Multivariable high-coupling hydrogen-oxygen double-loop coordination control method for hydrogen fuel cell

Abstract

The invention discloses a multivariable high-coupling hydrogen-oxygen double-loop coordination control method for a hydrogen fuel cell, and the method comprises the following steps: S1, building a flow and pressure coupled nonlinear high-order system model according to cathode and anode gas kinetic equations of a fuel cell system; s2, designing a multivariable coordinated backstepping controller by taking the peroxide ratio, the hydrogen ratio and the positive and negative pressure difference as control targets; s3, considering the influence of load change and model uncertainty on the hydrogen-oxygen double loop, introducing a self-adaptive control method, and designing control instructions of an air compressor, a circulating pump and an electromagnetic valve; s4, selecting a proper Lyapunov function to prove the stability of the system, and completing the self-adaptive backstepping control of the pressure difference between the anode and the cathode and the gas flow; according to the method, the fuel cell hydrogen-oxygen double-loop multivariable high-coupling coordination control problem is solved, the transient and steady-state performance of the system can be kept under the condition of sudden load change, and the safety and reliability of system operation are improved.

Description

Technical Field

[0001] The present invention relates to the field of fuel cell technology, and more specifically, to a multivariable high-coupling hydrogen-oxygen dual-circuit coordinated control method for a hydrogen fuel cell. Background Art

[0002] Proton exchange membrane fuel cell (PEMFC) is a high-efficiency clean energy technology that meets the society's urgent need for zero-emission energy. Its system components are as follows: Figure 1 As shown. Especially in the fields of aerospace and transportation, PEMFC is applied to unmanned aerial vehicles (UAV), underwater vehicles (UV) and light traction systems. Compared with lithium-ion batteries, it has longer battery life and higher energy density. PEMFC is characterized by high energy conversion efficiency and environmental friendliness. Its chemical reaction only produces water and does not emit greenhouse gases. These characteristics make it a key technology for achieving carbon neutrality goals. The PEMFC system integrates four interdependent subsystems: hydrogen and oxygen supply management, thermal management, water management and power management. There are strong mutual constraints between these subsystems. Therefore, the entire system faces the challenge of strong multivariable coupling. The dynamic interaction of air flow, pressure, humidity, temperature and current is highly nonlinear. Any imbalance in these variables may lead to performance degradation or system instability. Solving this problem requires the design of an efficient multivariable coordinated control strategy to optimize the matching of gas flow and pressure dynamics to improve fuel cell efficiency.

[0003] Based on the above analysis, there are already numerous publications on PEMFC systems both domestically and internationally. However, research using the anode-cathode pressure differential as a control target remains limited, and the decoupling and coordinated control of multivariable, high-order nonlinear models urgently needs to be addressed. Therefore, the present invention proposes a multivariable, highly coupled, hydrogen-oxygen dual-circuit coordinated control method for hydrogen fuel cells. This method effectively addresses the problem of drastic pressure fluctuations across the proton exchange membrane during load changes, prevents membrane damage caused by mechanical stress, and significantly improves operational safety and reliability. Summary of the Invention

[0004] The purpose of the present invention is to provide a multivariable high-coupling hydrogen and oxygen dual-circuit coordinated control method for a hydrogen fuel cell, which solves the problem of severe pressure fluctuations on both sides of the proton exchange membrane when the load changes.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A multivariable high-coupling hydrogen-oxygen dual-circuit coordinated control method for a hydrogen fuel cell, characterized in that the method comprises the following steps:

[0007] S1. Based on the cathode and anode gas dynamics equations of the fuel cell system, a nonlinear high-order system model with flow and pressure coupling is established;

[0008] S2. Design a multivariable coordinated backstepping controller with the oxygen excess ratio, hydrogen excess ratio and anode-cathode pressure difference as control targets;

[0009] S3. Considering the impact of load changes and model uncertainty on the hydrogen and oxygen dual circuits, an adaptive control method is introduced and control instructions for the air compressor, circulating pump, and solenoid valve are designed;

[0010] S4. Select a suitable Lyapunov function to verify the stability of the fuel cell system and complete the adaptive backstepping control of the anode-cathode pressure difference and gas flow.

