WO2021139539A1 - 一种车载氢系统的控制方法、装置及车载氢系统 - Google Patents

一种车载氢系统的控制方法、装置及车载氢系统 Download PDF

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WO2021139539A1
WO2021139539A1 PCT/CN2020/139201 CN2020139201W WO2021139539A1 WO 2021139539 A1 WO2021139539 A1 WO 2021139539A1 CN 2020139201 W CN2020139201 W CN 2020139201W WO 2021139539 A1 WO2021139539 A1 WO 2021139539A1
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pressure
vehicle
hydrogen system
actual
prediction model
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PCT/CN2020/139201
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English (en)
French (fr)
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李贺
张涛
张龙海
蒋尚峰
司耀辉
李维国
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郑州宇通客车股份有限公司
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Priority to EP20911675.5A priority Critical patent/EP4084166B1/en
Publication of WO2021139539A1 publication Critical patent/WO2021139539A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/30—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling fuel cells
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M8/00—Fuel cells; Manufacture thereof
    • H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
    • H01M8/04298—Processes for controlling fuel cells or fuel cell systems
    • H01M8/04313—Processes for controlling fuel cells or fuel cell systems characterised by the detection or assessment of variables; characterised by the detection or assessment of failure or abnormal function
    • H01M8/0438—Pressure; Ambient pressure; Flow
    • H01M8/04388—Pressure; Ambient pressure; Flow of anode reactants at the inlet or inside the fuel cell
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M8/00—Fuel cells; Manufacture thereof
    • H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
    • H01M8/04298—Processes for controlling fuel cells or fuel cell systems
    • H01M8/04694—Processes for controlling fuel cells or fuel cell systems characterised by variables to be controlled
    • H01M8/04746—Pressure; Flow
    • H01M8/04753—Pressure; Flow of fuel cell reactants
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M8/00—Fuel cells; Manufacture thereof
    • H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
    • H01M8/04298—Processes for controlling fuel cells or fuel cell systems
    • H01M8/04992—Processes for controlling fuel cells or fuel cell systems characterised by the implementation of mathematical or computational algorithms, e.g. feedback control loops, fuzzy logic, neural networks or artificial intelligence
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2250/00—Fuel cells for particular applications; Specific features of fuel cell system
    • H01M2250/20—Fuel cells in motive systems, e.g. vehicle, ship, plane
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/30—Hydrogen technology
    • Y02E60/50—Fuel cells
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells

Definitions

  • the invention belongs to the field of fuel cell vehicles for new energy vehicles, and in particular relates to a control method and device of a vehicle-mounted hydrogen system and a vehicle-mounted hydrogen system.
  • the vehicle-mounted hydrogen system is mainly used to reduce the 35MPa high-pressure hydrogen in the high-pressure hydrogen storage tank to the low-pressure hydrogen below 1MPa through the pressure regulating valve to meet the requirements of the internal chemical reaction of the fuel cell system.
  • the gas flow and pressure are constantly changing.
  • the output power of the fuel cell system changes with the working conditions of the entire vehicle, so that the amount of hydrogen required changes accordingly, especially when facing working conditions such as climbing and rapid acceleration.
  • the output power of the battery system has increased greatly, and the demand for hydrogen has increased sharply, resulting in large fluctuations in low-pressure hydrogen pressure.
  • the fuel cell system will send an alarm message , Affecting the normal operation of the fuel cell system and the vehicle.
  • the purpose of the present invention is to provide a control method and device for a vehicle-mounted hydrogen system, which is used to solve the problem that the control method in the prior art cannot meet the hydrogen demand of the fuel cell system.
  • It includes a memory, a processor, and a computer program that is stored in the memory and can run on the processor, and the processor implements the steps in the control method of the above-mentioned on-vehicle hydrogen system when the processor executes the program.
  • the control method and device of the vehicle-mounted hydrogen system of the present invention can predict and adjust the output hydrogen state to meet the needs of the fuel cell system, that is, predict the gas pressure output by the vehicle-mounted hydrogen system through the pressure prediction model to obtain the pressure prediction value;
  • the actual pressure value corresponding to the predicted pressure value refers to the time corresponding
  • the predicted pressure value and the actual pressure value are compared with the set pressure respectively to obtain the predicted error and the actual error, and then the two errors are compared.
  • the predicted error When it is smaller, the calculated pressure prediction value is used as the target pressure to control the gas pressure output by the on-board hydrogen system.
