Fault-tolerant control method for proton exchange membrane fuel cell

Abstract

The invention discloses a proton exchange membrane fuel cell fault tolerance control method, which comprises the following steps: establishing a system model for a proton exchange membrane fuel cell system, and establishing a state equation based on the system model; taking the fault value as an expansion state variable, and expanding the state equation into an augmented state equation; establishing a high-order sliding-mode observer for observing the internal state quantity of the proton exchange membrane fuel cell in real time based on the augmented state equation, and establishing a fault state judgment model based on the state quantity estimated value of the high-order sliding-mode observer and the measured value of the sensor; and determining a fault state based on the fault state judgment model, and performing fault-tolerant control on the proton exchange membrane fuel cell system in a fault state or a fault-free state through a fault-tolerant controller. According to the method, when a sensor fault or reactant shortage happens to the system, rapid detection and control can be carried out, the system can still keep stable output performance, and the method has the advantages of being high in convergence speed, small in overshoot and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of fuel cells, and in particular to a fault tolerance control method for proton exchange membrane fuel cells. Background Art

[0002] With the continuous development of economic globalization and modern science and technology, human demand for energy is increasing day by day, while the fossil energy that early industrial production relied on is facing depletion and restricting the development of human society. Hydrogen energy, as a clean energy with high power generation efficiency, high combustion calorific value and diverse sources, has attracted much attention. Among them, proton exchange membrane fuel cells have the advantages of high energy conversion efficiency, high power density and fast start-up rate. They occupy a leading position in the application market and have broad development prospects.

[0003] At present, proton exchange membrane fuel cells have been applied to varying degrees in various industries, but in actual operation, the output performance of the proton exchange membrane fuel cell system will be affected by operating factors such as gas flow, temperature and humidity, as well as various environmental factors. The proton exchange membrane fuel cell system is prone to failures such as reactant shortage, which affects the operating state of the proton exchange membrane fuel cell system. In addition, sensors are an important tool for monitoring the performance of proton exchange membrane fuel cell systems. Once a failure occurs, the output performance of the proton exchange membrane fuel cell system will also be affected.

[0004] Although a large number of research results have been made on the fault-tolerant control of proton exchange membrane fuel cell systems at home and abroad, there is still a lack of research on the fault-tolerant control methods of proton exchange membrane fuel cell systems for sensor failures and reactant shortages. Therefore, it is of great significance to study the fault-tolerant control of proton exchange membrane fuel cell systems for sensor failures and reactant shortages. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a fault-tolerant control method for proton exchange membrane fuel cells, which enables the system to quickly detect and implement control when a sensor failure or reactant shortage occurs, so that the system can still maintain stable output performance and has the characteristics of fast convergence speed and small overshoot.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A fault tolerance control method for a proton exchange membrane fuel cell, comprising:

[0008] A system model is established for the proton exchange membrane fuel cell system, and a state equation is established based on the system model; the fault value is used as an extended state variable to expand the state equation into an augmented state equation;

[0009] A high-order sliding mode observer is established based on the augmented state equation to observe the internal state quantity of the proton exchange membrane fuel cell in real time, and a fault state judgment model is established based on the state quantity estimation value of the high-order sliding mode observer and the sensor measurement value;

[0010] The fault state is determined based on the fault state judgment model, and the proton exchange membrane fuel cell system is fault-tolerantly controlled in a fault state or a non-fault state through a fault-tolerant controller.

[0011] Furthermore, the system model established for the proton exchange membrane fuel cell system includes: an air compressor model, a cathode flow channel model, an anode flow channel model, a return pipe model and a fuel cell stack model.

[0012] Furthermore, the air compressor model includes:

[0013]

[0014] In the formula, ω cp is the air compressor motor speed, J is the moment of inertia, k t , k v , R cm is the motor related constant, η cm , η cp are the efficiency of the motor and the air compressor, V cm is the input voltage, C p is the specific heat capacity of air, γ is the specific heat ratio of air, P sm is the supply pipeline pressure, P atm is atmospheric pressure, T atm is the atmospheric temperature, F cp is the air compressor outlet mass flow rate.

