Hydrogen scheduling method for hydrogen-powered hydrogen transport vehicle

Abstract

The application discloses a hydrogen scheduling method of a hydrogen-powered hydrogen transport vehicle, and belongs to the technical field of hydrogen energy transportation and fuel cells. The hydrogen transport vehicle comprises a pipe bundle hydrogen storage system, a power hydrogen storage system, a hydrogen fuel lithium battery hybrid power system and a control system. The method comprises the following steps: initializing and presetting a threshold value; in a normal power mode, fuzzy self-adaptive PID control is adopted to adjust the hydrogen supply of the power hydrogen storage system to the fuel cell, so that the fuel cell and the lithium battery are cooperatively output; the storage capacity and the pressure of the power hydrogen storage system are monitored in real time, and when the hydrogen consumption rate predicted by the prediction control reaches the standard, the replenishment mode is started, and the pipe bundle hydrogen storage system is used to supplement hydrogen to the power hydrogen storage system; the replenishment is terminated when the stop threshold value is reached; and the control parameters and the replenishment strategy are adaptively adjusted according to the driving conditions. The application realizes the precise cooperative scheduling of the double hydrogen storage systems, improves the driving range, the hydrogen energy utilization efficiency, the operation stability and the safety of the hydrogen transport vehicle, and reduces the operation cost.

Description

Technical Field

[0001] This invention belongs to the field of hydrogen energy transportation and fuel cell technology, and in particular relates to a hydrogen dispatching method for hydrogen-powered hydrogen transport vehicles. Background Technology

[0002] With the rapid development of the hydrogen energy industry, the demand for cross-regional and long-distance hydrogen transportation is increasing. As the mainstream hydrogen transportation carrier, the economic efficiency, environmental friendliness, and range of tubular hydrogen transport vehicles have become key bottlenecks restricting the development of the industry.

[0003] Currently, all existing hydrogen transport vehicles use traditional internal combustion engines as their power source, resulting in high energy consumption, severe exhaust pollution, and excessive noise, which contradicts the green and low-carbon concept of the hydrogen energy industry. Although there have been attempts to apply fuel cells to ordinary commercial vehicles, there is still no fuel cell power system solution specifically designed for the unique scenario of hydrogen transport vehicles. The main shortcomings of existing technologies are: first, they do not utilize the large amount of hydrogen carried by the hydrogen transport vehicle itself; directly drawing hydrogen from the transport tubular storage tank will cause pressure fluctuations, affecting safety and transportation efficiency; second, they lack a collaborative architecture between the dual hydrogen storage system and the fuel cell and lithium battery, resulting in poor power stability and low hydrogen energy utilization efficiency; third, the control strategy is simple and cannot cope with complex operating conditions, leading to frequent start-stop of the fuel cell and shortened lifespan; and fourth, the safety monitoring and emergency response mechanisms are inadequate, posing safety hazards. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes a hydrogen scheduling method for hydrogen-powered hydrogen transport vehicles. Based on an independent dual hydrogen storage system (for transportation and for power) and a collaborative architecture of fuel cells and lithium batteries, it employs a multi-factor coupled intelligent control strategy to achieve precise hydrogen scheduling and coordinated power supply, thereby improving the driving range, operational stability, hydrogen energy utilization efficiency, and transportation safety of hydrogen transport vehicles.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle, wherein the hydrogen transport vehicle includes a tube bundle transport hydrogen storage system for storing and transporting hydrogen, a power hydrogen storage system dedicated to supplying hydrogen to hydrogen fuel cells, a hybrid power system including the hydrogen fuel cells and lithium batteries, a control system, and a safety protection system. The hydrogen dispatching system connects the tube bundle transport hydrogen storage system and the power hydrogen storage system to achieve coordinated hydrogen dispatching between the two hydrogen storage systems; the power hydrogen storage system is connected to the hydrogen fuel cell system to provide stable hydrogen to the fuel cells; the hydrogen fuel cell system and the lithium battery energy storage system are bidirectionally connected to achieve coordinated power output and energy recovery; the control system is connected to all systems to achieve global coordinated control; and the safety protection system is distributed around each key component to ensure the safe operation of the system. The method based on the hydrogen transport vehicle includes the following steps: Initialization steps: The control system performs a self-check and collects the initial parameters of each system, and presets the supplementary start-up threshold and stop threshold of the power hydrogen storage system; Conventional power process: The control system adjusts the hydrogen supply from the power storage system to the hydrogen fuel cell according to the power demand through a fuzzy adaptive PID control algorithm, and the hydrogen fuel cell and lithium battery work together to provide power. Supplementary judgment steps: Real-time acquisition of the hydrogen storage capacity S and pressure P of the power hydrogen storage system. When S is less than the supplementary start threshold S1 or P is less than the supplementary start threshold P1, a predictive control algorithm is used to determine whether to enter the hydrogen supplementation mode. Hydrogen replenishment steps: Open the hydrogen replenishment valve between the tube bundle transport hydrogen storage system and the power hydrogen storage system, and the tube bundle transport hydrogen storage system replenishes hydrogen to the power hydrogen storage system; during the replenishment process, the controller calculates the replenishment amount based on the predicted consumption rate, the current storage amount S, and the replenishment stop storage amount threshold S2, and dynamically adjusts the replenishment flow rate; Stop replenishment step: When the hydrogen storage capacity S≥S2 and the pressure P≥P2 of the power hydrogen storage system, P2 is the replenishment pressure stop threshold. Close the hydrogen replenishment valve, stop replenishment, and return to the normal power steps. Operating condition adaptive step: Identify the operating conditions of the hydrogen transport vehicle, and dynamically adjust the fuzzy adaptive PID control parameters in the conventional power step and the replenishment start threshold and replenishment flow rate in the hydrogen replenishment step according to different operating conditions.

