A control method and device of a fuel cell engine and a vehicle

Abstract

The application relates to the technical field of vehicles, in particular to the technical field of fuel cell engines, and specifically relates to a control method and device for a fuel cell engine and a vehicle, which are used for more accurate and effective control of the fuel cell engine. The method comprises the following steps: obtaining output power and single cell voltage information of the fuel cell engine; determining a net power control error according to the output power, and determining a target single cell voltage control error according to the single cell voltage information; the target single cell voltage control error is a minimum single cell voltage control error and / or an average single cell voltage control error; determining a target control current of the fuel cell engine according to the net power control error or the target single cell voltage control error; and controlling the fuel cell engine based on the target control current, so that the control current accuracy for controlling the fuel cell engine is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to the field of fuel cell technology, specifically to a control method, device, and vehicle for a fuel cell engine. Background Technology

[0002] Currently, with the rapid development of fuel cell vehicles, the performance of fuel cells, as the core power generation component of these vehicles, during actual operation has become a major focus of attention. However, during operation, the lifespan of fuel cells is highly susceptible to rapid power loading conditions and high potential during idling.

[0003] When fuel cell power is rapidly increased, the supply of reactants, air and hydrogen, lags behind the power change. This can cause some cells in the fuel cell stack to rapidly degrade in performance, resulting in lower cell voltages than normal. Secondly, when fuel cell power is rapidly increased, the rate of increase in stack water temperature lags far behind the power change, leading to a significant voltage drop in the weaker cells and potentially causing performance degradation in adjacent cells, thus affecting the overall performance of the stack. To prevent these phenomena, related technologies typically use methods such as limiting or reducing stack power to restore cell performance. However, when stack power continues to decrease, it is impossible to prevent voltage drops. Therefore, persistent voltage anomalies can lead to significant control deviations in the fuel cell engine. Thus, a more effective control method for fuel cell engines is urgently needed. Summary of the Invention

[0004] This application provides a control method, apparatus, and vehicle for a fuel cell engine, to at least address the technical problem of insufficient precision in the control of a fuel cell engine when a voltage abnormality occurs in the related art. The technical solution adopted in this application is as follows: In a first aspect, this application provides a control method for a fuel cell engine, comprising: acquiring output power and cell voltage information of the fuel cell engine; determining a net power control error based on the output power, and determining a target cell voltage control error based on the cell voltage information; wherein the net power control error is a control error between a requested output power value and an actual output power value; the target cell voltage control error is a minimum cell voltage control error and / or an average cell voltage control error; the minimum cell voltage control error is a control error between the minimum cell voltage of the fuel cell engine and a minimum cell voltage threshold value; the average cell voltage control error is a control error between the average cell voltage of the fuel cell and a maximum average cell voltage threshold value; determining a target control current for the fuel cell engine based on the net power control error or the target cell voltage control error; and controlling the fuel cell engine based on the target control current.

[0005] Based on the aforementioned technical means, this application obtains the output power and cell voltage information of the fuel cell engine, determines the net power control error, minimum cell voltage control error, and average cell voltage control error, and then determines the target control current of the fuel cell engine from these three dimensions. This ensures the accuracy of net power output, prevents stack voltage degradation through the minimum cell voltage control error, and balances cell voltages by utilizing the average cell voltage control error. By selecting the optimal among these three control errors, the control of the fuel cell engine becomes more efficient and safer, improving the operating efficiency of the fuel cell engine.

[0006] In one possible implementation, determining the target control current of the fuel cell engine based on the net power control error or the target cell voltage control error includes: in the event of a target cell voltage anomaly in the fuel cell engine, switching the control target of the fuel cell engine from reducing the net power control error to reducing the target cell voltage control error; the target cell voltage anomaly is used to characterize an event in which the target cell voltage of the fuel cell engine exceeds a target cell voltage threshold value, causing a sharp drop in the performance of the fuel cell stack; when the target cell voltage is the lowest cell voltage, the target cell voltage threshold value is the lowest cell voltage threshold value; when the target cell voltage is the average cell voltage, the target cell voltage threshold value is the highest average cell voltage threshold value; and determining the target control current of the fuel cell engine based on the target cell voltage control error.

[0007] Based on the above technical means, in the event of an abnormal voltage event in a target cell, this application switches the control target of the fuel cell engine from pursuing net power accuracy to minimizing the target cell voltage control error, so as to avoid continuously pursuing net power control error under abnormal voltage conditions and causing damage to the cell, thus ensuring the safety of the fuel cell stack.

[0008] In one possible implementation, the target cell voltage abnormal event includes: a minimum cell voltage exceeding the limit abnormal event; determining the target control current of the fuel cell engine based on the target cell voltage control error includes: in the event of a minimum cell voltage exceeding the limit abnormal event, switching the control target of the fuel cell engine from reducing the net power control error to reducing the minimum cell voltage control error; and determining the target control current of the fuel cell engine based on the minimum cell voltage control error.

[0009] Based on the above technical means, this application indicates that there is a risk of undervoltage in the battery cells when the minimum single-cell voltage exceeds the limit in the fuel cell engine. Therefore, if the net power control error is still used as the control target, it is easy to cause the battery cells with the minimum single-cell voltage to discharge further, resulting in irreversible damage to the stack performance. However, by switching the control target to reduce the minimum single-cell voltage control error, the voltage of the battery cells corresponding to the minimum single-cell voltage can be guaranteed first, and the battery cells can be prevented from entering the danger zone.

[0010] In one possible implementation, the process of determining the minimum threshold value of the cell voltage includes: determining a first difference between the average cell voltage of the fuel cell engine and a voltage deviation limit value; wherein the voltage deviation limit value is a maximum limit value for the difference between the average cell voltage and the minimum cell voltage; and determining the larger value between the minimum cell voltage limit value of the fuel cell engine and the first difference value as the minimum threshold value of the cell voltage.

[0011] Based on the above technical means, this application uses the larger value between the average cell voltage of the fuel cell engine and the first difference between the voltage deviation limit and the minimum cell voltage limit as the minimum cell voltage threshold value, which can prevent the individual cell voltages from being too low and affecting the battery safety performance.

[0012] In one possible implementation, the target cell voltage anomaly event includes: a minimum cell voltage over-limit anomaly event and an average cell voltage over-limit anomaly event; the maximum threshold value for average cell voltage includes a maximum limit for cell open-circuit voltage and an upper limit value for average cell voltage; the target control current of the fuel cell engine is determined based on the target cell voltage control error, including: when the fuel cell engine does not experience a minimum cell voltage over-limit anomaly event but does experience an average cell voltage over-limit anomaly event, the control target of the fuel cell engine is switched from reducing net power control error to reducing average cell voltage control error; when the average cell voltage is greater than the maximum limit for cell open-circuit voltage of the fuel cell engine, the average cell voltage control error is the control error between the average cell voltage and the maximum limit for cell open-circuit voltage; or, when the average cell voltage is not greater than the maximum limit for cell open-circuit voltage, the average cell voltage control error is the control error between the average cell voltage and the upper limit value for average cell voltage of the fuel cell engine; the target control current of the fuel cell engine is determined based on the average cell voltage control error.

[0013] Based on the above technical means, this application indicates that there is a situation of overall battery performance degradation when there is an abnormal event of average cell voltage exceeding the limit in the fuel cell engine. Therefore, if the net power control error is still used as the control target, it is easy to accelerate the rapid deterioration of the overall battery performance. However, by switching the control target to reduce the average cell voltage control error, the overall voltage level of the battery can be guaranteed first, and the overall battery performance deterioration rate can be effectively delayed.

[0014] In one possible implementation, determining whether a target cell voltage anomaly event has occurred in the fuel cell engine includes: determining the power load state of the fuel cell engine; wherein the power load state includes unstable power increase state, unstable power decrease state, and normal state; unstable power increase state is used to describe power increase when the net power control error has not converged; unstable power decrease state is used to describe power decrease when the net power control error has not converged; power increase is used to describe an increase in the output power request value compared to the previous time; power decrease is used to describe a decrease in the output power request value compared to the previous time; the normal state is a state other than the unstable power increase state and the unstable power decrease state; based on the cell voltage information and the power load state, determining whether a target cell voltage anomaly event has occurred in the fuel cell engine.

