Professional Documents
Culture Documents
Sliding-Mode
Control of PEM
Fuel Cells
Cristian Kunusch
Institut de Robtica i Informtica Industrial
CSIC-Universitat Politcnica de Catalunya
Barcelona
Spain
Paul Puleston
Depto. Electrotecnia
Laboratorio de Electrnica Industrial,
Control e Instrumentacin (LEICI)
Universidad Nacional
de La PlataCONICET
La Plata, Buenos Aires
Argentina
Miguel Mayosky
Depto. Electrotecnia
Laboratorio de Electrnica Industrial,
Control e Instrumentacin (LEICI)
Universidad Nacional de La Plata
Comisin de Investigaciones Cientcas
de la Provincia de Buenos Aires
(CICpBA)
La Plata, Buenos Aires
Argentina
ISSN 1430-9491
e-ISSN 2193-1577
Advances in Industrial Control
ISBN 978-1-4471-2430-6
e-ISBN 978-1-4471-2431-3
DOI 10.1007/978-1-4471-2431-3
Springer London Dordrecht Heidelberg New York
British Library Cataloguing in Publication Data
A catalogue record for this book is available from the British Library
Library of Congress Control Number: 2012930019
Springer-Verlag London Limited 2012
Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced,
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The publisher makes no representation, express or implied, with regard to the accuracy of the information
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that may be made.
Printed on acid-free paper
Springer is part of Springer Science+Business Media (www.springer.com)
The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology
has an impact on all areas of the control discipline. New theory, new controllers,
actuators, sensors, new industrial processes, computer methods, new applications,
new philosophies, . . . , new challenges. Much of this development work resides in
industrial reports, feasibility study papers and the reports of advanced collaborative
projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid
dissemination.
Fuel cells are one of the devices promoted as a potential technological contributor to the green energy economy. Fuel cells are an energy conversion device that
uses the catalytic oxidation of hydrogen at an anode with the catalytic reduction of
oxygen at a cathode to release energy as electricity and heat with the non-polluting
by-product of water. So long as hydrogen and oxygen fuel is supplied (at the appropriate operating conditions, and with sufcient purity to avoid possible catalyst
poisoning), a fuel cell will provide a continuous energy output. In this way a fuel
cell does not suffer the fuel depletion that characterises the energy storage of battery
technology.
Several different fuel cell types arise from the use of a variety of different electrolyte and electrode media, with differing operating temperatures. To create a power
unit, fuel cells are then combined in series or parallel in planar or tubular stacks
and supplied with auxiliary equipment. Following on from this are requirements for
pressure regulation, temperature control and humidity-level maintenance. The complete assembly involves electrochemical, physical, chemical, and thermal processes
and is consequently, a highly nonlinear system. Finally, add to this that some internal variables are difcult to measure, that instrumentation overheads should be kept
low for portabilitys sake, and that system models have associated model and parametric uncertainty, and the fuel-cell-control problem clearly emerges as a highly
challenging one.
This technological prcis is the starting point for the authors Cristian Kunusch,
Paul F. Puleston, and Miguel A. Mayosky who make a very convincing case for
vii
viii
the benets that modern nonlinear closed-loop control has to offer fuel-cell technology. Their research is with the proton exchange membrane (PEM) fuel cell. Apparently, PEM fuel cells have a high power density, low weight, and volume that make
them particularly appropriate for portable or mobile applications. The authors chosen control paradigm is that of sliding-mode control, and in this monograph, they
give a comprehensive report of their research; however, what makes this monograph
particularly appropriate to the Advances in Industrial Control series is the way in
which the authors combine a wide of variety of skills, empirical nous, and technical
knowledge to develop a practical demonstration prototype for the fuel-cell-control
application.
The monograph is self-contained and opens with introductory material on fuel
cells, PEM fuel cells, and sliding-mode control (Chaps. 1, 2 and 3). For a rst
demonstration of their sliding-mode control proposals, the authors use their own
reformulation of a benchmark model that was previously reported in an earlier seminal Advances in Industrial Control monograph, Control of Fuel Cell Power Systems
by Jay T. Pukrushpan, Anna G. Stefanopoulou, and Huei Peng (ISBN 978-1-85233816-9, 2004). Thus the rst test of the sliding-mode control is through a detailed
simulation benchmark case study (Chap. 4).
The authors research with an experimental PEM-fuel-cell test bed is then reported in Chaps. 5 and 6 in the monograph. As so often occurs in process control case studies, the system modelling (Chap. 5) follows a process-based modular structure and the model is derived with a judicious blend of physically based
equations and experimental-data-supported empiricism. The trade-off between the
actual process behaviour and the accuracy that can be achieved with a tractable
model naturally introduces a level of system and parametric uncertainty and leads
to requirements for a robust and reliable control scheme. Chapter 6 presents the
authors second-order sliding-mode control design and the results from the experimental test bed facility. All is fully documented and offers an opportunity for further
independent study of the control system, its results, and the control outcomes. The
monograph closes with a chapter of conclusions and a discussion of future possible
research issues for this system and fuel-cell control per se.
A wide range of readers from the control community, and also those involved in
new energy technologies, will nd much of interest in this research from authors
Cristian Kunusch, Paul F. Puleston, and Miguel A. Mayosky. This volume is also a
very welcome complement to the earlier fuel-cell monograph mentioned above and
now provides the Advances in Industrial Control series with two excellent texts on
control for fuel-cell technologies.
Industrial Control Centre
Glasgow
Scotland, UK
M.J. Grimble
M.A. Johnson
Acknowledgements
There are many people and institutions to whom we would like to express our gratitude. Too many, in fact. And each one of us has our particular debts of gratitude.
Therefore, we are forced to just explicitly mention those that directly contributed to
the realisation of this book. To all the others, many thanks.
We wish to acknowledge the support of the National University of La Plata
(UNLP), CONICET and CICPBA from Argentina, the Technical University of Catalonia (UPC), CSIC and AECID from Spain, and the Seventh Framework Programme of the European Community through the Marie Curie actions.
We specially like to thank the Laboratorio de Electrnica Industrial, Control e
Instrumentacin (LEICI), Faculty of Engineering (UNLP) and its mentor, Professor Carlos F. Christiansen, who created an institution where we could initiate and
develop our careers in the eld of scientic-technological research.
We also wish to express profound thanks:
To Professor Jordi Riera Colomer for his enduring collaboration and generosity,
and to each and every member of the IRIs Fuel Cell Laboratory, whose prociency and dedication made the experimental phase of this investigation a reality.
To Professor Enric Fossas Colet, without whom this collaboration would not
have been at all possible. Thanks him for his continuous support and unbreakable friendship.
To Professor Leonid Fridman for his wise advice on Higher-Order Sliding-Mode
control and, moreover, for his unselsh help all the way.
To our friends and colleagues in the sliding mode community, who have supported and encouraged us during the different stages of our research.
A nal comment. We have made use of material from several books and papers
in this work. We are very grateful to their authors, and we do hope that we have
cited them abundantly and appropriately, acknowledging the full recognition they
deserve.
