Post on 08-Aug-2020
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Fuel Cell System Modeling and Control
for Vehicular Applications
Donald J. Chmielewski Associate Professor
Center for Electrochemical Science and Engineering Department of Chemical and Biological Engineering
Illinois Institute of Technology Chicago, IL
Department of Chemical and Biological Engineering
Illinois Institute of Technology
City of Chicago and IIT
Northwestern
University
University
of Chicago
Illinois
Institute of
Technology
Department of Chemical and Biological Engineering
Illinois Institute of Technology
City of Chicago and IIT
Northwestern
University
University
of Chicago
Illinois
Institute of
Technology
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Academics at IIT
Engineering
Architecture
Psychology
Science and Letters
Business
Law
Industrial Design
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Architecture at IIT
Mies van der Rohe
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Architecture at IIT
Mies van der Rohe
Helmut Jahn
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Armour College of Engineering
Biomedical Engineering
Chemical & Biological Engineering
Civil, Architectural & Environmental Engineering
Electrical & Computer Engineering
Mechanical, Materials & Aerospace Engineering
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Engineering Alumni
Marvin Camras Martin Cooper Paul Galvin
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Engineering Alumni
Marvin Camras
Donald Othmer
Martin Cooper
Kenneth Bischoff
Paul Galvin
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Engineering Alumni
Marvin Camras
Donald Othmer
Martin Cooper
Kenneth Bischoff
Bernard Baker
Paul Galvin
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Chemical & Biological Engineering
Energy & Sustainability
- Fuel Cells & Batteries
- Fluidization and Gasification
- Hybrid Systems
Advanced Materials
- Interfacial Phenomena & Colloids
- Transport Phenomena in Complex Fluids
- Biomaterials
- Fuel Cell Materials
- Nanotechnology
Biological Engineering
- Multiscale Modeling of Proteins
- Biosensors & Hydrogels
- Diabetes Modeling & Technology
- Pharmaceutical Engineering
Systems Engineering
- Complex Systems Analysis
- Advanced Process Control
- Process Monitoring and Diagnosis
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Fuel Cells and Batteries
Jai Prakash
- Electro-catalysis: material synthesis
and characterization
Vijay Ramani
- Hybrid materials for PEMFC: hydration and degradation
Satish Parulekar
- Modeling of SOFC electrodes
Donald Chmielewski
- Modeling, design and control of fuel
cell systems
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Process Systems Engineering (Chmielewski Lab)
Control Theory
Profit Control
- Chemical Processes
- Inventory Planning
- Smart Grid Operation
- Water Resource Management
- Hybrid Vehicles
Market Responsive Control
- Power Plant Dispatch
- Building HVAC with Thermal Energy Storage
Energy Systems
Power Systems
- Dry Gasification Oxy-Combustion (DGOC) Process
- Control of Oxygen Enhanced Boilers
- Oxygen as Energy Carrier
Fuel Cell Systems
- SOFC
- Fuel Processors
- PEMFC
- Hybrid Vehicles
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Technical Outline
• Start-up of a On-board Fuel Processor
• PEMFC Hydration Dynamics and Control
• Control and System Design for Hybrid Vehicles
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Fuel Processor System at Argonne
Water
WG
1
AirWater
Fuel
AirW
G2
WG
3
WG
4
PrO
x1
PrO
x2
PrO
x3
ATR
Water
WG
1
AirWater
Fuel
AirW
G2
WG
3
WG
4
PrO
x1
PrO
x2
PrO
x3
ATR
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Fuel Processing Reactors
PEMFCPreferential
Oxidation
(PrOx)
Water-
Gas
Shift
(WGS)
Reformer
Hydrocarbon Feed
Large Hydrocarbons Cracked:
Low H2 to CO ratio Most CO converted to CO2: ~ 1% CO remaining
CO levels down to ~ 10 ppm
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Fuel Processing Reactors
PEMFCPreferential
Oxidation
(PrOx)
Water-
Gas
Shift
(WGS)
Reformer
Hydrocarbon Feed
Large Hydrocarbons Cracked:
Low H2 to CO ratio Most CO converted to CO2: ~ 1% CO remaining
CO levels down to ~ 10 ppm
Department of Chemical and Biological Engineering
Illinois Institute of Technology
ATR Reactor
Vaporized gasoline,
Steam
Liquid water
Heat exchangerAir (25 °C)
Hot air
Nozzle
7 m
m1
2 m
m1
2 m
m
96 mm
Catalyst bed
Heater rod
Thermocouple1 2 3 4
5 6 7
8 9 10
Metal wall
thickness=1.7 mm
High Space Velocity
(GHSV ~ 50,000/h)
Noble Metal Catalyst
(Rh on a Gd-CeO2 substrate).