[0015] Based on the above technical means, the individual cell voltage information will also be different under different power load conditions. Therefore, if the power load condition is not combined, it is easy to misjudge the normal operating condition as an abnormal event of the target individual cell voltage, which will lead to frequent switching of the control target and cause unstable power output. Therefore, combining the power load condition with the individual cell voltage information can improve the accuracy and reliability of abnormal event identification.

[0016] In one possible implementation, the process of determining that the net power control error has not converged includes: determining that the net power control error has not converged when the duration of the target event exceeds a preset duration threshold; wherein, the target event is that the absolute value of the net power control error of the fuel cell engine is less than the preset control error threshold; the net power control error at any time is the ratio of the power difference between the output power request value at any time and the actual output power value of the previous time to the output power request value at any time.

[0017] Based on the above technical means, this application determines whether the net power control error has converged by checking whether the duration for which the absolute value of the net power control error of the fuel cell engine is less than the preset control error threshold exceeds the preset duration threshold. This can effectively avoid short-term spurious convergence and avoid the risk of false detection or missed detection caused by transient fluctuations.

[0018] In one possible implementation, the target cell voltage anomaly event includes: a minimum cell voltage exceeding the limit anomaly event; based on cell voltage information and power load status, determining whether the fuel cell engine has experienced a target cell voltage anomaly event includes: determining that the fuel cell engine has experienced a minimum cell voltage exceeding the limit anomaly event when the minimum cell voltage of the fuel cell engine is less than the minimum cell voltage threshold value of the fuel cell engine and the power load status is not an unstable power descent state.

[0019] Based on the aforementioned technical means, in the case of unstable power descent, the fuel cell engine is in a process of rapid power decline and non-convergence. Therefore, the low minimum cell voltage may be a normal transient response during the descent process, rather than a true abnormality in the performance of the cell. Thus, the case where the minimum cell voltage of the fuel cell engine is less than the minimum threshold value of the cell voltage and the power load state is not an unstable power descent state is used as the basis for determining the abnormal event of the minimum cell voltage exceeding the limit of the fuel cell engine. In other words, the unstable power descent state is excluded, which can effectively avoid the risk of misjudging the event due to short-term voltage fluctuations caused by power descent.

[0020] In one possible implementation, the target cell voltage anomaly event includes: an average cell voltage exceeding limit anomaly event; based on cell voltage information and power load status, determining whether the fuel cell engine has experienced a target cell voltage anomaly event includes: determining that the average cell voltage exceeding limit anomaly event has occurred when the average cell voltage of the fuel cell engine is greater than the maximum limit of the cell open-circuit voltage of the fuel cell engine and the power load status is not an unstable power ramp-up state.

[0021] Based on the aforementioned technical means, in the case of unstable power load, the fuel cell engine is in a process of rapid power increase and non-convergence. The average cell voltage will temporarily exceed the maximum limit of the cell open circuit voltage due to transient overshoot. This is a normal transient response during the load increase process, rather than a true abnormality in the cell performance. Therefore, the case where the average cell voltage of the fuel cell engine is greater than the maximum limit of the cell open circuit voltage and the power load state is not an unstable power load state is used as the criterion for determining the occurrence of the minimum cell voltage over-limit abnormal event of the fuel cell engine. That is, the unstable power load state is excluded, which can effectively avoid the risk of misjudging the event due to short-term voltage overshoot caused by power load.

[0022] In one possible implementation, the target cell voltage anomaly event includes: an average cell voltage exceeding limit anomaly event; based on cell voltage information and power load status, determining whether the fuel cell engine has experienced a target cell voltage anomaly event includes: determining that the average cell voltage exceeding limit anomaly event has occurred when the average cell voltage of the fuel cell engine is less than the upper limit of the average cell voltage of the fuel cell engine and the power load status is not an unstable power descent state.

[0023] Based on the aforementioned technical means, in the case of unstable power descent, the fuel cell engine is in a process of rapid power reduction, and the average cell voltage decreases. This is a normal transient response during the descent process, rather than a true abnormality in the performance of the individual cells. Therefore, the case where the average cell voltage of the fuel cell engine is less than the maximum limit of the cell open-circuit voltage of the fuel cell engine and the power load state is not an unstable power descent state is used as the basis for determining the occurrence of an abnormal event of minimum cell voltage exceeding the limit of the fuel cell engine. In other words, the unstable power descent state is excluded, which can effectively avoid the risk of misjudging the event due to a short-term voltage drop caused by power increase.

[0024] In one possible implementation, the target control current of the fuel cell engine is determined based on the target cell voltage control error, including: determining the proportional control term, integral control term, and derivative control term based on the target cell voltage control error, the proportional coefficient, derivative coefficient, and integral coefficient corresponding to the target cell voltage control error; and determining the target control current based on the proportional control term, integral control term, and derivative control term.

[0025] Based on the above-mentioned technical means, this application determines the target control current according to the target single-cell voltage control error and the corresponding proportional control term, integral control term and derivative control term, which can make the process of adjusting to the target control current smoother and more accurate and ensure operational stability.

[0026] In one possible implementation, the target control current is determined based on the proportional control term, integral control term, and derivative control term, including: determining whether the fuel cell engine meets the target condition; wherein the target condition is that the same cell voltage anomaly event as the current one occurred in the previous moment; updating the integral control term based on the determination result; and determining the target control current based on the proportional control term, the updated integral control term, and the derivative control term.

[0027] Based on the aforementioned technical means, this application updates the integral control term using different integral update strategies depending on whether the fuel engine experienced the same single-unit voltage anomaly event in the previous moment. If the same single-unit voltage anomaly event occurred in the previous moment, it indicates that the single-unit voltage anomaly event is persistent. Adopting the corresponding integral update strategy can effectively suppress the excessive accumulation of the integral control term and prevent oscillations during current adjustment. If the same single-unit voltage anomaly event did not occur in the previous moment, it indicates that the single-unit voltage anomaly event is intermittent or occurs for the first time. Adopting the conventional integral update strategy can ensure the sensitivity of control, quickly eliminate integral deviation, and determine the target control current based on the updated integral control term, proportional control term, and derivative control term, thereby improving the stability and effectiveness of current adjustment.

[0028] In one possible implementation, the integral control term is updated based on the judgment result, including: if the fuel cell engine meets the target conditions, the integral control term is updated based on the sum of the first composite term and the second composite term; the first composite term is used to represent the sum of the control current of the fuel cell engine at the previous time step and the integral control increment term of the fuel cell engine at the previous time step; the second composite term is used to represent the sum of the proportional control term, the integral control increment term, and the derivative control term.

[0029] Based on the above technical means, if the same single-cell voltage abnormality event occurred in the previous moment as it does now, it indicates that the battery degradation trend is continuous. Based on this, the current integral control term of the fuel cell engine is determined according to the control current and integral control term of the previous moment, which can continue the existing correction accumulation and avoid the integral control term accumulating from zero.

[0030] Secondly, this application provides a control device for a fuel cell engine, comprising: an information acquisition module for acquiring output power and cell voltage information of the fuel cell engine; an error determination module for determining a net power control error based on the output power and a target cell voltage control error based on the cell voltage information; the net power control error being the control error between the requested output power value and the actual output power value; the target cell voltage control error being a minimum cell voltage control error and / or an average cell voltage control error; the minimum cell voltage control error being the control error between the minimum cell voltage of the fuel cell engine and a minimum cell voltage threshold value; and the average cell voltage control error being the control error between the average cell voltage of the fuel cell and a maximum average cell voltage threshold value; a current control module for determining a target control current for the fuel cell engine based on the net power control error or the target cell voltage control error; and an engine control module for controlling the fuel cell engine based on the target control current.

[0031] In one possible implementation, the current control module is used to switch the control objective of the fuel cell engine from reducing net power control error to reducing target cell voltage control error when a target cell voltage abnormality event occurs. The target cell voltage abnormality event is used to characterize an event in which the target cell voltage of the fuel cell engine exceeds a target cell voltage threshold value, causing a sharp drop in the performance of the fuel cell stack. When the target cell voltage is the lowest cell voltage, the target cell voltage threshold value is the lowest cell voltage threshold value; when the target cell voltage is the average cell voltage, the target cell voltage threshold value is the highest average cell voltage threshold value. The target control current of the fuel cell engine is determined based on the target cell voltage control error.

