CN118545230A - Energy management method for fuel cell ship - Google Patents
Energy management method for fuel cell ship Download PDFInfo
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- CN118545230A CN118545230A CN202411019650.0A CN202411019650A CN118545230A CN 118545230 A CN118545230 A CN 118545230A CN 202411019650 A CN202411019650 A CN 202411019650A CN 118545230 A CN118545230 A CN 118545230A
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- 239000000446 fuel Substances 0.000 title claims abstract description 118
- 238000007726 management method Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 75
- 239000003990 capacitor Substances 0.000 claims abstract description 34
- 238000004146 energy storage Methods 0.000 claims abstract description 17
- 238000007665 sagging Methods 0.000 claims abstract description 9
- 230000008685 targeting Effects 0.000 claims abstract description 7
- 238000011217 control strategy Methods 0.000 claims abstract description 5
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims description 38
- 229910052739 hydrogen Inorganic materials 0.000 claims description 38
- 239000001257 hydrogen Substances 0.000 claims description 38
- 230000008569 process Effects 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 8
- 238000013178 mathematical model Methods 0.000 claims description 8
- 238000005457 optimization Methods 0.000 claims description 5
- 230000000452 restraining effect Effects 0.000 claims description 5
- 230000004044 response Effects 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 101100001674 Emericella variicolor andI gene Proteins 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000003763 carbonization Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/75—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using propulsion power supplied by both fuel cells and batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/40—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for controlling a combination of batteries and fuel cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H2021/003—Use of propulsion power plant or units on vessels the power plant using fuel cells for energy supply or accumulation, e.g. for buffering photovoltaic energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Fuel Cell (AREA)
Abstract
The invention provides an energy management method of a fuel cell ship, which comprises the following steps: based on a hybrid power system architecture of the fuel cell hybrid power ship, establishing a whole ship power system model of the fuel cell ship; collecting historical typical driving condition data of a fuel cell hybrid power ship; based on Pontriya Jin Jixiao value principle, acquiring the cooperative variable and the storage battery offline through a targeting methodThe relation of the variation quantity ensures the storage battery while carrying out minimized solution on the Hamiltonian according to the historical typical working conditionThe variation is in a limited range, and the optimal power distribution between the fuel cell and the hybrid energy storage system is obtained; by means of the sagging frequency division control method, the frequency division control strategy of the converter control layer is utilized to solve the problem of power distribution of the storage battery and the super capacitor in the hybrid energy storage system, and the power distribution result obtained by the Pontriyan Jin Jixiao value principle is matched, so that the optimal energy management goal of the fuel cell hybrid power ship is achieved.
Description
Technical Field
The invention relates to the technical field of power distribution of new energy ships, in particular to an energy management method of a fuel cell ship.
Background
The development of fuel cell vessels is one of the important development directions for achieving operational upgrades and low carbonization in the shipping industry. With the continuous progress of the technology of the marine fuel cell, the fuel cell stands out by virtue of the advantages of zero pollution, high efficiency, low noise and vibration, high energy density and the like, and the fuel cell ship has become one of the key development directions of the shipbuilding industry.
Currently, energy management is one of the key technologies to solve many problems of fuel cell boarding. In the prior art, most energy management methods have the characteristics of large calculation amount, complex design and the like, and meanwhile, the application of the hybrid energy storage system can complicate the energy management.
Disclosure of Invention
According to the technical problem set forth above, the invention provides an energy management method of a fuel cell ship based on the Pontriya Jin Jixiao value principle. Considering that fuel cell ships often sail in inland and the sailing route is relatively fixed, the method provided by the invention combines the Pontrian Jin Jixiao value principle with the sagging frequency division converter control method, and meets the power distribution requirement of the fuel cell ship energy management strategy.
The invention adopts the following technical means:
A fuel cell ship energy management method based on the pointriyan Jin Jixiao value principle, comprising:
S1, based on a hybrid power system architecture of a fuel cell hybrid power ship, introducing a collaborative state variable and an objective function, and establishing a whole ship power system model, a related state equation and a Hamiltonian function of the fuel cell ship;
S2, acquiring historical typical driving condition data of the fuel cell hybrid power ship, importing the acquired condition data into a whole ship power system model of the fuel cell ship established in the step S1, and carrying out minimized solution on the Hamiltonian according to the imported historical typical driving condition data;
S3, based on the Pontriya Jin Jixiao value principle, acquiring the relation between the cooperative variable and the SoC variation of the storage battery offline through a targeting method, and guaranteeing the storage battery The chemical quantity is in a limited range, and the optimal power distribution between the fuel cell and the hybrid energy storage system is obtained by utilizing the frequency division control strategy of the converter control layer through the sagging frequency division control method, so that the optimal target of energy management of the fuel cell hybrid power ship is realized.
