n cell For the number, +.>Is the molar mass of oxygen, F is Faraday constant, I st Is the current.
Optionally, the determining the desired intake air flow error and the desired intake air pressure error according to the current oxygen consumption value, the current outlet flow, the desired rotational speed, and the response time includes:
determining the current volume, the current temperature and the current pressure of the air side of each pile;
the desired intake air flow rate error and the desired intake air pressure error are determined based on the current oxygen amount consumption value, the desired rotational speed, the current outlet flow rate, the response time, the current volume, the current temperature, and the current pressure.
Optionally, the determining the desired intake air flow error and the desired intake air pressure error based on the current oxygen consumption value, the desired rotational speed, the current outlet flow, the response time, the current volume, the current temperature, and the current pressure includes:
establishing an error control model of the air intake system according to the current oxygen consumption value, the expected rotating speed, the current outlet flow, the response time, the current volume, the current temperature and the current pressure;
determining a first error and a second error of the air intake system based on the error control model;
determining the desired intake air flow error and the desired intake air pressure error according to the first error and the second error;
wherein, the error control model is:
wherein W is cp For the current outlet flow rate in question,n being the first derivative of the current outlet flow cp,cmd For the desired rotational speed, T c For the response time b pr For a preset intercept，k c For a first preset gain factor, R a Is the molar mass of air, +.>Is the molar mass of oxygen, T st For the current temperature, V is the current volume, W ca,out For a desired exhaust flow of the back pressure valve, < >>For the current oxygen consumption value, +.>D, being the first derivative of the current pressure 1 D is the first error of the air intake system 2 Is a second error of the air intake system.
Optionally, the determining the first error and the second error of the air intake system based on the error control model includes:
determining a priori state quantity and a priori error covariance of a Kalman estimation model corresponding to the error control model according to the error control model;
determining a dynamic estimation value of the Kalman estimation model based on the prior state quantity and the prior error covariance;
and determining the first error and the second error according to the dynamic estimation value.
Optionally, the determining the desired opening of the back pressure valve of the air intake system based on the desired air intake flow error and the desired air intake pressure error includes:
determining a desired intake air flow rate and a desired intake air pressure;
determining a desired exhaust flow rate of the backpressure valve based on the desired intake flow rate, the desired intake pressure, the desired intake flow rate error, and the desired intake pressure error;
and determining the expected opening according to the expected exhaust flow.
Optionally, the determining the desired exhaust flow of the back pressure valve based on the desired intake air flow, the desired intake air pressure, the desired intake air flow error, and the desired intake air pressure error includes:
determining an intake error model and a desired rotational speed and current exhaust flow model based on the desired intake flow, the desired intake pressure, the desired intake flow error, the desired intake pressure error, and the kalman estimation model;
substituting the desired rotational speed and current exhaust flow rate model into the intake error model to determine the desired exhaust flow rate;
wherein, the air intake error model is:
wherein,for the first derivative of the desired intake air flow error, -/->For the first derivative of the desired intake pressure error, -/->As the first derivative of the desired intake air flow, and (2)>A being the first derivative of the desired intake pressure 11 Equal to->a 21 Equal to->b 11 Equal to->b 22 Equal to->b 23 Equal to->
The desired rotational speed and current exhaust flow model are:
wherein e w E, for the desired intake air flow error p K for the desired intake air pressure error w For a second preset gain factor, k p And a third preset gain factor.
In order to solve the technical problem, the invention also provides a control device of the battery air inlet system, which comprises:
a first determining unit for determining a present total current of a plurality of stacks of the fuel cell;
a second determination unit for determining a current outlet flow rate, a desired rotational speed, and a response time of an air compressor of an intake system of the fuel cell;
a third determining unit configured to determine a desired intake air flow rate error and a desired intake air pressure error of the intake system according to the current total current, the current outlet flow rate, the desired rotational speed, and the response time;
and a fourth determining unit configured to determine a desired opening degree of a back pressure valve of the intake system based on the desired intake air flow rate error and the desired intake air pressure error, and control a conversion of a current rotation speed of the air compressor to the desired rotation speed and a conversion of a current opening degree of the back pressure valve to the desired opening degree to control an intake process of the intake system.
In order to solve the technical problem, the present invention further provides an electronic device, including:
a memory for storing a computer program;
and a processor for implementing the steps of the control method of the battery air intake system as described above when executing the computer program.
