All-in-one controller and system for hydrogen energy vehicle

Abstract

The utility model provides an all-in-one controller and system for a hydrogen energy vehicle, and relates to the technical field of electronic power. A main control unit, a power supply module, a motor controller and a fuel cell stack controller are integrated; the motor controller controls the running state of the motor; the fuel cell stack controller controls the running state of the fuel cell stack; the interfaces are used for connecting the motor and the fuel cell stack; and the main control unit communicates with the motor controller and the fuel cell stack controller, and performs dynamic cooperative control on the motor and the fuel cell stack, so as to solve the problems of low integration level and low control efficiency of the existing controller.

Description

Technical Field

[0001] This utility model relates to the field of electronic and electrical technology, and in particular to an all-in-one controller and system for hydrogen fuel cell vehicles. Background Technology

[0002] Hydrogen energy is a clean and efficient form of energy with advantages such as zero emissions and high energy density, and is widely used in various modes of transportation, such as cars, buses, and trains. In the field of electric vehicles, hydrogen fuel cell vehicles have become one of the future development directions of transportation due to their advantages such as zero emissions and long driving range. The motor controller is an important component of electric vehicles, responsible for driving and controlling the motor, and its performance directly affects the power output and energy utilization efficiency of the electric vehicle.

[0003] Existing hydrogen-powered electric bicycles typically employ separate fuel cell stack controllers and motor controllers, with each controller responsible for managing the fuel cell stack and driving the motor, respectively. While this separate design allows each controller to perform its function, it suffers from problems such as system complexity, high cost, and large space occupation. Furthermore, because communication and coordinated control between the two controllers rely on external wiring and interfaces, the system's reliability and stability are somewhat affected.

[0004] A significant challenge is how to achieve large-scale production and widespread application of controllers by optimizing design, reducing production costs, and improving production efficiency. Utility Model Content

[0005] In order to overcome the above-mentioned technical defects, the purpose of this utility model is to provide an all-in-one controller and system for hydrogen fuel cell vehicles, so as to solve the problems of low integration and low control efficiency of existing controllers.

[0006] This utility model discloses an all-in-one controller for hydrogen fuel cell vehicles.

[0007] It integrates the main control unit, power module, motor controller and fuel cell stack controller;

[0008] The motor controller controls the operating status of the motor;

[0009] The fuel cell stack controller controls the operating status of the fuel cell stack;

[0010] It also includes several interfaces for connecting the motor and the fuel cell stack;

[0011] The main control unit communicates with the motor controller and the fuel cell stack controller to perform dynamic and coordinated control of the motor and the fuel cell stack.

[0012] Preferably, the motor controller includes a power assist sensor monitoring module, a left and right brake lever control module, a motor module, and a central control module;

[0013] The vehicle's operating status is monitored and controlled through the power assist sensor and the left and right brake lever control modules;

[0014] The vehicle's output power is monitored and controlled through the motor module;

[0015] The central control module monitors and controls vehicle operating parameters.

[0016] Preferably, the fuel cell stack controller includes a stack control unit, a solenoid valve control unit, and a hydrogen storage unit control unit;

[0017] The fuel cell stack control unit monitors and controls the fuel cell stack operating status, including a fuel cell stack control module, a fuel cell stack heat dissipation control module, and a fuel cell stack temperature sensing control module;

[0018] The solenoid valve control unit monitors and controls the on / off state of each solenoid valve in the fuel cell stack, including a pressure transmitter control module, an intake solenoid valve control module, a pressure relief solenoid valve control module, and an exhaust solenoid valve control module.

[0019] The hydrogen storage unit control system monitors and controls the operating status of the hydrogen storage unit, including a hydrogen storage heating control module, a hydrogen storage temperature sensing control module, and a hydrogen storage card reader antenna control module.

[0020] Preferably, the main control unit dynamically optimizes the energy conversion between the motor and the fuel cell stack based on the stack operating status, vehicle operating status, and motor energy consumption fed back by the fuel cell stack controller and the motor controller.

