Self-adaptive compensation control method for low-temperature starting pressure of hydrogen fuel cell and related equipment

Abstract

The invention discloses a self-adaptive compensation control method for low-temperature starting pressure of a hydrogen fuel cell and related equipment, and relates to the technical field of fuel cells, and the method comprises the following steps: determining a calibration control quantity according to a preset MAP table when an obtained environment temperature is smaller than a minimum temperature threshold value and a fuel cell current dynamic deviation rate is smaller than or equal to a maximum allowable slope; when the temperature stabilization time of the valve body is smaller than a set time threshold value, the compensation control quantity is determined; and when the environment temperature is smaller than the minimum temperature threshold value and the fuel cell current dynamic deviation rate is larger than the maximum allowable slope, the gradient limiting current is calculated to be used for controlling the opening degree of the proportional valve. Aiming at three different stages of the low-temperature starting process, differential compensation logic is designed, output of control quantity of a proportional valve is dynamically corrected, hydrogen pressure during low-temperature starting is stabilized, overshoot and delay bottlenecks of a traditional regulation and control method are solved, pressure fluctuation is remarkably reduced, overshoot is reduced, and output stability of the fuel cell is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fuel cells, and in particular to a method and related equipment for adaptively compensating and controlling the starting pressure of a hydrogen fuel cell at low temperature. Background Art

[0002] Hydrogen fuel cells have significant advantages in terms of environmental protection and low-temperature adaptability (for example, normal starting at -30°C). However, during the tests of fuel cell vehicles in cold regions, there are often situations where the membrane electrode inside the fuel cell stack is mechanically damaged due to the instantaneous over-standard of the hydrogen supply pressure.

[0003] As Figure 1 shown, in a low-temperature environment (ambient temperature below -30°C), when the fuel cell system is in the low-temperature starting stage, the resistance of the hydrogen supply proportional valve coil decreases, resulting in the valve opening exceeding the calibrated range under the same control quantity (such as pulse width modulation PWM, voltage, etc.), thereby causing the hydrogen flow rate to get out of control, and further leading to the failure of the membrane electrode, seal, etc. of the fuel cell stack. This is because when starting at low temperature, the opening of the proportional valve is too large, resulting in an increase in the intake pressure, thereby causing fluctuations in the hydrogen pressure impact, that is, "overshoot". Even if this fluctuation is regulated by PID, there will still be pressure overshoot and delay, thus increasing the risk of damage to the fuel cell stack.

[0004] Some research has proposed taking the average value of the hydrogen pressure monitored by multiple pressure sensors as the compensation adjustment increment, that is, adopting the method of first monitoring the pressure deviation through the pressure sensor and then performing compensation. However, this method has a certain hysteresis.

[0005] There is also research proposing to correct the feed-forward opening of the proportional valve according to the coolant temperature, but mainly based on the flow deviation caused by the density change of hydrogen at different temperatures and pressures, and the temperature uses the coolant temperature as the control reference. Since the hydrogen supply proportional valve belongs to the hydrogen system and is directly in contact with the atmospheric environment, it will cool down rapidly after contact. The temperature of the fuel cell cooling system is different from that of the hydrogen system in some scenarios. For example, when the vehicle is in a variable-temperature scenario such as a cold storage, the cooling rate of the coolant is usually slower than that of the hydrogen system because this belongs to the internal cooling of the battery. Therefore, it cannot solve the electromagnetic force deviation of the electromagnetic coil in the proportional valve body due to the low ambient temperature. At the same time, the heating rate and characteristics of the coolant are also different from those of the hydrogen supply proportional valve. That is, when the coolant temperature is different from the temperature of the proportional valve body, the control deviation of the electromagnetic force of the electromagnetic coil during low-temperature starting cannot be accurately identified and compensated. Summary of the Invention

[0006] To solve the above problems, the present invention proposes a hydrogen fuel cell low-temperature startup pressure adaptive compensation control method and related equipment. For three different stages of the low-temperature startup process, differential compensation logics are designed to dynamically correct the output of the proportional valve control quantity, stabilize the hydrogen pressure during low-temperature startup, solve the overshoot and delay bottlenecks of traditional regulation methods, significantly reduce pressure fluctuations, reduce the overshoot amount, and improve the output stability of the fuel cell.