[0006] Furthermore, in the conventional power step, the fuzzy adaptive PID control algorithm uses the difference between the required power and the actual output power, as well as the state of charge (SOC) of the lithium battery, as inputs, and adjusts the proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd of the PID controller in real time through a fuzzy rule base.

[0007] Furthermore, in the conventional power process, when power demand increases, the fuel cell power output is increased, while the lithium battery is controlled to release electrical energy to assist in power supply, thus meeting the power demand; when power demand is stable, the current fuzzy controller parameters Kp, Ki, and Kd are maintained to control the fuel cell to operate in the optimal efficiency range, while excess electrical energy is stored in the lithium battery to achieve energy storage; when power demand decreases, the fuel cell power output is reduced, while the lithium battery charging mode is activated to recover excess energy, thus achieving the synergistic utilization of hydrogen energy and electrical energy.

[0008] Furthermore, the control algorithm establishes a consumption prediction model based on real-time hydrogen consumption, hydrogen pressure, hydrogen tank volume, and ambient temperature to determine... Broken Should we enter hydrogen replenishment mode?

[0009] Furthermore, in the hydrogen replenishment step, the replenishment amount ΔS = S2 - S is calculated based on the current storage S and the replenishment stop threshold S2; the estimated replenishment time t is determined based on the current power demand, and then the optimal replenishment flow rate Q_pred = ΔS / t is determined; and the actual replenishment flow rate is corrected through a closed-loop PID algorithm to make it approach Q_pred.

[0010] Furthermore, in the hydrogen replenishment step, the control system collects data from the flow sensor and pressure sensor in real time, compares the actual replenishment flow rate Q_actual with the predicted replenishment flow rate Q_pred, and adjusts the opening of the flow control valve through PID control to correct the replenishment flow rate; it also links the fuel cell and lithium battery, reducing the power output of the fuel cell and switching to lithium battery auxiliary power supply when the replenishment flow rate is large, so as to avoid the replenishment process affecting the power supply.

[0011] Furthermore, in the adaptive driving condition step, the identified driving conditions include idling, constant speed, acceleration, climbing, and descending conditions; wherein: During ramp operation, increase the hydrogen supply flow rate, control the full power output of the fuel cell, and control the auxiliary power supply of the lithium battery. Under downhill conditions, the hydrogen supply flow rate is reduced to control the low power output of the fuel cell, and the energy recovery system is activated to charge the lithium battery, while simultaneously accelerating the replenishment of hydrogen to the power hydrogen storage system.

[0012] Furthermore, the driving condition identification includes: the control system collects parameters from power sensors and vehicle speed sensors, and combines them with preset driving condition identification rules to classify driving conditions into 5 categories: idling condition, vehicle speed = 0, power demand = 0; constant speed condition, vehicle speed is stable, power demand fluctuation ≤ 10%; acceleration condition, vehicle speed increase ≥ 5km / h, power demand increase ≥ 15%; climbing condition, power demand ≥ 80% of rated power; and downhill condition, power demand ≤ 20% of rated power. (1) Idle condition: Reduce the hydrogen supply flow of the power hydrogen storage system, turn off the booster module and hydrogen circulation pump, and maintain low power output of the fuel cell to supply power only to the auxiliary systems, thereby reducing hydrogen waste; the lithium battery is kept in standby mode and the SOC is kept at about 50%; at the same time, monitor the status of the power hydrogen storage system, and if hydrogen needs to be added, start the low-speed replenishment mode to avoid affecting the stability of the system during the replenishment process. (2) Uniform speed operation: Maintain a stable hydrogen supply flow rate, adjust the parameters of the fuzzy adaptive PID controller to the optimal level, ensure that the fuel cell works in the optimal efficiency range, and store excess electrical energy in the lithium battery to maintain the lithium battery SOC at 60%-70%; the hydrogen replenishment system is in standby mode, and if the power hydrogen storage system is close to the replenishment threshold, prepare for replenishment in advance. (3) Acceleration mode: Increase the hydrogen supply flow rate to improve the power output of the fuel cell, and at the same time control the release of electrical energy from the lithium battery to assist in power supply to meet the power demand during acceleration; adjust the replenishment start threshold. If the current hydrogen storage system is close to S1, start the replenishment mode in advance to avoid insufficient hydrogen during acceleration and power decay; when the SOC of the lithium battery drops rapidly, appropriately increase the replenishment flow rate to ensure that the fuel cell continues to output high power. (4) Climbing operation: Increase the hydrogen supply flow rate, the fuel cell outputs full power, and the lithium battery provides full auxiliary power supply to ensure sufficient climbing power; start the booster module to increase the hydrogen pressure of the power hydrogen storage system to ensure stable hydrogen supply; if the pressure of the tube bundle storage tank is insufficient, prioritize the replenishment of the power hydrogen storage system and suspend the hydrogen output of the transport pipeline; monitor the temperature and voltage of the lithium battery in real time to avoid over-discharge damage. (5) Downhill condition: Reduce hydrogen supply flow, fuel cell output at low power, make full use of vehicle gravitational potential energy to drive, start energy recovery system, convert braking energy into electrical energy and store it in lithium battery, quickly increase lithium battery SOC; at the same time, speed up hydrogen replenishment, take advantage of the low power demand of downhill condition to quickly replenish the power hydrogen storage system, store hydrogen for subsequent conditions, and realize efficient recovery and utilization of hydrogen energy and electrical energy.

[0013] Furthermore, it also includes emergency response procedures: when the safety protection system detects hydrogen leakage, abnormal pressure, abnormal temperature, or abnormal lithium battery status, the control system immediately interrupts the hydrogen dispatch process and executes preset emergency operations, including closing all valves, stopping fuel cell operation, starting the ventilation system, and switching to lithium battery emergency power supply mode.