[0011] Furthermore, step S1 specifically includes:

[0012] Establish the cathode field pressure P ca , oxygen supply manifold pressure Air compressor angular speed Ω acp , Circulation pump angular speed Ω hcp , Hydrogen supply manifold pressure Anode field pressure P an and the return manifold pressure P rm Nonlinear high-order system model:

[0013]

[0014] in, is the system state variable, is x i The first derivative of st is the fuel cell load current, u acp is the air compressor input voltage, u hcp is the circulating pump input voltage, α sv is the solenoid valve opening control instruction, W acp (x2, x3) is the gas flow rate at the air compressor outlet, W hcp (x4, x5, x7) is the air compressor outlet gas flow, W sv is the maximum gas flow at the outlet of the solenoid valve, W purge is the outlet flow of the drain valve, k an is the anode inlet flow coefficient, is the flow coefficient at the hydrogen supply manifold inlet, M s 、M a and M r are the average molar mass fractions of the mixed gas in the hydrogen supply manifold, anode field and return manifold, respectively. i (i=1,...,21) are the nonlinear high-order system model parameters;

[0015] When the air compressor and circulation pump motor parameters change and gas leaks from the manifold, the output flow rate will change. Therefore, there are uncertainties in the nonlinear high-order system model, as follows:

[0016]

[0017] in, and are the changes in the motor parameters of the air compressor and the circulating pump, respectively. ΔW1 and ΔW2 are the changes in the output flow of the air compressor and the circulating pump when the manifold leaks gas.

[0018] Furthermore, step S2 includes the following sub-steps:

[0019] S2.1. Taking the excess oxygen ratio as the control target of the oxygen circuit and based on the dynamic characteristics of the oxygen supply system, the oxygen circuit error equation is constructed as follows:

[0020]

[0021] in, and are the excess oxygen ratio and the reference excess oxygen ratio, e1 is the excess oxygen ratio tracking error, and are the first and second derivatives of the tracking error e1, is the uncertainty of the air compressor, is a function including the uncertainty of the air compressor and the state variable x, f 1,i and g 1,i (i=1,2) is a positive smoothing system function, which is specifically expressed as follows:

[0022]

[0023] in, is the second-order derivative of the state variable x1, and Reference oxygen ratio The first and second derivatives of W acp The partial derivative with respect to x2, W acp Partial derivative with respect to x3;

[0024] S2.2. Taking the pressure difference between the anode and cathode and the hydrogen excess ratio as the control targets of this part, and based on the dynamic characteristics of the hydrogen supply system, the hydrogen loop error equation is constructed as follows:

[0025]

[0026] Where ΔP=Pan -P ca and ΔP * are the pressure difference between the anode and cathode and the reference pressure difference, and are the hydrogen ratio and the reference hydrogen ratio, e2 is the pressure difference tracking error, e3 is the oxygen ratio tracking error, α=M s (x5-x6) is the intermediate variable, is the uncertainty of the circulating pump, for Medium control input α sv The coupling term with the state variable x, is the derivative of the coupling term, is a function of the circulating pump uncertainty and the state variable x, and is the tracking error e i The first and second derivatives of f i,j and g i,j (j=1,2) is a positive smoothing system function, which is specifically expressed as follows:

[0027]

[0028] Among them, m s is the mass fraction of hydrogen in the hydrogen supply manifold, and is m s The first and second partial derivatives of x5, M s The first-order partial derivative with respect to x5 is, M a The first-order partial derivative with respect to x6 is, M r The first-order partial derivative with respect to x7 is, and are the first and second derivatives of the reference pressure difference ΔP, and Reference hydrogen ratio The first and second derivatives of W hcp The partial derivative with respect to x4 is, W hcp The partial derivative with respect to x5, W hcp Partial derivative with respect to x7.

