WO2020078221A1 - 燃料电池车的复合电源能量分配方法及装置 - Google Patents

燃料电池车的复合电源能量分配方法及装置 Download PDF

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Publication number
WO2020078221A1
WO2020078221A1 PCT/CN2019/109862 CN2019109862W WO2020078221A1 WO 2020078221 A1 WO2020078221 A1 WO 2020078221A1 CN 2019109862 W CN2019109862 W CN 2019109862W WO 2020078221 A1 WO2020078221 A1 WO 2020078221A1
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Prior art keywords
module
fuel cell
current signal
signal
current
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PCT/CN2019/109862
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English (en)
French (fr)
Inventor
周健豪
丁一
海滨
周之光
赵万忠
王蓉
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Chery Automobile Co Ltd
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Chery Automobile Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
    • H02J7/345—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering using capacitors as storage or buffering devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J1/00—Circuit arrangements for DC mains or DC distribution networks
    • H02J1/10—Parallel operation of DC sources
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2101/00—Supply or distribution of decentralised, dispersed or local electric power generation
    • H02J2101/20—Dispersed power generation using renewable energy sources
    • H02J2101/30—Fuel cells

Definitions

  • the invention relates to the technical field of electric vehicles, in particular to a method and device for fuel cell vehicle composite power supply energy distribution.
  • the fuel cell vehicle is equipped with a fuel cell.
  • the fuel cell uses hydrogen, methanol, etc. as fuel and generates current through a chemical reaction. It has the characteristics of no pollution and high energy utilization rate. However, fuel cells cannot recover braking energy.
  • the super capacitor has the characteristics of rapid storage and release of energy, wide temperature range, long life, and easy management. So at present, fuel cells and super capacitors are often used in hybrid fuel cell vehicles, which requires a power energy distribution method Realize energy distribution of dual power sources of fuel cell and super capacitor.
  • fuel cell and supercapacitor dual power supply energy distribution is performed according to a fixed distribution ratio, and this distribution method is more sensitive to system parameter disturbances and load changes, has poor anti-interference performance, and has poor robust performance.
  • Embodiments of the present invention provide a fuel cell vehicle composite power supply energy distribution method and device, which can solve the problems in the related art that the distribution method is relatively sensitive to system parameter disturbances and load changes, has poor anti-interference performance, and has poor robust performance .
  • the technical solution is as follows:
  • a fuel cell vehicle composite power supply energy distribution device the composite power supply includes: a fuel cell and a super capacitor, the device includes: a first DC conversion circuit, a second DC Conversion circuit, first determination module, second determination module, control module and energy distribution module,
  • the first DC conversion circuit is connected to the fuel cell, the second DC conversion circuit is connected to the super capacitor, and the first DC conversion circuit inputs the voltage signal of the fuel cell and outputs the first chopper Wave current signal, the second DC conversion circuit inputs the voltage signal of the super capacitor and outputs a second chopping current signal;
  • the control module is connected to the first DC conversion circuit and the second DC conversion circuit, respectively, and the control module is configured to use the first chopping current signal, the second chopping current signal and the first A disturbance parameter change rate determines the reference demand current signal, and the first disturbance parameter change rate is used to indicate the change rate of the disturbance parameter of the control module;
  • the energy distribution module is connected to the control module, the energy distribution module is also connected to the first determination module and the second determination module, respectively, and the energy distribution module is used to compare the reference according to the energy distribution coefficient
  • the demand current signal is transmitted to the first determination module and the second determination module, and the energy distribution coefficient is determined according to the frequency of the fuel cell air compressor;
  • the first determining module is connected to the first DC conversion circuit, and the first determining module is configured to determine the first based on the first chopped current signal, the reference demand current signal, and the second disturbance parameter change rate A duty cycle signal, and transmits the first duty cycle signal to the first DC conversion circuit, the second disturbance parameter change rate is used to indicate the fuel cell and the first DC conversion The rate of change of the disturbance parameter of the circuit, the first duty cycle signal is used to indicate the energy allocated to the fuel cell;
  • the second determination module is connected to the second DC conversion circuit, and the second determination module is used to determine the second chopping current signal, the reference demand current signal, and the third disturbance parameter change rate.
  • Two duty cycle signals and transmits the second duty cycle signal to the second DC conversion circuit, the third disturbance parameter change rate is used to indicate the supercapacitor and the second DC conversion circuit
  • the rate of change of the disturbance parameter, the second duty cycle signal is used to indicate the energy allocated for the super capacitor.
  • control module includes: a demand current calculation sub-module, a DC bus capacitor, a voltage sensor, a bus voltage backstepping control sub-module, and a bus capacitance disturbance calculation sub-module,
  • the required current calculation sub-module is connected to the first DC conversion circuit and the second DC conversion circuit, respectively, and the required current calculation sub-module is used for determining the first chopped current signal and the second Chopping the current signal to determine the demand current signal;
  • the DC bus capacitor is connected to the demand current calculation submodule, and the DC bus capacitor outputs the bus voltage signal after inputting the demand current signal;
  • the voltage sensor is connected to the DC bus capacitor, and the voltage sensor is used to measure a bus voltage signal output by the DC bus capacitor;
  • the bus voltage backstepping control submodule is connected to the voltage sensor, and the busbar voltage backstepping control submodule is used to determine a reference bus voltage signal and a first error of the bus voltage signal;
  • the bus capacitance disturbance calculation sub-module is connected to the voltage sensor, and the bus capacitance disturbance calculation sub-module is used to determine the first error of the reference bus voltage signal and the bus voltage signal, and according to the first error Determining the rate of change of the first disturbance parameter;
  • the bus voltage backstepping control sub-module is also used to determine the reference demand current signal according to the first error and the first disturbance parameter change rate, and transmit the reference demand current signal to the energy distribution module ;
  • the DC bus capacitor is also connected to the drive module, and the DC bus capacitor is used to transmit the bus voltage signal to the drive module.
  • the first determination module includes: a first current sensor, a fuel cell chopping current backstepping control submodule, a fuel cell chopping current calculation submodule, and a fuel cell disturbance calculation submodule,
  • the first current sensor is connected to the first DC conversion circuit, and the first current sensor is used to measure the first chopped current signal
  • the fuel cell chopping current calculation sub-module is connected to the energy distribution module, and the fuel cell chopping current calculation sub-module is used to receive a fuel cell reference chopping current signal output by the energy distribution module, the fuel cell
  • the reference chopping current signal is determined by the energy distribution module according to the reference demand current signal and the energy distribution coefficient;
  • the fuel cell chopping current backstepping control submodule is respectively connected to the first current sensor and the fuel cell chopping current calculating submodule, and the fuel cell chopping current backstepping control submodule is used to determine the The first chopping current signal and the second error of the fuel cell reference chopping current signal;
  • the fuel cell disturbance calculation sub-module is respectively connected to the first current sensor and the fuel cell chopping current calculation sub-module, and the fuel cell disturbance calculation sub-module is used to determine the first chopping current signal and all
  • the fuel cell refers to the second error of the chopped current signal, and determines the rate of change of the second disturbance parameter according to the second error;
  • the fuel cell chopping current backstepping control sub-module is also connected to the first DC conversion circuit, and the fuel cell chopping current backstepping control sub-module is further used to determine the second error and the second
  • the disturbance parameter change rate determines the first duty cycle signal, and transmits the first duty cycle signal to the first DC conversion circuit.
  • the second determining module includes: a supercapacitor chopping current calculation submodule, a supercapacitor current inversion control submodule, a second current sensor, and a supercapacitor disturbance calculation submodule,
  • the second current sensor is connected to the second DC conversion circuit, and the second current sensor is used to measure the second chopped current signal
  • the supercapacitor chopping current calculation submodule is connected to the energy distribution module, and the supercapacitor chopping current calculation submodule is used to receive a supercapacitor reference chopping current signal output by the energy distribution module, and the supercapacitor
  • the reference chopping current signal is determined by the energy distribution module according to the reference demand current signal;
  • the supercapacitor current backstepping control submodule is respectively connected to the second current sensor and the supercapacitor chopping current calculation submodule, and the supercapacitor current backstepping control submodule is used to determine the second chopping The third error between the current signal and the super-capacitor reference chopping current signal;
  • the supercapacitor disturbance calculation submodule is connected to the second current sensor and the supercapacitor chopping current calculation submodule, respectively, and the supercapacitor disturbance calculation submodule is used to determine the second chopping current signal and all
  • the supercapacitor refers to the third error of the chopped current signal, and determines the rate of change of the third disturbance parameter according to the third error;
  • the supercapacitor current backstepping control sub-module is also connected to the second DC conversion circuit, and the supercapacitor current backstepping control submodule is used to determine the value based on the third error and the third disturbance parameter change rate The second duty cycle signal, and transmit the second duty cycle signal to the second DC conversion circuit.
  • the first DC conversion circuit includes a fuel cell inductor and a fuel cell chopper, the fuel cell, the fuel cell inductor and the fuel cell chopper are connected in sequence, and the second DC conversion
  • the circuit includes a super capacitor inductor and a super capacitor chopper, and the super capacitor, the super capacitor inductor and the super capacitor chopper are connected in sequence;
  • the fuel cell chopper and the super capacitor chopper are both connected to the control module, the fuel cell chopper is connected to the first determination module, and the super capacitor chopper is connected to the first 2. Make sure the module is connected.
  • a fuel cell vehicle composite power supply energy distribution method for a fuel cell vehicle composite power supply energy distribution device including: a fuel cell and a super battery Capacitance, the method includes:
  • the control module determines a reference demand current signal according to the first chopping current signal output by the first DC conversion circuit, the second chopping current signal output by the second DC conversion circuit, and the first disturbance parameter change rate, And transmitting the reference demand current signal to the energy distribution module, and the first disturbance parameter change rate is used to indicate the change rate of the disturbance parameter of the control module;
  • the energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to an energy distribution coefficient, and the energy distribution coefficient is determined according to the frequency of the air compressor for the fuel cell;
  • the first determining module determines a first duty cycle signal according to the first chopping current signal, the reference demand current signal, and the second disturbance parameter change rate, and transmits the first duty cycle signal to all In the first DC conversion circuit, the second disturbance parameter change rate is used to indicate the change rate of the disturbance parameter of the fuel cell and the first DC conversion circuit, and the first duty cycle signal is used to indicate The energy allocated to the fuel cell;
  • the second determining module determines a second duty cycle signal according to the second chopping current signal, the reference demand current signal, and the third disturbance parameter change rate, and transmits the second duty cycle signal to In the second DC conversion circuit, the third disturbance parameter change rate is used to indicate the change rate of the disturbance parameter of the super capacitor and the second DC conversion circuit, and the second duty cycle signal is used to indicate The energy distributed by the super capacitor.
  • control module includes: a demand current calculation sub-module, a DC bus capacitor, a voltage sensor, a bus voltage backstepping control sub-module, and a bus capacitance disturbance calculation sub-module,
  • the control module determines a reference demand current signal according to the first chopping current signal output by the first DC conversion circuit, the second chopping current signal output by the second DC conversion circuit, and the first disturbance parameter change rate, And transmitting the reference demand current signal to the energy distribution module, including:
  • the demand current calculation sub-module determines a demand current signal according to the first chopped current signal and the second chopped current signal, and transmits the demand current signal to the DC bus capacitor to obtain a bus voltage signal;
  • the voltage sensor measures the bus voltage signal output by the DC bus capacitor, and transmits the bus voltage signal to the bus voltage backstepping control submodule and the bus capacitance disturbance calculation submodule;
  • the bus voltage backstepping control sub-module determines a first error between the reference bus voltage signal and the bus voltage signal
  • the bus capacitance disturbance calculation sub-module determines a first error between the reference bus voltage signal and the bus voltage signal, and determines the rate of change of the first disturbance parameter according to the first error;
  • the bus voltage backstepping control sub-module determines the reference demand current signal according to the first error and the first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module;
  • the method also includes:
  • the DC bus capacitor transmits the bus voltage signal to the drive module.
  • the first determination module includes: a first current sensor, a fuel cell chopping current backstepping control submodule, a fuel cell chopping current calculation submodule, and a fuel cell disturbance calculation submodule,
  • the first determining module determines a first duty cycle signal according to the first chopping current signal, the reference demand current signal, and the second disturbance parameter change rate, and transmits the first duty cycle signal to all
  • the first DC conversion circuit includes:
  • the first current sensor measures the first chopping current signal output by the first DC conversion circuit, and transmits the first chopping current signal to the fuel cell chopping current backstepping control submodule and Describe the fuel cell disturbance calculation sub-module;
  • the fuel cell chopping current calculation submodule receives the fuel cell reference chopping current signal output by the energy distribution module, and transmits the fuel cell reference chopping current signal to the fuel cell chopping current backstepping controller A module and the fuel cell disturbance calculation submodule, the fuel cell reference chopping current signal is determined by the energy distribution module according to the reference demand current signal and the energy distribution coefficient;
  • the fuel cell chopping current backstepping control sub-module determines a second error between the first chopping current signal and the fuel cell reference chopping current signal
  • the fuel cell disturbance calculation sub-module determines a second error of the first chopped current signal and the fuel cell reference chopped current signal, and determines the rate of change of the second disturbance parameter according to the second error;
  • the fuel cell chopper current backstepping control sub-module determines the first duty cycle signal according to the second error and the second disturbance parameter change rate, and transmits the first duty cycle signal to the The first DC conversion circuit is described.