Operating Temperature
~ 700 – 1000o C
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Reactor Model (Axially Dependent, Nonlinear Dynamic Version)
)()()(,
)()(
0s
jg
jg
jccc
gj
g
kAx
m
N
i
iijj
g
j
s
j
g
jc rMk1
)()()(
,0
)()()()(
)()( ˆ0 sggccc
gg
pg TThA
x
Tcm
)()()(
)()( )(ˆ wsw
w
ww
pw TTxh
t
TSc
Mass Balances:
Catalyst Phase:
Gas Phase:
Energy Balances:
Gas Phase:
n
1i
c
)()(
llreactor wa fer toHeat trans
)()()(
,
)()()(
...)(1ˆ
ii
sg
cc
sw
ww
s
axe
ss
p
s
rHTTh
TTxhx
T
xt
Tc
Solid Phase:
Reactor Wall:
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Reactions within ATR
211 Oykr
222)1(
2
m
m
Ca
OHC
yk
yykr
Oxidation: OHnmCOOnmHC nm 222 2/)4/(
Steam Reforming: 22 )2/( HnmmCOOmHHC nm
Water Gas Shift: 222 HCOOHCO
)/(22233 eHCOOHCO Kyyyykr
Papadias, et.al. (2006), Ind. Eng. Chem. Res.
Strongly exothermic
Strongly endothermic
Combined
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Reactor Start-up: A 2 Step Procedure
Partial Oxidation Mode (to quickly increase temperature)
ATR Mode (for greater CO conversion)
Hydrocarbon Fuel Air
ATR
Reactor
Steam
Hydrocarbon Fuel
Air
PO
Reactor
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Steady-State Axial Profiles
0.00
0.05
0.10
0.15
0.20
0.25
0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
Dimensionless x-axis (x/L)
Mo
lar f
ra
cti
on
s w
et
(-)
H2
CO
H2O
CO2
Fuel
CPOX Mode: ATR Mode:
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
Dimensionless x-axis (x/L)
Mo
lar f
ra
cti
on
s w
et
(-)
H2
CO
H2O
CO2
FuelO2
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Model Validation
0
100
200
300
400
500
600
700
800
20 40 60 80 100 120 140 160 180 200
Time (s)
Te
mp
era
ture
(°C
)
7 mm
19 mm
Inlet temperature
30 mm
Papadias, et.al. (2006), Ind. Eng. Chem. Res.
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Feedback Control
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Load Change with PI Controller
0 50 100 150 2000
10
20
30
40
50
Fuel F
low
, g/m
in
0 50 100 150 200140
190
240
290
340
Time, s
Ste
am
Flo
w,
g/m
inFuel
Steam
0 50 100 150 200500
550
600
650
700
750
800
Tem
pera
ture
, oC
0 50 100 150 20070
110
150
190
Time, s
Air F
low
, g/m
inT2, measured
Air
0 50 100 150 2002
3
4
5
6
7
8
Time, s
Hydro
gen F
low
, m
ol/m
in o
r C
O,
mol%
H2
CO
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Feed-forward plus Feedback Control
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Load Change with FF Controller
0 50 100 150 2000
10
20
30
40
50
Fuel F
low
, g/m
in
0 50 100 150 200140
190
240
290
340
Time, sS
team
Flo
w,
g/m
in
Fuel
Steam
0 50 100 150 200660
680
700
720
740
760
780
Tem
pera
ture
, oC
0 50 100 150 20070
150
230
Time, s
Air F
low
, g/m
inT2, measured
Air
0 50 100 150 2002
3
4
5
6
7
8
Time, s
Hydro
gen F
low
, m
ol/m
in o
r C
O,
mol%
H2
CO
Solid: C7.3H14.28
Dotted: C8H18
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Conclusions from Classic Control
• Feedback Control
– Good performance for small load changes.
