摘要
提出用空冷型质子交换膜燃料电池堆为机器人驱动电机供给电能。基于对热传递的分析,建立空冷型燃料电池温度场热模型方程。通过实验得到不同电流和电压负载时可使燃料电池输出功率最大的最佳温度值,以及不同电堆温度下,电池可稳定输出的功率情况。设计模糊增量PID温度控制算法,利用模糊规则推理来优化调节PID参数,建立加权平均去模糊化方法。给出电堆温度测控系统实现方案和控制器关键硬件选型。在自制实验台上,针对100W燃料电池开展实验研究,用风扇调节电堆温度。温度控制实现±0.5℃精度。实验结果证明最佳温度合理,模糊增量PID控制满足电堆温度控制要求,适用于缓慢的负载变化。
Energy supplying system is important to autonomous robots＇ application. An energy supplying method using air-breathing proton exchange membrane （PEM） fuel cell was proposed for robot. Based on the energy conversation and thermal exchange analysis, a thermal dynamic model was developed in order to analyze the temperature control method. Experiments were done using the independent developed test-bed with 100 W stack and shows that stack inside temperature is crucial to output power of stack. Based on experiment data, the optimal temperature under various currents and voltages of load were given in curves, and the steady output power under various temperatures was also presented. Considering varying parameters and random noise, the fuzzy incremental PID control algorithm was designed for temperature control, and PID parameters were adjusted using IF-THEN fuzzy rules. Variance weighted averaging algorithm was used to anti-fuzzy. Temperature control system was fabricated using MCU, K-thermocouple and fans. Control tests results indicate that optimal temperature is right, and the controller is applicable with temperature variations less than ±0.5 ℃. Inside temperature control is a valid method for stack output power following slow load change.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2009年第8期109-114,共6页
Proceedings of the CSEE
基金
浙江省教育厅项目(20070673)
关键词
机器人
燃料电池
温度控制
模糊控制
微控制器
robot
fuel cell
temperature control
fuzzy control
micro control unit
