A fuel cell temperature compound control parameter adjusting method

Abstract

The application discloses a fuel cell temperature compound control parameter adjusting method, relates to the technical field of fuel cell cooling system control, and provides the fuel cell temperature compound control parameter adjusting method based on a compound control system structure of "theoretical feedforward+PID", provides a fuel cell temperature compound control parameter adjusting method according to a pole placement theorem, and the control parameter adjusting method provided by the application not only solves the coupling problem between a heat dissipation device and a water pump, eliminates the influence of water pump rotating speed change on system temperature change characteristics, but also eliminates the influence of control target temperature or environmental temperature change on the heat dissipation characteristics of the heat dissipation device, guarantees the consistency of system temperature control effects when the above conditions change, and enhances the robustness of the temperature control system. In addition, the system control structure is classical and simple, parameter debugging is easy, and the system control structure is beneficial to practical engineering application.

Description

Technical Field

[0001] This invention relates to the field of fuel cell cooling system control technology, and specifically to a method for adjusting composite control parameters of fuel cell temperature. Background Technology

[0002] Fuel cells are devices that convert the chemical energy of fuel into electrical and thermal energy. Their clean and pollution-free characteristics contribute to achieving carbon peaking and carbon neutrality, leading to their widespread demonstration applications in transportation, industry, and power generation. The operating temperature of a fuel cell affects the humidity within the stack, and changes in stack humidity cause variations in catalyst activity and membrane conductivity, thus impacting stack performance, stability, and lifespan. Therefore, fuel cell temperature control is crucial for the fuel cell cooling system. Numerous control methods have been proposed for fuel cell temperature control. However, when using heat dissipation equipment for temperature control, there is coupling between the heat dissipation equipment and the water pump speed, and ambient temperature significantly affects the heat dissipation effect of the equipment. This results in some proposed control methods exhibiting weak environmental adaptability, poor consistency, or low robustness. Other proposed control methods may consider the impact of the above factors on system control characteristics but lack specific analysis of these impacts, directly proposing intelligent control methods such as fuzzy control. However, intelligent control methods are relatively complex to implement and debug, and place high demands on controller performance. Summary of the Invention

[0003] The purpose of this invention is to address the aforementioned problems by providing a method for adjusting composite control parameters of fuel cell temperature based on a "theoretical feedforward + PID" composite control system structure and the pole placement theorem. This method not only solves the coupling problem between the heat dissipation equipment and the water pump, eliminating the influence of water pump speed changes on the system temperature characteristics, but also eliminates the influence of changes in the target temperature or ambient temperature on the heat dissipation characteristics of the heat dissipation equipment. This ensures the consistency of the system temperature control effect under varying conditions and enhances the robustness of the temperature control system. Furthermore, the system control structure is classic and simple, and parameter tuning is easy, making it beneficial for practical engineering applications.

[0004] The technical solution adopted in this invention is as follows:

[0005] A method for adjusting composite temperature control parameters of a fuel cell is disclosed, applied to a fuel cell cooling system. The fuel cell cooling system includes a fuel cell stack, a water pump, and a heat dissipation device. The outlet of the fuel cell stack is connected to the inlet of the water pump. The outlet of the water pump is connected to the heat dissipation device and returns to the inlet of the fuel cell stack to form a circulation loop. The method includes the following steps:

[0006] Coupling parameters and time-varying parameters are obtained as follows: The coolant temperature T1(t) at the fuel cell outlet is collected using the first temperature sensor, the coolant temperature T2(t) at the outlet of the heat dissipation device is collected using the second temperature sensor, and the air temperature T3(t) at the outlet of the heat dissipation device is collected using the third temperature sensor. The difference δT(t) between the coolant temperature passing through the heat dissipation device and the air temperature at the outlet of the heat dissipation device is calculated based on T1(t), T2(t), and T3(t); the coolant flow rate Wc(t) through the heat dissipation device is obtained.

[0007] Initial control parameter acquisition: At the initial time t0, the coolant flow rate Wc(t0), the target temperature Ts(t0), and the outlet air temperature T3(t0) of the heat dissipation equipment are collected, and the initial control parameter K is obtained through calculation and debugging based on the parameters. ff (t0), Kp(t0), Ki(t0) and Kd(t0);

[0008] Eliminating the influence of coupling parameters and time-varying parameters on the feedforward controller: Based on the time-varying feedforward control coefficient K ff (t), the feedforward control quantity u is calculated. ff (t), feedforward control quantity u ff The calculation process of (t) is shown in the following formula (1):

[0009] u ff (t)=K ff (t)·eT(t)(1)

[0010] In Equation 1, “K ff “eT(t)” represents the time-varying feedforward control system coefficient, and “eT(t)” represents the real-time temperature control error.

