质子交换膜燃料电池系统建模及其控制方法研究
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摘要
随着全球变暖问题的出现,燃料电池技术由于具有高效、环境友好的特点,被视为一种具有发展前景的能源技术。与其它类型的燃料电池相比,质子交换膜燃料电池(PEMFC)具有运行温度低、功率密度高、响应快、稳定性好以及当使用纯氢气时不会造成环境污染等特点,适用于便携式动力源、混合动力车辆及分布式发电。
本文主要对车用PEMFC系统建模、改进粒子群优化算法(MPSO)及其在PEMFC模型参数辨识中的应用、基于H∞次优控制方法的PEMFC控制问题、燃料电池混合动力车辆建模及其多能源控制策略进行了研究。本文主要研究成果如下。
(1)根据PEMFC机理模型和辨识模型的建模原理,建立了包括PEMFC机理模型和辅助设备模型的车用PEMFC系统混合动态模型。其中机理模型部分由输出电压模型、阴极流量模型、阳极流量模型以及膜水合模型组成；系统辅助设备模型部分由空气压缩机模型、管道集总模型、冷却器模型以及增湿器模型组成。该系统模型克服了既有PEMFC系统机理模型较复杂和参数繁多以及辨识模型需要实验数据量大、成本高等问题,而且模型中综合考虑输出电压系统、空气供应系统和增湿系统等相关子系统的建模。所建立的系统模型作为后续章节控制系统设计的基础；
(2)针对传统PSO算法难以跳出局部极值点,易使平衡点陷入停滞状态,造成早熟收敛的问题,本文提出了一种具有较好全局搜索能力和寻优速度的MPSO算法。该算法主要包括有效信息策略、自适应惯性权值和加速度因子策略、BFGS拟牛顿法局部搜索策略以及随机重组策略。本文采用MPSO算法对benchmark函数问题进行函数优化测试,以验证该算法的性能,同时与其它已被广泛采用的改进PSO算法进行分析比较；
(3)在新加坡淡马锡理工学院清洁能源研究中心(CEC)建立了PEMFC实验测试平台,利用燃料电池测试系统对CEC自主研发的PEMFC进行了极化特性曲线测试。根据具体实验数据,结合所建立的PEMFC模型,在无噪声和含噪声条件下,采用MPSO算法对输出电压模型的关键参数进行了辨识,并与其它改进PSO算法的辨识结果进行了分析比较,以验证MPSO算法的优越性；
(4)针对PEMFC系统过氧保护问题,根据所建立的非线性PEMFC系统模型,本文提出一种将降阶H∞次优输出反馈控制器与前馈补偿器相结合的2自由度控制器(2DOF),使系统过氧比(OER)能够维持在最优值附近。在仿真模拟电动车的动态行驶过程时,考虑了多种不确定性参数摄动和外部扰动的影响,以检验控制系统的鲁棒性能,同时与其它控制方法进行了比较,并使用Ballard 1.2kW Nexa实验系统进行定性实验分析比较,以验证所建控制系统的可行性和有效性；
(5)为了防止质子交换膜损坏、保证PEMFC系统稳定运行及延长其使用寿命,本文提出了一种非线性H∞次优输出反馈控制方法,建立了PEMFC压力控制系统模型。该方法通过非线性坐标变换和动态扩展算法,求解了非线性状态反馈控制律,得到了线性可控的Brunovsky标准型结构,进而将前文提出的基于LMI的H∞次优输出反馈控制方法与状态反馈精确线性化方法相结合,进一步设计了非线性H∞次优输出反馈控制器。通过模拟燃料电池测试系统的负载电流出现连续突变情况,对PEMFC压力控制系统进了动态仿真,以检验所设计的非线性控制器的抑制扰动能力,同时与其它非线性控制方法进行了比较分析；
(6)本文在燃料电池和蓄电池(FC+B)双混合驱动型车辆的仿真系统结构基础上,对电动车辆仿真软件ADVISOR进行了二次开发,重新配置了装载文件,建立了燃料电池、蓄电池和超级电容器(FC+B+UC)混合驱动型车辆的仿真模型。此外为了提高燃料电池混合动力车辆的燃料经济性,增加车辆的续航里程,本文针对FC+B双能量源混合驱动系统以及FC+B+UC三能量源混合驱动系统,采用模糊控制方法设计了相应的多能量源控制策略。根据不同标准循环工况,通过与ADVISOR中广泛采用的功率跟随控制策略在燃料经济性和动力性指标上分别进行对比分析,验证了所提出的多能量源控制策略在满足工况功率需求的前提下,在各动力源之间功率分配方面的合理性和有效性。
With the world facing the global warming problem, fuel cell technologies are viewed as one of the promising energy technologies for sustainable future due to their high energy efficiency and environment friendliness. Compared with the other types of fuel cells, a proton exchange membrane fuel cell (PEMFC) shows promising results with its advantages such as low temperature, high power density, fast response, good stability and zero emission if it runs with pure hydrogen, and it is suitable to be used in portable power supply, hybrid vehicles, and distributed power plants.