– Poor performance for large load changes.
• Feed-forward Control
– Good performance for large load changes
– Model mis-match a major concern
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Nonlinear Model Predictive Control
Steady State Optimizer
(SSO)
Model Predictive Control
Nonlinear Dynamic Trajectory Optimizer
PI
ATR
Level 1
Level 2
Level 3
Level 4 PI PI
u
Input &Output
Reference
)(ku
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Challenges to Model Predictive Control
- Optimization based
- Small sample intervals for feedback
- Accurate model for feed-forward action
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Applying
Model Reduction (Galerkin Approximation)
N
j
j
s
j
s ztxtzT1
)()( )()(),(
N
j
j
w
j
w ztxtzT1
)()( )()(),(
)(ˆ tqBAxx
Tw
N
wws
N
ss xxxxxxx ],;,[ )()(
2
)(
1
)()(
2
)(
1
We arrive at the finite dimensional model
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Solution method CFD ROM1
Run-time, s 110 30
Prediction Horizon is 180s
Matlab with Core 2 Duo CPU 2.33G Hz and 1G DDR RAM
Comparison of Computational Effort
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Reduced Mass Balance Model
nmHCw
ra ~
122
11
22 2OHHC wwKrnm
za
erzr 2
22 )(
zaerzr 2
33 )(
23 )5.0~
~
(
2
2 rnmwM
wMr
nm
nm
HCH
HHC
zaerzr 1
11 )(
222)4//()(
,1 OO
g
Omc Mnmwkr
m
kAa
g
Omcc
)(
,
12
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Solution method CFD ROM1 ROM2
Run-time, s 110 30 0.04
Prediction Horizon is 180s
Matlab with Core 2 Duo CPU 2.33G Hz and 1G DDR RAM
Comparison of Computational Effort
Department of Chemical and Biological Engineering
Illinois Institute of Technology
ATR Model Comparison
50 100 150 2000
200
400
600
800
1000
Time,s
Solid
Tem
pera
ture
,oC
Reduced
CFD
@7 mm
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Nonlinear Model Predictive Control
Steady State Optimizer
(SSO)
Model Predictive Control
Nonlinear Dynamic Trajectory Optimizer
PI
ATR
Level 1
Level 2
Level 3
Level 4 PI PI
u
Input &Output
Reference
)(ku
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Inlet Temperature Disturbance
C)20( inT
60 65 70 75 80 850
50
100
150
200
250
300
Time, s
Flo
w r
ate
, g/m
in o
r dm
3/m
in
Inputs
Water
Air
Fuel
60 65 70 75 80 85650
700
750
800
850
900
950
Time, s
Tem
pera
ture
, oC
Outputs
NMPC
Open-Loop
Feedforward
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Feedstock Model Mis-Match
60 65 70 75 80 850
50
100
150
200
250
300
Time, s
Flo
w r
ate
, g/m
in o
r dm
3/m
in
Inputs
Water
Air
Fuel
(C7.3H14.28 C8H18)
60 65 70 75 80 85600
700
800
900
1000
Time, s
Tem
pera
ture
, oC
Outputs
NMPC
Open-Loop
Feed-forward
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Technical Outline
• Start-up of a On-board Fuel Processor
• PEMFC Hydration Dynamics and Control
• Control and System Design for Hybrid Vehicles
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Dynamic Model of PEMFC
Parameters based
on 1 kW scale.
Humidified
hydrogen feed
Air cooling is
assumed.