[0032] In one possible implementation, the target cell voltage abnormal event includes: a minimum cell voltage exceeding the limit abnormal event; a current control module, specifically used to switch the control target of the fuel cell engine from reducing net power control error to reducing minimum cell voltage control error when a minimum cell voltage exceeding the limit abnormal event occurs; and to determine the target control current of the fuel cell engine based on the minimum cell voltage control error.

[0033] In one possible implementation, the process of determining the minimum threshold value of the cell voltage includes: determining a first difference between the average cell voltage of the fuel cell engine and a voltage deviation limit value; wherein the voltage deviation limit value is a maximum limit value for the difference between the average cell voltage and the minimum cell voltage; and determining the larger value between the minimum cell voltage limit value of the fuel cell engine and the first difference value as the minimum threshold value of the cell voltage.

[0034] In one possible implementation, the target cell voltage anomaly event includes: a minimum cell voltage over-limit anomaly event and an average cell voltage over-limit anomaly event; the maximum threshold value for average cell voltage includes a maximum limit for cell open-circuit voltage and an upper limit value for average cell voltage; the current control module is further configured to switch the control objective of the fuel cell engine from reducing net power control error to reducing average cell voltage control error when the minimum cell voltage over-limit anomaly event does not occur but the average cell voltage over-limit anomaly event does occur; when the average cell voltage is greater than the maximum limit for cell open-circuit voltage of the fuel cell engine, the average cell voltage control error is the control error between the average cell voltage and the maximum limit for cell open-circuit voltage; or, when the average cell voltage is not greater than the maximum limit for cell open-circuit voltage, the average cell voltage control error is the control error between the average cell voltage and the upper limit value for average cell voltage of the fuel cell engine; and the target control current of the fuel cell engine is determined based on the average cell voltage control error.

[0035] In one possible implementation, the current control module includes an anomaly detection unit, which determines the power load state of the fuel cell engine. The power load state includes an unstable power load increase state, an unstable power load decrease state, and a normal state. The unstable power load increase state describes power load increase when the net power control error has not converged; the unstable power load decrease state describes power load decrease when the net power control error has not converged; power load increase describes an increase in the output power request value compared to the previous time step; power load decrease describes a decrease in the output power request value compared to the previous time step; the normal state is a state other than the unstable power load increase state and the unstable power load decrease state. Based on the cell voltage information and the power load state, it is determined whether a target cell voltage anomaly event has occurred in the fuel cell engine.

[0036] In one possible implementation, the process of determining that the net power control error has not converged includes: determining that the net power control error has not converged when the duration of the target event exceeds a preset duration threshold; wherein, the target event is that the absolute value of the net power control error of the fuel cell engine is less than the preset control error threshold; the net power control error at any time is the ratio of the power difference between the output power request value at any time and the actual output power value of the previous time to the output power request value at any time.

[0037] In one possible implementation, the target cell voltage anomaly event includes: a minimum cell voltage exceeding limit anomaly event; and an anomaly judgment unit, specifically used to determine that a minimum cell voltage exceeding limit anomaly event has occurred in the fuel cell engine when the minimum cell voltage of the fuel cell engine is less than the minimum cell voltage threshold value of the fuel cell engine and the power load state is not an unstable power descent state.

[0038] In one possible implementation, the target cell voltage anomaly event includes: an average cell voltage over-limit anomaly event; the anomaly judgment unit is further configured to determine that an average cell voltage over-limit anomaly event has occurred in the fuel cell engine when the average cell voltage of the fuel cell engine is greater than the maximum limit of the cell open-circuit voltage of the fuel cell engine and the power load state is not an unstable power upload state.

[0039] In one possible implementation, the target cell voltage abnormal event includes: an average cell voltage over-limit abnormal event; the abnormality judgment unit is further used to determine that an average cell voltage over-limit abnormal event has occurred in the fuel cell engine when the average cell voltage of the fuel cell engine is less than the upper limit of the average cell voltage of the fuel cell engine and the power load state is not an unstable power descent state.

[0040] In one possible implementation, the current control module is further configured to determine a proportional control term, an integral control term, and a derivative control term based on the target cell voltage control error and the proportional coefficient, derivative coefficient, and integral coefficient corresponding to the target cell voltage control error; and to determine the target control current based on the proportional control term, integral control term, and derivative control term.

[0041] In one possible implementation, the current control module is specifically used to determine whether the fuel cell engine meets the target condition; wherein the target condition is that the same cell voltage anomaly event as the current one occurred in the previous moment; based on the determination result, the integral control term is updated; and based on the proportional control term, the updated integral control term, and the derivative control term, the target control current is determined.

[0042] In one possible implementation, the current control module is specifically used to update the integral control term based on the sum of the first composite term and the second composite term when the fuel cell engine meets the target conditions; the first composite term is used to represent the sum of the control current of the fuel cell engine at the previous moment and the integral control increment term of the fuel cell engine at the previous moment; the second composite term is used to represent the sum of the proportional control term, the integral control increment term and the derivative control term.

[0043] Thirdly, this application provides a vehicle including a fuel cell engine, wherein the fuel cell engine is controlled using the control method for the fuel cell engine described in the first aspect.

[0044] Fourthly, this application provides an electronic device, including: a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the method described in the first aspect and any possible implementation thereof.

[0045] Fifthly, this application provides a computer-readable storage medium that, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the methods described in the first aspect and any possible implementation thereof.

[0046] In a sixth aspect, this application provides a computer program product comprising computer instructions that, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any of its possible implementations.

[0047] It should be noted that the technical effects of any of the implementation methods in aspects two through six can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0048] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0050] Figure 1 This is a schematic diagram of the structure of a vehicle shown in an embodiment of this application; Figure 2 This is a flowchart illustrating a control method for a fuel cell engine according to an embodiment of this application; Figure 3This is a flowchart illustrating another control method for a fuel cell engine according to an embodiment of this application; Figure 4 This is a flowchart illustrating a method for determining abnormal voltage events in a target cell, as shown in an embodiment of this application. Figure 5 This is a flowchart illustrating a method for determining power load status according to an embodiment of this application; Figure 6 This is a block diagram of a control device for a fuel cell engine shown in an embodiment of this application; Figure 7 This is a block diagram illustrating an electronic device according to an embodiment of this application. Detailed Implementation

[0051] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0052] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0053] In the embodiments of this application, the words "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the words "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a specific manner.

[0054] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0055] The power control device for a heat pump air conditioner provided in this application embodiment is used to control the power of the heat pump air conditioner in a vehicle (especially an intelligent driving vehicle). A vehicle can also be referred to as a vehicle, mobile carrier, electric vehicle (EV), hybrid electric vehicle (HEV), plug-in hybrid electric vehicle (PHEV), fuel cell vehicle (FCV), autonomous vehicle, intelligent and connected vehicle (ICV), driverless vehicle, etc.

[0056] In this application, the vehicle can be a sedan, a sport utility vehicle (SUV), a truck, a special vehicle (such as an ambulance, fire truck, police car, etc.), a driverless taxi, a smart connected bus, an autonomous logistics vehicle, an electric truck, etc. Furthermore, this method is also applicable to various special-purpose vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, and port vehicles. This application does not impose specific limitations in this regard.

[0057] Figure 1 This is a schematic diagram of the structure of a vehicle shown in an embodiment of this application.

[0058] In one possible implementation, such as Figure 1 As shown, the vehicle 100 includes a control device 101 for the fuel cell engine and a fuel cell engine 102.

[0059] The control device 101 of the fuel cell engine is used to determine the net power control error and the target single-cell voltage control error of the fuel cell engine 102 based on the single-cell voltage information and output power of the fuel cell engine 102. In the absence of a target single-cell voltage abnormality event in the fuel cell engine 102, the net power control error is reduced as the control target, the target control current of the fuel cell engine 102 is determined, and the target control current is activated to the fuel cell engine 102.

[0060] The control device 101 of the fuel cell engine is also used to determine the target control current of the fuel cell engine 102 in the event of a target cell voltage abnormality event, by taking the reduction of the target cell voltage control error as the control target, and to start the target control current of the fuel cell engine 102.

[0061] The fuel cell engine 102 is used to input current according to the target control current determined by the fuel cell engine control device 101.

[0062] In practical applications, the control device 101 of the fuel cell engine can communicate with one or more fuel cell engines 102.

[0063] For ease of understanding, this application uses the communication connection between a control device 101 of a fuel cell engine and a fuel cell engine 102 as an example for illustration.