[0015] Furthermore, the cathode flow channel model and the anode flow channel model include:

[0016]

[0017] Where P sm is the supply pipeline pressure, m sm is the air quality in the air supply duct, m O2 、m N2 are the mass of oxygen and nitrogen in the cathode flow channel, γ is the air specific heat ratio, R a is the air gas constant, V sm is the volume of the gas supply pipeline, T cp is the compressor air temperature, T sm is the air temperature in the air supply duct, W cp is the output mass flow rate of the air compressor, W sm,out is the output mass flow rate of the gas supply pipeline, W O2,ca,inis the mass flow rate of oxygen entering the cathode flow channel, W O2,ca,out is the oxygen mass flow rate output from the cathode flow channel after the reaction, W O2,react W is the mass flow rate of oxygen consumed by the electrochemical reaction in the cathode flow channel under the action of load current, N2,ca,in is the mass flow rate of nitrogen gas input into the cathode flow channel, W N2,ca,out is the nitrogen mass flow rate output from the cathode flow channel after the reaction.

[0018] Furthermore, the reflux pipeline model includes:

[0019]

[0020] Where P rm is the return pipe pressure, R a is the air gas constant, T st is the stack temperature, V rm is the volume of the return pipe, W ca,out is the gas mass flow rate output from the cathode, W rm,out is the gas mass flow rate output from the return pipe.

[0021] Furthermore, the battery stack model includes:

[0022] V st =N(EV act -V conc -V ohm )

[0023] Where V st is the stack voltage, N is the number of stacks, E is the Nernst voltage, V act is the activation loss, V conc is the concentration loss, V ohm is the ohmic loss.

[0024] Furthermore, establishing the state equation based on the system model includes:

[0025] Determine state variables of the system model, wherein the state variables include air compressor speed, air supply pipeline pressure, air mass flow, air mass in the air supply pipeline, oxygen mass in the cathode flow channel, nitrogen mass in the cathode flow channel, and return pipeline pressure;

[0026] Determining input variables of the system model, wherein the input variables include air compressor voltage and fuel cell stack current;

[0027] Determining output variables of the system model, wherein the output variables include air compressor speed, air supply pipeline pressure, air mass flow rate, and return pipeline pressure;

[0028] Establish state equations based on the state variables, input variables, and output variables of the system model:

[0029]

[0030] In the formula, C=[1,1,1,0,0,0,1],ω cp is the air compressor motor speed, F cp is the mass flow rate at the air compressor outlet, P sm is the supply pipeline pressure, m sm is the air quality in the air supply duct, m O2 、m N2 are the mass of oxygen and nitrogen in the cathode flow channel, respectively, rm is the return pipe pressure, V cm is the input voltage, I st is the stack current.

[0031] Furthermore, the fault value is used as an extended state variable to expand the state equation into an augmented state equation, including:

[0032] The sensor failure and reactant shortage faults are set as b1 and b2 respectively, and the fault value is used as the extended state variable according to the established state equation to form the augmented state equation:

[0033]

[0034] In the formula, is the identity matrix, is the augmented state variable, Γ·v is the impact of system noise on the system, and e is the measurement noise, where:

[0035]

[0036] Further, the determining the fault state based on the fault state judgment model includes:

[0037]

[0038] Where A is the judgment threshold.

[0039] Furthermore, the fault-tolerant control of the proton exchange membrane fuel cell system in a fault state or a non-fault state by the fault-tolerant controller includes:

[0040] When it is determined that the proton exchange membrane fuel cell system has not failed, the fault diagnosis and isolation module outputs the oxygen ratio measurement value, and the fault-tolerant controller adjusts the input voltage of the air compressor accordingly;

[0041] When it is determined that a sensor failure occurs in the proton exchange membrane fuel cell system, the measurement variables are reconstructed through the established high-order sliding mode observer to replace the measurement values ​​of the sensor that has failed, and the input voltage of the air compressor is adjusted accordingly through the fault-tolerant controller;

[0042] When it is determined that a reactant shortage fault occurs in the proton exchange membrane fuel cell system, the overoxygen ratio measurement value is reconstructed through the fault diagnosis and isolation module, and the input voltage of the air compressor is adjusted accordingly through the fault-tolerant controller;

[0043] When it is determined that the proton exchange membrane fuel cell system has both sensor failure and reactant shortage failure, the overoxygen ratio measured by the high-order sliding mode observer is reconstructed through the fault diagnosis and isolation module, and the input voltage of the air compressor is adjusted accordingly through the fault-tolerant controller.

