基于多边界层的RNO质子交换膜燃料电池发电系统状态估计研究
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摘要
针对质子交换膜燃料电池(proton exchange membrane fuel cell,PEMFC)发电系统非线性和强耦合的特性,该文提出一种适用于系统状态估计的具有多边界层的鲁棒非线性观测器(robust nonlinear observer,RNO)设计方法,用于估计空气系统的六个状态变量。基于PEMFC系统非线性6阶动态模型,在模型参数具有不确定性和噪声干扰的情况下,采用多个边界层的非线性滑模算法,产生3个非线性误差校正项实时调节系统的输出估计误差,使其满足有限时间收敛特性,并证明了鲁棒非线性观测器的稳定性。通过与传统的滑模观测器(sliding mode observer,SMO)相比较,分析所提出的多边界层鲁棒非线性观测器对6个状态变量的估计精度、收敛性和鲁棒性等方面性能。最后,实验结果表明,所设计的观测器不受系统参数变化、测量噪声及负载扰动的影响,性能明显优于传统的滑模观测器,验证该方法的正确性和有效性。
As the proton exchange membrane fuel cell(PEMFC) generation system is nonlinear and strongly coupled,in this paper, a robust nonlinear observer(RNO) with multi-boundary layer was proposed to estimate the six state variables in the PEMFC air-feed system. Based on the sixth-order nonlinear dynamic model of the PEMFC system,the nonlinear sliding mode algorithms with multiple boundary layers were used to generate three nonlinear error correction terms that were used to adjust the output estimation errors of the system and steer them to zero in finite time in the condition of parameter uncertainties and noises, moreover, the stability of RNO was also proved. Meanwhile, the accuracy, convergence property and robustness performance of the RNO with multi-boundary layer for the six states were analyzed and compared with the traditional sliding mode observer(SMO).Finally, experiment results show that the proposed RNO is not affected by the parameter variations, measurement noises and external disturbance, it performs much better than the traditional SMO, the correctness and effectiveness of the proposed method are both verified.
As the proton exchange membrane fuel cell(PEMFC) generation system is nonlinear and strongly coupled,in this paper, a robust nonlinear observer(RNO) with multi-boundary layer was proposed to estimate the six state variables in the PEMFC air-feed system. Based on the sixth-order nonlinear dynamic model of the PEMFC system,the nonlinear sliding mode algorithms with multiple boundary layers were used to generate three nonlinear error correction terms that were used to adjust the output estimation errors of the system and steer them to zero in finite time in the condition of parameter uncertainties and noises, moreover, the stability of RNO was also proved. Meanwhile, the accuracy, convergence property and robustness performance of the RNO with multi-boundary layer for the six states were analyzed and compared with the traditional sliding mode observer(SMO).Finally, experiment results show that the proposed RNO is not affected by the parameter variations, measurement noises and external disturbance, it performs much better than the traditional SMO, the correctness and effectiveness of the proposed method are both verified.
引文
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[19]Pilloni A,Pisano A,Usai E.Observer-based air excess ratio control of a PEM fuel cell system via high-order sliding mode[J].IEEE Transactions on Industrial Electronics,2015,62(8):5236-5246.
[20]邓惠文,李奇,陈维荣.适用于PEMFC系统过氧化估计的HOSM观测器研究[J].中国电机工程学报,2017,37(17):5058-5068.Deng Huiwen,Li Qi,Chen Weirong.Research on HOSMobserver for OER estimation of PEMFC system[J].Proceedings of the CSEE,2017,37(17):5058-5068(in Chinese).
[21]Kunusch C,Puleston P,Mayosky M.Sliding-mode control of PEM fuel cells[M].London:Springer,2012:105-128.
[22]Rakhtala S M.Control of oxygen excess ratio in a PEMfuel cell system using high-order sliding-mode controller and observer[J].Turkish Journal of Electrical Engineering&Computer Sciences,2015,23(1):255-278.
[23]Pacho J L,Usai E,Husar A,et al.Enhancing the efficiency and lifetime of a proton exchange membrane fuel cell using nonlinear model predictive control with nonlinear observation[J].IEEE Transactions on Industrial Electronics,2017,64(8):6649-6659.
[24]Liu J,Lin W,Alsaadi F,et al.Nonlinear observer design for PEM fuel cell power systems via second order sliding mode technique[J].Neurocomputing,2015,168(C):145-151.
[25]Rakhtala S M,Noei A R,Ghaderi R,et al.Design of finite-time high-order sliding mode state observer:Apractical insight to PEM fuel cell system[J].Journal of Process Control,2014,24(1):203-224.
[26]Levant A.Quasi-continuous high-order sliding-mode controllers[J].IEEE Transactions on Automatic Control,2005,50(11):1812-1816.
[27]Levant A.Higher-order sliding modes,differentiation and output-feedback control[J].International Journal of Control,2003,76(9-10):924-941.
[28]Levant A,Shustin B.Quasi-Continuous MIMO Sliding Mode Control[J].IEEE Transactions on Automatic Control,2018,63(9):3068-3074.
[29]Pisano A,Usai E.Sliding mode control:A survey with applications in math[J].Mathematics&Computers in Simulation,2011,81(5):954-979.
[2]Li Q,Chen W,Liu Z,et al.Net power control based on linear matrix inequality for proton exchange membrane fuel cell system[J].IEEE Transactions on Energy Conversion,2014,29(1):1-8.
[3]Deng H,Li Q,Liu Z,et al.Low frequency current ripple mitigation of two stage three-phase PEMFC generation systems[J].Journal of Power Electronics,2016,16(6):2243-2257.