[0011] Eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller: Based on the time-varying closed-loop control parameters Kp(t) and Ki(t), and the fixed closed-loop control parameter Kd(t0), the closed-loop control quantity u is calculated. fb (t), closed-loop control quantity u fb The calculation process of (t) is shown in the following formula (2):

[0012] (2)

[0013] In Equation 2, “Kp(t)” is the time-varying proportional control coefficient of PID control, “Ki(t)” is the time-varying integral control coefficient of PID control, “Kd(t0)” is the derivative control coefficient of PID control under the condition of initial time t0, and “eT(t)” is the real-time temperature control error.

[0014] Regulation and control: the feedforward control quantity u ff (t) and closed-loop control quantity u fb(t) is summed and then normalized, with a range of 0-1. The control system adjusts the speed of the cooling fan in the heat dissipation equipment based on the normalized value.

[0015] Furthermore, in the steps of obtaining coupling parameters and time-varying parameters, the calculation process of the difference δT(t) between the coolant temperature after passing through the heat dissipation device and the air temperature at the outlet of the heat dissipation device is shown in the following equations (3), (4) or (5):

[0016] δT(t)=(T1(t)+T2(t)) / 2–T3(t)(3)

[0017] In Equation 3, “T1(t)” is the temperature data value of the coolant at the fuel cell outlet, “T2(t)” is the temperature data value of the coolant at the heat dissipation equipment outlet, and “T3(t)” is the temperature data value of the air at the heat dissipation equipment outlet.

[0018] δT(t)=T1(t)-T3(t)(4)

[0019] In Equation 4, “T1(t)” is the temperature data value of the coolant at the fuel cell outlet and “T3(t)” is the temperature data value of the air at the outlet of the heat dissipation equipment.

[0020] δT(t)=T2(t)-T3(t)(5)

[0021] In Equation 5, “T2(t)” represents the temperature data of the coolant at the outlet of the heat dissipation equipment, and “T3(t)” represents the temperature data of the air at the outlet of the heat dissipation equipment.

[0022] Furthermore, in the steps of acquiring coupling parameters and time-varying parameters, the pump speed Nwp(t), the pressure P1(t) at the pump inlet, and the pressure P2(t) at the pump outlet are collected in real time. Based on P1(t) and P2(t), the pump head H(t) is calculated. The calculation process of the pump head H(t) is shown in the following formula (6):

[0023] H(t)=(p2(t)-p1(t)) / ρg(6)

[0024] In Equation 6, “P1(t)” is the pressure at the pump inlet, “P2(t)” is the pressure at the pump outlet, “ρ” is the liquid density, and “g” is the acceleration due to gravity.

[0025] Based on the calculated pump head H(t) and the measured pump speed Nwp(t), the corresponding coolant flow rate Wc(t) flowing through the heat dissipation equipment is obtained by referring to the pump MAP diagram.

[0026] Furthermore, in the steps of acquiring coupling parameters and time-varying parameters, a fluid flow meter is set in the circulation loop to collect the flow rate Wc(t) of the coolant flowing through the heat dissipation device in real time.

[0027] Furthermore, in the step of eliminating the influence of coupling parameters and time-varying parameters on the feedforward controller, the time-varying feedforward control coefficient K ff The calculation process of (t) is shown in the following formula (7):

[0028] K ff (t)=K ff (t0)·((Wc(t) / δT(t)) / (Wc(t0) / δT(t0))) n (7)

[0029] In Equation 7, “K ff "(t0)" represents the initial feedforward control coefficient obtained in the initial control parameter acquisition step at time t0; "Wc(t)" and "Wc(t0)" represent the coolant flow rates through the heat dissipation device at time t and time t0, respectively; "δT(t)" and "δT(t0)" represent the differences between the coolant temperature and the outlet air temperature of the heat dissipation device at time t and time t0, respectively; and "n" has a value greater than 0.