Further, step S1 specifically includes:
S11, selecting the charge state of the storage battery Is a state variableWith output of hydrogen fuel cell systemTo control variablesAccording to an energy management strategy mathematical model of the fuel cell hybrid ship, taking the minimum hydrogen consumption in a fuel cell hybrid system as an optimization target, introducing an objective function, wherein the objective function comprises the following steps:
；
In the method, in the process of the invention, Is a state index of the storage battery; Equivalent hydrogen consumption of the electric quantity of the lithium battery at the end of the voyage; Is the actual hydrogen consumption of the fuel cell;
S12, adding state indexes of the storage battery The SoC range of the battery is maintained in the form of a penalty factor as follows:
；
S13, charging state of the storage battery As a state variable, restraining in a limiting range, and simultaneously expecting that the initial and final state difference value of the state variable is minimum after the fuel cell hybrid power ship finishes the voyage, and simultaneously setting an initial value of an initial value state variable;
S14, taking the actual output power of the fuel cell as a control variable The maximum and minimum output powers and the power change rates of the fuel cell are constrained according to the characteristics of the fuel cell, as follows:
；
In the method, in the process of the invention, ，As an extreme value of the output power of the fuel cell,，A range value that is a rate of change of the output power of the fuel cell;
s15, restraining the storage battery for managing voyage of the fuel cell ship The initial and final state difference ranges of (2) are as follows:
；
S16, establishing a state equation of a mathematical model of the storage battery, wherein the state equation is as follows:
；
In the method, in the process of the invention, For the capacity of the battery,For the open-circuit voltage of the storage battery,Is the internal resistance of the storage battery,Output power for the battery;
S17, considering the molar mass of the hydrogen and the power consumed by auxiliary machines in the system, calculating the relation between the hydrogen consumption rate and the output power of the fuel cell system, wherein the relation is as follows:
；
In the method, in the process of the invention, For the output voltage of the fuel cell,For the efficiency of the fuel cell system,For the output power of the fuel cell system,，Hydrogen molar mass and faraday constant, respectively;
s18, calculating the hydrogen consumption of the fuel cell, wherein the hydrogen consumption is as follows:
；
s19, equivalent hydrogen consumption of storage battery According to the accumulatorIs embodied by introducing a covariate variable according to the PMP principleThe hamiltonian was constructed as follows:
；
In the method, in the process of the invention, Is a regular equation of the covariate,Wherein, the method comprises the steps of, wherein,For the current of the accumulator,Is the state of charge of the battery.
Further, step S2 specifically includes:
S21, substituting the collected historical typical driving condition data of the fuel cell hybrid power ship to obtain the minimum value of the Hamiltonian in the whole voyage of the fuel cell ship, wherein the minimum value is as follows:
；
s22, calculating the optimal output power of the fuel cell system based on the hydrogen consumption minimum target, wherein the optimal output power is as follows:
；
In the above-mentioned method, the step of, Representing an objective function; Representing a state variable; Representing the determined covariate; indicating the corresponding run time of the voyage.
Further, step S3 specifically includes:
S31, representing the current relation of a hybrid energy storage system HESS formed by a high-energy-density storage battery and a high-power-density super capacitor as follows:
；
In the above-mentioned method, the step of, Representing the load current; representing super capacitor current; representing battery current; Representing the fuel cell current.