[0044] The beneficial effects of the present invention are:

[0045] 1. The present invention establishes a state equation for proton exchange membrane fuel cell control, and based on this, establishes a high-order sliding mode observer, which can accurately and in real time observe the changes in the internal state variables of the proton exchange membrane fuel cell.

[0046] 2. The present invention proposes a fault state judgment model. According to the judgment result of the fault state judgment model, the fault source can be quickly and accurately cut off and the operation of the proton exchange membrane fuel cell system can be restored, thereby realizing efficient and reliable operation of the proton exchange membrane fuel cell system.

[0047] 3. The present invention uses a sliding mode controller to ensure that the actual peroxygen ratio is always close to the reference peroxygen ratio based on the reference peroxygen ratio trajectory, thereby achieving efficient operation of the proton exchange membrane fuel cell system while having a faster response speed and a lower overshoot. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a flow chart of a fault tolerance control method for a proton exchange membrane fuel cell according to Example 1 of the present invention.

[0049] Figure 2 It is a schematic diagram of a proton exchange membrane fuel cell system model according to Example 1 of the present invention.

[0050] Figure 3 This is a schematic diagram of a fault-tolerant control method for a proton exchange membrane fuel cell according to Example 1 of the present invention. DETAILED DESCRIPTION

[0051] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0052] Example 1

[0053] like Figure 1 As shown, this embodiment provides a fault tolerance control method for a proton exchange membrane fuel cell, comprising:

[0054] A system model is established for the proton exchange membrane fuel cell system, and a state equation is established based on the system model; the fault value is used as an extended state variable to expand the state equation into an augmented state equation;

[0055] A high-order sliding mode observer is established based on the augmented state equation to observe the internal state quantity of the proton exchange membrane fuel cell in real time, and a fault state judgment model is established based on the state quantity estimation value of the high-order sliding mode observer and the sensor measurement value;

[0056] The fault state is determined based on the fault state judgment model, and the proton exchange membrane fuel cell system is fault-tolerantly controlled in a fault state or a non-fault state through a fault-tolerant controller.

[0057] like Figure 2 As shown, the system model established for the proton exchange membrane fuel cell system includes an air compressor model, a cathode flow channel model, an anode flow channel model, a return pipe model and a fuel cell stack model.

[0058] Preferably, the air compressor model includes:

[0059]

[0060] In the formula, ω cp is the air compressor motor speed, J is the moment of inertia, k t , k v , R cm is the motor related constant, η cm , η cp are the efficiency of the motor and the air compressor, V cm is the input voltage, C p is the specific heat capacity of air, γ is the specific heat ratio of air, P sm is the supply pipeline pressure, P atm is atmospheric pressure, T atm is the atmospheric temperature, F cp is the air compressor outlet mass flow rate.

[0061] It should be noted that the dynamic characteristics of the air mass flow rate output by the air compressor are determined by the speed and pressure ratio of the air compressor. The specific formula is as follows:

[0062]

[0063] In the formula, F cp is the air mass flow rate output by the air compressor, A is the flow area, L is the pipe length, is the air compressor pressure ratio characteristic, P atm is atmospheric pressure, P sm Supply pipeline pressure.

[0064] Preferably, the cathode flow channel model and the anode flow channel model include:

[0065]

[0066] Where P sm is the supply pipeline pressure, m sm is the air quality in the air supply duct, m O2 、m N2 are the mass of oxygen and nitrogen in the cathode flow channel, γ is the air specific heat ratio, R a is the air gas constant, V sm is the volume of the gas supply pipeline, T cp is the compressor air temperature, T sm is the air temperature in the air supply duct, W cp is the output mass flow rate of the air compressor, W sm,out is the output mass flow rate of the gas supply pipeline, W O2,ca,in is the mass flow rate of oxygen entering the cathode flow channel, W O2,ca,out is the oxygen mass flow rate output from the cathode flow channel after the reaction, W O2,react W is the mass flow rate of oxygen consumed by the electrochemical reaction in the cathode flow channel under the action of load current, N2,ca,in is the mass flow rate of nitrogen gas input into the cathode flow channel, W N2,ca,out is the nitrogen mass flow rate output from the cathode flow channel after the reaction.