[0029] Furthermore, step S3 includes the following sub-steps:

[0030] S3.1. Based on the backstepping method, the following virtual control law is constructed:

[0031]

[0032] in, α * and Corresponding to the control input W acp , α sv and W hcp The virtual control law, k i,1 >0 is the control gain to be designed, i=1,2,3;

[0033] S3.2. Estimate the upper bounds of the air compressor and circulating pump uncertainties:

[0034]

[0035] Where θ1 and θ2 are uncertain parameters, sup(·) is the supremum of the uncertainty of the air compressor and circulating pump;

[0036] S3.3, the designed adaptive law is as follows:

[0037]

[0038] Among them, z1 and z3 are error variables, ε1 and ε2 are auxiliary variables, is θ i The estimated amount, for The derivative of ψ i >0,σ i >0 is the adaptive control gain to be designed, i=1,2;

[0039] S3.4. Based on the above steps, design the control instructions for the air compressor, solenoid valve, and circulation pump:

[0040]

[0041] in, and Corresponding to virtual control laws α * and The derivative of S k (k=1,...,4) is the intermediate calculation amount, z i is the error variable, k i,2 >0 is the control gain to be designed, i=1,2,3.

[0042] Furthermore, step S4 includes the following sub-steps:

[0043] S4.1. For the excess oxygen ratio tracking error e1, select the following Lyapunov candidate function and then take its derivative:

[0044]

[0045] in, To estimate the error, scale according to Young's inequality get:

[0046]

[0047] in, is a positive constant, is the residual term, γ1>0 is a positive design constant. According to Russell’s invariance theorem, the excess oxygen ratio tracking error e1 can converge to an arbitrarily small residual set, and all signals are uniformly bounded, that is, the excess oxygen ratio Ability to track a given reference signal;

[0048] S4.2. For the pressure difference tracking error e2, select the following Lyapunov candidate function and then take the derivative to obtain:

[0049]

[0050] It is found that when the gain k 2,1 ,k 2,2 >0, This shows that the pressure difference tracking error e2 can converge to zero and is globally asymptotically stable, that is, the pressure difference between the anode and cathode can track the given reference signal;

[0051] S4.3. For the hydrogen excess ratio tracking error e3, select the following Lyapunov candidate function and then take the derivative to obtain:

[0052]

[0053] in, To estimate the error, scale according to Young's inequality get:

[0054]

[0055] in, is a positive constant, is the residual term, γ2>0 is a positive design constant. According to Russell’s invariance theorem, the hydrogen ratio tracking error e3 can converge to an arbitrarily small residual set, and all signals are uniformly bounded, that is, the hydrogen ratio Able to track a given reference signal.

[0056] The beneficial effects of the present invention are as follows:

[0057] 1. Targeting the nonlinear strong coupling between gas flow and pressure in proton exchange membrane fuel cell systems, a multi-input and multi-output nonlinear dynamic model was established. This model overcomes the limitations of traditional methods in handling nonlinear coupling relationships, effectively resolves control deviations caused by insufficient decoupling, and significantly improves system control accuracy.

[0058] 2. Considering the pressure difference between the cathode and anode as the control target, the gas flow is adjusted in real time to suppress the pressure fluctuations on both sides of the membrane, effectively preventing membrane rupture caused by excessive pressure difference fluctuations, and improving the operational safety and reliability of the fuel cell system;

[0059] 3. Compared with general linearization technology, adaptive compensation is used to deal with the model uncertainty of the air compressor and circulating pump, reducing the model error caused by parameter fitting and modeling of the air compressor and circulating pump, and improving the accuracy of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0061] Figure 1 A diagram showing the system composition structure of an existing proton exchange membrane fuel cell.

[0062] Figure 2 A flow chart showing a multivariable, highly coupled hydrogen-oxygen dual-loop coordinated control method for a hydrogen fuel cell.

