Adaptive control system and method for a hydrogenation system

Abstract

The application provides a kind of adaptive control system and method of hydrogenation system, including target parameter selection module, control unit and working unit, the information of vehicle hydrogen storage bottle is input into target parameter selection module by wireless signal receiving device;Pressure sensor module inputs the pressure of hydrogen in hydrogenation process into parameter adjustment module, and parameter adjustment module obtains the best hydrogen flow rate range;The pressure of hydrogen in hydrogenation process and the standard pressure output by target parameter selection module are respectively input into the best hydrogenation pressure generation module;The best hydrogenation pressure is input into combination control module;Combination control module calculates hydrogen flow according to the best hydrogenation pressure, and determines membership according to the calculated hydrogen flow and the best hydrogen flow rate range, and combination control module inputs the membership into the control valve of hydrogenation system to control the control valve of hydrogenation system.The application improves and improves in real time during hydrogenation process, so as to realize efficient hydrogen filling.

Description

Technical Field

[0001] This invention relates to the field of hydrogen refueling for vehicles or hydrogen refueling technology for hydrogen refueling stations, and particularly to an adaptive control system and method for a hydrogen refueling system. Background Technology

[0002] Hydrogen energy, as a zero-carbon green new energy source, is characterized by its cleanliness, high efficiency, and zero carbon emissions after combustion. Hydrogen refueling stations are a crucial link in hydrogen utilization, and their number has been steadily increasing in recent years. These stations are vital for ensuring the supply of hydrogen fuel cell vehicles and are essential infrastructure for hydrogen energy utilization in the transportation energy sector, forming an indispensable cornerstone for the development of the hydrogen fuel cell vehicle industry. A hydrogen refueling station is a dedicated location for filling hydrogen fuel cell vehicles, hydrogen internal combustion engine vehicles, and hydrogen hybrid vehicles with their vehicle-mounted hydrogen storage tanks. The hydrogen refueling system is an essential system within a hydrogen refueling station; however, existing systems lack adaptive control schemes, resulting in relatively low refueling efficiency. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an adaptive control system and method for a hydrogen refueling system. By using a hydrogen refueling gun and related sensors to monitor and provide feedback on temperature, pressure, and flow rate during the hydrogen refueling process in real time, the control system can calculate the optimal hydrogen refueling scheme and improve the hydrogen refueling process in real time, thereby achieving efficient hydrogen refueling.

[0004] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0005] An adaptive control system for a hydrogen refueling system includes a hydrogen refueling nozzle whose input is connected to the control valve of the hydrogen refueling system, and whose output can be connected to the inlet of an on-board hydrogen storage tank. The system also includes a target parameter selection module, a control unit, and a working unit.

[0006] The working unit includes a wireless signal receiving device, an infrared communication module, a pressure sensor module, and a flow rate sensor module; the infrared communication module is used to detect the temperature of hydrogen during the hydrogen refueling process; the pressure sensor module is used to detect the pressure of hydrogen during the hydrogen refueling process; the flow rate sensor module is used to detect the flow rate of hydrogen during the hydrogen refueling process; the vehicle-mounted hydrogen storage cylinder is equipped with a wireless signal transmitter for transmitting information from the vehicle-mounted hydrogen storage cylinder, and the wireless signal transceiver device is used to receive information transmitted by the wireless signal transmitter;

[0007] The control unit includes a parameter adjustment module, an optimal hydrogen refueling pressure generation module, an overload protection module, and a combined control module; the wireless signal receiving device inputs information from the on-board hydrogen storage tank into the target parameter selection module; the infrared communication module, pressure sensor module, and flow rate sensor module respectively input the temperature, pressure, and flow rate of hydrogen during the hydrogen refueling process into the overload protection module in the control unit to determine whether an alarm is needed; the pressure sensor module inputs the hydrogen pressure during the hydrogen refueling process into the parameter adjustment module, the parameter adjustment module obtains the optimal hydrogen flow rate range, and inputs the optimal hydrogen flow rate range into the combined control module;

[0008] During the hydrogenation process, the hydrogen pressure and the standard pressure output by the target parameter selection module are respectively input to the optimal hydrogenation pressure generation module to output the optimal hydrogenation pressure. The optimal hydrogenation pressure is input to the combined control module. The combined control module calculates the hydrogen flow rate based on the optimal hydrogenation pressure and determines the membership degree based on the calculated hydrogen flow rate and the optimal hydrogen flow rate range. The combined control module inputs the membership degree to the control valve of the hydrogenation system to control the control valve of the hydrogenation system.