[0064] As a feasible approach, Figure 1 The control device 101 and fuel cell engine 102 of the fuel cell engine can be installed in the vehicle, while the control device 101 can be installed outside the vehicle. The control device 101 and fuel cell engine 102 can be functional modules integrated into the same device, or they can be independently installed devices. This application does not impose any limitations on this comparison.

[0065] It is readily understood that when the control device 101 and the fuel cell engine 102 are functional modules integrated within the same device, the communication method between them is the same as that between modules within the same device. In this case, the communication process is the same as that described in the case where the control device 101 and the fuel cell engine 102 are independently configured. For ease of understanding, this application will primarily use the example of the control device 101 and the fuel cell engine 102 being independently configured as an illustration.

[0066] As a feasible approach, Figure 1 The control device 101 for the fuel cell engine can be located on a terminal, a server, or other types of electronic devices.

[0067] When the control unit 101 of the fuel cell engine is located at a terminal, the terminal can be a device providing data connectivity to vehicle users or vehicle owners, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device that exchanges voice and / or data with the radio access network, such as a mobile phone, tablet, laptop, netbook, or personal digital assistant (PDA). This application does not impose any limitations on this.

[0068] When the control device 101 of the fuel cell engine is located on a server, the server can be a single server or a server cluster consisting of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. This application does not impose any limitations on this.

[0069] It should be noted that the structure illustrated in the embodiments of this application does not constitute a limitation on the control device 101 of the fuel cell engine. It may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of both.

[0070] For ease of understanding, the control method of the fuel cell engine provided in this application will be described in detail below with reference to the accompanying drawings.

[0071] Figure 2 This is a flowchart illustrating a control method for a fuel cell engine according to an embodiment of this application, with reference to... Figure 2 The control method for the fuel cell engine includes: S201. Obtain the output power and cell voltage information of the fuel cell engine.

[0072] The aforementioned fuel cell engine is a power generation device that directly converts chemical energy into electrical energy through an electrochemical reaction of hydrogen and oxygen.

[0073] The aforementioned output power refers to the actual usable electrical power of the fuel cell, which includes the requested output power value and the actual output power value.

[0074] As a feasible approach, determining the output power requires subtracting the parasitic power of the auxiliary system from the total output power of the fuel cell stack. The formula is as follows: .

[0075] in, For the output power of the fuel cell engine, This represents the total output power of the fuel cell stack. For DC-DC converter efficiency, This refers to the parasitic power of the air compressor caused by adjusting the fuel cell stack operation via the actuator. This refers to the parasitic power of the hydrogen circulation pump caused by adjusting the fuel cell stack operation via actuators. This refers to the parasitic power of the water pump caused by adjusting the operation of the fuel cell stack via an actuator.

[0076] The aforementioned individual cell voltage information includes the lowest individual cell voltage, the average individual cell voltage, and the voltage deviation from the mean.

[0077] S202. Determine the net power control error based on the output power, and determine the target single-cell voltage control error based on the single-cell voltage information.

[0078] Among them, net power control error is the control error between the requested output power value and the actual output power value; target cell voltage control error is the minimum cell voltage control error and / or average cell voltage control error; minimum cell voltage control error is the control error between the minimum cell voltage of the fuel cell engine and the minimum cell voltage threshold value; average cell voltage control error is the control error between the average cell voltage of the fuel cell and the maximum average cell voltage threshold value.

[0079] As an achievable method, the process of determining the minimum threshold value of the cell voltage includes: determining a first difference between the average cell voltage of the fuel cell engine and a voltage deviation limit value; wherein, the voltage deviation limit value is the maximum limit value of the difference between the average cell voltage and the minimum cell voltage; and determining the larger value between the minimum cell voltage limit value of the fuel cell engine and the first difference value as the minimum threshold value of the cell voltage.

[0080] In some embodiments, the minimum threshold value of the single-cell voltage The formula for determining it is: =max{ , ( )}; in, This is the minimum threshold value for the unit voltage. This is the minimum unit voltage limit value. The average single-cell voltage, This is the voltage deviation limit value.

[0081] In some embodiments, the minimum single-cell voltage control error The calculation formula is: ; in, The lowest unit voltage, This is the minimum threshold value for the voltage of a single unit.

[0082] As an achievable approach, when the average cell voltage exceeds the maximum limit of the cell open-circuit voltage of the fuel cell engine, the maximum threshold value of the average cell voltage is the maximum limit of the cell open-circuit voltage.

[0083] As another feasible approach, under the condition that the average cell voltage is not greater than the maximum limit of the cell open-circuit voltage of the fuel cell engine, the maximum threshold value of the average cell voltage is the upper limit value of the average cell voltage, that is, the highest cell voltage at which the battery cell can operate safely.

[0084] In some embodiments, when the target cell voltage control error is the average cell control error and the average cell voltage is greater than the maximum limit of the cell open-circuit voltage of the fuel cell engine, the average cell voltage control error is the control error between the average cell voltage and the maximum limit of the cell open-circuit voltage; or, when the average cell voltage is not greater than the maximum limit of the cell open-circuit voltage, the average cell voltage control error is the control error between the average cell voltage and the upper limit of the average cell voltage of the fuel cell engine.

[0085] As one possible implementation, the above-mentioned average single-cell voltage control error The calculation formula is:

[0086] in, This represents the average individual cell voltage control error. The average single-cell voltage, This is the maximum limit for the open-circuit voltage of a single unit. This represents the upper limit of the average unit voltage.

[0087] S203. Determine the target control current of the fuel cell engine based on the net power control error or the target cell voltage control error.

[0088] The aforementioned target control current is the desired output current value of the fuel cell stack, determined by the fuel cell engine's control device based on the current control objectives of the fuel cell engine, using algorithms such as PID control. This target control current directly determines the operating conditions and power output of the fuel cell stack.

[0089] As an achievable approach, the control objective of the fuel cell engine can be set to reduce the net power control error, provided that no abnormal event occurs in the target cell voltage.

[0090] The aforementioned target cell voltage anomaly event is used to characterize an event in which the target cell voltage of the fuel cell engine exceeds the target cell voltage threshold, causing a sharp drop in the performance of the fuel cell stack.

[0091] The aforementioned target cell voltage anomaly events include minimum cell voltage exceeding limit anomaly events and / or average cell voltage exceeding limit anomaly events.

[0092] As another feasible approach, in the event of an abnormal target cell voltage event in the fuel cell engine, the control objective of the fuel cell engine is switched from reducing the net power control error to reducing the target cell voltage control error; the target control current of the fuel cell engine is determined based on the target cell voltage control error.

[0093] As an achievable approach, when the target cell voltage anomaly event is the lowest cell voltage over-limit anomaly event, the control objective of the fuel cell engine can be switched from reducing net power control error to reducing the lowest cell voltage over-limit anomaly event.

[0094] As another feasible approach, when the target cell voltage anomaly event is an average cell voltage over-limit anomaly event, the control objective of the fuel cell engine is switched from reducing net power control error to reducing the average cell voltage over-limit anomaly event.

[0095] As another feasible approach, when the target cell voltage anomaly event includes an average cell voltage over-limit anomaly event and a minimum cell voltage over-limit anomaly event, if the average cell voltage over-limit anomaly event occurs first and the minimum cell voltage over-limit anomaly event occurs later, then in the case of the average cell voltage over-limit anomaly event, the control objective of the fuel cell engine is switched from reducing net power control error to reducing the average cell voltage over-limit anomaly event; in the case of the minimum cell voltage over-limit anomaly event, the control objective of the fuel cell engine is switched from reducing the average cell voltage over-limit anomaly event to reducing the minimum cell voltage over-limit anomaly event.

[0096] As another feasible approach, when the target cell voltage anomaly event includes an average cell voltage over-limit anomaly event and a minimum cell voltage over-limit anomaly event, if the minimum cell voltage over-limit anomaly event occurs first and the average cell voltage over-limit anomaly event occurs later, then in the case of the minimum cell voltage over-limit anomaly event, the control objective of the fuel cell engine is switched from reducing net power control error to reducing the minimum cell voltage over-limit anomaly event; in the case of the average cell voltage over-limit anomaly event, the control objective of the fuel cell engine is switched from reducing the minimum cell voltage over-limit anomaly event to reducing the average cell voltage over-limit anomaly event.

[0097] In some embodiments, determining whether a target cell voltage abnormality event has occurred in the fuel cell engine includes: Determine the power load status of the fuel cell engine.

