CN116176367B - Hydrogen fuel power system, control method, fuel cell controller and telescopic arm forklift - Google Patents
Hydrogen fuel power system, control method, fuel cell controller and telescopic arm forkliftInfo
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- CN116176367B CN116176367B CN202310226675.7A CN202310226675A CN116176367B CN 116176367 B CN116176367 B CN 116176367B CN 202310226675 A CN202310226675 A CN 202310226675A CN 116176367 B CN116176367 B CN 116176367B
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- 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
- B60L58/30—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling fuel cells
-
- 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
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- 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
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- 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
- B60L58/30—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling fuel cells
- B60L58/31—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling fuel cells for starting of fuel cells
-
- 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
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Fuel Cell (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
本发明公开了一种伸缩臂叉车用氢燃料动力系统、控制方法、燃料电池控制器及伸缩臂叉车。氢燃料动力系统包括氢燃料电池系统和锂电池。伸缩臂叉车起步时，由锂电池单独供电；待氢燃料电池系统到达启动温度后，获取当前整车需求功率和锂电池SOC；根据当前整车需求功率和锂电池SOC，结合氢燃料电池系统的高效工作区间和锂电池的SOC范围，实时调节氢燃料电池系统和锂电池的输出功率；当伸缩臂叉车制动时，由锂电池回收电机产生的制动能量。本发明将锂电池和燃料电池结合起来，通过对车辆的运行状态和能量分配进行控制，使得锂电池和燃料电池工作在高效率区间，满足整车动力性的同时，提高了锂电池和燃料电池的使用效率，延长了燃料电池的使用寿命。
The present invention discloses a hydrogen fuel power system for a telescopic forklift, a control method, a fuel cell controller, and a telescopic forklift. The hydrogen fuel power system includes a hydrogen fuel cell system and a lithium battery. When the telescopic forklift starts, it is powered solely by the lithium battery; after the hydrogen fuel cell system reaches the starting temperature, the current vehicle power demand and the lithium battery SOC are obtained; based on the current vehicle power demand and the lithium battery SOC, combined with the high-efficiency working range of the hydrogen fuel cell system and the SOC range of the lithium battery, the output power of the hydrogen fuel cell system and the lithium battery is adjusted in real time; when the telescopic forklift brakes, the lithium battery recovers the braking energy generated by the motor. The present invention combines lithium batteries and fuel cells, and by controlling the operating state and energy distribution of the vehicle, the lithium batteries and fuel cells operate in a high-efficiency range, which not only meets the power performance of the vehicle, but also improves the utilization efficiency of the lithium batteries and fuel cells and extends the service life of the fuel cells.
Description
Technical Field
The invention relates to a hydrogen fuel power system for a telescopic boom forklift, a control method, a fuel cell controller and the telescopic boom forklift, and belongs to the field of power supply technologies and power systems of auxiliary equipment of vehicles.
Background
The commercial vehicle industry in China faces the problems of large energy consumption, heavy environmental pollution, low autonomous innovation capability reserve and the like for a long time, so that the new energy commercial vehicle becomes an important direction for the development of the automobile industry in China. The hydrogen fuel cell is a recognized preferred scheme for a heavy telescopic boom forklift with longer driving range, higher power performance requirement and larger automobile volume. The hydrogen fuel cell has the advantages of high energy density and high energy conversion efficiency, and the hydrogen filling time is shorter and is far smaller than the charging time of the lithium battery, so that the research and development and application of the hydrogen fuel cell are beneficial to relieving energy and environmental pressure, and can meet the actual use requirements.
Hydrogen, however, is in gaseous form under normal conditions and is flammable and explosive, which presents great difficulties in its storage and transportation. The hydrogen storage mode is a mature high-pressure gas hydrogen mode, is a main mode of the current vehicle-mounted hydrogen storage mode, has a high requirement on a container at most of 20 megapascals, has the bottlenecks of low hydrogen storage and transportation quantity, short transportation distance and the like, and has the risks of gas leakage and explosion.
In addition, the hydrogen fuel cell has problems of slow dynamic response, poor cold start performance, and the like. When the fuel cell is used as the only energy source of the whole vehicle, the power requirement of the vehicle in actual operation is difficult to meet, and the braking energy cannot be recovered. Therefore, an energy management strategy is needed to distribute and manage the whole vehicle required power, the power output of the energy management strategy is coordinated according to the characteristics and the current state of each energy source, each energy source is controlled to work in a high-efficiency area, and the fuel economy of the whole vehicle and the durability of each energy source are improved as much as possible while the power performance of the whole vehicle is met.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a control method of a hydrogen fuel power system for a telescopic boom forklift, a fuel cell controller, a hydrogen fuel power system and the telescopic boom forklift.
In order to achieve the above purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a control method of a hydrogen fuel power system for a telescopic boom forklift, the hydrogen fuel power system including a hydrogen fuel cell system and a lithium battery, the hydrogen fuel cell system and the lithium battery being used for supplying power to an electrical system of the telescopic boom forklift, the hydrogen fuel cell system being further used for charging the lithium battery, the method comprising:
when the telescopic boom forklift starts, the lithium battery is used for independently supplying power;
after the hydrogen fuel cell system reaches the starting temperature, acquiring the current whole vehicle required power and the lithium battery SOC;
And determining whether to start the hydrogen fuel cell system according to the current whole vehicle required power and the lithium battery SOC, combining the high-efficiency working interval of the hydrogen fuel cell system and the SOC range of the lithium battery, and adjusting the output power of the hydrogen fuel cell system and the output power of the lithium battery in real time.