ix
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Contents
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xiv
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Appendix B
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169
169
172
173
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
FC
FCGS
LQR
PEM
SM
SOSM
ST
a
a0
a1
a2
a3
A0
A1
A00
A10
A20
A01
A11
A02
Aapp
Afc
b
B00
B10
B20
B01
B11
B02
Cp
C0
Fuel cell
Fuel cell generation system
Linear Quadratic Regulator controller
Proton Exchange Membrane
Sliding mode
Second-order sliding mode
Super-Twisting
Polarisation curve coefcient
Empirical coefcient of the membrane water content model
Empirical coefcient of the membrane water content model
Empirical coefcient of the membrane water content model
Empirical coefcient of the membrane water content model
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Apparent fuel cell area
Fuel cell active area
Polarisation curve coefcient
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Compressor model tting parameter
Specic heat capacity of air
Cathode humidier model tting parameter
xv
xvi
C1
C3
cv,an
cv,ca
Dw
E
F
Ga
GH2
GN2
GO2
Gm,dry
Gv
i
Icp
i0
ia
Iload
Ist
J
Jg
Ksm
k, kI
Kca,out
kdct , kdcv , Rdc
Ksm
k
L
m
mH2 ,an
mH2 O,an,liq
mH2 O,ca,liq
mhum
mN2 ,ca
mO2 ,ca
msm
mv,an
mv,ca
mv2 ,an
mv2 ,ca
mw,an
n
nd
nc
n0
n1
n2
Pamb
Pan
Pca
Pcp
PH2 ,an
PH2 ,lh,an
Phum
Phum,an
Phum,ca
Phum,diff
Pnet
PN2 ,ca
PN2 ,hum
PN2 ,lh
PO2 ,ca
PO2 ,hum
PO2 ,lh
Prm
Psat
Psm
Pst
Pv,an
Pv,ca
Pv,hum
Pv,lh
Pv,lh,an
q
r1 , r2
RH amb
R
R0
R1
Ra
RH an
RH ca
RH hum
RH lh
s
s0
Trm
xvii
xviii
Tamb
Tcp
Te
Thum
Thum,an
Thum,ca
Tl
Tl,amb
Tlh
Tsm
Tst
tm
Tp
Tl
U, , , sM
uff
ui = u + uff
u1 , u2
Vact
Vrm
Vca
Vconc
Vcpff
Vcpi
Vcpp
Vcp
Vfc
Vhum
Vnor
V0
Vohm
Vsm
Vst
Wa,hum
Wan
Wan,out
Wca
Wca,out
Wrm,out
Wair,ref
Wcp
Wdry,ref
W H2
WH2 ,an,in
Atmospheric temperature
Compressor air temperature
Compressor motor torque
Cathode humidier temperature
Anodes humidier temperature
Cathodes humidier temperature
Load torque
Compressor load torque at ambient pressure
Cathode line heater temperature
Manifold air temperature
Stack temperature
Thickness of the membrane
Unknown torque disturbance
Compressor extra load torque at pressures higher ambient
Sub-Optimal controller parameters
Feedforward control action
Implemented control action
Super-Twisting control action components
Activation losses
Return manifold volume
Volume of the cathode channels
Concentration losses
Compressor voltage feedforward term
Implemented compressor voltage command
Compressor voltage LQR pre-compensation term
Input voltage of the compressor DC motor
Voltage of a single fuel cell
Cathode humidier volume
DC motor voltage normalisation constant
Theoretical electrochemical potential of single
hydrogen/oxygen fuel cell
Ohmic losses
Supply manifold volume
Stack voltage
Mass ow of dry air exiting the cathode humidier
Mass ow entering the anode channels
Mass ow exiting the anode channels
Cathode input mass ow of air
Flow entering the return manifold
Outlet mass ow of the return manifold
Air mass ow reference
Compressor air mass ow
Reference dry air ow
Hydrogen mass ow
Mass ow rate of H2 entering the anode
WH2 ,an,out
WH2 ,react
Whum
Wl,ca,out
WN2 ,ca,in
WN2 ,ca,out
WO2 ,ca,in
WO2 ,ca,out
WO2 ,ca,ref
WO2 ,react
Wsm
Wv,an,in
Wv,an,out
Wv,ca,gen
Wv,ca,in
Wv,ca,out
Wv,hum
Wv,inj
Wv,mem
x
XO2 ,ca
XO2 ,ca,out
ca
an
O2
x
x
cp
dc
, ,
m , M ,
ca
an
m
O 2
amb
ca
hum
xix
xx
ca,out
an
an,out
cp
(t, x, u), (t, x, u)
m,dry
Chapter 1
Most of the current production of hydrogen is used in the fertiliser (50%) and
petroleum (37%) industries. Industrial production of hydrogen is currently accomplished in four main ways:
Thermo-chemical technologies: Steam reforming is the most widely used process to produce hydrogen from natural gas, coal, methanol, ethanol and gasoline,
among others [4]. The process uses catalysts in one or more steps of the conversion process. Steam reforming of natural gas accounts for almost 50% of the
world feedstock for H2 production. Obviously, this technology does not avoid
either pollution (as one of the by-products is carbon monoxide) or fossil oil dependence (hydrocarbon is still required). In spite of these facts, the process is seen
by many as an intermediate step in the right direction. For instance, several car
manufacturers are currently testing prototypes using a reformer and a fuel cell to
drive an electric engine. This allows using the existing fuel distribution network
while the alternative fuels infrastructure is developed.
Photo-biological technology: This approach uses the natural photosynthetic activity of bacteria and green algae to produce H2 . A wide range of alternatives
are available, including direct and indirect biophotolysis, photofermentation and
dark-fermentation [2]. One major limitation of this promising technology is the
relatively slow production rates, which precludes its use in massive production.
Photo-electrochemical technology: This process produces H2 in one step, splitting water by illuminating a water-immersed semiconductor with sunlight [5].
This technology is still in early stages of development, and many obstacles must
be overcome before being economically viable.
Electrochemical technologies: Electrolysis is a simple process that only requires
water and electricity. It can be accomplished securely almost anywhere, even at
home. The combination of electrolysis and a fuel cell looks like a virtuous cycle: hydrogen is produced using water and electricity, while electricity and water
are obtained in a fuel cell combining hydrogen and oxygen (or air), without any
combustion or Carnot cycle involved. However, electrolysis is energy-intensive: it
takes approximately 50 kilowatt-hours of electricity per kilogramme of hydrogen
produced. As it was already said, most of the electricity is generated using fossil combustibles, and widespread use of electrolyses will increase electricity demands. For instance, if all transportation becomes electrical, electricity demands
to the power grid will double.
In the light of the above considerations it becomes clear that, in order to put hydrogen economy to work, H2 should be produced using non-pollutant energy sources
(e.g. solar or wind). However, renewable energy sources are often intermittent and
difcult to predict; therefore it is usually difcult to match the energy production
and the energy demand. This naturally introduces fuel cells (FC) in the energy conversion chain.
2H2 4H+ + 4e
+ 4e H2 O
2H2 + O2 H2 O
+ 4H+
(1.1)
Although a fuel cell is similar to a typical battery in many ways, it differs in several aspects. The battery is an energy storage device where all the energy available is
stored within the battery itself. It will cease to produce electrical energy (discharge)
when the reactants are consumed. A fuel cell, on the other hand, is an energy conversion device to which fuel and oxidant are supplied continuously. It can produce
electric current for as long as fuel is supplied.
Cell units, the individual devices where electrochemical reactions take place.
Cell stacks, the combination of individual cell units to provide the desired voltage
and current.
Auxiliary components necessary to ensure fuel feeding, feed-stream conditioning,
stack temperature and humidity control, electrical output conditioning, etc. These
ancillary components usually have important dynamics that affect the overall system behaviour.
In 1932, Francis Bacon, an engineer working at Cambridge University in England, made a number of signicant modications to Mond and Langers design. He
replaced platinum electrodes with less expensive nickel gauze and substituted the
sulphuric acid electrolyte for alkali potassium hydroxide, a less corrosive substance.
In 1959, Bacon built a 5-kW alkaline fuel cell, capable to power a welding machine
(Fig. 1.6). Later in that year, Allis-Chalmers demonstrated the rst FC powered vehicle, combining 1008 cells to power a 20 hp tractor [1].
Aerospace applications boosted the research on FC technology. In the late 1950s,
US National Aero Space Agency (NASA) needed a compact way to generate electricity for manned space missions. Nuclear generation was too dangerous, conventional batteries were too heavy, and solar power was too expensive and complex at
the time. Fuel cells seemed to be an interesting alternative. Therefore, NASA went
on to fund 200 research contracts for FC technology. One of the principal achievements of this initiative was the development of Proton Exchange Membrane fuel
cells (PEMFCs). Indeed, in 1958 General Electric (GE) scientists Willard Thomas
Grubb and Leonard Niedrach devised a way to deposit platinum electrolyte on a
sulphonated polystyrene ion-exchange membrane. GE and NASA further developed
this technology for the Gemini space project (Fig. 1.7). This was the rst commercial use of a PEM fuel cell [7].
In an attempt to reduce FC weight and increase its operational lifetime, Pratt and
Whitney (an aircraft engine manufacturer) licensed Bacon patents for the Alkaline
fuel cell in the early 1960s. They made a number of modications to Bacons design,
which eventually led them to win a contract to provide FC technologies for the
Apollo missions, providing electric power and also potable water for the crew in
a compact assembly. An Apollo spacecraft carried three fuel cells in the service
module. Each unit housed 31 individual fuel cells connected in series, operating at
27 to 31 volts for a typical power output of 563 to 1420 watts, with a maximum of
2300 watts. Each unit measured 105 cm in height, 55 cm in diameter, and weighted
112 kg. Since then, similar cells have been used in most of the NASA manned
missions, including the Space Shuttle.
