CN109149742B - Composite power supply energy distribution method and device for fuel cell vehicle - Google Patents

Abstract

The invention relates to a composite power supply energy distribution method and a device of a fuel cell vehicle, belonging to the technical field of electric vehicles, wherein the device comprises the following steps: the device comprises a first direct current conversion circuit, a second direct current conversion circuit, a first determining module, a second determining module, a control module and an energy distribution module, wherein the control module determines a reference demand current signal according to a first disturbance parameter change rate; the energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient; the first determining module determines a first duty ratio signal according to the reference demand current signal and the second disturbance parameter change rate; the second determining module determines a second duty ratio signal according to the reference demand current signal and the third disturbance parameter change rate, solves the problems of sensitivity, poor anti-interference performance and poor robustness of the existing distribution method to system parameter disturbance and load change, is insensitive to system parameter disturbance and load change, and has better anti-interference performance and robustness.

Description

Composite power supply energy distribution method and device for fuel cell vehicle

Technical Field

The invention relates to the technical field of electric vehicles, in particular to a composite power supply energy distribution method and device of a fuel cell vehicle.

Background

The fuel cell vehicle is provided with the fuel cell, the fuel cell takes hydrogen, methanol and the like as fuels, generates current through chemical reaction, and has the characteristics of no pollution and high energy utilization rate. However, the fuel cell cannot recover braking energy. The super capacitor has the characteristics of rapid energy storage and release, wide applicable temperature range, long service life and easy management, so that the fuel cell and the super capacitor are often mixed and applied to a fuel cell vehicle at present, and thus a power supply energy distribution method is needed to realize the dual-power energy distribution of the fuel cell and the super capacitor.

In the related technology, the dual-power energy distribution of the fuel cell and the super capacitor is carried out according to a fixed distribution proportion, and the distribution method is sensitive to system parameter disturbance and load change, poor in anti-disturbance performance and poor in robustness performance.

Disclosure of Invention

The embodiment of the invention provides a composite power supply energy distribution method and device for a fuel cell vehicle, which can solve the problems that the distribution method in the related technology is sensitive to system parameter disturbance and load change, poor in anti-interference performance and poor in robustness. The technical scheme is as follows:

according to a first aspect of embodiments of the present invention, there is provided a hybrid power supply energy distribution apparatus of a fuel cell vehicle, the hybrid power supply including: a fuel cell and a supercapacitor, the apparatus comprising: a first direct current conversion circuit, a second direct current conversion circuit, a first determination module, a second determination module, a control module and an energy distribution module,

the first direct current conversion circuit is connected with the fuel cell, the second direct current conversion circuit is connected with the super capacitor, the first direct current conversion circuit outputs a first chopping current signal after inputting a voltage signal of the fuel cell, and the second direct current conversion circuit outputs a second chopping current signal after inputting a voltage signal of the super capacitor;

the control module is respectively connected with the first direct current conversion circuit and the second direct current conversion circuit, and is used for determining a reference demand current signal according to the first chopped current signal, the second chopped current signal and a first disturbance parameter change rate, wherein the first disturbance parameter change rate is used for indicating the change rate of a disturbance parameter of the control module;

the energy distribution module is connected with the control module, and is also respectively connected with the first determination module and the second determination module, and is used for transmitting the reference demand current signal to the first determination module and the second determination module according to an energy distribution coefficient, wherein the energy distribution coefficient is determined according to the frequency of an air compressor for a fuel cell;

the first determining module is connected with the first direct current conversion circuit, and is used for determining a first duty ratio signal according to the first chopped current signal, the reference demand current signal and a second disturbance parameter change rate, and transmitting the first duty ratio signal to the first direct current conversion circuit, wherein the second disturbance parameter change rate is used for indicating the change rate of disturbance parameters of the fuel cell and the first direct current conversion circuit, and the first duty ratio signal is used for indicating the energy distributed to the fuel cell;

the second determining module is connected with the second direct current conversion circuit, and is configured to determine a second duty ratio signal according to the second chopped current signal, the reference required current signal, and a third disturbance parameter change rate, and transmit the second duty ratio signal to the second direct current conversion circuit, where the third disturbance parameter change rate is used to indicate a change rate of disturbance parameters of the super capacitor and the second direct current conversion circuit, and the second duty ratio signal is used to indicate energy allocated to the super capacitor.

Optionally, the control module includes: a demand current calculation submodule, a direct current bus capacitor, a voltage sensor, a bus voltage reverse-thrust control submodule and a bus capacitance disturbance calculation submodule,

the demand current calculation submodule is respectively connected with the first direct current conversion circuit and the second direct current conversion circuit, and is used for determining a demand current signal according to the first chopping current signal and the second chopping current signal;

the direct current bus capacitor is connected with the demand current calculating submodule and outputs a bus voltage signal after the demand current signal is input into the direct current bus capacitor;

the voltage sensor is connected with the direct current bus capacitor and used for measuring a bus voltage signal output by the direct current bus capacitor;

the bus voltage reverse-pushing control submodule is connected with the voltage sensor and is used for determining a reference bus voltage signal and a first error of the bus voltage signal;

the bus capacitance disturbance calculation submodule is connected with the voltage sensor and used for determining a first error of the reference bus voltage signal and the bus voltage signal and determining a first disturbance parameter change rate according to the first error;

the bus voltage reverse-pushing control sub-module is further used for determining the reference demand current signal according to the first error and the first disturbance parameter change rate, and transmitting the reference demand current signal to the energy distribution module;

the direct current bus capacitor is further connected with a driving module, and the direct current bus capacitor is used for transmitting the bus voltage signal to the driving module.

Optionally, the first determining module includes: a first current sensor, a fuel cell chopping current reverse-thrust control submodule, a fuel cell chopping current calculation submodule and a fuel cell disturbance calculation submodule,

the first current sensor is connected with the first direct current conversion circuit and is used for measuring the first chopping current signal;

the fuel cell chopping current calculation submodule is connected with the energy distribution module, and is used for receiving a fuel cell reference chopping current signal output by the energy distribution module, and the fuel cell reference chopping current signal is determined by the energy distribution module according to the reference required current signal and the energy distribution coefficient;

the fuel cell chopping current reverse-pushing control submodule is respectively connected with the first current sensor and the fuel cell chopping current calculating submodule and is used for determining a second error of the first chopping current signal and the fuel cell reference chopping current signal;

the fuel cell disturbance calculation submodule is respectively connected with the first current sensor and the fuel cell chopping current calculation submodule, and is used for determining a second error of the first chopping current signal and the fuel cell reference chopping current signal and determining a second disturbance parameter change rate according to the second error;

the fuel cell chopping current reverse-pushing control submodule is further connected with the first direct current conversion circuit and used for determining the first duty ratio signal according to the second error and the second disturbance parameter change rate and transmitting the first duty ratio signal to the first direct current conversion circuit.

Optionally, the second determining module includes: a super-capacitor chopping current calculation submodule, a super-capacitor current backstepping control submodule, a second current sensor and a super-capacitor disturbance calculation submodule,

the second current sensor is connected with the second direct current conversion circuit and is used for measuring the second chopped current signal;

the super-capacitor chopping current calculation submodule is connected with the energy distribution module, and is used for receiving a super-capacitor reference chopping current signal output by the energy distribution module, and the super-capacitor reference chopping current signal is determined by the energy distribution module according to the reference required current signal;

the super-capacitor current back-stepping control submodule is respectively connected with the second current sensor and the super-capacitor chopping current calculating submodule, and is used for determining a third error of the second chopping current signal and the super-capacitor reference chopping current signal;

the super-capacitor disturbance calculation submodule is respectively connected with the second current sensor and the super-capacitor chopping current calculation submodule, and is used for determining a third error of the second chopping current signal and the super-capacitor reference chopping current signal and determining a third disturbance parameter change rate according to the third error;

the super-capacitor current reverse-pushing control submodule is further connected with the second direct-current conversion circuit and used for determining the second duty ratio signal according to the third error and the third disturbance parameter change rate and transmitting the second duty ratio signal to the second direct-current conversion circuit.