Further, the determining whether to start the hydrogen fuel cell system according to the current vehicle demand power and the lithium battery SOC and combining the high-efficiency working interval of the hydrogen fuel cell system and the SOC range of the lithium battery, and adjusting the output power of the hydrogen fuel cell system and the output power of the lithium battery in real time includes:
If the SOC of the lithium battery is larger than the SOC min and the required power of the whole vehicle is smaller than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the output power of the hydrogen fuel battery system is the maximum working power P fcmax;
If the SOC of the lithium battery is larger than SOC max and the required power of the whole vehicle is smaller than the minimum working power P fcmin of the high-efficiency working interval of the hydrogen fuel battery system, the hydrogen fuel battery system stops working, and the output power of the lithium battery is equal to the required power of the whole vehicle, wherein SOC max is the highest residual electric quantity in the SOC range of the lithium battery;
If the SOC of the lithium battery is smaller than SOC min and the required power of the whole vehicle is smaller than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the hydrogen fuel battery system is started to bear the power consumption of the whole vehicle, and meanwhile, the lithium battery is charged with electric energy, so that the SOC of the lithium battery tends to the expected value SOC of the residual electric quantity, and the output power of the hydrogen fuel battery system is limited between P fcmin and P fcmax, wherein the SOC min is the lowest residual electric quantity in the SOC range of the lithium battery;
If the SOC max of the lithium battery is greater than the SOC and the required power P re of the whole vehicle is greater than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the hydrogen fuel battery system and the lithium battery jointly provide energy for the whole vehicle, and meanwhile, the output power of the hydrogen fuel battery system is limited between P fcmin and P fcmax;
If the SOC min is less than or equal to SOC and the required power P re of the whole vehicle is greater than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel cell system, the output power of the hydrogen fuel cell system is the maximum working power P fcmax, and the rest power is provided by the lithium battery.
Further, the control method of the hydrogen fuel power system for the telescopic boom forklift further comprises the following steps:
When the telescopic boom forklift is braked, if the telescopic boom forklift is braked by adopting a motor and the SOC of the lithium battery is less than or equal to SOC max, the hydrogen fuel cell system is closed, and the lithium battery recovers braking energy generated by the motor, wherein SOC max is the highest residual electric quantity in the SOC range of the lithium battery.
Further, the control method of the hydrogen fuel power system for the telescopic boom forklift further comprises the following steps:
analyzing the whole vehicle required power according to the working condition of the telescopic boom forklift to obtain a time domain diagram of the whole vehicle required power, converting the time domain diagram into a frequency domain diagram, and analyzing the frequency domain of the whole vehicle required power according to the frequency domain diagram;
And according to the result of the frequency domain analysis, filtering the whole vehicle required power by adopting a low-pass filter, and transmitting the low-frequency power requirement as the required power of the hydrogen fuel cell system and the high-frequency power requirement to the lithium battery.
Further, the filtering the power required by the whole vehicle by using a low-pass filter according to the result of the frequency domain analysis includes:
And filtering the whole vehicle required power by adopting a low-pass filter with adjustable cut-off frequency according to the frequency domain analysis result.
Further, the cut-off frequency of the low-pass filter is adjusted online by the fuzzy controller, including:
inputting the whole vehicle required power and the lithium battery SOC into a fuzzy controller;
and the fuzzy controller outputs the cut-off frequency of the low-pass filter according to the required power of the whole vehicle and the SOC of the lithium battery and in combination with a preset judgment rule.
Further, the fuzzy controller outputs the cut-off frequency of the low-pass filter according to the required power of the whole vehicle and the SOC of the lithium battery and in combination with a preset judgment rule, and the fuzzy controller comprises:
when the SOC of the lithium battery is lower than the lowest SOC of the high-efficiency working area of the SOC of the lithium battery and the required power of the whole vehicle is higher than the minimum required power of the high-efficiency working area of the telescopic boom forklift, the cut-off frequency output by the fuzzy controller is higher than the cut-off frequency set by the low-pass filter;
when the SOC of the lithium battery is higher than the highest SOC of the high-efficiency working area of the SOC of the lithium battery and the required power of the whole vehicle is smaller than the minimum required power of the high-efficiency working area of the telescopic boom forklift, the cut-off frequency output by the fuzzy controller is smaller than the cut-off frequency set by the low-pass filter.
In a second aspect, the present invention provides a fuel cell controller of a hydrogen fuel power system for a telescopic-arm forklift, for performing the aforementioned control method of the hydrogen fuel power system.
The invention provides a hydrogen fuel power system for a telescopic forklift, which comprises a hydrogen fuel cell system, a lithium battery, a DC/DC module and the fuel cell controller, wherein the fuel cell controller is connected with the hydrogen fuel cell system, the output end of a pile of the hydrogen fuel cell system is connected with the DC/DC module, the DC/DC module is connected with the lithium battery, the DC/DC module and the lithium battery are both connected with an electricity utilization system of the telescopic forklift, the DC/DC module is used for stabilizing the output voltage of the pile of the hydrogen fuel cell system, charging the lithium battery according to a control instruction sent by the fuel cell controller and supplying electricity to the electricity utilization system of the telescopic forklift, and the lithium battery is used for supplying electricity to the electricity utilization system in the telescopic forklift according to the control instruction sent by the fuel cell controller and meets the function of one-key electrification.
Further, the hydrogen fuel cell system uses solid-state hydrogen storage as a hydrogen source.
The hydrogen fuel power system for the telescopic arm forklift further comprises a whole vehicle controller, a battery management system, a motor controller and a gearbox, wherein the whole vehicle controller is in communication connection with the fuel cell controller, the battery management system, the motor controller and the gearbox through a CAN bus, the battery management system is connected with a lithium battery, the fuel cell controller is in communication connection with the battery management system through the CAN bus, the whole vehicle controller collects relevant control signals of a driver, receives state information fed back by the fuel cell controller, the battery management system, the motor controller and the gearbox, and outputs control instructions to each component controller through the CAN bus through internal calculation and decision, so that each component works in a coordinated manner.
