无偏显式模型预测控制及其在质子交换膜燃料电池净输出功率跟踪中的应用

doi:10.3901/JME.2024.14.282

机械工程学报 ›› 2024, Vol. 60 ›› Issue (14): 282-297.doi: 10.3901/JME.2024.14.282

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无偏显式模型预测控制及其在质子交换膜燃料电池净输出功率跟踪中的应用

李昊^1,2, 宾洋^1,3, 胡杰¹, 岳肖^1,2, 金庭安², 张凯³

1. 重庆理工大学机械检测技术与装备教育部工程研究中心重庆 400054;
2. 重庆交通职业学院智能制造与汽车学院重庆 402260;
3. 长城汽车股份有限公司哈弗技术中心保定 100124

收稿日期:2023-06-29 修回日期:2024-02-10 出版日期:2024-07-20 发布日期:2024-08-29
作者简介:李昊,男,1992年出生。主要研究方向为燃料电池系统建模与优化控制、无人驾驶车辆技术等。E-mail:ledarin@foxmail.com;宾洋,男,1976年出生,工学博士,教授。主要研究方向为非线性系统、模型预测控制、燃料电池优化控制,分布式混合动力电驱动系统,电流/电压可控双向DC/DC变换器、无人驾驶车辆技术等。E-mail:edward.biny@hotmail.com;岳肖,男,1997年出生,硕士研究生。主要研究方向为燃料电池混合动力系统能量管理技术、系统分布式控制。;E-mail:850493004@qq.com;张凯(通信作者),男,1979年出生,副总工程师。主要研究方向为车辆动力学和自动驾驶系统设计开发。E-mail:624047805@qq.com
基金资助:
重庆市科学技术委员会重点专项资助项目(cstc2017jcyjBX0029)。

Offset-free Explicit Model Predictive Control and Its Application on the Net Output Power Tracking of PEMFC System

LI Hao^1,2, BIN Yang^1,3, HU Jie¹, YUE Xiao^1,2, JIN Tingan², ZHANG Kai³

1. Engineering Research Center of Mechanical Testing Tech. and Equip., Ministry of Education, Chongqing University of Technology, Chongqing 400054;
2. Intelligent Manufacturing and Automotive Academy, Chongqing Vocational College of Transportation, Chongqing 402260;
3. Haval R&D Center, Great Wall Motor Company Limited, Baoding 100124

Received:2023-06-29 Revised:2024-02-10 Online:2024-07-20 Published:2024-08-29

摘要/Abstract

摘要： 考虑质子交换膜燃料电池(Proton exchange membrane fuel cell，PEMFC)的净输出功率最优化跟踪问题，提出一种基于显式模型预测控制(Explicit model predictive control，EMPC)的无偏优化控制策略，以实现PEMFC系统在面对模型失配和约束条件的影响下，对期望净输出功率的鲁棒稳态无偏差跟踪，以及将系统工作点调节在最(次)优工作曲线附近，达到效率最优化。首先，对PEMFC系统的非线性特性进行线性化，推导出面向控制器设计的线性控制模型。在此基础上，通过设计状态观测器，实现对状态变量和模型失配度的估计；通过设计目标计算器，实现对最(次)优净输出功率的跟踪和空气压缩机工作边界的约束；通过设计EMPC控制器，对空气压缩机工作边界约束进行松弛，以获得可行的显式解，从而构成无偏EMPC控制策略。最后，搭建硬件在环测试(Hardware in loop，HiL)平台，基于标准的车用燃料电池堆试验循环工况，通过与传统MPC和EMPC的仿真试验对比，验证所提出的无偏EMPC控制策略可将系统整体工作效率从41%提高到47.6%，输出功率的平均跟踪误差绝对值从0.26 kW降低到0.17 kW，单步平均计算耗时从22.2 ms缩短到2.1 ms。

关键词: 质子交换膜燃料电池, 净输出功率跟踪, 鲁棒最优化, 无偏显式模型预测控制

Abstract: Considering the optimal tracking issue of the net output power for the proton exchange membrane fuel cell(PEMFC), an explicit model predictive control(EMPC) based offset-free optimal control strategy is proposed, which aims at achieving the robust steady state offset-free tracking of desired net output power, in terms of system’s operating constraints and model mismatching, and is for the purpose of optimizing the system efficiency, by regulating the PEMFC’s operating points at around the optimal (sub-optimal) operating curve. Firstly, a control-oriented linear model is proposed by linearizing the PEMFC system. Then, a state observer is designed to estimate the state variables and model mismatching. A target calculator is designed to track the optimal net output power and to constrain the operating boundary of the air compressor. An EMPC controller is designed to relax the air compressor boundary constraints and achieve a reachable explicit solution, and consequently an offset-free EMPC strategy is proposed involves the above three parts. Finally, a hardware in loop test bench is set up, and a simulation is performed based on a standard vehicular fuel cell stack test cycle， in comparing with the conventional MPC and EMPC strategy. The results demonstrate that the off-set free EMPC control strategy is able to improve the system efficiency from 41% up to 47.6%, and to reduce the absolute average error of the output power tracking from 0.26 kW down to 0.17 kW, and the single step average time cost is reduced from 22.2 ms down to 2.1 ms, respectively.

Key words: proton exchange membrane fuel cell, net output power tracking, robust optimization, offset-free explicit model predictive control

中图分类号:

TG156

李昊, 宾洋, 胡杰, 岳肖, 金庭安, 张凯. 无偏显式模型预测控制及其在质子交换膜燃料电池净输出功率跟踪中的应用[J]. 机械工程学报, 2024, 60(14): 282-297.

LI Hao, BIN Yang, HU Jie, YUE Xiao, JIN Tingan, ZHANG Kai. Offset-free Explicit Model Predictive Control and Its Application on the Net Output Power Tracking of PEMFC System[J]. Journal of Mechanical Engineering, 2024, 60(14): 282-297.

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无偏显式模型预测控制及其在质子交换膜燃料电池净输出功率跟踪中的应用

Offset-free Explicit Model Predictive Control and Its Application on the Net Output Power Tracking of PEMFC System

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