  • the present invention prejudges the change trend of the output pressure of the vehicle-mounted hydrogen system, adjusts the pressure of the output gas of the vehicle-mounted hydrogen system in advance, so that the hydrogen supplied by the vehicle-mounted hydrogen system can meet the requirements of the fuel cell system.
  • the present invention realizes active regulation, ensuring the real-time supply of hydrogen flow and pressure, improving the real-time variable load capacity of the fuel cell system, and meeting the frequent operating conditions of the entire vehicle. The changes have improved the problem of the lag in the release of hydrogen from the on-board hydrogen system during vehicle climbing, rapid acceleration and other working conditions.
  • the control method and device of the vehicle-mounted hydrogen system of the present invention can avoid the problem of concentration polarization during the electrochemical reaction process.
  • the reason for the concentration polarization is that the hydrogen mass transfer rate is lower than the hydrogen electrochemical reaction rate, so the control method of the present invention can ensure the hydrogen pressure and flow rate required by the fuel cell.
  • the steps of establishing the pressure prediction model include:
  • the actual pressure value of the output gas of the vehicle-mounted hydrogen system is continuously collected within a set time, and the original data sequence is established according to the actual pressure value within the set time; the gray prediction model is established using the original data sequence as the establishment of the vehicle-mounted hydrogen
  • the pressure prediction model of the system output gas is used to predict the change trend of the pressure of the on-board hydrogen system, and the obtained predicted pressure value can be used to compensate for external interference and system uncertainty. Because the pressure change of the hydrogen system has the characteristics of nonlinearity, time delay and uncertainty, the feedforward control and feedback control based on the gray prediction model can accurately control the pressure of the hydrogen system.
  • the predictive result of feedforward control performs pressure compensation control in advance, which can solve the influence of uncertain disturbances on the system.
  • the establishment of the pressure prediction model further includes the following steps:
  • the earliest actual pressure value in the original data sequence is eliminated, the newly collected actual pressure value is updated to the original data sequence, and the gray prediction model is rebuilt using the updated original data sequence.
  • the target pressure value is used as the target pressure at the next moment to control the on-vehicle hydrogen system to output gas.
  • It includes a hydrogen storage bottle and a pressure regulator, the pressure regulator is arranged on the gas path output from the hydrogen storage bottle, and the control device is used to control the pressure regulator so that the pressure regulator will output The gas pressure is adjusted to the target pressure.
  • the vehicle-mounted hydrogen system of the present invention can predict and adjust the output hydrogen state in real time, so as to meet the real-time demand of the fuel cell system. By prejudge the change trend of the output pressure of the vehicle-mounted hydrogen system, adjust the pressure of the output gas of the vehicle-mounted hydrogen system in advance, so that the hydrogen supplied by the vehicle-mounted hydrogen system can meet the real-time demand of the fuel cell system.
  • the present invention realizes active regulation, ensuring the real-time supply of hydrogen flow and pressure, improving the real-time variable load capacity of the fuel cell system, and meeting the frequent operating conditions of the entire vehicle
  • the changes have improved the problem of the lag in the release of hydrogen from the on-board hydrogen system during vehicle climbing, rapid acceleration and other working conditions.
  • the control method and device of the vehicle-mounted hydrogen system of the present invention can avoid the problem of concentration polarization during the electrochemical reaction process.
  • the on-board hydrogen system further includes a pressure sensor, which is used to collect the actual pressure value of the output gas of the on-board hydrogen system in real time, and send the collected data to the control device.
  • Fig. 1 is a flowchart of a control method of an on-vehicle hydrogen system according to an embodiment of the method of the present invention
  • Fig. 2 is a control logic block diagram of an on-board hydrogen system according to an embodiment of the method of the present invention
  • Fig. 3 is a schematic diagram of a vehicle-mounted hydrogen system according to an embodiment of the system of the present invention.
  • this embodiment proposes a control method of the on-board hydrogen system to control the low pressure output of the on-board hydrogen system, which specifically includes the following steps:
  • the actual pressure value of the hydrogen output from the on-board hydrogen system is collected by the pressure sensor in real time, the actual pressure value at time n is obtained, and the predicted pressure value and actual pressure value at time n are respectively compared with the set pressure value (that is, the set pressure value).