S32, according to a current relation formula of HESS in the step S31, a virtual resistor droop control method and a virtual capacitor droop control method are respectively adopted for the storage battery and the supercapacitor SC, and when the system stably operates, the U-P relation exists as follows:
；
In the above-mentioned method, the step of, Representing the battery voltage; Representing a direct current bus reference voltage; Representing battery power; a virtual resistance representing a battery control loop; representing the super capacitor voltage; representing super capacitor power; Representing the Laplace variable; a virtual capacitor representing a super capacitor control loop; representing equivalent HESS power;
s33, since the sagging coefficient is far larger than the line impedance, the line impedance can be ignored, and then the following is considered:
；
In the above-mentioned method, the step of, Representing the actual voltage of the direct current bus;
S34, based on the steps, obtaining a current distribution relation between the storage battery and the super-capacitor converter, wherein the current distribution relation is as follows:
；
As can be seen from the above description, Corresponding to the first-order low-pass filter,Equivalent HESS power P HESS is decomposed into a low-frequency component and a high-frequency component from a frequency division point and is respectively born by a storage battery and a super capacitor, so that busbar voltage power fluctuation frequency division response between the hybrid energy storage units is realized.
Compared with the prior art, the invention has the following advantages:
1. The energy management method of the fuel cell ship provided by the invention combines the Pontrian Jin Jixiao value principle with the sagging frequency division converter control method, can realize the efficient distribution of the power of each power source while improving the running stability of the system, prolongs the voyage of the power source and realizes the minimum hydrogen consumption of the fuel cell under the target working condition.
2. The energy management method of the fuel cell ship combines the sagging frequency division converter control method, does not need to communicate among converters of an energy storage system, can realize good distribution of power of a storage battery and a super capacitor, and recovers the super capacitor。
Based on the reasons, the invention can be widely popularized in the fields of new energy ships and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic diagram of a fuel cell integrated power system according to the present invention.
FIG. 2 is a schematic diagram of an energy management strategy designed in accordance with the present invention.
Fig. 3 is a schematic flow chart of the pointrisia minimum value optimization algorithm in the fuel cell ship energy management in the implementation process of the invention.
Fig. 4 is a reference diagram of power output of each power source after the present invention is actually applied.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in FIG. 1, in order to construct a comprehensive power system of a fuel cell ship, the hybrid power system of the fuel cell ship comprises key components such as a fuel cell, a storage battery, a super capacitor, a DC-DC converter, a motor controller, a driving motor and the like, and a mathematical model of the components is established as a control object.
As shown in fig. 2 and 3, the present invention provides a fuel cell ship energy management method based on the pointrian Jin Jixiao value principle, which comprises the following steps:
S1, based on a hybrid power system architecture of a fuel cell hybrid power ship, introducing a collaborative state variable and an objective function, and establishing a whole ship power system model, a related state equation and a Hamiltonian function of the fuel cell ship;
S2, acquiring historical typical driving condition data of the fuel cell hybrid power ship, importing the acquired condition data into a whole ship power system model of the fuel cell ship established in the step S1, and carrying out minimized solution on the Hamiltonian according to the imported historical typical driving condition data;
s3, acquiring a cooperative variable and a storage battery offline through a targeting method based on Pontriya Jin Jixiao value principle Relation of variation quantity, ensure accumulatorThe variable quantity is within a limited range, and the frequency division control strategy of the converter control layer is utilized to solve the power distribution of the storage battery and the super capacitor in the hybrid energy storage system by the droop frequency division control method, so that the optimal power distribution between the fuel cell and the hybrid energy storage system is obtained, and the optimal target of energy management of the fuel cell hybrid power ship is realized.