  • the second determining module includes: a supercapacitor chopping current calculation submodule, a supercapacitor current inversion control submodule, a second current sensor, and a supercapacitor disturbance calculation submodule,
  • the second determining module determines a second duty cycle signal according to the second chopping current signal, the reference demand current signal, and the third disturbance parameter change rate, and transmits the second duty cycle signal to
  • the second DC conversion circuit includes:
  • the second current sensor measures a second chopped current signal output by the second DC conversion circuit, and transmits the second chopped current signal to the supercapacitor current reverse push control submodule and the supercapacitor Disturbance calculation sub-module;
  • the supercapacitor chopping current calculation submodule receives the supercapacitor chopping current signal output by the energy distribution module, and transmits the supercapacitor chopping current signal to the supercapacitor current backstepping control submodule and
  • the supercapacitor disturbance calculation submodule, the supercapacitor reference chopping current signal is determined by the energy distribution module according to the reference demand current signal;
  • the supercapacitor current backstepping control sub-module determines a third error between the second chopping current signal and the supercapacitor reference chopping current signal;
  • the supercapacitor disturbance calculation sub-module determines a third error of the second chopped current signal and the supercapacitor reference chopped current signal, and determines the third disturbance parameter change rate according to the third error;
  • the supercapacitor current inversion control sub-module determines the second duty cycle signal according to the third error and the third disturbance parameter change rate, and transmits the second duty cycle signal to the first Two DC conversion circuit.
  • the control module is based on the first chopping current signal output by the first DC conversion circuit and the second chopping current signal output by the second DC conversion circuit And the rate of change of the first disturbance parameter to determine the reference demand current signal.
  • the energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient.
  • the first determining module determines the first duty cycle signal according to the first chopping current signal, the reference demand current signal and the second disturbance parameter change rate; the second determining module then determines the first duty cycle signal according to the second chopping current signal, the reference demand current signal and
  • the third disturbance parameter change rate determines the second duty cycle signal.
  • the present application can perform fuel cell and fuel cell, fuel cell, first DC conversion circuit, supercapacitor, second DC conversion circuit and control module operation uncertainties.
  • Supercapacitor dual power supply energy distribution therefore, it is insensitive to system parameter disturbances and load changes, and has better noise immunity and robustness.
  • FIG. 1 is a schematic structural diagram of a fuel cell vehicle composite power supply energy distribution device provided by an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of another fuel cell vehicle composite power distribution device according to an embodiment of the present invention.
  • FIG. 3 is a flowchart of a fuel cell vehicle composite power supply energy distribution method provided by an embodiment of the present invention.
  • FIG. 4 is a flowchart of a control module determining to transmit a reference demand current signal to an energy distribution module according to an embodiment of the present invention
  • FIG. 5 is a flowchart of a first determination module for transmitting a first duty cycle signal to a first DC conversion circuit according to an embodiment of the present invention
  • FIG. 6 is a flowchart of a second determination module for transmitting a second duty cycle signal to a second DC conversion circuit according to an embodiment of the present invention.
  • fuel cell vehicles are equipped with fuel cells, and fuel cells cannot recover braking energy, so fuel cells and super capacitors are often used in hybrid applications on fuel cell vehicles.
  • the fuel cell and supercapacitor dual power supply energy distribution method according to a fixed distribution ratio cannot be applied to the vehicle's random nonlinear dynamic model, which is more sensitive to system parameter disturbance and load changes, has poor anti-interference performance, and is robust Poor performance (that is, stable performance) results in energy loss of the fuel cell vehicle and potential damage to the fuel cell vehicle.
  • the energy distribution of the dual power supply of the fuel cell and the super capacitor can be performed to the system Parameter disturbance, insensitive to load changes, with better immunity and robustness.
  • FIG. 1 is a schematic structural diagram of a fuel cell vehicle composite power supply energy distribution device according to an embodiment of the present invention.
  • the device is used in a fuel cell vehicle.
  • the fuel cell vehicle is equipped with a composite power supply.
  • the composite power supply includes a fuel cell and a super capacitor.
  • the device includes: a first DC conversion circuit 110, a second DC conversion circuit 120, The first determination module 130, the second determination module 140, the control module 150, and the energy distribution module 160.
  • the first DC conversion circuit 110 is connected to the fuel cell 01, and the second DC conversion circuit 120 is connected to the super capacitor 02.
  • the first DC conversion circuit 110 inputs the voltage signal u fc of the fuel cell 01 and outputs the first chopped current signal i fc_ch .
  • the second DC conversion circuit 120 inputs the voltage signal u sc of the super capacitor 02 and outputs a second chopped current signal isc_ch .
  • the control module 150 is connected to the first DC conversion circuit 110 and the second DC conversion circuit 120, respectively.
  • the control module 150 is used for according to the first chopping current signal i fc_ch , the second chopping current signal isc_ch and the first disturbance parameter change rate Determine the reference demand current signal i s-ref , the rate of change of the first disturbance parameter It is used to indicate the rate of change of the disturbance parameter of the control module 150.
  • Rate of change of the first disturbance parameter It can reflect the uncertainty of the control module during operation, such as disturbances during operation, time-varying parameters and other uncertain factors.
  • the energy distribution module 160 is connected to the control module 150, and the energy distribution module 160 is also connected to the first determination module 130 and the second determination module 140, respectively.
  • Energy distribution module 160 for distribution coefficient k D The energy demand current reference i s-ref signal transmitted to the first determining module 130 and the second determining module 140, the energy distribution coefficient k D yes yes The fuel cell air compressor Frequency determined.
  • the first determination module 130 is connected to the first DC conversion circuit 110.
  • the first determining module 130 is used to refer to the demand current signal i s-ref and the second disturbance parameter change rate according to the first chopping current signal i fc_ch
  • the first duty cycle signal ⁇ fc_ch is determined, and the first duty cycle signal ⁇ fc_ch is transmitted to the first DC conversion circuit 110, and the second disturbance parameter change rate It is used to indicate the change rate of the disturbance parameter of the fuel cell 01 and the first DC conversion circuit 110, and the first duty cycle signal ⁇ fc_ch is used to indicate the energy distributed by the fuel cell.
  • Rate of change of the second disturbance parameter It can reflect the uncertainties of the fuel cell 01 and the first DC conversion circuit 110 during operation, such as disturbances during operation, time-varying parameters and other uncertain factors.
  • the second determination module 140 is connected to the second DC conversion circuit 120.
  • the second determining module 140 is used to refer to the demand current signal is -ref and the third disturbance parameter change rate according to the second chopping current signal isc_ch
  • the second duty cycle signal ⁇ sc_ch is determined, and the second duty cycle signal ⁇ sc_ch is transmitted to the second DC conversion circuit 120, and the third disturbance parameter change rate It is used to indicate the change rate of the disturbance parameter of the super capacitor 02 and the second DC conversion circuit 120.
  • the second duty cycle signal ⁇ sc_ch is used to indicate the energy allocated by the super capacitor.
  • Third disturbance parameter change rate It can reflect the uncertainty of the super capacitor 02 and the second DC conversion circuit 120 during operation, such as disturbances during operation, time-varying parameters, and other uncertain factors.
  • the composite power source energy distribution device of the fuel cell vehicle can operate based on the fuel cell 01, the first DC conversion circuit 110, the super capacitor 02, the second DC conversion circuit 120, and the control module 150
  • Uncertainty of the power distribution of the dual power supply of fuel cell and super capacitor can overcome the problems of disturbance, time-varying parameters and other uncertain factors of the power supply during operation. Therefore, it is insensitive to system parameter disturbances and load changes, and has better noise immunity and robustness.
  • the fuel cell vehicle composite power supply energy distribution device provided by the embodiment of the present invention, the first DC conversion circuit outputs a first chopping current signal, the second DC conversion circuit outputs a second chopping current signal, and the control module It is used to determine the reference demand current signal according to the first chopping current signal, the second chopping current signal, and the first disturbance parameter change rate.
  • the energy distribution module is used to transmit the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient.
  • the first determining module is used for determining the first duty cycle signal according to the first chopping current signal, the reference demand current signal and the second disturbance parameter change rate; the second determining module is used for according to the second chopping current signal and the reference demand current
  • the second duty cycle signal is determined by the signal and the rate of change of the third disturbance parameter.
  • the device can perform fuel based on the uncertainty of the operation of the fuel cell, the first DC conversion circuit, the super capacitor, the second DC conversion circuit and the control module
  • the dual-power energy distribution of the battery and supercapacitor is therefore insensitive to system parameter disturbances and load changes, and has better noise immunity and robustness.
  • FIG. 2 is a schematic structural diagram of another embodiment of the present invention to provide another fuel cell vehicle composite power distribution device based on FIG. 1.
  • the control module includes: a demand current calculation sub-module 151, a DC bus capacitor 152, a voltage sensor 153, a bus voltage backstepping control sub-module 154, and a bus capacitance disturbance calculation sub-module 155.
  • the demand current calculation sub-module 151 is connected to the first DC conversion circuit and the second DC conversion circuit, respectively.
  • the required current calculation sub-module 151 is used to determine the required current signal i s according to the first chopped current signal i fc_ch and the second chopped current signal isc_ch .
  • the DC bus capacitor 152 is connected to the required current calculation submodule 151.
  • the DC bus capacitor 152 inputs the demand current signal i s and outputs the bus voltage signal u bus .
  • the voltage sensor 153 is connected to the DC bus capacitor 152.
  • the voltage sensor 153 is used to measure the bus voltage signal u bus output by the DC bus capacitor 152.
  • the bus voltage reverse thrust control sub-module 154 is connected to the voltage sensor 153.
  • the bus voltage backstepping control sub-module 154 is used to determine the first error e 1 of the reference bus voltage signal u bus-ref and the bus voltage signal u bus .
  • the bus capacitance disturbance calculation sub-module 155 is connected to the voltage sensor 153.
  • the bus capacitance disturbance calculation submodule 155 is used to determine the first error e 1 of the reference bus voltage signal u bus-ref and the bus voltage signal u bus , and determine the rate of change of the first disturbance parameter according to the first error e 1
  • the bus voltage backstepping control sub-module 154 is also used for the first error e 1 and the first disturbance parameter change rate
  • the reference demand current signal is ref is determined , and the reference demand current signal is ref is transmitted to the energy distribution module 160.
  • the DC bus capacitor 152 is also connected to the drive module 03.
  • the DC bus capacitor 152 is used to transmit the bus voltage signal u bus to the drive module 03.
  • the first DC conversion circuit includes: a fuel cell inductor 111 and a fuel cell chopper 112, and the fuel cell 01, the fuel cell inductor 111 and the fuel cell chopper 112 are connected in sequence.
  • the fuel cell inductor 111 inputs a voltage signal u fc and outputs a current signal i fc .
  • the fuel cell chopper 112 inputs the current signal i fc and outputs the first chopping current signal i fc_ch .
  • the calculation formula of the current signal i fc is:
  • u fc is the voltage signal output by the fuel cell; u fc_ch is the fuel cell chopped voltage signal in volts (V); L fc is the inductive inductance of the fuel cell in hens (H); s is the transfer of the fuel cell inductance Function, the expression of the transfer function can refer to related technologies; r fc is the internal resistance of the fuel cell, the unit is ohm ( ⁇ ).
  • the calculation formula of the first chopping current signal i fc_ch is:
  • i fc_ch ⁇ fc_ch ⁇ i fc , ⁇ fc_ch is the first duty cycle signal, ⁇ fc_ch ⁇ [0,1], i fc is the current signal output by the fuel cell inductance.
  • u fc_ch ⁇ fc_ch u bus
  • ⁇ fc_ch is the first duty cycle signal
  • u bus is the bus voltage signal output by the DC bus capacitor 152.
  • the second DC conversion circuit includes: a super capacitor inductor 121 and a super capacitor chopper 122, and a super capacitor 02, a super capacitor inductor 121 and a super capacitor chopper 122 are connected in sequence.
  • the supercapacitor inductor 121 inputs a voltage signal u sc and outputs a current signal isc
  • the supercapacitor chopper 122 inputs a current signal isc and outputs a second chopped current signal isc_ch .