[0021] Preferably, the main control unit monitors the operating status of the fuel cell stack and the motor in real time, and automatically triggers fault warning and / or protection operations when an abnormality is detected.

[0022] Preferably, the main control unit is equipped with a PID control algorithm to control the power output of the fuel cell stack and the motor.

[0023] Preferably, the main control unit runs multi-threaded tasks to control the motor and the fuel cell stack.

[0024] Preferably, the controller also integrates multiple different types of communication interfaces to communicate with other control systems for coordinated control.

[0025] This utility model also provides an all-in-one control system for hydrogen fuel cell vehicles.

[0026] Includes the controller described in any of the above;

[0027] It also includes a fuel cell stack, an intake solenoid valve, a hydrogen storage tank, a heating module, a pressure transmitter, a pressure relief solenoid valve, an exhaust solenoid valve, various temperature sensors, left and right brake levers, a power assist sensor, and a motor, all of which are connected to the controller via an interface.

[0028] The main control unit, motor controller, and fuel cell stack controller in the controller perform dynamic coordinated control of the motor and fuel cell stack.

[0029] Preferably, the motor controller monitors and controls the power assist sensor, left and right brake levers, and motor respectively through the sensor monitoring module, left and right brake lever control module, motor module, and central control module;

[0030] The fuel cell stack controller monitors and controls the fuel cell stack, each solenoid valve, and the hydrogen storage device through the stack control unit, solenoid valve control unit, and hydrogen storage device control unit.

[0031] Compared with existing technologies, the above technical solution has the following advantages:

[0032] 1. The all-in-one controller and system provided in this application integrate the fuel cell stack controller and the motor controller, which improves the system integration and control efficiency, reduces the system complexity and failure rate, reduces external interfaces and space occupation, improves control efficiency, and reduces costs.

[0033] 2. The communication between the main control module and each unit / module in the controller can dynamically and collaboratively adjust parameters such as hydrogen supply, motor speed and torque according to the actual driving needs of the vehicle and the battery status, so as to optimize energy utilization and power output.

[0034] 3. Depending on the scenario, various modules / units can be selected for connection / control. The main control module can also monitor the operating status of the fuel cell stack and motor in real time, and promptly detect and diagnose faults; and / or, the integrated controller can also perform multi-threaded operation control to improve control efficiency. Attached Figure Description

[0035] Figure 1 These are schematic diagrams of modules in Embodiments 1 and 2 of the hydrogen fuel cell vehicle all-in-one controller and system described in this utility model;

[0036] Figure 2 These are schematic diagrams illustrating the connection between the controller and various components in Embodiments 1 and 2 of the hydrogen fuel cell vehicle all-in-one controller and system described in this utility model;

[0037] Figure 3 These are schematic diagrams illustrating the application of the controller in Embodiments 1 and 2 of the hydrogen fuel cell vehicle all-in-one controller and system described in this utility model.

[0038] Figure 4 This is a schematic diagram of the hardware structure of the multi-functional controller for hydrogen fuel cell vehicles described in this utility model.

[0039] Figure label:

[0040] 0-All-in-one controller; 1-Main control unit; 2-Power supply module; 3-Motor controller; 31-Assist sensor monitoring module; 31-1-Assist sensor; 32-Left and right brake lever control module; 32-1-Left and right brake levers; 33-Motor module; 33-1-Motor; 34-Central control module; 34-1-Central control; 4-Fuel cell stack controller; 41-Stack control unit; 411-Stack control module; 411-1-Stack; 412-Stack heat dissipation control module; 412-1-Stack fan; 413-Stack temperature sensing control module; 413-1-Stack temperature sensor; 42-Electromagnetic... Valve control unit; 421-Pressure transmitter control module; 421-1-Pressure transmitter; 422-Inlet solenoid valve control module; 422-1-Inlet solenoid valve; 423-Pressure relief solenoid valve control module; 423-1-Pressure relief solenoid valve; 424-Exhaust solenoid valve control module; 424-1-Exhaust solenoid valve; 43-Hydrogen storage unit control unit; 431-Hydrogen storage unit heating control module; 431-1-Hydrogen storage unit heating module; 432-Hydrogen storage unit temperature sensing control module; 432-1-Hydrogen storage unit temperature sensor; 433-Hydrogen storage unit card reader antenna control module; 433-1-Hydrogen storage unit card reader antenna. Detailed Implementation

[0041] The advantages of this utility model are further illustrated below with reference to the accompanying drawings and specific embodiments.