In specific implementation, as a preferred embodiment of the present invention, step S1 specifically includes:
S11, selecting the charge state of the storage battery Is a state variableWith output of hydrogen fuel cell systemTo control variablesAccording to an energy management strategy mathematical model of the fuel cell hybrid ship, taking the minimum hydrogen consumption in a fuel cell hybrid system as an optimization target, introducing an objective function, wherein the objective function comprises the following steps:
；
In the method, in the process of the invention, Is a state index of the storage battery; Equivalent hydrogen consumption of the electric quantity of the lithium battery at the end of the voyage; Is the actual hydrogen consumption of the fuel cell;
S12, adding state indexes of the storage battery Maintaining the battery in the form of a penalty factorThe ranges are as follows:
；
S13, charging state of the storage battery As a state variable, the state variable is constrained within a limit range, and at the same time, the initial and final state difference values of the state variable are expected to be minimum after the fuel cell hybrid ship finishes the voyage, and at the same time, the initial value of the initial value state variable is set to be 60%;
S14, taking the actual output power of the fuel cell as a control variable The maximum and minimum output powers and the power change rates of the fuel cell are constrained according to the characteristics of the fuel cell, as follows:
；
In the method, in the process of the invention, ，As an extreme value of the output power of the fuel cell,，A range value that is a rate of change of the output power of the fuel cell;
s15, restraining the storage battery for managing voyage of the fuel cell ship The initial and final state difference ranges of (2) are as follows:
；
S16, establishing a state equation of a mathematical model of the storage battery, wherein the state equation is as follows:
；
In the method, in the process of the invention, For the capacity of the battery,For the open-circuit voltage of the storage battery,Is the internal resistance of the storage battery,Output power for the battery;
S17, considering the molar mass of the hydrogen and the power consumed by auxiliary machines in the system, calculating the relation between the hydrogen consumption rate and the output power of the fuel cell system, wherein the relation is as follows with the power change as shown in fig. 4:
；
In the method, in the process of the invention, For the output voltage of the fuel cell,For the efficiency of the fuel cell system,For the output power of the fuel cell system,，The molar mass of hydrogen and Faraday constant are respectively, and constants are taken in the formula;
s18, calculating the hydrogen consumption of the fuel cell, wherein the hydrogen consumption is as follows:
；
s19, equivalent hydrogen consumption of storage battery According to the accumulatorIs embodied by introducing a covariate variable according to the PMP principleThe hamiltonian was constructed as follows:
；
In the method, in the process of the invention, Is a regular equation of the covariate,Wherein, the method comprises the steps of, wherein,For the current of the accumulator,Is the state of charge of the battery. Since the storage battery in the embodiment is restrained to be betterIn-region operation, the open circuit voltage and internal resistance of which are treated as constants, andIs independent of variations in (a).
In the above embodiment, in step S1, the present invention selects the batteryIs a state variableWith output of hydrogen fuel cell systemTo control variablesAccording to the mathematical model of the energy management strategy of the fuel cell hybrid power ship, the minimum hydrogen consumption in the fuel cell hybrid power system is taken as an optimization target, and meanwhile, the state index of the storage battery is addedMaintaining the battery in the form of a penalty factorRange. To be stored in the batteryAs a state variable, it is desirable that the difference between the initial and final states of the state variable is minimized after the fuel cell hybrid ship finishes its voyage. While giving an initial value of 60%. In order to better manage the voyage of the fuel cell ship, the principle needs to solve the collaborative state variable by adopting a targeting method, and a storage battery needs to be addedThe limit condition of the initial and final states is used for ending the calculation of the targeting method. For fuel cells, the actual output power is used as a control variableThe maximum and minimum output powers and the power change rate are constrained according to the characteristics. Simultaneously calculating the hydrogen consumption of the fuel cell by using a related formula; equivalent hydrogen consumption of accumulatorAccording to whichIs embodied according to the PMP principle, and introduces a covariate variableConstructing Hamiltonian, since the battery in this study is constrained to be betterIn-region operation, the open circuit voltage and internal resistance of which are treated as constants, andIs independent of variations in (a).
In specific implementation, as a preferred embodiment of the present invention, step S2 specifically includes:
S21, substituting the collected historical typical driving condition data of the fuel cell hybrid power ship to obtain the minimum value of the Hamiltonian in the whole voyage of the fuel cell ship, wherein the minimum value is as follows:
；
s22, calculating the optimal output power of the fuel cell system based on the hydrogen consumption minimum target, wherein the optimal output power is as follows:
；
In the above-mentioned method, the step of, Representing an objective function; Representing a state variable; Representing the determined covariate; indicating the corresponding run time of the voyage.
In the above embodiment, in step S2, historical typical driving condition data of the fuel cell hybrid ship is collected and imported into the whole ship power system model of the fuel cell ship established in step S1, and according to the condition, the co-state variables are calculatedAdopting a targeting method to obtain the collaborative state variable and the storage battery offlineVariation ofTo obtain an optimal collaborative variable; and according to the optimal cooperative variables, carrying out minimum value solving on the Hamiltonian in the step S1. Substituting the data of the driving working condition to obtain the minimum value of the Hamiltonian in the whole voyage of the fuel cell ship.