To solve the above technical problem, the present invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the control method of the battery intake system as described above.
The invention aims to provide a control method, a device, electronic equipment and a medium of a battery air inlet system, which are characterized in that firstly, the current total current of a plurality of electric stacks of a fuel battery is determined, then the current outlet flow, expected rotating speed and response time of an air compressor of the air inlet system of the fuel battery are determined, then the expected air inlet flow error and expected air inlet pressure error of the air inlet system are determined according to the determined current total current, the current outlet flow, the expected rotating speed and the response time, finally, the expected opening degree of a back pressure valve of the air inlet system is determined based on the determined expected air inlet flow error and expected air inlet pressure error, and the current rotating speed of the air compressor is controlled to be converted into the expected rotating speed and the current opening degree of the back pressure valve is controlled to be converted into the expected opening degree, so that the air inlet process of the fuel battery air inlet system is accurately controlled, and the stability of the air inlet 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 that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a process flow diagram of a method for controlling a battery air intake system according to the present invention;
FIG. 2 is a schematic diagram of a cathode inlet structure of a PEM fuel cell according to the present invention;
FIG. 3 is a schematic diagram of a Kalman estimation algorithm according to the present invention;
fig. 4 is a control block diagram of a battery air intake system provided by the present invention;
fig. 5 is a schematic structural diagram of a control device of a battery air intake system according to the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to the present invention.
Detailed Description
The invention provides a control method, a device, electronic equipment and a medium of a battery air inlet system, wherein the control method, the device, the electronic equipment and the medium can accurately determine the expected opening of a back pressure valve in the air inlet system corresponding to a fuel battery, control the current rotation speed of an air compressor in the air inlet system to be converted into the expected rotation speed and control the current opening of the back pressure valve to be converted into the expected opening, so as to accurately control the air inlet process of the fuel battery air inlet system, and improve the stability of the air inlet system.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a process flow chart of a control method of a battery air intake system according to the present invention. The method comprises the following steps:
s11, determining the current total current of a plurality of electric stacks of the fuel cell;
s12, determining the current outlet flow rate, expected rotating speed and response time of an air compressor of an air inlet system of the fuel cell;
s13, determining an expected air inlet flow error and an expected air inlet pressure error of the air inlet system according to the current total current, the current outlet flow, the expected rotating speed and the response time;
and S14, determining the expected opening degree of a back pressure valve of the air inlet system based on the expected air inlet flow error and the expected air inlet pressure error, and controlling the current rotation speed of the air compressor to be converted into the expected rotation speed and the current opening degree of the back pressure valve to be converted into the expected opening degree so as to control the air inlet process of the air inlet system.
In the invention, because the function of the air compressor in the air inlet system of the fuel cell is to control the air inlet flow of the air inlet system, the function of the back pressure valve is to control the air side pressure of the air inlet system, the accuracy of the cathode side air flow and the pressure of the whole fuel cell is very important to control the stable operation of the air inlet system, the current total current of a plurality of stacks of the fuel cell is required to be determined, then the current outlet flow, the expected rotating speed and the response time of the air compressor of the air inlet system of the fuel cell are determined, then the expected air flow error and the expected air inlet pressure error of the air inlet system are determined according to the determined current total current, the current outlet flow, the expected rotating speed and the response time, finally the expected opening of the back pressure valve of the air inlet system is determined based on the determined expected air flow error and the expected air inlet pressure error, and the current rotating speed of the air compressor is controlled to be converted into the expected rotating speed and the current opening of the back pressure valve is controlled to be the expected opening, and the rotating speed of the air compressor is related to the cathode side air flow of the fuel cell, the opening of the back pressure valve is related to the cathode side pressure of the fuel cell, and the opening of the back pressure valve is controlled to be the air inlet system is controlled, the air flow and the air inlet system is controlled and the back pressure valve is better and the air inlet system is better controlled.
It should be noted that, the schematic diagram of the cathode air intake structure of the fuel cell is shown in fig. 2, and includes an air filter, an air compressor, an intercooler, a humidifier, and a back pressure valve, and the cathode air intake flow and pressure are mainly adjusted by the air compressor and the back pressure valve.
