CN114893431A - High-precision control method for hydrogen fuel cell air compressor - Google Patents

High-precision control method for hydrogen fuel cell air compressor Download PDF

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CN114893431A
CN114893431A CN202210584465.0A CN202210584465A CN114893431A CN 114893431 A CN114893431 A CN 114893431A CN 202210584465 A CN202210584465 A CN 202210584465A CN 114893431 A CN114893431 A CN 114893431A
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precision
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fuel cell
commutation
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CN114893431B (en
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胡辉
余岳
韩宜微
覃莲英
彭思睿
胡韵
***
黄刚
朱永祥
何文鑫
黄建军
吴灿辉
杨晃民
李�诚
马涛
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Hunan University of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D25/00—Pumping installations or systems
    • F04D25/02—Units comprising pumps and their driving means
    • F04D25/06—Units comprising pumps and their driving means the pump being electrically driven
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F04D27/004—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids by varying driving speed
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M8/00—Fuel cells; Manufacture thereof
    • H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
    • H01M8/04298—Processes for controlling fuel cells or fuel cell systems
    • H01M8/04694—Processes for controlling fuel cells or fuel cell systems characterised by variables to be controlled
    • H01M8/04746—Pressure; Flow
    • H01M8/04753—Pressure; Flow of fuel cell reactants
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/30—Hydrogen technology
    • Y02E60/50—Fuel cells

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Abstract

The invention discloses a high-precision control method of a hydrogen fuel cell air compressor, which comprises the following steps: s10) acquiring direct current bus voltage and current signals when the motor runs, corresponding three-phase voltage signals, and five parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration when the motor runs; s20) calculating corresponding back electromotive force signals according to the input three-phase voltage signals; s30) generating the position and speed information of the motor rotor according to the corresponding back electromotive force signal processing; s40) calculating a position compensation signal according to the resistance and inductance parameters of the motor body and the electric signal measured by the sensor; s50) adding a compensation signal on the basis of the initial position information, thereby improving the commutation precision of the motor in the ultra-high speed running state and ensuring the stable running of the motor. The invention can solve the technical problems of insufficient oxygen supply, low motor rotating speed and poor reliability in the conventional hydrogen fuel cell air circulation system.

Description

High-precision control method for hydrogen fuel cell air compressor
Technical Field
The invention relates to the technical field of ultra-high speed motor control, in particular to a high-precision rotor positioning scheme based on a continuous position estimation theory.
Background
In the current era of multi-polarization and diversification of energy supply, the position of renewable energy is continuously rising, so how to more effectively utilize clean energy has become a research hotspot of researchers in various countries. The hydrogen fuel cell is a power generation device which takes hydrogen as fuel and directly converts chemical energy in the fuel into electric energy through electrochemical reaction, and is regarded as a subversive technical direction of the future energy revolution due to the advantages of high energy conversion efficiency, zero emission, no noise and the like. However, in the operation process of an air compressor which is a core component in the existing hydrogen fuel cell system, on one hand, the stable rotating speed is not large enough to provide sufficient oxygen to generate electrochemical reaction with hydrogen, so that the energy conversion efficiency of the hydrogen fuel cell is limited to a certain extent; on the other hand, the control algorithm can not realize accurate and stable control of the motor in an ultra-high speed state, so that the body and the controller have the problem of heating in the ultra-high speed running process. Due to the technical problems, the research on the high-precision control method of the hydrogen fuel cell air compressor has a very important meaning for improving the energy conversion efficiency of the hydrogen fuel cell, and particularly, with the continuous emphasis on the hydrogen fuel cell technology in various countries, the research on the high-precision control method of the hydrogen fuel cell air compressor has become the focus of the research in the field.
At present, through a large amount of actual operation tests, the technical problem concrete manifestation that the air compressor machine exists is summarized as:
(1) the maximum rotation speed of the hydrogen fuel cell for stable operation cannot provide enough oxygen and hydrogen to generate electrochemical reaction, and the energy conversion efficiency of the hydrogen fuel cell is limited.