In specific implementation, as a preferred embodiment of the present invention, step S3 specifically includes:
S31, the storage battery and the super capacitor are respectively connected to the bus through a bidirectional DC-DC converter, as shown in fig. 2, so as to compensate for power unbalance between the PEMFC and the load and maintain the bus voltage, and the current relationship of the hybrid energy storage system HESS formed by the storage battery with high energy density and the super capacitor with high power density is expressed as:
；
In the above-mentioned method, the step of, Representing the load current; representing super capacitor current; representing battery current; Representing the fuel cell current.
S32, according to a current relation formula of HESS in the step S31, a virtual resistor droop control method and a virtual capacitor droop control method are respectively adopted for the storage battery and the supercapacitor SC, and when the system stably operates, the U-P relation exists as follows:
；
In the above-mentioned method, the step of, Representing the battery voltage; Representing a direct current bus reference voltage; Representing battery power; a virtual resistance representing a battery control loop; representing the super capacitor voltage; representing super capacitor power; Representing the Laplace variable; a virtual capacitor representing a super capacitor control loop; representing equivalent HESS power;
s33, since the sagging coefficient is far larger than the line impedance, the line impedance can be ignored, and then the following is considered:
；
In the above-mentioned method, the step of, Indicating the actual voltage of the dc bus.
S34, based on the steps, obtaining a current distribution relation between the storage battery and the super-capacitor converter, wherein the current distribution relation is as follows:
；
As can be seen from the above description, Corresponding to the first-order low-pass filter,Equivalent HESS power P HESS is decomposed into a low-frequency component and a high-frequency component from a frequency division point and is respectively born by a storage battery and a super capacitor, so that busbar voltage power fluctuation frequency division response between the hybrid energy storage units is realized.
In the above embodiment, in step S3, the power distribution of the storage battery and the super capacitor in the hybrid energy storage system is solved based on the optimal power distribution result based on the pointrian Jin Jixiao value principle and based on the droop frequency division control strategy in the hybrid energy storage converterTwo major problems are recovered. The secondary battery and the super capacitor are each connected to the bus through a bi-directional DC-DC converter, as shown in fig. 2, to compensate for power unbalance between the PEMFC and the load and to maintain the bus voltage. For the battery and super capacitor SC, in the DC-DC converter control link, a virtual resistor droop control method and a virtual capacitor droop control method are adopted respectively to drive HESS powerThe bus voltage power fluctuation frequency division response between the hybrid energy storage units is realized by being decomposed into a low-frequency component and a high-frequency component from a frequency division point and respectively born by the storage battery and the super capacitor. In addition, the method of the invention not only can realize the autonomous frequency division of the ship load power, but also can realize the super capacitorAutomatic recovery and when there is no high frequency power, the required power allocated to the super capacitor will be close to zero. The super capacitor automatically restores itself along with the restoration of the DC bus voltage through the integration link in the DC-DC converter control circuitWithout requiring additional control. Substituting the actual ship operating condition operating data into the invention can obtain the operating condition shown in figure 4.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. A method of energy management for a fuel cell vessel, comprising:
S1, based on a hybrid power system architecture of a fuel cell hybrid power ship, introducing a collaborative state variable and an objective function, and establishing a whole ship power system model, a related state equation and a Hamiltonian function of the fuel cell ship;
S2, acquiring historical typical driving condition data of the fuel cell hybrid power ship, importing the acquired condition data into a whole ship power system model of the fuel cell ship established in the step S1, and carrying out minimized solution on the Hamiltonian according to the imported historical typical driving condition data;
s3, acquiring a cooperative variable and a storage battery offline through a targeting method based on Pontriya Jin Jixiao value principle Relation of variation quantity, ensure accumulatorThe variable quantity is within a limited range, and the optimal power distribution between the fuel cell and the hybrid energy storage system is obtained by utilizing the frequency division control strategy of the converter control layer through the sagging frequency division control method, so that the optimal target of energy management of the fuel cell hybrid power ship is realized.