[0009] Furthermore, the information of the on-board hydrogen storage tank includes the current temperature and pressure of the on-board hydrogen storage tank, as well as the rated parameters of the on-board hydrogen storage tank.

[0010] Furthermore, the parameter adjustment module determines the optimal hydrogen flow rate range, specifically as follows:

[0011] The parameter adjustment module calculates the time required for hydrogen refueling (t1 to t2) based on the hydrogen pressure and historical data during the refueling process, where t1 > t2. The module then combines this time with the required hydrogen mass (V) from the onboard hydrogen storage tank to calculate the optimal hydrogen flow rate range.

[0012] Furthermore, the optimal hydrogenation pressure generation module employs adaptive PID control. It compares the hydrogen pressure during hydrogenation with the standard pressure output by the target parameter selection module to obtain the errors e(t) and de / dt. These errors are used as inputs to the adaptive PID control for adjustment. Following the area center rule, and after declarative analysis based on the output membership function, the fuzzy controller outputs the increments of the three PID parameters as Δkp, Δki, and Δkd, respectively. Based on the controller parameters, the optimal hydrogenation pressure is obtained.

[0013] Furthermore, the combined control module calculates the hydrogen flow rate according to the following formula: [Formula omitted for brevity]

[0014]

[0015] Where Q is the hydrogen flow rate, S is the cross-sectional area of ​​the hydrogen refueling gun, p0 is the initial pressure of the vehicle's hydrogen storage tank, p is the optimal hydrogen refueling pressure, g is the gravity coefficient, ρ0 is the initial gas density in the gas supply line, and k is the adiabatic coefficient.

[0016] Furthermore, the membership degree is determined based on the calculated hydrogen flow rate and the optimal hydrogen flow rate range, specifically as follows:

[0017] The calculated results are included in the membership function:

[0018]

[0019] Where y represents the membership degree.

[0020] A control method for an adaptive control system of a hydrogenation system includes the following steps:

[0021] The wireless signal receiving device acquires the current temperature, pressure, and rated parameters of the on-board hydrogen storage tank;

[0022] The system detects the temperature of hydrogen during the hydrogen refueling process using an infrared communication module; the pressure of hydrogen during the hydrogen refueling process using a pressure sensor module; and the flow rate of hydrogen during the hydrogen refueling process using a flow rate sensor module. It then determines whether the temperature, pressure, and flow rate of hydrogen during the hydrogen refueling process exceed the set values. If the set values ​​are exceeded, the overload protection module activates an alarm and closes the control valves of the hydrogen refueling system.

[0023] Based on the hydrogen pressure during the refueling process, the time range [t2, t1] required for refueling is determined; combined with the time required for refueling and the required hydrogen mass V from the onboard hydrogen storage tank, the optimal hydrogen flow rate range is calculated.

[0024] The optimal hydrogen addition pressure is obtained by using a PID algorithm to compare the hydrogen pressure during the hydrogenation process with the rated hydrogen addition pressure in the target parameter selection module, and the hydrogen flow rate Q is calculated based on the optimal hydrogen addition pressure.

[0025] The membership degree is determined based on the hydrogen flow rate and the optimal hydrogen flow rate range. When the membership degree is between 0 and 1, the system will continue to add hydrogen via Q. When the membership degree is not between 0 and 1, the control system will adjust the control valve of the hydrogen refueling system.

[0026] The beneficial effects of this invention are as follows:

[0027] This invention can monitor the pressure, temperature, and hydrogen flow rate during hydrogen refueling in real time, and provide real-time feedback and adjustments to the hydrogen refueling control system, forming an adaptive control loop. This reduces unnecessary waste and maximizes refueling efficiency. Based on the above, this invention proposes an adaptive control method for a vehicle hydrogen refueling system. Through a hybrid information exchange method combining CAN communication and ZigBee wireless communication between the hydrogen refueling control unit, the hydrogen refueling working unit, and the onboard hydrogen storage tank, it monitors and regulates parameters such as temperature, pressure, and flow rate during hydrogen refueling in real time, effectively improving the refueling rate and thus significantly increasing refueling efficiency. Attached Figure Description

[0028] 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. The drawings described below are some embodiments of the present invention. For those skilled in the art, it is obvious that other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is the control logic diagram of the adaptive control system for the hydrogenation system of this invention.