[0063] Figure 3 A schematic diagram showing a load current request according to an embodiment of the present invention is shown.

[0064] Figure 4 A graph showing the excess oxygen ratio tracking performance results of an embodiment of the present invention.

[0065] Figure 5 A graph showing the tracking performance of the pressure difference between the anode and cathode according to an embodiment of the present invention is shown.

[0066] Figure 6 A graph showing the hydrogen excess ratio tracking performance results of an embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and drawings. Those skilled in the art should understand that the following specific description is illustrative rather than restrictive and should not be used to limit the scope of protection of the present invention.

[0068] like Figure 1As shown in the figure, the proton exchange membrane fuel cell system consists of: a hydrogen tank, solenoid valve, supply manifold, anode field, return manifold, circulation pump, drain valve, air compressor, and cathode field. The hydrogen tank is used to store hydrogen; the solenoid valve controls the on / off and flow regulation of hydrogen; the supply manifold distributes gas to the anode flow field and cathode flow field; the anode field guides hydrogen evenly through the catalyst layer; the return manifold collects unreacted gas for recycling or direct release to the atmosphere; the circulation pump drives the circulation of hydrogen on the anode side; the drain valve removes the water generated by the reaction; the air compressor provides oxygen to the cathode side; and the cathode field guides oxygen evenly through the catalyst layer.

[0069] The multivariable high-coupling hydrogen-oxygen dual-circuit coordinated control method for hydrogen fuel cells provided in this embodiment realizes efficient and stable operation of hydrogen-oxygen fuel cell systems under complex working conditions, such as Figure 2 As shown, the control method includes the following steps:

[0070] S1. Based on the cathode and anode gas dynamics equations of the fuel cell system, a nonlinear high-order system model with flow and pressure coupling is established;

[0071] S2. Design a multivariable coordinated backstepping controller with the oxygen excess ratio, hydrogen excess ratio and anode-cathode pressure difference as control targets;

[0072] S3. Considering the impact of load changes and model uncertainty on the hydrogen and oxygen dual circuits, an adaptive control method is introduced and control instructions for the air compressor, circulating pump, and solenoid valve are designed;

[0073] S4. Select a suitable Lyapunov function to prove the stability of the system and complete the adaptive backstepping control of the anode-cathode pressure difference and gas flow.

[0074] Specifically, step S1 includes:

[0075] Establish the cathode field pressure P ca , oxygen supply manifold pressure Air compressor angular speed Ω acp , Circulation pump angular speed Ω hcp , Hydrogen supply manifold pressure Anode field pressure P an and the return manifold pressure P rm Nonlinear high-order system model:

[0076]

[0077] It has been assumed that the change of water vapor in the fuel cell reaction is ignored and the saturation pressure P sat Substitute for the water vapor partial pressure; where, is the system state variable, is x iThe first derivative of st is the fuel cell load current, u acp is the air compressor input voltage, u hcp is the circulating pump input voltage, α sv is the solenoid valve opening control instruction, W acp (x2, x3) is the gas flow rate at the air compressor outlet, W hcp (x4, x5, x7) is the air compressor outlet gas flow, W sv is the maximum gas flow at the outlet of the solenoid valve, W purge is the outlet flow of the drain valve, k an is the anode inlet flow coefficient, is the flow coefficient at the hydrogen supply manifold inlet, M s 、M a and M r are the average molar mass fractions of the mixed gas in the hydrogen supply manifold, anode field and return manifold, respectively. i (i=1,...,21) are the nonlinear high-order system model parameters;

[0078] The air compressor and circulating pump are important driving structures of the hydrogen and oxygen dual circuit. Due to aging and friction wear of mechanical components, the output flow rate will change when the air compressor and circulating pump motor parameters change or gas leaks from the manifold. Therefore, the nonlinear high-order system model has uncertainties, as shown below:

[0079]

[0080] in, and are the changes in the motor parameters of the air compressor and the circulating pump, respectively. ΔW1 and ΔW2 are the changes in the output flow of the air compressor and the circulating pump when the manifold leaks gas.