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0043] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0044] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0045] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0046] In the description of this utility model, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0047] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrating this invention and has no specific meaning in itself. Therefore, "module" and "part" can be used interchangeably.

[0048] Example 1: This example provides a multi-functional controller 0 for hydrogen fuel cell vehicles, which integrates the fuel cell stack controller 4 and the motor controller 3 into one, improving system integration and control efficiency while reducing system complexity and failure rate. For details, please refer to... Figures 1-3 It integrates a main control unit 1, a power supply module 2, a motor controller 3, and a fuel cell stack controller 4; the power supply module 2 is used to supply power, the motor controller 3 controls the operating status of the motor 33-1, and the fuel cell stack controller 4 controls the operating status of the fuel cell stack 411-1; it also includes several interfaces for connecting the motor 33-1 and the fuel cell stack 411-1 to achieve the aforementioned control.

[0049] In this embodiment, the motor controller 3 includes a power assist sensor monitoring module 31 (connected to the power assist sensor 31-1), a left and right brake lever control module 32 (connected to the left and right brake levers 32-1), a motor module 33 (connected to the motor 33-1), and a central control module 34 (connected to the unit / module / device 34-1 for central control). Specifically, the power assist sensor monitoring module 31 and the left and right brake lever control module 32 monitor and control the vehicle's operating status, such as driving, starting and stopping, acceleration, and deceleration; the motor module 33 monitors and controls the vehicle's output power and controls the vehicle speed; and the central control module 34 monitors and controls the vehicle's operating parameters, such as changing direction.

[0050] In this embodiment, the fuel cell stack controller 4 includes a stack control unit 41, a solenoid valve control unit 42, and a hydrogen storage unit 43. The stack control unit 41 monitors and controls the stack's operating status, including but not limited to a stack control module 411 (connected to stack 411-1), a stack heat dissipation control module 412 (connected to stack fan 412-1), and a stack temperature sensing control module 413 (connected to stack temperature sensor 413-1). The solenoid valve control unit 42 monitors and controls the operation of each solenoid valve in the fuel cell stack. The control modules for the hydrogen storage device include, but are not limited to, pressure transmitter control module 421 (connected to pressure transmitter 421-1), intake solenoid valve control module (connected to intake solenoid valve), pressure relief solenoid valve control module 423 (connected to pressure relief solenoid valve 423-1), and exhaust solenoid valve control module 424 (connected to exhaust solenoid valve 424-1); the hydrogen storage device control unit 43 monitors and controls the operating status of the hydrogen storage device, including but not limited to, hydrogen storage device heating control module 431, hydrogen storage device temperature sensing control module 422, and hydrogen storage device card reader antenna control module 433.

[0051] In this embodiment, the main control unit 1 communicates and / or is electrically connected to the motor controller 3 and the fuel cell stack controller 4 to perform dynamic coordinated control of the motor 33-1 and the fuel cell stack 411-1. Specifically, it can be equipped with a unified control algorithm and logic to achieve control. As an example, the main control unit 1 uses a microcontroller based on ARM Cortex-M0 and Cortex-M3, which features high performance and low power consumption. By optimizing the control algorithm and / or hardware design, the energy conversion efficiency of the fuel cell stack 411-1 and the motor 33-1 is improved, extending the vehicle's driving range.