[0030] Furthermore, in the steps of eliminating the influence of coupling parameters and time-varying parameters on the feedforward controller, and in the steps of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, the calculation process of the real-time temperature control error eT(t) is as shown in Equation (8):

[0031] eT(t)=Ts(t)-T1(t) (8)

[0032] In Equation 8, “Ts(t)” is the target value for the temperature control of the coolant at the fuel cell stack outlet, and “T1(t)” is the temperature data value of the coolant at the fuel cell stack outlet.

[0033] Furthermore, in the step of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, the calculation process of the time-varying proportional control coefficient Kp(t) of the PID control is shown in the following equation (9):

[0034] Kp(t)=Kp(t0)·((Wc(t) / δT(t)) / (Wc(t0) / δT(t0))) n (9)

[0035] In Equation 9, "Kp(t0)" is the initial proportional control coefficient of PID control obtained in the initial control parameter acquisition step at time t0, "Wc(t)" and "Wc(t0)" are the coolant flow rates through the heat dissipation device at time t and time t0, respectively, "δT(t)" and "δT(t0)" are the differences between the coolant temperature of the heat dissipation device and the outlet air temperature of the heat dissipation device at time t and time t0, respectively, and "n" is greater than 0.

[0036] Furthermore, in the step of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, the calculation process of the time-varying integral adjustment coefficient Ki(t) of the PID control is as follows (10):

[0037] Ki(t)=Ki(t0)·((Wc(t) / δT(t)) / (Wc(t0) / δT(t0))) n (10)

[0038] In Equation 10, "Ki(t0)" is the initial integral adjustment coefficient of PID control under the initial time t0 condition, "Wc(t)" and "Wc(t0)" are the coolant flow rates through the heat dissipation device at time t and time t0, respectively, "δT(t)" and "δT(t0)" are the differences between the coolant temperature of the heat dissipation device and the outlet air temperature of the heat dissipation device at time t and time t0, respectively, and "n" takes a value greater than 0.

[0039] Furthermore, in the step of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, K can be set. ff The rates of change of Kp(t), Ki(t), and Kp(t).

[0040] Furthermore, the fuel cell cooling system may be equipped with several circulation branches connected in parallel to the heat dissipation equipment.

[0041] In summary, due to the adoption of the above technical solution, the beneficial effects of this invention are as follows: Through mathematical modeling and the pole placement theorem, a functional relationship was established between the various parameters of the composite controller and the target temperature Ts(t), the pump speed Nwp(t) / coolant flow rate Wc(t) through the heat dissipation device, and the air temperature T3(t) at the outlet of the heat dissipation device. This yielded a method for adjusting the various control parameters of the composite controller when the above system parameters / conditions change. This method retains the classic and simple control system structure, is simple to implement and easy to debug, and helps save time, manpower, and material costs. Furthermore, by solving the coupling and time-varying characteristics of the control system, the system temperature control effect exhibits good consistency. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the basic process connection of the fuel cell cooling system of the present invention;

[0043] Figure 2 This is a simulation verification result of the consistency of temperature control effect when the ambient temperature changes using the present invention;

[0044] Figure 3 This is a simulation verification result of the consistency of temperature control effect when applying the present invention to control the change of target temperature;

[0045] Figure 4This is a simulation verification result of the consistency of temperature control effect when the coolant flow rate changes using the present invention;

[0046] Figure 5 This is a schematic diagram of the structure of the invention with the addition of a loop branch.

[0047] The markings in the diagram are: 1-fuel cell stack, 2-water pump, 3-heat dissipation equipment, 4-thermostat, 5-heating equipment, 6-heat generation equipment, 7-third temperature sensor, 11-first temperature sensor, 12-second temperature sensor. Detailed Implementation

[0048] The present invention will now be described in detail with reference to the accompanying drawings.

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0050] Example 1

[0051] Example 1

[0052] A method for adjusting composite control parameters of fuel cell temperature, such as Figure 1 As shown, this is applied to a fuel cell cooling system. The fuel cell cooling system includes a fuel cell stack 1, a water pump 2, and a heat dissipation device 3. The outlet of the fuel cell stack 1 is connected to the inlet of the water pump 2. The outlet of the water pump 2 is connected to the inlet of the fuel cell stack 1 through the heat dissipation device 3 to form a circulation loop. The system includes the following steps:

[0053] Coupling parameters and time-varying parameters are obtained as follows: The coolant temperature T1(t) at the outlet of the fuel cell stack 1 is collected using the first temperature sensor 11, the coolant temperature T2(t) at the outlet of the heat dissipation device 3 is collected using the second temperature sensor 12, and the air temperature T3(t) at the outlet of the heat dissipation device 3 is collected using the third temperature sensor 7. The difference δT(t) between the coolant temperature passing through the heat dissipation device 3 and the air temperature at the outlet of the heat dissipation device 3 is calculated based on T1(t), T2(t), and T3(t); the coolant flow rate Wc(t) through the heat dissipation device 3 is obtained.