Optionally, the first dc conversion circuit includes a fuel cell inductor and a fuel cell chopper, the fuel cell inductor and the fuel cell chopper are sequentially connected, the second dc conversion circuit includes a super capacitor inductor and a super capacitor chopper, and the super capacitor, the super capacitor inductor and the super capacitor chopper are sequentially connected;

the fuel cell chopper and the super capacitor chopper are both connected with the control module, the fuel cell chopper is connected with the first determination module, and the super capacitor chopper is connected with the second determination module.

According to a second aspect of the embodiments of the present invention, there is provided a hybrid power supply energy distribution method for a fuel cell vehicle, which is used for the hybrid power supply energy distribution apparatus for the fuel cell vehicle of the first aspect, the hybrid power supply including: a fuel cell and a supercapacitor, the method comprising:

the control module determines a reference demand current signal according to a first chopping current signal output by the first direct current conversion circuit, a second chopping current signal output by the second direct current conversion circuit and a first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module, wherein the first disturbance parameter change rate is used for indicating the change rate of a disturbance parameter of the control module;

the energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to an energy distribution coefficient, the energy distribution coefficient being determined according to a frequency of an air compressor for a fuel cell;

the first determination module determines a first duty cycle signal from the first chopped current signal, the reference demand current signal, and a second disturbance parameter change rate indicative of a change rate of disturbance parameters of the fuel cell and the first DC converter circuit, and transmits the first duty cycle signal to the first DC converter circuit, the first duty cycle signal indicative of energy distributed to the fuel cell;

the second determining module determines a second duty ratio signal according to the second chopped current signal, the reference demand current signal and a third disturbance parameter change rate, and transmits the second duty ratio signal to the second direct current conversion circuit, wherein the third disturbance parameter change rate is used for indicating the change rate of disturbance parameters of the super capacitor and the second direct current conversion circuit, and the second duty ratio signal is used for indicating energy distributed to the super capacitor.

Optionally, the control module includes: a demand current calculation submodule, a direct current bus capacitor, a voltage sensor, a bus voltage reverse-thrust control submodule and a bus capacitance disturbance calculation submodule,

the control module determines a reference demand current signal according to a first chopping current signal output by the first direct current conversion circuit, a second chopping current signal output by the second direct current conversion circuit and a first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module, and the control module includes:

the demand current calculating submodule determines a demand current signal according to the first chopping current signal and the second chopping current signal and transmits the demand current signal to the direct-current bus capacitor to obtain a bus voltage signal;

the voltage sensor measures a bus voltage signal output by the direct-current bus capacitor and transmits the bus voltage signal to the bus voltage backstepping control submodule and the bus capacitance disturbance calculation submodule;

the bus voltage backstepping control submodule determines a reference bus voltage signal and a first error of the bus voltage signal;

the bus capacitance disturbance calculation submodule determines a first error of the reference bus voltage signal and the bus voltage signal and determines a first disturbance parameter change rate according to the first error;

the bus voltage backstepping control submodule determines the reference demand current signal according to the first error and the first disturbance parameter change rate and transmits the reference demand current signal to the energy distribution module;

the method further comprises the following steps:

the DC bus capacitor transmits the bus voltage signal to a driving module.

Optionally, the first determining module includes: a first current sensor, a fuel cell chopping current reverse-thrust control submodule, a fuel cell chopping current calculation submodule and a fuel cell disturbance calculation submodule,

the first determining module determines a first duty cycle signal according to the first chopping current signal, the reference demand current signal and a second disturbance parameter change rate, and transmits the first duty cycle signal to the first direct current conversion circuit, and the determining module includes:

the first current sensor measures a first chopping current signal output by the first direct current conversion circuit, and transmits the first chopping current signal to the fuel cell chopping current backstepping control submodule and the fuel cell disturbance calculation submodule;

the fuel cell chopping current calculation submodule receives a fuel cell reference chopping current signal output by the energy distribution module and transmits the fuel cell reference chopping current signal to the fuel cell chopping current backstepping control submodule and the fuel cell disturbance calculation submodule, and the fuel cell reference chopping current signal is determined by the energy distribution module according to the reference required current signal and the energy distribution coefficient;

the fuel cell chopping current back-stepping control submodule determines a second error of the first chopping current signal and the fuel cell reference chopping current signal;

the fuel cell disturbance calculation submodule determines a second error of the first chopped current signal and the fuel cell reference chopped current signal and determines a second disturbance parameter change rate according to the second error;

and the fuel cell chopping current reverse-thrust control submodule determines the first duty ratio signal according to the second error and the second disturbance parameter change rate and transmits the first duty ratio signal to the first direct current conversion circuit.

Optionally, the second determining module includes: a super-capacitor chopping current calculation submodule, a super-capacitor current backstepping control submodule, a second current sensor and a super-capacitor disturbance calculation submodule,

the second determining module determines a second duty cycle signal according to the second chopped current signal, the reference demand current signal and a third disturbance parameter change rate, and transmits the second duty cycle signal to the second direct current conversion circuit, and the second determining module includes:

the second current sensor measures a second chopping current signal output by the second direct current conversion circuit, and transmits the second chopping current signal to the super-capacitor current reverse-pushing control submodule and the super-capacitor disturbance calculation submodule;

the super-capacitor chopping current calculation sub-module receives a super-capacitor reference chopping current signal output by the energy distribution module and transmits the super-capacitor reference chopping current signal to the super-capacitor current backstepping control sub-module and the super-capacitor disturbance calculation sub-module, wherein the super-capacitor reference chopping current signal is determined by the energy distribution module according to the reference demand current signal;

the super-capacitor current back-stepping control sub-module determines a third error of the second chopping current signal and the super-capacitor reference chopping current signal;

the super-capacitor disturbance calculation submodule determines a third error of the second chopping current signal and the super-capacitor reference chopping current signal, and determines a third disturbance parameter change rate according to the third error;

and the super-capacitor current back-stepping control sub-module determines the second duty ratio signal according to the third error and the third disturbance parameter change rate, and transmits the second duty ratio signal to the second direct current conversion circuit.

The technical scheme provided by the embodiment of the invention at least comprises the following beneficial effects:

according to the composite power supply energy distribution method and device for the fuel cell vehicle, the control module determines the reference demand current signal according to the first chopping current signal output by the first direct current conversion circuit, the second chopping current signal output by the second direct current conversion circuit and the first disturbance parameter change rate. The energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient. The first determining module determines a first duty ratio signal according to the first chopping current signal, the reference demand current signal and the second disturbance parameter change rate; the second determining module determines a second duty ratio signal according to the second chopping current signal, the reference demand current signal and the third disturbance parameter change rate, and the double-power-supply energy distribution method can distribute the energy of the fuel cell and the super capacitor based on the uncertainty of the fuel cell, the first direct current conversion circuit, the super capacitor, the second direct current conversion circuit and the control module in operation, so that the double-power-supply energy distribution method is insensitive to system parameter disturbance and load change and has better disturbance resistance and robustness.

Drawings

In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.