  • the target pressure value is used as the difference, that is, the predicted error is obtained according to the difference between the predicted pressure value and the set pressure value, and the actual error is obtained according to the difference between the actual pressure value and the set pressure value.
  • the set pressure value is determined according to the collected vehicle pedal opening value, and is used to reflect the pressure demand of the fuel cell system for hydrogen. That is, the vehicle controller collects the accelerator pedal opening value of the vehicle, and calculates the fuel cell power demand corresponding to the accelerator pedal according to the corresponding relationship between the accelerator pedal opening value and the fuel cell system power, and then the corresponding setting under this power Pressure value.
  • the prediction model GM(1,1) After obtaining the prediction error and actual error at time n, compare the prediction error and actual error. When the prediction error is less than the actual error, it means that the pressure prediction value at time n can better meet the current fuel cell system’s needs for hydrogen. Therefore, gray is used
  • the prediction model GM(1,1) outputs the pressure prediction value Pn+1' at time n+1 as the target pressure for controlling the output gas of the on-vehicle hydrogen system at time n+1, as shown in Fig. 1.
  • the pressure prediction value at the time n+2 output by the gray prediction model GM(1,1) is used as the target pressure to control the pressure of the hydrogen output from the vehicle-mounted hydrogen system. Then, the earliest data in the previous original data sequence is removed to realize the metabolism of the data for constructing the prediction model, update the gray prediction model, and predict one by one, and realize the pressure control of the output gas of the on-board hydrogen system at each moment.
  • the actual error and the predicted error are both deviations, and both are positive; and when the actual error and the predicted error at time n are compared, if the actual error is less than (or equal to) the predicted error, the pressure predicted value As the target pressure has a large error, this pressure prediction value is not used, and the control strategy at the next moment is adjusted according to the actual error.
  • the control principle is shown in Figure 2. If the actual error is less than (or equal to) the predicted error, switch K1 off , Close the switch K2, set the pressure value Pn+1 as the target pressure at the next moment, and control the output gas of the on-board hydrogen system instead of using the pressure prediction value Pn+1'. Then, the gray prediction model is still updated according to the above content, and the above content is repeated to determine the target pressure for controlling the hydrogen at the next moment.
  • this embodiment compares the actual error and the predicted error at the last moment (time n) to determine the smaller error. As other embodiments, it can also compare the actual error and the predicted error at several consecutive moments, for example, compare n -2. Actual error and prediction error at time n-1 and n. When the comparison result is that the prediction error is small, the pressure prediction value at time n+1 is used as the target pressure, so as to achieve the purpose of controlling the hydrogen pressure.
  • the reason why the gray prediction model is used as the pressure prediction model is because the gray prediction model can regenerate the original data and accumulate the original data sequence (gray number sequence) that has no regular pattern into a strong regularity.
  • the process of solving the gray prediction model GM(1, 1) belongs to the prior art and does not need to be detailed.
  • the gray prediction model GM(1,1) established by the original data sequence x(0) can also be used to predict the pressure prediction value at time n+1 and several subsequent time points.
  • this situation is suitable for road conditions where the vehicle is driving smoothly. Because the fuel cell system does not require high hydrogen changes, that is, the predicted pressure value within a period of time can be accurately predicted through a pressure prediction model. Therefore, the gray in this embodiment The forecast model can update forecasts according to a certain set time period.
  • the control method of the present invention prejudges the change trend of the output pressure of the vehicle-mounted hydrogen system, and adjusts the pressure of the output gas of the vehicle-mounted hydrogen system in advance, so that the hydrogen supplied by the vehicle-mounted hydrogen system can meet the requirements of the fuel cell system.
  • the present invention realizes active regulation, ensuring the real-time supply of hydrogen flow and pressure, improving the real-time variable load capacity of the fuel cell system, and meeting the frequent operating conditions of the entire vehicle
  • the changes have improved the problem of the lag in the release of hydrogen from the on-board hydrogen system during vehicle climbing, rapid acceleration and other working conditions.
  • the control method and device of the vehicle-mounted hydrogen system of the present invention can avoid the problem of concentration polarization during the electrochemical reaction process.
  • this embodiment proposes a control device for the vehicle-mounted hydrogen system, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor executes the program.
  • the processor executes the program.