During the last decades, there has been important research on new materials
for electrolytes, electrodes and catalysts, in order to reduce costs and improve efciency and reliability. Commercial applications include stationary systems for energy backup in hospitals and schools, portable devices and vehicles. The rst bus
powered by a fuel cell was completed in 1993. Daimler Benz and Toyota launched
prototype fuel-cell powered cars in 1997. Nowadays, most of the major automotive
companies have prototypes of fuel-cell powered cars and utility vehicles.
10
ows, moisture levels and temperatures must be controlled to full load demands,
while ensuring safe operation and avoiding internal components damage. Many factors make this a challenge.
Firstly, fuel cells are highly nonlinear devices. This precludes the use of conventional linear control techniques, especially if performance under wide operation
ranges is required. Besides, important internal variables are difcult to access, making their measurement expensive or cumbersome. Finally, there exist uncertainty
in system parameters, modelling errors and disturbances of many types. Reliable
control systems ensuring stability and performance, as well as robustness to model
uncertainties and external perturbations are of crucial importance for the advance of
fuel cell technology.
References
1. Collecting the history of fuel cells. Smithsonian National Museum of American History
References
11
2. Das D, Veziroglu TN (2001) Hydrogen production by biological processes: a survey of literature. Int J Hydrog Energy 26:1328
3. EG&G Technical Services, Inc (2004) Fuel cell handbook, 7th edn. U.S. Department of EnergyOfce of Fossil Energy, Morgantown
4. Haryanto A, Sandum F, Murali N, Adhikari S (2005) Current status of hydrogen production techniques by steam reforming of ethanol: a review. Energy Fuels 19:20982106.
http://americanhistory.si.edu/fuelcells/index.htm. Cited 4 Feb 2011
5. Kotay SM, Das D (2008) Bio-hydrogen as a renewable energy resourceprospects and potentials. Int J Hydrog Energy 33:258263
6. Kunze J, Stimming U (2009) Electrochemical versus heat-engine energy: a tribute to Wilhelm
Ostwalds visionary statements. Angew Chem Int Ed 48:92309237
7. Scott JH (2006) The development of fuel cell technology for electric power generation: from
NASAs manned space program to the hydrogen economy. Proc IEEE 94:18151825
Chapter 2
13
14
(2.1)
The Gibbs free energy represents the energy available for external work. The
values of gf depend on the reactants temperatures and pressures according to the
following expression:
1/2
PH2 PO2
gf = gfo RT fc ln
PH2 O
(2.2)
where R is the universal constant for ideal gases, PH2 is the hydrogen partial pressure, PO2 is the oxygen partial pressure, PH2 O the water vapour partial pressure, and
gfo the change in the process gf at a standard working pressure (1 bar), which
in turn changes with the temperature of the fuel cell (Tfc ). Values of the Gibbs free
energy for standard pressure at different temperatures are shown in Table 2.1 [17].
A negative gfo implies that the reaction releases energy ((gf )reac > (gf )prod ).
If the electrochemical processes taking place in the cell were reversible, all the
Gibbs free energy could be converted into electrical energy for the external circuit. In this ideal case, for each mol of hydrogen, two moles of electrons circulate by the electric circuit making an electric work (charge voltage) 2F E,
where F is the Faradays constant or, equivalently the charge of an electron mol
(96485.309 C/mol), and E is the open circuit fuel cell voltage. This amount of electrical work is the net change in the Gibbs free energy:
gf = 2F E
(2.3)
1/2
gfo
PH2 PO2
RT fc
gf
=
+
ln
2F
2F
2F
PH2 O
(2.4)
Water phase
15
Temperature C
gfo (kJ/mol)
liquid
25
273.2
liquid
80
228.2
gaseous
80
226.1
gaseous
100
225.2
gaseous
200
220.4
gaseous
400
210.3
gaseous
600
199.6
gaseous
800
188.6
gaseous
1000
177.4
Expression 2.4 is the so called Nernst voltage of a PEM fuel cell. In practice, however, the open circuit voltage is smaller than what Eq. (2.4) predicts. In fact, the
term gfo /2F varies with temperature,and differs from its value E0 = 1.229 V at
standard conditions (25 C, 1 atm) according with the following expression:
gfo
S o
= 1.229 + (Tfc To )
(2.5)
2F
2F
where To is the standard temperature of reference (298 K), and S o is the entropy
change for the new operating conditions. Therefore, the last equation can be rewritten as
gfo
S o
298S o
= 1.229
+
(2.6)
Tfc
2F
2F
2F
Using the standard thermodynamical relations regarding entropy changes [17],
Eq. (2.4) can be written as
E = 1.229 0.85 103 (Tfc 298) + 4.3 105 Tfc ln(PH2 ) + 1/2 ln(PO2 )
(2.7)
Additionally, the cell voltage varies with electric load conditions. This is due to
electric losses, which can be classied as activation, ohmic and concentration or
diffusion losses.
Activation losses are important at low currents and reect the fact that the cell
requires a certain amount of energy to start electron circulation and create/break
chemical bondings, both in the anode and the cathode [19]. This produces an
important voltage drop at low current densities in both electrodes. It is worth
noting that hydrogen oxidation at the anode is considerably faster than oxygen
reduction at the cathode. Therefore, the dynamics of activation losses are always
dominated by the cathode. The relationship between activation losses and current
density can be described using the Tafel equation [18]
i
Vact = A ln
(2.8)
i0
16
where the constant A is higher for slow electrochemical reactions, and i0 is higher
for fast reactions. The value of i0 can be considered as the current density from
which the voltage drop becomes evident. It is called exchange current density and
its typical values are in the 102 108 A range. The Tafel equation is only valid
for i > i0 . For a pure hydrogen fuel cell, A is given by
A=
RT
2F
(2.9)
The constant is known as the charge transfer coefcient and represents the
amount of electric energy applied that is harnessed in changing the rate of an electrochemical reaction. Its value depends on the reaction involved and the material
of the electrode, and falls in the 01 range.
Ohmic losses are due to the resistance of the polymeric membrane to proton circulation, and also to the electrical resistance of electrodes and current collectors.
Therefore, these losses are proportional to electric current in a wide operational
range:
Vohm = i Rohm
(2.10)
The value of Rohm represents the internal resistance of the cell and has a strong
dependency with the cell humidity and temperature levels. It depends on the
membrane conductivity (m ) and dry thickness (tm) according to the following
expression [26, 30]:
Rohm =
tm
m
(2.11)
For standard operating conditions, the following empirical expression is frequently used [30]:
Vohm = (R0 R1 m )i
(2.12)
17
Therefore, taking into account all the losses, the cell voltage can be written as
Vfc = E Vact Vohm Vconc
(2.14)
Replacing the values of the individual terms, the expression for (2.14) is
PO2
i
RT
ln
Vfc = E
(R0 R1 m )i me(ni) + b ln
(2.15)
2F
i0
a
where , i0 , R0 , R1 , m, n, b and a are empirical parameters that take into account the
different polarisation effects and are adjusted for a specic fuel cell stack, without
loss of generality. A systematic procedure for the determination of these constants
is outlined in Chap. 5. The resulting polarisation curve of a typical PEM fuel cell
is shown in Fig. 2.1. It can be seen that the open circuit voltage is close to 1 V. In
applications requiring higher voltage and power, several cells can be combined in
series/parallel congurations to full load demands.
gf
237.2
=
= 0.83
H
286
(2.16)
18
This is the maximum theoretical efciency that a PEM fuel cell can reach at
25 C. Using Faradays constant and considering that there are two electrons involved in the reaction, the efciency of a PEM fuel cell can be expressed as a quotient of voltages:
max =
gf /2F
gf
=
= 1.229/1.482 = 0.83
H
H /2F
(2.17)
where gf /2F = 1.229 V is the theoretical voltage of an open circuit cell, and
H /2F = 1.482 V is the value of the thermoneutral voltage (that is, the resulting
voltage if all the enthalpy of hydrogen is converted in electric energy). In this way,
the efciency of the cell at any condition can be obtained from the voltage at its
output terminals (Vfc ):
=
Vfc
1.482
(2.18)
19
to take into account the intrinsic uncertainty in the system model and to avoid
expensive or cumbersome (even impossible) measurement of certain variables.