Fig. 1 is a schematic structural diagram of a hybrid power supply energy distribution device of a fuel cell vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a hybrid power supply energy distribution device of another fuel cell vehicle according to an embodiment of the present invention;

fig. 3 is a flowchart of a hybrid power supply energy distribution method for a fuel cell vehicle according to an embodiment of the present invention;

FIG. 4 is a flow chart of a control module determining to transmit a reference demand current signal to an energy distribution module according to an embodiment of the present invention;

fig. 5 is a flowchart illustrating a first determining module transmitting a first duty ratio signal to a first dc converting circuit according to an embodiment of the present invention;

fig. 6 is a flowchart illustrating that the second determining module transmits the second duty ratio signal to the second dc converting circuit according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

At present, a fuel cell vehicle is provided with a fuel cell, and the fuel cell cannot recover braking energy, so the fuel cell vehicle is often applied by mixing the fuel cell and a super capacitor. In the related technology, the method for distributing the energy of the double power supplies of the fuel cell and the super capacitor according to the fixed distribution proportion cannot be applied to a random nonlinear power model of the whole vehicle, is sensitive to system parameter disturbance and load change, and has poor anti-disturbance performance and robustness (namely stability), so that the energy loss of the fuel cell vehicle is caused finally, and the fuel cell vehicle is potentially damaged.

In the embodiment of the invention, the double-power-supply energy distribution of the fuel cell and the super capacitor can be carried out based on the uncertainty of the operation of the fuel cell, the first direct current conversion circuit, the super capacitor, the second direct current conversion circuit and the control module, and the double-power-supply energy distribution system is insensitive to the disturbance of system parameters and the change of loads and has better immunity and robustness.

Fig. 1 is a schematic structural diagram of a hybrid power supply energy distribution device of a fuel cell vehicle according to an embodiment of the present invention. The device is used for the fuel cell car, and the hybrid power source is installed to the fuel cell car, and the hybrid power source includes fuel cell and super capacitor, as shown in fig. 1, the device includes: the first dc conversion circuit 110, the second dc conversion circuit 120, the first determination module 130, the second determination module 140, the control module 150, and the energy distribution module 160.

The first dc converter circuit 110 is connected to the fuel cell 01, and the second dc converter circuit 120 is connected to the super capacitor 02. The first DC conversion circuit 110 receives a voltage signal u of the fuel cell 01_fcPost-output first chopped current signal i_{fc_ch}. The second DC conversion circuit 120 inputs the voltage signal u of the super capacitor 02_scThen outputs a second chopped current signal i_{sc_ch}。

The control module 150 is connected to the first dc conversion circuit 110 and the second dc conversion circuit 120, respectively. The control module 150 is used for controlling the first chopping current signal i_{fc_ch}Second chopped current signal i_{sc_ch}And a first disturbance parameter change rate

Determining a reference demand current signal i_s-refFirst rate of change of disturbance parameter

Indicating the rate of change of the disturbance parameter of the control module 150. First disturbance parameter rate of change

Uncertainty of the control module in operation, such as disturbance occurring in operation, parameter time variation and other uncertain factors, can be reflected.

The energy distribution module 160 is connected to the control module 150The energy distribution module 160 is further connected to the first determination module 130 and the second determination module 140, respectively. The energy distribution module 160 is used for distributing energy according to an energy distribution coefficient k_DWill refer to the demand current signal i_s-refTransmitted to the first determining module 130 and the second determining module 140, the energy distribution coefficient k_DIs determined according to the frequency of the air compressor for the fuel cell.

The first determining module 130 is connected to the first dc converting circuit 110. The first determining module 130 is configured to determine the first chopped current signal i_{fc_ch}Reference demand current signal i_s-refAnd a second disturbance parameter change rate

Determining a first duty cycle signal alpha_{fc_ch}And the first duty ratio signal alpha is used for converting the first duty ratio signal alpha into the second duty ratio signal alpha_{fc_ch}The second disturbance parameter change rate is transmitted to the first DC conversion circuit 110

For indicating the rate of change of disturbance parameters of the fuel cell 01 and the first DC converter circuit 110, a first duty signal alpha_{fc_ch}For indicating the energy dispensed by the fuel cell. Second disturbance parameter rate of change

Uncertainty in operation of the fuel cell 01 and the first dc conversion circuit 110, such as disturbance occurring during operation, parameter time variation, and other uncertainty factors, can be reflected.

The second determining module 140 is connected to the second dc conversion circuit 120. The second determining module 140 is configured to determine the second chopped current signal i_{sc_ch}Reference demand current signal i_s-refAnd third perturbation parameter change rate

Determining a second duty cycle signal alpha_{sc_ch}And the second duty ratio signal alpha is used_{sc_ch}The third disturbance parameter change rate is transmitted to the second DC conversion circuit 120

For indicating the rate of change of the disturbance parameter of the supercapacitor 02 and the second dc-to-dc converter circuit 120. Second duty cycle signal alpha_{sc_ch}Indicating the energy allocated by the supercapacitor. Third disturbance parameter Rate of Change

Uncertainty of the super capacitor 02 and the second direct current conversion circuit 120 in operation, such as disturbance occurring in operation, parameter time variation and other uncertainty factors, can be reflected.

Referring to fig. 1, in the embodiment of the present invention, the hybrid power supply energy distribution device of the fuel cell vehicle can perform dual power supply energy distribution of the fuel cell and the super capacitor based on the uncertainty of the operation of the fuel cell 01, the first dc conversion circuit 110, the super capacitor 02, the second dc conversion circuit 120, and the control module 150, so as to well overcome the problems of disturbance, parameter time variation, other uncertainty factors, and the like of the power supply during the operation. Therefore, the method is insensitive to system parameter disturbance and load change and has better immunity and robustness.

In summary, in the hybrid power supply energy distribution device for a fuel cell vehicle according to the embodiments of the present invention, the first dc converter circuit outputs a first chopping current signal, the second dc converter circuit outputs a second chopping current signal, and the control module is configured to determine the reference demand current signal according to the first chopping current signal, the second chopping current signal, and the first disturbance parameter change rate. The energy distribution module is used for transmitting the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient. The first determining module is used for determining a first duty ratio signal according to the first chopping current signal, the reference demand current signal and the second disturbance parameter change rate; the device can distribute the energy of the double power supplies of the fuel cell and the super capacitor based on the uncertainty of the operation of the fuel cell, the first direct current conversion circuit, the super capacitor, the second direct current conversion circuit and the control module, so that the device is insensitive to the disturbance of system parameters and the change of load and has better immunity and robustness.

Fig. 2 is a schematic structural diagram of another hybrid power supply energy distribution device of a fuel cell vehicle provided on the basis of fig. 1 according to an embodiment of the present invention. As shown in fig. 2, the control module includes: a demand current calculation submodule 151, a dc bus capacitor 152, a voltage sensor 153, a bus voltage back-push control submodule 154 and a bus capacitance disturbance calculation submodule 155.