  • the control device of the vehicle-mounted hydrogen system of the present invention can predict and adjust the output hydrogen state to meet the needs of the fuel cell system. That is, the pressure prediction model is used to predict the gas pressure output by the vehicle-mounted hydrogen system to obtain the pressure prediction value; The predicted pressure value corresponds to the actual pressure value (refers to the corresponding time). The predicted pressure value and the actual pressure value are compared with the set pressure value respectively to obtain the predicted error and the actual error, and then the two errors are compared. When the predicted error is more When hours, the calculated pressure prediction value is used as the target pressure to control the gas pressure output by the on-board hydrogen system.
  • the processor in this embodiment may be a computer, a microprocessor, such as an ARM, etc., or a programmable chip, such as FPGA, DSP, etc.
  • a vehicle-mounted hydrogen system (a 45-degree upward viewing angle) includes a bracket 1 for placing a hydrogen storage bottle 2 for control The valve body 3 through which hydrogen gas flows in the hydrogen storage bottle 2 and the pressure regulator 4 for reducing the pressure of the hydrogen gas in the hydrogen storage bottle 2.
  • the valve body 3 is arranged on the gas circuit output from the hydrogen storage cylinder 2, and the output end of the valve body 3 is provided with a conversion interface.
  • the pressure regulator 4 includes a high pressure inlet for connecting the conversion interface of the valve body 3.
  • the pressure regulator 4 also There is a low-pressure outlet connected to the battery stack in the fuel cell system.
  • One or more pressure reducing valves are installed on the pipeline connecting the high-pressure inlet and the low-pressure outlet. The number of pressure reducing valves can be set according to requirements. It is a solenoid valve, and its control terminal is connected to the control device in the device embodiment.