[0054] Initial control parameter acquisition: At the initial time t0, the coolant flow rate Wc(t0), the target temperature Ts(t0), and the outlet air temperature T3(t0) of the heat dissipation device 3 are collected. The initial control parameter K is then calculated and adjusted based on these parameters. ff (t0), Kp(t0), Ki(t0) and Kd(t0);

[0055] Eliminating the influence of coupling parameters and time-varying parameters on the feedforward controller: Based on the time-varying feedforward control coefficient Kff (t), the feedforward control quantity u is calculated. ff (t), feedforward control quantity u ff The calculation process of (t) is shown in the following formula (1):

[0056] u ff (t)=K ff (t)·eT(t)(1)

[0057] In Equation 1, “K ff “eT(t)” represents the time-varying feedforward control system coefficient, and “eT(t)” represents the real-time temperature control error.

[0058] Eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller: Based on the time-varying closed-loop control parameters Kp(t) and Ki(t), and the fixed closed-loop control parameter Kd(t0), the closed-loop control quantity u is calculated. fb (t), closed-loop control quantity u fb The calculation process of (t) is shown in the following formula (2):

[0059] (2)

[0060] In Equation 2, “Kp(t)” is the time-varying proportional control coefficient of PID control, “Ki(t)” is the time-varying integral control coefficient of PID control, “Kd(t0)” is the derivative control coefficient of PID control under the condition of initial time t0, and “eT(t)” is the real-time temperature control error.

[0061] Regulation and control: the feedforward control quantity u ff (t) and closed-loop control quantity u fb (t) After summing, normalization is performed, with a range of 0-1. The control system adjusts the speed of the cooling fan in the heat dissipation device 3 based on the normalized value.

[0062] In the steps of obtaining coupling parameters and time-varying parameters, the calculation process of the difference δT(t) between the temperature of the coolant passing through the heat dissipation device 3 and the temperature of the air at the outlet of the heat dissipation device 3 is shown in the following formula (3):

[0063] δT(t)=(T1(t)+T2(t)) / 2–T3(t)(3)

[0064] In Equation 3, “T1(t)” is the temperature data value of the coolant at the outlet of fuel cell stack 1, “T2(t)” is the temperature data value of the coolant at the outlet of heat dissipation device 3, and “T3(t)” is the temperature data value of the air at the outlet of heat dissipation device 3.

[0065] In the steps of acquiring coupling parameters and time-varying parameters, the rotational speed Nwp(t) of pump 2, the pressure P1(t) at the inlet of pump 2, and the pressure P2(t) at the outlet of pump 2 are collected in real time. Based on P1(t) and P2(t), the pump head H(t) is calculated. The calculation process of pump head H(t) is shown in the following formula (6):

[0066] H(t)=(p2(t)-p1(t)) / ρg(6)

[0067] In Equation 6, “P1(t)” is the pressure at the inlet of pump 2, “P2(t)” is the pressure at the outlet of pump 2, “ρ” is the liquid density, and “g” is the acceleration due to gravity.

[0068] Based on the obtained pump head H(t) and the measured pump speed Nwp(t), the corresponding coolant flow rate Wc(t) flowing through the heat dissipation device 3 is obtained by referring to the pump MAP diagram.

[0069] In the step of eliminating the influence of coupling parameters and time-varying parameters on the feedforward controller, the time-varying feedforward control coefficient K... ff The calculation process of (t) is shown in the following formula (7):

[0070] K ff (t)=K ff (t0)·((Wc(t) / δT(t)) / (Wc(t0) / δT(t0))) n (7)

[0071] In Equation 7, “K ff "(t0)" represents the initial feedforward control coefficient obtained in the initial control parameter acquisition step at time t0; "Wc(t)" and "Wc(t0)" represent the coolant flow rates through the heat dissipation device 3 at time t and time t0, respectively; "δT(t)" and "δT(t0)" represent the differences between the coolant temperature of the heat dissipation device 3 and the outlet air temperature of the heat dissipation device 3 at time t and time t0, respectively; and "n" is 1.