[0007] To achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a hydrogen fuel cell low-temperature startup pressure adaptive compensation control method, including: Determine the dynamic deviation rate of the fuel cell current according to the acquired real-time hydrogen pressure and the target hydrogen pressure. When the acquired ambient temperature is less than the lowest temperature threshold and the dynamic deviation rate of the fuel cell current is less than or equal to the maximum allowable slope, determine the calibrated control quantity according to the fuel cell demand current and the preset MAP table; When the valve body temperature stabilization time is less than the set time threshold, determine the compensation control quantity according to the relationship between the ambient temperature and the proportional valve resistance, and use the sum of the calibrated control quantity and the compensation control quantity as the proportional valve control quantity for controlling the proportional valve opening degree, otherwise use the calibrated control quantity as the proportional valve control quantity; When the ambient temperature is less than the lowest temperature threshold and the dynamic deviation rate of the fuel cell current is greater than the maximum allowable slope, set the variable slope limit of the fuel cell current in segments according to the dynamic deviation rate of the fuel cell current, and calculate the gradient limit current in combination with the fuel cell current adjustment amount for controlling the proportional valve opening degree.

[0008] As an alternative implementation, the process of determining the compensation control quantity according to the relationship between the ambient temperature and the proportional valve resistance includes: When the ambient temperature T is less than the lowest temperature threshold calculate the current resistance value as: ; Determine the compensation control quantity as: ; wherein, is the calibrated resistance value at the calibrated temperature ; is based on the resistance temperature coefficient of the coil material; is the calibrated control quantity.

[0009] As an alternative implementation, in the hydrogen fuel cell low-temperature startup pressure adaptive compensation control method, it further includes: when the ambient temperature T is less than the lowest temperature threshold determine the compensation control quantity according to the difference between the ambient temperature T and the lowest temperature threshold ​ , , where is the initial proportionality coefficient, is the deviation coefficient.

[0010] As an alternative embodiment, when the ambient temperature is not less than the minimum temperature threshold, the compensation control amount is 0.

[0011] As an alternative embodiment, the gradient-limiting current is: ; where is the gradient-limiting current at time t; is the fuel cell current adjustment amount, which is the difference between the fuel cell demand current and the fuel cell real-time current ; is the fuel cell current change slope; is the hyperbolic tangent function; is the saturation function.

[0012] As an alternative embodiment, the process of segmentally setting the fuel cell current change slope limit according to the fuel cell current dynamic deviation rate includes: determining the fuel cell current dynamic deviation rate based on the target hydrogen pressure and the real-time hydrogen pressure , and segmentally setting the including: .

[0013] In a second aspect, the present invention provides a hydrogen fuel cell low-temperature start-up pressure adaptive compensation control system, including: A calibration module configured to determine the fuel cell current dynamic deviation rate according to the acquired real-time hydrogen pressure and target hydrogen pressure, and when the acquired ambient temperature is less than the minimum temperature threshold and the fuel cell current dynamic deviation rate is less than or equal to the maximum allowable slope, determine the calibration control amount according to the fuel cell demand current and a preset MAP table; A first control module configured to, when the valve body temperature stabilization time is less than the set time threshold, determine the compensation control amount according to the relationship between the ambient temperature and the proportional valve resistance, and use the sum of the calibration control amount and the compensation control amount as the proportional valve control amount for controlling the proportional valve opening, otherwise use the calibration control amount as the proportional valve control amount; A second control module configured to, when the ambient temperature is less than the minimum temperature threshold and the fuel cell current dynamic deviation rate is greater than the maximum allowable slope, segmentally set the fuel cell current change slope limit according to the fuel cell current dynamic deviation rate, and calculate the gradient-limiting current in combination with the fuel cell current adjustment amount for controlling the proportional valve opening.