In a fourth aspect, the invention provides a telescopic boom forklift, which comprises the hydrogen fuel power system for the telescopic boom forklift.
Compared with the prior art, the invention has the beneficial technical effects that:
According to the invention, the lithium battery and the fuel battery are combined, so that the working condition of a complex and changeable telescopic boom forklift can be well adapted, the defect of slow dynamic response of the fuel battery can be overcome by adding the lithium battery, the fuel battery and the lithium battery can be flexibly matched through a power following energy management strategy, and the fuel battery can stably work in a high-efficiency area;
the hydrogen storage device can realize low-pressure high-density hydrogen storage and high-purity hydrogen supply, can be repeatedly used, is safe and economical, and has good adaptability;
The self-adaptive low-pass filter is added on the basis of the power following energy management strategy, so that the fluctuation of the required power of the fuel cell is smaller in the actual running process of the telescopic boom forklift, and the durability of the fuel cell is improved;
The working states of all parts of the whole vehicle can be coordinated through the whole vehicle controller and the fuel cell controller, so that the parts can work in an ideal area, the working conditions of the complex and changeable telescopic arm forklift are met, the whole vehicle can be operated in an optimal state, and the dynamic property, the fuel economy and the service life of all the parts of the whole vehicle are remarkably improved.
Drawings
FIG. 1 is a block diagram of a hydrogen fuel power system for a telescopic boom forklift according to an embodiment of the present invention;
Fig. 2 is a flowchart of a control method of a hydrogen fuel power system for a telescopic boom forklift according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of an adaptive low-pass filter according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a hydrogen fuel power system for a telescopic boom forklift according to a fifth embodiment of the present invention;
Fig. 5 is a schematic view of a telescopic forklift according to a sixth embodiment of the present invention;
wherein, 1 hydrogen fuel cell system, 2 motor controller, 3 driving motor, 4 gear box.
Detailed Description
The invention is further described below in connection with specific embodiments. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Embodiment one:
As shown in fig. 1, a hydrogen fuel power system for a telescopic boom forklift includes a hydrogen fuel cell system and a hydrogen fuel cell control system.
The hydrogen fuel cell system comprises a hydrogen storage and supply system, a galvanic pile, an air supply system and a cooling water circulation system;
A hydrogen storage and supply system for providing hydrogen to the hydrogen fuel power system;
The hydrogen and the air carry out chemical reaction in the galvanic pile to generate electric energy;
an air supply system for providing the required oxygen for the cell stack reaction in the hydrogen fuel cell;
The cooling water circulation system is used for controlling the heat system of the whole hydrogen fuel power system, and can ensure that the hydrogen fuel power system works in a proper temperature range, thereby improving the efficiency of the hydrogen fuel power system.
Optionally, the hydrogen storage and supply system comprises a hydrogen storage tank, a pressure reducing valve, a regulating valve, a check valve, a humidifier, a water separator, a hydrogen circulating pump and a tail gas discharge valve;
The hydrogen storage tank can store and release solid hydrogen, and is arranged at the tail part of the forklift, so that hydrogenation is facilitated. The hydrogen storage tank is communicated with the electric pile through an air inlet pipeline, and can convey hydrogen into the fuel cell electric pile through the air inlet pipeline;
In particular, the hydrogen storage tanks can store solid hydrogen, which is high in Chu Qingrong relative to high pressure gaseous and liquid hydrogen storage, does not require high pressure or an insulated container, and does not present an explosion hazard. The solid hydrogen storage material mainly comprises hydrogen storage alloy, nano material and graphene material. For example, solid state hydrogen storage may physically adsorb hydrogen storage.
The telescopic forklift is multifunctional lifting and carrying equipment, is widely applied to the construction and maintenance of ports, wharfs, mines, construction sites, petroleum and gas pipeline laying and other fields, and also comprises the functions of a bucket, a bag clamp, an aerial working platform and the like besides a standard cargo fork. The solid hydrogen storage capacity of the solid hydrogen storage is high, the safety is higher than that of high-pressure gas and liquid hydrogen storage, the solid hydrogen storage for the telescopic boom forklift is used as a hydrogen source, and various working conditions of the telescopic boom forklift can be met.
The pressure reducing valve and the regulating valve reduce the air outlet pressure of the hydrogen storage tank to the air pressure required by the electric pile and automatically maintain the air pressure delivered to the electric pile stable.
The check valve has a flow direction to prevent the reverse flow of hydrogen gas back to the hydrogen storage tank, creating a hazard.
The humidifier increases the wettability of the proton exchange membrane in the galvanic pile, and further increases the proton conductivity;
The liquid water is discharged from the stack through a solenoid valve in the water separator liquid and the water vapor is recycled to the stack anode inlet. The use of the water separator effectively improves the hydrogen utilization rate of the system, improves the power generation efficiency, and reduces the influence of liquid water on the durability of the fuel cell.
The hydrogen circulating pump is connected with one end of the exhaust pipeline, and the electric pile can recycle hydrogen through the exhaust pipeline, so that the utilization rate of the hydrogen is effectively improved.
The exhaust valve is used for discharging water vapor generated by the reaction.
Optionally, the air supply system comprises an air compressor, an air radiator, a humidifying device and a back pressure regulating valve.
The air compressor is arranged on the air inlet pipeline and can introduce more air into the fuel cell stack.
Since air compressor compression increases the temperature of the air, the temperature of the air entering the stack is reduced by installing an air radiator.
The humidifying device has the function of humidifying air so as to improve the output performance of the fuel cell and the efficiency of the fuel cell.