(2) When the motor runs at an ultrahigh rotating speed state, the motor generates heat seriously and cannot run for a long time.
The current hydrogen fuel cell system mainly comprises an electric pile and system components (an air compressor, a humidifier, a hydrogen circulating pump and a hydrogen bottle). The core part is a galvanic pile and an air compressor, the galvanic pile is a main body of the whole system for generating electrochemical reaction and takes charge of the core task of transmitting electric energy to the outside; the air compressor is a core component in the air circulation system and takes on the important task of delivering oxygen for hydrogen fuel. From the analysis of the control theory, the core component of the air compressor in the air circulation system needs a high-precision control algorithm to realize the long-time stable operation of the air compressor in the ultrahigh rotating speed operation state. According to the current running condition, the position of the motor rotor is accurately calculated by adding a high-precision sensor, and the method is one of the methods for ensuring the motor rotor to still stably run for a long time in an ultra-high speed state.
In the existing control technology, the position of the rotor of the motor is accurately calculated mainly by installing a position sensor. The Hall sensors are respectively arranged at three specific positions with a certain angle difference in practical application, and the phase change point of the motor can be conveniently and accurately determined according to the logical relationship of corresponding signals of the three Hall sensors, so that the stability of the motor in an ultra-high speed running state is guaranteed. However, after the existing hall sensor is installed, not only the interference possibly generated by the outside on the sensor signal needs to be considered, but also the wiring space needs to be planned for the signal. However, many solutions are also provided in the prior art for detecting the position of the rotor of the motor instead of using hall sensors. Such as: magnetic position sensors, photoelectric position sensors, capacitive position sensors, and the like. Relevant data are collected through different sensor functions, data are analyzed and processed through a software algorithm, and finally accurate motor position signals can be obtained.
The above-mentioned prior art is based on the commutation signal that the sensor gathered the signal correspondence processing and generated the motor, and its limitation mainly embodies in following two aspects:
(1) for the design of the motor body, the installation position of the sensor needs to be additionally considered, so that the design complexity is increased, the volume of the motor body is increased, and the reliability of a control system is reduced;
(2) in the control process, the environmental interference on the position sensor needs to be considered, so that the hardware cost of the system is increased to a certain degree, the complexity of the hardware of the controller is increased, and the overall reliability of the control system is reduced.
Disclosure of Invention
In view of the above, the present invention provides a high-precision control method for a hydrogen fuel cell air compressor, so as to solve the technical problems of insufficient oxygen supply, low motor rotation speed, and poor reliability in the conventional hydrogen fuel cell air circulation system.
In order to achieve the above object, the present invention specifically provides a technical implementation scheme of a high-precision control method for a hydrogen fuel cell air compressor, which comprises the following steps:
s10) acquiring direct current bus voltage and current signals when the motor runs, corresponding three-phase voltage signals, and five parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration when the motor runs;
s20) calculating corresponding back electromotive force signals according to the input three-phase voltage signals;
s30) generating the position and speed information of the motor rotor according to the corresponding back electromotive force signal processing;
s40) calculating a position compensation signal according to the resistance and inductance parameters of the motor body and the electric signal measured by the sensor;
s50) adding a compensation signal on the basis of the initial position information, thereby improving the commutation precision of the motor in the ultra-high speed running state and ensuring the stable running of the motor.
Further, the step S40) includes the following processes:
s401) carrying out experiment fitting quantification according to five collected parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration, and finally forming a gain compensation parameter K to correct compensation formulas of the modules;
s402) measuring and calculating a filter delay angle according to the ratio of the cut-off frequency of the analog filtering link to the working frequency of the motor rotor on the basis of introducing a gain compensation parameter;
s403) correspondingly estimating a voltage signal actually required by the rotor according to the rotor position error generated by the zero-order retainer action and by considering the introduced gain compensation parameter;
s404) calculating a lead angle according to the characteristics of the motor inductance and the ratio of the motor inductance to the direct current signal on the basis of introducing a gain compensation parameter.