[0030] Figure 2 This is a schematic diagram of CAN communication plus ZigBee wireless communication involved in this invention.

[0031] Figure 3 This is a diagram illustrating the specific implementation steps of the present invention. Detailed Implementation

[0032] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0033] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 according to the specific circumstances.

[0035] like Figure 1 and Figure 2 As shown, the adaptive control system of the hydrogen refueling system of the present invention includes a target parameter selection module, a control unit, and a working unit. The input end of the hydrogen refueling nozzle is connected to the control valve of the hydrogen refueling system, and the output end of the hydrogen refueling nozzle can be connected to the inlet end of the on-board hydrogen storage tank. The working unit includes a wireless signal receiving device, an infrared communication module, a pressure sensor module, and a flow rate sensor module. The infrared communication module is used to detect the temperature of the hydrogen during the hydrogen refueling process; the pressure sensor module is used to detect the pressure of the hydrogen during the hydrogen refueling process; the flow rate sensor module is used to detect the flow rate of the hydrogen during the hydrogen refueling process. The on-board hydrogen storage tank is equipped with a wireless signal transmitter for transmitting information from the on-board hydrogen storage tank. The wireless signal transceiver can receive the information transmitted by the wireless signal transmitter. The information of the on-board hydrogen storage tank includes the current temperature, pressure, and rated parameters of the on-board hydrogen storage tank (such as capacity, model, pressure, etc.). The wireless signal receiving device inputs the information of the on-board hydrogen storage tank into the target parameter selection module.

[0036] The control unit includes a parameter adjustment module, an optimal hydrogenation pressure generation module, an overload protection module, and a combined control module. The infrared communication module, pressure sensor module, and flow rate sensor module respectively input the temperature, pressure, and flow rate of hydrogen during the hydrogenation process into the overload protection module in the control unit to determine whether an alarm is needed. The pressure sensor module inputs the hydrogen pressure during the hydrogenation process into the parameter adjustment module, which then calculates the optimal hydrogen flow rate range and inputs this range into the combined control module.

[0037] During the hydrogenation process, the hydrogen pressure and the standard pressure output by the target parameter selection module are respectively input to the optimal hydrogenation pressure generation module to output the optimal hydrogenation pressure. The optimal hydrogenation pressure is input to the combined control module. The combined control module calculates the hydrogen flow rate based on the optimal hydrogenation pressure and determines the membership degree based on the calculated hydrogen flow rate and the optimal hydrogen flow rate range. The combined control module inputs the membership degree to the control valve of the hydrogenation system to control the control valve of the hydrogenation system.

[0038] like Figure 2As shown, the hydrogen storage tank used in this embodiment is a Type III tank with an initial pressure of 35 MPa and a required hydrogen refueling volume of approximately 6 kg. When the vehicle requiring refueling approaches the refueling machine (within 5 meters), the refueling machine acquires the specifications and related information of the vehicle's hydrogen storage tank via a wireless signal receiver and inputs this information into the target parameter selection module. The target parameter selection module determines the specifications of the vehicle's hydrogen storage tank (Type I, II, III, or IV) and selects relevant parameters from historical refueling protocols. These parameters include refueling pressure, refueling temperature, and hydrogen flow rate. These parameters are then input into the control unit, which controls the refueling system to begin refueling based on these parameters. Specifically, because the specifications of on-board hydrogen storage cylinders vary, the target parameter selection module will retrieve existing and appropriate relevant parameters from the system or hydrogen refueling records based on the specifications of the hydrogen storage cylinder of the vehicle requiring hydrogen refueling. The relevant parameters include the hydrogen refueling temperature and refueling parameters of the hydrogen refueling machine, as well as the relationship between the hydrogen refueling temperature and refueling parameters. The refueling parameters may include the initial hydrogen temperature, flow rate, pressure, and ambient temperature during refueling. For example, if the hydrogen refueling system identifies the on-board hydrogen storage cylinder as Type III, it will select relevant refueling parameters from the historical hydrogen refueling schemes based on the volume and the range of hydrogen refueling pressure that Type III hydrogen storage cylinders can withstand. Then, the hydrogen refueling parameters of the hydrogen refueling machine will be used as input data and input to the control unit to control the working unit to start hydrogen refueling. In this embodiment, hydrogen with an initial flow rate (flow rate) of 25 g / s is selected according to the specifications of the hydrogen storage cylinder of the vehicle to be refueled. The initial temperature of hydrogen refueling is controlled at 30℃-40℃, the initial pressure of hydrogen refueling is controlled at 35 MPa, the maximum allowable temperature during refueling is 55℃, and the maximum pressure during refueling shall not exceed 70 MPa (i.e., the maximum value is 70 MPa).