The check valve of the back pressure regulating valve is used for preventing air from flowing back, creating a good working environment for the air compressor, improving the working performance of the air compressor and ensuring the stability of the air flow of the air compressor.
Optionally, the cooling water circulation system comprises a cooling water tank, a cooling water pump, a bypass valve, a radiator and a fan.
The cooling water tank is used for reducing the temperature of liquid in the water inlet circulating waterway;
The cooling water pump is used for accelerating the circulation speed of the liquid in the circulation waterway;
the bypass valve is arranged on a bypass pipe of the water inlet valve pipe section and is used for filling water to balance the front and rear water pressure of the water inlet valve;
the radiator and the fan are used for reducing the temperature of liquid in the water outlet circulation waterway.
The hydrogen fuel cell control system is used for realizing the on-line detection, the real-time control and the fault diagnosis of the hydrogen fuel cell system and ensuring the stable and reliable operation of the system.
Optionally, the hydrogen fuel cell control system comprises a fuel cell controller, a DC/DC module, a lithium battery and a vehicle-mounted charger.
The fuel cell controller is used for gas path management, hydrothermal management, electric management, communication transmission and fault diagnosis, and can adjust the output power of the lithium battery or the electric pile according to the load of the whole vehicle, so that the optimal distribution of the electric energy of the power system is realized.
The DC/DC module is used for stabilizing the output voltage of the fuel cell stack, charging the lithium battery according to the instruction sent by the fuel cell controller, and supplying power to the motor controller and the electrical system components in the telescopic boom forklift.
The lithium battery is used for supplying power to the motor controller and the electrical system electrical devices in the telescopic boom forklift according to the instruction sent by the fuel cell controller, and the function of key one-key power-on is met.
Specifically, when the key switch is started, the relay in the lithium battery is attracted, the DC/DC module is electrified, and meanwhile, the hydrogen fuel cell control system controls the lithium battery and/or the hydrogen fuel cell to discharge, so that the whole vehicle is in a waiting working state. Through the mode of key one key electrification, can more conveniently carry out the electrification to flexible arm fork truck, can more portably operate.
The vehicle-mounted charger is used for providing charging and heating functions for the lithium battery and solving the problem that the hydrogen fuel power system cannot be started when the hydrogen is not timely hydrogenated, the lithium battery is insufficient or the temperature is too low.
Optionally, the hydrogen fuel power system further comprises a plurality of sensors for operating conditions such as pressure, humidity of the reactant gases, humidity and temperature inside the stack.
Specifically, various sensors, flow meters, valve assemblies and the like react real-time conditions in the operation of the hydrogen fuel cell to the hydrogen fuel cell control system, and the hydrogen fuel cell control system can ensure that the hydrogen supply system, the air supply system and the cooling water circulation system can coordinate and operate efficiently, so that the hydrogen fuel cell control system can exert optimal performance.
The hydrogen fuel power system for the telescopic boom forklift can realize low-pressure high-density hydrogen storage and high-purity hydrogen supply through solid hydrogen storage, can be repeatedly used, is safe and economical, has good adaptability, has the characteristics of high hydrogen conduction speed and high heat conversion speed, and is beneficial to the reaction of hydrogen in a galvanic pile.
Then, parameter matching is carried out on the hydrogen fuel power system, and the method specifically comprises the following steps:
S11, determining configuration parameters of a driving motor;
S111, determining rated power and peak power required by a driving motor;
When the telescopic arm forklift is fully loaded, the power of the motor can be determined according to three dynamic indexes of the highest running speed of the whole forklift, the gradient angle and the acceleration time of the whole forklift of 0-50 km/h.
The rated power of the driving motor is larger than the power under the highest speed, and the peak power of the driving motor must be capable of ensuring that the automobile reaches the three dynamic indexes.
And S112, calculating rated torque of the driving motor according to the rated power and the rated rotating speed of the driving motor, and calculating the rated torque of the driving motor according to the peak power and the peak rotating speed of the driving motor, so as to obtain the required configuration parameters of the motor.
In particular, the configuration parameters of the motor include rated voltage, rated power, peak power, rated torque, peak torque, rated rotational speed, and peak rotational speed.
S12, determining the output power and the working area of the fuel cell;
The hydrogen fuel cell system meets the power requirement of the fuel cell automobile at the common speed, the common speed of the telescopic boom forklift is 20-40km/h, and the output power of the fuel cell is calculated for the motor and the inverter efficiency of the motor according to the full load quality of the whole automobile, the DC/DC working efficiency, the power consumption of auxiliary electrical equipment of the whole automobile and the common speed of the telescopic boom forklift.
As the power of the hydrogen fuel cell increases, the fuel cell system efficiency increases rapidly to a smoother zone and then decreases slowly. In order to ensure the working efficiency of the fuel cell system, the efficient working interval of the fuel cell system is divided, and the minimum working power P fcmin and the maximum working power P rcmax of the efficient working interval of the fuel cell are set. When the telescopic boom forklift runs, the fuel cell is ensured to work in a high-efficiency zone, and the fuel cell is ensured to work in a zone with highest efficiency as much as possible. When the required power is larger than P fcmax or smaller than P fcmin, the lithium battery performs peak clipping and valley filling. The fuel cell system is enabled to work stably and be in a high-efficiency working range as far as possible, and fluctuation of output power is reduced.
And S13, determining the output power and the working area of the lithium battery according to actual use requirements.
The lithium battery is a storage battery capable of providing power for the telescopic boom forklift, and the output power of the lithium battery is determined according to actual use requirements and the maximum mileage of the telescopic boom forklift, which is required to run at a required speed in a pure electric state, of the telescopic boom forklift.