[0014] In a third aspect, the present invention provides an electronic device, including a memory, a processor, and computer instructions stored on the memory and running on the processor. When the computer instructions are run by the processor, the method described in the first aspect is completed.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the method described in the first aspect is completed.

[0016] In a fifth aspect, the present invention provides a computer program product, including a computer program. When the computer program is executed by a processor, the method described in the first aspect is implemented.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: Aiming at the pressure shock problem caused by the resistance characteristic deviation of the hydrogen supply ratio valve during the low-temperature start of a hydrogen fuel cell, the present invention proposes a multi-modal adaptive compensation control method for the low-temperature start pressure of a hydrogen fuel cell and related equipment. For different stages of the low-temperature start process, a multi-modal adaptive compensation control method based on three different stages is designed. Specifically, when the ambient temperature is less than the lowest temperature threshold, the dynamic deviation rate of the fuel cell current is less than or equal to the maximum allowable slope, and the valve body temperature stabilization time is less than the set time threshold, first, the calibrated control quantity is determined according to a preset MAP table, and then the compensation control quantity is determined according to the relationship between the ambient temperature and the valve resistance to suppress the pressure overshoot within a stable range; if the valve body temperature stabilization time is not less than the set time threshold, it is in the temperature balance stage, and the calibrated control quantity is used as the control quantity of the proportional valve to achieve high-precision steady-state control; finally, in the rapid load change stage, the current variable slope limit is dynamically formulated through the dynamic deviation rate of the current to ensure the safety of the current gradual change and avoid the impact risk. By designing a differentiated compensation logic, the output of the proportional valve control quantity is dynamically corrected to stabilize the hydrogen pressure during low-temperature start and achieve precise control of the hydrogen pressure in a low-temperature environment, breaking through the overshoot and delay bottlenecks of traditional PID regulation. Significantly reduce the pressure fluctuation, reduce the overshoot amount, improve the reliability of the stack membrane electrode and seals, solve the technical problem of the out-of-control start pressure of the fuel cell system in a low-temperature environment below -30°C, and improve the output stability of the fuel cell.

[0018] Advantages of additional aspects of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0020] Figure 1 Schematic diagram of supplying hydrogen and controlling for the proportional valve of the fuel cell system; Figure 2 Flowchart of the hydrogen fuel cell low-temperature start-up pressure adaptive compensation control method provided in Embodiment 1 of the present invention; Figure 3 Principle diagram of the hydrogen fuel cell low-temperature start-up pressure adaptive compensation control method provided in Embodiment 1 of the present invention; Figure 4 Schematic diagram of the structure of the hydrogen fuel cell low-temperature start-up pressure adaptive compensation control system provided in Embodiment 2 of the present invention. Detailed implementation manners

[0021] The following further describes the present invention in conjunction with the drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0023] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "comprise" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily limit to the clearly listed steps or units, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0024] In the case of no conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0025] Embodiment 1 As Figure 2 shown is a flowchart of a hydrogen fuel cell low-temperature start-up pressure adaptive compensation control method provided in this embodiment. The method may include the following steps: Determine the dynamic deviation rate of the fuel cell current based on the acquired real-time hydrogen pressure and the target hydrogen pressure. When the acquired ambient temperature is less than the minimum temperature threshold and the dynamic deviation rate of the fuel cell current is less than or equal to the maximum allowable slope, determine the calibrated control quantity according to the fuel cell demand current and the preset MAP table; When the valve body temperature stabilization time is less than the set time threshold, determine the compensation control quantity according to the relationship between the ambient temperature and the proportional valve resistance. Use the sum of the calibrated control quantity and the compensation control quantity as the proportional valve control quantity for controlling the proportional valve opening; otherwise, use the calibrated control quantity as the proportional valve control quantity; When the ambient temperature is less than the minimum temperature threshold and the dynamic deviation rate of the fuel cell current is greater than the maximum allowable slope, set the fuel cell current variable slope limit in segments according to the dynamic deviation rate of the fuel cell current. Combine the fuel cell current adjustment quantity to calculate the gradual change limit current for controlling the proportional valve opening.