[0072] In the steps of eliminating the influence of coupling parameters and time-varying parameters on the feedforward controller, and in the steps of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, the calculation process of the real-time temperature control error eT(t) is as shown in the following equation (8):

[0073] eT(t)=Ts(t)-T1(t) (8)

[0074] In Equation 8, “Ts(t)” is the target value for the temperature control of the coolant at the outlet of fuel cell stack 1, and “T1(t)” is the temperature data value of the coolant at the outlet of fuel cell stack 1.

[0075] In the step of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, the calculation process of the time-varying proportional control coefficient Kp(t) of PID control is shown in the following equation (9):

[0076] Kp(t)=Kp(t0)·((Wc(t) / δT(t)) / (Wc(t0) / δT(t0))) n (9)

[0077] In Equation 9, "Kp(t0)" is the initial proportional control coefficient of PID control obtained in the initial control parameter acquisition step at time t0, "Wc(t)" and "Wc(t0)" are the flow rates of coolant through heat dissipation device 3 at time t and time t0, respectively, "δT(t)" and "δT(t0)" are the differences between the coolant temperature of heat dissipation device 3 and the outlet air temperature of heat dissipation device 3 at time t and time t0, respectively, and "n" is 1.

[0078] In the step of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, the calculation process of the time-varying integral adjustment coefficient Ki(t) of PID control is as follows (10):

[0079] Ki(t)=Ki(t0)·((Wc(t) / δT(t)) / (Wc(t0) / δT(t0))) n (10)

[0080] In Equation 10, "Ki(t0)" is the initial integral adjustment coefficient of PID control under the initial time t0 condition, "Wc(t)" and "Wc(t0)" are the flow rates of coolant flowing through heat dissipation device 3 at time t and t0, respectively, "δT(t)" and "δT(t0)" are the differences between the coolant temperature of heat dissipation device 3 and the outlet air temperature of heat dissipation device 3 at time t and t0, respectively, and "n" is 1.

[0081] The heat dissipation device 3 is a radiator.

[0082] The simulation verification results of the consistency of the application effect of the fuel cell temperature composite control parameter adjustment method provided in this embodiment are as follows: Figure 2-4 As shown.

[0083] Example 2

[0084] Example 2 replaces the calculation method of the temperature difference δT(t) at the outlet of the heat dissipation device 3 and the method of obtaining the flow rate Wc(t) of the coolant flowing through the heat dissipation device 3 in Example 1. It is a replacement for Example 1. Further explanation: identical components will not be described again here, such as... Figure 1As shown, in the steps of obtaining coupling parameters and time-varying parameters, the calculation process of the difference δT(t) between the coolant temperature after passing through the heat dissipation device 3 and the outlet air temperature of the heat dissipation device 3 is as follows (4):

[0085] δT(t)=T1(t)-T3(t)(4)

[0086] In Equation 4, “T1(t)” is the temperature data value of the coolant at the outlet of fuel cell stack 1, and “T3(t)” is the temperature data value of the air at the outlet of heat dissipation device 3.

[0087] In the steps of acquiring coupling parameters and time-varying parameters, a fluid flow meter is set in the circulation loop to collect the flow rate Wc(t) of the coolant flowing through the heat dissipation device 3 in real time.

[0088] Example 3

[0089] Example 3 replaces the calculation method of the temperature difference δT(t) at the outlet of heat dissipation device 3 in Example 1, and is a replacement for Example 1; further explanation is needed, identical components will not be described again here, such as... Figure 1 As shown in the figure, in the steps of obtaining coupling parameters and time-varying parameters, the calculation process of the difference δT(t) between the coolant temperature after passing through the heat dissipation device 3 and the air temperature at the outlet of the heat dissipation device 3 is as follows (5):

[0090] δT(t)=T2(t)-T3(t)(5)

[0091] In Equation 5, “T2(t)” represents the temperature data value of the coolant at the outlet of heat dissipation device 3, and “T3(t)” represents the temperature data value of the air at the outlet of heat dissipation device 3.