The division of the working area of the lithium battery is mainly used for realizing shallow charging and shallow discharging of the lithium battery, so that the service life of the lithium battery is prolonged. The voltage of the lithium battery increases with the increase of the remaining battery power (SOC), and when the SOC is too high or too low, the voltage of the lithium battery is too high or too low, which affects the battery performance and even directly damages the lithium battery. The minimum remaining power SOC min =0.2 and the maximum remaining power SOC max =0.8 of the lithium battery may be set, and the expected remaining power SOC of the lithium battery is set to be the average value of the two values, and soc=0.5.
Through driving motor, fuel cell and lithium cell selection and matching, can improve the reliability that flexible arm fork truck used to satisfy the user demand.
Embodiment two:
in the running process of the telescopic arm forklift, for example, when accelerating and climbing, the lithium battery can provide instantaneous power, and the instantaneous power provided by the lithium battery plays a role in peak clipping and valley filling, so that the fuel cell system works stably, and is located in a high-efficiency working area as much as possible, and fluctuation of output power is reduced. And when the telescopic boom forklift brakes, the lithium battery is responsible for recovering braking energy. Under certain working conditions, for example, when the hydrogen content is insufficient, the telescopic forklift of the hydrogen fuel power system can independently drive the whole forklift to run for a certain distance in a pure electric mode.
The hybrid power structure of the fuel cell and the lithium cell can be well adapted to the working conditions of complex and changeable telescopic boom forklifts, the addition of the lithium cell can make up for the defect of slow dynamic response of the fuel cell, and the fuel cell and the lithium cell can be flexibly matched through energy management, so that the fuel cell can stably work in a high-efficiency area.
As shown in fig. 2, a control method of a hydrogen fuel power system for a telescopic boom forklift is performed based on the hydrogen fuel power system for a telescopic boom forklift according to the first embodiment. The method comprises the following steps:
s21, when the telescopic boom forklift starts, the lithium battery is used for independently supplying power;
s22, after the hydrogen fuel cell system reaches a starting temperature, acquiring the current whole vehicle required power and the lithium battery SOC;
s23, determining whether to start the hydrogen fuel cell system according to the current vehicle demand power and the lithium battery SOC, combining the high-efficiency working interval of the hydrogen fuel cell system and the SOC range of the lithium battery, and adjusting the output power of the hydrogen fuel cell system and the output power of the lithium battery in real time.
Specifically, when the telescopic boom forklift starts, the lithium battery is used for independently supplying power due to the fact that the fuel battery needs to be preheated when started. When the fuel cell reaches the starting temperature, whether the fuel cell system is started or not is determined by the lithium battery SOC and the power required by the whole vehicle.
The fuel cell has the advantages of low power demand of the whole vehicle, high lithium battery SOC, stop of the fuel cell, high power demand or low lithium battery SOC, starting of the fuel cell, low power demand and moderate lithium battery SOC, and the fuel cell can keep the on-off state at the last moment, so that the fuel cell is prevented from being frequently started and stopped, and the service life of the fuel cell is prolonged.
In the fuel cell output power control process, the output power of the fuel cell is the fuel cell required power corrected by the lithium battery SOC value, the lithium battery SOC tends to change towards the expected value SOC by adjusting the fuel cell power output, and in addition, the situation that the fuel cell and the motor charge the lithium battery simultaneously when the vehicle brakes is considered, and the charging power of the lithium battery is limited.
In order to ensure the economical efficiency of the fuel cell automobile, the output power of the fuel cell is between the set P fcmax and P fcmin and works in the highest-efficiency area as much as possible, firstly, whether the SOC of the lithium cell is larger than the SOC min and the required power of the whole automobile is smaller than the P fcmax is judged, if the conditions are met, the fuel cell works in the highest-efficiency area, which means that the fuel cell has a certain hydrogen and oxygen which can fully generate electricity, and when the conditions cannot be met, the condition that the required power of the whole automobile is larger or the lithium cell needs to be charged is indicated, and the working point of the fuel cell is limited between the P fcmax and the P fcmin.
In a more specific embodiment, step S23 includes the steps of:
a. If the SOC of the lithium battery is larger than SOC min and the required power of the whole vehicle is smaller than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the output power of the hydrogen fuel battery system is the maximum working power P fcmax;
b. When the SOC of the lithium battery is larger than SOC max and the required power P re of the whole vehicle is smaller than the minimum working power P fcmin of the high-efficiency working interval of the hydrogen fuel battery system, the hydrogen fuel battery system can be closed until the SOC is smaller than SOC min, the fuel battery system is restarted, and in the mode, the output power of the lithium battery is equal to the required power of the whole vehicle;
c. When the SOC of the lithium battery is smaller than SOC min and the required power P re of the whole vehicle is smaller than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the hydrogen fuel battery system works independently to bear the power consumption of the whole vehicle, and meanwhile, the lithium battery is charged with electric energy, so that the SOC of the lithium battery tends to be equal to the SOC, and the output power of the hydrogen fuel battery system is limited between P fcmin and P fcmax. In this mode, the lithium battery power P b and the fuel battery power P fc are respectively:
Pfc＝Pre-Pb
Pfcmin≤Pfc≤Pfcmax
Where P ch is the lithium battery charging coefficient, and the lithium battery power P b is less than 0, which represents that the lithium battery is being charged.
D. When the lithium battery SOC max is greater than the SOC and the whole vehicle required power P re is greater than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the hydrogen fuel battery system and the lithium battery jointly provide energy for the whole vehicle, and meanwhile, the output power of the hydrogen fuel battery system is limited between P fcmin and P fcmax. In this mode, the lithium battery power P b and the fuel battery power P fc are respectively:
Pfc＝PrePb
Pfcmin≤Pfc≤Pfcmax
wherein P dis is the discharge coefficient of the lithium battery, and the power P b of the lithium battery is greater than 0, which represents that the lithium battery is discharging.