Further, in step S401), a parameter α of the influence of the temperature, the humidity, and the pressure on the commutation accuracy is estimated according to the following formula:
Figure BDA0003665352670000031
in the formula, alpha is a parameter representing the influence of ambient temperature, humidity and pressure on the commutation precision of the motor, wherein K t Is a temperature proportionality coefficient, T is a thermodynamic temperature, ln () is a natural logarithm, K r Is the humidityProportionality coefficient, r relative humidity in the environment, p atmospheric pressure, K p Is a pressure proportionality coefficient.
Further, in the step S401), a parameter β of influence of the magnetic field strength on the commutation accuracy is estimated according to the following formula:
Figure BDA0003665352670000032
wherein beta is a parameter representing the influence of the magnetic field intensity on the commutation precision of the motor, and k B Is a magnetic field intensity proportionality coefficient, B is a magnetic field intensity signal collected by a sensor,
Figure BDA0003665352670000033
is the inductance value of the motor body,
Figure BDA0003665352670000034
is an estimate of the motor speed.
Further, in the step S401), a parameter γ of the load vibration affecting the commutation accuracy is estimated according to the following formula:
Figure BDA0003665352670000035
in the formula, gamma is a parameter representing the influence of load vibration on the commutation precision of the motor, M is a vibration signal acquired by a sensor, and K M In order to be the vibration proportionality coefficient,
Figure BDA0003665352670000036
is an estimate of the motor speed.
Further, in the step S401), the gain compensation parameter is calculated according to the following formula, so as to quantify the influence of the gain compensation parameter on the commutation precision:
K＝Aα+Bβ+Cγ
in the formula, K is a comprehensive characterization parameter of environmental factors on commutation precision, A is a fitting coefficient of influence of temperature, humidity and pressure on commutation precision, alpha is a parameter of influence of environmental temperature, humidity and pressure on commutation precision of the motor, B is a fitting coefficient of influence of environmental magnetic field intensity on commutation precision, beta is a parameter of influence of environmental magnetic field intensity on commutation precision of the motor, C is a fitting coefficient of influence of load vibration on commutation precision, and gamma is a parameter of influence of load vibration on commutation precision of the motor.
Further, in step S402), a filter delay compensation angle is calculated according to the following formula, so as to obtain a position compensation signal corresponding to the module:
Figure BDA0003665352670000037
in the formula (I), the compound is shown in the specification,
Figure BDA0003665352670000038
is an estimate of the operating frequency of the rotor of the motor, f LPF Is the cut-off frequency of the filtering link in the phase voltage acquisition process,
Figure BDA0003665352670000039
is the corresponding filter delay compensation angle, and K is the correction gain parameter.
Further, in step S403), the rotor position error caused by the zero-order keeper action is processed according to the following formula, and the corresponding compensation voltage signal is extracted:
Figure BDA0003665352670000041
in the formula, V comp Is the corresponding value of the compensation voltage signal, V o Is the voltage output value of the current state, theta offset Is the rotor position error due to the zero order keeper effect, and K is the correction gain parameter.
Further, in the step S404), a lead angle corresponding to the inductance characteristic of the motor is calculated according to the following formula
Figure BDA0003665352670000045
Figure BDA0003665352670000042
In the formula I DC And V DC The DC bus current value and the DC bus voltage value,
Figure BDA0003665352670000043
is an estimated value of the motor speed, K is a correction gain parameter,
Figure BDA0003665352670000044
is the inductance of the motor body.
Furthermore, the main circuit PWM switching frequency in the control method is 80KHz, and the approximate value range of the correction gain parameter K is 1.1-1.225 in the actual operation process. .