  • the calculation formula of the current signal isc is:
  • u sc is the voltage signal of super capacitor 02; u sc_ch is the chopped voltage signal of super capacitor in volts V; L sc is the inductance of super capacitor inductance in units of H; s is the transfer function of super capacitor inductance; r sc is The internal resistance of the super capacitor, the unit is ⁇ .
  • i sc_ch ⁇ sc_ch ⁇ i sc , ⁇ sc_ch is the second duty cycle signal, ⁇ sc_ch ⁇ [0,1], i sc is the current signal output by the supercapacitor inductor.
  • u sc_ch ⁇ sc_ch u bus
  • ⁇ sc_ch is the second duty cycle signal
  • u bus is the bus voltage signal output by the DC bus capacitor 152.
  • the fuel cell chopper 112 and the super capacitor chopper 122 are both connected to the demand current calculation sub-module 151 of the control module.
  • Demand current calculation sub-module 151 determines a current demand signal is calculated according to a first i s a i fc_ch chopping current signal and the second chopping current signal i sc_ch:
  • i s i fc_ch + i sc_ch .
  • the calculation formula of the bus voltage signal u bus output by the DC bus capacitor 152 is:
  • i s is the demand current signal output by the demand current calculation sub-module 151, the unit is ampere (A); C bus is the capacitance value of the DC bus capacitor 152, the unit is farad (F); s is the transfer function of the DC bus capacitor 152, The expression of the transfer function can refer to the related technology; it ts is the working current of the DC bus capacitor 152, the unit is A, P m is the electric drive power of the drive module 03 in watts (W); ⁇ ed is the electric drive efficiency.
  • the bus capacitance disturbance calculation sub-module 155 determines the rate of change of the first disturbance parameter according to the first error e 1 Is calculated as:
  • C bus is the capacitance value of the DC bus capacitor 152
  • ⁇ 1 is the system adaptive gain, which is a normal number
  • ⁇ 1 is determined based on the system performance requirements.
  • the bus voltage backstepping control sub-module 154 according to the first error e 1 and the first disturbance parameter change rate
  • the calculation formula for determining the reference demand current signal i s-ref is:
  • c 1 is a constant, c 1> 0,
  • C bus is the capacitance of the DC link capacitor 152,
  • u bus-ref is the reference voltage signal bus,
  • the first determination module includes: a first current sensor 131, a fuel cell chopping current backstepping control submodule 132, a fuel cell chopping current calculation submodule 133, and a fuel cell disturbance calculation submodule 134.
  • the first current sensor 131 is connected to the first DC conversion circuit, specifically the first current sensor 131 is connected to the fuel cell chopper 112.
  • the first current sensor 131 is used to measure the first chopped current signal i fc_ch output by the fuel cell chopper 112.
  • the fuel cell chopping current calculation sub-module 133 is connected to the energy distribution module 160.
  • the fuel cell chopping current calculation sub-module 133 is used to receive the fuel cell reference chopping current signal i fc_ch-ref output by the energy distribution module 160.
  • the fuel cell reference chopping current signal i fc_ch-ref is the energy distribution module 160 according to the reference demand current
  • the signal i s-ref and the energy distribution coefficient k D are determined.
  • the fuel cell chopping current reverse thrust control submodule 132 is connected to the first current sensor 131 and the fuel cell chopping current calculation submodule 133, respectively.
  • the fuel cell disturbance calculation submodule 134 is connected to the first current sensor 131 and the fuel cell chopping current calculation submodule 133, respectively.
  • the fuel cell disturbance calculation sub-module 134 is used to determine the second error e 2 of the first chopped current signal i fc_ch and the fuel cell reference chopped current signal i fc_ch-ref , and determine the second disturbance according to the second error e 2 Parameter change rate
  • Rate of change of the second disturbance parameter Is calculated as: L fc is the inductance of the fuel cell inductance, the unit is H; e 2 is the second error, ⁇ 2 is the system adaptive gain, is a normal number, ⁇ 2 is determined based on the system performance requirements; ⁇ fc_ch is the first duty cycle signal , ⁇ fc_ch ⁇ [0,1].
  • the fuel cell chopping current reverse thrust control submodule 132 is also connected to the first DC conversion circuit, specifically the fuel cell chopping current reverse thrust control submodule 132 is connected to the fuel cell chopper 112, and the fuel cell chopping current reverse thrust
  • the control sub-module 132 is also used for the second error e 2 and the second disturbance parameter change rate
  • the first duty cycle signal ⁇ fc_ch is determined, and the first duty cycle signal ⁇ fc_ch is transmitted to the fuel cell chopper 112 of the first DC conversion circuit.
  • the calculation formula of the first duty cycle signal ⁇ fc_ch is:
  • u bus is the bus voltage signal output by the DC bus capacitor 152;
  • L fc is the inductive reactance of the fuel cell;
  • i fc_ch-ref is the reference chopper current signal of the fuel cell;
  • r fc is the internal resistance of the fuel cell;
  • e 2 is the second error ;
  • U fc is the voltage signal output by the fuel cell;
  • c 2 is a constant, c 2 >0;
  • ⁇ 2 is a disturbance parameter, used to represent the uncertainty of the fuel cell inductance and fuel cell power supply model.
  • the second determination module includes: a supercapacitor chopping current calculation submodule 141, a supercapacitor current inversion control submodule 142, a second current sensor 143, and a supercapacitor disturbance calculation submodule 144.
  • the second current sensor 142 is connected to the second DC conversion circuit, specifically the second current sensor 142 is connected to the super capacitor chopper 122.
  • the second current sensor 142 is used to measure the second chopped current signal isc_ch output by the super capacitor chopper 122.
  • the supercapacitor chopping current calculation sub-module 141 is connected to the energy distribution module 160.
  • the supercapacitor chopping current calculation sub-module is used to receive the supercapacitor reference chopping current signal isc_ch-ref output by the energy distribution module 160, and the supercapacitor chopping current signal isc_ch-ref is the energy distribution module 160 according to the reference demand current signal i s-ref is determined.
  • the supercapacitor current backstepping control submodule 142 is connected to the second current sensor 143 and the supercapacitor chopping current calculation submodule 141, respectively.
  • the supercapacitor current inversion control sub-module 142 is used to determine the third error e 3 of the second chopped current signal isc_ch and the supercapacitor reference chopped current signal isc_ch-ref .
  • the supercapacitor disturbance calculation submodule 144 is connected to the second current sensor 143 and the supercapacitor chopping current calculation submodule 141, respectively.
  • the supercapacitor disturbance calculation submodule 144 is used to determine the second chopping current signal isc_ch and the supercapacitor reference chopping
  • the third error e 3 of the current signal isc_ch-ref
  • the third disturbance parameter change rate is determined according to the third error e 3
  • Third disturbance parameter change rate Is calculated as: L sc is the inductance of the supercapacitor inductance; e 3 is the third error, ⁇ 3 is the system adaptive gain, which is a normal number, ⁇ 3 is determined based on the system performance requirements; ⁇ sc_ch is the second duty cycle signal, ⁇ sc_ch ⁇ [0,1].
  • the supercapacitor current backstepping control sub-module 142 is also connected to the second DC conversion circuit, specifically, the supercapacitor current backstepping control submodule 142 is connected to the supercapacitor chopper 122.
  • the supercapacitor current inversion control sub-module 142 is used for the third error e 3 and the third disturbance parameter change rate
  • the second duty cycle signal ⁇ sc_ch is determined, and the second duty cycle signal ⁇ sc_ch is transmitted to the super capacitor chopper 122 of the second DC conversion circuit.
  • the calculation formula of the second duty cycle signal ⁇ sc_ch is:
  • u bus is the bus voltage signal output by the DC bus capacitor 152;
  • L sc is the inductance of the super capacitor inductance;
  • i sc_ch-ref is the super capacitor reference chopping current signal;
  • r sc is the internal resistance of the super capacitor;
  • e 3 is the third error ;
  • U sc is the voltage signal output by super capacitor 02;
  • c 3 is a constant, c 3 >0;
  • ⁇ 3 is a disturbance parameter, used to represent the uncertainty of super capacitor inductance and super capacitor power supply model.
  • the fuel cell vehicle composite power supply energy distribution device provided by the embodiment of the present invention, the first DC conversion circuit outputs a first chopping current signal, the second DC conversion circuit outputs a second chopping current signal, and the control module It is used to determine the reference demand current signal according to the first chopping current signal, the second chopping current signal, and the first disturbance parameter change rate.
  • the energy distribution module is used to transmit the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient.
  • the first determining module is used for determining the first duty cycle signal according to the first chopping current signal, the reference demand current signal and the second disturbance parameter change rate; the second determining module is used for according to the second chopping current signal and the reference demand current
  • the second duty cycle signal is determined by the signal and the rate of change of the third disturbance parameter.
  • the device can perform fuel based on the uncertainty of the operation of the fuel cell, the first DC conversion circuit, the super capacitor, the second DC conversion circuit and the control module
  • the dual-power energy distribution of the battery and supercapacitor is therefore insensitive to system parameter disturbances and load changes, and has better noise immunity and robustness.
  • FIG. 3 is a flowchart of a method for energy distribution of a composite power supply of a fuel cell vehicle provided by an embodiment of the present invention. This method is used in the composite power source energy distribution device of the fuel cell vehicle shown in FIG. 1 or 2, as shown in FIG. 3, the method includes:
  • Step 310 The control module determines the reference demand current signal according to the first chopping current signal output by the first DC conversion circuit, the second chopping current signal output by the second DC conversion circuit, and the first disturbance parameter change rate, and compares the reference The demand current signal is transmitted to the energy distribution module.
  • the first disturbance parameter change rate is used to indicate the change rate of the disturbance parameter of the control module.
  • Step 320 The energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient.
  • the energy distribution coefficient is determined according to the frequency of the fuel cell air compressor.
  • Step 330 The first determining module determines the first duty cycle signal according to the first chopping current signal, referring to the demand current signal and the second disturbance parameter change rate, and transmits the first duty cycle signal to the first DC conversion circuit .
  • the second disturbance parameter change rate is used to indicate the change rate of the disturbance parameter of the fuel cell and the first DC conversion circuit
  • the first duty cycle signal is used to indicate the energy allocated to the fuel cell
  • Step 340 The second determination module determines the second duty cycle signal according to the second chopping current signal, the reference current signal, and the third disturbance parameter change rate, and transmits the second duty cycle signal to the second DC conversion circuit .
  • the third disturbance parameter change rate is used to indicate the change rate of the disturbance parameter of the super capacitor and the second DC conversion circuit, and the second duty cycle signal is used to indicate the energy allocated to the super capacitor.
  • step 310 the control module 150 according to the first chopping current signal output by the first DC conversion circuit 110, the second chopping current signal output by the second DC conversion circuit 120, and the rate of change of the first disturbance parameter
  • the reference demand current signal is determined, and the reference demand current signal is transmitted to the energy distribution module 160.
  • step 320 the energy distribution module 160 transmits the reference demand current signal to the first determination module 130 and the second determination module 140 according to the energy distribution coefficient.
  • step 330 the first determining module 130 determines the first duty cycle signal according to the first chopping current signal, referring to the demand current signal and the second disturbance parameter change rate, and transmits the first duty cycle signal to the first Flow converter circuit 110.
  • step 340 the second determination module 140 determines the second duty cycle signal based on the second chopping current signal, the reference demand current signal, and the third disturbance parameter change rate, and transmits the second duty cycle signal to the second Dc converter circuit 120.
  • control module may include: a demand current calculation sub-module 151, a DC bus capacitor 152, a voltage sensor 153, a bus voltage backstepping control sub-module 154, and a bus capacitance disturbance calculation sub-module 155.
  • step 310 may include:
  • Step 311 The demand current calculation sub-module determines the demand current signal according to the first chopped current signal and the second chopped current signal, and transmits the demand current signal to the DC bus capacitor to obtain a bus voltage signal.
  • Step 312 The voltage sensor measures the bus voltage signal output by the DC bus capacitor, and transmits the bus voltage signal to the bus voltage backstepping control submodule and the bus capacitance disturbance calculation submodule.
  • Step 313 The bus voltage backstepping control sub-module determines the first error between the reference bus voltage signal and the bus voltage signal.
  • Step 314 The bus capacitance disturbance calculation sub-module determines the first error of the reference bus voltage signal and the bus voltage signal, and determines the rate of change of the first disturbance parameter according to the first error.
  • Step 315 The bus voltage backstepping control sub-module determines the reference demand current signal according to the first error and the first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module.
  • step 311 the demand current calculation submodule 151 determines the demand current signal according to the first chopped current signal and the second chopped current signal, and transmits the demand current signal to the DC bus capacitor 152 to obtain a bus voltage signal .