  • the processor in the control device implements the control method in the above method embodiment when the program is executed to control the pressure reducing valve to achieve the output of the on-board hydrogen system Hydrogen pressure regulation.
  • a pressure sensor is set at the outlet of the pressure reducing valve to collect the pressure data of the output hydrogen, so as to obtain the actual pressure value of the hydrogen output of the vehicle-mounted hydrogen system.
  • the vehicle-mounted hydrogen system shown in FIG. 3 is only a specific application system of the control method and device of the present invention.
  • the control method and device of the present invention are not limited to this.
  • the control method and device of the present invention are applicable to existing systems.
  • Other on-board hydrogen systems in the technology will not be given as examples.

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Abstract

本发明涉及一种车载氢系统的控制方法、装置及车载氢系统，属于燃料电池汽车领域。方法包括：建立车载氢系统输出气体的压力预测模型，根据压力预测模型确定用于控制车载氢系统输出气体的压力预测值；计算压力预测值与设定的目标压力值间的差值，得到预测误差；获取车载氢系统输出气体的实际压力值，计算实际压力值与目标压力值间的差值，得到实际误差；比较预测误差和实际误差，当预测误差小于实际误差时，利用压力预测模型输出下一时刻的压力预测值，作为下一时刻的目标压力，控制车载氢系统输出气体。本发明通过预先判断车载氢系统输出压力的变化趋势，提前调节车载氢系统输出气体的压力，使供给的氢气能够满足燃料电池系统的需求。

Description

一种车载氢系统的控制方法、装置及车载氢系统 技术领域
本发明属于新能源汽车的燃料电池汽车领域，具体涉及一种车载氢系统的控制方法、装置及车载氢系统。
背景技术
车载氢系统作为燃料电池系统的燃料供给总成，其主要作用是需要将高压储氢瓶中的35MPa高压氢气通过压力调节阀减为1MPa以下的低压氢气，以满足燃料电池系统内部化学反应所需的气体流量和压力。然而，燃料电池汽车的工况是不断变化的，燃料电池系统输出的功率随整车工况时刻变化，使得所需的氢气量随之变化，尤其面临爬坡、急加速等工况时，燃料电池系统输出功率增加幅度较大，对氢气的需求量急剧增大，造成低压氢气压力出现大幅波动，当某一时刻的氢气流量或压力无法满足燃料电池系统需求时，燃料电池系统将发出报警信息，影响燃料电池系统和整车的正常运行。
由于控制氢气流量及压力的机械装置(压力调节器)自身动态响应时间多为秒级，而氢气发生的化学反应为毫秒级，供需产生了时间维度上的不匹配，且事后流量和压力的调节属于被动调节，无法满足燃料电池系统对氢气的实时需求。
发明内容
本发明的目的是提供一种车载氢系统的控制方法与装置，用于解决现有技术的控制方法无法满足燃料电池系统对氢气的需求问题。
基于上述目的，一种车载氢系统的控制方法的技术方案如下：
建立车载氢系统输出气体的压力预测模型，根据所述压力预测模型，确定用于控制车载氢系统输出气体的压力预测值；计算所述压力预测值与目标压力值之间的差值，得到预测误差；
获取所述车载氢系统输出气体的实际压力值，计算所述实际压力值与所述目标压力值之间的差值，得到实际误差；
比较所述预测误差和实际误差，当所述预测误差小于所述实际误差时，利用所述压力预测模型输出下一时刻的压力预测值，并作为下一时刻的目标压力，控制车载氢系统输出气体。
基于上述目的，一种车载氢系统的控制装置的技术方案如下：
包括存储器、处理器以及存储在存储器中并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述车载氢系统的控制方法中的步骤。
上述两个技术方案的有益效果是：