[0081] Step S2 further includes the following sub-steps:

[0082] S2.1. Taking the excess oxygen ratio as the control target of the oxygen circuit and based on the dynamic characteristics of the oxygen supply system, the oxygen circuit error equation is constructed as follows:

[0083]

[0084] in, and are the excess oxygen ratio and the reference excess oxygen ratio, e1 is the excess oxygen ratio tracking error, and are the first and second derivatives of the tracking error e1, is the uncertainty of the air compressor, is a function including the uncertainty of the air compressor and the state variable x, f1,i and g 1,i (i=1,2) is a positive smoothing system function, which is specifically expressed as follows:

[0085]

[0086] in, is the second-order derivative of the state variable x1, and Reference oxygen ratio The first and second derivatives of W acp The partial derivative with respect to x2, W acp Partial derivative with respect to x3;

[0087] S2.2. Taking the pressure difference between the anode and cathode and the hydrogen excess ratio as the control targets of this part, and based on the dynamic characteristics of the hydrogen supply system, the hydrogen loop error equation is constructed as follows:

[0088]

[0089] Where ΔP=P an -P ca and ΔP * are the pressure difference between the anode and cathode and the reference pressure difference, and are the hydrogen ratio and the reference hydrogen ratio, e2 is the pressure difference tracking error, e3 is the oxygen ratio tracking error, α=M s (x5-x6) is the intermediate variable, is the uncertainty of the circulating pump, for Medium control input α sv The coupling term with the state variable x, is the derivative of the coupling term, is a function of the circulating pump uncertainty and the state variable x, and is the tracking error e i The first and second derivatives of f i,j and g i,j (j=1,2) is a positive smoothing system function, which is specifically expressed as follows:

[0090]

[0091] Among them, m s is the mass fraction of hydrogen in the hydrogen supply manifold, and is m s The first and second partial derivatives of x5, Ms The first-order partial derivative with respect to x5 is, M a The first-order partial derivative with respect to x6 is, M r The first-order partial derivative with respect to x7 is, and are the first and second derivatives of the reference pressure difference ΔP, and Reference hydrogen ratio The first and second derivatives of W hcp The partial derivative with respect to x4 is, W hcp The partial derivative with respect to x5, W hcp Partial derivative with respect to x7.

[0092] Step S3 further includes the following sub-steps:

[0093] S3.1. Based on the backstepping method, the following virtual control law is constructed:

[0094]

[0095] in, α * and Corresponding to the control input W acp , α sv and W hcp The virtual control law, k i,1 >0 is the control gain to be designed, i=1,2,3;

[0096] S3.2. Estimate the upper bound of model uncertainty:

[0097]

[0098] Where θ1 and θ2 are uncertain parameters, sup(·) is the supremum of the uncertainty of the air compressor and circulating pump;

[0099] S3.3, the designed adaptive law is as follows:

[0100]

[0101] Among them, z1 and z3 are error variables, ε1 and ε2 are auxiliary variables, is θ i The estimated amount, for The derivative of ψ i >0,σ i >0 is the adaptive control gain to be designed, i=1,2;

[0102] S3.4. Based on the above steps, design the control instructions for the air compressor, solenoid valve, and circulation pump:

[0103]

[0104] in, and Corresponding to virtual control laws α * and The derivative of

[0105] S k (k=1,...,4) is the intermediate calculation amount, z i is the error variable, k i,2 >0 is the control gain to be designed, i=1,2,3.