The demand current calculation submodule 151 is connected to the first dc conversion circuit and the second dc conversion circuit, respectively. The demand current calculating submodule 151 is configured to calculate a first chopped current signal i_{fc_ch}And a second chopped current signal i_{sc_ch}Determining a demand current signal i_s。

The dc bus capacitor 152 is connected to the demand current calculation submodule 151. The DC bus capacitor 152 inputs the demand current signal i_sPost-output bus voltage signal u_bus。

The voltage sensor 153 is connected to the dc bus capacitor 152. The voltage sensor 153 is used for measuring the bus voltage signal u output by the DC bus capacitor 152_bus。

The bus voltage back-stepping control submodule 154 is connected to the voltage sensor 153. Bus voltage back-stepping control submodule 154 for determining a reference bus voltage signal u_bus-refAnd bus voltage signal u_busFirst error e of₁。

The bus capacitance disturbance calculation submodule 155 is connected to the voltage sensor 153. The bus capacitance disturbance calculation submodule 155 is used for determining a reference bus voltage signal u_bus-refAnd bus voltage signal u_busFirst error e of₁And according to the first error e₁Determining a first disturbance parameter rate of change

Bus voltage reverse-pushing controllerThe module 154 is also adapted to determine the first error e₁And a first disturbance parameter change rate

Determining a reference demand current signal i_s-refAnd will be referenced to the demand current signal i_s-refTo the energy distribution module 160.

The dc bus capacitor 152 is also connected to the drive module 03. DC bus capacitor 152 is used to couple bus voltage signal u_busTo the driving module 03.

Optionally, as shown in fig. 2, the first dc conversion circuit includes: the fuel cell inductor 111 and the fuel cell chopper 112 are connected in this order, and the fuel cell 01, the fuel cell inductor 111 and the fuel cell chopper 112 are connected in this order. Fuel cell inductor 111 input voltage signal u_fcRear output current signal i_fc. Input current signal i of fuel cell chopper 112_fcPost-output first chopped current signal i_{fc_ch}. Wherein the current signal i_fcThe calculation formula of (2) is as follows:

u_fca voltage signal output for the fuel cell; u. of_{fc_ch}Chopping a voltage signal for the fuel cell in volts (V); l is_fcIs the inductive reactance of the fuel cell and has the unit of Henry (H); s is a transfer function of the fuel cell inductance, and the expression of the transfer function can refer to the related technology; r is_fcIs the internal resistance of the fuel cell in ohms (Ω).

A first chopped current signal i_{fc_ch}The calculation formula of (2) is as follows:

i_{fc_ch}＝α_{fc_ch}×i_fc，α_{fc_ch}is a first duty cycle signal, alpha_{fc_ch}∈[0,1]，i_fcThe current signal is output by the fuel cell inductor.

Fuel cell chopped voltage signal u_{fc_ch}The calculation formula of (2) is as follows:

u_{fc_ch}＝α_{fc_ch}u_bus，α_{fc_ch}is a first duty cycle signal, alpha_{fc_ch}∈[0,1]，u_busA bus voltage signal output for the dc bus capacitor 152.

The second direct current conversion circuit includes: the super capacitor inductor 121 and the super capacitor chopper 122 are connected in sequence, and the super capacitor 02, the super capacitor inductor 121 and the super capacitor chopper 122 are connected in sequence. Input voltage signal u of super capacitor inductor 121_scRear output current signal i_scInput current signal i of supercapacitor chopper 122_scThen outputs a second chopped current signal i_{sc_ch}. Wherein the current signal i_scThe calculation formula of (2) is as follows:

u_scis the voltage signal of the super capacitor 02; u. of_{sc_ch}The unit is a chopping voltage signal of the super capacitor, and the unit is V; l is_scThe inductance is the inductance of the super capacitor and the unit is H; s is the transfer function of the inductance of the super capacitor; r is_scThe unit is the internal resistance of the super capacitor and is omega.

Second chopped current signal i_{sc_ch}The calculation formula of (2) is as follows:

i_{sc_ch}＝α_{sc_ch}×i_sc，α_{sc_ch}is a second duty cycle signal, alpha_{sc_ch}∈[0,1]，i_scThe current signal is output by the super capacitor inductor.

Super capacitor chopped wave voltage signal u_{sc_ch}The calculation formula of (2) is as follows:

u_{sc_ch}＝α_{sc_ch}u_bus，α_{sc_ch}is a second duty cycle signal, alpha_{sc_ch}∈[0,1]，u_busA bus voltage signal output for the dc bus capacitor 152.

Both the fuel cell chopper 112 and the supercapacitor chopper 122 are connected to the demand current calculating sub-module 151 of the control module. The demand current calculation submodule 151 calculates a demand current from the first chopper current signal i_{fc_ch}And a second chopped current signal i_{sc_ch}Determining a demand current signal i_sThe calculation formula of (2) is as follows:

i_s＝i_{fc_ch}+i_{sc_ch}。

bus voltage signal u output by dc bus capacitor 152_busThe calculation formula of (2) is as follows:

i_sa demand current signal output by the demand current calculating submodule 151 in ampere (a); c_busIs the capacitance value of the dc bus capacitor 152 in units of farads (F); s is a transfer function of the dc bus capacitor 152, and the expression of the transfer function can refer to the related art; i.e. i_tsIs the operating current of the dc bus capacitor 152, in units of a,

P_mis the electrical drive power of the drive module 03 in watts (W); eta_edIs the electrical drive efficiency.

Bus voltage back-stepping control sub-module 154 determines a reference bus voltage signal u_bus-refAnd bus voltage signal u_busFirst error e of₁The calculation formula of (2) is as follows: e.g. of the type₁＝u_bus-ref-u_bus。

Bus capacitance disturbance calculation submodule 155 determines reference bus voltage signal u_bus-refAnd bus voltage signal u_busFirst error e of₁The calculation formula of (2) is as follows: e.g. of the type₁＝u_bus-ref-u_bus。

The bus capacitance disturbance calculation submodule 155 calculates the first error e₁Determining a first disturbance parameter rate of change

The calculation formula of (2) is as follows:

C_busthe capacitance value of the dc bus capacitor 152,₁the adaptive gain of the system is a normal number,₁based on system performanceAnd (6) determining.

The bus voltage reverse control submodule 154 is controlled according to the first error e₁And a first disturbance parameter change rate

Determining a reference demand current signal i_s-refThe calculation formula of (2) is as follows:

c₁is a constant number c₁>0，C_busIs the capacitance value, u, of the DC bus capacitor 152_bus-refFor reference bus voltage signal, i_tsIs the operating current, θ, of the DC bus capacitor 152₁Is a perturbation parameter used to represent the resistance of the dc bus capacitor 152 and the uncertainty of the model.

Referring to fig. 2, the first determination module includes: a first current sensor 131, a fuel cell chopping current back-thrust control submodule 132, a fuel cell chopping current calculation submodule 133, and a fuel cell disturbance calculation submodule 134.

The first current sensor 131 is connected to a first dc conversion circuit, and specifically, the first current sensor 131 is connected to the fuel cell chopper 112. The first current sensor 131 is used to measure the first chopped current signal i output by the fuel cell chopper 112_{fc_ch}。

The fuel cell chopping current calculation sub-module 133 is connected to the energy distribution module 160. The fuel cell chopping current calculation sub-module 133 is used for receiving the fuel cell reference chopping current signal i output by the energy distribution module 160_{fc_ch-ref}Fuel cell reference chopped current signal i_{fc_ch-ref}The energy distribution module 160 is based on the reference demand current signal i_s-refAnd the energy distribution coefficient k_DAnd (4) determining. Fuel cell reference chopped current signal i_{fc_ch-ref}The calculation formula of (2) is as follows: i.e. i_{fc_ch-ref}＝k_Di_s-ref，k_DIn order to be the energy distribution coefficient,

f_cthe frequency of the air compressor for the fuel cell, s is a transfer function of the energy distribution module 160, which may be referred to in the related art; i.e. i_s-refThe reference demand current signal determined by the control sub-module 154 is back-inferred for the bus voltage.