[0098] Based on the cell voltage information and power load status, determine whether the target cell voltage abnormality event has occurred in the fuel cell engine.

[0099] The aforementioned power load state refers to the operating condition of the fuel cell engine under changes in power demand, which characterizes the engine's tracking and response characteristics to external load power commands.

[0100] The aforementioned power load states include unstable power load increase state, unstable power load decrease state, and normal state.

[0101] The unstable power increase state describes power increase when the net power control error has not converged. The unstable power decrease state describes power decrease when the net power control error has not converged. Power increase describes an increase in the output power request value compared to the previous time step. Power decrease describes a decrease in the output power request value compared to the previous time step. The normal state is the state other than the unstable power increase state and the unstable power decrease state.

[0102] As one possible approach, the process for determining the non-convergence of the net power control error includes: determining that the net power control error has not converged when the duration of the target event exceeds a preset duration threshold; wherein, the target event is that the absolute value of the net power control error of the fuel cell engine is less than the preset control error threshold.

[0103] The net power control error at any of the above moments is the ratio of the power difference between the requested output power value at any moment and the actual output power value at the previous moment to the requested output power value at any moment.

[0104] The aforementioned preset time threshold is determined by the actual time constant and safety margin of the net power error of the fuel cell engine from transient to convergence under load or unload conditions.

[0105] The aforementioned preset control error threshold is determined based on the requirements of fuel cell engines for steady-state power control accuracy.

[0106] The aforementioned net power control error not converging indicates that the fuel cell engine has not yet completed the transition from transient to steady state and is still in the process of rapid power change.

[0107] In some embodiments, the net power control error is positive when the power load is increased, and negative when the power load is decreased.

[0108] The aforementioned target cell voltage anomaly events also include the highest cell voltage exceeding the limit anomaly event, the voltage deviation from the mean exceeding the limit anomaly event, and the voltage decay rate exceeding the limit anomaly event.

[0109] As an achievable approach, in the event of an abnormal event where the target cell temperature of the fuel cell engine exceeds the limit, the control objective of the fuel cell engine can be switched from reducing the net power control error to reducing the temperature deviation control error.

[0110] As another feasible approach, fuel cell engines may also experience events such as abnormal current in the target cell.

[0111] In other embodiments, when the target cell voltage anomaly event is a voltage deviation exceeding the limit anomaly event, the control objective of the fuel cell engine is switched from reducing net power control error to reducing voltage deviation control error.

[0112] The aforementioned target control current is the desired output current value of the fuel cell stack, determined by the fuel cell engine's control device based on the current control objectives of the fuel cell engine, using algorithms such as PID control. This target control current directly determines the operating conditions and power output of the fuel cell stack.

[0113] As an achievable approach, the target control current of a fuel cell engine can be determined based on a PID control algorithm, specifically including: determining the proportional control term, integral control term, and derivative control term based on the target cell voltage control error and the proportional coefficient, derivative coefficient, and integral coefficient corresponding to the target cell voltage control error; and determining the target control current based on the proportional control term, integral control term, and derivative control term.

[0114] In some embodiments, the formula for determining the target control current, based on the proportional control term, integral control term, and derivative control term, is as follows: ; in, Let be the target control current at time t. This is the proportional control term at time t. The integral control term at time t. Let be the differential control term at time t.

[0115] As another feasible approach, the specific implementation method for determining the target control current also includes: determining the proportional control term and the integral control term based on the target unit voltage control error, the proportional coefficient and the integral coefficient corresponding to the target unit voltage control error, and determining the target control current based on the proportional control term and the integral control term.

[0116] As another feasible approach, the specific implementation method for determining the target control current also includes: determining the proportional control term, integral control term, and derivative control term based on the target unit voltage control error, the proportional coefficient, derivative coefficient, and integral coefficient corresponding to the target unit voltage control error; obtaining the feedforward control quantity determined based on the power load state; and determining the target control current based on the proportional control term, integral control term, derivative control term, and feedforward control quantity.

[0117] As another possible approach, the target control current is predicted based on the target cell voltage control error and the prediction model of the fuel cell engine.

[0118] In some embodiments, determining the target control current based on the proportional control term, integral control term, and derivative control term includes: determining whether the fuel cell engine meets a target condition; wherein the target condition is that the same single-cell voltage anomaly event occurred at the previous time step as the current one; if the fuel cell engine meets the target condition, updating the integral control term based on a first integral update strategy; or, if the fuel cell engine does not meet the target condition, updating the integral control term based on a second integral update strategy; and determining the target control current based on the proportional control term, the updated integral control term, and the derivative control term.

[0119] As one possible approach, the integral control term is updated based on the sum of the first composite term and the second composite term; the first composite term represents the sum of the control current of the fuel cell engine at the previous time step and the integral control increment term of the fuel cell engine at the previous time step; the second composite term represents the sum of the proportional control term, the integral control increment term, and the derivative control term.

[0120] In some embodiments, the update formula for updating the integral control term at time t based on the first integral update strategy is as follows: ; in, The integral control term updated at time t. for Control current at all times, The integral control increment term at time t. for The integral control increment term at time step, This is the proportional control term at time t. Let be the differential control term at time t. The sampling period is This refers to the previous moment.

[0121] As one feasible approach, the second integral update strategy updates the integral control term based on the sum of the integral control increment term and the integral control term of the fuel cell engine at the previous moment.

[0122] In some embodiments, the update formula for updating the integral control term based on the second integral update strategy is as follows: ; in, The integral control term updated at time t. for Integral control term at time, This is the integral control increment term at time t.

[0123] As another feasible approach, the target control current for a fuel cell engine can be generated based on the target cell voltage control error, neural networks, and control models. For example, the target control current can be generated by predicting variables such as airflow using an Elman dynamic neural network and combining this prediction with a control model.

[0124] As another feasible approach, a predictive model can be established based on the electrochemical model of a fuel cell to predict the target control current.

[0125] As another feasible approach, the target control current is determined based on the adaptive differential evolution multi-objective optimization algorithm, that is, the output power and the stack performance are optimized simultaneously to determine the target control current that satisfies both objectives.

[0126] S204. Control the fuel cell engine based on the target control current.

[0127] Based on the aforementioned technical means, this application obtains the output power and cell voltage information of the fuel cell engine, determines the net power control error, minimum cell voltage control error, and average cell voltage control error, and then determines the target control current of the fuel cell engine from these three dimensions. This ensures the accuracy of net power output, prevents stack voltage degradation through the minimum cell voltage control error, and balances cell voltages by utilizing the average cell voltage control error. By selecting the optimal among these three control errors, the control of the fuel cell engine becomes more efficient and safer, improving the operating efficiency of the fuel cell engine.

[0128] In some embodiments, Figure 3 This is a flowchart illustrating another control method for a fuel cell engine, as shown in the embodiments of this application, in conjunction with... Figure 2 and Figure 3 Control methods for fuel cell engines include: S203-a. In the absence of a target cell voltage abnormality event in the fuel cell engine, determine the proportional control term, integral control term, and derivative control term based on the net power control error of the fuel cell engine and the proportional coefficient, derivative coefficient, and integral coefficient corresponding to the net power control error. S203-b: Determine the target control current of the fuel cell engine based on the proportional control term, derivative control term, and integral control term.

[0129] In the above process, the formulas for determining the proportional control term, integral control increment term, and derivative control term based on the net power control error are as follows: ; ; ; in, This is the proportional control term at time t. The integral control increment term at time t. Let be the differential control term at time t. This is the proportional coefficient for power control. The integral coefficient for power control. For the differential coefficient of power control, Let be the net power control error at time t. for Net power control error at any given time. The sampling period.

[0130] In some embodiments, when the target cell voltage anomaly event is a minimum cell voltage exceedance anomaly event, determining whether the fuel cell engine has experienced a target cell voltage anomaly event based on cell voltage information and power load status includes: As one feasible approach, a minimum single-cell voltage exceeding the limit abnormal event of the fuel cell engine is determined when the minimum single-cell voltage of the fuel cell engine is less than the minimum single-cell voltage threshold of the fuel cell engine and the power load state is not an unstable power descent state.

[0131] As another feasible approach, if the minimum single-cell voltage of the fuel cell engine is less than the minimum single-cell voltage threshold value but the power load state is unstable power descent state, and the duration for which the minimum single-cell voltage is less than the minimum single-cell voltage threshold value exceeds the second preset duration threshold value, it indicates that even considering the normal voltage drop under the descent transient, the single-cell voltage is still abnormal, and thus it is determined that the fuel cell engine has experienced a minimum single-cell voltage over-limit abnormal event.