It should also be noted that the technical scheme adopted by the invention is as follows: first, according to the air compressorThe characteristic and ideal gas equation establish a control-oriented fuel cell cathode air inlet model; then, a Kalman estimator is designed to observe the unmodeled dynamics of the system; and finally, designing an error feedback controller based on the model. The cathode air inlet model of the fuel cell provided by the scheme comprises an air compressor air inlet flow model, a back pressure valve exhaust flow model and an air side pressure model. The air compressor inlet air flow model comprises the following contents: linear relationship between intake air flow and rotational speed of screw air compressor: w (W) cp ＝k c N cp +b pr The method comprises the steps of carrying out a first treatment on the surface of the In which W is cp Is the outlet flow of the air compressor, N cp Is the actual rotation speed, k of the air compressor c Is the gain factor of the air compressor flow rate with respect to the rotational speed, b pr Is the intercept related to the pressure ratio; equivalent rotational speed response of air compressor to first-order inertiaThe links can be obtained: />Wherein T is c Is the response time of the air compressor, N cp,cmd A desired rotational speed for the air compressor; the two formulas can be obtained simultaneously: />In->Is the outlet flow W of the air compressor cp Is a first derivative of (a).
It should be noted that, the back pressure valve exhaust flow rate model in the fuel cell cathode intake model is:in which W is ca,out Is the exhaust flow rate of the back pressure valve, θ is the opening degree of the back pressure valve, C D Is the back pressure valve discharge coefficient, A T Is the back pressure valve opening area, +.>Is a general gas constant, T st Is the temperature of the air side of the electric pile, P ca Is the air side pressure and γ is the air insulation coefficient.
It should be noted that the air side pressure model in the fuel cell cathode intake model includes: 1. obtaining an air side pressure model according to an ideal gas equation, wherein the air side pressure model is as follows:
in (1) the->Is the air side pressure P ca R is the first derivative of a Is the molar mass of air, < >>Is oxygen molar mass, V is the volume of the air side of the stack,/-, is>Is the amount of oxygen consumed by the reaction;
2. calculating the oxygen consumption of the reaction according to the currentThe formula is as follows:
wherein n is cell Is the number of single cells of the electric pile, I st Is the current of the galvanic pile, F is Faraday constant,>is the molar mass of oxygen;
the embodiment provides a control method of a battery air inlet system, which comprises the steps of firstly determining the current total current of a plurality of stacks of a fuel battery, then determining the current outlet flow, expected rotating speed and response time of an air compressor of the air inlet system of the fuel battery, then determining the expected air inlet flow error and the expected air inlet pressure error of the air inlet system according to the determined current total current, the current outlet flow, the expected rotating speed and the response time, finally determining the expected opening of a back pressure valve of the air inlet system based on the determined expected air inlet flow error and the expected air inlet pressure error, controlling the current rotating speed of the air compressor to be converted into the expected rotating speed and controlling the current opening of the back pressure valve to be converted into the expected opening, so as to accurately control the air inlet process of the air inlet system of the fuel battery, and improving the stability of the air inlet system.
Based on the above embodiments:
as an alternative embodiment, determining the desired intake air flow error and the desired intake air pressure error of the intake system based on the current total current, the current outlet flow, the desired rotational speed, and the response time, includes:
determining the number of each pile;
determining a current oxygen consumption value of the air intake system based on the number, the current total current and the oxygen consumption value determining formula;
determining an expected air inlet flow error and an expected air inlet pressure error according to the current oxygen consumption value, the current outlet flow, the expected rotating speed and the response time;
wherein, the oxygen consumption value determination formula is:n is the current oxygen consumption value cell For the number of->Is the molar mass of oxygen, F is Faraday constant, I st Is the total current.
In the invention, the specific process of determining the expected air inlet flow error and the expected air inlet pressure error of the air inlet system according to the current total current, the current outlet flow, the expected rotating speed and the response time is as follows: the number of each pile is determined, the determined number and the current total current are brought into an oxygen consumption value determination formula, the current oxygen consumption value of the air intake system is calculated, and finally the expected air intake flow error and the expected air intake pressure error are determined according to the determined current oxygen consumption value, the current outlet flow, the expected rotating speed and the response time, so that the accuracy of the expected air intake flow error and the expected air intake pressure error determination process is improved.
As an alternative embodiment, determining the desired intake air flow error and the desired intake air pressure error based on the current oxygen consumption value, the current outlet flow, the desired rotational speed, and the response time, includes:
determining the current volume, the current temperature and the current pressure of the air side of each electric pile;
the desired intake air flow error and the desired intake air pressure error are determined based on the current oxygen consumption value, the desired rotational speed, the current outlet flow, the response time, the current volume, the current temperature, and the current pressure.
