Energy Management Design Methods for Hydrogen Fuel Cell and Lithium Battery Power Systems in Commercial Heavy-Duty Trucks

Abstract

This invention relates to an energy management design method for a commercial heavy-duty truck hydrogen fuel cell and lithium battery power system. Specifically, it involves: deriving key parameters of the commercial heavy-duty truck's power system based on Chinese national standards for vehicle operating conditions; and establishing compatibility principles for the hydrogen fuel cell and lithium battery systems based on the maximum power of the commercial heavy-duty truck. Based on the principle of optimal hydrogen consumption, it selects the optimal energy management method for the commercial heavy-duty truck's hydrogen fuel cell and lithium battery power system. Specifically, the optimal energy management method calculates the average power of the entire vehicle based on the previous operating condition and uses the average power of the entire vehicle under the previous operating condition as the output power of the hydrogen fuel cell under the current operating condition, ensuring the lowest hydrogen consumption throughout the entire operating condition. Under the premise of ensuring effective matching between the hydrogen fuel cell system and the lithium battery system, energy management of the power system is based on the lowest hydrogen consumption index. By rationally designing the energy management method, hydrogen consumption during operation is effectively reduced, thereby significantly reducing operating costs.

Description

Technical Field

[0001] This invention relates to the field of fuel cell technology, and specifically to an energy management design method for a commercial heavy-duty truck hydrogen fuel cell and lithium battery power system. Background Technology

[0002] Currently, the battery power system of some commercial heavy-duty trucks consists of two parts: a hydrogen fuel cell system and a lithium battery system. The two power systems are arranged separately and connected by a DC-DC circuit. The hydrogen fuel cell supplies energy to the lithium battery, while the energy of the whole vehicle is output by the lithium battery system.

[0003] To ensure the comfort and reliability of the vehicle operation, and specifically for the current application scenarios of commercial heavy-duty trucks, lithium battery capacity is selected to be relatively sufficient. For example, for a 49T commercial heavy-duty truck, a lithium battery system with a capacity of 140Ah and a hydrogen fuel cell system with an output power of over 130kW are generally used. This is a "large horse pulling a small car" approach. The hydrogen fuel cell system charges the lithium battery at different power levels according to the capacity of the lithium battery system, ensuring that the lithium battery does not run out of power throughout the entire operating cycle. The motor will not exceed its rated current under this operation, and the motor body temperature will not rise too high, which is naturally beneficial to the motor. However, this operating mode results in very low motor efficiency, which is not conducive to the requirements of economical operation.

[0004] With the rapid development of new energy vehicles, especially facing competition from traditional fuel vehicles, the operating efficiency of electric motors and the total lifecycle cost must be reconsidered. However, the current design for the compatibility of hydrogen fuel cell systems and lithium battery systems in commercial heavy-duty trucks, as well as the energy management of the entire vehicle, lacks detailed design. Therefore, it is crucial to compare costs and technical specifications, and to determine the optimal technical indicators and principles for energy management design of the power system to significantly reduce operating costs, while ensuring effective compatibility between the hydrogen fuel cell system and the lithium battery system. Summary of the Invention

[0005] In view of this, the present invention provides an energy management design method for a commercial heavy-duty truck hydrogen fuel cell and lithium battery power system. The purpose is to manage the power system based on the lowest hydrogen consumption index while ensuring effective matching between the hydrogen fuel cell system and the lithium battery system. By rationally designing the energy management method, the hydrogen consumption during operation can be effectively reduced, thereby significantly reducing operating costs.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A design method for energy management of a commercial heavy-duty truck hydrogen fuel cell and lithium battery power system includes the following steps:

[0008] S1. Based on China's national standards for vehicle operating conditions, the key parameters of the power system of commercial heavy-duty trucks are derived, and the compatibility principles of hydrogen fuel cell systems and lithium battery systems are formulated based on the maximum power of commercial heavy-duty trucks.