[0026] In this embodiment, for different stages of the low-temperature starting process, a multi-modal adaptive compensation control method based on different stages is designed. Specifically: when the ambient temperature is less than the minimum temperature threshold, the dynamic deviation rate of the fuel cell current is less than or equal to the maximum allowable slope, and at the same time the valve body temperature stabilization time is less than the set time threshold, first determine the calibrated control quantity according to the preset MAP table, and then determine the compensation control quantity according to the relationship between the ambient temperature and the proportional valve resistance to suppress the pressure overshoot within the stable range; if the valve body temperature stabilization time is not less than the set time threshold, it is in the temperature balance stage, and the calibrated control quantity is used as the proportional valve control quantity to achieve high-precision steady-state control; finally, in the fast load change stage, dynamically formulate the current variable slope limit through the current dynamic deviation rate to ensure the safety of the current gradual change and avoid the impact risk. By designing a differentiated compensation logic, dynamically correct the output of the proportional valve control quantity to stabilize the hydrogen pressure during low-temperature starting, achieve precise control of the hydrogen pressure in a low-temperature environment, and break through the overshoot and delay bottlenecks of traditional PID regulation. Significantly reduce the pressure fluctuation, reduce the overshoot amount, improve the reliability of the stack membrane electrode and seals, solve the technical problem of out-of-control starting pressure of the fuel cell system in a low-temperature environment below -30°C, and improve the output stability of the fuel cell.

[0027] The following combines Figure 2 and Figure 3 to elaborate in detail on an adaptive compensation control method for the low-temperature starting pressure of a hydrogen fuel cell provided in this embodiment, which specifically includes: S1: Obtain the fuel cell demand current , the ambient temperature T and the real-time hydrogen pressure, and determine the dynamic deviation rate of the fuel cell current according to the target hydrogen pressure and the real-time hydrogen pressure ;

[0028] S2: Compare the ambient temperature T with the set minimum temperature threshold , and compare the dynamic deviation rate of the fuel cell current with the set maximum allowable slope .

[0029] Among them, the dynamic deviation rate of the fuel cell current in the controller is the dynamic boundary value of the fuel cell current corresponding to the dynamic change of the battery power (similar to the safety warning value), verified and calibrated in the laboratory and recorded in the controller for application. When starting at low temperature, the current change rate cannot exceed . If it exceeds, there will generally be a large change in the battery current and a large change in the hydrogen pressure, which is uncontrollable. Therefore, a defense control module is designed in the third stage to avoid the situation where the driver violently steps on the accelerator when starting in an extremely low temperature environment.

[0030] S3: Design a multi-temperature range calibration MAP module; when the ambient temperature T is less than the minimum temperature threshold , and the dynamic deviation rate of the fuel cell current is less than or equal to the maximum allowable slope , adopt the multi-temperature range calibration MAP control method to determine the calibration control quantity ; Or, when the ambient temperature T is greater than or equal to the minimum temperature threshold , adopt the multi-temperature range calibration MAP control method to determine the calibration control quantity .

[0031] The multi-temperature range calibration MAP control method includes: (1) Simulate different ambient temperature gradients (such as -40°C to 45°C) and hydrogen pressure conditions in an incubator or environmental chamber to ensure that the proportional valve is in the target working environment.

[0032] (2) Use a flow meter and a valve position sensor to adjust the valve opening according to the preset ambient temperature gradient, and simulate the hydrogen flow rate at different hydrogen pressures at the inlet and outlet of the proportional valve. Collect the hydrogen pressure, hydrogen flow rate, fuel cell output current, etc. at each valve opening, and the dynamic response characteristics such as delay and overshoot can also be collected.