  • the voltage sensor 153 measures the bus voltage signal output by the DC bus capacitor 152, and transmits the bus voltage signal to the bus voltage backstepping control submodule 154 and the bus capacitance disturbance calculation submodule 155.
  • the bus voltage backstepping control sub-module 154 determines the first error of the reference bus voltage signal and the bus voltage signal.
  • step 314 the bus capacitance disturbance calculation sub-module 155 determines the first error of the reference bus voltage signal and the bus voltage signal, determines the first disturbance parameter change rate according to the first error, and transmits the first disturbance parameter change rate to the bus voltage Reverse push control sub-module 154.
  • step 315 the bus voltage backstepping control sub-module 154 determines the reference demand current signal according to the first error and the first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module 160.
  • the method may further include: the DC bus capacitor 152 transmits the bus voltage signal to the driving module 03.
  • the first determination module includes: a first current sensor 131, a fuel cell chopping current backstepping control submodule 132, a fuel cell chopping current calculation submodule 133, and a fuel cell disturbance calculation submodule 134.
  • step 330 may include:
  • Step 331 The first current sensor measures the first chopping current signal output by the first DC conversion circuit, and transmits the first chopping current signal to the fuel cell chopping current backstepping control submodule and the fuel cell disturbance calculation submodule .
  • Step 332 The fuel cell chopping current calculation submodule receives the fuel cell reference chopping current signal output by the energy distribution module, and transmits the fuel cell reference chopping current signal to the fuel cell chopping current reverse push control submodule and fuel cell disturbance Calculation submodule.
  • the fuel cell reference chopping current signal is determined by the energy distribution module according to the reference demand current signal and the energy distribution coefficient.
  • Step 333 The fuel cell chopping current backstepping control sub-module determines a second error between the first chopping current signal and the fuel cell reference chopping current signal.
  • Step 334 The fuel cell disturbance calculation sub-module determines the second error of the first chopped current signal and the reference chopped current signal of the fuel cell, and determines the rate of change of the second disturbance parameter according to the second error.
  • Step 335 The fuel cell chopping current backstepping control submodule determines the first duty cycle signal according to the second error and the second disturbance parameter change rate, and transmits the first duty cycle signal to the first DC conversion circuit.
  • the first current sensor 131 measures the first chopped current signal output by the fuel cell chopper 112 of the first DC converter circuit, and transmits the first chopped current signal to the fuel cell The wave current backstepping control sub-module 132 and the fuel cell disturbance calculation sub-module 134.
  • the fuel cell chopping current calculation submodule 133 receives the fuel cell reference chopping current signal output by the energy distribution module 160, and transmits the fuel cell reference chopping current signal to the fuel cell chopping current backstepping control submodule 132 and fuel cell disturbance calculation sub-module 134.
  • step 333 the fuel cell chopping current backstepping control sub-module 132 determines the second error of the first chopping current signal and the fuel cell reference chopping current signal.
  • step 334 the fuel cell disturbance calculation sub-module 134 determines the second error of the first chopping current signal and the fuel cell reference chopping current signal, and determines the second disturbance parameter change rate according to the second error.
  • step 335 the fuel cell chopping current backstepping control sub-module 132 determines the first duty cycle signal according to the second error and the second disturbance parameter change rate, and transmits the first duty cycle signal to the first DC conversion The circuit of the fuel cell chopper 112.
  • the second determination module includes: a supercapacitor chopping current calculation submodule 141, a supercapacitor current inversion control submodule 142, a second current sensor 143, and a supercapacitor disturbance calculation submodule 144.
  • step 340 may include:
  • Step 341 The second current sensor measures the second chopped current signal output by the second DC conversion circuit, and transmits the second chopped current signal to the supercapacitor current backstepping control submodule and the supercapacitor disturbance calculation submodule.
  • Step 342 The supercapacitor chopping current calculation submodule receives the supercapacitor reference chopping current signal output by the energy distribution module, and transmits the supercapacitor reference chopping current signal to the supercapacitor current backstepping control submodule and the supercapacitor disturbance calculator Module.
  • the super-capacitor reference chopping current signal is determined by the energy distribution module according to the reference demand current signal.
  • Step 343 The supercapacitor current reverse push control submodule determines a third error between the second chopping current signal and the supercapacitor reference chopping current signal.
  • Step 344 The supercapacitor disturbance calculation submodule determines the third error of the second chopped current signal and the supercapacitor reference chopped current signal, and determines the third disturbance parameter change rate according to the third error.
  • Step 344 The supercapacitor current reverse inversion control sub-module determines the second duty cycle signal according to the third error and the third disturbance parameter change rate, and transmits the second duty cycle signal to the second DC conversion circuit.
  • the second current sensor 143 measures the second chopping current signal output by the super capacitor chopper 122 of the second DC conversion circuit, and transmits the second chopping current signal to the super capacitor current inversion The push control submodule 142 and the supercapacitor disturbance calculation submodule 144.