[0014] Furthermore, in the hydrogen leak emergency response: when the hydrogen leak sensor detects that the hydrogen concentration exceeds a preset threshold, the control system immediately triggers an audible and visual alarm and simultaneously performs the following operations: closes all valves to cut off hydrogen transmission; stops the fuel cell from operating; activates the vehicle's ventilation system to accelerate hydrogen diffusion; uploads the leak location and concentration data to the back-end monitoring center via the communication module; if the lithium battery is in normal condition, switches to the lithium battery emergency power supply mode to maintain the vehicle's low-speed driving to a safe area; if the leak is small and controllable, initiates the emergency leak sealing process, and restarts the system after the leak is cleared. Pressure Anomaly Emergency: When the pressure in the tube bundle storage tank exceeds the rated pressure, the safety valve automatically releases pressure, the control system triggers an alarm, and at the same time, hydrogen dispatching and fuel cell operation are stopped. The valve opening is adjusted, and the system is restarted after the pressure drops to a safe range. If the pressure continues to rise, the emergency pressure relief device is activated to force pressure relief and prevent equipment explosion. Emergency response to abnormal temperature: When the ambient temperature is below -30℃ and the fuel cell cannot start normally, start the preheating system to heat the fuel cell and hydrogen storage system. After the temperature rises above -20℃, start the fuel cell. When the hydrogen temperature exceeds 50℃ or falls below -40℃, stop hydrogen distribution and start the temperature regulation device. After the temperature returns to normal, resume operation. When the lithium battery temperature exceeds 55℃, stop lithium battery charging and discharging and start the cooling device to prevent battery damage. Emergency power interruption: When the fuel cell malfunctions and power is interrupted, the control system immediately switches to the lithium battery emergency power supply mode to maintain the vehicle's low-speed driving.

[0015] The beneficial effects of adopting this technical solution are: Using hydrogen fuel cell power: It completely eliminates the dependence on fuel oil, achieves zero exhaust emissions, and significantly reduces operating costs and environmental noise.

[0016] Improved range and economy: By coordinating the use of dual hydrogen storage systems, interference between hydrogen used for power and hydrogen used for transportation is avoided. Tests show that compared to traditional fuel-powered hydrogen transport vehicles, the driving range is increased by 62.5%, operating costs are reduced by approximately 40%, and hydrogen utilization rate reaches as high as 92%.

[0017] Enhanced operational stability: A complex control strategy combining fuzzy adaptive PID and MPC precisely matches power demand with hydrogen supply, resulting in minimal power fluctuations, avoiding frequent start-stop cycles of the fuel cell, and extending its service life.

[0018] Enhanced safety redundancy: The system-wide collaborative safety monitoring and emergency response mechanism, combined with emergency power supply from lithium batteries, can effectively cope with emergencies such as hydrogen leaks and power interruptions, minimizing transportation risks.

[0019] Strong environmental adaptability: Through adaptive adjustment of operating conditions and hydrogen preheating / cooling modules, it can maintain stable and reliable power output even in harsh environments such as low temperature. Attached Figure Description

[0020] Figure 1 This is a system architecture diagram of a hydrogen-powered hydrogen transport vehicle according to an embodiment of the present invention; Figure 2 This is a control strategy logic diagram of a hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle in an embodiment of the present invention; Figure 3 This is a flowchart of a hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below with reference to the accompanying drawings.

[0022] In this embodiment, as Figure 1 As shown, the hydrogen transport vehicle includes a tubular transport hydrogen storage system for storing and transporting hydrogen, a power hydrogen storage system dedicated to supplying hydrogen to the hydrogen fuel cell, a hybrid power system including the hydrogen fuel cell and lithium battery, a control system, and a safety protection system. The hydrogen scheduling system connects the tubular transport hydrogen storage system and the power hydrogen storage system to achieve coordinated hydrogen scheduling between the two systems. The power hydrogen storage system is connected to the hydrogen fuel cell system to provide a stable supply of hydrogen to the fuel cell. The hydrogen fuel cell system and the lithium battery energy storage system are bidirectionally connected to achieve coordinated power output and energy recovery. The control system is connected to all systems to achieve global coordinated control. The safety protection system is distributed around each key component to ensure the safe operation of the system.

[0023] Based on the system of this hydrogen transport vehicle, this invention proposes a hydrogen dispatching method for hydrogen-powered hydrogen transport vehicles, such as... Figure 2 and Figure 3 As shown, the steps include: Initialization steps: The control system performs a self-check and collects the initial parameters of each system, and presets the supplementary start-up threshold and stop threshold of the power hydrogen storage system; Conventional power operation steps: The control system adjusts the hydrogen supply from the hydrogen storage system to the hydrogen fuel cell according to the power demand through a fuzzy adaptive PID control algorithm. The hydrogen fuel cell and lithium battery work together to provide power. The fuel cell converts hydrogen energy into electrical energy to power the hydrogen transport vehicle. The lithium battery serves as an auxiliary energy storage unit to achieve power output and energy recovery, maintaining the lithium battery SOC within a reasonable range. Supplementary judgment steps: Real-time acquisition of the hydrogen storage capacity S and pressure P of the power hydrogen storage system. When S is less than the supplementary start threshold S1 or P is less than the supplementary start threshold P1, a predictive control algorithm is used to determine whether to enter the hydrogen supplementation mode. Hydrogen replenishment steps: Open the hydrogen replenishment valve between the tube bundle transport hydrogen storage system and the power hydrogen storage system, and the tube bundle transport hydrogen storage system replenishes hydrogen to the power hydrogen storage system; during the replenishment process, the controller calculates the replenishment amount based on the predicted consumption rate, the current storage amount S, and the replenishment stop storage amount threshold S2, and dynamically adjusts the replenishment flow rate; Stop replenishment step: When the hydrogen storage capacity S≥S2 and the pressure P≥P2 of the power hydrogen storage system, P2 is the replenishment pressure stop threshold. Close the hydrogen replenishment valve, stop replenishment, and return to the normal power steps. The adaptive operating condition step involves identifying the operating conditions of the hydrogen transport vehicle and dynamically adjusting the fuzzy adaptive PID control parameters in the conventional power step, as well as the replenishment start threshold and replenishment flow rate in the hydrogen replenishment step, based on different operating conditions. This dynamically adjusts the hydrogen supply flow rate, replenishment parameters, fuel cell power output, and lithium battery charge / discharge status according to different operating conditions, achieving synergistic optimization of the dual hydrogen storage system, fuel cell, and lithium battery. Simultaneously, it monitors the operating status of each system in real time to promptly detect anomalies.