The fuel cell chopping current back-thrust control submodule 132 is connected to the first current sensor 131 and the fuel cell chopping current calculation submodule 133, respectively. The fuel cell chopping current back-stepping control submodule 132 is operable to determine a first chopping current signal i_{fc_ch}And a fuel cell reference chopped current signal i_{fc_ch-ref}Second error e of₂Second error e₂The calculation formula of (2) is as follows: e.g. of the type₂＝i_{fc_ch-ref}-i_{fc_ch}。

The fuel cell disturbance calculation submodule 134 is connected to the first current sensor 131 and the fuel cell chopping current calculation submodule 133, respectively. The fuel cell disturbance calculation submodule 134 is operable to determine a first chopped current signal i_{fc_ch}And a fuel cell reference chopped current signal i_{fc_ch-ref}Second error e of₂And according to the second error e₂Determining a second disturbance parameter rate of change

Second error e₂The calculation formula of (2) is as follows: e.g. of the type₂＝i_{fc_ch-ref}-i_{fc_ch}。

Second disturbance parameter rate of change

The calculation formula of (2) is as follows:

L_fcis the inductive reactance of the fuel cell and has the unit of H; e.g. of the type₂In order to be the second error, the error is,₂the adaptive gain of the system is a normal number,₂determining based on system performance requirements; alpha is alpha_{fc_ch}Is a first duty cycle signal, alpha_{fc_ch}∈[0,1]。

The fuel cell chopping current reverse-pushing control submodule 132 is further connected with the first direct current conversion circuit, specifically, the fuel cell chopping current reverse-pushing control submodule 132 is connected with the fuel cell chopper 112, and the fuel cell chopping current reverse-pushing control submodule 132 is further used for controlling the fuel cell chopping current reverse-pushing control submodule 132 to be further used for controlling the fuel cell chopper to be in a second error e₂And a second disturbance parameter change rate

Determining a first duty cycle signal alpha_{fc_ch}And the first duty ratio signal alpha is used for converting the first duty ratio signal alpha into the second duty ratio signal alpha_{fc_ch}To the fuel cell chopper 112 of the first dc converter circuit. First duty cycle signal alpha_{fc_ch}The calculation formula of (2) is as follows:

u_busa bus voltage signal output for the dc bus capacitor 152; l is_fcAn inductive reactance for the fuel cell; i.e. i_{fc_ch-ref}Referencing the chopped current signal for the fuel cell; r is_fcIs the internal resistance of the fuel cell; e.g. of the type₂Is a second error; u. of_fcA voltage signal output for the fuel cell; c. C₂Is a constant number c₂>0；θ₂Is a perturbation parameter used to represent the fuel cell inductance and uncertainty of the fuel cell power model.

Referring to fig. 2, the second determination module includes: the super-capacitor chopping current calculation submodule 141, the super-capacitor current backstepping control submodule 142, the second current sensor 143 and the super-capacitor disturbance calculation submodule 144.

The second current sensor 143 is connected to the second dc conversion circuit, and specifically, the second current sensor 143 is connected to the super capacitor chopper 122. The second current sensor 143 is used to measure a second chopped current signal i output by the supercapacitor chopper 122_{sc_ch}。

The super capacitor chopping current calculation submodule 141 is connected to the energy distribution module 160. The super-capacitor chopping current calculating submodule is used for receiving a super-capacitor reference chopping current signal i output by the energy distribution module 160_{sc_ch-ref}Reference chopper current signal i of super capacitor_{sc_ch-ref}The energy distribution module 160 is based on the reference demand current signal i_s-refAnd (4) determining. Super capacitor reference chopping current signal i_{sc_ch-ref}The calculation formula of (2) is as follows: i.e. i_{sc_ch-ref}＝i_s-ref-i_{fc_ch-ref}，i_s-refA reference demand current signal determined for the bus voltage back-emf control sub-module 154; i.e. i_{fc_ch-ref}The chopped current signal is referenced for the fuel cell.

The super-capacitor current backstepping control submodule 142 is connected with the second current sensor 143 and the super-capacitor chopping current calculating submodule 141 respectively. The supercapacitor current back-stepping control sub-module 142 is used for determining a second chopped current signal i_{sc_ch}And a reference chopper current signal i of the super capacitor_{sc_ch-ref}Third error e of₃Third error e₃The calculation formula of (2) is as follows: e.g. of the type₃＝i_{sc_ch-ref}-i_{sc_ch}。

The super-capacitor disturbance calculation submodule 144 is respectively connected with the second current sensor 143 and the super-capacitor chopping current calculation submodule 141, and the super-capacitor disturbance calculation submodule 144 is used for determining a second chopping current signal i_{sc_ch}And a reference chopper current signal i of the super capacitor_{sc_ch-ref}Third error e of₃And according to the third error e₃Determining a third disturbance parameter rate of change

Third error e₃The calculation formula of (2) is as follows: e.g. of the type₃＝i_{sc_ch-ref}-i_{sc_ch}。

Third disturbance parameter Rate of Change

The calculation formula of (2) is as follows:

L_scthe inductance is the inductance of a super capacitor; e.g. of the type₃In order to be the third error, the error is,₃the adaptive gain of the system is a normal number,₃system based onThe energy requirement is determined; alpha is alpha_{sc_ch}Is a second duty cycle signal, alpha_{sc_ch}∈[0,1]。

The super-capacitor current back-stepping control submodule 142 is further connected with a second direct current conversion circuit, specifically, the super-capacitor current back-stepping control submodule 142 is connected with the super-capacitor chopper 122. The super-capacitor current back-stepping control sub-module 142 is used for controlling the current back-stepping according to a third error e₃And third disturbance parameter change rate

Determining a second duty cycle signal alpha_{sc_ch}And the second duty ratio signal alpha is used_{sc_ch}To the supercapacitor chopper 122 of the second dc converter circuit. Second duty cycle signal alpha_{sc_ch}The calculation formula of (2) is as follows:

u_busa bus voltage signal output for the dc bus capacitor 152; l is_scThe inductance is the inductance of a super capacitor; i.e. i_{sc_ch-ref}A chopper current signal is referred to the super capacitor; r is_scIs the internal resistance of the super capacitor; e.g. of the type₃Is a third error; u. of_scA voltage signal output for the super capacitor 02; c. C₃Is a constant number c₃>0；θ₃The disturbance parameter is used for representing the uncertainty of the super capacitor inductance and the super capacitor power supply model.

In summary, in the hybrid power supply energy distribution device for a fuel cell vehicle according to the embodiments of the present invention, the first dc converter circuit outputs a first chopping current signal, the second dc converter circuit outputs a second chopping current signal, and the control module is configured to determine the reference demand current signal according to the first chopping current signal, the second chopping current signal, and the first disturbance parameter change rate. The energy distribution module is used for transmitting the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient. The first determining module is used for determining a first duty ratio signal according to the first chopping current signal, the reference demand current signal and the second disturbance parameter change rate; the device can distribute the energy of the double power supplies of the fuel cell and the super capacitor based on the uncertainty of the operation of the fuel cell, the first direct current conversion circuit, the super capacitor, the second direct current conversion circuit and the control module, so that the device is insensitive to the disturbance of system parameters and the change of load and has better immunity and robustness.

Fig. 3 is a flowchart of a hybrid power supply energy distribution method for a fuel cell vehicle according to an embodiment of the present invention. The method is used for the hybrid power supply energy distribution device of the fuel cell vehicle shown in fig. 1 or fig. 2, and as shown in fig. 3, the method comprises the following steps:

and step 310, the control module determines a reference demand current signal according to the first chopping current signal output by the first direct current conversion circuit, the second chopping current signal output by the second direct current conversion circuit and the first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module.

The first disturbance parameter change rate is indicative of a rate of change of a disturbance parameter of the control module.