Additionally, nonlinear control strategies usually allow wider operation ranges
than local approaches that linearise the system around equilibrium points. For
commercial success, it is also important to develop models and strategies to diagnose and predict failure situations.
20
2.5.2 Electrodes
Electrodes in PEM fuel cells are basically catalytic layers placed between the polymeric membrane and an electrically conducting substrate. This is where the electrochemical reactions take place. Given that gases, electrons and protons react in the
surface of electrodes, their efciency can be improved increasing its rugosity (effective area), reducing catalyst particle size and/or incorporating ionomeric material
(a one-ion polymer) in the catalyst. The later can be accomplished by painting the
electrode with a PFSA solution in a mix of alcohol and water, or simply mixing the
ionomer and catalyst in the preparation of the catalytic layer. A 30 percent ionomer
content in the catalytic layer is typical.
The catalyst most usually employed in both electrodes of PEM fuel cells is platinum. In the early stages of PEM fuel cells development, important quantities of
platinum were used (more than 28 mg/cm2 ). By the end of the 1990s this amount
was reduced to 0.30.4 mg/cm2 . Considering that the effective area of catalyst is of
paramount importance, it is crucial to achieve a ne dispersion of catalyst particles
in the support material, usually carbon powder [29].
The combination of electrodes and polymeric membrane is known as Membraneelectrode assembly (MEA). There are basically two different approaches for its con-
21
struction. In the rst one, the catalyst is deposited on a porous substrate called gas
diffusion layer, which is typically a carbon bre paper. These are then placed at
both sides of the membrane using heat and pressure to ensure proper contact. In the
second approach, the catalyst is deposited directly on the membrane, an arrangement known as catalysed membrane. A porous substrate is then added, resulting in
a ve-layer MEA (Fig. 2.2). Several techniques can be used for deposition of catalyst on diffusion layers and membranes (spreading, spraying, sputtering, painting,
screen printing, decaling, electro-deposition, evaporative deposition, impregnation
reduction, etc.), and many other proprietary approaches exist.
22
graphite particles mixed with PTFE is added, resulting on pore sizes of 0.10.5 m,
which are much smaller than the carbon bre pores (2050 m) [21].
23
Structural support to the cell. Robustness and light weight are mandatory.
Efcient heat conduction.
In addition, bipolar plates must be corrosion resistant, which make them expensive. In most PEM cells pH is between 2 and 3, and temperatures are in the
6080 C range. These environmental conditions discourage the use of traditional
choices like aluminum, steel, titanium or nickel. Corrosion produces ions of metal
which can diffuse through the membrane, affecting its ionic conductivity, reducing
its lifetime and increasing its electrical resistance. For this reason, metallic plates are
usually coated with non-metallic conductive materials, such as graphite, diamond
carbon, conductive polymers, organic polymers, noble metals, metallic nitrides, tindoped indium, etc. Bipolar plates can also be made of thermoplastic materials, such
as polypropylene, polyethylene and polyvinyldene uoride. Thermosetting resins
(phenolic, epoxy, etc.) are also used, with the addition of graphite and bre reinforcing (Fig. 2.5).
An important property of bipolar plates is their electrical conductivity. In graphite
composites, typical values range between 50 and 200 S/cm. Although pure graphite
has a conductivity of 680 S/cm, metallic plates have values an order of magnitude
higher. Note that the overall conductivity of the cell is always lower than the material
conductivity, due to the contact resistance among components.
In Fig. 2.6, a schematic representation of a typical PEM fuel cells stack is presented, where all the components described above can be visualised.
24
25
at each operation point. The amount of liquid water and membrane humidication
levels can be modied by controlling the relative humidity of the reacting gases, as
well as their individual pressures and temperatures.
Temperature is as important as water content, and both magnitudes are closely related. PEM fuel cells are intended to operate at high power densities (>0.5 W/cm2 ),
but, apart of new high-temperature membranes, the most widespread technology
now prevents operation at temperatures above 100 C. This small gap between operational and ambient temperatures makes it difcult to remove the 1.3 W of heat
produced for each watt of electric power generated.
26
2.5.6.4 Humidication
Proper humidication of polymeric membranes is an important matter. At moisture levels below recommended values, ionomer water content falls, reducing conductivity and adversely affecting the kinetics of reduction and oxidation reactions.
Water content of an MEA depends on many factors and is closely related with operating conditions. For instance, in open circuit and also at low current densities, the
small water production by oxygen reduction causes the MEA humidication levels
to decrease, although the reacting gases are saturated with vapour. This is because
water absorption in peruoro-sulfonated membranes is lower when the membrane
has been equilibrated with vapour instead of liquid water. Besides, at higher current
densities, the electro-osmotic dragging of water through the membrane tends to dry
the anode. An additional problem in this case is the eventual cathode ooding due
to the excess of water produced by the electrochemical reactions.
Under certain conditions, the amount of water produced by oxygen reduction
at the cathode sufces to keep proper membrane hydration. However, this fact does
not ensure an equilibrium point in water content. In most cases, a gas humidication
system is required, at least in the cathode line, to control this important performance
variable. Humidity control is a challenging task, because moisture levels in both
channels are coupled and many perturbation (known and unknown) exist. Besides,
humidication requirements can be in conict with other control objectives, such
as oxidant stoichiometry. For instance, in certain situations the optimal humidity
level could be incompatible with the most efcient reactant ux level required to
satisfy electric load demands. In such a case, a problem arises because it is difcult
to suspend instantaneously the cathode humidication if the cells start to ood. On
the other hand, it is also impossible to increase hydration levels at low currents when
the cell starts to dry.
Among the many techniques for gas humidication, the main alternatives are the
following:
Gas bubbling. This is a method mostly used in laboratory applications for relatively low ows, being seldom used in commercial devices. It involves circulating
air or hydrogen through a porous tube immersed in liquid water at a regulated
temperature. The resulting bubbles provide a relatively big contact area between
gas and water, allowing proper humidity transfer. Moisture level is controlled by
varying water temperature. In a well-designed system, emerging gases are saturated of vapour at the water temperature. The main drawback of this approach is
the presence of water droplets in the outcoming gas. This affects gas diffusion in
the MEAs, reducing the overall efciency.
Direct vapour injection. This is the most compact, efcient and easy to control
method. A ne mist is injected in the gas stream using a small pump. An additional heat source is usually required to produce complete water evaporation if
hot water enthalpy solely does not sufce. Moisture level is directly controlled by
varying the amount of vapour injected [4].
27
Water exchange through a permeable material. In this approach, gases are circulated on one side of a permeable membrane such as Naon . De-ionised,
temperature-controlled water circulates on the other side of the membrane. During the process, a moisture gradient is established, which allows water transfer
via diffusion through the membrane. The amount of water transfer is controlled
by varying its temperature.
Enthalpy wheel. In this passive method the water and heat content of a gas can be
transferred to other gas using a thermal process. It comprises a cylinder that interfaces two parallel conducts, where gases at different humidity and temperature
circulate in opposite directions. The cylinder is lled with a permeable material,
to provide a large interface area for energy transfer. As the wheel rotates between
the ventilation and exhaust gas streams, it takes heat energy and releases it into
the colder gas stream. The driving force behind the exchange is the thermal gradient between the opposing gas streams. The enthalpy exchange is accomplished
by the use of desiccants, which transfer moisture by adsorption. This effect is
predominately driven by the difference in the partial pressure of vapour between
the gas streams.
2.5.6.5 Gas Heating Lines
These devices are inserted in the gas path to provide temperature control, independently from the humidication process. Basically they are made of heating resistances, with protective stainless steel shielding. In PEM fuel cells, the main objective
of the heating lines is keeping gas temperature high enough to avoid condensation
inside cell channels.
The comprehensive block diagram presented in Fig. 2.8 shows a typical laboratory set up of a PEM-based generation system.
28
29
durability. All these variables exhibit a spatial dependence along anode and cathode
channels, and therefore it is necessary to incorporate control mechanisms to keep
them within their nominal values [20].
30
tion of the membrane and its catalyst. The production of such radicals is accelerated
when the fuel cells operate in open circuit or low humidity conditions.