[0132] As another feasible approach, if the minimum single-cell voltage of the fuel cell engine is less than the minimum single-cell voltage threshold of the fuel cell engine, but the power load state is an unstable power descent state, and the minimum single-cell voltage control error between the minimum single-cell voltage and the minimum single-cell voltage threshold of the fuel cell engine exceeds the preset abnormal amplitude threshold, it indicates that even considering the normal voltage drop under the descent transient, the single-cell voltage is still abnormal, and thus it is determined that the fuel cell engine has experienced a minimum single-cell voltage over-limit abnormal event.

[0133] As another feasible approach, if the minimum single-cell voltage of the fuel cell engine is less than the minimum single-cell voltage threshold of the fuel cell engine but the power load state is unstable power descent state, and the minimum single-cell voltage control error between the minimum single-cell voltage and the minimum single-cell voltage threshold of the fuel cell engine exceeds a preset abnormal amplitude threshold and the duration of the minimum single-cell voltage being less than the minimum single-cell voltage threshold of the fuel cell engine exceeds a second preset duration threshold, then it is determined that the fuel cell engine has experienced a minimum single-cell voltage over-limit abnormal event.

[0134] In some embodiments, when the target cell voltage abnormality event is a minimum cell voltage over-limit abnormality event, a proportional control term, an integral control increment term, and a derivative control term are determined based on the minimum cell voltage, and an integral control term is determined according to the above integral update strategy, thereby determining the target control current based on the proportional control term, the integral control term, and the derivative control term.

[0135] In the above process, the formulas for determining the proportional control term, integral control increment term, and derivative control term based on the lowest unit voltage control error are as follows: ; ; ; in, This is the proportional control term at time t. The integral control increment term at time t. Let be the differential control term at time t. The proportional coefficient is based on the lowest unit voltage control. The integral coefficient is based on the lowest unit voltage control. The differential coefficients are based on the lowest unit voltage control. Let be the minimum single-unit voltage control error at time t. The sampling period is for The minimum unit voltage control error at any given time.

[0136] In other embodiments, when the target cell voltage anomaly event is an average cell voltage over-limit anomaly event, determining whether the fuel cell engine has experienced a target cell voltage anomaly event based on cell voltage information and power load status includes: If the average cell voltage of the fuel cell engine exceeds the maximum limit of the cell open-circuit voltage and the power load state is not an unstable power ramp-up state, it is determined that the average cell voltage exceeds the limit abnormal event.

[0137] In other embodiments, when the target cell voltage anomaly event is an average cell voltage over-limit anomaly event, determining whether the fuel cell engine has experienced a target cell voltage anomaly event based on cell voltage information and power load status further includes: If the average cell voltage of the fuel cell engine is less than the upper limit of the average cell voltage and the power load state is not an unstable power descent state, it is determined that the average cell voltage of the fuel cell engine has exceeded the limit abnormal event.

[0138] In some embodiments, when the target cell voltage abnormality event is an average cell voltage over-limit abnormality event, a proportional control term, an integral control increment term, and a derivative control term are determined based on the average cell voltage, and an integral control term is determined according to the above integral update strategy, thereby determining the target control current based on the proportional control term, the integral control term, and the derivative control term.

[0139] In the above process, the formulas for determining the proportional control term, integral control increment term, and derivative control term based on the average unit voltage control error are as follows: ; ; ; in, This is the proportional control term at time t. The integral control increment term at time t. Let be the differential control term at time t. This is the proportional coefficient for average single-cell voltage control. The integral coefficient for average unit voltage control. The differential coefficient for average single-cell voltage control. Let be the average single-cell voltage control error at time t. The sampling period is for Average unit voltage control error at any given time.

[0140] In summary, based on the individual cell voltage information of the fuel cell engine, the process of determining whether a target cell voltage anomaly event has occurred, and whether the anomaly event is a minimum cell voltage exceedance or an average cell voltage exceedance, is as follows: Figure 4 As shown, Figure 4 This is a flowchart illustrating a method for determining abnormal voltage events in a target cell, as shown in an embodiment of this application. (Refer to...) Figure 4 The method for judging abnormal voltage events of target cells includes: S401, Input minimum cell voltage, average cell voltage, power load status.

[0141] Simultaneously jump to S402 and S406; S402, Calculate the minimum threshold value of the unit voltage.

[0142] S403. Determine whether the minimum single-cell voltage is less than the minimum threshold value of single-cell voltage.

[0143] If yes, proceed to step S404; otherwise, proceed to step S405.

[0144] S404. Determine whether the power load status is not equal to -1.

[0145] If yes, jump to S412; otherwise, jump to S405.

[0146] S405. Set the minimum single-cell voltage over-limit flag to 1 and maintain it.

[0147] S406. Determine whether the average single-cell voltage is not greater than the maximum limit of the single-cell open-circuit voltage.

[0148] If yes, then proceed to S407; otherwise, proceed to S408. S407. Determine whether the average cell voltage is less than the upper limit of the average cell voltage.

[0149] If yes, then jump to S409; otherwise, jump to S411. S408. Determine whether the power load state equals 1.

[0150] If yes, then jump to S411; otherwise, jump to S410.

[0151] S409. Determine whether the power load status is not equal to -1.

[0152] If yes, then jump to S410; otherwise, jump to S411.

[0153] S410, Set the average single-cell voltage over-limit flag to 0 and maintain it.

[0154] S411. Set the average single-cell voltage over-limit flag to 1 and maintain it.

[0155] S412. Set the minimum single-cell voltage over-limit flag to 0 and maintain it.

[0156] S413, Is there a shutdown signal?

[0157] If yes, end; otherwise, jump back to the S401 loop for execution.

[0158] In some embodiments, the aforementioned power load status plays a crucial role in determining whether a target cell voltage anomaly event has occurred in the fuel cell engine. Figure 5 This is a flowchart illustrating a method for determining power load status according to an embodiment of this application, referred to... Figure 5 Methods for determining power load status include: S501. Input the current output power request value and the actual output power value of the fuel cell engine.

[0159] S502. Determine whether the absolute value of the difference between the current output power request value of the fuel cell engine and the output power request value of the fuel cell engine at the previous sampling time is greater than 0.

[0160] That is, to determine the output power request value at time t relative to... Has the output power request value changed at the previous sampling time?

[0161] If yes, then jump to S503; otherwise, set the power identification flag. Keep the value at 0, then jump to S506.

[0162] S503. Determine whether the difference between the current output power request value of the fuel cell engine and the output power request value of the fuel cell engine at the previous sampling time is greater than 0.

[0163] If so, then set the power identification flag. Set to 1 and hold; otherwise, set the power identification flag. Set to -1 and hold, then jump to S504; S504. Calculate the absolute value of the net power control error.

[0164] The absolute value of the above net power control error The calculation formula is:

[0165] in, Let t be the requested output power value. for The actual output power at any given time.

[0166] The absolute value of the above net power control error This will exceed the preset control error threshold. Then, over time, the absolute value of the net power control error... Gradually decrease towards the preset control error threshold Close to (but) Not yet below the control threshold ), jump to S505.

[0167] S505. Determine if the duration for which the net power control error is less than a preset control error threshold exceeds a preset duration threshold. Whether it is valid or not.

[0168] If so, then set the power identification flag. If the value is set from 1 or -1 to 0 and held, jump to S506; otherwise, jump back to S504.

[0169] S506, Is there a shutdown signal?

[0170] If yes, end; otherwise, jump back to the S502 loop for execution.

[0171] The above power identification flag bit When set to 0, the fuel cell engine's power load state is in normal condition. Power identification flag bit. When set to 1, the power load state of the fuel cell engine is an unstable power upload state. Power identification flag bit. When set to -1, the power load state of the fuel cell engine is an unstable power descent state.

[0172] Figure 6 This is a block diagram of a control device for a fuel cell engine shown in an embodiment of this application, with reference to... Figure 6 The control device for the fuel cell engine includes: an information acquisition module 601, an error determination module 602, a current control module 603, and an engine control module 604.

[0173] The information acquisition module 601 is used to acquire the output power and cell voltage information of the fuel cell engine.

[0174] The error determination module 602 is used to determine the net power control error based on the output power and the target single-cell voltage control error based on the single-cell voltage information.