By implementing the technical scheme of the high-precision control method of the hydrogen fuel cell air compressor provided by the invention, the method has the following beneficial effects:
(1) the invention adopts a position-sensorless control mode based on a continuous position estimation theory, obtains an initial position signal of the electronic rotor by processing the collected back electromotive force voltage signal, and simultaneously corrects a measured position compensation signal by utilizing the parameters of the motor body and an environmental parameter sub-module collected by the sensor, thereby generating a more accurate commutation signal and finally ensuring the stability of the motor in an ultrahigh-speed running state.
(2) On the premise of not increasing the complexity of a controller hardware structure, the commutation compensation signal is directly estimated according to the parameters of the motor body and the signal sub-module measured by the sensor, so that the highest stable speed of the motor during operation is obviously improved, a mainstream control algorithm is optimized, the heating problem is solved to a certain extent, the anti-interference capability of a control system is improved, and the method has important theoretical significance and engineering application value.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other embodiments can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic structural diagram of a screw air compressor body on which the high-precision control method of the hydrogen fuel cell air compressor is based;
FIG. 2 is a schematic flow chart illustrating a process of one embodiment of the high-precision control method for the hydrogen fuel cell air compressor according to the present invention;
FIG. 3 is a block diagram of the system structure of the hydrogen fuel cell air compressor high-precision control method based on the method of the present invention;
FIG. 4 is a schematic diagram comparing the effects of the high-precision control method of the hydrogen fuel cell air compressor of the present invention and the control method of the existing air compressor;
in the figure: the method comprises the following steps of 1-an air compressor rotor, 2-an air compressor end cover, 3-an air compressor base, 4-a bearing, 5-an end cover and an integrated controller thereof, 6-a related environmental parameter sensor module, 7-a hydrogen fuel cell air compressor body, 8-a position estimation module of a motor rotor, 9-a commutation position compensation module, 10-a corresponding speed control module in a control algorithm, 11-a corresponding current control module in the control algorithm, 12-a three-phase inverter module of a main circuit, 13-a power supply of the air compressor, 14-a load vibration detection sensor, 15-a magnetic field intensity induction sensor, 16-an air pressure detection sensor, 17-a humidity detection sensor and 18-a temperature sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all 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.
Referring to fig. 1 to 4, a specific embodiment of the method for controlling an air compressor of a hydrogen fuel cell according to the present invention with high precision is shown, and the present invention will be further described with reference to the accompanying drawings and the specific embodiment.
Example 1
As shown in fig. 1, which is a schematic structural diagram of a screw air compressor based on the high-precision control method of the hydrogen fuel cell air compressor of the present invention, the air compressor includes an air compressor rotor 1, an air compressor end cover 2, an air compressor base 3, a bearing 4, a controller 5 integrated with the end cover, and an integrated motor with high reliability formed by a related environmental parameter sensor module 6. The air compressor of the embodiment 1 provides oxygen required by the cathode for the hydrogen fuel cell reaction, and a large amount of air is compressed and fed into the hydrogen fuel cell, so that the oxygen concentration of the cathode is increased, and the electrochemical reaction of the hydrogen fuel cell is promoted. After the air compressor disclosed by the embodiment 1 is applied, the concentration of a substance which reacts in a hydrogen fuel cell system can be obviously improved, so that hydrogen fuel in the hydrogen fuel cell system can be more fully utilized, and the energy density of the hydrogen fuel cell is effectively increased.
As shown in fig. 2, a high-precision control method for a hydrogen fuel cell air compressor of the present invention specifically includes the following steps:
s10) acquiring direct current bus voltage and current signals, corresponding three-phase voltage signals and five parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration during operation of the motor body 7;
s20) calculating corresponding back electromotive force signals according to the input three-phase voltage signals;
s30) generating the position and speed information of the motor rotor according to the corresponding back electromotive force signal processing;
s40) calculating a position compensation signal according to the resistance and inductance parameters of the motor body 7 and the electric signal measured by the sensor;
s50) adding a compensation signal based on the initial position information, thereby improving the commutation accuracy of the motor 7 in the ultra-high speed operation state and ensuring its smooth operation.