Cooling
Air In
Jacket
Exhaust
Anode
In
(H2, H2O)
Ecell
H2
Cathode
In
(air)
Cathode
Exhaust
O2
H2O
N2
Solid Material Current Collector
Insulator
H2O
Anode
Exhaust
Polymer Membrane
Catalyst LayersGas Diffusion
Layers (GDLs)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Dynamic Model of PEMFC
2
2 2 2
2
2 2 2
2 2
2
2 2 2
2
2 2
,
( )
( ) ( ) ( )
,
( )
,
( )
( ) (
,
( )
H in
an an H in an H H mem
an
H O in an an an
an an H O in an H O H O mem
in an
an an H H O mem
O in
ca ca O in ca O O mem
ca
H O in ca ca
ca ca H O in ca H O
dCV F C F C r A
dt
dCV F C F C J A
dt
F C F C r J A
dCV F C F C r A
dt
dCV F C F C
dt
2
2 2
) ( )
( )
ca
H O mem
in ca
ca ca O H O mem
J A
F C F C r J A
( )
( )
( )
( )
in inca
ca ca ca ca ca sol ca
p ca
in inan
an an an an an sol an
p an
jac in in
jac jac jac jac jac sol jac
p jac
sol
p sol ca solcasol
dT UAV F T F T T T
dt C
dT UAV F T F T T T
dt C
dT UAV F T F T T T
dt C
dTC V UA T T
dt
( ) ( )jac sol an sol gen memjac anUA T T UA T T Q A
Material Balances Energy Balances
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Electrochemical Model
mtohmactnercell EEEEE
OH
OHsoloner
P
PP
F
RTEE
2
22
2/1
ln2
osol
act jjF
RTE /ln
2
1
)/(22
)( o
O
ca
O
o
oo CCjj
mem
ohm
tjIRE
jjj
F
RTE
L
Lsolmt ln
2
11
)(
22 ca
OmtL CKFj
GDL
ca
GDLmt tDK )(
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Hydration Model for MEA
MEA
Anode
In
(H2, H
2O) H
2
Cathode
Air in
Cathode
Exhaust
O2
H2O
N2
Solid Material Current Collector
H+
H+
H+
H+
H+
H+
H+
H+
Anode
Exhaust
H2O
2
2
( )
( )
mem
H Omem
H O diff drag
C jJ J J D
z F
Boundary Conditions
2
)(2)(
22
z
CD
t
C mem
OH
e
mem
OH
mOH
ca
OH
mem
OH
e
an
OH
mem
OH
e
zrJF
j
z
CD
zJF
j
z
CD
at0
0at0
22
2
2
2
)(
)(
)(
)(
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Water Transport in the Membrane
ELECTRO-OSMOTIC DRAG
DIFFUSION
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Concentration Profiles
GDL Membrane GDLAnode Gas Cathode Gas
δm δ cδ a
2
( )an
H OC
( )ˆ mem
oC
( )
20mem
H OC
2
( ) ( )mem
H OC z
( )ˆm
memC2
( )ca
H OC
2
( ) ( )mem
H O mC
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Power/Temperature Control
PEMFC
Fjac Tsol
+-
PITsol
(sp)
Power
Controller
Pe(sp)
Ecell
jPe ,
,c a
o oF F
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Power/Temperature Control
100 200 300 400 500 600
0.2
0.25
0.3
0.35
0.4
0.45
0.5
Po
we
r D
en
sity (
wa
tts/c
m2)
Time (seconds)
Pe
Pe
(sp)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Power/Temperature Control
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Power/Temperature Control
100 200 300 400 500 600
4
6
8
10
12
14 ! W
ate
r C
on
ten
t
Time (seconds)
(0)
(mem
/2)
(mem
)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Power/Temperature Control
0 100 200 300 400
0.05
0.1
0.15
0.2
Po
we
r D
en
sity (
wa
tts/c
m2)
Time (seconds)
Pe
Pe
(sp)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Power/Temperature Control
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Power/Temperature Control
0 100 200 300 4004
4.5
5
5.5
6
6.5
7 ! W
ate
r C
on
ten
t
Time (seconds)
(0)
(mem
/2)
(mem
)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Manipulation of Hydration Profile
0 100 200 300 4004
4.5
5
5.5
6
6.5
7
! W
ate
r C
on
ten
t
Time (seconds)
(0)
(mem
/2)
(mem
)
PEMFC
+- Gc
Tsol(sp)
Power/
Temp
Controller
Pe(sp)
Ecell,Fjac
jPe ,
,c a
o oF F
2
( )mem
H OCTsol
u m
2
( ),mem sp
H OC
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Anode Bubbler Temperature (Open Loop Test)
0 100 200 300 400 500 6005
6
7
8
9
10
11 !