[0024] As an optimization of the above embodiment, in the conventional power step, the fuzzy adaptive PID control algorithm uses the difference between the required power and the actual output power, as well as the state of charge (SOC) of the lithium battery, as inputs. It adjusts the proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd of the PID controller in real time through a fuzzy rule base. This avoids the problems of response lag and large overshoot inherent in traditional PID control. By adjusting the power output of the fuel cell and linking it with the lithium battery energy storage system, precise matching of power supply and demand is achieved, constructing a power synergy mode of "fuel cell as the main component and lithium battery as the auxiliary component."

[0025] In the conventional power process, the adjustment algorithms for Kp, Ki, and Kd are as follows: ① Determine the membership function: Difference between input power demand and actual power e Lithium-ion battery state of charge (SOC) and output variables p, i, d The fuzzy subsets are all set to {NB, NM, NS, Z, PS, PM, PB}, representing large negative values, medium negative values, small negative values, zero, small positive values, medium positive values, and large positive values, respectively. Power difference e, lithium battery state of charge (SOC), and other parameters are established. p, i, d The universe of discourse and the membership function type are both selected as gaussmf, and the membership function can be obtained.

[0026] ② Establish fuzzy rules: The fuzzy controller obtained p, i, d This is the key point of power regulation; if the power difference... e A positive deviation and a low state of charge (SOC) of the lithium battery indicate that the power demand exceeds the actual power and requires charging and energy storage, thus necessitating an increase in output power. This pattern can be used to derive a fuzzy rule-based control table.

[0027] Table 1 Proportioning coefficients p Output rules

[0028] Table 2 Proportioning coefficients i Output rules

[0029] Table 3 Proportioning coefficientsd Output rules

[0030] Based on the above fuzzy rules, the input quantity can be obtained. e, SOC and output p, i, d The relationship between them.

[0031] ③ Defuzzification: The fuzzy results obtained from fuzzy reasoning need to be defuzzified to obtain the final result. The centroid method can be used for defuzzification.

[0032] Based on the fuzzy controller p, i, d The three values, combined with the control system's reference value, can be used to obtain the control parameters of the PID controller according to the following formula: ; In the formula: This is the reference setting value for the PID controller; This is a scaling factor.

[0033] Specifically, in the conventional power process, when power demand increases (e.g., acceleration, heavy load), the fuzzy controller increases Kp and decreases Ki to increase the fuel cell power output, while simultaneously controlling the lithium battery to release electrical energy to assist in power supply and meet the power demand; when power demand is stable, the fuzzy controller adjusts Kp, Ki, and Kd to optimal values ​​to control the fuel cell to operate in the optimal efficiency range, while storing excess electrical energy in the lithium battery to achieve energy recovery; when power demand decreases (e.g., deceleration, light load), Kp decreases and Ki increases to reduce the fuel cell power output, while simultaneously starting the lithium battery charging mode to recover excess energy and achieve the synergistic utilization of hydrogen and electrical energy.

[0034] As an optimized solution of the above embodiments, the hydrogen replenishment control strategy is used to achieve precise replenishment of the tube bundle storage tank to the power hydrogen storage system. It is the core of the coordinated operation of the dual hydrogen storage system. It adopts a predictive control algorithm, combined with the current hydrogen consumption, pressure, volume and ambient temperature of the power hydrogen storage system, to predict the hydrogen consumption rate of the power hydrogen storage system in the future period of time, thereby determining the optimal replenishment time, replenishment flow rate and replenishment amount, avoiding problems such as hydrogen waste and pressure fluctuation caused by blind replenishment, while ensuring that the hydrogen transportation task is not affected.

[0035] Threshold settings: Preset the replenishment start threshold of the power hydrogen storage system (e.g., storage threshold S1=3kg, pressure threshold P1=2.5MPa) and the replenishment stop threshold (e.g., storage threshold S2=50kg, pressure threshold P2=20MPa). The threshold parameters are dynamically adjusted according to the ambient temperature, fuel cell power demand, and lithium battery SOC status (e.g., in low temperature environments, appropriately increase the replenishment start threshold S1 to 4kg to ensure stable power supply; when the lithium battery SOC is low, appropriately accelerate the replenishment speed to ensure continuous power output of the fuel cell).

[0036] In the supplementary judgment step, the predictive control algorithm establishes a consumption prediction model based on historical real-time hydrogen consumption, hydrogen pressure, hydrogen tank volume, ambient temperature, etc., to determine whether to enter the hydrogen replenishment mode.