[0175] Net power control error is the control error between the requested output power value and the actual output power value; target cell voltage control error is the minimum cell voltage control error and / or average cell voltage control error; minimum cell voltage control error is the control error between the minimum cell voltage of the fuel cell engine and the minimum cell voltage threshold value; average cell voltage control error is the control error between the average cell voltage of the fuel cell and the maximum average cell voltage threshold value.

[0176] The current control module 603 is used to determine the target control current of the fuel cell engine based on the net power control error or the target cell voltage control error.

[0177] Engine control module 604 is used to control the fuel cell engine based on the target control current.

[0178] In one possible implementation, the current control module 603 is used to switch the control objective of the fuel cell engine from reducing net power control error to reducing target cell voltage control error when a target cell voltage abnormality event occurs. The target cell voltage abnormality event is used to characterize an event in which the target cell voltage of the fuel cell engine exceeds a target cell voltage threshold value, causing a sharp drop in the performance of the fuel cell stack. When the target cell voltage is the lowest cell voltage, the target cell voltage threshold value is the lowest cell voltage threshold value; when the target cell voltage is the average cell voltage, the target cell voltage threshold value is the highest average cell voltage threshold value. The target control current of the fuel cell engine is determined based on the target cell voltage control error.

[0179] In one possible implementation, the target cell voltage abnormal event includes: a minimum cell voltage exceeding the limit abnormal event; the current control module 603 is specifically used to switch the control target of the fuel cell engine from reducing net power control error to reducing minimum cell voltage control error when a minimum cell voltage exceeding the limit abnormal event occurs; and to determine the target control current of the fuel cell engine based on the minimum cell voltage control error.

[0180] In one possible implementation, the process of determining the minimum threshold value of the cell voltage includes: determining a first difference between the average cell voltage of the fuel cell engine and a voltage deviation limit value; wherein the voltage deviation limit value is a maximum limit value for the difference between the average cell voltage and the minimum cell voltage; and determining the larger value between the minimum cell voltage limit value of the fuel cell engine and the first difference value as the minimum threshold value of the cell voltage.

[0181] In one possible implementation, the target cell voltage abnormality event includes: a minimum cell voltage over-limit abnormality event and an average cell voltage over-limit abnormality event; the maximum threshold value for average cell voltage includes a maximum limit for cell open-circuit voltage and an upper limit value for average cell voltage; the current control module 603 is further configured to switch the control objective of the fuel cell engine from reducing net power control error to reducing average cell voltage control error when the minimum cell voltage over-limit abnormality event has not occurred but the average cell voltage over-limit abnormality event has occurred; when the average cell voltage is greater than the maximum limit for cell open-circuit voltage of the fuel cell engine, the average cell voltage control error is the control error between the average cell voltage and the maximum limit for cell open-circuit voltage; or, when the average cell voltage is not greater than the maximum limit for cell open-circuit voltage, the average cell voltage control error is the control error between the average cell voltage and the upper limit value for average cell voltage of the fuel cell engine; and the target control current of the fuel cell engine is determined based on the average cell voltage control error.

[0182] In one possible implementation, the current control module 603 includes an anomaly judgment unit, which is used to determine the power load state of the fuel cell engine. The power load state includes an unstable power load increase state, an unstable power load decrease state, and a normal state. The unstable power load increase state describes a power load increase when the net power control error has not converged. The unstable power load decrease state describes a power load decrease when the net power control error has not converged. Power load increase describes an increase in the output power request value compared to the previous moment. Power load decrease describes a decrease in the output power request value compared to the previous moment. The normal state is a state other than the unstable power load increase state and the unstable power load decrease state. Based on the cell voltage information and the power load state, it is determined whether a target cell voltage anomaly event has occurred in the fuel cell engine.

[0183] In one possible implementation, the process of determining that the net power control error has not converged includes: determining that the net power control error has not converged when the duration of the target event exceeds a preset duration threshold; wherein, the target event is that the absolute value of the net power control error of the fuel cell engine is less than the preset control error threshold; the net power control error at any time is the ratio of the power difference between the output power request value at any time and the actual output power value of the previous time to the output power request value at any time.

[0184] In one possible implementation, the target cell voltage anomaly event includes: a minimum cell voltage exceeding limit anomaly event; and an anomaly judgment unit, specifically used to determine that a minimum cell voltage exceeding limit anomaly event has occurred in the fuel cell engine when the minimum cell voltage of the fuel cell engine is less than the minimum cell voltage threshold value of the fuel cell engine and the power load state is not an unstable power descent state.

[0185] In one possible implementation, the target cell voltage anomaly event includes: an average cell voltage over-limit anomaly event; the anomaly judgment unit is further configured to determine that an average cell voltage over-limit anomaly event has occurred in the fuel cell engine when the average cell voltage of the fuel cell engine is greater than the maximum limit of the cell open-circuit voltage of the fuel cell engine and the power load state is not an unstable power upload state.

[0186] In one possible implementation, the target cell voltage abnormal event includes: an average cell voltage over-limit abnormal event; the abnormality judgment unit is further used to determine that an average cell voltage over-limit abnormal event has occurred in the fuel cell engine when the average cell voltage of the fuel cell engine is less than the upper limit of the average cell voltage of the fuel cell engine and the power load state is not an unstable power descent state.

[0187] In one possible implementation, the current control module 603 is further configured to determine a proportional control term, an integral control term, and a derivative control term based on the target single-cell voltage control error and the proportional coefficient, derivative coefficient, and integral coefficient corresponding to the target single-cell voltage control error; and to determine the target control current based on the proportional control term, integral control term, and derivative control term.

[0188] In one possible implementation, the current control module 603 is specifically used to determine whether the fuel cell engine meets the target condition; wherein the target condition is that the same cell voltage abnormality event as the current occurred at the previous moment; based on the judgment result, the integral control term is updated; based on the proportional control term, the updated integral control term, and the derivative control term, the target control current is determined.

[0189] In one possible implementation, the current control module 603 is specifically used to update the integral control term based on the sum of the first composite term and the second composite term when the fuel cell engine meets the target conditions; the first composite term is used to represent the sum of the control current of the fuel cell engine at the previous moment and the integral control increment term of the fuel cell engine at the previous moment; the second composite term is used to represent the sum of the proportional control term, the integral control increment term and the derivative control term.

[0190] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments of the control method for fuel cell engines, and will not be elaborated upon here.

[0191] Figure 7 This is a block diagram illustrating an electronic device according to an embodiment of this application. Figure 7 As shown, the electronic device includes, but is not limited to, a processor 701 and a memory 702.

[0192] The memory 702 described above is used to store the executable instructions of the processor 701. It is understood that the processor 701 is configured to execute instructions to implement the fuel cell engine control method in the above embodiments.

[0193] It should be noted that those skilled in the art will understand that Figure 7 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 7 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0194] Processor 701 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 702, and by calling data stored in memory 702, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 701 may include one or more processing units. Processor 701 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 701.

[0195] The memory 702 can be used to store software programs and various data. The memory 702 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as deterministic components, integrated components, etc.), etc. Furthermore, the memory 702 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0196] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 702 including instructions, which can be executed by a processor 701 of an electronic device to implement the methods in the above embodiments.

[0197] In actual implementation, Figure 6 The functions of the information acquisition module 601, error determination module 602, current control module 603, and engine control module 604 can all be derived from... Figure 7The processor 701 calls the computer program stored in the memory 702 to implement the process. The specific execution process can be found in the description of the method section in the previous embodiment, and will not be repeated here.

[0198] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device. In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 701 of an electronic device to perform the methods in the above embodiments.

[0199] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of an electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0200] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0201] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0202] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0203] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0204] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0205] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the methods described in the above method embodiments.

[0206] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method in the method flow shown in the above method embodiments.

[0207] The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, a register, a hard disk, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an application-specific integrated circuit (ASIC). In embodiments of this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0208] Since the control device, computer-readable storage medium, and computer program product of the fuel cell engine in the embodiments of this application can be applied to the above method, the technical effects that can be obtained can also be referred to the above method embodiments. The embodiments of this application will not be repeated here.