Wa
ter
Co
nte
nt
81 86o oC C
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Solid Temperature Set-Point (Open-Loop Tests)
80 85o oC C
0 100 200 300 400 500 6003
4
5
6
7
8
! W
ate
r C
on
ten
t
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Combined Approach
0 100 200 300 400 500 6007
8
9
10
11
12
13
14 -
Wate
r C
onte
nt
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Manipulation of Hydration Profile
PEMFC
+- Gc
Tsol(sp)
Power/
Temp
Controller
Pe(sp)
Ecell,Fjac
jPe ,
,c a
o oF F
2
( )mem
H OCTsol
u m
2
( ),mem sp
H OC 0 100 200 300 400 500 6007
8
9
10
11
12
13
14
- W
ate
r C
onte
nt
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Most Frequent Question
100 200 300 400 500 600
0.2
0.25
0.3
0.35
0.4
0.45
0.5
Po
we
r D
en
sity (
wa
tts/c
m2)
Time (seconds)
Pe
Pe
(sp)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Most Frequent Question
Transportation
Applications??
100 200 300 400 500 600
0.2
0.25
0.3
0.35
0.4
0.45
0.5
Po
we
r D
en
sity (
wa
tts/c
m2)
Time (seconds)
Pe
Pe
(sp)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Technical Outline
• Start-up of a On-board Fuel Processor
• PEMFC Hydration Dynamics and Control
• Control and System Design for Hybrid Vehicles
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Hybrid System with DC-DC Converters
FC kfc
iafcifc
Vfc
iab
ib
Vb
Rb
Eb
ia
Ra
La
Vakb
Department of Chemical and Biological Engineering
Illinois Institute of Technology
DC-DC Converter Model
FC kfc Va
iafcifc
Vfc
DC-DC converter relations:
Fuel cell V-I relation (polarization curve):
Combined V-I relation:
fcfcafcfcfca kiiVkV /
)( fcfc ifV
)( afcfcfca ikfkV
fcfcfcafcafcfcfcfcfc RkkVEiRiEV / then ,iscurveonpolarizati If
Department of Chemical and Biological Engineering
Illinois Institute of Technology
The Open-Loop Process
Vehicle
kbatvveh
kfc
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Vehicle Speed Control
Vehicle
kbatvveh
PI
kfc+
-Vfc
(sp)x
Vfc
min
max
Vfc(sp)
PI
+-
vveh(sp)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Vehicle Speed Control Simulation
2 4 6 8 10 12 14
0
2000
4000
6000
8000
10000
12000
Power Profles
time, sec
2 4 6 8 10 12 14
30
40
50
60
70
80
90
100
110
120
130
Voltage
time, sec
Armature
Fuel Cell
Battery
Battery
Fuel Cell
0 5 10 150
200
400
600Motor Speed
0 5 10 150
5
10
15
20Vehicle Speed
time, sec
motor
[rad/s]
Vspeed
[mph]
V(sp)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Lesson from Reactor Control
CSTR
Valve
position
FjacketPI+
-
Fjacket(sp)
T
PI+-
T (sp)
CA
PI
CA(sp)
+-
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Lesson from Reactor Control
CSTR
Valve
position
CA
PI
CA(sp)
+-
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Lesson from Reactor Control
Vehicle
kbat
vveh
PI+-
vveh(sp)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Power Load Control
Vehicle
kbatvveh
+-
kfc
x
Pfc
+-
x
Pbat
Pfc(sp)
Pbat(sp)
VfcFUEL CELL
VOLTAGE
CONTROLLER
Vfc(sp)
PI
PI
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Vehicle
kbatvveh
+-
kfc
x
Pfc
+-