The hydrogen fuel cell air compressor high-precision control method described in the present embodiment is based on rotor position estimation of a continuous position estimation theory. The commutation position of the air compressor body 7 is preliminarily estimated by the position estimation module 8. When the air compressor operates in an ultrahigh-speed state, the influence of the environmental parameters on the commutation precision of the motor is quantified in the commutation position compensation module 9 through a fitting formula, then the sub-modules carry out estimation compensation on the commutation position error of the motor, and finally, after the accurate commutation position of the motor is obtained, the commutation signals are processed and fed into the inverter module to realize accurate and stable control on the motor.
Step S40) further includes the following processes:
s401) carrying out experiment fitting quantification according to five collected parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration, and finally forming a gain compensation parameter K to correct compensation formulas of the modules;
s402) measuring and calculating a filter delay angle according to the ratio of the cut-off frequency of the analog filtering link to the working frequency of the motor rotor on the basis of introducing a gain compensation parameter;
s403) correspondingly estimating a voltage signal actually required by the rotor according to the rotor position error generated by the zero-order retainer action and by considering the introduced gain compensation parameter;
s404) calculating a lead angle according to the characteristics of the motor inductance and the ratio of the motor inductance to the direct current signal on the basis of introducing a gain compensation parameter.
In step S401), a parameter α of the influence of temperature, humidity and pressure on the commutation accuracy is further estimated according to the following formula:
Figure BDA0003665352670000061
in the formula, alpha is a parameter representing the influence of ambient temperature, humidity and pressure on the commutation precision of the motor, wherein K t Is a temperature proportionality coefficient, T is a thermodynamic temperature, ln () is a natural logarithm, K r Is humidity ofProportionality coefficient, r relative humidity in the environment, p atmospheric pressure, K p Is a pressure proportionality coefficient.
In step S401), a parameter β of influence of the magnetic field strength on the commutation accuracy is further estimated according to the following formula:
Figure BDA0003665352670000062
wherein beta is a parameter representing the influence of the magnetic field intensity on the commutation precision of the motor, and K B Is a magnetic field intensity proportionality coefficient, B is a magnetic field intensity signal collected by a sensor,
Figure BDA0003665352670000063
is the inductance value of the motor body,
Figure BDA0003665352670000064
is an estimate of the motor speed.
In step S401), a parameter γ of the influence of the load vibration on the commutation accuracy is further estimated according to the following formula:
Figure BDA0003665352670000065
in the formula, gamma is a parameter representing the influence of load vibration on the commutation precision of the motor, M is a vibration signal acquired by a sensor, and K M In order to be the vibration proportionality coefficient,
Figure BDA0003665352670000066
is an estimate of the motor speed.
In step S401), the gain compensation parameter is measured and calculated according to the following formula, so as to quantify the influence of the gain compensation parameter on the commutation precision:
K＝Aα+Bβ+Cγ (4)
in the formula, K is a comprehensive characterization parameter of environmental factors on commutation precision, A is a fitting coefficient of influence of temperature, humidity and pressure on commutation precision, alpha is a parameter of influence of environmental temperature, humidity and pressure on commutation precision of the motor, B is a fitting coefficient of influence of environmental magnetic field intensity on commutation precision, beta is a parameter of influence of environmental magnetic field intensity on commutation precision of the motor, C is a fitting coefficient of influence of load vibration on commutation precision, and gamma is a parameter of influence of load vibration on commutation precision of the motor.
In step S402), a filter delay compensation angle is further calculated according to the following formula, so as to obtain a position compensation signal corresponding to the module:
Figure BDA0003665352670000071
in the formula (I), the compound is shown in the specification,
Figure BDA0003665352670000072
is an estimate of the operating frequency of the rotor of the motor, f LPF Is the cut-off frequency of the filtering link in the phase voltage acquisition process,
Figure BDA0003665352670000073
is the corresponding filter delay compensation angle, and K is the correction gain parameter.