[0052] Based on the above, as an example, the pressure transmitter 421-1, pressure relief solenoid valve 423-1, exhaust solenoid valve 424-1, temperature sensor (fuel cell temperature sensor 413-1 / hydrogen storage tank temperature sensor 432-1), motor controller 3, left and right brake levers 32-1, power assist sensor 31-1, motor 33-1, and heating unit are connected to the aforementioned units / modules through corresponding interfaces. Reliable connections between units / modules / interfaces / components are ensured, and electrical connection / communication is established with the main control unit 1 of the controller. The main control unit 1 is responsible for receiving and processing the input signals from the aforementioned components and outputting corresponding control signals according to preset control algorithms and logic. For example, the controller temperature is set to 25℃, the pressure transmitter 421-1's measurement range is 0-200KPa, the temperature sensor's measurement range is -40℃-120℃, and the motor 33-1's power is 250W.

[0053] As an illustration, the pressure transmitter 421-1 is used to monitor the working pressure of the fuel cell stack, the fuel cell stack temperature sensor 413-1 (temperature sensor) is used to monitor the working temperature of the fuel cell stack, the motor controller 3 is used to control the start, stop and running status of the motor 33-1, the left and right brake levers 32-1 and the power assist sensor 31-1 are used to detect the driver's braking intention and the applied force, the motor 33-1 is used to drive the vehicle, and the heating unit is used to heat the fuel cell stack to ensure its normal operation in low-temperature environments.

[0054] In this embodiment, the main control unit 1 is equipped with a PID control algorithm to control the power output of the fuel cell stack and the motor 33-1, and can accurately control the power output of the fuel cell stack 411-1 and the motor 33-1; further, as an option, the power module 2 inside the controller adopts a high-efficiency DC-DC converter, which can convert the DC power output by the fuel cell stack 411-1 into the AC power required by the motor 33-1, thereby improving the energy conversion efficiency.

[0055] The aforementioned dynamic system control includes, but is not limited to, energy management, fault diagnosis and protection, communication and collaborative control, and control state optimization.

[0056] In a preferred embodiment, the main control unit 1 dynamically optimizes the energy conversion between the motor 33-1 and the fuel cell stack 411-1 based on the stack operating status, vehicle operating status, and motor 33-1 energy consumption fed back by the fuel cell stack controller 4 and the motor controller 3. Specifically, the controller integrates intelligent energy management functions, enabling it to monitor the power generation status of the fuel cell stack 411-1 and the energy consumption of the motor 33-1 in real time, and rationally allocate and use energy according to a preset energy management strategy. For example, when the vehicle needs to accelerate, the controller increases the power output of the motor 33-1 and adjusts the operating status of the fuel cell stack 411-1 to ensure that the vehicle's power requirements are met; when the vehicle decelerates or brakes, the controller reduces the power output of the motor 33-1 and recovers energy to extend the vehicle's driving range.

[0057] In a preferred embodiment, the main control unit 1 monitors the operating status of the fuel cell stack 411-1 and the motor 33-1 in real time, and automatically triggers fault warnings and / or protection operations when an anomaly is detected. Specifically, the controller may have a built-in fault diagnosis system capable of monitoring the operating status of the fuel cell stack 411-1 and the motor 33-1 in real time, and promptly detecting and diagnosing faults. Once a fault is detected, the main control unit 1 will immediately take corresponding protection measures, such as controlling the cut-off of hydrogen supply and reducing the power of the motor 33-1, to reduce the escalation of the fault and ensure the safety of the vehicle and / or passengers. For example, if the temperature sensor detects that the temperature of the fuel cell stack is too high, the main control unit 1 controls the reduction of the operating power of the fuel cell stack 411-1 through the fuel cell stack controller 4 and activates the cooling system to reduce the temperature of the fuel cell stack 411-1.

[0058] In a preferred embodiment, the main control unit 1 can run multi-threaded tasks to control the motor 33-1 and the fuel cell stack 411-1, thereby improving control efficiency and achieving precise and efficient control. The controller (main control unit 1) can also have an adaptive adjustment function, automatically adjusting control parameters according to actual operating conditions to optimize control performance. This integrated design reduces the number of controllers and material costs, while also lowering system installation and maintenance costs.