[0037] In the supplementary judgment step, the predictive control algorithm establishes a consumption prediction model based on real-time hydrogen consumption, hydrogen pressure, hydrogen tank volume, and ambient temperature. The specific algorithm is as follows: ① Calculate the mass of hydrogen consumed per second based on the real-time output power of the fuel cell. ; ②Establish a dynamic pressure decay model inside the tank. right Differentiate and substitute into the mass flow rate: ; Discretize into difference form: ; ③ Rolling forecast of average hydrogen consumption over a future period The remaining holding time is obtained; How long can the computational pressure remain above its current level and reach its lower limit? ; ④ Determine whether hydrogen supplementation is needed ; ⑤ Predicting multi-step pressure iterations within the time domain (rolling prediction): ; in, For the first Real-time pressure of the hydrogen storage tank at the time of sampling; This is the lower pressure threshold (minimum working pressure). This is the upper limit threshold of the pressure (pressure at which hydrogen replenishment is stopped); This is the overpressure protection threshold. The controller sampling period; Volume of the hydrogen storage tank; This is the universal gas constant; The thermodynamic temperature of the gas inside the tank This refers to the molar mass of hydrogen gas. For the hydrogen consumption mass flow rate of fuel cells; The predicted average hydrogen flow rate; Falling under pressure The remaining time; Allow time for advance hydrogen replenishment; The opening degree of the hydrogen replenishment solenoid valve is controlled by the following parameters; Power generation for fuel cells; This refers to the stack voltage; It is Faraday's constant; This refers to hydrogen utilization rate.

[0038] In the hydrogen replenishment step, the replenishment amount ΔS = S2 - S is calculated based on the current storage capacity S and the replenishment stop threshold S2. The estimated replenishment time t is determined based on the current power demand, thereby determining the optimal replenishment flow rate Q_pred = ΔS / t. The actual replenishment flow rate is then corrected using a PID algorithm in a closed loop to approximate Q_pred. This ensures that the replenishment process is completed within the preset time without affecting normal vehicle operation and hydrogen transportation. t is the predicted replenishment time, adjusted according to power demand: t = 30 min for low power demand and t = 20 min for high power demand.

[0039] In the hydrogen replenishment step, the control system collects data from the flow sensor and pressure sensor in real time, compares the actual replenishment flow rate Q_actual with the predicted replenishment flow rate Q_pred, and adjusts the opening of the flow control valve through PID control to correct the replenishment flow rate; it also links the fuel cell and lithium battery, reducing the power output of the fuel cell and switching to lithium battery auxiliary power supply when the replenishment flow rate is large, so as to avoid the replenishment process affecting the power supply.

[0040] As an optimization of the above embodiments, in the adaptive driving condition step, the identified driving conditions include idling, constant speed, acceleration, climbing, and downhill driving conditions; wherein: During ramp operation, increase the hydrogen supply flow rate, control the full power output of the fuel cell, and control the auxiliary power supply of the lithium battery. Under downhill conditions, the hydrogen supply flow rate is reduced to control the low power output of the fuel cell, and the energy recovery system is activated to charge the lithium battery, while simultaneously accelerating the replenishment of hydrogen to the power hydrogen storage system.

[0041] Specifically, hydrogen transport vehicles operate under complex and varied conditions (such as climbing, descending, acceleration, idling, heavy load, and light load). The power demand and hydrogen consumption rate vary significantly under different conditions. The adaptive adjustment strategy identifies the current driving conditions and dynamically adjusts the collaborative working parameters of the dual hydrogen storage system, fuel cell, and lithium battery to achieve adaptive matching between hydrogen scheduling and power supply, ensuring that the system architecture can operate efficiently and stably under various conditions.

[0042] Driving condition identification includes: The control system collects parameters from power sensors and vehicle speed sensors, and combines them with preset operating condition identification rules to classify driving conditions into 5 categories: idling condition, vehicle speed = 0, power demand = 0; constant speed condition, vehicle speed is stable, power demand fluctuation ≤ 10%; acceleration condition, vehicle speed increase ≥ 5km / h, power demand increase ≥ 15%; climbing condition, power demand ≥ 80% of rated power; and downhill condition, power demand ≤ 20% of rated power.

[0043] (1) Idle condition: Reduce the hydrogen supply flow rate of the power hydrogen storage system (e.g., reduce to 0.3 kg / h), turn off the booster module and hydrogen circulation pump, and maintain low power output of the fuel cell (e.g., 5 kW) to supply power only to the auxiliary systems and reduce hydrogen waste; keep the lithium battery in standby mode and keep the SOC at around 50%; at the same time, monitor the status of the power hydrogen storage system, and if hydrogen needs to be replenished, start the low-speed replenishment mode (replenishment flow rate = 0.5 kg / h) to avoid affecting the stability of the system during the replenishment process.

[0044] (2) Uniform speed operation: Maintain a stable hydrogen supply flow rate, adjust the parameters of the fuzzy adaptive PID controller to the optimal level, ensure that the fuel cell works in the optimal efficiency range, and store excess electrical energy in the lithium battery to maintain the lithium battery SOC at 60%-70%; the hydrogen replenishment system is in standby mode, and if the power hydrogen storage system is close to the replenishment threshold, prepare for replenishment in advance.

[0045] (3) Acceleration mode: Increase the hydrogen supply flow rate (to 3-5 kg / h) to improve the power output of the fuel cell, and at the same time control the lithium battery to release electrical energy to assist in power supply to meet the power demand during acceleration; adjust the replenishment start threshold. If the current hydrogen storage system is close to S1, start the replenishment mode in advance to avoid insufficient hydrogen during acceleration and power decay; when the lithium battery SOC drops rapidly, appropriately increase the replenishment flow rate to ensure that the fuel cell continues to output high power.

[0046] (4) Climbing operation: Increase the hydrogen supply flow rate (maintain at 4-5 kg / h), the fuel cell outputs full power, and the lithium battery provides full auxiliary power supply to ensure sufficient power for climbing; start the booster module to increase the hydrogen pressure of the power hydrogen storage system to ensure stable hydrogen supply; if the pressure of the tube bundle storage tank is insufficient, prioritize the replenishment of the power hydrogen storage system and suspend the hydrogen output of the transport pipeline (if it is not in the hydrogen unloading state); monitor the temperature and voltage of the lithium battery in real time to avoid over-discharge damage.