2. The energy management method of a fuel cell vessel according to claim 1, characterized by step S1, comprising in particular:
S11, selecting the charge state of the storage battery Is a state variableWith output of hydrogen fuel cell systemTo control variablesAccording to an energy management strategy mathematical model of the fuel cell hybrid ship, taking the minimum hydrogen consumption in a fuel cell hybrid system as an optimization target, introducing an objective function, wherein the objective function comprises the following steps:
；
In the method, in the process of the invention, Is a state index of the storage battery; Equivalent hydrogen consumption of the electric quantity of the lithium battery at the end of the voyage; Is the actual hydrogen consumption of the fuel cell;
S12, adding state indexes of the storage battery Maintaining the battery in the form of a penalty factorThe ranges are as follows:
；
S13, charging state of the storage battery As a state variable, restraining in a limiting range, and simultaneously expecting that the initial and final state difference value of the state variable is minimum after the fuel cell hybrid power ship finishes the voyage, and simultaneously setting an initial value of an initial value state variable;
S14, taking the actual output power of the fuel cell as a control variable The maximum and minimum output powers and the power change rates of the fuel cell are constrained according to the characteristics of the fuel cell, as follows:
；
In the method, in the process of the invention, ，As an extreme value of the output power of the fuel cell,，A range value that is a rate of change of the output power of the fuel cell;
s15, restraining the storage battery for managing voyage of the fuel cell ship The initial and final state difference ranges of (2) are as follows:
；
S16, establishing a state equation of a mathematical model of the storage battery, wherein the state equation is as follows:
；
In the method, in the process of the invention, For the capacity of the battery,For the open-circuit voltage of the storage battery,Is the internal resistance of the storage battery,Output power for the battery;
S17, considering the molar mass of the hydrogen and the power consumed by auxiliary machines in the system, calculating the relation between the hydrogen consumption rate and the output power of the fuel cell system, wherein the relation is as follows:
；
In the method, in the process of the invention, For the output voltage of the fuel cell,For the efficiency of the fuel cell system,For the output power of the fuel cell system,，Hydrogen molar mass and faraday constant, respectively;
s18, calculating the hydrogen consumption of the fuel cell, wherein the hydrogen consumption is as follows:
；
s19, equivalent hydrogen consumption of storage battery According to the accumulatorIs embodied by introducing a covariate variable according to the PMP principleThe hamiltonian was constructed as follows:
；
In the method, in the process of the invention, Is a regular equation of the covariate,Wherein, the method comprises the steps of, wherein,For the current of the accumulator,Is the state of charge of the battery.
3. The energy management method of a fuel cell vessel according to claim 1, characterized by step S2, comprising in particular:
S21, substituting the collected historical typical driving condition data of the fuel cell hybrid power ship to obtain the minimum value of the Hamiltonian in the whole voyage of the fuel cell ship, wherein the minimum value is as follows:
；
s22, calculating the optimal output power of the fuel cell system based on the hydrogen consumption minimum target, wherein the optimal output power is as follows:
；
In the above-mentioned method, the step of, Representing an objective function; Representing a state variable; Representing the determined covariate; indicating the corresponding run time of the voyage.
4. The energy management method of a fuel cell vessel according to claim 1, characterized by step S3, comprising in particular:
S31, representing the current relation of a hybrid energy storage system HESS formed by a high-energy-density storage battery and a high-power-density super capacitor as follows:
；
In the above-mentioned method, the step of, Representing the load current; representing super capacitor current; representing battery current; Representing fuel cell current;
S32, according to a current relation formula of HESS in the step S31, a virtual resistor droop control method and a virtual capacitor droop control method are respectively adopted for the storage battery and the supercapacitor SC, and when the system stably operates, the U-P relation exists as follows:
；
In the above-mentioned method, the step of, Representing the battery voltage; Representing a direct current bus reference voltage; Representing battery power; a virtual resistance representing a battery control loop; representing the super capacitor voltage; representing super capacitor power; Representing the Laplace variable; a virtual capacitor representing a super capacitor control loop; representing equivalent HESS power;
s33, since the sagging coefficient is far larger than the line impedance, the line impedance can be ignored, and then the following is considered:
；
In the above-mentioned method, the step of, Representing the actual voltage of the direct current bus;
S34, based on the steps, obtaining a current distribution relation between the storage battery and the super-capacitor converter, wherein the current distribution relation is as follows:
；
As can be seen from the above description, Corresponding to the first-order low-pass filter,Equivalent to a first-order high-pass filter, equivalent HESS powerThe bus voltage power fluctuation frequency division response between the hybrid energy storage units is realized by being decomposed into a low-frequency component and a high-frequency component from a frequency division point and respectively born by the storage battery and the super capacitor.
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