[0009] S2. Based on S1, under a specific operating condition, different energy management methods are formulated while ensuring that the electricity consumption Q and operating time H of the entire commercial heavy-duty truck remain unchanged;

[0010] S3. Based on the principle of optimal hydrogen consumption, select the optimal energy management method for commercial heavy-duty truck hydrogen fuel cell and lithium battery power system. The optimal energy management method is specifically to calculate the average power of the whole vehicle based on the previous operating condition, and use the average power of the whole vehicle under the previous operating condition as the output power of the hydrogen fuel cell under the current operating condition, so as to ensure the lowest hydrogen consumption under the entire operating condition.

[0011] Furthermore, step S1 specifically includes:

[0012] According to China's national standards for vehicle operating conditions, the maximum power of a commercial heavy-duty truck is P. max P max The instantaneous maximum output power of the motor, i.e., the maximum power P required for the hydrogen fuel cell system and lithium battery system to respond promptly. max The requirement is that the power output of the overall power system of commercial heavy-duty trucks must be greater than or equal to P. max .

[0013] Furthermore, the power output of the overall power system of the commercial heavy-duty truck must be greater than or equal to P. max Specifically, the discharge rate of the lithium battery is *a*, the capacity of the lithium battery is *x*, the power of the hydrogen fuel cell is *y*, and the maximum motor power of a commercial heavy-duty truck is *P*. max The following relationship must be satisfied:

[0014] a*x+y≥P max (1).

[0015] Furthermore, the discharge rate 'a' of a typical automotive lithium battery is 2. According to the Chinese national standard for automotive operating conditions, the maximum motor power of a 49T commercial heavy-duty truck is 443kW, which must satisfy the following relationship:

[0016] 2x+y≥443 (2).

[0017] Furthermore, the energy management method includes:

[0018] Set the power of the hydrogen fuel cell to Q / H and the operating time to H.

[0019] Furthermore, the energy management method also includes:

[0020] The power demand levels for hydrogen fuel cells are set as: X1, X2, X3…X n The running time for each gear is t1, t2, t3...t n And satisfy the following relationship:

[0021] t1+t2+t3+…+t n =H (3);

[0022] t1*X1+t2*X2+t3*X3+…+t n *X n =Q (4).

[0023] Furthermore, in step S3, the optimal energy management method for commercial heavy-duty truck hydrogen fuel cells and lithium battery power systems is selected based on the principle of optimal hydrogen consumption. The hydrogen consumption corresponding to different energy management methods should be calculated separately, and the specific calculation method is as follows:

[0024] The formula for calculating the net power of a hydrogen fuel cell is as follows:

[0025] The net power of a hydrogen fuel cell = the net power generation of the fuel cell stack - the power of the hydrogen pump - the power of the water pump - the power of the air compressor - the power of the high-pressure fan - the power of the controller (5);

[0026] The formula for calculating hydrogen flow rate, i.e., hydrogen consumption q, is as follows:

[0027]

[0028] In the formula, I is the hydrogen fuel cell current, F is Avogadro's constant, and M... H2 is the molar mass of hydrogen gas;

[0029] Based on formulas (5) and (6), the relationship between the net power of the hydrogen fuel cell and the hydrogen consumption is derived. Using this relationship, the hydrogen consumption corresponding to different energy management methods is calculated. Based on the principle of optimal hydrogen consumption, the optimal energy management method for commercial heavy-duty truck hydrogen fuel cells and lithium battery power systems is selected.

[0030] Furthermore, when the output power of the fuel cell system is 130 kW, the net power P of the hydrogen fuel cell is obtained according to formulas (5) and (6). net The relationship between hydrogen consumption q and hydrogen consumption is as follows:

[0031] P net =-7.45*q 2 +71.8*q-0.59 (7);

[0032] Calculate the hydrogen consumption corresponding to different energy management methods according to the relation (7).