Another issue which deserves special attention is oxygen control. If the oxygen
ow is too low, undesirable hot spots appear in the membrane, and output power
decreases because of the lack of reactants, a situation called cathode starvation. On
the other hand, if oxygen ow is too high, an excessive amount of water is pushed
to the cathode outlet, which in turn results in membrane drying, which affects its
ionic resistance. Besides, an increase of the air ow results in higher power demand
to the compressor that supplies it, reducing the overall system performance. Thus,
an efcient control system must be capable of regulating air ow properly, avoiding
irreversible damages to the membrane and delivering enough oxygen to meet the
electric power demand in a reliable and efcient way.
References
31
converters can also be used to improve efciency and extend operating ranges of the
stack. For instance, in [36] resonant soft-switching techniques are used to adjust the
output voltage of a 250-W PEM fuel cell.
Most of the above approaches are based on linear models, providing interesting
solutions that efciently solve different control objectives [10, 27, 39]. However,
an important issue such of robustness against parametric uncertainty and external
perturbations have not been addressed in depth. Besides, the validity range of these
controllers is local, and results do not extend to the entire operation range. Solutions
to this problem can be found in the nonlinear control eld, such as [1] and [24, 25],
where strategies based on parametric cerebellar model articulation and exact linearisation were addressed, respectively. More recently, in [6] a methodology based
on an energetic macroscopic representation of the fuel cell stack is proposed. Good
global performances were attained with these nonlinear techniques, but, regretfully,
their applicability in real systems is still limited because the algorithms demand
considerable computational burden.
Therefore, despite these advances in fuel cell controllers, it is evident that to meet
the expected enhanced capabilities, a substantial R&D work is still necessary, and
a control approach particularly suitable to cope with their challenging features is of
high interest. At this point, Sliding-Mode control emerges as an especially apt technique to tackle the complex characteristics inherent to fuel cell systems (e.g. high
nonlinear dynamics, inaccessible variables, model uncertainties and disturbances).
In addition, the on-line computational burden of the resultant algorithms can be conveniently low. Promising results have been obtained with sliding mode controllers
for fuel cell systems [16, 22, 32], strongly encouraging the prosecution of research
in this direction.
References
1. Almeida PE, Godoy Simoes M (2005) Neural optimal control of PEM fuel cells with parametric CMAC networks. IEEE Trans Ind Appl 41(1):237245
2. Amphlett J, Baumert R, Mann R, Peppley B, Roberge P (1995) Performance modeling of the
Ballard Mark IV solid polymer electrolyte fuel cell. J Electrochem Soc 142(1):915
3. Arce A, del Real A, Bordons C, Ramirez D (2010) Real-time implementation of a constrained
MPC for efcient airow control in a PEM fuel cell. IEEE Trans Ind Electron 57(6):1892
1905
4. Barbir F (2005) PEM fuel cells: theory and practice. Elsevier, Amsterdam
5. Bao C, Ouyang M, Yi B (2006) Modeling and control of air stream and hydrogen ow with
recirculation in a PEM fuel cell systemI. Control-oriented modeling. Int J Hydrog Energy
31(13):18791896
6. Boulon L, Hissel D, Bouscayrol A, Pera MC (2010) From modeling to control of a PEM fuel
cell using energetic macroscopic representation. IEEE Trans Ind Electron 57(6):18821891
7. Feroldi D, Serra M, Riera J (2009) Design and analysis of fuel cell hybrid systems oriented to
automotive applications. IEEE Trans Veh Technol 58(9):47204729
8. Gao F, Blunier B, Simes M, Miraoui A (2010) PEM fuel cell stack modeling for real-time
emulation in hardware-in-the-loop applications. IEEE Trans Energy Convers 26(1):184194
9. Grasser F, Rufer A (2007) A fully analytical PEM fuel cell system model for control applications. IEEE Trans Ind Appl 43(6):14991506
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10. Golbert J, Lewind R (2004) Model-based control of fuel cell. J Power Sources 135:135151
11. Gottesfeld S, Zawodzinski T (1997) Polymer electrolyte fuel cells. Wiley, New York
12. Husar A, Serra M, Kunusch C (2007) Description of gasket failure in a 7 cell PEMFC stack.
J Power Sources 169(1):8591
13. Husar A (2008) Dynamic water management of an open-cathode self-humidied PEMFC system. PhD proposal at Universitat Politctica de Catalunya
14. Khan MJ, Iqbal MT (2005) Modelling and analysis of electro-chemical, thermal, and reactant
ow dynamics for a PEM fuel cell system. Fuel Cells 5(4):463475
15. Kim B, Chang L, Gadd G (2007) Challenges in microbial fuel cell development and operation.
Appl Microbiol Biotechnol 76:485494
16. Kunusch C, Puleston P, Mayosky M, Riera J (2009) Sliding mode strategy for PEM fuel cells
stacks breathing control using a super-twisting algorithm. IEEE Trans Control Syst Technol
17(1):167174
17. Larminie J, Dicks A (2000) Fuel cell systems explained. Wiley, West Sussex
18. Lee J, Lalk T, Appleby A (1998) Modeling electrochemical performance in large scale proton
exchange membrane fuel cell stacks. J Power Sources 70:258268
19. Lee H, Jeong K, Oh B (2003) An experimental study of controlling strategies and drive forces
for hydrogen fuel cell hybrid vehicles. Int J Hydrog Energy 28:215222
20. Mann R, Amphlett J, Hooper M, Jensen H, Peppley B, Roberge P (2000) Development and
application of a generalized steady-state electrochemical model for a PEM fuel cell. J Power
Sources 86:173180
21. Mathias M, Roth J, Fleming J, Lehnert W (2003) Handbook of fuel cells. Fundamentals,
technology and applications. Wiley, New York
22. Matraji I, Laghrouche S, Wack M (2010) Second order sliding mode control for PEM fuel
cells. In: 49th IEEE conference on decision and control CDC 2010, pp 27652770
23. Methekar R, Pradas V, Gudi R (2007) Dynamic analysis and linear control strategies for
proton exchange membrane fuel cell using a distributed parameter model. J Power Sources
165:152170
24. Na W, Gou B (2008) Feedback-linearization-based nonlinear control for PEM fuel cells. IEEE
Trans Energy Convers 23:179190
25. Na W, Gou B, Diong B (2007) Nonlinear, control of PEM fuel cells by exact linearization.
IEEE Trans Ind Appl 43:14261433
26. Nguyen T, White R (1993) A water and heat management model for proton-exchangemembrane fuel cells. J Electrochem Soc 140(8):21782186
27. Pukrushpan J, Stefanopoulou A, Peng H (2004) Control of fuel cell breathing. IEEE Control
Syst Mag 24(2):3046
28. Rodatz P (2003) Dynamics of the polymer electrolyte fuel cell: experiments and model-based
analysis. PhD thesis, Swiss Federal Institute of Technology Zurich
29. Sammes N (2006) Fuel cell technologies. Engineering materials and processes. Springer,
Berlin
30. Springer C, Zawodzinski T, Gottesfeld S (1991) Polymer electrolyte fuel cell model. J Electrochem Soc 138(8):23342342
31. Squadrito G, Barbera O, Giacoppo G, Urbani F, Passalacqua E (2008) Polymer electrolyte
fuel cell stack research and development. Int J Hydrog Energy 33:19411946
32. Talj R, Hissel D, Ortega R, Becherif M, Hilairet M (2010) Experimental validation of a PEM
fuel-cell reduced order model and a moto-compressor higher order sliding-mode control. IEEE
Trans Ind Electron 57(6):19061913
33. Thounthong P, Ral S, Davat B (2006) Control strategy of fuel cell/supercapacitors hybrid
power sources for electric vehicle. J Power Sources 158:806814
34. Vahidi A, Stefanpoulou A, Peng H (2004) Model predictive control for starvation prevention
in hybrid fuel cell systems. In: Proceedings of the American control conference, pp 834839
35. Vega-Leal A, Palomo F, Barragn F, Garca C, Brey J (2007) Design of control systems for
portable PEM fuel cells. J Power Sources 169:194197
36. Wai R, Duan R, Lee J, Liu L (2005) High-efciency fuel-cell power inverter with softswitching resonant technique. IEEE Trans Energy Convers 20:482492
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37. Wang F, Chen H, Yang Y (2008) Multivariate robust control of a proton exchange membrane
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38. Woo C, Benziger J (2007) PEM fuel cell current regulation by fuel feed control. Chem Eng
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39. Yuan R, Cao G, Zhu X (2005) Predictive control of proton exchange membrane fuel cell
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Chapter 3
3.1 Introduction
This chapter provides an introduction to Variable Structure Control (VSC) theory
and its extension to the so-called Sliding-Mode (SM) control. Note that the presentation is not intended as a comprehensive survey of the state-of-the-art in the
eld, but to merely supply the basic concepts on SM control required to understand
the developments to come in this book. Readers well acquainted with this subject
matter may omit this chapter. On the other hand, rst-timers can use this material
as a straightforward, but incomplete, introduction to the eld of SM control, and
are strongly encouraged to search for further and more substantial reading in the
seminal works cited in the bibliography (useful introductory material could be, for
instance, [5, 12, 14, 25, 26, 38, 44, 45]).