[0047] (5) Downhill condition: Reduce hydrogen supply flow (down to 0.8-1.2 kg / h), the fuel cell outputs low power, makes full use of the vehicle's gravitational potential energy to drive, starts the energy recovery system, converts braking energy into electrical energy and stores it in the lithium battery, and quickly increases the lithium battery SOC; at the same time, speed up the hydrogen replenishment speed (replenishment flow = 4-5 kg / h), take advantage of the low power demand in the downhill condition to quickly complete the replenishment of the power hydrogen storage system, store hydrogen for subsequent conditions, and realize the efficient recovery and utilization of hydrogen energy and electrical energy.

[0048] As an optimization of the above embodiments, an emergency handling step is also included. When the safety protection system detects hydrogen leakage, abnormal pressure, abnormal temperature, or abnormal lithium battery status, the control system immediately interrupts the hydrogen dispatching process and executes preset emergency operations, including closing all valves, stopping the operation of the fuel cell, starting the ventilation system, and switching to the emergency power supply mode of the lithium battery, to ensure the safety and stability of the entire system architecture and protect the safety of the hydrogen transport vehicle and personnel.

[0049] Hydrogen Leakage Emergency Response: When the hydrogen leak sensor detects that the hydrogen concentration exceeds the preset threshold, the control system immediately triggers an audible and visual alarm and performs the following operations simultaneously: closes all valves to cut off hydrogen transmission; stops the fuel cell from operating; activates the vehicle's ventilation system to accelerate hydrogen diffusion; uploads the leak location and concentration data to the back-end monitoring center via the communication module; if the lithium battery is in normal condition, switches to the lithium battery emergency power supply mode to maintain the vehicle's low-speed driving to a safe area; if the leak is small and controllable, initiates the emergency leak sealing process, and restarts the system after the leak is eliminated.

[0050] Pressure Anomaly Emergency: When the pressure in the tubular storage tank exceeds the rated pressure (e.g., 35MPa), the safety valve automatically releases pressure, the control system triggers an alarm, and hydrogen dispatching and fuel cell operation are stopped. The valve opening is adjusted, and the system is restarted after the pressure drops to a safe range. If the pressure continues to rise, the emergency pressure relief device is activated to force pressure relief and prevent equipment explosion.

[0051] Emergency response to abnormal temperature: When the ambient temperature is below -30℃ and the fuel cell cannot start normally, start the preheating system to heat the fuel cell and the hydrogen storage system. After the temperature rises above -20℃, start the fuel cell. When the hydrogen temperature exceeds 50℃ or falls below -40℃, stop hydrogen distribution and start the temperature regulation device (heating or cooling). After the temperature returns to normal, resume operation. When the lithium battery temperature exceeds 55℃, stop lithium battery charging and discharging and start the cooling device to prevent battery damage.

[0052] Emergency power interruption: When the fuel cell malfunctions and power is interrupted, the control system immediately switches to the lithium battery emergency power supply mode to maintain the vehicle's low-speed driving (≤20km / h).

[0053] To verify the practicality and advancement of this invention, a tube-type hydrogen transport vehicle (traditional fuel-powered) was selected for modification. Following the collaborative architecture and control strategy of this invention, the original fuel-powered system was removed, and a hydrogen fuel cell, a dual hydrogen storage system, a lithium battery energy storage system, and related control and safety components were installed. Actual road testing was conducted, and the test conditions and results are as follows: 1. Test conditions: Core system parameters: After modification, the total hydrogen storage capacity of the hydrogen transport vehicle's tube bundle tank group is 300kg (working pressure 35MPa), the hydrogen storage capacity of the power hydrogen storage system is 55kg (working pressure 35MPa), the hydrogen fuel cell power is 130kW, and the lithium battery capacity is 50kWh. Test route: urban roads + highways + mountain roads (including uphill and downhill sections), with a total distance of 500km, including 100km of urban roads, 300km of highways and 100km of mountain roads; Environmental conditions: ambient temperature 15-25℃, humidity 50%-60%, no extreme weather; Comparison object: Traditional fuel-powered hydrogen transport vehicle with tubular tubes before modification (same model, same load capacity); Test indicators: driving range, energy consumption, operational stability, hydrogen utilization rate, and safety performance.

[0054] 2. Implementation results data are shown in Table 4: Table 4

[0055] The test data shows that, by innovatively adopting fuel cell power and constructing a collaborative architecture of dual hydrogen storage, fuel cell, and lithium battery, this invention has the following significant advantages compared to traditional fuel-powered hydrogen transport vehicles: 1. Revolutionary upgrade of the power system: For the first time, fuel cells are applied to hydrogen transport vehicles, completely eliminating the dependence on fuel power, with zero exhaust emissions and no noise pollution, which is in line with the green and low-carbon development concept of the hydrogen energy industry and solves the pain point of serious pollution of traditional hydrogen transport vehicles; at the same time, the fuel cell and lithium battery work together to provide power, resulting in more stable power output and adapting to various transportation conditions.

[0056] 2. Significantly improved range and economy: Through the coordinated scheduling and precise control of the dual hydrogen storage system, the driving range has been increased from 400km to 650km, an increase of 62.5%, which can meet the needs of long-distance hydrogen transportation; the hydrogen consumption is only 8kg / 100km, compared with the 35L / 100km of traditional fuel hydrogen transport vehicles, the operating cost is reduced by 40%, and long-term use can significantly save operating expenses; at the same time, the hydrogen utilization rate reaches 92%, realizing the efficient use of hydrogen energy and reducing waste.