[0067] Preferably, the return pipe model includes:

[0068]

[0069] Where P rm is the return pipe pressure, R a is the air gas constant, T st is the stack temperature, V rm is the volume of the return pipe, W ca,outis the gas mass flow rate output from the cathode, W rm,out is the gas mass flow rate output from the return pipe.

[0070] Preferably, the battery stack model includes:

[0071] V st =N(EV act -V conc -V ohm )

[0072] Where V st is the stack voltage, N is the number of stacks, E is the Nernst voltage, V act is the activation loss, V conc is the concentration loss, V ohm is the ohmic loss.

[0073] Preferably, establishing the state equation based on the system model includes:

[0074] Determine the state variables of the system model, the state variables include air compressor speed, air supply pipeline pressure, air mass flow, air mass in the air supply pipeline, oxygen mass in the cathode flow channel, nitrogen mass in the cathode flow channel and return pipeline pressure;

[0075] Determine the input variables of the system model, which include air compressor voltage and fuel cell stack current;

[0076] Determine the output variables of the system model, which include air compressor speed, air supply pipeline pressure, air mass flow rate and return pipeline pressure;

[0077] Establish state equations based on the state variables, input variables, and output variables of the system model:

[0078]

[0079] In the formula, C=[1,1,1,0,0,0,1],ω cp is the air compressor motor speed, F cp is the mass flow rate at the air compressor outlet, P sm is the supply pipeline pressure, m sm is the air quality in the air supply duct, m O2 、m N2 are the mass of oxygen and nitrogen in the cathode flow channel, respectively, rm is the return pipe pressure, V cm is the input voltage, I st is the stack current.

[0080] Preferably, the fault value is used as an extended state variable, so that the state equation is expanded into an augmented state equation, including:

[0081] The sensor failure and reactant shortage faults are set as b1 and b2 respectively, and the fault value is used as the extended state variable according to the established state equation to form the augmented state equation:

[0082]

[0083] In the formula, is the identity matrix, is the augmented state variable, Γ·v is the impact of system noise on the system, and e is the measurement noise, where:

[0084]

[0085] Preferably, determining the fault state based on the fault state judgment model includes:

[0086]

[0087] Where A is the judgment threshold.

[0088] Preferably, a fault state judgment model is established based on the state quantity estimation value of the high-order sliding mode observer and the sensor measurement value, including:

[0089]

[0090] In the formula, is the fault state judgment model, ω cp ,F cp ,P sm ,P rm is the output value of the sensor when it actually monitors the proton exchange membrane fuel cell system. is the output value of the high-order sliding mode observer, and g() is a mapping relationship.

[0091] Preferably, if Figure 3 As shown, the fault-tolerant controller is used to perform fault-tolerant control on the proton exchange membrane fuel cell system in a fault state or a non-fault state, including:

[0092] When it is determined that the proton exchange membrane fuel cell system has not failed, the overoxygen ratio measurement value is output through the fault diagnosis and isolation module, and the decision variable will maintain the operation of the fault-tolerant controller 1;

[0093] When it is determined that a sensor failure occurs in the proton exchange membrane fuel cell system, the measurement variables are reconstructed through the established high-order sliding mode observer to replace the measurement values ​​of the sensor that has failed, and the decision variables will maintain the operation of the fault-tolerant controller 2;

[0094] When it is determined that a reactant shortage fault occurs in the proton exchange membrane fuel cell system, the overoxygen ratio measurement value is reconstructed through the fault diagnosis and isolation module, and the decision variables will maintain the operation of the fault-tolerant controller 3;

[0095] When it is determined that the proton exchange membrane fuel cell system has both sensor failure and reactant shortage failure, the overoxygen ratio measured by the high-order sliding mode observer is reconstructed through the fault diagnosis and isolation module, and the decision variables will maintain the operation of the fault-tolerant controller 3.