The dissertation researches on modeling of PEMFC system for vehicles, modified particle swarm optimization as well as parameter identification for PEMFC model, PEMFC control problems based on H∞suboptimal control and multi-energy control strategies of hybrid vehicles based on fuel cell. The main contributions obtained in this dissertation are as follows.
(1) According to the modeling principle of mechanism model and identification model of PEMFC, a mixed dynamic model of PEMFC system for vehicles which includes mechanism model and auxiliary equipment model of PEMFC is proposed. In this system model, the mechanism model part is composed of output voltage model, cathode flow model, anode flow model and membrane hydration model;the auxiliary equipment model part is composed of air compressor model, manifold lumped model, air cooler model and humidifier model. This system model overcomes the drawbacks of high complexity and too many parameters in the mechanism model of PEMFC system and the shortcoming of large amounts of experimental data needed and high cost in the identification model. This system model also considers output voltage subsystem, air supply subsystem and humidifying subsystem, etc. This proposed system model will be the foundation for the control system design in follow-up chapters.
(2) Due to the problem of standard PSO wihich is difficult to jump out of local optimum and can make equilibrium point fall into logjam, causing premature convergence, a modified particle swarm optimization (MPSO) algorithm which has preferable global search ability and search speed is proposed in this dissertation. This algorithm main includes effective informed strategy; adaptive inertia weight and acceleration coefficients strategies; local search strategy based on BFGS Quasi-Newton method; randomized regrouping strategy. In this dissertation, MPSO is carried out to test function optimization for the benchmark function problem to verify the performance of proposed algorithm. Meanwhile, MPSO is compared with other wide improved PSOs.
(3) A PEMFC experimental test bench is developed in Clean Energy Centre (CEC), Temasek Polytechnic, Singapore. A PEMFC designed and fabricated by CEC is used to achieve the testing of polarization characteristics with the fuel cell testing system. Based on the experimental data and combined with the proposed PEMFC model, MPSO is utilized to achieve the parameter identification for the key parameters of output voltage model under the condition of noise and absence of noise. In order to verify the advantage of MPSO, the comparisons of identified results with other improved PSOs are carried out.
(4) In order to protect a PEMFC system because of oxygen excess, a novel reduced H∞suboptimal output feedback controller as 2 degrees of freedom (2DOF) controller which can maintain oxygen excess ratio (OER) better at the optimal operating point combined with a pre-compensator is designed for a nonlinear PEMFC system. Considering the existence of uncertainties and disturbances, the robust performance of the control system is verfied as dynamic running process of electrical vehicle is simulated. Meanwhile, the comprehensive comparisons with other control methods are carried out. The experimental system of Ballard 1.2kW Nexa is performed qualitatively to compare with the simulation results and also the feasibility and the validity is verified for the proposed control system.
(5) In order to prevent the damage of proton exchange membrane, guarantee stable operation of a PEMFC system and prolong its working lifetime, a nonlinear H∞, suboptimal output feedback method is proposed and a PEMFC pressure control system is developed. According to a nonlinear transformation of coordinate and a dynamic extension algorithm, a nonlinear state feedback control rule could be solved and a linear and controllable Brunovsky canonical form is then obtained. Furthermore, the proposed H∞suboptimal output feedback method based on LMI is combined with state feedback exact linearization and then a nonlinear H∞suboptimal output feedback contoller is designed. To verify the disturbance restraint ability of the proposed controller, the dynamic simulation is carried out for the pressure control system as load current of fuel cell testing system with continuous step is simulated. Meanwhile, the comprehensive comparisons with other nonlinear control approaches are achieved.
(6) A secondary development for electric vehicle simulation software ADVISOR is implemented with the system architecture of hybrid vehicle based on fuel cell and battery (FC+B) in this dissertation. The loading files are reconfiguration and then a model of hybrid vehicle based on fuel cell, battery and ultra-capacitor (FC+B+UC) is developed. In order to enhance the fuel economy of hybrid vehicle and increase the mileage of continuation of the journey, a fuzzy control method is utilized to design relevant multi-energy control strategy for the FC+B hybrid vehicle and the FC+B+UC hybrid vehicle. According to different standard cycle conditions, the proposed control strategy is contrasted with the power tracking control strategy which is wide adopted in ADVISOR in terms of the indexes of fuel economy and dynamic property. The rationality and the validity of the proposed control strategy on condition that satisfies the power requirement of working condition are verified for the power distribution among various power sources.