本发明的车载氢系统的控制方法和装置，能够对输出的氢气状态进行预测并调节，满足燃料电池系统的需求，即通过压力预测模型预测车载氢系统输出的气体压力，得到压力预测值；获取与该压力预测值对应(指时刻对应)的实际压力值，将压力预测值与实际压力值分别与设定压力比较作差，得到预测误差和实际误差，然后比较这两个误差，当预测误差较小时，将计算的压力预测值作为目标压力，控制车载氢系统输出的气体压力。
本发明通过预先判断车载氢系统输出压力的变化趋势，提前调节车载氢系统输出气体的压力，使车载氢系统供给的氢气能够满足燃料电池系统的需求。相对于现有技术中车载氢系统输出氢气压力的被动式调节，本发明实现的是主动式调节，保证氢气流量和压力的实时供给，提高燃料电池系统的实时变载能力，满足整车工况频繁变化，改善了汽车在爬坡、急加速等工况过程中，车载氢系统释放氢气滞后的问题。同时，本发明的车载氢系统的控制方法和装置能够避免电化学反应过程中出现浓差极化问题。浓差极化产生的原因是由于氢气传质速率低于氢气电化学反应的速率，所以通过本发明的控制方法可以保证燃料电池所需的氢气压力与流量。
为了得到所述压力预测模型，具体的，所述压力预测模型的建立步骤包括：
在设定时间内连续采集车载氢系统输出气体的实际压力值，根据所述设定时间内的实际压力值建立原始数据序列；利用所述原始数据序列建立灰色预测模型，作为所述建立车载氢系统输出气体的压力预测模型。利用灰色预测模型的超前预测功能预测车载氢系统压力的变化趋势，且得到的预测压力值能够用于补偿外界干扰和系统的不确定性。由于氢系统压力变化具有非线性、时延性和不确定性的特点，基于灰色预测模型的前馈控制和反馈控制，能够对氢系统压力进行精确控制。前馈控制的预测结果对压力进行提前补偿控制，可以解决不确定扰动对系统的影响。
为了提高灰色预测模型的预测准确性，进一步，所述压力预测模型的建立还包括以下步骤：
剔除所述原始数据序列中最早的实际压力值，将新采集的实际压力值更新至原始数据序列，利用更新后的原始数据序列重新建立灰色预测模型。
进一步，当所述预测误差不小于所述实际误差时，将所述目标压力值作为下一时 刻的目标压力，控制车载氢系统输出气体。
基于上述目的，一种车载氢系统的技术方案如下：
包括储氢瓶和压力调节器，压力调节器设置在储氢瓶输出的气路上，还包括所述的控制装置，该控制装置用于控制所述压力调节器，使所述压力调节器将输出的气体压力调节至所述目标压力。
上述技术方案的有益效果是：
本发明的车载氢系统，能够对输出的氢气状态进行预测并实时调节，满足燃料电池系统的实时需求。通过预先判断车载氢系统输出压力的变化趋势，提前调节车载氢系统输出气体的压力，使车载氢系统供给的氢气能够满足燃料电池系统的实时需求。相对于现有技术中车载氢系统输出氢气压力的被动式调节，本发明实现的是主动式调节，保证氢气流量和压力的实时供给，提高燃料电池系统的实时变载能力，满足整车工况频繁变化，改善了汽车在爬坡、急加速等工况过程中，车载氢系统释放氢气滞后的问题。同时，本发明的车载氢系统的控制方法和装置能够避免电化学反应过程中出现浓差极化问题。
为了实现氢气的实际压力值的获取，进一步的，所述车载氢系统还包括压力传感器，用于实时采集车载氢系统输出气体的实际压力值，并将采集数据发送至控制装置。
附图说明
图1是本发明方法实施例的车载氢系统的控制方法流程图；
图2是本发明方法实施例的车载氢系统的控制逻辑框图；
图3是本发明系统实施例的车载氢系统示意图；
图中的标号说明如下：
1，支架；2，储氢瓶；3，阀体；4，压力调节器。
具体实施方式
下面结合附图对本发明的具体实施方式作进一步的说明。
方法实施例：
为了实现燃料电池系统对氢气的实时需求，本实施例提出一种车载氢系统的控制方法，以控制车载氢系统输出的低压压力，具体包括以下步骤：
建立车载氢系统输出气体的压力预测模型，具体的，在设定时间内(例如n个采样时刻)连续采集车载氢系统输出气体的实际压力值，根据这些实际压力值建立原始数据序列，为x (0)＝{x (0)(1)，x (0)(2)，……，x (0)(n)}，然后所述原始数据序列建立灰色预测模 型GM(1，1)(对于具有非线性特性的氢系统这一灰色系统，灰色预测模型控制效果较好)，根据原始数据序列依次累加生成一次累加序列(即预测数据序列)：X (1)＝[x (1)(k),k＝1,2,…,n]，其中
Figure PCTCN2020139201-appb-000001
对此累加序列建立一阶微分方程，表达式为
Figure PCTCN2020139201-appb-000002
根据最小二乘法求出A、B，从而得到灰色预测模型GM(1，1)，然后利用该灰色预测模型GM(1，1)预测n时刻的压力预测值。
本实施例中，通过压力传感器实时采集车载氢系统输出氢气的实际压力值，获取n时刻的实际压力值，将n时刻的压力预测值、实际压力值分别与设定压力值(即设定的目标压力值)作差，即根据压力预测值与设定压力值之间的差值，得到预测误差，根据实际压力值与设定压力值之间的差值，得到实际误差。本实施例中，设定压力值是根据采集车辆踏板开度值确定的，用于反映燃料电池系统对氢气的压力需求。即整车控制器采集车辆加速踏板开度值，按照加速踏板开度值与燃料电池系统功率之间的对应关系，计算出与加速踏板对应的燃料电池功率需求，进而该功率下对应的设定压力值。