[0092] Example 4

[0093] Example 4 is a further improvement on Example 1; further explanation: identical components will not be repeated here, such as... Figure 5 As shown, the fuel cell cooling system can be equipped with several circulation branches connected in parallel to the heat dissipation device 3. In this embodiment, one circulation branch is connected in parallel. This circulation branch can be connected to the circulation loop of the fuel cell cooling system through a thermostat 4. A heat-generating device 6 can be installed on the circulation branch, including but not limited to a PTC heater. Multiple circulation branches do not affect the fuel cell temperature composite control parameter adjustment method provided by this invention.

[0094] In the step of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, the K ff The rates of change of Kp(t), Ki(t), and Kp(t) do not exceed 0.1 / s.

[0095] The circulating loop of the fuel cell cooling system is also equipped with a heat-generating device 5. The heat-generating device 5 includes, but is not limited to, a DC-DC converter, an intercooler, etc.

[0096] This article uses specific embodiments to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0097] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0098] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A method for adjusting composite temperature control parameters of a fuel cell, applied to a fuel cell cooling system, wherein the fuel cell cooling system includes a fuel cell stack, a water pump, and a heat dissipation device, wherein the outlet of the fuel cell stack is connected to the inlet of the water pump, and the outlet of the water pump is connected to and returns to the inlet of the fuel cell stack through the heat dissipation device to form a circulation loop, characterized in that, Includes the following steps, Coupling parameters and time-varying parameters are obtained as follows: The coolant temperature T1(t) at the fuel cell outlet is collected by the first temperature sensor, the coolant temperature T2(t) at the outlet of the heat dissipation device is collected by the second temperature sensor, and the air temperature T3(t) at the outlet of the heat dissipation device is collected by the third temperature sensor. The difference δT(t) between the coolant temperature after passing through the heat dissipation device and the air temperature at the outlet of the heat dissipation device is calculated based on T1(t), T2(t) and T3(t). Obtain the flow rate Wc(t) of the coolant flowing through the heat dissipation equipment; Initial control parameter acquisition: At the initial time t0, the coolant flow rate Wc(t0), the target temperature Ts(t0), and the outlet air temperature T3(t0) of the heat dissipation equipment are collected, and the initial control parameter K is obtained through calculation and debugging based on the parameters. ff (t0), Kp(t0), Ki(t0) and Kd(t0); Eliminating the influence of coupling parameters and time-varying parameters on the feedforward controller: Based on the time-varying feedforward control coefficient K ff (t), the feedforward control quantity u is calculated. ff (t), feedforward control quantity u ff The calculation process of (t) is shown in the following formula (1): u ff (t)=K ff (t)·eT(t)(1) In Equation 1, "K ff "(t)" represents the time-varying feedforward control system coefficient, and "eT(t)" represents the real-time temperature control error; Time-varying feedforward control coefficient K ff The calculation process of (t) is shown in the following formula (7): K ff (t)=K ff (t0)·((Wc(t) / δT(t)) / (Wc(t0) / δT(t0))) n (7) In Equation 7, "K ff "(t0)" represents the initial feedforward control coefficient obtained in the initial control parameter acquisition step at time t0, "Wc(t)" and "Wc(t0)" represent the coolant flow rate through the heat dissipation device at time t and time t0, respectively, "δT(t)" and "δT(t0)" represent the difference between the coolant temperature of the heat dissipation device and the outlet air temperature of the heat dissipation device at time t and time t0, respectively, and "n" has a value greater than 0; Eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller: Based on the time-varying closed-loop control parameters Kp(t) and Ki(t), and the fixed closed-loop control parameter Kd(t0), the closed-loop control quantity u is calculated. fb (t), closed-loop control quantity u fb The calculation process of (t) is shown in the following formula (2): （2） In Equation 2, "Kp(t)" is the time-varying proportional control coefficient of PID control, "Ki(t)" is the time-varying integral control coefficient of PID control, "Kd(t0)" is the derivative control coefficient of PID control under the condition of initial time t0, and "eT(t)" is the real-time temperature control error. Regulation and control: the feedforward control quantity u ff (t) and closed-loop control quantity u fb (t) After summing, normalization is performed, with a range of 0-1. The control system adjusts the speed of the cooling fan in the heat dissipation equipment based on the normalized value. The calculation process of the time-varying proportional control coefficient Kp(t) of PID control is shown in the following formula (9): Kp(t)=Kp(t0)·((Wc(t) / δT(t)) / (Wc(t0) / δT(t0))) n (9) In Equation 9, "Kp(t0)" is the initial proportional control coefficient of PID control obtained in the initial control parameter acquisition step at time t0, "Wc(t)" and "Wc(t0)" are the coolant flow rates through the heat dissipation device at time t and time t0, respectively, "δT(t)" and "δT(t0)" are the differences between the coolant temperature of the heat dissipation device and the outlet air temperature of the heat dissipation device at time t and time t0, respectively, and "n" is greater than 0; The calculation process of the time-varying integral regulation coefficient Ki(t) of PID control is shown in the following formula (10): Ki(t)=Ki(t0)·((Wc(t) / δT(t)) / (Wc(t0) / δT(t0))) n (10) In Equation 10, "Ki(t0)" is the initial integral adjustment coefficient of PID control under the initial time t0 condition, "Wc(t)" and "Wc(t0)" are the coolant flow rates through the heat dissipation device at time t and time t0, respectively, "δT(t)" and "δT(t0)" are the differences between the coolant temperature of the heat dissipation device and the outlet air temperature of the heat dissipation device at time t and time t0, respectively, and "n" is greater than zero.