本文主要对车用PEMFC系统建模、改进粒子群优化算法(MPSO)及其在PEMFC模型参数辨识中的应用、基于H∞次优控制方法的PEMFC控制问题、燃料电池混合动力车辆建模及其多能源控制策略进行了研究。本文主要研究成果如下。
(1)根据PEMFC机理模型和辨识模型的建模原理,建立了包括PEMFC机理模型和辅助设备模型的车用PEMFC系统混合动态模型。其中机理模型部分由输出电压模型、阴极流量模型、阳极流量模型以及膜水合模型组成；系统辅助设备模型部分由空气压缩机模型、管道集总模型、冷却器模型以及增湿器模型组成。该系统模型克服了既有PEMFC系统机理模型较复杂和参数繁多以及辨识模型需要实验数据量大、成本高等问题,而且模型中综合考虑输出电压系统、空气供应系统和增湿系统等相关子系统的建模。所建立的系统模型作为后续章节控制系统设计的基础；
(2)针对传统PSO算法难以跳出局部极值点,易使平衡点陷入停滞状态,造成早熟收敛的问题,本文提出了一种具有较好全局搜索能力和寻优速度的MPSO算法。该算法主要包括有效信息策略、自适应惯性权值和加速度因子策略、BFGS拟牛顿法局部搜索策略以及随机重组策略。本文采用MPSO算法对benchmark函数问题进行函数优化测试,以验证该算法的性能,同时与其它已被广泛采用的改进PSO算法进行分析比较；
(3)在新加坡淡马锡理工学院清洁能源研究中心(CEC)建立了PEMFC实验测试平台,利用燃料电池测试系统对CEC自主研发的PEMFC进行了极化特性曲线测试。根据具体实验数据,结合所建立的PEMFC模型,在无噪声和含噪声条件下,采用MPSO算法对输出电压模型的关键参数进行了辨识,并与其它改进PSO算法的辨识结果进行了分析比较,以验证MPSO算法的优越性；
(4)针对PEMFC系统过氧保护问题,根据所建立的非线性PEMFC系统模型,本文提出一种将降阶H∞次优输出反馈控制器与前馈补偿器相结合的2自由度控制器(2DOF),使系统过氧比(OER)能够维持在最优值附近。在仿真模拟电动车的动态行驶过程时,考虑了多种不确定性参数摄动和外部扰动的影响,以检验控制系统的鲁棒性能,同时与其它控制方法进行了比较,并使用Ballard 1.2kW Nexa实验系统进行定性实验分析比较,以验证所建控制系统的可行性和有效性；
(5)为了防止质子交换膜损坏、保证PEMFC系统稳定运行及延长其使用寿命,本文提出了一种非线性H∞次优输出反馈控制方法,建立了PEMFC压力控制系统模型。该方法通过非线性坐标变换和动态扩展算法,求解了非线性状态反馈控制律,得到了线性可控的Brunovsky标准型结构,进而将前文提出的基于LMI的H∞次优输出反馈控制方法与状态反馈精确线性化方法相结合,进一步设计了非线性H∞次优输出反馈控制器。通过模拟燃料电池测试系统的负载电流出现连续突变情况,对PEMFC压力控制系统进了动态仿真,以检验所设计的非线性控制器的抑制扰动能力,同时与其它非线性控制方法进行了比较分析；
(6)本文在燃料电池和蓄电池(FC+B)双混合驱动型车辆的仿真系统结构基础上,对电动车辆仿真软件ADVISOR进行了二次开发,重新配置了装载文件,建立了燃料电池、蓄电池和超级电容器(FC+B+UC)混合驱动型车辆的仿真模型。此外为了提高燃料电池混合动力车辆的燃料经济性,增加车辆的续航里程,本文针对FC+B双能量源混合驱动系统以及FC+B+UC三能量源混合驱动系统,采用模糊控制方法设计了相应的多能量源控制策略。根据不同标准循环工况,通过与ADVISOR中广泛采用的功率跟随控制策略在燃料经济性和动力性指标上分别进行对比分析,验证了所提出的多能量源控制策略在满足工况功率需求的前提下,在各动力源之间功率分配方面的合理性和有效性。
With the world facing the global warming problem, fuel cell technologies are viewed as one of the promising energy technologies for sustainable future due to their high energy efficiency and environment friendliness. Compared with the other types of fuel cells, a proton exchange membrane fuel cell (PEMFC) shows promising results with its advantages such as low temperature, high power density, fast response, good stability and zero emission if it runs with pure hydrogen, and it is suitable to be used in portable power supply, hybrid vehicles, and distributed power plants.