In the invention, the specific process of determining the expected air inlet flow error and the expected air inlet pressure error according to the current oxygen consumption value, the current outlet flow, the expected rotating speed and the response time is as follows: the method comprises the steps of firstly determining the current volume, the current temperature and the current pressure of the air side of each pile, and then accurately determining an expected air inlet flow error and an expected air inlet pressure error based on the determined current oxygen consumption value, the expected rotating speed, the current outlet flow, the response time, the current volume, the current temperature and the current pressure.
As an alternative embodiment, determining the desired intake air flow error and the desired intake air pressure error based on the current oxygen consumption value, the desired rotational speed, the current outlet flow, the response time, the current volume, the current temperature, and the current pressure, comprises:
establishing an error control model of the air inlet system according to the current oxygen consumption value, the expected rotating speed, the current outlet flow, the response time, the current volume, the current temperature and the current pressure;
determining a first error and a second error of the air intake system based on the error control model;
determining an expected air inlet flow error and an expected air inlet pressure error according to the first error and the second error;
the error control model is as follows:
wherein W is cp For the current outlet flow rate,n is the first derivative of the current outlet flow cp,cmd To a desired rotation speed T c B for response time pr To preset the intercept, k c For a first preset gain factor, R a Is the molar mass of air, +.>Is the molar mass of oxygen, T st At the current temperature, V is the current volume, W ca,out For the desired exhaust gas flow of the back pressure valve, +.>For the current oxygen consumption value, +.>D is the first derivative of the current pressure 1 Is the first error of the air inlet system, d 2 Is the second error of the air intake system.
In the invention, the specific process of determining the expected air inlet flow error and the expected air inlet pressure error based on the current oxygen consumption value, the expected rotating speed, the current outlet flow, the response time, the current volume, the current temperature and the current pressure is as follows: an error control model of the air inlet system is built according to a current oxygen consumption value, an expected rotating speed, a current outlet flow, response time, a current volume, a current temperature and a current pressure, a first error and a second error of the air inlet system are determined based on the built error control model, and finally an expected air inlet flow error and an expected air inlet pressure error are determined according to the first error and the second error, so that the scheme integrity is ensured.
It should be noted that, considering the influence of the system modeling error and the external interference, a control-oriented system model can be obtained, as shown in the following formula:further, let the Is prepared from (I)>In addition, in order to observe the unmodeled dynamics of the system and compensate the unmodeled dynamics in the design of the controller, the Kalman estimator is designed, and can reduce the influence of sensor measurement noise on a measurement result and realize the optimal estimation of the system state and the unmodeled dynamics. Obtaining a state equation of the Kalman estimator according to the established system model:
wherein (1)>Further, let->
The following formula is obtained:the above formula is discretized through first order difference to obtain the following formula:wherein A is KD ＝(T Sp A KC +I),B KD ＝T Sp B KC ,T Sp The sampling time of the estimator is I is an identity matrix;
according to the Kalman estimator principle, a priori state is first calculatedAnd a priori error covariance P - The following formula:then according to Kalman gain K K Calculating posterior state->And updates the error covariance P (k) as follows: />Wherein H is the output matrix, +.>Is X K (k) Q and R are covariance matrixes of process noise and measurement noise respectively, and the observation effect is adjusted by adjusting the two matrixes; finally, obtaining an estimated value of the unmodeled dynamics of the system according to the posterior state +.>The formula is as follows:
is->Estimated value of ∈10->Is d 2 Is used for the estimation of the estimated value of (a).
It should be further noted that, as shown in fig. 3, the principle of the kalman estimator is mainly divided into two parts, i.e. a priori estimate and a posterior estimate, respectively, where first the prior estimate of the system state is calculated according to the system input and the system model, and then the prior estimate is corrected according to the system output obtained by the sensor measurement and the kalman gain, so as to obtain the posterior estimate of the system state.
It should be noted that, as shown in fig. 4, the control block diagram of the present invention first obtains a desired intake air flow W according to the magnitude of the present current of the fuel cell system ca,ref And intake pressure P ca,ref Smoothing the reference signal by a tracking differentiator, and respectively subtracting the smoothed reference value from the actual value measured by the sensor to obtain an error e w And e p The method comprises the steps of carrying out a first treatment on the surface of the Observing the unmodeled dynamics of the system through a Kalman estimator; then the error feedback controller obtains control output according to the error and the unmodeled dynamic state of the system, namely the expected rotating speed N of the air compressor cp,cmd And the desired opening degree theta of the back pressure valve bp,cmd And respectively inputting the air pressure and the air pressure into a control loop of the rotating speed of the air compressor and the opening of the back pressure valve to finish the cooperative control of the air inlet flow and the pressure of the cathode air inlet of the fuel cell.