[0033] (3) Use polynomial regression or neural network algorithms, etc., to establish a current-hydrogen pressure-valve opening-hydrogen flow rate-ambient temperature mapping table (MAP), and embed the signal computer boundary limit data module (such as the maximum flow slope, opening dead zone, etc.) in the application layer of the control program, and directly derive the calibration control quantity of the proportional valve according to the required current of the fuel cell.

[0034] S4: Obtain the body temperature of the proportional valve, determine the body temperature stabilization time, and compare the body temperature stabilization time with the set time threshold .

[0035] S5: If the stable time of the valve body temperature is less than the time threshold , then adopt the control method in the first stage, that is, the low-temperature initial stage and the control method with the proportional valve resistance in the deviated state, and calculate the compensation control amount .

[0036] Among them, in the first stage, a dynamic temperature compensation control algorithm is adopted. Based on the relationship between the proportional valve resistance and temperature, the proportional valve control amount is corrected to suppress the overshoot of the hydrogen pressure within the set stable range.

[0037] Specifically, it includes: (1) Obtain the ambient temperature T and the calibrated control amount .

[0038] (2) Based on the resistance temperature coefficient of the coil material , calculate the current resistance value , where is the initial resistance or calibrated resistance value at the calibrated temperature .

[0039] (3) Compensation control amount ; When the ambient temperature T is less than the lowest temperature threshold , the compensation control amount is: ; Or, calculate the compensation control amount according to the difference between the ambient temperature T and the lowest temperature threshold , that is: , where is the initial proportional coefficient, is the deviation coefficient.

[0040] Among them, when the ambient temperature T is not less than the lowest temperature threshold , the compensation control amount is 0.

[0041] Thus, determine the proportional valve control amount according to the sum of the calibrated control amount and the compensation control amount, complete the correction or compensation of the proportional valve control amount, and then drive the proportional valve opening through the proportional valve control amount to control the hydrogen entering the fuel cell stack.

[0042] S6: If the stable time of the valve body temperature is greater than or equal to the time threshold , then adopt the control method in the second stage (i.e., the temperature balance stage); in the second stage, the proportional valve generates heat during operation. When the stable time of the valve body temperature reaches the time threshold When the proportional valve tends to be stable, the multi-temperature domain calibration MAP control method is adopted at this time, and the calibration control amount obtained by the multi-temperature domain calibration MAP control method is used as the proportional valve control amount to achieve high-precision steady-state control. .

[0043] S7: When the ambient temperature T is lower than the minimum temperature threshold , and the fuel cell current dynamic deviation rate is greater than the maximum allowable slope , it enters the third stage, i.e. the rapid load change stage; at this time, it faces the demand for rapid load command in the low-temperature starting state, and the risk of overshoot is relatively high; it is equivalent to activating the defense control mechanism to limit large current changes, such as limiting the situation where the vehicle driver violently accelerates.

[0044] Therefore, a defense control module is added to the method of this embodiment, and the fuel cell current variable slope limit is dynamically formulated through the dynamic deviation rate of the fuel cell current to ensure the safety of the current gradient, and further defense control is performed on the dynamic loading rate to avoid the risk of impact.

[0045] Specifically include: (1) Obtaining real-time current of fuel cell , and the real-time hydrogen pressure at the fuel cell inlet ; (2) According to the current required by the fuel cell and fuel cell real-time current , calculate the fuel cell current adjustment ; (3) According to the target hydrogen pressure With real-time hydrogen pressure The dynamic deviation rate of fuel cell current , determine the maximum allowable slope ; Generally, the more severe the load change, the greater the deviation. Therefore, the dynamic deviation rate of the fuel cell current is divided into sections. , that is, setting the fuel cell current slope limit in segments: .

[0046] (4) Use the ramp function to calculate the gradual limiting current , realize the current gradient, limit the current to control the valve opening: ; in, ; is the variable coefficient; is the real-time current of the fuel cell; is the hyperbolic tangent function; It is a saturation function, which is used to limit the output within the calibrated safety range.