[0106] Step S4 further includes the following sub-steps:

[0107] S4.1. For the excess oxygen ratio tracking error e1, select the following Lyapunov candidate function and then take the derivative to obtain:

[0108]

[0109] in, To estimate the error, scale according to Young's inequality get:

[0110]

[0111] in, is a positive constant, is the residual term, γ1>0 is a positive design constant. According to Russell’s invariance theorem, the excess oxygen ratio tracking error e1 can converge to an arbitrarily small residual set, and all signals are uniformly bounded, that is, the excess oxygen ratio Ability to track a given reference signal;

[0112] S4.2. For the pressure difference tracking error e2, select the following Lyapunov candidate function and then take the derivative to obtain:

[0113]

[0114] It is found that when the gain k 2,1 ,k 2,2 >0, This shows that the pressure difference tracking error e2 can converge to zero and is globally asymptotically stable, that is, the pressure difference between the anode and cathode can track the given reference signal;

[0115] S4.3. For the hydrogen excess ratio tracking error e3, select the following Lyapunov candidate function and then take the derivative to obtain:

[0116]

[0117] in, To estimate the error, scale according to Young's inequality get:

[0118]

[0119] in, is a positive constant, is the residual term, γ2>0 is a positive design constant. According to Russell’s invariance theorem, the hydrogen ratio tracking error e3 can converge to an arbitrarily small residual set, and all signals are uniformly bounded, that is, the hydrogen ratio Able to track a given reference signal.

[0120] Example:

[0121] This embodiment uses a fuel cell oxygen and hydrogen supply system as an example and uses MATLAB for simulation and verification. Considering the impact of load current changes and model uncertainty on the hydrogen and oxygen dual circuits during actual operation, a multivariable and highly coupled hydrogen and oxygen dual circuit coordinated control method for hydrogen fuel cells is designed to ensure the reliability and safety of the hydrogen and oxygen fuel cell system under complex operating conditions.

[0122] In order to verify the effectiveness of the control method designed in this embodiment, the specific steps are as follows:

[0123] In the first step, based on the cathode and anode gas dynamics equations of the fuel cell system and combined with the dynamic changes of key components such as the air compressor, circulation pump, and return manifold, a nonlinear high-order system model with flow and pressure coupling was established. The specific model parameters are shown in Table 1:

[0124] Table 1

[0125]

[0126] The second step is to determine the reference signal according to the control requirements of the PEMFC system for the oxygen excess ratio, hydrogen excess ratio and anode-cathode pressure difference. and ΔP * =20kPa, define tracking error e i (i=1,2,3), design a multivariable coordinated backstepping controller;

[0127] The third step is to use boundary estimation to determine the upper bound of model uncertainty and design an adaptive control strategy. Compensate for its influence and construct a virtual control law based on the established multi-input and multi-output nonlinear high-order system model α * and Design the control instructions for air compressor, solenoid valve and circulation pump acp , α sv and

[0128] In the fourth step, based on the nonlinear high-order system model designed in the previous step, adaptive estimation is used to compensate for uncertainty, and the control law is recursively designed according to the backstepping method. The impact of load changes and the uncertainty of the nonlinear high-order system model on the control accuracy of the hydrogen and oxygen supply system is comprehensively considered. The appropriate Lyapunov function is selected to prove the stability of the system, and finally the adaptive backstepping control of the anode-cathode pressure difference and gas flow is completed.

[0129] Based on the above parameters and the specific steps of the embodiment, the proposed hydrogen fuel cell multivariable high-coupling hydrogen and oxygen dual-loop coordinated control method is simulated and verified. Figure 3 、 Figure 4 、 Figure 5 and Figure 6 ;in, Figure 3 Shows the schematic diagram of the change of the load current request of the hydrogen and oxygen fuel cell. Figure 4 A schematic diagram showing the performance results of hydrogen-oxygen fuel cell excess oxygen ratio tracking is shown. Figure 5 A schematic diagram showing the pressure difference tracking performance results between the anode and cathode of a hydrogen-oxygen fuel cell is shown. Figure 6 The schematic diagram of the hydrogen-oxygen fuel cell's hydrogen ratio tracking performance is shown. Figure 3-6 As can be seen, the proposed multivariable, highly coupled hydrogen and oxygen dual-loop coordinated control method for hydrogen fuel cells achieves simultaneous regulation of multiple variables through nonlinear decoupling and employs an adaptive approach to address model uncertainty. This method effectively suppresses excessive pressure fluctuations across the membrane and prevents membrane damage caused by mechanical stress, significantly improving operational safety and reliability while demonstrating excellent transient and steady-state performance.