2. The fuel cell temperature composite control parameter adjustment method as described in claim 1, characterized in that, In the steps of obtaining coupling parameters and time-varying parameters, the calculation process of the difference δT(t) between the coolant temperature after passing through the heat dissipation device and the air temperature at the outlet of the heat dissipation device is shown in the following equations (3), (4) or (5): δT(t)=(T1(t)+T2(t)) / 2–T3(t)(3) In Equation 3, "T1(t)" represents the temperature data value of the coolant at the fuel cell outlet, "T2(t)" represents the temperature data value of the coolant at the heat dissipation equipment outlet, and "T3(t)" represents the temperature data value of the air at the heat dissipation equipment outlet. δT(t)=T1(t)-T3(t)(4) In Equation 4, "T1(t)" represents the temperature data value of the coolant at the fuel cell outlet, and "T3(t)" represents the temperature data value of the air at the outlet of the heat dissipation equipment. δT(t)=T2(t)-T3(t)(5) In Equation 5, "T2(t)" represents the temperature data value of the coolant at the outlet of the heat dissipation equipment, and "T3(t)" represents the temperature data value of the air at the outlet of the heat dissipation equipment.

3. The fuel cell temperature composite control parameter adjustment method as described in claim 1, characterized in that, In the steps of acquiring coupling parameters and time-varying parameters, the pump speed Nwp(t), the pressure P1(t) at the pump inlet, and the pressure P2(t) at the pump outlet are collected in real time. Based on P1(t) and P2(t), the pump head H(t) is calculated. The calculation process of the pump head H(t) is shown in the following formula (6): H(t)=(p2(t)-p1(t)) / ρg(6) In Equation 6, "P1(t)" is the pressure at the pump inlet, "P2(t)" is the pressure at the pump outlet, "ρ" is the liquid density, and "g" is the acceleration due to gravity. Based on the calculated pump head H(t) and the measured pump speed Nwp(t), the corresponding coolant flow rate Wc(t) flowing through the heat dissipation equipment is obtained by referring to the pump MAP diagram.

4. The fuel cell temperature composite control parameter adjustment method as described in claim 1, characterized in that, In the steps of acquiring coupling parameters and time-varying parameters, a fluid flow meter is set in the circulation loop to collect the flow rate Wc(t) of the coolant flowing through the heat dissipation device in real time.

5. The fuel cell temperature composite control parameter adjustment method as described in claim 1, characterized in that, In the steps of eliminating the influence of coupling parameters and time-varying parameters on the feedforward controller, and in the steps of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, the calculation process of the real-time temperature control error eT(t) is as shown in the following equation (8): eT(t)=Ts(t)-T1(t) (8) In Equation 8, "Ts(t)" represents the target value for the temperature control of the coolant at the fuel cell stack outlet, and "T1(t)" represents the temperature data value of the coolant at the fuel cell stack outlet.

6. The fuel cell temperature composite control parameter adjustment method as described in claim 1, characterized in that, In the step of eliminating the influence of coupling parameters and time-varying parameters on the closed-loop controller, K is set. ff The rates of change of Kp(t), Ki(t), and Kp(t).

7. The fuel cell temperature composite control parameter adjustment method as described in claim 1, characterized in that, The fuel cell cooling system is equipped with several circulation branches connected in parallel to the heat dissipation equipment.

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