As an alternative embodiment, determining the first error and the second error of the air intake system based on the error control model includes:
determining a priori state quantity and a priori error covariance of a Kalman estimation model corresponding to the error control model according to the error control model;
determining a dynamic estimation value of the Kalman estimation model based on the prior state quantity and the prior error covariance;
and determining a first error and a second error according to the dynamic estimation value.
In the invention, the specific process of determining the first error and the second error of the air inlet system based on the error control model comprises the following steps: the method comprises the steps of firstly determining the prior state quantity and the prior error covariance of a Kalman estimation model corresponding to an error control model according to the error control model, then determining the dynamic estimation value of the Kalman estimation model based on the determined prior state quantity and the prior error covariance, and finally determining the first error and the second error according to the dynamic estimation value, so that the accuracy of the first error and the second error determination process is improved.
As an alternative embodiment, determining the desired opening of the back pressure valve of the air intake system based on the desired intake air flow error and the desired intake air pressure error includes:
determining a desired intake air flow rate and a desired intake air pressure;
determining a desired exhaust flow of the backpressure valve based on the desired intake flow, the desired intake pressure, the desired intake flow error, and the desired intake pressure error;
the desired opening degree is determined according to the desired exhaust gas flow rate.
In the invention, the specific process of determining the expected opening degree of the back pressure valve of the air intake system based on the expected air intake flow error and the expected air intake pressure error is as follows: the method comprises the steps of firstly determining expected air inlet flow and expected air inlet pressure, then determining expected exhaust flow of the back pressure valve based on the expected air inlet flow, the expected air inlet pressure, an expected air inlet flow error and the expected air inlet pressure error, and finally accurately determining the expected opening according to the determined expected exhaust flow.
As an alternative embodiment, determining the desired exhaust flow of the backpressure valve based on the desired intake flow, the desired intake pressure, the desired intake flow error, and the desired intake pressure error includes:
determining an air inlet error model, an expected rotating speed and a current exhaust flow model based on the expected air inlet flow, the expected air inlet pressure, the expected air inlet flow error, the expected air inlet pressure error and the Kalman estimation model;
substituting the desired rotational speed and the current exhaust flow rate model into an intake error model to determine a desired exhaust flow rate;
wherein, the air intake error model is:
wherein,first derivative of the desired intake air flow error, +.>To expect the first derivative of the intake air pressure error,for the first derivative of the desired intake air flow, +.>A is the first derivative of the desired intake pressure 11 Equal to->a 21 Equal to->b 11 Equal to->b 22 Equal to->b 23 Equal to->
The desired speed and current exhaust flow model is:
wherein e w E, to expect the air inlet flow error p To expect to enterError of air pressure, k w For a second preset gain factor, k p And a third preset gain factor.
In the invention, the specific process of determining the expected exhaust flow of the back pressure valve based on the expected air inlet flow, the expected air inlet pressure, the expected air inlet flow error and the expected air inlet pressure error is as follows: and determining an air inlet error model, an expected rotating speed and a current exhaust flow model based on the expected air inlet flow, the expected air inlet pressure, the expected air inlet flow error, the expected air inlet pressure error and the Kalman estimation model, and substituting the expected rotating speed and the current exhaust flow model into the air inlet error model to accurately determine the expected exhaust flow.
