CN109742425A - A fuel cell temperature control method based on data-driven ADRC - Google Patents
A fuel cell temperature control method based on data-driven ADRC Download PDFInfo
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Abstract
The invention discloses a kind of fuel battery temperature control methods based on data-driven Active Disturbance Rejection Control, comprising the following steps: S1: establishes the non-linear temperature model of fuel cell pile；S2: non-linear temperature model is controlled by automatic disturbance rejection controller；S3: external total disturbance is observed and is fed back by extended state observer, is ideal pure integral model by non-linear temperature model compensation；S4: adjusting conventional PI control device based on non-linear temperature model, be used to design outer ring proportional controller for the proportional gain of conventional PI control device, controls ideal pure integral model, reaches the anti-interference optimization aim with tracking.It is more intuitive, true that the present invention is based on the nonlinear models of multi-state temperature-responsive empirical curve；Automatic disturbance rejection controller of the invention improves fuel battery temperature anti-interference and tracing control performance, improves the robustness, stability and response speed of control system.
Description
Technical field
The present invention relates to automation fields, more particularly to a kind of fuel cell based on data-driven Active Disturbance Rejection Control
Temprature control method.
Background technique
As the whole society is to the growing interest of the strategy of sustainable development, the research of green energy resource and application prospect are unprecedentedly wide
Extensively.Fuel cell stablizes output, high efficiency, zero carbon emission (being directed to hydrogen fuel cell) and control without being bound by environment by it
Flexibility is shown one's talent in various green energy resources, is not only studied extensively by whole world scholar, and as the vehicles or is divided
The supply unit of the cloth energy is active in market.
Although growth momentum is good, some technical problems not yet captured, which remain unchanged, has blocked the large-scale commercial applications of fuel cell
Change process.Wherein, operating temperature control quality and battery operation high efficiency, reliability, safety are closely coupled, are urgently to be resolved
Critical issue.Stack temperature determines by the balance between the additional quantity of heat production of electrochemical reaction and the heat dissipation capacity of heat-sink unit,
For Proton Exchange Membrane Fuel Cells, optimum operation temperature is 40-100 DEG C, and excessively high stack temperature can reduce conveying effect simultaneously
Irreversible damage is caused to membrane material, too low temperature can then reduce electrochemical reaction speed, therefore stable stack temperature pair
The efficient of battery, safe handling are significant.
It unknown disturbs the outside that fuel cell pile key points in temperature control essentially consists in the strong nonlinearity of internal system and multiplicity
It is dynamic.Firstly, under different operating conditions, when such as different operating ambient temperature or generation load, fuel cell pile temperature
Model is neither identical, mutually deviates, and shows strong nonlinearity characteristic.Meanwhile it generating electricity as the fuel cell system of supply unit
Power changes with user demand, this uncertain disturbance often quickly occurs, and the humidity control system to lags in response is huge
Challenge.Other disturbances such as variation of ambient temperature, inlet air flow humidity variation also results in temperature departure setting value.Furthermore when
When operation of fuel cells is in co-generation unit, accurate, quick, stable desired temperature tracking ability is to guarantee coproduction effect
An important factor for rate and Heating quality.
Summary of the invention
Goal of the invention: the object of the present invention is to provide it is a kind of be able to solve defect existing in the prior art based on data
The fuel battery temperature control method for driving Active Disturbance Rejection Control can improve anti-interference product of the temperature under workload demand instruction fluctuation
Matter, and guarantee good tracing control performance.
Technical solution: to reach this purpose, the invention adopts the following technical scheme:
Fuel battery temperature control method of the present invention based on data-driven Active Disturbance Rejection Control, including following step
It is rapid:
S1: the non-linear temperature model of fuel cell pile is established；
S2: non-linear temperature model is controlled by automatic disturbance rejection controller；
S3: external total disturbance is observed and is fed back by extended state observer, non-linear temperature model is compensated
For ideal pure integral model；
S4: conventional PI control device is adjusted based on non-linear temperature model, the proportional gain of conventional PI control device is used to set
Outer ring proportional controller is counted, ideal pure integral model is controlled, reaches the anti-interference optimization aim with tracking.
Further, shown in the fuel cell pile temperature model such as formula (1):
In formula (1), PnFor the open-loop gain of fuel cell pile temperature controlled device, TnFor time constant, they are all rings
Border temperature Tab, power load LdWith the function of runing time t；fPFor PnWith Tab、Ld, functional relation between t, fTFor TnWith Tab、
Ld, functional relation between t.