x
Pbat
Pload(sp)
Pbat(sp)
VfcFUEL CELL
VOLTAGE
CONTROLLER
Vfc(sp)
PI
PI
Hybrid Power Load Control
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Separation of Time-Scales
FC Kfc
iafcifc
Vfc
iab
ib
Vb
Rb
Eb
ia
Ra
La
VaKb
5 10 15 20 25 30 35
-200
0
200
400
600
800
1000
Power Profles [W]
time, sec
Pload
(sp)
Battery
Fuel Cell
Armature
Vehicle
kbatPmot
+-
kfc
x
Pfc
+-
x
Pbat
Pmot(sp)
Pbat(sp)
VfcFUEL CELL
VOLTAGE
CONTROLLER
Vfc(sp)
PI
PI
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Vehicle Speed Control
Vehicle
kbatvveh
+-
kfc
x
Pfc
+-
x
Pbat
Pload(sp)
Pbat(sp)
+-
x
vveh(sp) Vfc
FUEL CELL
VOLTAGE
CONTROLLER
Vfc(sp)
PI
PI
PI
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Speed Control Simulation
0 10 20-2000
0
2000
4000
6000
8000
10000
12000
14000Power Profles [W]
time, sec
0 10 200
20
40
60
80
100
120
140
time, sec
Voltage [V]
Armature
Pload
(sp)
Battery
Fuel Cell
Battery
Armature
Fuel Cell
0 5 10 15 200
200
400
600Motor Speed
0 5 10 15 200
5
10
15
20Vehicle Speed
time, sec
[rad/sec]
Vehicle Speed [mph]
Vehicle Speed Request
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Hybrid Fuel Cell Vehicle (Double Storage Configuration)
iascapiscap
Rscap
Escap
iarm
Rarm
Larm
DC-DC
Converter
iabatibat
Rbat
Ebat
DC-DC
Converter
iafcifc
EfcDC-DC
Converter
Fuel
Cell
Power Bus
warm
Earm
kfc kbat kscap
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Supervisory Control
Vehicle
Power
System
+ -Pscap
(sp) Pscap
kscap
Supervisory
Controller
Pmotor
+ -Pbat
(sp) Pbat
kbat
+ -Pfc
(sp) Pfc
kfc
PI
PI
PI
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Disturbance Modeling
Vehicle
Power
System
+ -Pscap
(sp) Pscap
kscap
High
Level
Controller
Pmot(sp)
+ -Pbat
(sp) Pbat
kbat
+ -Pfc
(sp) Pfc
kfc
PI
PI
PI
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Drive Cycle Characterization
0 200 400 600 800 1000 1200 14000
20
40
60
time (sec)
Sp
eed
(m
ph
)
0 200 400 600 800 1000 1200 1400-40
-20
0
20
40
time (sec)
Po
wer
to M
oto
r (k
W)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Hybrid System Optimization
such that:
- Operation within constraints limits
- Motor power demands met
- Supervisory controller embedded
ˆ ˆ ˆmin{ }fc fc bat bat sc scc m c m c m
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Separation of Time Scales
20 20.02 20.04 20.06 20.08 20.1-15
-10
-5
0
5
10
15SuperCap Power, kW
time(hr)
20 20.2 20.4 20.6 20.8 21-2
-1.5
-1
-0.5
0
0.5
1
1.5
2Battery Power, kW
time(hr)
20 25 30 35 40 451.9
1.95
2
2.05
2.1Fuel Cell Power(kW)
time(hr)
Department of Chemical and Biological Engineering
Illinois Institute of Technology
Acknowledgements
• Students: Yongyou Hu (ATR) Kevin Lauzze (PEMFC) Syed K. Amed (PEMFC and Hybrid Vehicle) • Collaborators: Shabbir Ahmed and Dennis Papadias (ANL, ATR) Herek Clack (MMAE-IIT, ATR) Said Al-Hallaj (UIC, Hybrid Control) Ali Emadi (ECE-IIT, Hybrid Control) • Funding: IIT Graduate College and Armour College of Engineering Argonne National Laboratory National Science Foundation (CBET – 0967906)