It should be noted that the error feedback controller includes the following steps: firstly, obtaining error values according to expected values and measured values of flow and pressure respectively, wherein the error values are as follows:deriving the error to obtain the following formula:
further, a control amount is selected as follows:
wherein k is w ＞0，k p > 0; the system stability can be known according to Lyapunov stability criteria; finally, W is calculated according to the above formula ca,out Combination formulaTo find the desired opening degree theta of the back pressure valve bp,cmd . In order to smooth a reference input signal, reduce overshoot caused by abrupt change of the reference signal to system response and filter out high-frequency noise parts in the reference signal, a tracking differentiator is introduced, and the reference input signal is input to a controller after being smoothed by the tracking differentiator;
the tracking differentiator is shown as follows:where ω is a constant whose magnitude determines the degree of smoothing to the reference input signal.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a control device of a battery air intake system according to the present invention. The device comprises:
a first determining unit 11 for determining a present total current of a plurality of stacks of the fuel cell;
a second determination unit 12 for determining a current outlet flow rate, a desired rotational speed, and a response time of an air compressor of an intake system of the fuel cell;
a third determining unit 13 for determining an expected intake air flow error and an expected intake air pressure error of the intake system according to the current total current, the current outlet flow, the expected rotational speed, and the response time;
a fourth determining unit 14 for determining a desired opening degree of a back pressure valve of the intake system based on the desired intake air flow rate error and the desired intake air pressure error, and controlling the conversion of the current rotation speed of the air compressor to the desired rotation speed and the conversion of the current opening degree of the back pressure valve to the desired opening degree to control an intake process of the intake system.
The control device of the battery air intake system provided in this embodiment corresponds to the above method, and therefore has the same advantages as the above method, so that the embodiments of the control device portion of the battery air intake system are described in the embodiments of the method portion, and are not repeated here.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to the present invention. The electronic device includes:
a memory 20 for storing a computer program;
a processor 21 for implementing the steps of the control method of the battery intake system as described above when executing a computer program.
The electronic device provided in this embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
Processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in hardware in at least one of a digital signal processor (Digital Signal Processor, DSP), a Field programmable gate array (Field-Programmable Gate Array, FPGA), a programmable logic array (Programmable Logic Array, PLA). The processor 21 may also comprise a main processor, which is a processor for processing data in an awake state, also called central processor (Central Processing Unit, CPU), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with an image processor (Graphics Processing Unit, GPU) for taking care of rendering and rendering of the content that the display screen is required to display. In some embodiments, the processor 21 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.
Memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing a computer program 201, which, when loaded and executed by the processor 21, is capable of implementing the relevant steps of the control method of the battery intake system disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may further include an operating system 202, data 203, and the like, where the storage manner may be transient storage or permanent storage. The operating system 202 may include Windows, unix, linux, among others. The data 203 may include, but is not limited to, a control method of the battery intake system, and the like.
In some embodiments, the electronic device may further include a display 22, an input-output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.
Those skilled in the art will appreciate that the structure shown in fig. 6 is not limiting of the electronic device and may include more or fewer components than shown.
The present embodiment aims to provide an electronic device, in which the memory 20 is used to store a computer program, and the processor 21 is used to implement the steps of the control method of the battery air intake system when executing the computer program, so that the control process is more efficient and accurate.
The invention also provides a corresponding embodiment of a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the control method of the battery air intake system when being executed by a processor.
It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in part or in whole or in part in the form of a software product stored in a storage medium for performing all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The computer readable storage medium provided in this embodiment corresponds to the above method, and therefore has the same beneficial effects as the above method, so that the embodiments of the computer readable storage medium portion are referred to the description of the embodiments of the method portion, and are not repeated here.
It should be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
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 control method of a battery intake system, characterized by comprising:
determining a present total current of a plurality of stacks of the fuel cell;
determining a current outlet flow, a desired rotational speed, and a response time of an air compressor of an air intake system of the fuel cell;
determining an expected air inlet flow error and an expected air inlet pressure error of the air inlet system according to the current total current, the current outlet flow, the expected rotating speed and the response time;
and determining the expected opening degree of a back pressure valve of the air inlet system based on the expected air inlet flow error and the expected air inlet pressure error, and controlling the conversion of the current rotating speed of the air compressor into the expected rotating speed and the conversion of the current opening degree of the back pressure valve into the expected opening degree so as to control the air inlet process of the air inlet system.
2. The control method of a battery intake system according to claim 1, wherein the determining a desired intake air flow error and a desired intake air pressure error of the intake system from the current total current, the current outlet flow, the desired rotational speed, and the response time includes:
determining the number of the electric stacks;
determining a current oxygen consumption value of the air intake system based on the number, the current total current and the oxygen consumption value determining formula;
determining the desired intake air flow error and the desired intake air pressure error according to the current oxygen consumption value, the current outlet flow, the desired rotational speed, and the response time;
wherein, the oxygen consumption value determination formula is: for the current oxygen consumption value, n cell For the number, +.>Is the molar mass of oxygen, F is Faraday constant, I st Is the current.