[0033] Furthermore, the optimal energy management method in step S3 specifically includes:

[0034] S3-1. Calculate the total power consumption Q and running time H of the vehicle under the previous operating condition;

[0035] S3-2. Real-time calculation of the vehicle's average power Q / H under the previous operating condition;

[0036] S3-3. Under the current operating condition, issue a command to the hydrogen fuel cell to make the hydrogen fuel cell output power the average power of the whole vehicle Q / H under the previous operating condition.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] Based on the fundamental requirement of ensuring timely response from both hydrogen fuel cell and lithium battery systems, compatibility principles for these systems are established. Building upon this, different energy management methods are developed, and the optimal energy management method for the hydrogen fuel cell and lithium battery power systems in commercial heavy-duty trucks is selected based on the principle of optimal hydrogen consumption. This addresses the current compatibility issues between hydrogen fuel cell and lithium battery systems in commercial heavy-duty trucks, as well as overall vehicle energy management problems. This effectively reduces hydrogen consumption during operation, improves operational efficiency, significantly lowers operating costs, and enhances the market competitiveness of new energy vehicles.

[0039] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 The diagram shows the power output of the power system of the 49T commercial heavy-duty truck under full load conditions according to Embodiment 4 of the present invention;

[0042] Figure 2 A compatibility diagram of a hydrogen fuel cell system and a lithium battery system according to an embodiment of the present invention is shown.

[0043] Figure 3 The figure shows the net power and efficiency of a hydrogen fuel cell system with an output power of 130kW according to an embodiment of the present invention.

[0044] Figure 4A graph showing the relationship between the net system power and hydrogen flow rate of a hydrogen fuel cell according to an embodiment of the present invention is shown.

[0045] Figure 5 The following graphs show hydrogen consumption data corresponding to three different energy management methods according to embodiments of the present invention.

[0046] Figure 6 A flowchart of the optimal energy management method according to an embodiment of the present invention is shown. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] This invention proposes an energy management design method for commercial heavy-duty truck hydrogen fuel cell and lithium battery power systems, specifically including the following steps:

[0049] S1. Based on China's national standards for vehicle operating conditions, the key parameters of the power system of commercial heavy-duty trucks are derived, and the compatibility principles of hydrogen fuel cell systems and lithium battery systems are formulated based on the maximum power of commercial heavy-duty trucks.

[0050] S2. Based on S1, under a specific operating condition, different energy management methods are formulated while ensuring that the electricity consumption Q and operating time H of the entire commercial heavy-duty truck remain unchanged;

[0051] S3. Based on the principle of optimal hydrogen consumption, select the optimal energy management method for commercial heavy-duty truck hydrogen fuel cell and lithium battery power system. The optimal energy management method is specifically to calculate the average power of the whole vehicle based on the previous operating condition, and use the average power of the whole vehicle under the previous operating condition as the output power of the hydrogen fuel cell under the current operating condition, so as to ensure the lowest hydrogen consumption under the entire operating condition.

[0052] Step S1 specifically involves:

[0053] Based on China's national standards for automotive operating conditions, key parameters of the powertrain system for commercial heavy-duty trucks are derived, such as the maximum power output of a commercial heavy-duty truck being P. max The average power of commercial heavy-duty trucks is P avg .

[0054] 1) The maximum power of commercial heavy-duty trucks is P maxThis is the instantaneous maximum output power of the motor, meaning the hydrogen fuel cell system and lithium battery system must be able to respond promptly to meet the maximum power demand. In other words, the power output of the entire power system of a commercial heavy-duty truck must be greater than or equal to P. max ;

[0055] 2) The average power of commercial heavy-duty trucks is P avg To ensure that the lithium battery does not run out of power under all operating conditions, the minimum average operating power of the power system of commercial heavy-duty trucks must be greater than or equal to P. avg ;

[0056] From 1) and 2) above, we know that the discharge rate of the lithium battery is a, the capacity of the lithium battery is x, the power of the hydrogen fuel cell is y, and the maximum motor power of a commercial heavy-duty truck is P. max The following relationship must be satisfied:

[0057] a*x+y≥P max (1);

[0058] Generally, the discharge rate of automotive lithium batteries is 2, which means they must satisfy the following relationship:

[0059] 2x + y ≥ P max (2);

[0060] Specifically, taking a 49T commercial heavy-duty truck as an example, such as Figure 1 The diagram shows the power output of the 49T commercial heavy-duty truck under full load conditions. According to the Chinese national standard for vehicle driving conditions, the key parameters of the power system of the commercial heavy-duty truck are obtained, such as the maximum power of the commercial heavy-duty truck being 443kW and the average power of the commercial heavy-duty truck being 106kW.