[0047] The method of this embodiment proposes a multi-modal adaptive compensation control method based on three different stages for different stages of the low-temperature starting process, and stabilizes the hydrogen pressure during low-temperature starting by designing differentiated compensation logic.

[0048] Example 2 Figure 4 This is a schematic diagram of a hydrogen fuel cell low temperature starting pressure adaptive compensation control system provided by an embodiment of the present application, which can be implemented by software, hardware or a combination of both. The system may include: a calibration module, a first control module and a second control module.

[0049] The calibration module is configured to determine the dynamic deviation rate of the fuel cell current according to the acquired real-time hydrogen pressure and the target hydrogen pressure, and determine the calibration control amount according to the fuel cell demand current and a preset MAP table when the acquired ambient temperature is less than a minimum temperature threshold and the dynamic deviation rate of the fuel cell current is less than or equal to a maximum allowable slope; The first control module is configured to determine the compensation control amount according to the relationship between the ambient temperature and the proportional valve resistance when the valve body temperature stabilization time is less than the set time threshold, and take the sum of the calibration control amount and the compensation control amount as the proportional valve control amount for controlling the proportional valve opening, otherwise take the calibration control amount as the proportional valve control amount; The second control module is configured to set the fuel cell current variable slope limit in segments according to the fuel cell current dynamic deviation rate when the ambient temperature is lower than the minimum temperature threshold and the fuel cell current dynamic deviation rate is greater than the maximum allowable slope, and calculate the gradual limiting current in combination with the fuel cell current adjustment amount to control the proportional valve opening.

[0050] It should be noted that the above modules correspond to the steps described in Example 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Example 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer executable instructions.

[0051] In further embodiments, there is also provided: An electronic device includes a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method described in Embodiment 1 is performed. For the sake of brevity, it will not be described in detail here.

[0052] It should be understood that in this embodiment, the processor may be a central processing unit (CPU), or the processor may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0053] The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A part of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0054] A computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the method described in Embodiment 1 is completed.

[0055] The method in Embodiment 1 can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0056] A computer program product includes a computer program. When the computer program is executed by the processor, the method described in Embodiment 1 is implemented.

[0057] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions, such as instructions included in program modules, which are executed in a device on a target real or virtual processor to perform the process / method as described above. Generally, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functions of program modules can be combined or divided as needed. The machine-executable instructions for program modules can be executed locally or within a distributed device. In a distributed device, program modules can be located in local and remote storage media.

[0058] The computer program code for implementing the method of the present invention can be written in one or more programming languages. This computer program code can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when the program code is executed by the computer or other programmable data processing devices, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the computer, partially on the computer, as a stand-alone software package, partially on the computer and partially on a remote computer, or entirely on a remote computer or server.

[0059] In the context of the present invention, the computer program code or related data can be carried by any suitable carrier so that the device, apparatus, or processor can perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like. Examples of signals can include electrical, optical, radio, acoustic, or other forms of propagated signals, such as carrier waves, infrared signals, etc.

[0060] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with this embodiment can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0061] Although the specific implementation manners of the present invention have been described above in conjunction with the accompanying drawings, it is not a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications or deformations that can be made without creative efforts on the basis of the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A method for adaptively compensating and controlling the pressure during low-temperature startup of a hydrogen fuel cell, characterized in that Including: Determine the dynamic deviation rate of the fuel cell current according to the acquired real-time hydrogen pressure and the target hydrogen pressure. When the acquired ambient temperature is less than the lowest temperature threshold and the dynamic deviation rate of the fuel cell current is less than or equal to the maximum allowable slope, determine the calibrated control quantity according to the fuel cell demand current and the preset MAP table; When the valve body temperature stabilization time is less than the set time threshold, determine the compensation control quantity according to the relationship between the ambient temperature and the proportional valve resistance, and use the sum of the calibrated control quantity and the compensation control quantity as the proportional valve control quantity for controlling the proportional valve opening, otherwise use the calibrated control quantity as the proportional valve control quantity; When the ambient temperature is less than the lowest temperature threshold and the dynamic deviation rate of the fuel cell current is greater than the maximum allowable slope, set the variable slope limit of the fuel cell current in segments according to the dynamic deviation rate of the fuel cell current, and combine the fuel cell current adjustment quantity to calculate the gradual change limit current for controlling the proportional valve opening.