[0096] More preferably, when it is determined that the proton exchange membrane fuel cell system is short of reactants, the peroxygen ratio is reconstructed and transmitted to the fault-tolerant controller 3, and its specific expression is as follows:

[0097]

[0098] In the formula, represents the predicted value of the excess oxygen ratio at time (t+j), represents the measured value of the excess oxygen ratio at time t, ΔV cm (t+j-1) represents the future input setting value of the system at time (t+j-1), E j ,F j They are all polynomials uniquely determined by the backshift operator polynomial A and the prediction length j, and B is the backshift operator polynomial.

[0099] E j (q -1 )=e j,0 +e j,1 q -1 +…+e j,j-1 q -(j-1)

[0100] F j (q -1 )=f j,0 +f j,1 q -1 +…+f j,j-1 q -(j-1)

[0101] B(q -1 )=b0+b1 q -1 +…+b n q -n

[0102] Where t is the sampling time point, q is the backshift operator, and n is the lag step size.

[0103] More preferably, the input signal of the fault-tolerant controller is the difference between the actual peroxygen ratio of the proton exchange membrane fuel cell system and the reference peroxygen ratio, the output signal is the input voltage of the air compressor, and the mathematical model of the fault-tolerant controller is:

[0104]

[0105] In the formula, u s is the input voltage of the air compressor, e1(t) is the difference between the reference oxygen ratio and the actual oxygen ratio, and W1 and W2 are both represented as preset parameters.

[0106] Example 2

[0107] This embodiment is based on embodiment 1:

[0108] This embodiment provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the proton exchange membrane fuel cell fault tolerance control method of embodiment 1 is implemented. The computer program may be in source code form, object code form, executable file, or some intermediate form.

[0109] Example 3

[0110] This embodiment is based on embodiment 1:

[0111] This embodiment provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the fault-tolerant control method for proton exchange membrane fuel cells of Embodiment 1. The computer program may be in source code form, object code form, executable file, or some intermediate form, etc. The storage medium includes: any entity or device capable of carrying computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content contained in the storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the storage medium does not include electric carrier signals and telecommunication signals.

[0112] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

Claims

1. A fault-tolerant control method for a proton exchange membrane fuel cell, characterized in that: include: Establish a system model for the proton exchange membrane fuel cell system, and establish a state equation based on the system model; Taking the fault value as the extended state variable, the state equation is expanded into the augmented state equation; A high-order sliding mode observer is established based on the augmented state equation to observe the internal state quantity of the proton exchange membrane fuel cell in real time, and a fault state judgment model is established based on the state quantity estimation value of the high-order sliding mode observer and the sensor measurement value; The fault state is determined based on the fault state judgment model, and the proton exchange membrane fuel cell system is fault-tolerantly controlled in a fault state or a non-fault state through a fault-tolerant controller.

2. A proton exchange membrane fuel cell fault tolerance control method according to claim 1, characterized in that: The system model established for the proton exchange membrane fuel cell system includes: an air compressor model, a cathode flow channel model, an anode flow channel model, a return pipe model and a fuel cell stack model.

3. A proton exchange membrane fuel cell fault tolerance control method according to claim 2, characterized in that: The air compressor model includes: In the formula, ω cp is the air compressor motor speed, J is the moment of inertia, k t , k v , R cm is the motor related constant, η cm , η cp are the efficiency of the motor and air compressor respectively, V cm is the input voltage, C p is the specific heat capacity of air, γ is the specific heat ratio of air, P sm is the supply pipeline pressure, P atm is atmospheric pressure, T atm is the atmospheric temperature, F cp is the air compressor outlet mass flow rate.

4. A proton exchange membrane fuel cell fault tolerance control method according to claim 2, characterized in that: The cathode flow channel model and the anode flow channel model include: Where P sm is the supply pipeline pressure, m sm is the air mass in the air supply duct, m O2 、m N2 are the mass of oxygen and nitrogen in the cathode flow channel, γ is the air specific heat ratio, R a is the air gas constant, V sm is the volume of the gas supply pipeline, T cp is the compressor air temperature, T sm is the air temperature in the air supply duct, W cp is the output mass flow rate of the air compressor, W sm,out is the output mass flow rate of the gas supply pipeline, W O2,ca,in is the mass flow rate of oxygen entering the cathode flow channel, W O2,ca,out is the oxygen mass flow rate output from the cathode flow channel after the reaction, W O2,react W is the mass flow rate of oxygen consumed by the electrochemical reaction in the cathode flow channel under the action of load current, N2,ca,in is the mass flow rate of nitrogen gas input into the cathode flow channel, W N2,ca,out is the nitrogen mass flow rate output from the cathode flow channel after the reaction.