And according to the working frequency of the rotor of the air compressor body 7 and the cut-off frequency of a filtering link in the control circuit, a corresponding estimated filter delay compensation angle is superposed with an initial commutation signal, so that the controller can more accurately control the motor commutation, and the generation of faults is avoided to a certain extent. Because an RC filtering link is adopted when the back electromotive force signal is collected, a digital filtering link with the same cut-off frequency is adopted when the direct current bus voltage is collected, and the accuracy of measurement and calculation is improved.
In step S403), the rotor position error caused by the zero-order keeper action is further processed according to the following formula, and a corresponding compensation voltage signal is extracted:
Figure BDA0003665352670000074
in the formula, V comp Is the corresponding compensation voltage signal value, V o Is the voltage output value of the current state, theta offset Is the rotor position error due to the zero order keeper effect, and K is the correction gain parameter. In the present embodiment, the angle θ is estimated by estimating the rotor position e Considering the zero-order keeper delay angle theta offset And the commutation precision is further improved, so that the motor can achieve higher stability when running in a high-speed state.
In step S404), a lead angle corresponding to the inductance characteristic of the motor is further calculated according to the following formula
Figure BDA0003665352670000078
Figure BDA0003665352670000075
In the formula I DC And V DC The DC bus current value and the DC bus voltage value,
Figure BDA0003665352670000076
k is a correction gain parameter for the motor speed estimate. Apparent motor speed estimate
Figure BDA0003665352670000077
And the lead angle has positive correlation, and when the speed is increased, the corresponding lead angle is also increased.
As a typical specific embodiment of the invention, the corresponding AD sampling frequency is 100kHz when the electric signal is collected, the PWM switching frequency of the main circuit is 80kHz, and the approximate value range of the correction gain parameter K is 1.1-1.225 in the actual operation process.
Example 2
As shown in fig. 3, in an embodiment of the hydrogen fuel cell air compressor high-precision control method applied in embodiment 1, main modules of an air compressor control system specifically include:
an air compressor body 7 for inputting compressed air to the hydrogen fuel cell;
the position estimation module 8 is used for carrying out preliminary estimation on the phase-changing position when the motor runs;
the commutation position compensation module 9 is used for calculating commutation compensation signals of the sub-modules on the basis of considering the influence of environmental parameters;
the speed control module 10 gives a corresponding speed control signal through a design controller to serve as the input of the current control module 11;
the current control module 11 gives out a corresponding current control signal through a design controller;
the load vibration detection sensor 14 is used for collecting the vibration condition of the air compressor load and correspondingly substituting the vibration condition into the position compensation module 9 for operation;
the magnetic field intensity sensor 15 is used for collecting the magnetic field intensity around the running air compressor and correspondingly substituting the magnetic field intensity into the position compensation module 9 for operation;
the air pressure detection sensor 16 is used for acquiring the air pressure of the environment where the air compressor is located and correspondingly substituting the air pressure into the position compensation module 9 for operation;
the humidity detection sensor 17 is used for acquiring the humidity condition of the ambient environment when the air compressor runs in the hydrogen fuel cell system and correspondingly substituting the humidity condition into the position compensation module 9 for operation;
the temperature sensor 18 is used for collecting the temperature condition of the body when the air compressor runs and correspondingly substituting the temperature condition into the position compensation module 9 for operation;
wherein, the air compressor body 7 sends the compressed air into the hydrogen fuel cell through the high-speed rotation of the motor flabellum and generates electrochemical reaction with the hydrogen. When the air compressor operates in an ultrahigh-speed state, the commutation position of the motor is preliminarily estimated through the position estimation module 8, then the compensation signal estimated by the commutation error is superposed with the compensation signal estimated by the commutation compensation module 9, and finally, the accurate commutation phase of the motor is obtained, and then the final commutation signal is fed into the inverter module to realize accurate and stable control of the motor.