The chapter is divided in two parts. In the rst one, Sect. 3.3, a general analysis
of the classic or rst-order SM control is formulated, which is the natural background to the subsequent generalisation known as Higher-Order Sliding-Mode control (HOSM). This section is mainly based on the inuential works [38, 42, 44] and,
to a lesser extent, on contributions from a series of classic survey papers such as
[12, 45].
In the second part, Sects. 3.4 and 3.5, a general study of systems operating in
sets of arbitrary sliding-mode order is presented. This section outlines the fundamentals of Higher-Order Sliding-Mode control theory, particularly focusing on
Second-Order Sliding-Mode (SOSM) controllers. To a great extent, this part has
been inspired in the works and results from [5, 25, 31, 33].
35
36
generate robust control algorithms that are invariant under certain conditions. Briey
speaking, the concept of invariance indicates that the system remains completely
insensitive to certain types of disturbances and uncertainties [13].
Since the 1990s, the control of systems subject to external disturbances and
model uncertainty has been the focus of increasing interest. Among the different
existing alternatives, the SM control has proven to be an attractive option to implement in systems electronically controlled, proving to be highly robust and even
insensitive against certain system uncertainty and perturbations. The feasibility and
benets of SM control applied to electronically controlled actuators have been extensively demonstrated in the literature, such as [44]. In addition, the SM control
allows a relatively simple design approach, even dealing with nonlinear systems,
admitting a successful combination with other nonlinear control techniques such
as energy shaping and model predictive control. As a result, the research and development of SM control design methods have been greatly accelerated, both in
theoretical and practical elds [1, 6, 15, 36, 46].
One of the most distinctive aspects of the SM is the discontinuous nature of its
control action. Its primary function consists in performing a switching between two
different structures in order to get a desired new dynamics in the system, known as
sliding-mode dynamics. This feature allows the system to have an enhanced performance, including insensitivity to parametric uncertainties and rejection to disturbances that verify the so-called matching condition [13, 38]. When the concept of
parametric uncertainties is considered, it is referred to both external and internal uncertainties in the parameters as the product of the process of model reduction used
in control design [14, 42].
However, a great deal of the success to full the control objectives depends
on the capability of the sliding-mode controller design to reduce chattering. The
term chattering describes the phenomenon of nite-frequency, nite-amplitude oscillations appearing in many sliding-mode implementations. These oscillations are
caused by the high-frequency switching of a sliding-mode controller under practical
(non-ideal) operating conditions, such as unmodelled dynamics in the closed-loop
or nite switching frequency [9, 22, 23, 44].
A successful alternative to reduce this undesired phenomenon, currently addressed by many control researchers and engineers, is to use the so-called HigherOrder Sliding-Mode control. In this case, from the denition of a continuous control
action, the HOSM generalises the notion of sliding surface or manifold while keeping the main advantages of the original approach of SM for Lipschitz continuous
uncertainty/perturbations. In particular, there are several promising results related
to Second-Order Sliding-Mode control, existing several algorithms that solve the
robust stabilisation of nonlinear uncertain systems, while guaranteeing a nite-time
convergence of the sliding variable [5, 24, 29, 34].
37
control law can lead the system trajectories to a subspace of the state space (commonly associated to a sliding surface or manifold). If a system is forced to constrain its evolution on a given manifold, the static relationships result in a dynamical behaviour determined by the design parameters and equations that dene the
surface [38]. On average, the controlled dynamics may be considered as ideally
constrained to the surface while adopting all its desirable geometrical features.
Thus, making an appropriate design of the sliding surface (i.e. embedding the
control objectives into the control function that gives rise to such manifold), it is
possible to achieve conventional control goals such as global stability, optimisation,
tracking, regulation, etc.
In the sequel, the basics of the theory of classical sliding-mode control are introduced, focusing on Single-Input Single-Output (SISO) systems. Note that in most
sections of this chapter, the possible explicit dependence on time of the dynamical
system has been omitted for the sake of clarity and economy of notation. In the
present approach, this compacted notation can be used without loss of generality,
provided that in the case of a non-autonomous system, it could be rewritten as autonomous by treating t as an additional dependent variable, with its trivial evolution
given by the ctitious equation t = 1 (obviously, at the expense of increasing the
dimension by one).
(3.1)
x =
f (x) +
g(x)u
(3.2)
z = (x)
=
x
x
x
(x) (x)
(x)
Note that
x = [ x1 x2 xn ] gives the direction of the gradient vector of
(x), (x). So the system (3.1) can be written in terms of the new variable z:
38
z = f(z) + g(z)u
y = h(z)
(3.3)
f(z) =
f (x) 1
x= (z)
x
g(z)
=
g(x) 1
x= (z)
x
h(z) = h(x)x= 1 (z)
(3.4)
where
(3.5)
h
f (x)
x
(3.6)
Lf is a rst-order differential operator, while the composition Lf Lg , which is usually written as Lf Lg , is a second-order operator. Moreover, the directional derivative can be applied recursively:
Lkf h(x) =
k1
Lf h(x) f (x)
x
(3.7)
In this way, a compact notation for the derivatives of scalar functions in the direction of vector elds is obtained. Either in the direction of a single vector eld (f )
or more (f and g):
Lg Lf h(x) =
Lf h(x) g(x)
x
(3.8)
Finally, assuming a smooth output h(x) of system (3.1), the relative degree of
h(x) at the vicinity of a given point x is dened as the smallest positive integer r, if
one exists, with the property that
Lg Lif h = 0
0 i r 2
(3.9)
and
Lg Lr1
f h
= 0
(3.10)
39
(3.14)
Note that the output s(x) must have relative degree 1 with respect to u, i.e.
Lg s
= 0, to ensure that the discontinuous control action is able to inuence the sign
of s (x).
Expression (3.13) can also be written as follows:
40
meaning that the rate of change of the constraint or SM function s(x), evaluated in
the direction of the control eld, is such that a crossing of the surface is guaranteed
from each side of the surface, by using the switching law (3.12). This can be graphically interpreted with the help of Fig. 3.1, analysing the projection of the controlled
eld f + gu onto the gradient vector s at both sides of S .
To conclude this subsection, a succinct nal remark regarding the SM control
nite reaching time is pertinent. Note then that the explicit condition (3.13) can be
condensed as s (x)s(x) < 0. From this it is simple to understand that, to achieve
nite reaching time, the control law (3.12) must be designed to full the previous
inequality, but in a more strict way, that is according to the scalar sufcient condition
s (x)s(x) < |s(x)| with > 0 (or, similarly, s (x) sign s(x) < ). This means that
the system should always be moving toward the switching surface with non-zero
speed. This can be straightforwardly proven by taking V = 12 s 2 (x) as a Lyapunov
function.
41
s(x)=0
Thus, once s = 0 is attained, ueq (x) would provide the continuous control action
required to maintain the system conned in the sliding surface.
The ideal sliding-mode dynamics, i.e. the closed-loop dynamics on the manifold S , is obtained by substituting ueq for u into (3.1):
Lf s
x = f (x) + g(x)ueq |s(x)=0 = f (x) g(x)
(3.18)
Lg s s(x)=0
Note that the state variables are related by the algebraic equation s(x) = 0, reducing
the order of the closed-loop system dynamics to n 1.