[0061] 1) The maximum power of commercial heavy-duty trucks is 443kW. This is the instantaneous maximum output power of the motor. That is, the hydrogen fuel cell system and lithium battery system can respond in time to meet the maximum power demand. In other words, the power of the entire power system of commercial heavy-duty trucks must be greater than or equal to 443kW.

[0062] 2) The average power of commercial heavy-duty trucks is 106kW. In order to ensure that the lithium battery does not run out of power under all operating conditions, the minimum average operating power of the power system of commercial heavy-duty trucks must be greater than or equal to 106kW.

[0063] The discharge rate of the lithium battery is 'a', and the discharge rate 'a' of a typical automotive lithium battery is 2. The capacity of the lithium battery is 'x', the power of the hydrogen fuel cell is 'y', and the maximum motor power of a commercial heavy-duty truck is 443kW. The following relationship must be satisfied:

[0064] 2x+y≥443 (3);

[0065] Assigning a value to the capacity of the lithium battery and substituting it into equation (3) yields the minimum power of the hydrogen fuel cell, as shown in Table 1, which outlines the compatibility principles between the hydrogen fuel cell system and the lithium battery system.

[0066] Table 1 Compatibility Principles of Hydrogen Fuel Cell Systems and Lithium Battery Systems

[0067]

[0068] Based on the values ​​in Table 1 regarding the compatibility principles of hydrogen fuel cell systems and lithium battery systems, it can be concluded that the compatibility relationship between hydrogen fuel cell systems and lithium battery systems must be as follows: Figure 2 As shown:

[0069] Depend on Figure 2 It can be seen that as the capacity of lithium batteries in commercial heavy-duty trucks decreases, the required power of hydrogen fuel cell systems will increase, but at the very least, the requirements of relation (3) must be met.

[0070] Currently, the energy management and power distribution relationship of commercial heavy-duty trucks is that the hydrogen fuel cell charges the lithium battery, while the energy of the whole vehicle is uniformly output by the lithium battery system to maintain the entire SOC (state of charge) within a certain range.

[0071] The operating characteristic of fuel cells is that the system efficiency decreases as the power output increases. To make the fuel cell operate in the optimal efficiency range, the fuel cell capacity needs to be increased.

[0072] like Figure 3 As shown in the figure, the net power and efficiency of a hydrogen fuel cell system with an output power of 130kW are plotted. It can be seen from the figure that the optimal efficiency zone and the optimal net power zone of this hydrogen fuel cell system do not overlap.

[0073] The current SOC (State of Charge) control method for hydrogen fuel cell and lithium battery power systems in commercial heavy-duty trucks is as follows: within a certain SOC range, the hydrogen fuel cell operates, for example, 20% ≤ SOC ≤ 80%. The hydrogen fuel cell is charged at different power levels according to the established SOC strategy. The lower the SOC, the greater the power of the hydrogen fuel cell, and vice versa. When the SOC exceeds the charging limit, the fuel cell stops charging.

[0074] The above control methods are inefficient and do not take into account the technical requirement of minimizing hydrogen consumption. Their operating costs are high and they cannot improve the competitiveness of new energy vehicles.

[0075] Under a specific operating condition, the total electricity consumption of a commercial heavy-duty truck is Q, and the operating time is H. The following energy management method is formulated:

[0076] A. Set the power of the hydrogen fuel cell to Q / H and the operating time to H.

[0077] B. Set the power demand levels for the hydrogen fuel cell as: X1, X2, X3…X n The running time for each gear is t1, t2, t3...t n And satisfy the following relationship:

[0078] t1+t2+t3+…+t n =H (4);

[0079] t1*X1+t2*X2+t3*X3+…+t n *X n =Q (5);

[0080] Both of the above energy management methods are based on the premise of ensuring that the total electricity consumption Q and operating time H of the commercial heavy-duty truck remain unchanged.