In step 320, the energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient.

The power distribution coefficient is determined based on the frequency of the air compressor for the fuel cell.

In step 330, the first determining module determines a first duty ratio signal according to the first chopping current signal, the reference demand current signal and the second disturbance parameter change rate, and transmits the first duty ratio signal to the first dc conversion circuit.

The second disturbance parameter change rate is indicative of a rate of change of a disturbance parameter of the fuel cell and the first DC converter circuit, and the first duty cycle signal is indicative of an energy allocated to the fuel cell.

And 340, determining a second duty ratio signal by the second determining module according to the second chopping current signal, the reference demand current signal and the third disturbance parameter change rate, and transmitting the second duty ratio signal to the second direct current conversion circuit.

The third disturbance parameter change rate is used for indicating the change rate of the disturbance parameters of the super capacitor and the second direct current conversion circuit, and the second duty ratio signal is used for indicating the energy distributed to the super capacitor.

Referring to fig. 1, in step 310, the control module 150 determines a reference demand current signal according to the first chopped current signal output by the first dc converter circuit 110, the second chopped current signal output by the second dc converter circuit 120 and the first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module 160. In step 320, the energy distribution module 160 transmits the reference demand current signal to the first determination module 130 and the second determination module 140 according to the energy distribution coefficient. In step 330, the first determining module 130 determines a first duty ratio signal according to the first chopped current signal, the reference required current signal and the second disturbance parameter change rate, and transmits the first duty ratio signal to the first dc converter circuit 110. In step 340, the second determining module 140 determines a second duty cycle signal according to the second chopped current signal, the reference required current signal, and the third disturbance parameter change rate, and transmits the second duty cycle signal to the second dc conversion circuit 120.

Optionally, as shown in fig. 2, the control module may include: a demand current calculation submodule 151, a dc bus capacitor 152, a voltage sensor 153, a bus voltage back-push control submodule 154 and a bus capacitance disturbance calculation submodule 155.

As shown in fig. 4, step 310 may include:

and 311, determining a required current signal by the required current calculation submodule according to the first chopping current signal and the second chopping current signal, and transmitting the required current signal to the direct-current bus capacitor to obtain a bus voltage signal.

And step 312, the voltage sensor measures a bus voltage signal output by the direct-current bus capacitor, and transmits the bus voltage signal to the bus voltage backstepping control submodule and the bus capacitance disturbance calculation submodule.

Step 313, the bus voltage back-stepping control submodule determines a reference bus voltage signal and a first error of the bus voltage signal.

And step 314, determining a first error of the reference bus voltage signal and the bus voltage signal by the bus capacitance disturbance calculation submodule, and determining a first disturbance parameter change rate according to the first error.

And step 315, the bus voltage backstepping control submodule determines a reference demand current signal according to the first error and the first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module.

Referring to fig. 2, in step 311, the demand current calculation sub-module 151 determines a demand current signal according to the first chopped current signal and the second chopped current signal, and transmits the demand current signal to the dc bus capacitor 152 to obtain a bus voltage signal. In step 312, the voltage sensor 153 measures the bus voltage signal output by the dc bus capacitor 152 and transmits the bus voltage signal to the bus voltage back-estimation control sub-module 154 and the bus capacitance disturbance calculation sub-module 155. In step 313, the bus voltage back-stepping control sub-module 154 determines the reference bus voltage signal and a first error of the bus voltage signal. In step 314, the bus capacitance perturbation calculation sub-module 155 determines a first error of the reference bus voltage signal and the bus voltage signal, determines a first perturbation parameter change rate according to the first error, and transmits the first perturbation parameter change rate to the bus voltage back-calculation control sub-module 154. In step 315, the bus voltage back-stepping control sub-module 154 determines a reference demand current signal based on the first error and the first disturbance parameter rate of change, and transmits the reference demand current signal to the energy distribution module 160.

Referring to fig. 2, the method may further include: the dc bus capacitor 152 transmits the bus voltage signal to the driving module 03.

Optionally, as shown in fig. 2, the first determining module includes: a first current sensor 131, a fuel cell chopping current back-thrust control submodule 132, a fuel cell chopping current calculation submodule 133, and a fuel cell disturbance calculation submodule 134.

As shown in fig. 5, step 330 may include:

and 331, measuring a first chopping current signal output by the first direct current conversion circuit by the first current sensor, and transmitting the first chopping current signal to the fuel cell chopping current backstepping control submodule and the fuel cell disturbance calculation submodule.

And step 332, the fuel cell chopping current calculation submodule receives the fuel cell reference chopping current signal output by the energy distribution module and transmits the fuel cell reference chopping current signal to the fuel cell chopping current backstepping control submodule and the fuel cell disturbance calculation submodule.

The fuel cell reference chopped current signal is determined by the energy distribution module based on the reference demand current signal and the energy distribution coefficient.

Step 333, the fuel cell chopping current back-stepping control submodule determines a second error of the first chopping current signal and the fuel cell reference chopping current signal.

And 334, determining a second error of the first chopped current signal and the reference chopped current signal of the fuel cell by the fuel cell disturbance calculation submodule, and determining a second disturbance parameter change rate according to the second error.

And step 335, determining a first duty ratio signal by the fuel cell chopped current reverse-pushing control submodule according to the second error and the second disturbance parameter change rate, and transmitting the first duty ratio signal to the first direct current conversion circuit.

Referring to fig. 2, in step 331, the first current sensor 131 measures a first chopped current signal output by the fuel cell chopper 112 of the first dc conversion circuit and transmits the first chopped current signal to the fuel cell chopped current back-thrust control submodule 132 and the fuel cell disturbance calculation submodule 134. In step 332, the fuel cell chopping current calculation submodule 133 receives the fuel cell reference chopping current signal output by the energy distribution module 160 and transmits the fuel cell reference chopping current signal to the fuel cell chopping current back-thrust control submodule 132 and the fuel cell disturbance calculation submodule 134. In step 333, the fuel cell chopped current back-thrust control sub-module 132 determines a second error of the first chopped current signal and the fuel cell reference chopped current signal. In step 334, the fuel cell disturbance calculation submodule 134 determines a second error of the first chopped current signal and the fuel cell reference chopped current signal, and determines a second disturbance parameter rate of change based on the second error. In step 335, the fuel cell chopper current back-stepping control submodule 132 determines a first duty cycle signal based on the second error and the second disturbance parameter rate of change, and transmits the first duty cycle signal to the fuel cell chopper 112 of the first dc conversion circuit.

Optionally, as shown in fig. 2, the second determining module includes: the super-capacitor chopping current calculation submodule 141, the super-capacitor current backstepping control submodule 142, the second current sensor 143 and the super-capacitor disturbance calculation submodule 144.

As shown in fig. 6, step 340 may include:

step 341, the second current sensor measures a second chopping current signal output by the second direct current conversion circuit, and transmits the second chopping current signal to the super-capacitor current back-pushing control submodule and the super-capacitor disturbance calculation submodule.

And 342, the super-capacitor chopping current calculation submodule receives the super-capacitor reference chopping current signal output by the energy distribution module and transmits the super-capacitor reference chopping current signal to the super-capacitor current back-pushing control submodule and the super-capacitor disturbance calculation submodule.

The reference chopping current signal of the super capacitor is determined by the energy distribution module according to the reference demand current signal.

And 343, determining a third error of the second chopping current signal and the reference chopping current signal of the super capacitor by the super capacitor current back-push control submodule.

And 344, determining a third error of the second chopping current signal and the reference chopping current signal of the super capacitor by the super capacitor disturbance calculation submodule, and determining a third disturbance parameter change rate according to the third error.