  • the supercapacitor chopping current calculation submodule 141 receives the supercapacitor reference chopping current signal output by the energy distribution module 160, and transmits the supercapacitor reference chopping current signal to the supercapacitor current backstepping control submodule 142 and Supercapacitor disturbance calculation sub-module 144.
  • the supercapacitor current inversion control submodule 142 determines a third error between the second chopped current signal and the supercapacitor reference chopped current signal.
  • the supercapacitor disturbance calculation submodule 144 determines the third error of the second chopped current signal and the supercapacitor reference chopped current signal, and determines the third disturbance parameter change rate according to the third error.
  • the supercapacitor current inversion control submodule 142 determines the second duty cycle signal according to the third error and the third disturbance parameter change rate, and transmits the second duty cycle signal to the supercapacitor chopper 122.
  • the method for energy distribution of a composite power supply of a fuel cell vehicle provided by an embodiment of the present invention can be based on the fuel cell 01, the first DC conversion circuit 110, the super capacitor 02, the second DC conversion circuit 120, and the control module 150 during operation.
  • Uncertainty, the fuel cell and supercapacitor dual power supply energy distribution well overcomes the problems of power supply disturbance, time-varying parameters and other uncertain factors. Therefore, it is insensitive to system parameter disturbances and load changes, and has better noise immunity and robustness.
  • the control module is based on the first chopping current signal output by the first DC conversion circuit and the second chopping output by the second DC conversion circuit
  • the current signal and the rate of change of the first disturbance parameter determine the reference demand current signal.
  • the energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient.
  • the first determining module determines the first duty cycle signal according to the first chopping current signal, the reference demand current signal and the second disturbance parameter change rate; the second determining module then determines the first duty cycle signal according to the second chopping current signal, the reference demand current signal and
  • the third disturbance parameter change rate determines the second duty cycle signal.
  • This method can perform fuel cell and fuel cell, first DC conversion circuit, supercapacitor, second DC conversion circuit and control module operation uncertainty based on uncertainty.
  • Supercapacitor dual power supply energy distribution therefore, it is insensitive to system parameter disturbances and load changes, and has better noise immunity and robustness.

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Abstract

一种燃料电池车的复合电源能量分配方法及装置，属于电动车技术领域，该装置包括：第一直流变换电路（110）、第二直流变换电路（120）、第一确定模块（130）、第二确定模块（140）、控制模块（150）和能量分配模块（160），控制模块（150）根据第一扰动参数变化率确定参考需求电流信号；能量分配模块（160）根据能量分配系数将参考需求电流信号传输至第一确定模块（130）和第二确定模块（140）；第一确定模块（130）根据参考需求电流信号以及第二扰动参数变化率确定第一占空比信号；第二确定模块（140）根据参考需求电流信号以及第三扰动参数变化率确定第二占空比信号，解决目前分配方法对系统参数扰动和负载变化比较敏感，抗扰性能较差，鲁棒性能较差问题，对系统参数扰动，负载变化不敏感，具有更好的抗扰性和鲁棒性。

Description

燃料电池车的复合电源能量分配方法及装置 技术领域
本发明涉及电动车技术领域，特别涉及一种燃料电池车的复合电源能量分配方法及装置。
背景技术
燃料电池车安装有燃料电池，燃料电池以氢气、甲醇等为燃料，通过化学反应产生电流，具有无污染，能量利用率高的特点。然而燃料电池无法回收制动能量。而超级电容具有快速存储释放能量，适用温度范围宽，寿命长，以及易于管理的特点，所以目前常常是将燃料电池和超级电容混合应用在燃料电池车上，这样就需要一种电源能量分配方法实现燃料电池和超级电容双电源能量分配。
相关技术中是按照固定分配比例进行燃料电池和超级电容双电源能量分配，而这种分配方法对系统参数扰动和负载变化比较敏感，抗扰性能较差，鲁棒性能较差。
发明内容
本发明实施例提供了一种燃料电池车的复合电源能量分配方法及装置，可以解决相关技术中分配方法对系统参数扰动和负载变化比较敏感，抗扰性能较差，鲁棒性能较差的问题。所述技术方案如下：
根据本发明实施例的第一方面，提供一种燃料电池车的复合电源能量分配装置，所述复合电源包括：燃料电池和超级电容，所述装置包括：第一直流变换电路、第二直流变换电路、第一确定模块、第二确定模块、控制模块和能量分配模块，
所述第一直流变换电路与所述燃料电池连接，所述第二直流变换电路与所述超级电容连接，所述第一直流变换电路输入所述燃料电池的电压信号后输出第一斩波电流信号，所述第二直流变换电路输入所述超级电容的电压信号后输出第二斩波电流信号；
所述控制模块分别与所述第一直流变换电路和所述第二直流变换电路连接，所述控制模块用于根据所述第一斩波电流信号，所述第二斩波电流信号以及第一扰动参数变化率确定参考需求电流信号，所述第一扰动参数变化率用于指示所述控制模块的扰动参数的变化率；
所述能量分配模块与所述控制模块连接，所述能量分配模块还分别与所述第一确定模块和所述第二确定模块连接，所述能量分配模块用于根据能量分配系数将所述参考需求电流信号传输至所述第一确定模块和所述第二确定模块，所述能量分配系数是根据燃料电池用空气压缩机的频率确定的；
所述第一确定模块与所述第一直流变换电路连接，所述第一确定模块用于根据所述第一斩波电流信号，所述参考需求电流信号以及第二扰动参数变化率确定第一占空比信号，并将所述第一占空比信号传输至所述第一直流变换电路，所述第二扰动参数变化率用于指示所述燃料电池和所述第一直流变换电路的扰动参数的变化率，所述第一占空比信号用于指示为所述燃料电池所分配的能量；
所述第二确定模块与所述第二直流变换电路连接，所述第二确定模块用于根据所述第二斩波电流信号，所述参考需求电流信号，以及第三扰动参数变化率确定第二占空比信号，并将所述第二占空比信号传输至所述第二直流变换电路，所述第三扰动参数变化率用于指示所述超级电容和所述第二直流变换电路的扰动参数的变化率，所述第二占空比信号用于指示为所述超级电容所分配的能量。
可选的，所述控制模块包括：需求电流计算子模块、直流母线电容器、电压传感器、母线电压反推控制子模块和母线电容扰动计算子模块，
所述需求电流计算子模块分别与所述第一直流变换电路和所述第二直流变换电路连接，所述需求电流计算子模块用于根据所述第一斩波电流信号和所述第二斩波电流信号确定需求电流信号；
所述直流母线电容器与所述需求电流计算子模块连接，所述直流母线电容器输入所述需求电流信号后输出母线电压信号；
所述电压传感器与所述直流母线电容器连接，所述电压传感器用 于测量所述直流母线电容器输出的母线电压信号；
所述母线电压反推控制子模块与所述电压传感器连接，所述母线电压反推控制子模块用于确定参考母线电压信号和所述母线电压信号的第一误差；
所述母线电容扰动计算子模块与所述电压传感器连接，所述母线电容扰动计算子模块用于确定所述参考母线电压信号和所述母线电压信号的第一误差，并根据所述第一误差确定所述第一扰动参数变化率；
所述母线电压反推控制子模块还用于根据所述第一误差和所述第一扰动参数变化率确定所述参考需求电流信号，并将所述参考需求电流信号传输至所述能量分配模块；
所述直流母线电容器还与驱动模块连接，所述直流母线电容器用于将所述母线电压信号传输至所述驱动模块。
可选的，所述第一确定模块包括：第一电流传感器、燃料电池斩波电流反推控制子模块、燃料电池斩波电流计算子模块和燃料电池扰动计算子模块，
所述第一电流传感器与所述第一直流变换电路连接，所述第一电流传感器用于测量所述第一斩波电流信号；
所述燃料电池斩波电流计算子模块与所述能量分配模块连接，所述燃料电池斩波电流计算子模块用于接收所述能量分配模块输出的燃料电池参考斩波电流信号，所述燃料电池参考斩波电流信号是所述能量分配模块根据所述参考需求电流信号和所述能量分配系数确定的；
所述燃料电池斩波电流反推控制子模块分别与所述第一电流传感器和所述燃料电池斩波电流计算子模块连接，所述燃料电池斩波电流反推控制子模块用于确定所述第一斩波电流信号和所述燃料电池参考斩波电流信号的第二误差；
所述燃料电池扰动计算子模块分别与所述第一电流传感器和所述燃料电池斩波电流计算子模块连接，所述燃料电池扰动计算子模块用于确定所述第一斩波电流信号和所述燃料电池参考斩波电流信号 的第二误差，并根据所述第二误差确定所述第二扰动参数变化率；
所述燃料电池斩波电流反推控制子模块还与所述第一直流变换电路连接，所述燃料电池斩波电流反推控制子模块还用于根据所述第二误差和所述第二扰动参数变化率确定所述第一占空比信号，并将所述第一占空比信号传输至所述第一直流变换电路。
可选的，所述第二确定模块包括：超级电容斩波电流计算子模块、超级电容电流反推控制子模块、第二电流传感器和超级电容扰动计算子模块，
所述第二电流传感器与所述第二直流变换电路连接，所述第二电流传感器用于测量所述第二斩波电流信号；
所述超级电容斩波电流计算子模块与所述能量分配模块连接，所述超级电容斩波电流计算子模块用于接收所述能量分配模块输出的超级电容参考斩波电流信号，所述超级电容参考斩波电流信号是所述能量分配模块根据所述参考需求电流信号确定的；
所述超级电容电流反推控制子模块分别与所述第二电流传感器和所述超级电容斩波电流计算子模块连接，所述超级电容电流反推控制子模块用于确定所述第二斩波电流信号和所述超级电容参考斩波电流信号的第三误差；
所述超级电容扰动计算子模块分别与所述第二电流传感器和所述超级电容斩波电流计算子模块连接，所述超级电容扰动计算子模块用于确定所述第二斩波电流信号和所述超级电容参考斩波电流信号的第三误差，并根据所述第三误差确定所述第三扰动参数变化率；
所述超级电容电流反推控制子模块还与所述第二直流变换电路连接，所述超级电容电流反推控制子模块用于根据所述第三误差和所述第三扰动参数变化率确定所述第二占空比信号，并将所述第二占空比信号传输至所述第二直流变换电路。
可选的，所述第一直流变换电路包括燃料电池电感和燃料电池斩波器，所述燃料电池、所述燃料电池电感和所述燃料电池斩波器依次连接，所述第二直流变换电路包括超级电容电感和超级电容斩波器，所述超级电容、所述超级电容电感和所述超级电容斩波器依次连接；
所述燃料电池斩波器和所述超级电容斩波器均与所述控制模块连接，所述燃料电池斩波器与所述第一确定模块连接，所述超级电容斩波器与所述第二确定模块连接。
根据本发明实施例的第二方面，提供一种燃料电池车的复合电源能量分配方法，用于第一方面所述燃料电池车的复合电源能量分配装置，所述复合电源包括：燃料电池和超级电容，所述方法包括：
所述控制模块根据所述第一直流变换电路输出的第一斩波电流信号，所述第二直流变换电路输出的第二斩波电流信号以及第一扰动参数变化率确定参考需求电流信号，并将所述参考需求电流信号传输至所述能量分配模块，所述第一扰动参数变化率用于指示所述控制模块的扰动参数的变化率；
所述能量分配模块根据能量分配系数将所述参考需求电流信号传输至所述第一确定模块和所述第二确定模块，所述能量分配系数是根据燃料电池用空气压缩机的频率确定的；
所述第一确定模块根据所述第一斩波电流信号，所述参考需求电流信号以及第二扰动参数变化率确定第一占空比信号，并将所述第一占空比信号传输至所述第一直流变换电路，所述第二扰动参数变化率用于指示所述燃料电池和所述第一直流变换电路的扰动参数的变化率，所述第一占空比信号用于指示为所述燃料电池所分配的能量；