5. A proton exchange membrane fuel cell fault tolerance control method according to claim 2, characterized in that: The return pipe model includes: Where P rm is the return pipe pressure, R a is the air gas constant, T st is the stack temperature, V rm is the volume of the return pipe, W ca,out is the gas mass flow rate output from the cathode, W rm,out is the gas mass flow rate output from the return pipe.

6. A proton exchange membrane fuel cell fault tolerance control method according to claim 2, characterized in that: The battery stack model includes: V st =N(EV act -V conc -V ohm ) Where V st is the stack voltage, N is the number of stacks, E is the Nernst voltage, V act is the activation loss, V conc is the concentration loss, V ohm is the ohmic loss.

7. A proton exchange membrane fuel cell fault tolerance control method according to claim 1, characterized in that: The state equation is established based on the system model, comprising: Determine state variables of the system model, wherein the state variables include air compressor speed, air supply pipeline pressure, air mass flow, air mass in the air supply pipeline, oxygen mass in the cathode flow channel, nitrogen mass in the cathode flow channel, and return pipeline pressure; Determining input variables of the system model, wherein the input variables include air compressor voltage and fuel cell stack current; Determining output variables of the system model, wherein the output variables include air compressor speed, air supply pipeline pressure, air mass flow rate, and return pipeline pressure; Establish state equations based on the state variables, input variables, and output variables of the system model: In the formula, C=[1,1,1,0,0,0,1],ω cp is the air compressor motor speed, F cp is the mass flow rate at the air compressor outlet, P sm is the supply pipeline pressure, m sm is the air mass in the air supply duct, m O2 、m N2 are the mass of oxygen and nitrogen in the cathode flow channel, respectively, rm is the return pipe pressure, V cm is the input voltage, I st is the stack current.

8. A proton exchange membrane fuel cell fault tolerance control method according to claim 7, characterized in that: The fault value is used as an extended state variable to expand the state equation into an augmented state equation, including: The sensor failure and reactant shortage faults are set as b1 and b2 respectively, and the fault value is used as the extended state variable according to the established state equation to form the augmented state equation: In the formula, is the identity matrix, is the augmented state variable, Γ·v is the impact of system noise on the system, and e is the measurement noise, where:

9. A proton exchange membrane fuel cell fault tolerance control method according to claim 8, characterized in that: The determining of the fault state based on the fault state judgment model includes: Where A is the judgment threshold.

10. A fault tolerance control method for a proton exchange membrane fuel cell according to any one of claims 1 to 9, characterized in that: The method of performing fault-tolerant control on the proton exchange membrane fuel cell system in a fault state or a non-fault state by using a fault-tolerant controller includes: When it is determined that the proton exchange membrane fuel cell system has not failed, the fault diagnosis and isolation module outputs the oxygen ratio measurement value, and the fault-tolerant controller adjusts the input voltage of the air compressor accordingly; When it is determined that a sensor failure occurs in the proton exchange membrane fuel cell system, the measurement variables are reconstructed through the established high-order sliding mode observer to replace the measurement values ​​of the sensor that has failed, and the input voltage of the air compressor is adjusted accordingly through the fault-tolerant controller; When it is determined that a reactant shortage fault occurs in the proton exchange membrane fuel cell system, the overoxygen ratio measurement value is reconstructed through the fault diagnosis and isolation module, and the input voltage of the air compressor is adjusted accordingly through the fault-tolerant controller; When it is determined that the proton exchange membrane fuel cell system has both sensor failure and reactant shortage failure, the overoxygen ratio measured by the high-order sliding mode observer is reconstructed through the fault diagnosis and isolation module, and the input voltage of the air compressor is adjusted accordingly through the fault-tolerant controller.

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