[0209] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a fuel cell engine, characterized in that, The control method for the fuel cell engine includes: Obtain information on the output power and individual cell voltage of the fuel cell engine; The net power control error is determined based on the output power, and the target single-cell voltage control error is determined based on the single-cell voltage information. The net power control error is the control error between the requested output power value and the actual output power value; the target cell voltage control error is the minimum cell voltage control error and / or the average cell voltage control error; the minimum cell voltage control error is the control error between the minimum cell voltage of the fuel cell engine and the minimum cell voltage threshold value; the average cell voltage control error is the control error between the average cell voltage of the fuel cell and the maximum average cell voltage threshold value. The target control current of the fuel cell engine is determined based on the net power control error and the target cell voltage control error. The fuel cell engine is controlled based on the target control current.

2. The control method for a fuel cell engine according to claim 1, characterized in that, Determining the target control current of the fuel cell engine based on the net power control error or the target cell voltage control error includes: In the event of an abnormal target cell voltage event in the fuel cell engine, the control objective of the fuel cell engine is switched from reducing net power control error to reducing target cell voltage control error. The target cell voltage anomaly event is used to characterize an event in which the target cell voltage of the fuel cell engine exceeds the target cell voltage threshold value, causing a sharp drop in the performance of the fuel cell stack. When the target cell voltage is the lowest cell voltage, the target cell voltage threshold value is the lowest cell voltage threshold value; When the target cell voltage is the average cell voltage, the target cell voltage threshold value is the highest threshold value of the average cell voltage. The target control current of the fuel cell engine is determined based on the target cell voltage control error.

3. The control method for a fuel cell engine according to claim 2, characterized in that, The target cell voltage anomaly events include: minimum cell voltage exceeding the limit anomaly event; Determining the target control current of the fuel cell engine based on the target cell voltage control error includes: In the event of the minimum single-cell voltage exceeding the limit abnormal event in the fuel cell engine, the control objective of the fuel cell engine is switched from reducing the net power control error to reducing the minimum single-cell voltage control error. The target control current of the fuel cell engine is determined based on the minimum single-cell voltage control error.

4. The control method for a fuel cell engine according to claim 2, characterized in that, The process of determining the minimum threshold value of the single-cell voltage includes: Determine a first difference between the average cell voltage of the fuel cell engine and a voltage deviation limit value; Wherein, the voltage deviation limit value is the maximum limit value of the difference between the average cell voltage and the lowest cell voltage; The larger value between the minimum single-cell voltage limit of the fuel cell engine and the first difference is determined as the minimum single-cell voltage threshold value.

5. The control method for a fuel cell engine according to claim 2, characterized in that, The target cell voltage anomaly events include: minimum cell voltage exceeding limit anomaly events and average cell voltage exceeding limit anomaly events; the maximum threshold value for average cell voltage includes the maximum limit value for cell open-circuit voltage and the upper limit value for average cell voltage. Determining the target control current of the fuel cell engine based on the target cell voltage control error includes: If the fuel cell engine does not experience the minimum single-cell voltage over-limit abnormal event but does experience the average single-cell voltage over-limit abnormal event, the control objective of the fuel cell engine will be switched from reducing net power control error to reducing average single-cell voltage control error. When the average cell voltage is greater than the maximum limit of the cell open-circuit voltage of the fuel cell engine, the average cell voltage control error is the control error between the average cell voltage and the maximum limit of the cell open-circuit voltage. Alternatively, when the average cell voltage is not greater than the maximum limit of the cell open-circuit voltage, the average cell voltage control error is the control error between the average cell voltage and the upper limit of the average cell voltage of the fuel cell engine. The target control current of the fuel cell engine is determined based on the average cell voltage control error.

6. The control method for a fuel cell engine according to claim 2, characterized in that, Determining whether the fuel cell engine has experienced a target cell voltage anomaly event includes: Determine the power load state of the fuel cell engine; The power load states include unstable power load increase state, unstable power load decrease state, and normal state; The unstable power load state is used to describe the power load increase when the net power control error has not converged. The unstable power descent state is used to describe the power descent when the net power control error has not converged; The power increase is used to describe an increase in the output power request value compared to the previous time. The power derating is used to describe the decrease in the output power request value compared to the previous time. The normal state is the state other than the unstable power increase state and the unstable power decrease state; Based on the cell voltage information and the power load status, it is determined whether the fuel cell engine has experienced a target cell voltage anomaly event.

7. The control method for a fuel cell engine according to claim 6, characterized in that, The process for determining the non-convergence of the net power control error includes: If the duration of the target event exceeds a preset duration threshold, it is determined that the net power control error has not converged. The target event is that the absolute value of the net power control error of the fuel cell engine is less than a preset control error threshold. The net power control error at any given time is the ratio of the power difference between the requested output power value at that time and the actual output power value at the previous time to the requested output power value at that time.

8. The control method for a fuel cell engine according to claim 6, characterized in that, The target cell voltage anomaly events include: minimum cell voltage exceeding the limit anomaly event; The step of determining whether a target cell voltage anomaly event has occurred in the fuel cell engine based on the cell voltage information and the power load status includes: If the minimum single-cell voltage of the fuel cell engine is less than the minimum single-cell voltage threshold of the fuel cell engine and the power load state is not the unstable power descent state, it is determined that the fuel cell engine has experienced an abnormal event of the minimum single-cell voltage exceeding the limit.

9. The control method for a fuel cell engine according to claim 6, characterized in that, The target cell voltage anomaly events include: average cell voltage exceeding the limit anomaly events; The step of determining whether a target cell voltage anomaly event has occurred in the fuel cell engine based on the cell voltage information and the power load status includes: If the average cell voltage of the fuel cell engine is greater than the maximum limit of the cell open-circuit voltage of the fuel cell engine and the power load state is not the unstable power load state, it is determined that the fuel cell engine has experienced an abnormal event of the average cell voltage exceeding the limit.

10. The control method for a fuel cell engine according to claim 6, characterized in that, The target cell voltage anomaly events include: average cell voltage exceeding the limit anomaly events; The step of determining whether a target cell voltage anomaly event has occurred in the fuel cell engine based on the cell voltage information and the power load status includes: If the average cell voltage of the fuel cell engine is less than the upper limit of the average cell voltage of the fuel cell engine and the power load state is not the unstable power descent state, it is determined that the fuel cell engine has experienced an abnormal event of the average cell voltage exceeding the limit.

11. The control method for a fuel cell engine according to any one of claims 1-10, characterized in that, Based on the target cell voltage control error, the target control current of the fuel cell engine is determined, including: Based on the target unit voltage control error, and the proportional coefficient, derivative coefficient, and integral coefficient corresponding to the target unit voltage control error, the proportional control term, integral control term, and derivative control term are determined. The target control current is determined based on the proportional control term, the integral control term, and the derivative control term.

12. The control method for a fuel cell engine according to claim 11, characterized in that, Determining the target control current based on the proportional control term, the integral control term, and the derivative control term includes: Determine whether the fuel cell engine meets the target conditions; The target condition is that the same single-cell voltage anomaly event as the current one occurred in the previous moment; Based on the judgment result, update the integral control item; The target control current is determined based on the proportional control term, the updated integral control term, and the derivative control term.

13. The control method for a fuel cell engine according to claim 12, characterized in that, The step of updating the integral control item based on the judgment result includes: If the fuel cell engine meets the target conditions, the integral control term is updated based on the sum of the first composite term and the second composite term; The first composite term is used to represent the sum of the control current of the fuel cell engine at the previous time step and the integral control increment term of the fuel cell engine at the previous time step; The second composite term is used to represent the sum of the proportional control term, the integral control increment term, and the derivative control term.

14. A control device for a fuel cell engine, characterized in that, The fuel cell engine control device includes: The information acquisition module is used to acquire the output power and cell voltage information of the fuel cell engine; An error determination module is used to determine the net power control error based on the output power and the target cell voltage control error based on the cell voltage information; the net power control error is the control error between the requested output power value and the actual output power value; the target cell voltage control error is the minimum cell voltage control error and / or the average cell voltage control error; the minimum cell voltage control error is the control error between the minimum cell voltage of the fuel cell engine and the minimum cell voltage threshold value; the average cell voltage control error is the control error between the average cell voltage of the fuel cell and the maximum average cell voltage threshold value. A current control module is used to determine the target control current of the fuel cell engine based on the net power control error or the target cell voltage control error. An engine control module is used to control the fuel cell engine based on the target control current.

15. A vehicle, characterized in that, The vehicle includes a fuel cell engine, which is controlled using the control method for a fuel cell engine as described in any one of claims 1-13.

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