所述第二确定模块根据所述第二斩波电流信号，所述参考需求电流信号，以及第三扰动参数变化率确定第二占空比信号，并将所述第二占空比信号传输至所述第二直流变换电路，所述第三扰动参数变化率用于指示所述超级电容和所述第二直流变换电路的扰动参数的变化率，所述第二占空比信号用于指示为所述超级电容所分配的能量。
可选的，所述控制模块包括：需求电流计算子模块、直流母线电容器、电压传感器、母线电压反推控制子模块和母线电容扰动计算子模块，
所述控制模块根据所述第一直流变换电路输出的第一斩波电流信号，所述第二直流变换电路输出的第二斩波电流信号以及第一扰动参数变化率确定参考需求电流信号，并将所述参考需求电流信号传输 至所述能量分配模块，包括：
所述需求电流计算子模块根据所述第一斩波电流信号和所述第二斩波电流信号确定需求电流信号，并将所述需求电流信号传输至所述直流母线电容器，得到母线电压信号；
所述电压传感器测量所述直流母线电容器输出的母线电压信号，并将所述母线电压信号传输至所述母线电压反推控制子模块和所述母线电容扰动计算子模块；
所述母线电压反推控制子模块确定参考母线电压信号和所述母线电压信号的第一误差；
所述母线电容扰动计算子模块确定所述参考母线电压信号和所述母线电压信号的第一误差，并根据所述第一误差确定所述第一扰动参数变化率；
所述母线电压反推控制子模块根据所述第一误差和所述第一扰动参数变化率确定所述参考需求电流信号，并将所述参考需求电流信号传输至所述能量分配模块；
所述方法还包括：
所述直流母线电容器将所述母线电压信号传输至驱动模块。
可选的，所述第一确定模块包括：第一电流传感器、燃料电池斩波电流反推控制子模块、燃料电池斩波电流计算子模块和燃料电池扰动计算子模块，
所述第一确定模块根据所述第一斩波电流信号，所述参考需求电流信号以及第二扰动参数变化率确定第一占空比信号，并将所述第一占空比信号传输至所述第一直流变换电路，包括：
所述第一电流传感器测量所述第一直流变换电路输出的第一斩波电流信号，并将所述第一斩波电流信号传输至所述燃料电池斩波电流反推控制子模块和所述燃料电池扰动计算子模块；
所述燃料电池斩波电流计算子模块接收所述能量分配模块输出的燃料电池参考斩波电流信号，并将所述燃料电池参考斩波电流信号传输至所述燃料电池斩波电流反推控制子模块和所述燃料电池扰动计算子模块，所述燃料电池参考斩波电流信号是所述能量分配模块根 据所述参考需求电流信号和所述能量分配系数确定的；
所述燃料电池斩波电流反推控制子模块确定所述第一斩波电流信号和所述燃料电池参考斩波电流信号的第二误差；
所述燃料电池扰动计算子模块确定所述第一斩波电流信号和所述燃料电池参考斩波电流信号的第二误差，并根据所述第二误差确定所述第二扰动参数变化率；
所述燃料电池斩波电流反推控制子模块根据所述第二误差和所述第二扰动参数变化率确定所述第一占空比信号，并将所述第一占空比信号传输至所述第一直流变换电路。
可选的，所述第二确定模块包括：超级电容斩波电流计算子模块、超级电容电流反推控制子模块、第二电流传感器和超级电容扰动计算子模块，
所述第二确定模块根据所述第二斩波电流信号，所述参考需求电流信号，以及第三扰动参数变化率确定第二占空比信号，并将所述第二占空比信号传输至所述第二直流变换电路，包括：
所述第二电流传感器测量所述第二直流变换电路输出的第二斩波电流信号，并将所述第二斩波电流信号传输至所述超级电容电流反推控制子模块和所述超级电容扰动计算子模块；
所述超级电容斩波电流计算子模块接收所述能量分配模块输出的超级电容参考斩波电流信号，并将所述超级电容参考斩波电流信号传输至所述超级电容电流反推控制子模块和所述超级电容扰动计算子模块，所述超级电容参考斩波电流信号是所述能量分配模块根据所述参考需求电流信号确定的；
所述超级电容电流反推控制子模块确定所述第二斩波电流信号和所述超级电容参考斩波电流信号的第三误差；
所述超级电容扰动计算子模块确定所述第二斩波电流信号和所述超级电容参考斩波电流信号的第三误差，并根据所述第三误差确定所述第三扰动参数变化率；
所述超级电容电流反推控制子模块根据所述第三误差和所述第三扰动参数变化率确定所述第二占空比信号，并将所述第二占空比信 号传输至所述第二直流变换电路。
本发明实施例提供的技术方案至少包括以下有益效果：
本发明实施例提供的燃料电池车的复合电源能量分配方法及装置，控制模块根据第一直流变换电路输出的第一斩波电流信号，第二直流变换电路输出的第二斩波电流信号，以及第一扰动参数变化率，确定参考需求电流信号。能量分配模块根据能量分配系数将参考需求电流信号传输至第一确定模块和第二确定模块。第一确定模块再根据第一斩波电流信号、参考需求电流信号和第二扰动参数变化率确定第一占空比信号；第二确定模块再根据第二斩波电流信号、参考需求电流信号和第三扰动参数变化率确定第二占空比信号，本申请能够基于燃料电池、第一直流变换电路、超级电容、第二直流变换电路和控制模块运行时的不确定性，进行燃料电池和超级电容双电源能量分配，因此，对系统参数扰动，负载变化不敏感，具有更好的抗扰性和鲁棒性。
附图说明
为了更清楚地说明本发明的实施例，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种燃料电池车的复合电源能量分配装置的结构示意图；
图2是本发明实施例提供的另一种燃料电池车的复合电源能量分配装置的结构示意图；
图3是本发明实施例提供的一种燃料电池车的复合电源能量分配方法的流程图；
图4是本发明实施例提供的一种控制模块确定将参考需求电流信号传输至能量分配模块的流程图；
图5是本发明实施例提供的一种第一确定模块将第一占空比信号传输至第一直流变换电路的流程图；
图6是本发明实施例提供的一种第二确定模块将第二占空比信号传输至第二直流变换电路的流程图。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部份实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
目前，燃料电池车安装有燃料电池，而燃料电池无法回收制动能量，所以常常是将燃料电池和超级电容混合应用在燃料电池车上。相关技术中，按照固定分配比例进行燃料电池和超级电容双电源能量分配的方法，无法适用于整车随机非线性动力模型，对系统参数扰动和负载变化比较敏感，抗扰性能较差，鲁棒性能(即稳定性能)较差，最终造成燃料电池车的能量损失，对燃料电池车产生潜在的危害。
在本发明实施例中，能够基于燃料电池、第一直流变换电路、超级电容、第二直流变换电路和控制模块运行时的不确定性，进行燃料电池和超级电容双电源能量分配，对系统参数扰动，负载变化不敏感，具有更好的抗扰性和鲁棒性。
图1是本发明实施例提供的一种燃料电池车的复合电源能量分配装置的结构示意图。该装置用于燃料电池车，燃料电池车安装有复合电源，复合电源包括燃料电池和超级电容，如图1所示，该装置包括：第一直流变换电路110、第二直流变换电路120、第一确定模块130、第二确定模块140、控制模块150和能量分配模块160。
其中，第一直流变换电路110与燃料电池01连接，第二直流变换电路120与超级电容02连接。第一直流变换电路110输入燃料电池01的电压信号u fc后输出第一斩波电流信号i fc_ch。第二直流变换电路120输入超级电容02的电压信号u sc后输出第二斩波电流信号i sc_ch。
控制模块150分别与第一直流变换电路110和第二直流变换电路 120连接。控制模块150用于根据第一斩波电流信号i fc_ch，第二斩波电流信号i sc_ch以及第一扰动参数变化率
Figure PCTCN2019109862-appb-000001
确定参考需求电流信号i s-ref，第一扰动参数变化率
Figure PCTCN2019109862-appb-000002
用于指示控制模块150的扰动参数的变化率。第一扰动参数变化率
Figure PCTCN2019109862-appb-000003
能够反映控制模块运行时的不确定性，比如运行时出现的扰动，参数时变及其他不确定因素等问题。
能量分配模块160与控制模块150连接，能量分配模块160还分别与第一确定模块130和第二确定模块140连接。能量分配模块160用于根据能量分配系数k D将参考需求电流信号i s-ref传输至第一确定模块130和第二确定模块140，能量分配系数k D是是根据燃料电池用空气压缩机的频率确定的。
第一确定模块130与第一直流变换电路110连接。第一确定模块130用于根据第一斩波电流信号i fc_ch，参考需求电流信号i s-ref以及第二扰动参数变化率
Figure PCTCN2019109862-appb-000004
确定第一占空比信号α fc_ch，并将第一占空比信号α fc_ch传输至第一直流变换电路110，第二扰动参数变化率
Figure PCTCN2019109862-appb-000005
用于指示燃料电池01和第一直流变换电路110的扰动参数的变化率，第一占空比信号α fc_ch用于指示燃料电池所分配的能量。第二扰动参数变化率
Figure PCTCN2019109862-appb-000006
能够反映燃料电池01和第一直流变换电路110运行时的不确定性，比如运行时出现的扰动，参数时变及其他不确定因素等问题。
第二确定模块140与第二直流变换电路120连接。第二确定模块140用于根据第二斩波电流信号i sc_ch，参考需求电流信号i s-ref，以及第三扰动参数变化率
Figure PCTCN2019109862-appb-000007
确定第二占空比信号α sc_ch，并将第二占空比信号α sc_ch传输至第二直流变换电路120，第三扰动参数变化率
Figure PCTCN2019109862-appb-000008
用于指示超级电容02和第二直流变换电路120的扰动参数的变化率。第二占空比信号α sc_ch用于指示超级电容所分配的能量。第三扰动参数变化率
Figure PCTCN2019109862-appb-000009
能够反映超级电容02和第二直流变换电路120运行时的不确定性，比如运行时出现的扰动，参数时变及其他不确定因素等问题。
参见图1，在本发明实施例中，燃料电池车的复合电源能量分配装置能够基于燃料电池01、第一直流变换电路110、超级电容02、第二直流变换电路120和控制模块150运行时的不确定性，进行燃料电池和超级电容双电源能量分配，很好地克服了电源在运行时出现的 扰动，参数时变及其他不确定因素等问题。因此，对系统参数扰动，负载变化不敏感，具有更好的抗扰性和鲁棒性。
综上所述，本发明实施例提供的燃料电池车的复合电源能量分配装置，第一直流变换电路输出第一斩波电流信号，第二直流变换电路输出第二斩波电流信号，控制模块用于根据第一斩波电流信号，第二斩波电流信号，以及第一扰动参数变化率，确定参考需求电流信号。能量分配模块用于根据能量分配系数将参考需求电流信号传输至第一确定模块和第二确定模块。第一确定模块用于根据第一斩波电流信号、参考需求电流信号和第二扰动参数变化率确定第一占空比信号；第二确定模块用于根据第二斩波电流信号、参考需求电流信号和第三扰动参数变化率确定第二占空比信号，该装置能够基于燃料电池、第一直流变换电路、超级电容、第二直流变换电路和控制模块运行时的不确定性，进行燃料电池和超级电容双电源能量分配，因此，对系统参数扰动，负载变化不敏感，具有更好的抗扰性和鲁棒性。
图2是本发明实施例提供在图1的基础上提供的另一种燃料电池车的复合电源能量分配装置的结构示意图。如图2所示，控制模块包括：需求电流计算子模块151、直流母线电容器152、电压传感器153、母线电压反推控制子模块154和母线电容扰动计算子模块155。
其中，需求电流计算子模块151分别与第一直流变换电路和第二直流变换电路连接。需求电流计算子模块151用于根据第一斩波电流信号i fc_ch和第二斩波电流信号i sc_ch确定需求电流信号i s。
直流母线电容器152与需求电流计算子模块151连接。直流母线电容器152输入需求电流信号i s后输出母线电压信号u bus。
电压传感器153与直流母线电容器152连接。电压传感器153用于测量直流母线电容器152输出的母线电压信号u bus。
母线电压反推控制子模块154与电压传感器153连接。母线电压反推控制子模块154用于确定参考母线电压信号u bus-ref和母线电压信号u bus的第一误差e 1。
母线电容扰动计算子模块155与电压传感器153连接。母线电容 扰动计算子模块155用于确定参考母线电压信号u bus-ref和母线电压信号u bus的第一误差e 1，并根据第一误差e 1确定第一扰动参数变化率
Figure PCTCN2019109862-appb-000010
母线电压反推控制子模块154还用于根据第一误差e 1和第一扰动参数变化率
Figure PCTCN2019109862-appb-000011
确定参考需求电流信号i s-ref，并将参考需求电流信号i s-ref传输至能量分配模块160。
直流母线电容器152还与驱动模块03连接。直流母线电容器152用于将母线电压信号u bus传输至驱动模块03。
可选的，如图2所示，第一直流变换电路包括：燃料电池电感111和燃料电池斩波器112，燃料电池01、燃料电池电感111和燃料电池斩波器112依次连接。燃料电池电感111输入电压信号u fc后输出电流信号i fc。燃料电池斩波器112输入电流信号i fc后输出第一斩波电流信号i fc_ch。其中，电流信号i fc的计算公式为：
Figure PCTCN2019109862-appb-000012
u fc为燃料电池输出的电压信号；u fc_ch为燃料电池斩波电压信号，单位为伏(V)；L fc为燃料电池电感感抗，单位为亨(H)；s为燃料电池电感的传递函数，传递函数的表达式可以参考相关技术；r fc为燃料电池的内阻，单位为欧姆(Ω)。
第一斩波电流信号i fc_ch的计算公式为：
i fc_ch＝α fc_ch×i fc，α fc_ch为第一占空比信号，α fc_ch∈[0,1]，i fc为燃料电池电感输出的电流信号。
燃料电池斩波电压信号u fc_ch的计算公式为：
u fc_ch＝α fc_chu bus，α fc_ch为第一占空比信号，α fc_ch∈[0,1]，u bus为直流母线电容器152输出的母线电压信号。
第二直流变换电路包括：超级电容电感121和超级电容斩波器122，超级电容02、超级电容电感121和超级电容斩波器122依次连接。超级电容电感121输入电压信号u sc后输出电流信号i sc，超级电容 斩波器122输入电流信号i sc后输出第二斩波电流信号i sc_ch。其中，电流信号i sc的计算公式为：
Figure PCTCN2019109862-appb-000013
u sc为超级电容02的电压信号；u sc_ch为超级电容斩波电压信号，单位为伏V；L sc为超级电容电感感抗，单位为H；s为超级电容电感的传递函数；r sc为超级电容的内阻，单位为Ω。
第二斩波电流信号i sc_ch的计算公式为：
i sc_ch＝α sc_ch×i sc，α sc_ch为第二占空比信号，α sc_ch∈[0,1]，i sc为超级电容电感输出的电流信号。
超级电容斩波电压信号u sc_ch的计算公式为：
u sc_ch＝α sc_chu bus，α sc_ch为第二占空比信号，α sc_ch∈[0,1]，u bus为直流母线电容器152输出的母线电压信号。
燃料电池斩波器112和超级电容斩波器122均与控制模块的需求电流计算子模块151连接。需求电流计算子模块151根据第一斩波电流信号i fc_ch和第二斩波电流信号i sc_ch确定需求电流信号i s的计算公式为：
i s＝i fc_ch+i sc_ch。
直流母线电容器152输出的母线电压信号u bus的计算公式为：
Figure PCTCN2019109862-appb-000014