As shown in fig. 4, the data of the hydrogen fuel cell high-precision control method described for the embodiment of the present invention is compared with the data of the conventional position-sensor-less control method. It is obvious from the figure that when the existing position-free control method is adopted, when the motor runs to about 74000rpm, the normal speed rise cannot be stabilized, and the main circuit overcurrent can be caused after the motor is out of step. The hydrogen fuel cell air compressor 7 based on the continuous position estimation theory described in the embodiment 1 is stable and controllable in the whole test speed range, effectively improves the highest stable rotating speed, and inhibits the heating of the motor body to a certain extent.
As a typical embodiment of the present invention, according to the experimental situation, in the actual operation process, the corresponding correction gain parameter K is approximately 1.1-1.225.
By implementing the technical scheme of the high-precision control method of the hydrogen fuel cell air compressor described in the specific embodiment of the invention, the following technical effects can be produced:
(1) the high-precision control method for the hydrogen fuel cell air compressor, which is described in the specific embodiment of the invention, adopts a position-sensorless control strategy based on a continuous position estimation theory, processes the body parameters and the electric signals measured by the sensor, estimates and obtains a commutation compensation signal under the condition of considering the influence of ambient environment parameters, and further improves the commutation precision of the motor in ultra-high-speed operation, so that the highest rotating speed of the motor in stable operation is correspondingly improved, more air can be compressed and input in unit time, and the technical problem of low energy conversion efficiency of a hydrogen fuel cell system is well solved;
(2) according to the high-precision control method for the hydrogen fuel cell air compressor, disclosed by the specific embodiment of the invention, on the premise of not increasing a hardware structure of a controller, the commutation compensation signal is directly estimated according to the parameters of the motor body and the electric signal sub-module measured by the sensor, so that the technical problem of low energy conversion efficiency of a hydrogen fuel cell system is solved to a certain extent, the stability of the motor in operation is obviously improved, a control algorithm is optimized, the technical problem of body heating is basically solved, the anti-interference capability of the control system is improved, and the high-precision control method has important theoretical significance and engineering application value.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or equivalent modifications, without departing from the spirit and scope of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims (10)

1. A high-precision control method for a hydrogen fuel cell air compressor is characterized by comprising the following steps:
s10) acquiring direct current bus voltage and current signals when the motor runs, corresponding three-phase voltage signals, and five parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration when the motor runs;
s20) calculating corresponding back electromotive force signals according to the input three-phase voltage signals;
s30) generating the position and speed information of the motor rotor according to the corresponding back electromotive force signal processing;
s40) calculating a position compensation signal according to the resistance and inductance parameters of the motor body and the electric signal measured by the sensor;
s50) adding a compensation signal on the basis of the initial position information, thereby improving the commutation precision of the motor in the ultra-high speed running state and ensuring the stable running of the motor.
2. The hydrogen fuel cell air compressor high-precision control method according to claim 1, wherein the step S40) further includes the process of:
s401) carrying out experiment fitting quantification according to five collected parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration, and finally forming a gain compensation parameter K to correct compensation formulas of the modules;
s402) measuring and calculating a filter delay angle according to the ratio of the cut-off frequency of the analog filtering link to the working frequency of the motor rotor on the basis of introducing a gain compensation parameter;
s403) correspondingly estimating a voltage signal actually required by the rotor according to the rotor position error generated by the zero-order retainer action and by considering the introduced gain compensation parameter;
s404) calculating a lead angle according to the characteristics of the motor inductance and the ratio of the motor inductance to the direct current signal on the basis of introducing a gain compensation parameter.
3. The method for controlling the air compressor of the hydrogen fuel cell with high precision as claimed in claim 1, wherein in the step S401), the parameter α of the influence of the temperature, the humidity and the pressure on the commutation precision is estimated according to the following formula:
Figure FDA0003665352660000011
in the formula, alpha is a parameter representing the influence of ambient temperature, humidity and pressure on the commutation precision of the motor, wherein K t Is a temperature proportionality coefficient, T is a thermodynamic temperature, ln () is a natural logarithm, K r Is the humidity proportionality coefficient, r is the relative humidity in the environment, p is the atmospheric pressure, K p Is a pressure proportionality coefficient.