[0081] The hydrogen consumption for different energy management methods is calculated separately, and the specific calculation method is as follows:

[0082] The formula for calculating the net power of a hydrogen fuel cell is as follows:

[0083] The net power of a hydrogen fuel cell = the net power generation of the stack - the power of the hydrogen pump - the power of the water pump - the power of the air compressor - the power of the high-pressure fan - the power of the controller (6);

[0084] The formula for calculating hydrogen flow rate, i.e., hydrogen consumption q, is as follows:

[0085]

[0086] In the formula, I is the hydrogen fuel cell current, F is Avogadro's constant, and M... H2 is the molar mass of hydrogen gas;

[0087] Based on formulas (6) and (7), the relationship between the net power of the hydrogen fuel cell and the hydrogen consumption is derived. Based on this relationship, the hydrogen consumption corresponding to different energy management methods is calculated. Based on the principle of optimal hydrogen consumption, the optimal energy management method for commercial heavy-duty truck hydrogen fuel cell and lithium battery power system is selected.

[0088] Taking a 130kW fuel cell system as an example, the net power P of the hydrogen fuel cell is obtained according to formulas (6) and (7). net The relationship between hydrogen consumption q and hydrogen consumption is as follows:

[0089] P net =-7.45*q 2 +71.8*q-0.59 (8);

[0090] The net power P of the hydrogen fuel cell is obtained from equation (8). net The relationship between hydrogen consumption q and hydrogen consumption is shown in the graph. Figure 4 As shown.

[0091] Specifically, as shown in Table 2, which illustrates the power and runtime of hydrogen fuel cells using different energy management methods, the following energy management methods can be set:

[0092] Table 2. Hydrogen fuel cell power and runtime for different energy management methods.

[0093]

[0094] The hydrogen consumption corresponding to the three different energy management methods in the table above is calculated according to formula (8). The specific hydrogen consumption data is as follows: Figure 5 As shown in the figure, calculations show that under a specific operating condition, the hydrogen fuel cell achieves the minimum hydrogen consumption when it maintains an average power output of Q / H.

[0095] Therefore, when formulating energy management methods for commercial heavy-duty trucks, it is essential to base them on big data and optimize hydrogen consumption in real time. The power demand levels should not be determined based on the current SOC (State of Charge) of the hydrogen fuel cell and lithium battery power systems. Instead, the average power output of the hydrogen fuel cell should be maintained even at low SOC levels, allowing the lithium battery to deplete within the operating range. Conversely, the average power output of the hydrogen fuel cell should be maintained even at high SOC levels, thus keeping the previously depleted lithium battery within its normal discharge voltage range.

[0096] like Figure 6 As shown, the optimal energy management method in step S3 specifically includes:

[0097] S3-1. Calculate the total power consumption Q and running time H of the vehicle under the previous operating condition;

[0098] S3-2. Real-time calculation of the vehicle's average power Q / H under the previous operating condition;

[0099] S3-3. Under the current operating condition, issue a command to the hydrogen fuel cell to make the hydrogen fuel cell output power the average power of the whole vehicle Q / H under the previous operating condition.

[0100] Based on the fundamental requirement of ensuring timely response from both hydrogen fuel cell and lithium battery systems, compatibility principles for these systems are established. Building upon this, different energy management methods are developed, and the optimal energy management method for the hydrogen fuel cell and lithium battery power systems in commercial heavy-duty trucks is selected based on the principle of optimal hydrogen consumption. This addresses the current compatibility issues between hydrogen fuel cell and lithium battery systems in commercial heavy-duty trucks, as well as overall vehicle energy management problems. This effectively reduces hydrogen consumption during operation, improves operational efficiency, significantly lowers operating costs, and enhances the market competitiveness of new energy vehicles.