[0130] The above analysis proves the effectiveness of the multivariable high-coupling hydrogen-oxygen dual-loop coordinated control method for a hydrogen fuel cell provided in this embodiment.

[0131] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A multivariable high-coupling hydrogen-oxygen dual-loop coordinated control method for a hydrogen fuel cell, characterized in that: The steps include: S1. Based on the cathode and anode gas dynamics equations of the fuel cell system, a nonlinear high-order system model with flow and pressure coupling is established; S2. Design a multivariable coordinated backstepping controller with the oxygen excess ratio, hydrogen excess ratio and anode-cathode pressure difference as control targets; S3. Considering the impact of load changes and model uncertainty on the hydrogen and oxygen dual circuits, an adaptive control method is introduced and control instructions for the air compressor, circulating pump, and solenoid valve are designed; S4. Select a suitable Lyapunov function to verify the stability of the fuel cell system and complete the adaptive backstepping control of the anode-cathode pressure difference and gas flow.

2. A hydrogen fuel cell multivariable high-coupling hydrogen and oxygen dual-circuit coordinated control method according to claim 1, characterized in that: Step S1 specifically includes: Establish the cathode field pressure P ca , oxygen supply manifold pressure Air compressor angular speed Ω acp , Circulation pump angular speed Ω hcp , Hydrogen supply manifold pressure Anode field pressure P an and the return manifold pressure P rm Nonlinear high-order system model: in, is the system state variable, is x i The first derivative of st is the fuel cell load current, u acp is the air compressor input voltage, u hcp is the circulating pump input voltage, α sv is the solenoid valve opening control instruction, W acp (x2, x3) is the gas flow rate at the air compressor outlet, W hcp (x4, x5, x7) is the air compressor outlet gas flow, W sv is the maximum gas flow at the outlet of the solenoid valve, W purge is the outlet flow of the drain valve, k an is the anode inlet flow coefficient, is the flow coefficient at the hydrogen supply manifold inlet, M s 、M a and M r are the average molar mass fractions of the mixed gas in the hydrogen supply manifold, anode field and return manifold, respectively. i (i=1,...,21) are the nonlinear high-order system model parameters; When the air compressor and circulation pump motor parameters change and gas leaks from the manifold, the output flow rate will change. Therefore, there are uncertainties in the nonlinear high-order system model, as follows: in, and are the changes in the motor parameters of the air compressor and the circulating pump, respectively. ΔW1 and ΔW2 are the changes in the output flow of the air compressor and the circulating pump when the manifold leaks gas.

3. A hydrogen fuel cell multivariable high-coupling hydrogen and oxygen dual-circuit coordinated control method according to claim 2, characterized in that: Step S2 includes the following sub-steps: S2.

1. Taking the excess oxygen ratio as the control target of the oxygen circuit and based on the dynamic characteristics of the oxygen supply system, the oxygen circuit error equation is constructed as follows: in, and are the excess oxygen ratio and the reference excess oxygen ratio, e1 is the excess oxygen ratio tracking error, and are the first and second derivatives of the tracking error e1, is the uncertainty of the air compressor, is a function including the uncertainty of the air compressor and the state variable x, f 1,i and g 1,i (i=1,2) is a positive smoothing system function, which is specifically expressed as follows: in, is the second-order derivative of the state variable x1, and Reference oxygen ratio The first and second derivatives of W acp The partial derivative with respect to x2, W acp Partial derivative with respect to x3; S2.