E. When the SOC min of the lithium battery is smaller than or equal to the SOC and the required power Pre of the whole vehicle is larger than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the fuel battery cannot be driven independently, and the rest power is provided by the lithium battery, at this time, the lithium battery power P b and the fuel battery power P fc are respectively:
Pfc＝Pfcmax
Pb＝Pre-Pfc
further, step S23 further includes:
f. When the telescopic boom forklift is braked, if the telescopic boom forklift is braked by adopting a motor and the SOC of the lithium battery is less than or equal to SOC max, the hydrogen fuel cell system is closed, and the braking energy generated by the motor is recovered by the lithium battery.
Braking energy recovery is based on the principles of driving safety and fuel economy, and braking energy can be recovered through the braking energy recovery, so that the fuel economy of the whole vehicle is improved.
In addition, to prevent damage to the fuel cell due to excessive power variation, RATELIMITER modules may be added, the power rise rate limit of which is set to 10kW/s and the drop rate limit to-15 kW/s according to the fuel cell system manufacturer information.
The control method disclosed by the invention is based on the current whole vehicle required power and the current lithium battery SOC, and combines the high-efficiency working interval of the fuel battery and the range of the lithium battery SOC to carry out distribution management on the working modes and the output power of the lithium battery and the fuel battery, so that the lithium battery and the fuel battery can work in the high-efficiency interval as much as possible, the power performance of the whole vehicle is met, the use efficiency and the durability of the lithium battery and the fuel battery are improved, and the fuel economy of the whole vehicle is improved.
The control strategy is one of the core technologies of the hydrogen fuel cell telescopic boom forklift, the running state and the energy distribution of the vehicle are controlled through a hydrogen fuel power system control method, and the control strategy can coordinate the working states of all parts of the whole vehicle so that the parts can work in an ideal area, and the vehicle can be integrally operated in an optimal state while the working conditions of the complicated and changeable telescopic boom forklift are met, so that the power performance, the fuel economy and the service life of all the parts of the whole vehicle are obviously improved.
Embodiment III:
In the actual running process of the telescopic boom forklift, the whole forklift needs to be frequently carried out, but the frequently-changed output power easily causes the problems of insufficient reaction gas, voltage fluctuation and the like of the fuel cell, and finally, the performance of the fuel cell is degraded and the durability is reduced.
Therefore, the control method of the hydrogen fuel power system for the telescopic boom forklift provided by the invention further comprises the following steps:
S31, analyzing the whole vehicle required power according to the working condition of the telescopic boom forklift to obtain a whole vehicle required power time domain diagram, converting the time domain diagram into a frequency domain diagram by using fast Fourier transform, and performing frequency domain analysis on the whole vehicle required power;
and S32, filtering the whole vehicle required power by adopting a low-pass filter according to the frequency domain analysis result, and transmitting the low-frequency power requirement as the required power of the hydrogen fuel cell system and the high-frequency power requirement to the lithium battery.
The low-frequency part of the whole vehicle required power of the telescopic boom forklift is relatively large in amplitude between 0 and 0.1Hz, so that the low-pass filter can be used for filtering the whole vehicle required power, the low-frequency power requirement is used as the required power for a fuel cell system, and the high-frequency power requirement is transmitted to a lithium battery.
The low-pass filter can effectively reduce fluctuation of the required power, the influence of different cut-off frequency settings on the filtering result of the low-pass filter is obvious, the smaller the cut-off frequency is, the less the power signal subjected to low-pass filtering is, the smoother the whole vehicle required power curve is, therefore, the low-pass filter can be utilized to filter the whole vehicle required power, the filtered signal is used as the required power of the fuel cell system, the reduction of the power fluctuation of the fuel cell system is facilitated, the service life of the fuel cell system is prolonged, and the fluctuation part of the required power is born by the lithium battery. But if a filter with a fixed cut-off frequency is used, the cut-off frequency of the low-pass filter needs to be set in advance. When the setting is too high, the low-pass filter can not play a role in filtering well, the fluctuation of the power required by the fuel cell is larger, when the setting is too low, the power requirement on the lithium battery can be increased, the fuel cell can not be fully utilized, and the working efficiency is lower.
Aiming at complex and changeable working conditions and frequency domain analysis results of the telescopic boom forklift, a low-pass filter with adjustable cutoff frequency is adopted, so that the filtering effect can be achieved, and the fuel cell can be fully utilized.
And in the whole vehicle running process, the cutoff frequency is adjusted on line by utilizing the fuzzy controller, and the whole vehicle required power is distributed by combining logic rules in a power following control strategy.
Fig. 3 is a schematic diagram of an adaptive low-pass filter according to a third embodiment of the present invention. As shown in fig. 3, the lithium battery SOC and the vehicle power demand P re are used as two input variables, the low-pass filter cut-off frequency f c is used as an output variable, and a dual-input-single-output fuzzy controller is designed to adaptively adjust the low-pass filter cut-off frequency, so as to form an adaptive low-pass filter.
The method comprises the steps of firstly determining basic arguments of all variables, setting the basic arguments of the SOC of a lithium battery to be 0 and 1, setting the basic arguments of the required power P re of the whole vehicle to be 0,250 according to driving motor parameters, setting the basic arguments of the cut-off frequency f c of a low-pass filter to be 0,0.1 in order to ensure that the fluctuation of the required power is well suppressed, dividing the three variables into five fuzzy subsets of very low, medium, high and very high, and using { VL, L, M, H, VH } to represent the three fuzzy subsets, wherein membership functions of the variables are all in a triangle and trapezoid combined form.
For example, a lithium battery SOC may be divided into 0-10%,10-20%,20-60%,60-80%,80-100%, where 20-60% is the lithium battery SOC efficient operating region. The power required by the whole vehicle P re can be divided into 0-6kW,6-12kW,12-20kW,20-30kW and 30-35kW, wherein 20kW is the rated power required by the telescopic boom forklift, 35kW is the maximum power required by the telescopic boom forklift, and 12-20kW is the efficient working area of the telescopic boom forklift.