And 344, determining a second duty ratio signal by the super-capacitor current back-stepping control submodule according to the third error and the third disturbance parameter change rate, and transmitting the second duty ratio signal to the second direct current conversion circuit.

Referring to fig. 2, in step 341, the second current sensor 143 measures a second chopped current signal output by the supercapacitor chopper 122 of the second dc conversion circuit and transmits the second chopped current signal to the supercapacitor current back-thrust control submodule 142 and the supercapacitor disturbance calculation submodule 144. In step 342, the super-capacitor chopping current calculating sub-module 141 receives the super-capacitor reference chopping current signal output by the energy distribution module 160, and transmits the super-capacitor reference chopping current signal to the super-capacitor current back-pushing control sub-module 142 and the super-capacitor disturbance calculating sub-module 144. In step 343, the supercapacitor current back-thrust control sub-module 142 determines a third error of the second chopped current signal and the supercapacitor reference chopped current signal. In step 344, the supercapacitor disturbance calculation submodule 144 determines a third error of the second chopped current signal and the supercapacitor reference chopped current signal, and determines a third disturbance parameter rate of change based on the third error. In step 344, the supercapacitor current back-stepping control submodule 142 determines a second duty cycle signal according to the third error and the third disturbance parameter change rate, and transmits the second duty cycle signal to the supercapacitor chopper 122.

Referring to fig. 1, the hybrid power supply energy distribution method for the fuel cell vehicle according to the embodiment of the present invention can perform dual power supply energy distribution for the fuel cell and the super capacitor based on the uncertainty of the operation of the fuel cell 01, the first dc conversion circuit 110, the super capacitor 02, the second dc conversion circuit 120, and the control module 150, and well overcome the problems of disturbance, parameter time variation, other uncertainty factors, and the like of the power supply during the operation. Therefore, the method is insensitive to system parameter disturbance and load change and has better immunity and robustness.

In summary, in the hybrid power supply energy distribution method for the fuel cell vehicle according to the embodiment of the present invention, the control module determines the reference demand current signal according to the first chopping current signal output by the first dc conversion circuit, the second chopping current signal output by the second dc conversion circuit, and the first disturbance parameter change rate. The energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to the energy distribution coefficient. The first determining module determines a first duty ratio signal according to the first chopping current signal, the reference demand current signal and the second disturbance parameter change rate; the second determining module determines a second duty ratio signal according to the second chopping current signal, the reference demand current signal and the third disturbance parameter change rate, and the method can distribute the energy of the double power supplies of the fuel cell and the super capacitor based on the uncertainty of the operation of the fuel cell, the first direct current conversion circuit, the super capacitor, the second direct current conversion circuit and the control module, so that the method is insensitive to system parameter disturbance and load change and has better disturbance resistance and robustness.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working processes of the steps of the method described above may refer to specific working processes of the devices and modules in the device embodiments, and are not described herein again.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (9)

1. A hybrid power supply energy distribution device of a fuel cell vehicle, the hybrid power supply comprising: a fuel cell and a supercapacitor, wherein the apparatus comprises: a first direct current conversion circuit, a second direct current conversion circuit, a first determination module, a second determination module, a control module and an energy distribution module,

the first direct current conversion circuit is connected with the fuel cell, the second direct current conversion circuit is connected with the super capacitor, the first direct current conversion circuit outputs a first chopping current signal after inputting a voltage signal of the fuel cell, and the second direct current conversion circuit outputs a second chopping current signal after inputting a voltage signal of the super capacitor;

the control module is respectively connected with the first direct current conversion circuit and the second direct current conversion circuit, and is used for determining a reference demand current signal according to the first chopped current signal, the second chopped current signal and a first disturbance parameter change rate, wherein the first disturbance parameter change rate is used for indicating the change rate of a disturbance parameter of the control module;

the energy distribution module is connected with the control module, and is also respectively connected with the first determination module and the second determination module, and is used for transmitting the reference demand current signal to the first determination module and the second determination module according to an energy distribution coefficient, wherein the energy distribution coefficient is determined according to the frequency of an air compressor for a fuel cell;

the first determining module is connected with the first direct current conversion circuit, and is used for determining a first duty ratio signal according to the first chopped current signal, the reference demand current signal and a second disturbance parameter change rate, and transmitting the first duty ratio signal to the first direct current conversion circuit, wherein the second disturbance parameter change rate is used for indicating the change rate of disturbance parameters of the fuel cell and the first direct current conversion circuit, and the first duty ratio signal is used for indicating the energy distributed to the fuel cell;

the second determining module is connected with the second direct current conversion circuit, and is configured to determine a second duty ratio signal according to the second chopped current signal, the reference demand current signal, and a third disturbance parameter change rate, and transmit the second duty ratio signal to the second direct current conversion circuit, where the third disturbance parameter change rate is used to indicate a change rate of disturbance parameters of the super capacitor and the second direct current conversion circuit, and the second duty ratio signal is used to indicate energy allocated to the super capacitor.

2. The apparatus of claim 1, wherein the control module comprises: a demand current calculation submodule, a direct current bus capacitor, a voltage sensor, a bus voltage reverse-thrust control submodule and a bus capacitance disturbance calculation submodule,

the demand current calculation submodule is respectively connected with the first direct current conversion circuit and the second direct current conversion circuit, and is used for determining a demand current signal according to the first chopping current signal and the second chopping current signal;

the direct current bus capacitor is connected with the demand current calculating submodule and outputs a bus voltage signal after the demand current signal is input into the direct current bus capacitor;

the voltage sensor is connected with the direct current bus capacitor and used for measuring a bus voltage signal output by the direct current bus capacitor;

the bus voltage reverse-pushing control submodule is connected with the voltage sensor and is used for determining a reference bus voltage signal and a first error of the bus voltage signal;

the bus capacitance disturbance calculation submodule is connected with the voltage sensor and used for determining a first error of the reference bus voltage signal and the bus voltage signal and determining a first disturbance parameter change rate according to the first error;

the bus voltage reverse-pushing control sub-module is further used for determining the reference demand current signal according to the first error and the first disturbance parameter change rate, and transmitting the reference demand current signal to the energy distribution module;

the direct current bus capacitor is further connected with a driving module, and the direct current bus capacitor is used for transmitting the bus voltage signal to the driving module.

3. The apparatus of claim 1, wherein the first determining module comprises: a first current sensor, a fuel cell chopping current reverse-thrust control submodule, a fuel cell chopping current calculation submodule and a fuel cell disturbance calculation submodule,

the first current sensor is connected with the first direct current conversion circuit and is used for measuring the first chopping current signal;

the fuel cell chopping current calculation submodule is connected with the energy distribution module, and is used for receiving a fuel cell reference chopping current signal output by the energy distribution module, and the fuel cell reference chopping current signal is determined by the energy distribution module according to the reference required current signal and the energy distribution coefficient;

the fuel cell chopping current reverse-pushing control submodule is respectively connected with the first current sensor and the fuel cell chopping current calculating submodule and is used for determining a second error of the first chopping current signal and the fuel cell reference chopping current signal;

the fuel cell disturbance calculation submodule is respectively connected with the first current sensor and the fuel cell chopping current calculation submodule, and is used for determining a second error of the first chopping current signal and the fuel cell reference chopping current signal and determining a second disturbance parameter change rate according to the second error;

the fuel cell chopping current reverse-pushing control submodule is further connected with the first direct current conversion circuit and used for determining the first duty ratio signal according to the second error and the second disturbance parameter change rate and transmitting the first duty ratio signal to the first direct current conversion circuit.