4. The hydrogen fuel cell air compressor high-precision control method according to claim 1, characterized in that in step S401), the parameter β of the influence of the magnetic field strength on the commutation precision is estimated according to the following formula:
Figure FDA0003665352660000012
wherein beta is a parameter representing the influence of the magnetic field intensity on the commutation precision of the motor, and K B Is a magnetic field intensity proportionality coefficient, B is a magnetic field intensity signal collected by a sensor,
Figure FDA0003665352660000013
is the inductance value of the motor body,
Figure FDA0003665352660000014
is an estimate of the motor speed.
5. The hydrogen fuel cell air compressor high-precision control method according to claim 1, characterized in that in step S401), the parameter γ of the influence of the load vibration on the commutation precision is estimated according to the following formula:
Figure FDA0003665352660000021
in the formula, gamma is a parameter representing the influence of load vibration on the commutation precision of the motor, M is a vibration signal acquired by a sensor, and K M In order to be the vibration proportionality coefficient,
Figure FDA0003665352660000022
is an estimate of the motor speed.
6. The method for controlling the air compressor of the hydrogen fuel cell with high precision as claimed in claim 1, wherein in the step S401), the gain compensation parameter is calculated according to the following formula, so as to quantify the influence of the gain compensation parameter on the commutation precision:
K＝Aα+Bβ+Cγ
in the formula, K is a comprehensive characterization parameter of environmental factors on commutation precision, A is a fitting coefficient of influence of temperature, humidity and pressure on commutation precision, alpha is a parameter of influence of environmental temperature, humidity and pressure on commutation precision of the motor, B is a fitting coefficient of influence of environmental magnetic field intensity on commutation precision, beta is a parameter of influence of environmental magnetic field intensity on commutation precision of the motor, C is a fitting coefficient of influence of load vibration on commutation precision, and gamma is a parameter of influence of load vibration on commutation precision of the motor.
7. The method for controlling the air compressor of the hydrogen fuel cell with high precision as claimed in claim 1, wherein in the step S402), the filter delay compensation angle is calculated according to the following formula, so as to obtain the position compensation signal corresponding to the module:
Figure FDA0003665352660000023
wherein K is a correction gain parameter,
Figure FDA0003665352660000024
is an estimate of the operating frequency of the rotor of the motor, f LPF Is the cut-off frequency of the filtering link in the phase voltage acquisition process,
Figure FDA0003665352660000025
is the corresponding filter delay compensation angle.
8. The method as claimed in claim 1, wherein in step S403), the rotor position error caused by the zero-order retainer action is processed according to the following formula, and the corresponding compensation voltage signal is extracted:
Figure FDA0003665352660000026
where K is the correction gain parameter, V comp Is the corresponding compensation voltage signal value, V o Is the voltage output value of the current state, theta offset Due to rotor position errors caused by the zero order keeper action.
9. The method for controlling the air compressor of the hydrogen fuel cell with high precision as claimed in claim 1, wherein in the step S404), the lead angle corresponding to the inductance characteristic of the motor is calculated according to the following formula
Figure FDA0003665352660000027
Figure FDA0003665352660000028
Wherein K is a correction gain parameter, I DC And V DC The DC bus current value and the DC bus voltage value,
Figure FDA0003665352660000029
as an estimate of the speed of the motor,
Figure FDA00036653526600000210
is the inductance of the motor body.
10. The high-precision control method of the hydrogen fuel cell air compressor as claimed in claim 1, wherein: the main circuit PWM switching frequency in the control method is 80KHz, and the approximate value range of the correction gain parameter K is 1.1-1.225 in the actual operation process.
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