i s为需求电流计算子模块151输出的需求电流信号，单位为安培(A)；C bus为直流母线电容器152的电容值，单位为法拉(F)；s为直流母线电容器152的传递函数，该传递函数的表达式可以参考相关技术；i ts为直流母线电容器152的工作电流，单位为A，
Figure PCTCN2019109862-appb-000015
P m为驱动模块03的电驱动功率，单位为瓦特(W)；η ed为电驱动效率。
母线电压反推控制子模块154确定参考母线电压信号u bus-ref和母线电压信号u bus的第一误差e 1的计算公式为：e 1＝u bus-ref-u bus。
母线电容扰动计算子模块155确定参考母线电压信号u bus-ref和母线电压信号u bus的第一误差e 1的计算公式为：e 1＝u bus-ref-u bus。
母线电容扰动计算子模块155根据第一误差e 1确定第一扰动参数变化率
Figure PCTCN2019109862-appb-000016
的计算公式为：
Figure PCTCN2019109862-appb-000017
C bus为直流母线电容器152的电容值，Γ 1为系统自适应增益，是一个正常数，Γ 1基于系统性能要求确定。
母线电压反推控制子模块154根据第一误差e 1和第一扰动参数变化率
Figure PCTCN2019109862-appb-000018
确定参考需求电流信号i s-ref的计算公式为：
Figure PCTCN2019109862-appb-000019
c 1为常数，c 1＞0，C bus为直流母线电容器152的电容值，u bus-ref为参考母线电压信号，i ts为直流母线电容器152的工作电流，θ 1为扰动参数，用于表示直流母线电容器152的电阻和模型的不确定性。
参见图2，第一确定模块包括：第一电流传感器131、燃料电池斩波电流反推控制子模块132、燃料电池斩波电流计算子模块133和燃料电池扰动计算子模块134。
其中，第一电流传感器131与第一直流变换电路连接，具体为第一电流传感器131与燃料电池斩波器112连接。第一电流传感器131用于测量燃料电池斩波器112输出的第一斩波电流信号i fc_ch。
燃料电池斩波电流计算子模块133与能量分配模块160连接。燃料电池斩波电流计算子模块133用于接收能量分配模块160输出的燃料电池参考斩波电流信号i fc_ch-ref，燃料电池参考斩波电流信号i fc_ch-ref是能量分配模块160根据参考需求电流信号i s-ref和能量分配系数k D确定的。燃料电池参考斩波电流信号i fc_ch-ref的计算公式为：i fc_ch-ref＝k Di s-ref，k D为能量分配系数，
Figure PCTCN2019109862-appb-000020
f c为燃料电池用空气压缩机的频率，s为能量分配模块160的传递函数，该传递函数可以参考相关技术；i s-ref为母线电压反推控制子模块154确定的参考需求电流信号。
燃料电池斩波电流反推控制子模块132分别与第一电流传感器131和燃料电池斩波电流计算子模块133连接。燃料电池斩波电流反推控制子模块132用于确定第一斩波电流信号i fc_ch和燃料电池参考斩波电流信号i fc_ch-ref的第二误差e 2，第二误差e 2的计算公式为：e 2＝i fc_ch-ref-i fc_ch。
燃料电池扰动计算子模块134分别与第一电流传感器131和燃料电池斩波电流计算子模块133连接。所述燃料电池扰动计算子模块134用于确定第一斩波电流信号i fc_ch和燃料电池参考斩波电流信号i fc_ch-ref的第二误差e 2，并根据第二误差e 2确定第二扰动参数变化率
Figure PCTCN2019109862-appb-000021
第二误差e 2的计算公式为：e 2＝i fc_ch-ref-i fc_ch。
第二扰动参数变化率
Figure PCTCN2019109862-appb-000022
的计算公式为：
Figure PCTCN2019109862-appb-000023
L fc为燃料电池电感感抗，单位为H；e 2为第二误差，Γ 2为系统自适应增益，是一个正常数，Γ 2基于系统性能要求确定；α fc_ch为第一占空比信号，α fc_ch∈[0,1]。
燃料电池斩波电流反推控制子模块132还与第一直流变换电路连接，具体为燃料电池斩波电流反推控制子模块132与燃料电池斩波器112连接，燃料电池斩波电流反推控制子模块132还用于根据第二 误差e 2和第二扰动参数变化率
Figure PCTCN2019109862-appb-000024
确定第一占空比信号α fc_ch，并将第一占空比信号α fc_ch传输至所述第一直流变换电路的燃料电池斩波器112。第一占空比信号α fc_ch的计算公式为：
Figure PCTCN2019109862-appb-000025
u bus为直流母线电容器152输出的母线电压信号；L fc为燃料电池电感感抗；i fc_ch-ref为燃料电池参考斩波电流信号；r fc为燃料电池的内阻；e 2为第二误差；u fc为燃料电池输出的电压信号；c 2为常数，c 2>0；θ 2为扰动参数，用于表示燃料电池电感和燃料电池电源模型的不确定性。
参见图2，第二确定模块包括：超级电容斩波电流计算子模块141、超级电容电流反推控制子模块142、第二电流传感器143和超级电容扰动计算子模块144。
其中，第二电流传感器142与第二直流变换电路连接，具体为第二电流传感器142与超级电容斩波器122连接。第二电流传感器142用于测量超级电容斩波器122输出的第二斩波电流信号i sc_ch。
超级电容斩波电流计算子模块141与能量分配模块160连接。超级电容斩波电流计算子模块用于接收能量分配模块160输出的超级电容参考斩波电流信号i sc_ch-ref，超级电容参考斩波电流信号i sc_ch-ref是能量分配模块160根据参考需求电流信号i s-ref确定的。超级电容参考斩波电流信号i sc_ch-ref的计算公式为：i sc_ch-ref＝i s-ref-i fc_ch-ref，i s-ref为母线电压反推控制子模块154确定的参考需求电流信号；i fc_ch-ref为燃料电池参考斩波电流信号。
超级电容电流反推控制子模块142分别与第二电流传感器143和超级电容斩波电流计算子模块141连接。超级电容电流反推控制子模块142用于确定第二斩波电流信号i sc_ch和超级电容参考斩波电流信号i sc_ch-ref的第三误差e 3，第三误差e 3的计算公式为：e 3＝i sc_ch-ref-i sc_ch。
超级电容扰动计算子模块144分别与第二电流传感器143和超级电容斩波电流计算子模块141连接，超级电容扰动计算子模块144用于确定第二斩波电流信号i sc_ch和超级电容参考斩波电流信号i sc_ch-ref的第三误差e 3，并根据第三误差e 3确定第三扰动参数变化率
Figure PCTCN2019109862-appb-000026
第三误差e 3的计算公式为：e 3＝i sc_ch-ref-i sc_ch。
第三扰动参数变化率
Figure PCTCN2019109862-appb-000027
的计算公式为：
Figure PCTCN2019109862-appb-000028
L sc为超级电容电感感抗；e 3为第三误差，Γ 3为系统自适应增益，是一个正常数，Γ 3基于系统性能要求确定；α sc_ch为第二占空比信号，α sc_ch∈[0,1]。
超级电容电流反推控制子模块142还与第二直流变换电路连接，具体为超级电容电流反推控制子模块142与超级电容斩波器122连接。超级电容电流反推控制子模块142用于根据第三误差e 3和第三扰动参数变化率
Figure PCTCN2019109862-appb-000029
确定第二占空比信号α sc_ch，并将第二占空比信号α sc_ch传输至第二直流变换电路的超级电容斩波器122。第二占空比信号α sc_ch的计算公式为：
Figure PCTCN2019109862-appb-000030
u bus为直流母线电容器152输出的母线电压信号；L sc为超级电容电感感抗；i sc_ch-ref为超级电容参考斩波电流信号；r sc为超级电容的内阻；e 3为第三误差；u sc为超级电容02输出的电压信号；c 3为常数，c 3>0；θ 3为扰动参数，用于表示超级电容电感和超级电容电源模型的不确定性。
综上所述，本发明实施例提供的燃料电池车的复合电源能量分配装置，第一直流变换电路输出第一斩波电流信号，第二直流变换电路输出第二斩波电流信号，控制模块用于根据第一斩波电流信号，第二斩波电流信号，以及第一扰动参数变化率，确定参考需求电流信号。能量分配模块用于根据能量分配系数将参考需求电流信号传输至第一确定模块和第二确定模块。第一确定模块用于根据第一斩波电流信号、参考需求电流信号和第二扰动参数变化率确定第一占空比信号；第二确定模块用于根据第二斩波电流信号、参考需求电流信号和第三 扰动参数变化率确定第二占空比信号，该装置能够基于燃料电池、第一直流变换电路、超级电容、第二直流变换电路和控制模块运行时的不确定性，进行燃料电池和超级电容双电源能量分配，因此，对系统参数扰动，负载变化不敏感，具有更好的抗扰性和鲁棒性。
图3是本发明实施例提供的一种燃料电池车的复合电源能量分配方法的流程图。该方法用于图1或图2所示的燃料电池车的复合电源能量分配装置，如图3所示，该方法包括：
步骤310、控制模块根据第一直流变换电路输出的第一斩波电流信号，第二直流变换电路输出的第二斩波电流信号以及第一扰动参数变化率确定参考需求电流信号，并将参考需求电流信号传输至能量分配模块。
第一扰动参数变化率用于指示控制模块的扰动参数的变化率。
步骤320、能量分配模块根据能量分配系数将参考需求电流信号传输至第一确定模块和第二确定模块。
能量分配系数是根据燃料电池用空气压缩机的频率确定的。
步骤330、第一确定模块根据第一斩波电流信号，参考需求电流信号以及第二扰动参数变化率确定第一占空比信号，并将第一占空比信号传输至第一直流变换电路。
第二扰动参数变化率用于指示燃料电池和第一直流变换电路的扰动参数的变化率，第一占空比信号用于指示为燃料电池所分配的能量。
步骤340、第二确定模块根据第二斩波电流信号，参考需求电流信号，以及第三扰动参数变化率确定第二占空比信号，并将第二占空比信号传输至第二直流变换电路。
第三扰动参数变化率用于指示超级电容和第二直流变换电路的扰动参数的变化率，第二占空比信号用于指示为超级电容所分配的能量。
参见图1，在步骤310中，控制模块150根据第一直流变换电路110输出的第一斩波电流信号，第二直流变换电路120输出的第二斩 波电流信号以及第一扰动参数变化率确定参考需求电流信号，并将参考需求电流信号传输至能量分配模块160。在步骤320中，能量分配模块160根据能量分配系数将参考需求电流信号传输至第一确定模块130和第二确定模块140。在步骤330中，第一确定模块130根据第一斩波电流信号，参考需求电流信号以及第二扰动参数变化率确定第一占空比信号，并将第一占空比信号传输至第一直流变换电路110。在步骤340中，第二确定模块140根据第二斩波电流信号，参考需求电流信号，以及第三扰动参数变化率确定第二占空比信号，并将第二占空比信号传输至第二直流变换电路120。
可选的，如图2所示，控制模块可以包括：需求电流计算子模块151、直流母线电容器152、电压传感器153、母线电压反推控制子模块154和母线电容扰动计算子模块155。
如图4所示，步骤310可以包括：
步骤311、需求电流计算子模块根据第一斩波电流信号和第二斩波电流信号确定需求电流信号，并将需求电流信号传输至直流母线电容器，得到母线电压信号。
步骤312、电压传感器测量直流母线电容器输出的母线电压信号，并将母线电压信号传输至母线电压反推控制子模块和母线电容扰动计算子模块。
步骤313、母线电压反推控制子模块确定参考母线电压信号和母线电压信号的第一误差。
步骤314、母线电容扰动计算子模块确定参考母线电压信号和母线电压信号的第一误差，并根据第一误差确定第一扰动参数变化率。
步骤315、母线电压反推控制子模块根据第一误差和第一扰动参数变化率确定参考需求电流信号，并将参考需求电流信号传输至能量分配模块。
参见图2，在步骤311中，需求电流计算子模块151根据第一斩波电流信号和第二斩波电流信号确定需求电流信号，并将需求电流信号传输至直流母线电容器152，得到母线电压信号。在步骤312中，电压传感器153测量直流母线电容器152输出的母线电压信号，并将 母线电压信号传输至母线电压反推控制子模块154和母线电容扰动计算子模块155。在步骤313中，母线电压反推控制子模块154确定参考母线电压信号和母线电压信号的第一误差。在步骤314中，母线电容扰动计算子模块155确定参考母线电压信号和母线电压信号的第一误差，根据第一误差确定第一扰动参数变化率，并将第一扰动参数变化率传输至母线电压反推控制子模块154。在步骤315中，母线电压反推控制子模块154根据第一误差和第一扰动参数变化率确定参考需求电流信号，并将参考需求电流信号传输至能量分配模块160。
参加图2，该方法还可以包括：直流母线电容器152将母线电压信号传输至驱动模块03。
可选的，如图2所示，第一确定模块包括：第一电流传感器131、燃料电池斩波电流反推控制子模块132、燃料电池斩波电流计算子模块133和燃料电池扰动计算子模块134。
如图5所示，步骤330可以包括：
步骤331、第一电流传感器测量第一直流变换电路输出的第一斩波电流信号，并将第一斩波电流信号传输至燃料电池斩波电流反推控制子模块和燃料电池扰动计算子模块。
步骤332、燃料电池斩波电流计算子模块接收能量分配模块输出的燃料电池参考斩波电流信号，并将燃料电池参考斩波电流信号传输至燃料电池斩波电流反推控制子模块和燃料电池扰动计算子模块。
燃料电池参考斩波电流信号是能量分配模块根据参考需求电流信号和能量分配系数确定的。
步骤333、燃料电池斩波电流反推控制子模块确定第一斩波电流信号和燃料电池参考斩波电流信号的第二误差。
步骤334、燃料电池扰动计算子模块确定第一斩波电流信号和燃料电池参考斩波电流信号的第二误差，根据第二误差确定第二扰动参数变化率。
步骤335、燃料电池斩波电流反推控制子模块根据第二误差和第二扰动参数变化率确定第一占空比信号，并将第一占空比信号传输至第一直流变换电路。
参见图2，在步骤331中，第一电流传感器131测量第一直流变换电路的燃料电池斩波器112输出的第一斩波电流信号，并将第一斩波电流信号传输至燃料电池斩波电流反推控制子模块132和燃料电池扰动计算子模块134。在步骤332中，燃料电池斩波电流计算子模块133接收能量分配模块160输出的燃料电池参考斩波电流信号，并将燃料电池参考斩波电流信号传输至燃料电池斩波电流反推控制子模块132和燃料电池扰动计算子模块134。在步骤333中，燃料电池斩波电流反推控制子模块132确定第一斩波电流信号和燃料电池参考斩波电流信号的第二误差。在步骤334中，燃料电池扰动计算子模块134确定第一斩波电流信号和燃料电池参考斩波电流信号的第二误差，并根据第二误差确定第二扰动参数变化率。在步骤335中，燃料电池斩波电流反推控制子模块132根据第二误差和第二扰动参数变化率确定第一占空比信号，并将第一占空比信号传输至第一直流变换电路的燃料电池斩波器112。
可选的，如图2所示，第二确定模块包括：超级电容斩波电流计算子模块141、超级电容电流反推控制子模块142、第二电流传感器143和超级电容扰动计算子模块144。
如图6所示，步骤340可以包括：
步骤341、第二电流传感器测量第二直流变换电路输出的第二斩波电流信号，并将第二斩波电流信号传输至超级电容电流反推控制子模块和超级电容扰动计算子模块。