[0101] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A design method for energy management of a commercial heavy-duty truck hydrogen fuel cell and lithium battery power system, characterized in that, Specifically, the following steps are included: S1. Based on the Chinese national standard for vehicle operating conditions, derive the key parameters of the power system for commercial heavy-duty trucks, and formulate compatibility principles for hydrogen fuel cell systems and lithium battery systems based on the maximum power of commercial heavy-duty trucks; step S1 specifically includes: According to China's national standards for vehicle operating conditions, the maximum power of a commercial heavy-duty truck is P. max P max The instantaneous maximum output power of the motor, i.e., the maximum power P required for the hydrogen fuel cell system and lithium battery system to respond promptly. max The requirement is that the power output of the overall power system of commercial heavy-duty trucks must be greater than or equal to P. max ; The power output of the entire power system of commercial heavy-duty trucks must be greater than or equal to P. max， Specifically: the discharge rate of the lithium battery is 'a', the capacity of the lithium battery is 'x', the power of the hydrogen fuel cell is 'y', and the maximum motor power of a commercial heavy-duty truck is 'P'. max The following relationship must be satisfied: ； S2. Based on S1, under a specific operating condition, different energy management methods are formulated while ensuring that the electricity consumption Q and operating time H of the entire commercial heavy-duty truck remain unchanged; The energy management method includes: The power of the hydrogen fuel cell is set to Q / H, the electricity consumed by the entire commercial heavy-duty truck is Q, and the running time is H; The power demand levels for hydrogen fuel cells are set as: X1, X2, X3…X n The running time for each gear is t1, t2, t3...t n And satisfy the following relationship: ； ； S3. Select the optimal energy management method for commercial heavy-duty truck hydrogen fuel cell and lithium battery power system based on the principle of optimal hydrogen consumption. The optimal energy management method is specifically to calculate the average power of the whole vehicle based on the previous operating condition, and use the average power of the whole vehicle under the previous operating condition as the output power of the hydrogen fuel cell under the current operating condition to ensure the lowest hydrogen consumption under the entire operating condition. In step S3, the optimal energy management method for commercial heavy-duty truck hydrogen fuel cells and lithium battery power systems is selected based on the principle of optimal hydrogen consumption. The hydrogen consumption corresponding to different energy management methods should be calculated separately. The specific calculation method is as follows: The formula for calculating the net power of a hydrogen fuel cell is as follows: The net power of a hydrogen fuel cell = the net power generation of the stack - the power of the hydrogen pump - the power of the water pump - the power of the air compressor - the power of the high-pressure fan - the power of the controller (4). The formula for calculating hydrogen flow rate, i.e., hydrogen consumption q, is as follows: ； In the formula, I is the hydrogen fuel cell current, and F is Avogadro's constant. is the molar mass of hydrogen gas; Based on formulas (4) and (5), the relationship between the net power of the hydrogen fuel cell and the hydrogen consumption is derived. Based on this relationship, the hydrogen consumption corresponding to different energy management methods is calculated. Based on the principle of optimal hydrogen consumption, the optimal energy management method for commercial heavy-duty truck hydrogen fuel cells and lithium battery power systems is selected.

2. The energy management design method for commercial heavy-duty truck hydrogen fuel cell and lithium battery power systems as described in claim 1, characterized in that, The discharge rate 'a' of the on-board lithium battery is 2. According to the Chinese national standard for automotive operating conditions, the maximum motor power of a 49T commercial heavy-duty truck is 443kW, which must satisfy the following relationship: 。 3. The energy management design method for commercial heavy-duty truck hydrogen fuel cell and lithium battery power systems as described in claim 1, characterized in that, When the output power of the fuel cell system is 130 kW, the net power P of the hydrogen fuel cell can be obtained according to formulas (4) and (5). net The relationship between hydrogen consumption q and hydrogen consumption is as follows: ； Calculate the hydrogen consumption corresponding to different energy management methods according to the relation (7).

4. The energy management design method for commercial heavy-duty truck hydrogen fuel cell and lithium battery power systems as described in claim 1, characterized in that, The optimal energy management method in step S3 specifically includes: S3-1. Calculate the total electricity consumption Q1 of the vehicle under the previous operating condition and the running time H1 under the previous operating condition; S3-2. Real-time calculation of the vehicle's average power Q1 / H1 under the previous operating condition; S3-3. Under the current operating condition, issue a command to the hydrogen fuel cell to make the hydrogen fuel cell output power as the average power of the whole vehicle under the previous operating condition, Q1 / H1.

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