[0059] In this embodiment, the controller housing is made of aluminum alloy, which provides excellent heat dissipation and electromagnetic shielding. The controller housing may also have several interfaces for connecting the fuel cell stack 411-1, the motor 33-1, and / or other control systems. Specifically, the controller can communicate with other vehicle control systems via communication interfaces such as the CAN bus to achieve information sharing and collaborative control. For example, it can communicate with the vehicle controller to receive driving commands and vehicle status information. In other words, the controller also integrates multiple different types of communication interfaces to communicate with other control systems for collaborative control.

[0060] Based on the above, the design and application of a two-in-one fuel cell stack controller for hydrogen-powered electric vehicles can be realized, improving the system's integration, efficiency, and reliability, while reducing costs and space occupation.

[0061] See Figure 4 , Figure 4 This is a schematic diagram of a hardware (physical) structure for a hydrogen fuel cell vehicle all-in-one controller 0. This controller 0 can be installed within the hydrogen fuel cell vehicle, or it can include a housing. The main control unit 1, power module 2, motor controller 3, and fuel cell stack controller 4, among other modules, are integrated within this housing and placed within the hydrogen fuel cell vehicle / the aforementioned hydrogen fuel cell vehicle all-in-one control system. The housing can have several interfaces for electrical connection and dynamic coordinated control with various components of the hydrogen fuel cell vehicle all-in-one control system via wires extending from the housing. It is understood that, as... Figure 4 As shown, the hydrogen fuel cell vehicle all-in-one controller 0 is implemented in a modular physical form, which is convenient for processing and can be directly applied to different systems.

[0062] Example 2: This utility model also provides an all-in-one control system for hydrogen fuel cell vehicles, see reference. Figures 1-3 The controller includes any one of the above embodiments; it also includes a fuel cell stack 411-1, an intake solenoid valve 422-1, a heating module (hydrogen storage heating module 431-1 / heating unit for the stack), a pressure transmitter 421-1, a pressure relief solenoid valve 423-1, an exhaust solenoid valve 424-1, various temperature sensors, left and right brake levers 32-1, a power assist sensor 31-1, a motor 33-1, and other components connected to the controller via an interface; the main control unit 1, the motor controller 3, and the fuel cell stack controller 4 in the controller perform dynamic coordinated control of the motor 33-1 and the fuel cell stack 411-1.

[0063] The above components are examples, and the corresponding interfaces and components can be adjusted according to the actual scenario or application.

[0064] Specifically, power module 2 (DC-DC) is connected to hydrogen fuel cell stack controller 2 and motor controller 3, and can adjust voltage and current, increasing or decreasing voltage as needed to match load requirements. Pressure relief solenoid valve 423-1 is connected to the hydrogen storage tank (not shown in the diagram) to improve system safety. Pressure relief solenoid valve 423-1 is a device that uses electromagnetic force to control the opening and closing of a valve, mainly used in automatic control systems to regulate fluid pressure. When the pressure in the system exceeds a preset value, the valve can be opened or closed by the electromagnet to release excess pressure, thereby protecting the system from overpressure damage.

[0065] Understandably, the positions of various components such as pressure transmitter 421-1, pressure relief solenoid valve 423-1, exhaust solenoid valve 424-1, temperature sensors (such as fuel cell stack temperature sensor 413-1, hydrogen storage tank temperature sensor 432-1, etc.), motor controller 3, left and right brake levers 32-1, power assist sensor 31-1, motor 33-1, and heating unit / heating module 431-1 can be arranged according to the interface positions set in the controller with each control unit / module to improve the integration rate and make it suitable for some small space application scenarios.

[0066] Specifically, the motor controller 3 monitors and controls the power assist sensor 31-1, left and right brake levers 32-1, and motor 33-1 respectively through the power assist sensor monitoring module 31, left and right brake lever control module 32, motor module 33, and central control module 34; the fuel cell stack controller 4 monitors and controls the fuel cell stack, various solenoid valves, and hydrogen storage device respectively through the stack control unit 41, solenoid valve control unit 42, and hydrogen storage device control unit 43. After the hardware achieves reliable connection between various components through ports, it is electrically connected to the main control unit 1 of the controller, thereby realizing dynamic coordinated control of various components through the main control unit 1.