Substituting the Lie derivative and operating in (3.18), we have
s 1 s
g
x = I g
f (x) = (x)f (x)
(3.19)
x
x
Evaluated in s(x) = 0, (3.19) gives an idealised version of the motions occurring on
the sliding manifold S , constituting an average description of the trajectories of
system (3.1) controlled with the VSC law (3.12).
The geometrical representation presented in Fig. 3.2 can be of help for a better
understanding. In accordance with ueq being the control action that makes the system remain on S , the vector f = f + gueq must lie in Tx , the tangent plane to
S (i.e. normal to the gradient s, as can be seen in Fig. 3.2). Mathematically this
is expressed as
(x)f (x) ker(s) Tx
(3.20)
with (x) : Rn R
(3.21)
Note then that the application of the operator (x) to this vector projects to
the origin. In fact,
s 1 s
g
g(x)(x) = 0
(3.22)
(x)(x) = I g
x
x
42
Fig. 3.2 Sliding surface and detail of the vector elds and projections
The cancellation of expression (3.22) can be interpreted in Fig. 3.2 as follows: the
operator (x) projects any vector in the direction of g(x) onto the tangent subspace
of S . Hence, the projection of any vector that belongs to span(g) would result in
just a point on Tx .
Geometrically, this lemma states that the vector eld g cannot be tangential to
the sliding manifold (S : g
/ ker(s)); otherwise it could not force the system to
cross the surface. The transversality condition represents just a necessary condition
for the existence of a rst-order sliding mode.
43
s
g(x) = sg(x) < 0
x
(3.24)
The proof, direct from (3.15) and (3.16), is given in [38] and can be easily inferred from Fig. 3.2 by analysing the sign of the projection of g(x) onto s(x).
(3.25)
This condition can also be proved from (3.15) and (3.16) [38].
Then, ueq can be interpreted as the averaged control signal resulting from the
implementation of the maximum and minimum control actions, with an innitesimal
duty cycle resolution (in ideal sliding mode). However, in practice, several model
imperfections and nite switching frequency make the state oscillate in a vicinity of
the manifold [44].
(3.26)
with (x) a vector of lumped perturbations that may take into account parametric perturbations of the nominal drift eld or unstructured external disturbances
44
Fig. 3.3 Sliding surface and detail of the vector elds with perturbations
[38]. The vector (x) can be uniquely decomposed into two components, one in
the span(g), g(x)(x), and the other, (x), onto the tangent plane Tx (see Fig. 3.3):
(x) = g(x)(x) + (x)
(3.27)
It is said that the disturbances that belong to span(g) satisfy the matching condition, and the SM control is not merely robust to them but exhibits a strong invariance property. Effectively, as it can be observed in Fig. 3.3, if u+ and u are strong
enough, the component g(x)(x) can be completely annihilated by the control, simply generating a new innitesimal duty cycle and, consequently, a new equivalent
control for the disturbed system (ueqp (x) = ueq (x) (x)). In addition, the undisturbed or nominal sliding dynamics suffers no modications.
On the other hand, it can be appreciated (in Fig. 3.3) that the tangential component of the disturbances, (x), cannot be rejected. However, it does not compromise
the local existence of the sliding motion, but denitely inuences the ideal sliding
dynamics.
In accordance with this analysis, it can be stated that a necessary and sufcient
condition for the local existence of a sliding mode in the perturbed system is
u (x) < ueqp (x) = ueq (x) (x) < u+ (x)
A detailed demonstration is provided in [38].
(3.28)
45
(3.29)
Using the same SM function s(x), the controlled system can be again decomposed into two subsystems or structures, depending on whether s(x) > 0 or
s(x) < 0:
F (x, u+ ) = F + if s(x) > 0
x = F (x, u) =
(3.30)
F (x, u ) = F if s(x) < 0
Along the trajectories of the system, the dynamics of s(x) has the following
expression:
x1
s
s s
s
x1 +
x2 + =
x2 = LF s(x)
(3.31)
s (x) =
x1
x2
x1 x2
..
.
In the same way as in system (3.30), in the time derivative of the SM function
two cases can be distinguished:
if s > 0 s = LF + s(x)
if s < 0 s = LF s(x)
(3.32)
As the trajectory has to converge to the manifold, when s(x) > 0, the states
should move towards s(x) = 0 (i.e. s (x) < 0, so s(x) decreases), and conversely
in the reciprocal case. This means that the establishment of the sliding mode on
s(x) = 0 is fullled with a condition similar to (3.13):
if s > 0 s = LF + s(x) < 0
if s < 0 s = LF s(x) > 0
(3.33)
46
with L being some positive value, known as Lipschitz constant, for any x1 and x2 .
This condition implies that the function does not grow faster than some linear function [44]. Nevertheless, this is not the case for discontinuous functions if x1 and x2
are close to a discontinuity point.
So as previously stated, in situations where conventional methods are not applicable, the common approach is to employ different methods of regularisation like the
equivalent control method proposed in [42]. Another useful regularisation method
usually applied to general nonlinear systems as (3.29) is the so-called Filippov
method [20]. This procedure consists of considering that the discontinuous control is implemented with a switching device with small imperfections. In particular,
if a hysteresis loop of width 2 is considered, then the state trajectories oscillate in
a -vicinity of the switching surface when the control takes one of the two extreme
values, u+ (x) or u (x) (see Fig. 3.4).
is considered small enough, so the state velocities F + = F (x, u+ ) and F =
F (x, u ) are assumed to be constant for some point x on the surface s(x) = 0
within a short time interval [t, t + t]. Let the time interval t consist of two sets
of intervals t1 and t2 such that t = t1 + t2 , u = u+ during t1 and u = u
during t2 . Then, the increment of the state vector once t is elapsed is found as
x = F + t1 + F t2
(3.35)
and the average velocity of the state vector is given by the convex average of the
velocity vectors:
x
= F + + (1 )F
(3.36)
x =
t
where the convex average factor = t1 /t can be understood as the percentage
of time that the control takes the value u+ , while (1 ) is the percentage corresponding to u , with belonging to the closed set [0, 1]. Now, the procedure
to get the state vector movement x is to make t tend to zero. Nevertheless, this
limit is intrinsic to the assumption that the state velocity vector, or equivalently the
vector eld F (x), is constant within the time interval t. Then, for the Filippov
regularisation method, the convex expression
x = F + + (1 )F
(3.37)
47
represents the motion during the rst-order sliding mode (see the convex closure in
Fig. 3.5, as a graphical interpretation of the Filippov method). Accordingly, since
the trajectories during the sliding mode are on the manifold s(x) = 0, the following
equation holds:
s = s(x)x = s(x) F + + (1 )F = 0
(3.38)
so the parameter should take a value that allows the state velocity of the system
(3.37) to lie on the tangent plane (see Fig. 3.5). From (3.38) it can be easily inferred
that such value of must be
=
s(x)F
.
s(x)[F F + ]
(3.39)
Note For control afne systems, the resultant sliding equations derived from the
Filippov regularisation method are the same as those obtained from the Utkin equivalent control.
48
The observer-based approach [9, 44]. This method allows bypassing the plant
dynamics by the chattering loop. This approach successfully reduces the problem
of robust control to the problem of exact robust estimation. However, in some
applications it can be sensitive to the plant uncertainties, due to the mismatch
between the observer and plant dynamics [45].
The Higher-Order Sliding-Mode approach (HOSM) [18, 29]. This method allows
the nite-time convergence of the sliding variable and its derivatives. This approach was actively developed since the 1990s [2, 4, 5, 29, 32, 37], not only providing chattering attenuation, but also robust control of plants of relative degree
one and higher. Theoretically, an r-order sliding mode would totally suppress
the chattering phenomenon in the model of the system (but not in the actual system) when the relative degree of the model of the plant (including actuators and
sensors) is r. Yet, no model can fully account for parasitic dynamics, and, consequently, the chattering effect cannot be totally avoided. Nevertheless, theoretical
results in HOSM, especially Second-Order Sliding-Mode algorithms, have been
successfully proven in practice, encouraging the progress of the research activities.
Then, it is of natural interest the study of sliding-mode control alternatives that,
smoothing the control action, reduce the chattering effects and avoid unnecessary
requirements on the actuators. This is particularly relevant in fuel cell control, as
there are mechanical actuators involved that may suffer when exposed to control
actions of high frequency and amplitude.