[0039] The target parameter selection module, control unit, and working unit communicate via CAN communication. The infrared communication module detects the temperature of hydrogen during the hydrogenation process. When the temperature exceeds the maximum allowable temperature parameter of the hydrogenation system, the infrared communication module directly sends an "alarm signal" to the control unit. Based on this signal, the control unit immediately activates the overload protection module and closes the valves of the hydrogenation system. When the temperature is within the allowable range of the hydrogenation system, the infrared communication module sends the processed temperature data to the parameter adjustment module in the control unit. In this embodiment, when the temperature during hydrogenation exceeds 55°C, the infrared communication module issues an "alarm signal" to stop hydrogenation; otherwise, hydrogenation continues.

[0040] The pressure sensor module is used to detect the pressure of hydrogen during the hydrogen refueling process. When the pressure during hydrogen refueling exceeds the maximum allowable pressure value of the hydrogen refueling system, the pressure sensor sends an "alarm signal" to the control unit. Based on this signal, the control unit immediately activates the overload protection module and closes the hydrogen refueling system valves. When the pressure is within the allowable range of the hydrogen refueling system, the pressure sensor sends the processed pressure data to the parameter adjustment module in the control unit. In this embodiment, when the pressure during hydrogen refueling exceeds 70 MPa, the pressure sensor sends an "alarm signal" to stop the hydrogen refueling process.

[0041] The flow rate sensor module is used to detect the flow rate of hydrogen during the hydrogen refueling process. When the flow rate exceeds the maximum allowable flow rate of the hydrogen refueling system, the flow rate sensor sends an alarm signal to the control unit. Based on this signal, the control unit immediately activates the overload protection module and closes the hydrogen refueling system valves. When the flow rate is within the allowable range of the hydrogen refueling system, the flow rate sensor sends the processed flow rate data to the parameter adjustment module in the control unit. In this embodiment, when the flow rate (flow rate) during hydrogen refueling exceeds 40 g / s, the flow rate sensor sends an alarm signal to stop the hydrogen refueling process.

[0042] The parameter adjustment module categorizes the pressure data during hydrogen refueling into three levels: low pressure, medium pressure, and high pressure. Based on the hydrogen pressure during refueling and historical data, the module calculates the refueling time t1 to t2, where t1 > t2; this is generally determined by referring to historical data tables based on the pressure. The module then combines the refueling time with the required hydrogen mass V from the onboard hydrogen storage tank to calculate the optimal hydrogen flow rate range. The optimal hydrogen flow rate is then sent to the combined control module. The parameter adjustment module transmits the pressure value to the optimal hydrogenation pressure generation module. In this embodiment, the system is expected to complete hydrogenation within 3-5 minutes, and the calculated optimal hydrogenation flow rate (flow rate) range is 20-35 g / s.

[0043] The optimal hydrogenation pressure generation module employs adaptive PID control. The initial parameters of the PID are tuned, using the input hydrogen pressure data as the input signal for the initial PID algorithm, and the adjusted optimal hydrogenation pressure as the output signal. System identification is performed between the input and output signals to obtain the initial PID parameters kp, ki, and kd. The hydrogen pressure data is compared with the hydrogenation pressure data in the target parameter selection module to obtain the error e(t) and de / dt. These two are used as inputs to the controller for adjustment. The method of area center is applied, and after declarative processing based on the output membership function, the fuzzy controller outputs the increments of the three PID parameters as Δkp, Δki, and Δkd, respectively. Based on the controller parameters, the optimal hydrogenation pressure is obtained and the data is sent to the combined control module.

[0044] After receiving data from the parameter adjustment module and the optimal hydrogen injection pressure generation module, the combined control module calculates the hydrogen flow rate (flow rate) using the following formula:

[0045]

[0046] Where Q is the hydrogen flow rate, S is the cross-sectional area of ​​the hydrogen refueling gun, p0 is the initial pressure of the vehicle's hydrogen storage tank, p is the optimal hydrogen refueling pressure, g is the gravity coefficient, ρ0 is the initial density of the gas in the gas supply line, and k is the adiabatic coefficient, which is 1.4 for hydrogen.