Further, the automatic disturbance rejection controller is obtained by following procedure:
S2.1: the proportional gain k of conventional PI control device is adjusted according to formula (1)pWith integral gain ki, conventional PI control device
Transmission function Gc(s) as shown in formula (2):
S2.2: according to the proportional gain k after adjustingpWith integral gain kiDesign automatic disturbance rejection controller.
Further, shown in the extended state observer such as formula (3) in the step S3:
In formula (3), z1For x1Estimation, z2For x2Estimation, x1It is the state space variable of fuel cell pile temperature y,
x2For the state space variable of the derivative of fuel cell pile temperature y, b0For bnEstimation,PnFor object open loop increasing
Benefit, TnFor time constant, β1And β2For the variable of extended state observer, u is control amount.
Further, the pure integral model of ideal in the step S3As shown in formula (4):
In formula (4),It is the derivative of fuel cell pile temperature y, f is external total disturbance, u0For by non-linear temperature model
The output of automatic disturbance rejection controller before compensation is ideal pure integral model.
Further, the β1And β2Value by formula (5) adjusting obtain:
In formula (5), ω0For the bandwidth of extended state observer.
The utility model has the advantages that the invention discloses a kind of fuel battery temperature controlling parties based on data-driven Active Disturbance Rejection Control
Method, compared with the fuel battery temperature model nonlinear system modelling based on simulation modeling, the present invention is based on multi-state temperature to ring
Answer the nonlinear model of empirical curve more intuitive, true；Compared with conventional PI control device, automatic disturbance rejection controller of the invention changes
It has been apt to fuel battery temperature anti-interference and tracing control performance, has improved the robustness, stability and response speed of control system.
Detailed description of the invention
Fig. 1 is the experimental curve diagram of the multi-state temperature jump response in the specific embodiment of the invention；
The experimental curve diagram of temperature jump response when Fig. 1 (a) is pile power 270W；
The experimental curve diagram of temperature jump response when Fig. 1 (b) is pile power 204W；
The experimental curve diagram of temperature jump response when Fig. 1 (c) is pile power 194W；
Fig. 2 is the structure chart of automatic disturbance rejection controller in the specific embodiment of the invention；
Fig. 3 is the comparing result figure of automatic disturbance rejection controller and the experiment of PI controller simulation in the specific embodiment of the invention；
Fig. 3 (a) is the simulation result diagram that PI controller recognizes transmission function result to nine；
Fig. 3 (b) is the simulation result diagram that automatic disturbance rejection controller recognizes transmission function result to nine；
Fig. 4 is automatic disturbance rejection controller and the anti-power load disturbance control experiment of PI controller in the specific embodiment of the invention
Comparing result figure；
Fig. 4 (a) is the result figure of the anti-power load disturbance control experiment of PI controller；
Fig. 4 (b) is the result figure of the anti-power load disturbance control experiment of automatic disturbance rejection controller；
Fig. 5 is automatic disturbance rejection controller and PI controller setting value tracing control Experimental comparison in the specific embodiment of the invention
Result figure；
Fig. 5 (a) is the setting value tracing control experimental result picture of PI controller；
Fig. 5 (b) is the setting value tracing control experimental result picture of automatic disturbance rejection controller.
Specific embodiment
Technical solution of the present invention is further introduced With reference to embodiment.
Present embodiment discloses a kind of fuel battery temperature control method based on data-driven Active Disturbance Rejection Control,
The following steps are included:
S1: the non-linear temperature model of fuel cell pile is established；
S2: non-linear temperature model is controlled by automatic disturbance rejection controller；Fig. 2 is the structure of automatic disturbance rejection controller
Figure；
S3: external total disturbance is observed and is fed back by extended state observer, non-linear temperature model is compensated
For ideal pure integral model；
S4: conventional PI control device is adjusted based on non-linear temperature model, the proportional gain of conventional PI control device is used to set
Outer ring proportional controller is counted, ideal pure integral model is controlled, reaches the anti-interference optimization aim with tracking.
In step S4, there are two purposes for the conventional PI control device of design:
1) it only needs to be controlled with proportional controller to by the compensated pure integral model of extended state observer,
Its control parameter kpThe proportional gain k adjusted in PI controllerp；
2) in order to compare Active Disturbance Rejection Control quality and PI Control platform, to illustrate automatic disturbance rejection controller in fuel electricity
Superiority in terms of the operating temperature control of pond.