步骤342、超级电容斩波电流计算子模块接收能量分配模块输出的超级电容参考斩波电流信号，并将超级电容参考斩波电流信号传输至超级电容电流反推控制子模块和超级电容扰动计算子模块。
其中，超级电容参考斩波电流信号是能量分配模块根据参考需求电流信号确定的。
步骤343、超级电容电流反推控制子模块确定第二斩波电流信号和超级电容参考斩波电流信号的第三误差。
步骤344、超级电容扰动计算子模块确定第二斩波电流信号和超级电容参考斩波电流信号的第三误差，并根据第三误差确定第三扰动 参数变化率。
步骤344、超级电容电流反推控制子模块根据第三误差和第三扰动参数变化率确定第二占空比信号，并将第二占空比信号传输至第二直流变换电路。
参见图2，在步骤341中，第二电流传感器143测量第二直流变换电路的超级电容斩波器122输出的第二斩波电流信号，并将第二斩波电流信号传输至超级电容电流反推控制子模块142和超级电容扰动计算子模块144。在步骤342中，超级电容斩波电流计算子模块141接收能量分配模块160输出的超级电容参考斩波电流信号，并将超级电容参考斩波电流信号传输至超级电容电流反推控制子模块142和超级电容扰动计算子模块144。在步骤343中，超级电容电流反推控制子模块142确定第二斩波电流信号和超级电容参考斩波电流信号的第三误差。在步骤344中，超级电容扰动计算子模块144确定第二斩波电流信号和超级电容参考斩波电流信号的第三误差，并根据第三误差确定第三扰动参数变化率。在步骤344中，超级电容电流反推控制子模块142根据第三误差和第三扰动参数变化率确定第二占空比信号，并将第二占空比信号传输至超级电容斩波器122。
参见图1，本发明实施例提供的燃料电池车的复合电源能量分配方法能够基于燃料电池01、第一直流变换电路110、超级电容02、第二直流变换电路120和控制模块150运行时的不确定性，进行燃料电池和超级电容双电源能量分配，很好地克服了电源在运行时出现的扰动，参数时变及其他不确定因素等问题。因此，对系统参数扰动，负载变化不敏感，具有更好的抗扰性和鲁棒性。
综上所述，本发明实施例提供的燃料电池车的复合电源能量分配方法，控制模块根据第一直流变换电路输出的第一斩波电流信号，第二直流变换电路输出的第二斩波电流信号，以及第一扰动参数变化率，确定参考需求电流信号。能量分配模块根据能量分配系数将参考需求电流信号传输至第一确定模块和第二确定模块。第一确定模块再根据第一斩波电流信号、参考需求电流信号和第二扰动参数变化率确定第一占空比信号；第二确定模块再根据第二斩波电流信号、参考需 求电流信号和第三扰动参数变化率确定第二占空比信号，该方法能够基于燃料电池、第一直流变换电路、超级电容、第二直流变换电路和控制模块运行时的不确定性，进行燃料电池和超级电容双电源能量分配，因此，对系统参数扰动，负载变化不敏感，具有更好的抗扰性和鲁棒性。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的方法各步骤的具体工作过程，可以参考装置实施例中装置和模块的具体工作过程，在此不再赘述。
本领域技术人员在考虑说明书及实践这里发明的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本发明未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由权利要求指出。
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。

Claims (9)

  1. 一种燃料电池车的复合电源能量分配装置，所述复合电源包括：燃料电池和超级电容，其特征在于，所述装置包括：第一直流变换电路、第二直流变换电路、第一确定模块、第二确定模块、控制模块和能量分配模块，
    所述第一直流变换电路与所述燃料电池连接，所述第二直流变换电路与所述超级电容连接，所述第一直流变换电路输入所述燃料电池的电压信号后输出第一斩波电流信号，所述第二直流变换电路输入所述超级电容的电压信号后输出第二斩波电流信号；
    所述控制模块分别与所述第一直流变换电路和所述第二直流变换电路连接，所述控制模块用于根据所述第一斩波电流信号，所述第二斩波电流信号以及第一扰动参数变化率确定参考需求电流信号，所述第一扰动参数变化率用于指示所述控制模块的扰动参数的变化率；
    所述能量分配模块与所述控制模块连接，所述能量分配模块还分别与所述第一确定模块和所述第二确定模块连接，所述能量分配模块用于根据能量分配系数将所述参考需求电流信号传输至所述第一确定模块和所述第二确定模块，所述能量分配系数是根据燃料电池用空气压缩机的频率确定的；
    所述第一确定模块与所述第一直流变换电路连接，所述第一确定模块用于根据所述第一斩波电流信号，所述参考需求电流信号以及第二扰动参数变化率确定第一占空比信号，并将所述第一占空比信号传输至所述第一直流变换电路，所述第二扰动参数变化率用于指示所述燃料电池和所述第一直流变换电路的扰动参数的变化率，所述第一占空比信号用于指示为所述燃料电池所分配的能量；
    所述第二确定模块与所述第二直流变换电路连接，所述第二确定模块用于根据所述第二斩波电流信号，所述参考需求电流信号，以及第三扰动参数变化率确定第二占空比信号，并将所述第二占空比信号传输至所述第二直流变换电路，所述第三扰动参数变化率用于指示所述超级电容和所述第二直流变换电路的扰动参数的变化率，所述第二占空比信号用于指示为所述超级电容所分配的能量。
  2. 根据权利要求1所述的装置，其特征在于，所述控制模块包括：需求电流计算子模块、直流母线电容器、电压传感器、母线电压反推控制子模块和母线电容扰动计算子模块，
    所述需求电流计算子模块分别与所述第一直流变换电路和所述第二直流变换电路连接，所述需求电流计算子模块用于根据所述第一斩波电流信号和所述第二斩波电流信号确定需求电流信号；
    所述直流母线电容器与所述需求电流计算子模块连接，所述直流母线电容器输入所述需求电流信号后输出母线电压信号；
    所述电压传感器与所述直流母线电容器连接，所述电压传感器用于测量所述直流母线电容器输出的母线电压信号；
    所述母线电压反推控制子模块与所述电压传感器连接，所述母线电压反推控制子模块用于确定参考母线电压信号和所述母线电压信号的第一误差；
    所述母线电容扰动计算子模块与所述电压传感器连接，所述母线电容扰动计算子模块用于确定所述参考母线电压信号和所述母线电压信号的第一误差，并根据所述第一误差确定所述第一扰动参数变化率；
    所述母线电压反推控制子模块还用于根据所述第一误差和所述第一扰动参数变化率确定所述参考需求电流信号，并将所述参考需求电流信号传输至所述能量分配模块；
    所述直流母线电容器还与驱动模块连接，所述直流母线电容器用于将所述母线电压信号传输至所述驱动模块。
  3. 根据权利要求1所述的装置，其特征在于，所述第一确定模块包括：第一电流传感器、燃料电池斩波电流反推控制子模块、燃料电池斩波电流计算子模块和燃料电池扰动计算子模块，
    所述第一电流传感器与所述第一直流变换电路连接，所述第一电流传感器用于测量所述第一斩波电流信号；
    所述燃料电池斩波电流计算子模块与所述能量分配模块连接，所述燃料电池斩波电流计算子模块用于接收所述能量分配模块输出的 燃料电池参考斩波电流信号，所述燃料电池参考斩波电流信号是所述能量分配模块根据所述参考需求电流信号和所述能量分配系数确定的；
    所述燃料电池斩波电流反推控制子模块分别与所述第一电流传感器和所述燃料电池斩波电流计算子模块连接，所述燃料电池斩波电流反推控制子模块用于确定所述第一斩波电流信号和所述燃料电池参考斩波电流信号的第二误差；
    所述燃料电池扰动计算子模块分别与所述第一电流传感器和所述燃料电池斩波电流计算子模块连接，所述燃料电池扰动计算子模块用于确定所述第一斩波电流信号和所述燃料电池参考斩波电流信号的第二误差，并根据所述第二误差确定所述第二扰动参数变化率；
    所述燃料电池斩波电流反推控制子模块还与所述第一直流变换电路连接，所述燃料电池斩波电流反推控制子模块还用于根据所述第二误差和所述第二扰动参数变化率确定所述第一占空比信号，并将所述第一占空比信号传输至所述第一直流变换电路。
  4. 根据权利要求1所述的装置，其特征在于，所述第二确定模块包括：超级电容斩波电流计算子模块、超级电容电流反推控制子模块、第二电流传感器和超级电容扰动计算子模块，
    所述第二电流传感器与所述第二直流变换电路连接，所述第二电流传感器用于测量所述第二斩波电流信号；
    所述超级电容斩波电流计算子模块与所述能量分配模块连接，所述超级电容斩波电流计算子模块用于接收所述能量分配模块输出的超级电容参考斩波电流信号，所述超级电容参考斩波电流信号是所述能量分配模块根据所述参考需求电流信号确定的；
    所述超级电容电流反推控制子模块分别与所述第二电流传感器和所述超级电容斩波电流计算子模块连接，所述超级电容电流反推控制子模块用于确定所述第二斩波电流信号和所述超级电容参考斩波电流信号的第三误差；
    所述超级电容扰动计算子模块分别与所述第二电流传感器和所 述超级电容斩波电流计算子模块连接，所述超级电容扰动计算子模块用于确定所述第二斩波电流信号和所述超级电容参考斩波电流信号的第三误差，并根据所述第三误差确定所述第三扰动参数变化率；
    所述超级电容电流反推控制子模块还与所述第二直流变换电路连接，所述超级电容电流反推控制子模块用于根据所述第三误差和所述第三扰动参数变化率确定所述第二占空比信号，并将所述第二占空比信号传输至所述第二直流变换电路。
  5. 根据权利要求1所述的装置，其特征在于，所述第一直流变换电路包括燃料电池电感和燃料电池斩波器，所述燃料电池、所述燃料电池电感和所述燃料电池斩波器依次连接，所述第二直流变换电路包括超级电容电感和超级电容斩波器，所述超级电容、所述超级电容电感和所述超级电容斩波器依次连接；
    所述燃料电池斩波器和所述超级电容斩波器均与所述控制模块连接，所述燃料电池斩波器与所述第一确定模块连接，所述超级电容斩波器与所述第二确定模块连接。
  6. 一种燃料电池车的复合电源能量分配方法，其特征在于，用于权利要求1至5任一所述燃料电池车的复合电源能量分配装置，所述复合电源包括：燃料电池和超级电容，所述方法包括：
    所述控制模块根据所述第一直流变换电路输出的第一斩波电流信号，所述第二直流变换电路输出的第二斩波电流信号以及第一扰动参数变化率确定参考需求电流信号，并将所述参考需求电流信号传输至所述能量分配模块，所述第一扰动参数变化率用于指示所述控制模块的扰动参数的变化率；
    所述能量分配模块根据能量分配系数将所述参考需求电流信号传输至所述第一确定模块和所述第二确定模块，所述能量分配系数是根据燃料电池用空气压缩机的频率确定的；
    所述第一确定模块根据所述第一斩波电流信号，所述参考需求电流信号以及第二扰动参数变化率确定第一占空比信号，并将所述第一 占空比信号传输至所述第一直流变换电路，所述第二扰动参数变化率用于指示所述燃料电池和所述第一直流变换电路的扰动参数的变化率，所述第一占空比信号用于指示为所述燃料电池所分配的能量；
    所述第二确定模块根据所述第二斩波电流信号，所述参考需求电流信号，以及第三扰动参数变化率确定第二占空比信号，并将所述第二占空比信号传输至所述第二直流变换电路，所述第三扰动参数变化率用于指示所述超级电容和所述第二直流变换电路的扰动参数的变化率，所述第二占空比信号用于指示为所述超级电容所分配的能量。
  7. 根据权利要求6所述的方法，其特征在于，所述控制模块包括：需求电流计算子模块、直流母线电容器、电压传感器、母线电压反推控制子模块和母线电容扰动计算子模块，
    所述控制模块根据所述第一直流变换电路输出的第一斩波电流信号，所述第二直流变换电路输出的第二斩波电流信号以及第一扰动参数变化率确定参考需求电流信号，并将所述参考需求电流信号传输至所述能量分配模块，包括：
    所述需求电流计算子模块根据所述第一斩波电流信号和所述第二斩波电流信号确定需求电流信号，并将所述需求电流信号传输至所述直流母线电容器，得到母线电压信号；
    所述电压传感器测量所述直流母线电容器输出的母线电压信号，并将所述母线电压信号传输至所述母线电压反推控制子模块和所述母线电容扰动计算子模块；
    所述母线电压反推控制子模块确定参考母线电压信号和所述母线电压信号的第一误差；
    所述母线电容扰动计算子模块确定所述参考母线电压信号和所述母线电压信号的第一误差，并根据所述第一误差确定所述第一扰动参数变化率；
    所述母线电压反推控制子模块根据所述第一误差和所述第一扰动参数变化率确定所述参考需求电流信号，并将所述参考需求电流信号传输至所述能量分配模块；
    所述方法还包括：
    所述直流母线电容器将所述母线电压信号传输至驱动模块。
  8. 根据权利要求6所述的方法，其特征在于，所述第一确定模块包括：第一电流传感器、燃料电池斩波电流反推控制子模块、燃料电池斩波电流计算子模块和燃料电池扰动计算子模块，
    所述第一确定模块根据所述第一斩波电流信号，所述参考需求电流信号以及第二扰动参数变化率确定第一占空比信号，并将所述第一占空比信号传输至所述第一直流变换电路，包括：
    所述第一电流传感器测量所述第一直流变换电路输出的第一斩波电流信号，并将所述第一斩波电流信号传输至所述燃料电池斩波电流反推控制子模块和所述燃料电池扰动计算子模块；
    所述燃料电池斩波电流计算子模块接收所述能量分配模块输出的燃料电池参考斩波电流信号，并将所述燃料电池参考斩波电流信号传输至所述燃料电池斩波电流反推控制子模块和所述燃料电池扰动计算子模块，所述燃料电池参考斩波电流信号是所述能量分配模块根据所述参考需求电流信号和所述能量分配系数确定的；
    所述燃料电池斩波电流反推控制子模块确定所述第一斩波电流信号和所述燃料电池参考斩波电流信号的第二误差；
    所述燃料电池扰动计算子模块确定所述第一斩波电流信号和所述燃料电池参考斩波电流信号的第二误差，并根据所述第二误差确定所述第二扰动参数变化率；
    所述燃料电池斩波电流反推控制子模块根据所述第二误差和所述第二扰动参数变化率确定所述第一占空比信号，并将所述第一占空比信号传输至所述第一直流变换电路。
  9. 根据权利要求6所述的方法，其特征在于，所述第二确定模块包括：超级电容斩波电流计算子模块、超级电容电流反推控制子模块、第二电流传感器和超级电容扰动计算子模块，
    所述第二确定模块根据所述第二斩波电流信号，所述参考需求电 流信号，以及第三扰动参数变化率确定第二占空比信号，并将所述第二占空比信号传输至所述第二直流变换电路，包括：
    所述第二电流传感器测量所述第二直流变换电路输出的第二斩波电流信号，并将所述第二斩波电流信号传输至所述超级电容电流反推控制子模块和所述超级电容扰动计算子模块；
    所述超级电容斩波电流计算子模块接收所述能量分配模块输出的超级电容参考斩波电流信号，并将所述超级电容参考斩波电流信号传输至所述超级电容电流反推控制子模块和所述超级电容扰动计算子模块，所述超级电容参考斩波电流信号是所述能量分配模块根据所述参考需求电流信号确定的；
    所述超级电容电流反推控制子模块确定所述第二斩波电流信号和所述超级电容参考斩波电流信号的第三误差；
    所述超级电容扰动计算子模块确定所述第二斩波电流信号和所述超级电容参考斩波电流信号的第三误差，并根据所述第三误差确定所述第三扰动参数变化率；
    所述超级电容电流反推控制子模块根据所述第三误差和所述第三扰动参数变化率确定所述第二占空比信号，并将所述第二占空比信号传输至所述第二直流变换电路。
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