When the SOC of the lithium battery is lower than 20% and the required power P re of the whole vehicle is higher than 12kW, the fuzzy controller should output a larger cut-off frequency f c, namely the output cut-off frequency f c is higher than the cut-off frequency set by the low-pass filter, so that the fuel cell bears larger power output, and the dynamic property of the whole vehicle is ensured, and when the SOC of the lithium battery is higher than 60% and the required power P re of the whole vehicle is lower than 12kW, the fuzzy controller outputs a smaller cut-off frequency f c, namely the output cut-off frequency f c is lower than the cut-off frequency set by the low-pass filter, so that the fluctuation of the required power of the fuel cell is smaller, and the durability of the fuel cell is improved.
The self-adaptive low-pass filter is added on the basis of the power following energy management strategy, the cut-off frequency of the low-pass filter can be self-adaptively adjusted according to the current state of the vehicle through the self-adaptive low-pass filter, the filtering function of the low-pass filter is utilized, the cut-off frequency is used as a boundary, the required power of the whole vehicle is divided into a low-frequency part and a high-frequency part, the power of the low-frequency part is provided by the fuel cell after being regulated by a logic rule, and the power of the high-frequency part is provided by the lithium battery.
The self-adaptive low-pass filter is added on the basis of the power following energy management strategy, so that the fluctuation of the required power of the fuel cell is smaller in the actual running process of the telescopic boom forklift, and the durability of the fuel cell is improved.
Embodiment four:
the embodiment of the invention provides a fuel cell controller of a hydrogen fuel power system for a telescopic boom forklift, which is used for executing the control method of the hydrogen fuel power system in the second embodiment or the third embodiment.
Fifth embodiment:
As shown in FIG. 4, the hydrogen fuel power system for the telescopic boom forklift further comprises a whole vehicle controller, a battery management system, a motor controller, a driving motor, a gearbox and other components, wherein the whole vehicle controller is in communication connection with the fuel cell controller, the battery management system, the motor controller, the gearbox and other components through a CAN bus, the battery management system is connected with a lithium battery, and the fuel cell controller is in communication connection with the battery management system through the CAN bus and forms a distributed layered control structure.
The whole vehicle controller is a core control component of the hydrogen fuel cell, collects related control signals of a driver on one hand, receives state information fed back by each component controller of the whole vehicle, and outputs control instructions to each component controller through a CAN bus by internal calculation and decision, so that each component works in a coordinated manner. The whole vehicle control strategy is realized through a software management layer program of the whole vehicle controller, and the function of the whole vehicle control strategy is to analyze related signals of driver operation and state information fed back by each component controller and make decisions through a preset algorithm.
And according to different operation conditions, state information such as an accelerator, a brake pedal, a transmission gear, a key and the like when the telescopic arm forklift runs is sent to the whole vehicle controller. And the whole vehicle controller analyzes according to the state information of the accelerator, the brake pedal, the transmission gear, the key and the like and the state information fed back by each component controller, and outputs control instructions to each component controller.
The fuel cell controller obtains the current whole vehicle required power and the current lithium battery SOC from the whole vehicle controller and the battery management system.
Example six
Fig. 5 is a schematic diagram of a telescopic boom forklift according to an embodiment of the present invention, including a hydrogen fuel power system for a telescopic boom forklift according to the first embodiment or the fifth embodiment.
The telescopic boom forklift provided by the embodiment of the invention can execute the control method of the hydrogen fuel power system of the previous embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
The present invention has been disclosed in the preferred embodiments, but the invention is not limited thereto, and the technical solutions obtained by adopting equivalent substitution or equivalent transformation fall within the protection scope of the present invention.
Claims (8)
1. A control method of a hydrogen fuel power system for a telescopic boom forklift, the hydrogen fuel power system including a hydrogen fuel cell system and a lithium battery, the hydrogen fuel cell system and the lithium battery being used for supplying power to an electrical system of the telescopic boom forklift, the hydrogen fuel cell system being further used for charging the lithium battery, the method comprising:
when the telescopic boom forklift starts, the lithium battery is used for independently supplying power;
after the hydrogen fuel cell system reaches the starting temperature, acquiring the current whole vehicle required power and the lithium battery SOC;
According to the current whole vehicle required power and lithium battery SOC, determining whether to start the hydrogen fuel battery system or not by combining the high-efficiency working interval of the hydrogen fuel battery system and the SOC range of the lithium battery, and adjusting the output power of the hydrogen fuel battery system and the output power of the lithium battery in real time;
analyzing the whole vehicle required power according to the working condition of the telescopic boom forklift to obtain a time domain diagram of the whole vehicle required power, converting the time domain diagram into a frequency domain diagram, and analyzing the frequency domain of the whole vehicle required power according to the frequency domain diagram;
according to the result of the frequency domain analysis, a low-pass filter with an adjustable cut-off frequency is adopted to filter the whole vehicle required power, the low-frequency power requirement is used as the required power of the hydrogen fuel cell system, and the high-frequency power requirement is transmitted to a lithium battery;
the cut-off frequency of the low-pass filter is adjusted on line through a fuzzy controller, and the method comprises the following steps:
inputting the whole vehicle required power and the lithium battery SOC into a fuzzy controller;
the fuzzy controller outputs the cut-off frequency of the low-pass filter according to the whole vehicle required power and the lithium battery SOC and in combination with a preset judgment rule, and the fuzzy controller comprises:
when the SOC of the lithium battery is lower than the lowest SOC of the high-efficiency working area of the SOC of the lithium battery and the required power of the whole vehicle is higher than the minimum required power of the high-efficiency working area of the telescopic boom forklift, the cut-off frequency output by the fuzzy controller is higher than the cut-off frequency set by the low-pass filter;
when the SOC of the lithium battery is higher than the highest SOC of the high-efficiency working area of the SOC of the lithium battery and the required power of the whole vehicle is smaller than the minimum required power of the high-efficiency working area of the telescopic boom forklift, the cut-off frequency output by the fuzzy controller is smaller than the cut-off frequency set by the low-pass filter.
