Simulation of PEMFC Voltage Stabilization System for Underwater Unmanned Power Platform Based on Fuzzy Control
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摘要: 针对水下无人动力平台对高效、稳定能源系统的需求, 文中聚焦质子交换膜燃料电池(PEMFC)输出电压强非线性、易波动的难题, 提出一种基于模糊比例-积分-微分(PID)自适应控制的DC-DC变换器稳压策略。PEMFC输出电压因强非线性特性且易波动, 传统控制方法在动态响应与鲁棒性方面存在局限。为此, 建立了含能斯特电压及活化、欧姆、浓差损失的PEMFC数学模型, 以及Boost升压电路模型, 剖析其电压波动机理; 设计了一种模糊PID控制器, 其规则库深度耦合PID控制原理与PEMFC非线性特性, 实现了PID参数的在线动态自整定, 从而实时优化DC-DC变换器占空比。仿真结果表明: 相较于传统PID控制, 模糊PID控制可缩短系统调节时间, 使稳态误差趋近于零, 在电流突变工况下输出电压波动范围缩小至±0.5 V以内, 且占空比响应更精准。该模糊PID自适应策略显著增强了系统的动态响应速度与鲁棒性, 为水下无人平台能源系统的高效、稳定运行提供了可靠的理论支撑与解决方案。Abstract: Aiming at the demand of underwater unmanned power platform for an efficient and stable energy system, this paper focused on the problem of strong nonlinearity and easy fluctuation of the output voltage of proton exchange membrane fuel cell(PEMFC) and proposed a DC-DC converter voltage stabilization strategy based on the fuzzy proportional-integral-derivative(PID) adaptive control. Due to the strong nonlinear characteristics of the output voltage of the PEMFC and its fluctuation trend, the traditional control methods have limitations in the dynamic response and robustness. Therefore, a mathematical model of PEMFC, including Nernst voltage and activation, ohmic, and concentration loss and a Boost boost circuit model were established to analyze the voltage fluctuation mechanism. A fuzzy PID controller was designed, with a rule base that deeply coupled the PID control principle with the nonlinear characteristics of PEMFC, which realized the online dynamic self-tuning of PID parameters to optimize the duty cycle of the DC-DC converter in real time. The simulation results show that compared with the traditional PID control, the fuzzy PID control can shorten the system regulation time, and the steady-state error tends to be close to zero; the output voltage fluctuation range is narrowed to within ±0.5 V under the sudden current change condition, and the duty cycle response is more accurate. The fuzzy PID adaptive strategy significantly enhances the dynamic response speed and robustness of the system, providing a reliable theoretical cornerstone and solution for the efficient and stable operation of the energy system of the underwater unmanned platform.
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图 8 模糊PID控制PEMFC稳压系统原理
Figure 8. Principle of fuzzy PID control PEMFC voltage stabilization system
图 10 基于模糊PID的PEMFC稳压系统仿真图
Figure 10. Simulation of fuzzy PID-based PEMFC voltage stabilization system
图 12 模糊PID 控制中Kp、Ki、Kd自调节曲线
Figure 12. Self-regulation curves of Kp, Ki, Kd in fuzzy PID control
表 1 PEMFC主要参数
Table 1. Main parameters of PEMFC
参数 值 参数 值 n/个 35 l/cm 0.04 T/K 323 A/cm2 60 PH2/atm 0.5 λ 20 PO2/atm 0.3 B 0.016 I/A 16 imax/ (A/cm2) 1.5 尺寸/mm3 104×67×120 Cst/[kJ/(kg·K)] 0.71 Mst/kg 1.08 理想工作温度/K 318.15~327.15 注: Mst为PEMFC的质量; Cst为PEMFC的比热容。 
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表 2 输入电流数据
Table 2. Input current data
时间/s 电流/A 时间/s 电流/A 0 3 56 0 12 4 60 15 25 5 80 16 32 10 200 16
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表 3 Boost升压电路参数
Table 3. Parameters of Boost converter
参数 值 参数 值 η 1(仿真时) d 0.46 P/W 416 L/μH 100 Fs/Hz 25 000 C/μF 330
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表 4 Kp模糊规则表
Table 4. Table of fuzzy rule for Kp
E EC NB NM NS Z PS PM PB NB Z Z Z Z PS PS PS NM Z Z Z Z PS PS PS NS PS PS PS PS PS PM PM Z PS PS PS PS PS PM PM PS PM PM PM PM PM PB PB PM PM PM PM PM PM PB PB PB PM PM PM PM PM PB PB
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表 5 Ki模糊规则表
Table 5. Table of fuzzy rules for Ki
E EC NB NM NS Z PS PM PB NB NB NB NM Z NM NM Z NM NB NB NM NS NS Z Z NS NB NM Z Z Z PS Z Z NM NM NS Z PS PM PM PS Z NS Z PS PS PM PB PM Z Z PS PM PM PB PB PB Z Z PS PM PM PB PB
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表 6 Kd模糊规则表
Table 6. Table of fuzzy rules for Kd
E EC NB NM NS Z PS PM PB NB NS NS NS NS NS PS PS NM NS NS NS NS NS PS PM NS NS NS NS Z Z PS PM Z NS NS NS Z Z PS PM PS NS NS Z Z Z PS PM PM NS NS Z PS PS PS PB PB NS NS Z PS PS PS PM
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