The dissertation researches on modeling of PEMFC system for vehicles, modified particle swarm optimization as well as parameter identification for PEMFC model, PEMFC control problems based on H∞suboptimal control and multi-energy control strategies of hybrid vehicles based on fuel cell. The main contributions obtained in this dissertation are as follows.
(1) According to the modeling principle of mechanism model and identification model of PEMFC, a mixed dynamic model of PEMFC system for vehicles which includes mechanism model and auxiliary equipment model of PEMFC is proposed. In this system model, the mechanism model part is composed of output voltage model, cathode flow model, anode flow model and membrane hydration model;the auxiliary equipment model part is composed of air compressor model, manifold lumped model, air cooler model and humidifier model. This system model overcomes the drawbacks of high complexity and too many parameters in the mechanism model of PEMFC system and the shortcoming of large amounts of experimental data needed and high cost in the identification model. This system model also considers output voltage subsystem, air supply subsystem and humidifying subsystem, etc. This proposed system model will be the foundation for the control system design in follow-up chapters.
(2) Due to the problem of standard PSO wihich is difficult to jump out of local optimum and can make equilibrium point fall into logjam, causing premature convergence, a modified particle swarm optimization (MPSO) algorithm which has preferable global search ability and search speed is proposed in this dissertation. This algorithm main includes effective informed strategy; adaptive inertia weight and acceleration coefficients strategies; local search strategy based on BFGS Quasi-Newton method; randomized regrouping strategy. In this dissertation, MPSO is carried out to test function optimization for the benchmark function problem to verify the performance of proposed algorithm. Meanwhile, MPSO is compared with other wide improved PSOs.
(3) A PEMFC experimental test bench is developed in Clean Energy Centre (CEC), Temasek Polytechnic, Singapore. A PEMFC designed and fabricated by CEC is used to achieve the testing of polarization characteristics with the fuel cell testing system. Based on the experimental data and combined with the proposed PEMFC model, MPSO is utilized to achieve the parameter identification for the key parameters of output voltage model under the condition of noise and absence of noise. In order to verify the advantage of MPSO, the comparisons of identified results with other improved PSOs are carried out.
(4) In order to protect a PEMFC system because of oxygen excess, a novel reduced H∞suboptimal output feedback controller as 2 degrees of freedom (2DOF) controller which can maintain oxygen excess ratio (OER) better at the optimal operating point combined with a pre-compensator is designed for a nonlinear PEMFC system. Considering the existence of uncertainties and disturbances, the robust performance of the control system is verfied as dynamic running process of electrical vehicle is simulated. Meanwhile, the comprehensive comparisons with other control methods are carried out. The experimental system of Ballard 1.2kW Nexa is performed qualitatively to compare with the simulation results and also the feasibility and the validity is verified for the proposed control system.
(5) In order to prevent the damage of proton exchange membrane, guarantee stable operation of a PEMFC system and prolong its working lifetime, a nonlinear H∞, suboptimal output feedback method is proposed and a PEMFC pressure control system is developed. According to a nonlinear transformation of coordinate and a dynamic extension algorithm, a nonlinear state feedback control rule could be solved and a linear and controllable Brunovsky canonical form is then obtained. Furthermore, the proposed H∞suboptimal output feedback method based on LMI is combined with state feedback exact linearization and then a nonlinear H∞suboptimal output feedback contoller is designed. To verify the disturbance restraint ability of the proposed controller, the dynamic simulation is carried out for the pressure control system as load current of fuel cell testing system with continuous step is simulated. Meanwhile, the comprehensive comparisons with other nonlinear control approaches are achieved.
(6) A secondary development for electric vehicle simulation software ADVISOR is implemented with the system architecture of hybrid vehicle based on fuel cell and battery (FC+B) in this dissertation. The loading files are reconfiguration and then a model of hybrid vehicle based on fuel cell, battery and ultra-capacitor (FC+B+UC) is developed. In order to enhance the fuel economy of hybrid vehicle and increase the mileage of continuation of the journey, a fuzzy control method is utilized to design relevant multi-energy control strategy for the FC+B hybrid vehicle and the FC+B+UC hybrid vehicle. According to different standard cycle conditions, the proposed control strategy is contrasted with the power tracking control strategy which is wide adopted in ADVISOR in terms of the indexes of fuel economy and dynamic property. The rationality and the validity of the proposed control strategy on condition that satisfies the power requirement of working condition are verified for the power distribution among various power sources.
引文
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