2. Taking the pressure difference between the anode and cathode and the hydrogen excess ratio as the control targets of this part, and based on the dynamic characteristics of the hydrogen supply system, the hydrogen loop error equation is constructed as follows: Where ΔP=P an -P ca and ΔP * are the pressure difference between the anode and cathode and the reference pressure difference, and are the hydrogen ratio and the reference hydrogen ratio, e2 is the pressure difference tracking error, e3 is the oxygen ratio tracking error, α=M s (x5-x6) is the intermediate variable, is the circulating pump uncertainty, for Medium control input α sv The coupling term with the state variable x, is the derivative of the coupling term, is a function of the circulating pump uncertainty and the state variable x, and is the tracking error e i The first and second derivatives of f i,j and g i,j (j=1,2) is a positive smoothing system function, which is specifically expressed as follows: Among them, m s is the mass fraction of hydrogen in the hydrogen supply manifold, and is m s The first and second partial derivatives of x5, M s The first-order partial derivative with respect to x5 is, M a The first-order partial derivative with respect to x6 is, M r The first-order partial derivative with respect to x7 is, and are the first and second derivatives of the reference pressure difference ΔP, and Reference hydrogen ratio The first and second derivatives of W hcp The partial derivative with respect to x4 is, W hcp The partial derivative with respect to x5, W hcp Partial derivative with respect to x7.

4. A hydrogen fuel cell multivariable high-coupling hydrogen and oxygen dual-circuit coordinated control method according to claim 3, characterized in that: Step S3 includes the following sub-steps: S3.

1. Based on the backstepping method, the following virtual control law is constructed: in, α * and Corresponding to the control input W acp , α sv and W hcp The virtual control law, k i,1 >0 is the control gain to be designed, i=1,2,3; S3.

2. Estimate the upper bounds of the air compressor and circulating pump uncertainties: Where θ1 and θ2 are uncertain parameters, sup(·) is the supremum of the uncertainty of the air compressor and circulating pump; S3.3, the designed adaptive law is as follows: Among them, z1 and z3 are error variables, ε1 and ε2 are auxiliary variables, is θ i The estimated amount, for The derivative of ψ i >0,σ i >0 is the adaptive control gain to be designed, i=1,2; S3.

4. Based on the above steps, design the control instructions for the air compressor, solenoid valve, and circulation pump: in, and Corresponding to virtual control laws α * and The derivative of S k (k=1,...,4) is the intermediate calculation amount, z i is the error variable, k i,2 >0 is the control gain to be designed, i=1,2,3.

5. A hydrogen fuel cell multivariable high-coupling hydrogen and oxygen dual-circuit coordinated control method according to claim 4, characterized in that: Step S4 includes the following sub-steps: S4.

1. For the excess oxygen ratio tracking error e1, select the following Lyapunov candidate function and then take its derivative: in, To estimate the error, scale according to Young's inequality get: in, is a positive constant, is the residual term, γ1>0 is a positive design constant. According to Russell’s invariance theorem, the excess oxygen ratio tracking error e1 can converge to an arbitrarily small residual set, and all signals are uniformly bounded, that is, the excess oxygen ratio Ability to track a given reference signal; S4.

2. For the pressure difference tracking error e2, select the following Lyapunov candidate function and then take the derivative to obtain: It is found that when the gain k 2,1 ,k 2,2 >0, This shows that the pressure difference tracking error e2 can converge to zero and is globally asymptotically stable, that is, the pressure difference between the anode and cathode can track the given reference signal; S4.

3. For the hydrogen excess ratio tracking error e3, select the following Lyapunov candidate function and then take the derivative to obtain: in, To estimate the error, scale according to Young's inequality get: in, is a positive constant, is the residual term, γ2>0 is a positive design constant. According to Russell’s invariance theorem, the hydrogen ratio tracking error e3 can converge to an arbitrarily small residual set, and all signals are uniformly bounded, that is, the hydrogen ratio Able to track a given reference signal.

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