得到n时刻的预测误差和实际误差之后，比较预测误差和实际误差的大小，当预测误差小于实际误差时，说明n时刻的压力预测值更能满足当前燃料电池系统对氢气的需要，因此利用灰色预测模型GM(1，1)输出n+1时刻的压力预测值Pn+1’，作为n+1时刻控制车载氢系统输出气体的目标压力，如图1所示。
然后，更新灰色预测模型，具体为：
剔除原始数据序列中最早的数据信息，如x (0)(1)，将压力传感器新采集到氢气的实际压力值x (0)(n+1)补加到原始数据序列中，得到更新的原始数据序列x(0)’＝{x (0)(2)，x (0)(3)，……，x (0)(n+1)}，基于序列x(0)’再建立灰色预测模型GM(1，1)，预测n+1时刻的压力预测值，然后把n+1时刻的实际压力值和压力预测值分别与设定压力值作差，得到n+1时刻的实际误差和预测误差，比较两个误差大小，当预测误差较小时，将灰色预测模型GM(1，1)输出n+2时刻的压力预测值作为目标压力，控制车载氢系统输出氢气的压力。然后，再去掉上一原始数据序列中最早的数据，这样实现构建预测模型的数据的新陈代谢，更新灰色预测模型，逐个预测，实现每个时刻车载氢系统输出气体的压力控制。
本实施例中，实际误差和预测误差均为偏差量，均是正值；并且，在n时刻的实际误差和预测误差进行比较时，如果实际误差小于(或等于)预测误差，说明压力预测值作为目标压力的误差较大，因此不采用此压力预测值，根据实际误差调整下一时刻的 控制策略，控制原理如图2所示，若实际误差小于(或等于)预测误差，断开开关K1、闭合开关K2，将设定压力值Pn+1作为下一时刻的目标压力，控制车载氢系统输出气体，而不采用压力预测值Pn+1’。然后，仍然按照上述内容更新灰色预测模型，并重复上述内容，以确定下一时刻用于控制氢气的目标压力。
另外，本实施例是通过比较最后时刻(n时刻)下的实际误差和预测误差，用于判断较小误差，作为其他实施方式，还可比较若干连续时刻的实际误差和预测误差，例如比较n-2、n-1和n时刻下的实际误差和预测误差，当比较结果为预测误差均较小时，采用n+1时刻的压力预测值作为目标压力，从而达到控制氢气压力的目的。
本实施例中，之所以采用灰色预测模型作为压力预测模型，是因为灰色预测模型能够通过对原始数据的重新生成，将没有规律的原始数据序列(灰色数列)通过累加处理而成为具有较强规律性的新数列，再用微分方程来描述这一新的数列，解此微分方程即得到输入变量与输出变量的关系。需要说明的是，求解灰色预测模型GM(1，1)的过程属于现有技术，不需详述。
当车辆行驶在爬坡、急加速等工况时，由于燃料电池系统对氢气的需求量急剧增大，采用一个灰色预测模型预测多个时刻的压力预测值可能不准，因此，采用对应一个时刻重新建立一个灰色预测模型的实施方式。作为其他实施方式，在判别出预测误差比实际误差小时，还可根据原始数据序列x (0)建立的灰色预测模型GM(1，1)预测n+1时刻及以后若干个时刻的压力预测值，作为对应时刻控制车载氢系统输出氢气的目标压力，而不必实时更新灰色预测模型，以减轻系统的计算压力。并且，这种情况适合车辆平稳行驶的路况，由于燃料电池系统对氢气变化量要求不高，即通过一个压力预测模型就能准确预测一段时间内的预测压力值，因此，本实施例中的灰色预测模型可以按照某个设定的时间段来进行更新预测。
本发明的控制方法通过预先判断车载氢系统输出压力的变化趋势，提前调节车载氢系统输出气体的压力，使车载氢系统供给的氢气能够满足燃料电池系统的需求。相对于现有技术中车载氢系统输出氢气压力的被动式调节，本发明实现的是主动式调节，保证氢气流量和压力的实时供给，提高燃料电池系统的实时变载能力，满足整车工况频繁变化，改善了汽车在爬坡、急加速等工况过程中，车载氢系统释放氢气滞后的问题。同时，本发明的车载氢系统的控制方法和装置能够避免电化学反应过程中出现浓差极化问题。
装置实施例：
为了实现车载氢系统输出氢气的低压压力控制，本实施例提出一种车载氢系统的控制装置，包括存储器、处理器以及存储在存储器中并可在处理器上运行的计算机程序，处理器执行程序时实现上述方法实施例中的控制方法。由于实际的车载氢系统中是通过压力调节器控制输出氢气的低压压力，因此，需要处理器将目标压力的控制指令发送至压力调节器，压力调节器根据控制指令调节输出氢气的低压压力，以满足燃料电池系统的氢气需求。
本发明的车载氢系统的控制装置，能够对输出的氢气状态进行预测并调节，满足燃料电池系统的需求，即通过压力预测模型预测车载氢系统输出的气体压力，得到压力预测值；获取与该压力预测值对应(指时刻对应)的实际压力值，将压力预测值与实际压力值分别与设定压力值比较作差，得到预测误差和实际误差，然后比较这两个误差，当预测误差较小时，将计算的压力预测值作为目标压力，控制车载氢系统输出的气体压力。
另外，本实施例中的处理器既可以是计算机，也可以是微处理器，如ARM等，还可以是可编程芯片，如FPGA、DSP等。
由于上述处理器中执行的步骤为与方法实施例中的方法流程相对应的处理进程，且对上述方法的介绍已经足够清楚完整，故本实施例不再详细进行描述。