[0047] The calculated results are incorporated into the membership function:

[0048]

[0049] Where y represents the membership degree.

[0050] Based on the calculated membership degree, the system determines whether the degree to which it belongs to the optimal flow rate range is between 0 and 1. If the membership degree is between 0 and 1, the system will continue to dispense hydrogen at this flow rate. If the membership degree is not between 0 and 1, the control system will send a CAN signal to regulate the control valves of the hydrogen dispensing system, thereby adjusting the hydrogen dispensing flow rate to the optimal range.

[0051] The control system communicates and inputs information with each working unit via CAN communication. Data collected by the hydrogen refueling gun and related sensors is synchronously uploaded to the cloud for storage. The hydrogen refueling data regulated by the control system is also saved in the hydrogen refueling machine's historical record for future use.

[0052] Based on the above, during the hydrogen refueling process, by using a hybrid information exchange method of CAN communication and wireless ZigBee communication between the hydrogen refueling control unit, the hydrogen refueling working unit, and the on-board hydrogen storage tank, the relevant parameters of temperature, pressure, and flow rate during hydrogen refueling can be monitored and adjusted in real time, which can effectively improve the hydrogen refueling rate and thus greatly improve the hydrogen refueling efficiency.

[0053] like Figure 1 and Figure 3 As shown, the adaptive control method for a hydrogenation system according to the present invention includes the following steps:

[0054] The wireless signal receiving device acquires the current temperature, pressure, and rated parameters of the on-board hydrogen storage tank, and inputs the current temperature, pressure, and rated parameters of the on-board hydrogen storage tank into the target parameter selection module.

[0055] The system detects the temperature of hydrogen during the hydrogen refueling process using an infrared communication module; the pressure of hydrogen during the hydrogen refueling process using a pressure sensor module; and the flow rate of hydrogen during the hydrogen refueling process using a flow rate sensor module. It then determines whether the temperature, pressure, and flow rate of hydrogen during the hydrogen refueling process exceed the set values. If the set values ​​are exceeded, the overload protection module activates an alarm and closes the control valves of the hydrogen refueling system.

[0056] Based on the hydrogen pressure during the refueling process, the time range [t2, t1] required for refueling is determined; combined with the time required for refueling and the required hydrogen mass V from the onboard hydrogen storage tank, the optimal hydrogen flow rate range is calculated. Where t1 > t2;

[0057] The optimal hydrogen addition pressure is obtained by using a PID algorithm to compare the hydrogen pressure during the hydrogenation process with the rated hydrogen addition pressure in the target parameter selection module. The hydrogen flow rate is then calculated based on the optimal hydrogen addition pressure.

[0058]

[0059] Where Q is the hydrogen flow rate, S is the cross-sectional area of ​​the hydrogen refueling gun, p0 is the initial pressure of the vehicle's hydrogen storage tank, p is the optimal hydrogen refueling pressure, g is the gravity coefficient, ρ0 is the initial density of the gas in the gas supply line, and k is the adiabatic coefficient, which is 1.4 for hydrogen.

[0060] The membership degree is determined based on the hydrogen flow rate and the optimal hydrogen flow rate range. When the membership degree is between 0 and 1, the system will continue to refuel at this flow rate. When the membership degree is not between 0 and 1, the control system will send a CAN signal to regulate the control valve of the hydrogen refueling system.