2. The hydrogen fuel cell low-temperature starting pressure adaptive compensation control method according to claim 1, wherein, The process of determining the compensation control quantity according to the relationship between the ambient temperature and the proportional valve resistance includes: When the environmental temperature T is less than the lowest temperature threshold , calculate the current resistance value as follows: ; Determine the compensation control amount is: ; Wherein, is the calibrated resistance value at the calibrated temperature; is the temperature coefficient of resistance based on the coil material; is the calibration control quantity.​ 3. The hydrogen fuel cell low-temperature start-up pressure adaptive compensation control method according to claim 1, wherein In the hydrogen fuel cell low-temperature start-up pressure adaptive compensation control method, it further includes: when the ambient temperature T is less than the lowest temperature threshold , determining a compensation control amount according to the difference between the ambient temperature T and the lowest temperature threshold , where , , and among them, is the initial proportionality coefficient, is the deviation coefficient.

4. A low-temperature starting pressure adaptive compensation control method for a hydrogen fuel cell according to claim 2 or 3, characterized in that When the ambient temperature is not less than the lowest temperature threshold, the compensation control quantity is 0.

5. The hydrogen fuel cell low-temperature starting pressure adaptive compensation control method according to claim 1, wherein, The gradient-limiting current is as follows: ; where is the gradient-limiting current at time t; is the fuel cell current adjustment amount, which is the difference between the fuel cell demand current and the fuel cell real-time current ; is the fuel cell current change slope; is the hyperbolic tangent function; is the saturation function.

6. The hydrogen fuel cell low-temperature starting pressure adaptive compensation control method according to claim 5, characterized in that, The process of setting the fuel cell current variable slope limit in segments according to the fuel cell current dynamic deviation rate includes: according to the target hydrogen pressure and the real-time hydrogen pressure to determine the fuel cell current dynamic deviation rate , and the set in segments includes: 。 7. A low-temperature starting pressure adaptive compensation control system for a hydrogen fuel cell, characterized in that, Including: A calibration module configured to determine the dynamic deviation rate of the fuel cell current according to the acquired real-time hydrogen pressure and the target hydrogen pressure, and when the acquired ambient temperature is less than the lowest temperature threshold and the dynamic deviation rate of the fuel cell current is less than or equal to the maximum allowable slope, determine the calibrated control quantity according to the fuel cell demand current and the preset MAP table; A first control module configured to, when the valve body temperature stabilization time is less than the set time threshold, determine the compensation control quantity according to the relationship between the ambient temperature and the proportional valve resistance, and use the sum of the calibrated control quantity and the compensation control quantity as the proportional valve control quantity for controlling the proportional valve opening, otherwise use the calibrated control quantity as the proportional valve control quantity; A second control module configured to, when the ambient temperature is less than the lowest temperature threshold and the dynamic deviation rate of the fuel cell current is greater than the maximum allowable slope, set the variable slope limit of the fuel cell current in segments according to the dynamic deviation rate of the fuel cell current, and combine the fuel cell current adjustment quantity to calculate the gradual change limit current for controlling the proportional valve opening.

8. An electronic device, characterized in that, Including a memory, a processor, and computer instructions stored on the memory and running on the processor. When the computer instructions are run by the processor, the method according to any one of claims 1-6 is completed.

9. A computer-readable storage medium, characterized in that, For storing computer instructions, when the computer instructions are executed by the processor, the method according to any one of claims 1-6 is completed.

10. A computer program product, characterized in that, Including a computer program, when the computer program is executed by the processor, the method according to any one of claims 1-6 is implemented.

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