The experiment porch of this method is led to by a fuel cell pile, two fans, controller, temperature sensor with several
Interrogate equipment composition.The system is all directly communicated by PC control, all devices.Stack temperature is by between outlet exhaust temperature
Display is connect, thermal signal is converted to electric signal and is amplified into data acquisition module by amplifier by the thermocouple being disposed therein
Block is communicated to host computer.Host computer sends back to data outputting module after calculating control amount, will be electric by voltage-PWM conversion module
Pressure signal is converted to the PWM wave signal of different duty, controls rotation speed of the fan, and wherein n% duty ratio is full corresponding to n%
Revolving speed.For open cathode formula fuel cell, fan not only plays heat spreading function, is also used as cathode apparatus of oxygen supply, directly aspirates
Air is as oxygen sources.Power load fluctuation is simulated by external connected electronic load, and pile power is by MODBUS module feedback
To host computer.
Fig. 1 is stack temperature step response empirical curve under multi-state, and wherein the pile power of Fig. 1 (a) is 270W, Fig. 1
(b) pile power is 204W, and the pile power of Fig. 1 (c) is 194W, and the step path of rotation speed of the fan is 30-50-70-90%,
Can then obtain nine identification after transmission function, as shown in table 1.
Identification for temperature model result under the different operating conditions of table 1
It can be obtained by table 1, when operating condition variation, the open-loop gain P and time constant T of system model can change, body
The nonlinear characteristic of fuel battery temperature model is showed.
Shown in fuel cell pile temperature model such as formula (1):
In formula (1), PnFor the open-loop gain of fuel cell pile temperature controlled device, TnFor time constant, they are all rings
Border temperature Tab, power load LdWith the function of runing time t；fPFor PnWith Tab、Ld, functional relation between t, fTFor TnWith Tab、
Ld, functional relation between t.In present embodiment, n=1,2 ..., 9.
Automatic disturbance rejection controller is obtained by following procedure:
S2.1: the proportional gain k of conventional PI control device is adjusted according to formula (1)pWith integral gain ki, conventional PI control device
Transmission function Gc(s) as shown in formula (2):
S2.2: according to the proportional gain k after adjustingpWith integral gain kiDesign automatic disturbance rejection controller.Present embodiment
In, kp=-0.2035, ki=-0.01029.
Shown in extended state observer such as formula (3) in step S3:
In formula (3), z1For x1Estimation, z2For x2Estimation, x1It is the state space variable of fuel cell pile temperature y,
x2For the state space variable of the derivative of fuel cell pile temperature y, b0For bnEstimation,PnFor object open loop increasing
Benefit, TnFor time constant, β1And β2For the variable of extended state observer, u is control amount.
The pure integral model of ideal in step S3As shown in formula (4):
In formula (4),It is the derivative of fuel cell pile temperature y, f is external total disturbance, u0For by non-linear temperature model
The output of automatic disturbance rejection controller before compensation is ideal pure integral model.
β1And β2Value by formula (5) adjusting obtain:
In formula (5), ω0For the bandwidth of extended state observer.In present embodiment, ωo=0.5.
Fig. 3 is the emulation that PI controller and automatic disturbance rejection controller recognize transmission function result to nine, wherein Fig. 3 (a) is
PI controller recognizes the emulation of transmission function result to nine, and Fig. 3 (b) is automatic disturbance rejection controller to nine identification transmission function knots
The emulation of fruit.It can be obtained from the figure that Active Disturbance Rejection Control has all embodied apparent advantage no matter in terms of anti-interference or tracking.
Anti-interference and tracking test are carried out on the basis of above-mentioned design and emulation experiment.Fig. 4 is pile power in 160-
Temperature anti-interference experimental result picture when fluctuating between 200W, can be obtained by the comparison of automatic disturbance rejection controller and PI controller, when disturbance is sent out
When raw, PI controller action is slow, results in biggish overshoot, and recovery time is long, and stability is poor, and automatic disturbance rejection controller exists
It is responded when power variation rapidly, almost guarantees that temperature keeps stable in the entire experiment process.For Control platform is better described,
IAE judge index is introduced, is defined as
The IAE value of PI controller is 433.49, and as shown in Fig. 4 (a), and the IAE of automatic disturbance rejection controller is 124.53, is such as schemed
Shown in 4 (b), the latter is much smaller than the former, and advantage of the automatic disturbance rejection controller in terms of disturbance rejection control has some idea of.