2. The control method of a hydrogen fuel power system for a telescopic forklift according to claim 1, wherein the determining whether to turn on the hydrogen fuel cell system and adjusting output power of the hydrogen fuel cell system and the lithium battery in real time according to current vehicle demand power and SOC of the lithium battery in combination with an efficient operation interval of the hydrogen fuel cell system and SOC range of the lithium battery comprises:
If the SOC of the lithium battery is larger than the SOC min and the required power of the whole vehicle is smaller than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the output power of the hydrogen fuel battery system is the maximum working power P fcmax;
If the SOC of the lithium battery is larger than SOC max and the required power of the whole vehicle is smaller than the minimum working power P fcmin of the high-efficiency working interval of the hydrogen fuel battery system, the hydrogen fuel battery system stops working, and the output power of the lithium battery is equal to the required power of the whole vehicle, wherein SOC max is the highest residual electric quantity in the SOC range of the lithium battery;
If the SOC of the lithium battery is smaller than SOC min and the required power of the whole vehicle is smaller than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the hydrogen fuel battery system is started to bear the power consumption of the whole vehicle, and meanwhile, the lithium battery is charged with electric energy, so that the SOC of the lithium battery tends to the expected value SOC of the residual electric quantity, and the output power of the hydrogen fuel battery system is limited between P fcmin and P fcmax, wherein the SOC min is the lowest residual electric quantity in the SOC range of the lithium battery;
If the SOC max of the lithium battery is greater than the SOC and the required power P re of the whole vehicle is greater than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel battery system, the hydrogen fuel battery system and the lithium battery jointly provide energy for the whole vehicle, and meanwhile, the output power of the hydrogen fuel battery system is limited between P fcmin and P fcmax;
If the SOC min is less than or equal to SOC and the required power P re of the whole vehicle is greater than the maximum working power P fcmax of the high-efficiency working interval of the hydrogen fuel cell system, the output power of the hydrogen fuel cell system is the maximum working power P fcmax, and the rest power is provided by the lithium battery.
3. The control method of a hydrogen fuel power system for a telescopic boom forklift according to claim 1, further comprising:
When the telescopic boom forklift is braked, if the telescopic boom forklift is braked by adopting a motor and the SOC of the lithium battery is less than or equal to SOC max, the hydrogen fuel cell system is closed, and the lithium battery recovers braking energy generated by the motor, wherein SOC max is the highest residual electric quantity in the SOC range of the lithium battery.
4. A fuel cell controller of a hydrogen fuel power system for a telescopic boom forklift, characterized in that the fuel cell controller is adapted to perform the control method of a hydrogen fuel power system according to any one of claims 1 to 3.
5. A hydrogen fuel power system for a telescopic forklift comprises a hydrogen fuel cell system, a lithium battery, a DC/DC module and the fuel cell controller as claimed in claim 4, wherein the fuel cell controller is connected with the hydrogen fuel cell system, the output end of a pile of the hydrogen fuel cell system is connected with the DC/DC module, the DC/DC module is connected with the lithium battery, the DC/DC module and the lithium battery are both connected with an electric system of the telescopic forklift, the DC/DC module is used for stabilizing the output voltage of the pile of the hydrogen fuel cell system and charging the lithium battery and supplying power to the electric system of the telescopic forklift according to a control instruction sent by the fuel cell controller, and the lithium battery is used for supplying power to the electric system in the telescopic forklift according to the control instruction sent by the fuel cell controller and meeting the function of one-key power-up.
6. The hydrogen fuel power system for telescopic forklift of claim 5, wherein said hydrogen fuel cell system uses solid hydrogen as a hydrogen source.
7. The hydrogen fuel power system for telescopic forklift truck according to claim 5, further comprising a whole vehicle controller, a battery management system, a motor controller and a gearbox, wherein the whole vehicle controller is in communication connection with the fuel cell controller, the battery management system, the motor controller and the gearbox through a CAN bus, the battery management system is connected with the lithium battery, the fuel cell controller is in communication connection with the battery management system through the CAN bus, the whole vehicle controller collects relevant control signals of a driver, receives state information fed back by the fuel cell controller, the battery management system, the motor controller and the gearbox, and outputs control instructions to each component controller through the CAN bus through internal calculation and decision, so that each component works in a coordinated manner.
8. A telescopic boom forklift comprising a hydrogen fuel power system for a telescopic boom forklift as claimed in any one of claims 5 to 7.
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| CN118061863B (en) * | 2024-04-17 | 2024-06-25 | 山东速力动力科技有限公司 | Hydrogen-electricity hybrid power control system |
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| CN120756353B (en) * | 2025-09-11 | 2025-11-18 | 中车株洲电力机车研究所有限公司 | Energy scheduling method and system for fuel cell hybrid locomotive |
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Inventor after: Yang Ou Inventor after: Yang Liu Inventor after: Wang Aihua Inventor after: Mao Mingxing Inventor after: Zhang Chaozhu Inventor after: Chen Liren Inventor after: Han Baoqian Inventor before: Yang Liu Inventor before: Yang Ou Inventor before: Wang Aihua Inventor before: Mao Mingxing Inventor before: Zhang Chaozhu Inventor before: Chen Liren Inventor before: Han Baoqian |
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