[0061] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0062] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive control system for a hydrogen refueling system, wherein the input end of the hydrogen refueling nozzle is connected to the control valve of the hydrogen refueling system, and the output end of the hydrogen refueling nozzle can be connected to the gas inlet of an on-board hydrogen storage tank, characterized in that, It also includes a target parameter selection module, a control unit, and a working unit. The working unit includes a wireless signal receiving device, an infrared communication module, a pressure sensor module, and a flow rate sensor module; the infrared communication module is used to detect the temperature of hydrogen during the hydrogen refueling process; the pressure sensor module is used to detect the pressure of hydrogen during the hydrogen refueling process; the flow rate sensor module is used to detect the flow rate of hydrogen during the hydrogen refueling process; the vehicle-mounted hydrogen storage cylinder is equipped with a wireless signal transmitter for transmitting information from the vehicle-mounted hydrogen storage cylinder, and the wireless signal receiving device is used to receive information transmitted by the wireless signal transmitter; The control unit includes a parameter adjustment module, an optimal hydrogen refueling pressure generation module, an overload protection module, and a combined control module; the wireless signal receiving device inputs information from the on-board hydrogen storage tank into the target parameter selection module; the infrared communication module, pressure sensor module, and flow rate sensor module respectively input the temperature, pressure, and flow rate of hydrogen during the hydrogen refueling process into the overload protection module in the control unit to determine whether an alarm is needed; the pressure sensor module inputs the hydrogen pressure during the hydrogen refueling process into the parameter adjustment module, the parameter adjustment module obtains the optimal hydrogen flow rate range, and inputs the optimal hydrogen flow rate range into the combined control module; The parameter adjustment module determines the optimal hydrogen flow rate range, specifically: The parameter adjustment module obtains the time t1-t2 required for hydrogenation according to the pressure and historical data of hydrogen in the hydrogenation process, wherein The parameter adjustment module calculates the optimal hydrogen flow rate range by combining the time required for hydrogenation and the hydrogen mass V required for the vehicle-mounted hydrogen storage bottle ; During the hydrogenation process, the hydrogen pressure and the standard pressure output by the target parameter selection module are respectively input to the optimal hydrogenation pressure generation module to output the optimal hydrogenation pressure. The optimal hydrogenation pressure is then input to the combined control module. The combined control module calculates the hydrogen flow rate based on the optimal hydrogenation pressure and determines the membership degree based on the calculated hydrogen flow rate and the optimal hydrogen flow rate range. The combined control module inputs the membership degree to the control valves of the hydrogenation system to control the valves. The combined control module calculates the hydrogen flow rate according to the following formula: ， Wherein, Q is hydrogen flow, S is the cross-sectional area of hydrogenation gun, p0 is the initial pressure of vehicle-mounted hydrogen storage bottle, p is the optimal hydrogenation pressure, g is the gravity coefficient, is the initial density of the gas in the gas supply pipeline, and k is the adiabatic coefficient.

2. The self-adaptive control system of a hydrogenation system according to claim 1, characterized in that, The information about the on-board hydrogen storage tank includes its current temperature and pressure, as well as its rated parameters.

3. The self-adaptive control system of a hydrogenation system according to claim 1, wherein, The optimal hydrogenation pressure generation module employs adaptive PID control. It compares the hydrogen pressure during hydrogenation with the standard pressure output by the target parameter selection module to obtain the errors e(t) and de / dt. These errors are used as inputs to the adaptive PID control for adjustment. Following the area center rule, and after declarative analysis based on the output membership function, the fuzzy controller outputs the increments of the three PID parameters as Δkp, Δki, and Δkd, respectively. Based on the controller parameters, the optimal hydrogenation pressure is obtained.

4. The self-adaptive control system of a hydrogenation system according to claim 1, wherein, The membership degree is determined based on the calculated hydrogen flow rate and the optimal hydrogen flow rate range, specifically: The calculated results are included in the membership function: ， Where y represents the membership degree.

5. A control method of an adaptive control system of a hydrogenation system according to any one of claims 1 to 4, characterized in that, Includes the following steps: The wireless signal receiving device acquires the current temperature, pressure, and rated parameters of the on-board hydrogen storage tank; The temperature of hydrogen during hydrogenation is detected using an infrared communication module; The system detects the pressure of hydrogen during the hydrogenation process using a pressure sensor module; it also detects the flow rate of hydrogen during the hydrogenation process using a flow rate sensor module; and it determines whether the temperature, pressure, and flow rate of hydrogen during the hydrogenation process exceed the set values. If the set values ​​are exceeded, the overload protection module will activate an alarm and close the control valves of the hydrogenation system. Determine the time range required for hydrogenation according to the pressure of hydrogen in the hydrogenation process ; Calculate the optimal hydrogen flow rate range by combining the time required for hydrogenation and the hydrogen mass V required for the on-board hydrogen storage bottle ; The optimal hydrogen addition pressure is obtained by using a PID algorithm to compare the hydrogen pressure during the hydrogenation process with the standard pressure in the target parameter selection module, and the hydrogen flow rate Q is calculated based on the optimal hydrogen addition pressure. The membership degree is determined based on the hydrogen flow rate and the optimal hydrogen flow rate range. When the membership degree is between 0 and 1, the system will continue to add hydrogen via Q. When the membership degree is not between 0 and 1, the control system will adjust the control valve of the hydrogen refueling system.

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