[0057] 3. Significantly improved system operational stability: Adopting a collaborative architecture of dual hydrogen storage, fuel cells, and lithium batteries, combined with complex control strategies, the vehicle can run continuously for 500km without power interruption, with power fluctuations controlled within 5%. Compared with traditional fuel-powered hydrogen transport vehicles, stability is improved by 50%, avoiding power fluctuation problems under complex operating conditions and ensuring smooth transportation. The auxiliary energy storage function of lithium batteries further enhances the stability and reliability of power supply.

[0058] 4. Outstanding safety performance: The system's collaborative safety protection system can quickly respond to risks such as hydrogen leakage, abnormal pressure, and lithium battery failure, ensuring transportation safety; the dual protection of emergency hydrogen replenishment and emergency power supply from the lithium battery further reduces transportation risks; at the same time, the hydrogen fuel cell has zero exhaust emissions, with the only byproduct being pure water, achieving "purification while driving" and completely solving the exhaust pollution problem of traditional fuel-powered hydrogen transport vehicles.

[0059] Furthermore, through actual testing, the collaborative architecture and control strategy of this invention can accurately match different driving conditions, and the hydrogen replenishment scheduling is timely and precise, avoiding hydrogen waste and pressure fluctuations caused by blind replenishment. The service life of the fuel cell is expected to reach more than 20,000 hours, which is more than 30% longer than existing fuel cell power applications, further reducing maintenance costs.

[0060] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for hydrogen dispatching in a hydrogen-powered hydrogen transport vehicle, characterized in that, The hydrogen transport vehicle includes a tubular transport hydrogen storage system for storing and transporting hydrogen, a power hydrogen storage system dedicated to supplying hydrogen to the hydrogen fuel cell, a hybrid power system comprising the hydrogen fuel cell and a lithium battery, a control system, and a safety protection system. The hydrogen scheduling system connects the tubular transport hydrogen storage system and the power hydrogen storage system to achieve coordinated hydrogen scheduling between the two systems. The power hydrogen storage system is connected to the hydrogen fuel cell system to provide a stable supply of hydrogen to the fuel cell. The hydrogen fuel cell system and the lithium battery energy storage system are bidirectionally connected to achieve coordinated power output and energy recovery. The control system is connected to all systems to achieve global coordinated control. The safety protection system is distributed around each key component to ensure safe system operation. The method based on the hydrogen transport vehicle includes the following steps: Initialization steps: The control system performs a self-check and collects the initial parameters of each system, and presets the supplementary start-up threshold and stop threshold of the power hydrogen storage system; Conventional power process: The control system adjusts the hydrogen supply from the power storage system to the hydrogen fuel cell according to the power demand through a fuzzy adaptive PID control algorithm, and the hydrogen fuel cell and lithium battery work together to provide power. Supplementary judgment steps: Real-time acquisition of the hydrogen storage capacity S and pressure P of the power hydrogen storage system. When S is less than the supplementary start threshold S1 or P is less than the supplementary start threshold P1, a predictive control algorithm is used to determine whether to enter the hydrogen supplementation mode. Hydrogen replenishment steps: Open the hydrogen replenishment valve between the tube bundle transport hydrogen storage system and the power hydrogen storage system, and the tube bundle transport hydrogen storage system replenishes hydrogen to the power hydrogen storage system; during the replenishment process, the controller calculates the replenishment amount based on the predicted consumption rate, the current storage amount S, and the replenishment stop storage amount threshold S2, and dynamically adjusts the replenishment flow rate; Stop replenishment step: When the hydrogen storage capacity S≥S2 and the pressure P≥P2 of the power hydrogen storage system, P2 is the replenishment pressure stop threshold. Close the hydrogen replenishment valve, stop replenishment, and return to the normal power steps. Operating condition adaptive step: Identify the operating conditions of the hydrogen transport vehicle, and dynamically adjust the fuzzy adaptive PID control parameters in the conventional power step and the replenishment start threshold and replenishment flow rate in the hydrogen replenishment step according to different operating conditions.

2. The hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to claim 1, characterized in that, In the conventional power process, the fuzzy adaptive PID control algorithm uses the difference between the required power and the actual output power, as well as the state of charge (SOC) of the lithium battery, as inputs. It adjusts the proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd of the PID controller in real time through a fuzzy rule base.

3. The hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to claim 2, characterized in that, In the conventional power process, when power demand increases, the fuel cell power output is increased, and the lithium battery is controlled to release electrical energy to assist in power supply, thus meeting the power demand. When power demand is stable, the current fuzzy controller parameters Kp, Ki, and Kd are maintained to control the fuel cell to operate in the optimal efficiency range, while excess electrical energy is stored in the lithium battery to achieve energy storage. When power demand decreases, the fuel cell power output is reduced, and the lithium battery charging mode is activated to recover excess energy, thus achieving the synergistic utilization of hydrogen and electrical energy.

4. The hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to claim 1, characterized in that, In the supplementary judgment step, the control algorithm establishes a consumption prediction model based on real-time hydrogen consumption, hydrogen pressure, hydrogen tank volume, and ambient temperature to determine... Broken Should we enter hydrogen replenishment mode? 5. The hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to claim 1, characterized in that, In the hydrogen replenishment step, the replenishment amount ΔS = S2 - S is calculated based on the current storage S and the replenishment stop threshold S2; the estimated replenishment time t is determined based on the current power demand, and then the optimal replenishment flow rate Q_pred = ΔS / t is determined; and the actual replenishment flow rate is corrected through a closed-loop PID algorithm to make it approach Q_pred.

6. A hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to claim 5, characterized in that, In the hydrogen replenishment step, the control system collects data from the flow sensor and pressure sensor in real time, compares the actual replenishment flow rate Q_actual with the predicted replenishment flow rate Q_pred, and adjusts the opening of the flow control valve through PID control to correct the replenishment flow rate; it also links the fuel cell and lithium battery, reducing the power output of the fuel cell and switching to lithium battery auxiliary power supply when the replenishment flow rate is large, so as to avoid the replenishment process affecting the power supply.