3. The control method of a battery intake system according to claim 2, wherein the determining the desired intake air flow rate error and the desired intake air pressure error from the current oxygen amount consumption value, the current outlet flow rate, the desired rotational speed, and the response time includes:
determining the current volume, the current temperature and the current pressure of the air side of each pile;
the desired intake air flow rate error and the desired intake air pressure error are determined based on the current oxygen amount consumption value, the desired rotational speed, the current outlet flow rate, the response time, the current volume, the current temperature, and the current pressure.
4. The control method of the battery intake system according to claim 3, characterized in that the determining the desired intake air flow rate error and the desired intake air pressure error based on the current oxygen amount consumption value, the desired rotational speed, the current outlet flow rate, the response time, the current volume, the current temperature, and the current pressure includes:
establishing an error control model of the air intake system according to the current oxygen consumption value, the expected rotating speed, the current outlet flow, the response time, the current volume, the current temperature and the current pressure;
determining a first error and a second error of the air intake system based on the error control model;
determining the desired intake air flow error and the desired intake air pressure error according to the first error and the second error;
wherein, the error control model is:
wherein W is cp For the current outlet flow rate in question,n being the first derivative of the current outlet flow cp,cmd For the desired rotational speed, T c For the response time b pr To preset the intercept, k c For a first preset gain factor, R a Is the molar mass of air, R O2 Is the molar mass of oxygen, T st For the current temperature, V is the current volume, W ca,out For the desired exhaust flow of the back pressure valve, W O2,react For the current oxygen consumption value, +.>D, being the first derivative of the current pressure 1 D is the first error of the air intake system 2 Is a second error of the air intake system.
5. The method of controlling a battery intake system according to claim 4, wherein the determining the first error and the second error of the intake system based on the error control model includes:
determining a priori state quantity and a priori error covariance of a Kalman estimation model corresponding to the error control model according to the error control model;
determining a dynamic estimation value of the Kalman estimation model based on the prior state quantity and the prior error covariance;
and determining the first error and the second error according to the dynamic estimation value.
6. The control method of a battery intake system according to claim 5, wherein the determining a desired opening degree of a back pressure valve of the intake system based on the desired intake air flow rate error and the desired intake air pressure error includes:
determining a desired intake air flow rate and a desired intake air pressure;
determining a desired exhaust flow rate of the backpressure valve based on the desired intake flow rate, the desired intake pressure, the desired intake flow rate error, and the desired intake pressure error;
and determining the expected opening according to the expected exhaust flow.
7. The method of controlling a battery intake system according to claim 6, wherein the determining the desired exhaust flow rate of the back pressure valve based on the desired intake flow rate, the desired intake pressure, the desired intake flow rate error, and the desired intake pressure error includes:
determining an intake error model and a desired rotational speed and current exhaust flow model based on the desired intake flow, the desired intake pressure, the desired intake flow error, the desired intake pressure error, and the kalman estimation model;
substituting the desired rotational speed and current exhaust flow rate model into the intake error model to determine the desired exhaust flow rate;
wherein, the air intake error model is:
wherein,for the first derivative of the desired intake air flow error, -/->For the first derivative of the desired intake pressure error, -/->As the first derivative of the desired intake air flow, and (2)>A being the first derivative of the desired intake pressure 11 Equal to->a 21 Equal to->b 11 Equal to->b 22 Equal to->b 23 Equal to->
The desired rotational speed and current exhaust flow model are:
wherein e w E, for the desired intake air flow error p K for the desired intake air pressure error w For a second preset gain factor, k p And a third preset gain factor.
8. A control device of a battery intake system, characterized by comprising:
a first determining unit for determining a present total current of a plurality of stacks of the fuel cell;
a second determination unit for determining a current outlet flow rate, a desired rotational speed, and a response time of an air compressor of an intake system of the fuel cell;
a third determining unit configured to determine a desired intake air flow rate error and a desired intake air pressure error of the intake system according to the current total current, the current outlet flow rate, the desired rotational speed, and the response time;
and a fourth determining unit configured to determine a desired opening degree of a back pressure valve of the intake system based on the desired intake air flow rate error and the desired intake air pressure error, and control a conversion of a current rotation speed of the air compressor to the desired rotation speed and a conversion of a current opening degree of the back pressure valve to the desired opening degree to control an intake process of the intake system.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the control method of the battery intake system according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the control method of the battery intake system according to any one of claims 1 to 7.
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