系统实施例：
本实施例将方法实施例中的控制方法应用于车载氢系统，如图3所示的一种车载氢系统(45度仰视视角)，包括用于放置储氢瓶2的支架1，用于控制储氢瓶2内氢气流通的阀体3，以及用于对储氢瓶2内的氢气进行减压的压力调节器4。
其中，阀体3设置在储氢瓶2输出的气路上，阀体3的输出端设置有转换接口，压力调节器4包括高压入口，用于连接阀体3的转换接口，压力调节器4还设置有连接燃料电池系统中电池电堆的低压出口，其高压入口和低压出口之间连接的管路上安装有一个或若干个减压阀，减压阀的数量可根据需求进行设置，减压阀为电磁阀，其控制端连接有装置实施例中的控制装置，通过控制装置中的处理器，执行程序时实现上述方法实施例中的控制方法，来控制减压阀，以实现车载氢系统输出氢气的压力调节。
本实施例中，通过在减压阀的出口处设置压力传感器，采集输出氢气的压力数据，从而得到车载氢系统输出氢气的实际压力值。
图3所示的车载氢系统仅是本发明的控制方法及装置的一种具体应用系统，本发明的控制方法及装置并不限于此，本发明的控制方法及装置适用于同样适用于现有技术 中的其他车载氢系统，不再一一举例。
因此，以上所述仅为本发明的优选实施例，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的权利要求范围之内。

Claims (10)

  1. 一种车载氢系统的控制方法，其特征在于，包括以下步骤：
    建立车载氢系统输出气体的压力预测模型，根据所述压力预测模型，确定用于控制车载氢系统输出气体的压力预测值；计算所述压力预测值与设定的目标压力值之间的差值，得到预测误差；
    获取所述车载氢系统输出气体的实际压力值，计算所述实际压力值与所述目标压力值之间的差值，得到实际误差；
    比较所述预测误差和实际误差，当所述预测误差小于所述实际误差时，利用所述压力预测模型输出下一时刻的压力预测值，并作为下一时刻的目标压力，控制车载氢系统输出气体。
  2. 根据权利要求1所述的车载氢系统的控制方法，其特征在于，所述压力预测模型的建立步骤包括：
    在设定时间内连续采集车载氢系统输出气体的实际压力值，根据所述设定时间内的实际压力值建立原始数据序列；利用所述原始数据序列建立灰色预测模型，作为所述压力预测模型。
  3. 根据权利要求2所述的车载氢系统的控制方法，其特征在于，还包括以下步骤：
    剔除所述原始数据序列中最早的实际压力值，将新采集的实际压力值更新至原始数据序列，利用更新后的原始数据序列重新建立灰色预测模型。
  4. 根据权利要求1所述的车载氢系统的控制方法，其特征在于，当所述预测误差不小于所述实际误差时，将所述目标压力值作为下一时刻的目标压力，控制车载氢系统输出气体。
  5. 一种车载氢系统的控制装置，包括存储器、处理器以及存储在存储器中并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现以下步骤：
    建立车载氢系统输出气体的压力预测模型，根据所述压力预测模型，确定用于控制车载氢系统输出气体的压力预测值；计算所述压力预测值与目标压力值之间的差值，得到预测误差；
    获取所述车载氢系统输出气体的实际压力值，计算所述实际压力值与所述目标压力值之间的差值，得到实际误差；
    比较所述预测误差和实际误差，当所述预测误差小于所述实际误差时，利用所述压力预测模型输出下一时刻的压力预测值，并作为下一时刻的目标压力，控制车载氢系统输出气体。
  6. 根据权利要求5所述的车载氢系统的控制装置，其特征在于，所述处理器执行所述程序时还用于实现以下步骤：
    在设定时间内连续采集车载氢系统输出气体的实际压力值，根据所述设定时间内的实际压力值建立原始数据序列；利用所述原始数据序列建立灰色预测模型，作为所述建立车载氢系统输出气体的压力预测模型。
  7. 根据权利要求6所述的车载氢系统的控制装置，其特征在于，所述处理器执行所述程序时还用于实现以下步骤：
    剔除所述原始数据序列中最早的实际压力值，将新采集的实际压力值更新至原始数据序列，利用更新后的原始数据序列重新建立灰色预测模型。
  8. 根据权利要求5所述的车载氢系统的控制装置，其特征在于，所述处理器执行所述程序时还用于实现以下步骤：
    当所述预测误差不小于所述实际误差时，将所述目标压力值作为下一时刻的目标压力，控制车载氢系统输出气体。
  9. 一种车载氢系统，包括储氢瓶和压力调节器，压力调节器设置在储氢瓶输出的气路上，其特征在于，还包括如权利要求5-8任一项所述的控制装置，该控制装置用于控制所述压力调节器，使所述压力调节器将输出的气体压力调节至所述目标压力。
  10. 根据权利要求9所述的车载氢系统，其特征在于，还包括压力传感器，用于实时采集车载氢系统输出气体的实际压力值，并将采集数据发送至控制装置。
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