7. The hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to claim 1, characterized in that, In the adaptive driving condition step, the identified driving conditions include idling, constant speed, acceleration, climbing, and descending conditions; wherein: During ramp operation, increase the hydrogen supply flow rate, control the full power output of the fuel cell, and control the auxiliary power supply of the lithium battery. Under downhill conditions, the hydrogen supply flow rate is reduced to control the low power output of the fuel cell, and the energy recovery system is activated to charge the lithium battery, while simultaneously accelerating the replenishment of hydrogen to the power hydrogen storage system.

8. A hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to claim 7, characterized in that, Driving condition identification includes: The control system collects parameters from power sensors and vehicle speed sensors, and combines them with preset operating condition identification rules to classify driving conditions into 5 categories: idling condition, vehicle speed = 0, power demand = 0; constant speed condition, vehicle speed is stable, power demand fluctuation ≤ 10%; acceleration condition, vehicle speed increase ≥ 5km / h, power demand increase ≥ 15%; climbing condition, power demand ≥ 80% of rated power; and downhill condition, power demand ≤ 20% of rated power. (1) Idle condition: Reduce the hydrogen supply flow of the power hydrogen storage system, turn off the booster module and hydrogen circulation pump, and maintain low power output of the fuel cell to supply power only to the auxiliary systems, thereby reducing hydrogen waste; the lithium battery is kept in standby mode and the SOC is kept at about 50%; at the same time, monitor the status of the power hydrogen storage system, and if hydrogen needs to be added, start the low-speed replenishment mode to avoid affecting the stability of the system during the replenishment process. (2) Uniform speed operation: Maintain a stable hydrogen supply flow rate, adjust the parameters of the fuzzy adaptive PID controller to the optimal level, ensure that the fuel cell works in the optimal efficiency range, and store excess electrical energy in the lithium battery to maintain the lithium battery SOC at 60%-70%; the hydrogen replenishment system is in standby mode, and if the power hydrogen storage system is close to the replenishment threshold, prepare for replenishment in advance. (3) Acceleration mode: Increase the hydrogen supply flow rate to improve the power output of the fuel cell, and at the same time control the release of electrical energy from the lithium battery to assist in power supply to meet the power demand during acceleration; adjust the replenishment start threshold. If the current hydrogen storage system is close to S1, start the replenishment mode in advance to avoid insufficient hydrogen during acceleration and power decay; when the SOC of the lithium battery drops rapidly, appropriately increase the replenishment flow rate to ensure that the fuel cell continues to output high power. (4) Climbing operation: Increase the hydrogen supply flow rate, the fuel cell outputs full power, and the lithium battery provides full auxiliary power supply to ensure sufficient climbing power; start the booster module to increase the hydrogen pressure of the power hydrogen storage system to ensure stable hydrogen supply; if the pressure of the tube bundle storage tank is insufficient, prioritize the replenishment of the power hydrogen storage system and suspend the hydrogen output of the transport pipeline; monitor the temperature and voltage of the lithium battery in real time to avoid over-discharge damage. (5) Downhill condition: Reduce hydrogen supply flow, fuel cell output at low power, make full use of vehicle gravitational potential energy to drive, start energy recovery system, convert braking energy into electrical energy and store it in lithium battery, quickly increase lithium battery SOC; at the same time, speed up hydrogen replenishment, take advantage of the low power demand of downhill condition to quickly replenish the power hydrogen storage system, store hydrogen for subsequent conditions, and realize efficient recovery and utilization of hydrogen energy and electrical energy.

9. A hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to claim 1, characterized in that, It also includes emergency response steps: when the safety protection system detects hydrogen leakage, abnormal pressure, abnormal temperature, or abnormal lithium battery status, the control system immediately interrupts the hydrogen dispatch process and executes preset emergency operations, including closing all valves, stopping fuel cell operation, starting the ventilation system, and switching to lithium battery emergency power supply mode.

10. A hydrogen dispatching method for a hydrogen-powered hydrogen transport vehicle according to claim 9, characterized in that, Hydrogen Leakage Emergency Response: When the hydrogen leak sensor detects that the hydrogen concentration exceeds the preset threshold, the control system immediately triggers an audible and visual alarm and performs the following operations simultaneously: closes all valves to cut off hydrogen transmission; stops the fuel cell from operating; activates the vehicle's ventilation system to accelerate hydrogen diffusion; and uploads the leak location and concentration data to the back-end monitoring center via the communication module. If the lithium battery is in normal condition, switch to the lithium battery emergency power supply mode and maintain the vehicle at a low speed to a safe area; if the leakage is small and controllable, start the emergency leak sealing process, and restart the system after the leak is eliminated. Pressure Anomaly Emergency: When the pressure in the tube bundle storage tank exceeds the rated pressure, the safety valve automatically releases pressure, the control system triggers an alarm, and at the same time, hydrogen dispatching and fuel cell operation are stopped. The valve opening is adjusted, and the system is restarted after the pressure drops to a safe range. If the pressure continues to rise, the emergency pressure relief device is activated to force pressure relief and prevent equipment explosion. Emergency response to abnormal temperature: When the ambient temperature is below -30℃ and the fuel cell cannot start normally, start the preheating system to heat the fuel cell and hydrogen storage system. After the temperature rises above -20℃, start the fuel cell. When the hydrogen temperature exceeds 50℃ or falls below -40℃, stop hydrogen distribution and start the temperature regulation device. After the temperature returns to normal, resume operation. When the lithium battery temperature exceeds 55℃, stop lithium battery charging and discharging and start the cooling device to prevent battery damage. Emergency power interruption: When the fuel cell malfunctions and power is interrupted, the control system immediately switches to the lithium battery emergency power supply mode to maintain the vehicle's low-speed driving.

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