[4]王玲,李欣然,马亚辉,等.燃料电池发电系统的机电动态模型[J].中国电机工程学报,2011,31(22):40-47.Wang Ling,Ling Xinran,Ma Yahui,et al.Dynamic model of fuel cell power generating system[J].Proceedings of the CSEE,2011,31(22):40-47(in Chinese).
[5]赵思臣,王奔,谢玉洪,等.无外增湿质子交换膜燃料电池线性温度扫描实验[J].中国电机工程学报,2014,34(26):4528-4533.Zhao Sichen,Wang Ben,Xie Yuhong,et al.The linear temperature scanning experiment of the non-external humidification proton exchange membrane fuel cell[J].Proceedings of the CSEE,2014,34(26):4528-4533(in Chinese).
[6]Li Q,Chen W,Wang Y,et al.Parameter identification for PEM fuel-cell mechanism model based on effective informed adaptive particle swarm optimization[J].IEEETransactions on Industrial Electronics,2011,58(6):2410-2419.
[7]Baroud Z,Gazzam N,Benalia A,et al.Algebraic observer design for PEM fuel cell system[C]//International Conference on Modelling,Identification and Control.Algiers,Algeria:IEEE,2016:966-970.
[8]Liu J,Laghrouche S,Ahmed F S,et al.PEM fuel cell air-feed system observer design for automotive applications:An adaptive numerical differentiation approach[J].International Journal of Hydrogen Energy,2014,39(30):17210-17221.
[9]Morales J,Astorga C,Reyes J,et al.Application of a nonlinear observer for estimation of variables in a PEMfuel cell system[J].Journal of the Brazilian Society of Mechanical Sciences and Engineering,2017,39(4):1323-1332.
[10]Arcak M,Gorgun H,Pedersen L M,et al.A nonlinear observer design for fuel cell hydrogen estimation[J].IEEETransactions on Control Systems Technology,2004,12(1):101-110.
[11]Vijay P,TadéM O,Ahmed K,et al.Simultaneous estimation of states and inputs in a planar solid oxide fuel cell using nonlinear adaptive observer design[J].Journal of Power Sources,2014,248(248):1218-1233.
[12]Pukrushpan J T,Stefanopoulou A G,Peng H.Control of fuel cell breathing[J].IEEE Transactions on Control Systems,2004,24(2):30-46.
[13]Murshed A,Huang B,Nandakumar K.Estimation and control of solid oxide fuel cell system[J].Computers&Chemical Engineering,2010,34(1):96-111.
[14]Vepa R.Adaptive state estimation of a PEM fuel cell[J].IEEE Transactions on Energy Conversion,2012,27(2):457-467.
[15]Kim E S,Kim C J,Eom K S.Nonlinear observer design for PEM fuel cell systems[C]//International Conference on Electrical Machines and Systems.Seoul,South Korea:IEEE,2007:1835-1839.
[16]Kim E S.Observer based nonlinear state feedback control of PEM fuel cell systems[J].Journal of Electrical Engineering&Technology,2012,7(6):891-897.
[17]Kazmi I H,Bhatti A I.Parameter estimation of proton exchange membrane fuel cell system using sliding mode observer[J].International Journal of Innovative Computing Information&Control Ijicic,2012,8(7):5137-5148.
[18]Kunusch C,Moreno J A,Angulo M T.Identification and observation in the anode line of PEM fuel cell stacks[C]//Conference on Decision and Control.Florence,Italy:IEEE,2013:1665-1670.
[19]Pilloni A,Pisano A,Usai E.Observer-based air excess ratio control of a PEM fuel cell system via high-order sliding mode[J].IEEE Transactions on Industrial Electronics,2015,62(8):5236-5246.
[20]邓惠文,李奇,陈维荣.适用于PEMFC系统过氧化估计的HOSM观测器研究[J].中国电机工程学报,2017,37(17):5058-5068.Deng Huiwen,Li Qi,Chen Weirong.Research on HOSMobserver for OER estimation of PEMFC system[J].Proceedings of the CSEE,2017,37(17):5058-5068(in Chinese).
[21]Kunusch C,Puleston P,Mayosky M.Sliding-mode control of PEM fuel cells[M].London:Springer,2012:105-128.
[22]Rakhtala S M.Control of oxygen excess ratio in a PEMfuel cell system using high-order sliding-mode controller and observer[J].Turkish Journal of Electrical Engineering&Computer Sciences,2015,23(1):255-278.
[23]Pacho J L,Usai E,Husar A,et al.Enhancing the efficiency and lifetime of a proton exchange membrane fuel cell using nonlinear model predictive control with nonlinear observation[J].IEEE Transactions on Industrial Electronics,2017,64(8):6649-6659.
[24]Liu J,Lin W,Alsaadi F,et al.Nonlinear observer design for PEM fuel cell power systems via second order sliding mode technique[J].Neurocomputing,2015,168(C):145-151.
[25]Rakhtala S M,Noei A R,Ghaderi R,et al.Design of finite-time high-order sliding mode state observer:Apractical insight to PEM fuel cell system[J].Journal of Process Control,2014,24(1):203-224.
[26]Levant A.Quasi-continuous high-order sliding-mode controllers[J].IEEE Transactions on Automatic Control,2005,50(11):1812-1816.
[27]Levant A.Higher-order sliding modes,differentiation and output-feedback control[J].International Journal of Control,2003,76(9-10):924-941.
[28]Levant A,Shustin B.Quasi-Continuous MIMO Sliding Mode Control[J].IEEE Transactions on Automatic Control,2018,63(9):3068-3074.
[29]Pisano A,Usai E.Sliding mode control:A survey with applications in math[J].Mathematics&Computers in Simulation,2011,81(5):954-979.