Fig. 5 is the experimental result picture of automatic disturbance rejection controller and PI controller temperature tracing control, compares PI controller, certainly anti-
Disturbing controller has faster transient process speed, lesser overshoot and lesser steady-sxtate wave motion amplitude, automatic disturbance rejection controller
IAE is 714.29, as shown in Fig. 5 (b), much smaller than the 1031.01 of PI control, as shown in Fig. 5 (a), embodies Active Disturbance Rejection Control
Device is more accurate on temperature tracing control, quick, stable.
Claims (6)
1. a kind of fuel battery temperature control method based on data-driven Active Disturbance Rejection Control, it is characterised in that: including following step
It is rapid:
S1: the non-linear temperature model of fuel cell pile is established；
S2: non-linear temperature model is controlled by automatic disturbance rejection controller；
S3: external total disturbance is observed and is fed back by extended state observer, is reason by non-linear temperature model compensation
Think pure integral model；
S4: adjusting conventional PI control device based on non-linear temperature model, the proportional gain of conventional PI control device is used to design outer
Ring proportional controller controls ideal pure integral model, reaches the anti-interference optimization aim with tracking.
2. the fuel battery temperature control method according to claim 1 based on data-driven Active Disturbance Rejection Control, feature
It is: shown in the fuel cell pile temperature model such as formula (1):
In formula (1), PnFor the open-loop gain of fuel cell pile temperature controlled device, TnFor time constant, they are all environment temperature
Spend Tab, power load LdWith the function of runing time t；fPFor PnWith Tab、Ld, functional relation between t, fTFor TnWith Tab、Ld、t
Between functional relation.
3. the fuel battery temperature control method according to claim 2 based on data-driven Active Disturbance Rejection Control, feature
Be: the automatic disturbance rejection controller is obtained by following procedure:
S2.1: the proportional gain k of conventional PI control device is adjusted according to formula (1)pWith integral gain ki, the transmitting of conventional PI control device
Function Gc(s) as shown in formula (2):
S2.2: according to the proportional gain k after adjustingpWith integral gain kiDesign automatic disturbance rejection controller.
4. the fuel battery temperature control method according to claim 1 based on data-driven Active Disturbance Rejection Control, feature
It is: shown in the extended state observer such as formula (3) in the step S3:
In formula (3), z1For x1Estimation, z2For x2Estimation, x1It is the state space variable of fuel cell pile temperature y, x2For
The state space variable of the derivative of fuel cell pile temperature y, b0For bnEstimation,PnFor object open-loop gain, Tn
For time constant, β1And β2For the variable of extended state observer, u is control amount.
5. the fuel battery temperature control method according to claim 4 based on data-driven Active Disturbance Rejection Control, feature
It is: the pure integral model of ideal in the step S3As shown in formula (4):
In formula (4),It is the derivative of fuel cell pile temperature y, f is external total disturbance, u0For non-linear temperature model is compensated
For the output of automatic disturbance rejection controller before ideal pure integral model.
6. the fuel battery temperature control method according to claim 4 based on data-driven Active Disturbance Rejection Control, feature
It is: the β1And β2Value by formula (5) adjusting obtain:
In formula (5), ω0For the bandwidth of extended state observer.
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| CN111009674A (en) * | 2019-12-13 | 2020-04-14 | 湖南理工学院 | Proton exchange membrane fuel cell humidity control method based on active disturbance rejection control method |
| CN111403783A (en) * | 2020-03-12 | 2020-07-10 | 吉林大学 | Decoupling control method of fuel cell air inlet system |
| CN112578670A (en) * | 2020-12-01 | 2021-03-30 | 东南大学 | Parameter setting method of active disturbance rejection time-lag controller in thermal process and controller |
| CN112635803A (en) * | 2020-12-21 | 2021-04-09 | 中通客车控股股份有限公司 | PEMFC pile temperature control method and system |
| CN114335625A (en) * | 2021-11-15 | 2022-04-12 | 北京格睿能源科技有限公司 | Fuel cell stack temperature control method, device, model predictive controller and system |
| CN115113663A (en) * | 2022-05-18 | 2022-09-27 | 东南大学 | A kind of small power generation cabin in cold area and temperature control method |
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| CN115113663A (en) * | 2022-05-18 | 2022-09-27 | 东南大学 | A kind of small power generation cabin in cold area and temperature control method |
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