[0067] It should be noted that the embodiments of this utility model have better implementability and are not intended to limit this utility model in any way. Any person skilled in the art may use the above-disclosed technical content to change or modify it into equivalent effective embodiments. However, any modifications or equivalent changes and modifications made to the above embodiments based on the technical essence of this utility model without departing from the content of the technical solution of this utility model shall still fall within the scope of the technical solution of this utility model.

Claims

1. A multi-functional controller for hydrogen fuel cell vehicles, characterized in that: It integrates the main control unit, power module, motor controller and fuel cell stack controller; The motor controller controls the operating status of the motor; The fuel cell stack controller controls the operating status of the fuel cell stack; It also includes several interfaces for connecting the motor and the fuel cell stack; The main control unit communicates with the motor controller and the fuel cell stack controller to perform dynamic and coordinated control of the motor and the fuel cell stack.

2. The controller according to claim 1, characterized in that: The motor controller includes a power assist sensor monitoring module, a left and right brake lever control module, a motor module, and a central control module; The vehicle's operating status is monitored and controlled through the power assist sensor and the left and right brake lever control modules; The vehicle's output power is monitored and controlled through the motor module; The central control module monitors and controls vehicle operating parameters.

3. The controller according to claim 1, characterized in that: The fuel cell stack controller includes a stack control unit, a solenoid valve control unit, and a hydrogen storage unit control unit; The fuel cell stack control unit monitors and controls the fuel cell stack operating status, including a fuel cell stack control module, a fuel cell stack heat dissipation control module, and a fuel cell stack temperature sensing control module; The solenoid valve control unit monitors and controls the on / off state of each solenoid valve in the fuel cell stack, including a pressure transmitter control module, an intake solenoid valve control module, a pressure relief solenoid valve control module, and an exhaust solenoid valve control module. The hydrogen storage unit control system monitors and controls the operating status of the hydrogen storage unit, including a hydrogen storage heating control module, a hydrogen storage temperature sensing control module, and a hydrogen storage card reader antenna control module.

4. The controller according to claim 1, characterized in that: The main control unit dynamically optimizes the energy conversion between the motor and the fuel cell stack based on the stack operating status, vehicle operating status, and motor energy consumption fed back by the fuel cell stack controller and the motor controller.

5. The controller according to claim 1, characterized in that: The main control unit monitors the operating status of the fuel cell stack and motor in real time, and automatically triggers fault warnings and / or protection operations when an abnormality is detected.

6. The controller according to claim 1, characterized in that: The main control unit is equipped with a PID control algorithm to control the power output of the fuel cell stack and the motor.

7. The controller according to claim 1, characterized in that: The main control unit runs multi-threaded tasks to control the motor and fuel cell stack.

8. The controller according to claim 1, characterized in that: The controller also integrates multiple different types of communication interfaces to communicate with other control systems for coordinated control.

9. A multi-functional control system for hydrogen fuel cell vehicles, characterized in that: Includes the controller described in any one of claims 1-8; It also includes a fuel cell stack, an intake solenoid valve, a hydrogen storage tank, a heating module, a pressure transmitter, a pressure relief solenoid valve, an exhaust solenoid valve, various temperature sensors, left and right brake levers, a power assist sensor, and a motor, all of which are connected to the controller via an interface. The main control unit, motor controller, and fuel cell stack controller in the controller perform dynamic coordinated control of the motor and fuel cell stack.

10. The control system according to claim 9, characterized in that: The motor controller monitors and controls the power assist sensor, left and right brake levers, and motor through the sensor monitoring module, left and right brake lever control module, motor module, and central control module respectively. The fuel cell stack controller monitors and controls the fuel cell stack, each solenoid valve, and the hydrogen storage device through the stack control unit, solenoid valve control unit, and hydrogen storage device control unit.

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