4. The apparatus of claim 1, wherein the second determining module comprises: a super-capacitor chopping current calculation submodule, a super-capacitor current backstepping control submodule, a second current sensor and a super-capacitor disturbance calculation submodule,

the second current sensor is connected with the second direct current conversion circuit and is used for measuring the second chopped current signal;

the super-capacitor chopping current calculation submodule is connected with the energy distribution module, and is used for receiving a super-capacitor reference chopping current signal output by the energy distribution module, and the super-capacitor reference chopping current signal is determined by the energy distribution module according to the reference required current signal;

the super-capacitor current back-stepping control submodule is respectively connected with the second current sensor and the super-capacitor chopping current calculating submodule, and is used for determining a third error of the second chopping current signal and the super-capacitor reference chopping current signal;

the super-capacitor disturbance calculation submodule is respectively connected with the second current sensor and the super-capacitor chopping current calculation submodule, and is used for determining a third error of the second chopping current signal and the super-capacitor reference chopping current signal and determining a third disturbance parameter change rate according to the third error;

the super-capacitor current reverse-pushing control submodule is further connected with the second direct-current conversion circuit and used for determining the second duty ratio signal according to the third error and the third disturbance parameter change rate and transmitting the second duty ratio signal to the second direct-current conversion circuit.

5. The device of claim 1, wherein the first direct current conversion circuit comprises a fuel cell inductor and a fuel cell chopper, the fuel cell inductor and the fuel cell chopper are connected in sequence, the second direct current conversion circuit comprises a super capacitor inductor and a super capacitor chopper, and the super capacitor, the super capacitor inductor and the super capacitor chopper are connected in sequence;

the fuel cell chopper and the super capacitor chopper are both connected with the control module, the fuel cell chopper is connected with the first determination module, and the super capacitor chopper is connected with the second determination module.

6. A hybrid power supply energy distribution method for a fuel cell vehicle, characterized in that the hybrid power supply energy distribution device for the fuel cell vehicle according to any one of claims 1 to 5, the hybrid power supply includes: a fuel cell and a supercapacitor, the method comprising:

the control module determines a reference demand current signal according to a first chopping current signal output by the first direct current conversion circuit, a second chopping current signal output by the second direct current conversion circuit and a first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module, wherein the first disturbance parameter change rate is used for indicating the change rate of a disturbance parameter of the control module;

the energy distribution module transmits the reference demand current signal to the first determination module and the second determination module according to an energy distribution coefficient, the energy distribution coefficient being determined according to a frequency of an air compressor for a fuel cell;

the first determination module determines a first duty cycle signal from the first chopped current signal, the reference demand current signal, and a second disturbance parameter change rate indicative of a change rate of disturbance parameters of the fuel cell and the first DC converter circuit, and transmits the first duty cycle signal to the first DC converter circuit, the first duty cycle signal indicative of energy distributed to the fuel cell;

the second determining module determines a second duty ratio signal according to the second chopped current signal, the reference demand current signal and a third disturbance parameter change rate, and transmits the second duty ratio signal to the second direct current conversion circuit, wherein the third disturbance parameter change rate is used for indicating the change rate of disturbance parameters of the super capacitor and the second direct current conversion circuit, and the second duty ratio signal is used for indicating energy distributed to the super capacitor.

7. The method of claim 6, wherein the control module comprises: a demand current calculation submodule, a direct current bus capacitor, a voltage sensor, a bus voltage reverse-thrust control submodule and a bus capacitance disturbance calculation submodule,

the control module determines a reference demand current signal according to a first chopping current signal output by the first direct current conversion circuit, a second chopping current signal output by the second direct current conversion circuit and a first disturbance parameter change rate, and transmits the reference demand current signal to the energy distribution module, and the control module includes:

the demand current calculating submodule determines a demand current signal according to the first chopping current signal and the second chopping current signal and transmits the demand current signal to the direct-current bus capacitor to obtain a bus voltage signal;

the voltage sensor measures a bus voltage signal output by the direct-current bus capacitor and transmits the bus voltage signal to the bus voltage backstepping control submodule and the bus capacitance disturbance calculation submodule;

the bus voltage backstepping control submodule determines a reference bus voltage signal and a first error of the bus voltage signal;

the bus capacitance disturbance calculation submodule determines a first error of the reference bus voltage signal and the bus voltage signal and determines a first disturbance parameter change rate according to the first error;

the bus voltage backstepping control submodule determines the reference demand current signal according to the first error and the first disturbance parameter change rate and transmits the reference demand current signal to the energy distribution module;

the method further comprises the following steps:

the DC bus capacitor transmits the bus voltage signal to a driving module.

8. The method of claim 6, wherein the first determining module comprises: a first current sensor, a fuel cell chopping current reverse-thrust control submodule, a fuel cell chopping current calculation submodule and a fuel cell disturbance calculation submodule,

the first determining module determines a first duty cycle signal according to the first chopping current signal, the reference demand current signal and a second disturbance parameter change rate, and transmits the first duty cycle signal to the first direct current conversion circuit, and the determining module includes:

the first current sensor measures a first chopping current signal output by the first direct current conversion circuit, and transmits the first chopping current signal to the fuel cell chopping current backstepping control submodule and the fuel cell disturbance calculation submodule;

the fuel cell chopping current calculation submodule receives a fuel cell reference chopping current signal output by the energy distribution module and transmits the fuel cell reference chopping current signal to the fuel cell chopping current backstepping control submodule and the fuel cell disturbance calculation submodule, and the fuel cell reference chopping current signal is determined by the energy distribution module according to the reference required current signal and the energy distribution coefficient;

the fuel cell chopping current back-stepping control submodule determines a second error of the first chopping current signal and the fuel cell reference chopping current signal;

the fuel cell disturbance calculation submodule determines a second error of the first chopped current signal and the fuel cell reference chopped current signal and determines a second disturbance parameter change rate according to the second error;

and the fuel cell chopping current reverse-thrust control submodule determines the first duty ratio signal according to the second error and the second disturbance parameter change rate and transmits the first duty ratio signal to the first direct current conversion circuit.

9. The method of claim 6, wherein the second determining module comprises: a super-capacitor chopping current calculation submodule, a super-capacitor current backstepping control submodule, a second current sensor and a super-capacitor disturbance calculation submodule,

the second determining module determines a second duty cycle signal according to the second chopped current signal, the reference demand current signal and a third disturbance parameter change rate, and transmits the second duty cycle signal to the second direct current conversion circuit, and the second determining module includes:

the second current sensor measures a second chopping current signal output by the second direct current conversion circuit, and transmits the second chopping current signal to the super-capacitor current reverse-pushing control submodule and the super-capacitor disturbance calculation submodule;

the super-capacitor chopping current calculation sub-module receives a super-capacitor reference chopping current signal output by the energy distribution module and transmits the super-capacitor reference chopping current signal to the super-capacitor current backstepping control sub-module and the super-capacitor disturbance calculation sub-module, wherein the super-capacitor reference chopping current signal is determined by the energy distribution module according to the reference demand current signal;

the super-capacitor current back-stepping control sub-module determines a third error of the second chopping current signal and the super-capacitor reference chopping current signal;

the super-capacitor disturbance calculation submodule determines a third error of the second chopping current signal and the super-capacitor reference chopping current signal, and determines a third disturbance parameter change rate according to the third error;

and the super-capacitor current back-stepping control sub-module determines the second duty ratio signal according to the third error and the third disturbance parameter change rate, and transmits the second duty ratio signal to the second direct current conversion circuit.

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