It should be noted that when using Higher-Order Sliding Modes, it is not possible
to maintain the invariance properties against matched disturbances as in the original
approach. However, different control schemes that guarantee robust stability of the
system can be achieved, satisfying the condition s(x) = 0 (and even zeroing higherorder derivatives of s(x)) in nite time [18, 25].
In the sequel, a brief introduction to Higher-Order Sliding-Mode control applied
to uncertain nonlinear systems is presented. Then, Second-Order Sliding-Mode control and in particular three different algorithms are analysed in detail.
49
plants with relative degree 1 with respect to s), the resultant physical control input
to the plant is continuous, contributing to the longer service life of certain actuators.
A signicant number of these controller proposals can be found in [2, 7, 18, 21, 25,
29, 30, 35].
An important concept in HOSM is the notion of sliding order. If the goal is to
maintain a constraint given by s(x) = 0, the sliding order is dened as the number
of continuous time derivatives of s(x) (including the zero-order one) in the vicinity
of a sliding point. With these considerations, a sliding mode of order r is determined
by the following equalities:
s = s = s = = s (r1) = 0
(3.40)
(3.41)
where the generic variable z Rn , and v(z, t) is a piecewise-continuous singlevalued function in a domain G with some points of discontinuity in a set M of
measure zero. Note that in the framework of the SM control problem the generic
variable z could be particularised to be a suitable variable of the dynamical system
under control (for instance, x or, through a diffeomorphism, s, s and any appropriate
internal variables), while the discontinuity set M could be the sliding manifold.
Next, for each point (z, t) of the domain G, a set-valued function V (z, t) in an
n-dimensional space must be considered. Note that just as the single-valued function takes a point in its domain into a single point (direction) in another space, the
50
set-valued function take a point in its domain into a set of points (directions) in
another space [11]. In this particular case, for points (z, t) where function v(z, t) is
continuous, the set V (z, t) trivially consists of one point (direction) which coincides
with the single value of v(z, t) at this point. On the other hand, if (z, t) is a point
of discontinuity of function v(z, t), then V (z, t) comprises a set of directions rather
than a single specic one. Now, in accordance with Filippovs denition, the discontinuous differential equation (3.41), can be formally replaced by an equivalent
differential inclusion of the form
z V (z, t)
(3.42)
The expression above, is called a Filippov differential inclusion if the set V (z, t)
is non-empty, closed, convex, locally bounded and upper-semicontinuous. In this
way, V (z, t) can cover the situation in which the state derivative belongs to a set of
directions, not to a single one. In the simplest case, i.e. when v(z, t) is continuous
almost everywhere, V (z, t) is the convex closure of the set of all possible limits of
v(t, zcont ) as zcont z, while zcont are continuity points of v(z, t).
Note that this denition veries the description of V (z, t) previously given.
When zcont approaches a continuity point, the limits converge to a single value,
so, as expected, V (z, t) effectively coincides with the continuous value of v(z, t).
Conversely, when zcont approaches a discontinuity point, limits are different, and
V (z, t) comprises a set of directions.
It can be stated, then, that a solution z(t) of the differential equation (3.41) is
understood as a solution in the Filippov sense, if it is an absolute continuous function
in an interval and satises the differential inclusion (3.42) almost everywhere on
such interval [19, 20].
Summarising, the Filippov denition replaces the discontinuous differential
equation (3.41) by the differential inclusion (3.42). Removing sets of zero measure
(discontinuity points) from the values taken by v(z, t) corresponds to purposely ignoring possible misbehaviour of the right-hand side in (3.41) on small sets.
51
continuing this way, one can nd sliding sets of any order [25]. Summarising, it is
said that there is an rth-order sliding mode on the manifold S in a neighbourhood
of an rth-order sliding point x Sr if in a neighbourhood of this point x, the set
Sr is an integral set, and this means that the set of trajectories is understood in the
Filippov sense.
52
y1 = y2
y2 = y3
..
.
yr = (y, )
(3.44)
Note that this is similar to the normal form of nonlinear systems; the only difference is that in the normal form yr = a(y) + b(y)u [31].
Additional Remark It is sometimes mentioned that the higher-order sliding
modes differ depending on the number of total derivatives of s which are extinguished when reaching the manifold S . However, this number cannot be considered as a feature of the HOSM, since formally all orders of derivatives are cancelled
at S [4]. The most important feature of a sliding mode is the number of successive
continuous derivatives of s in the neighbourhood of the manifold. In other words,
the value of r is taken from computing the rst discontinuous or non-existent time
derivative of s. The sliding order r is understood in this sense.
x = f (x) + g(x)u
s = s(x) R
uR
(3.45)
Lg Lr1
f s
= 0
(3.46)
hence s (i) = Lif s for i = 1, . . . , r 1, and the regularity condition (3.43) is automatically satised. For this reason, a direct analogy between the relative degree notion
and the regularity condition of sliding mode can be established. In general terms, it
can be stated that the regularity condition (3.43) means that the relative degree of
system output with respect to the discontinuity is at least r. Similarly, the notion of
rth-order sliding-mode dynamics is analogous to the zero dynamics concept dened
in [27]. The nominal stability of the controlled system can be guaranteed if the stability of (3.44) holds when y = 0, i.e. when the reduced system = (y, ) with
Rnr is stable.
53
54
x = F (x, u, t)
(3.47)
s = s(x, t) R
u = U (x, t) R
with x Rn , u the single control input, and F and s smooth functions. Note that
in this section the possible direct dependence on t has been explicitly manifested in
system (3.47), in order to better explain the subsequent SOSM design procedure.
As always, the ultimate control objective would be steering the sliding output
s to zero. However, the SOSM approach enables not only that s = 0 and its time
derivative s = 0, but also nite time stabilisation of both, as long as s is of relative
degree 1 or 2 with respect to the control input u. Moreover, in the former case the
physical control action synthesised by the SOSM algorithm is continuous.
The SOSM design procedure depends on the bounds of certain functions that
constitute the second time derivative of the sliding output s. Hence, as a rst step,
s is differentiated twice, and the following general expressions are derived:
s(x, t) +
s(x, t)F (x, u, t)
t
x
(3.48)
s (x, t) +
s (x, t)F (x, u, t) +
s (x, t)u(t)
t
x
u
(3.49)
s =
s =
Then, two different cases will be addressed, depending on the relative degree of
s with respect to input u. Systems with relative degree 1 and relative degree 2 will
be considered, respectively.
Case 1 Systems with relative degree 1.
In relative degree 1 systems, u appears in s , thus in the expression of s the derivative u is explicitly presented in afne form, as in (3.49). Therefore expression (3.49)
can be given as follows:
s = (x, u, t) + (x, u, t)u(t)
(3.50)
55
1. There are bounds m and M such that within the region |s(x, t)| < s0 the following inequality holds for all t, x X , u U :
0 < m (x, u, t) =
s (x, t) M
u
(3.51)
The constant s0 denes a region of operation around the sliding manifold, where
the bounds are valid. Note that, eventually, an appropriate control action has to be
included in the controller, in order to attract the system into this validity region.
2. There is also a bound such that, within the region |s(x, t)| < s0 ,
(x, u, t) = s (x, t) + s (x, t).F (x, u, t)
(3.52)
t
x
for all t, x X , u U .
With these bounds at hand, the following differential inclusion can be proposed
to replace (3.50) [33]:
s [, ] + [m , M ]u
(3.53)
s (x, t) +
s (x, t)F (x, u, t)
t
x
(3.54)
In this case, we will limit the analysis to afne in the control nonlinear systems
of the form:
x = F (x, u, t) = f (x, t) + g(x, t)u(t)
(3.55)
(3.56)
Once again (x, t) and (x, t) are uncertain but uniformly bounded functions in a
bounded domain.
56
(3.57)
(3.58)
for all t, x X , u U .
In this case, the following differential inclusion can be proposed to replace (3.56):
(3.59)
s , + m , M u
Robustness considerations similar to the prior case can be established.
57
|s| < s0 is reached by using an appropriate extra control action), it generates system
trajectories that encircle the origin of the plane (s, s ) an innite number of times
(Fig. 3.6), converging to it in nite time [29].
Consider system (3.47) under the conditions of Case 2 of Sect. 3.5.1; these are
of relative degree 2 with respect to s and afne in the control form, as in (3.55). Additionally, the bounds dened in Case 2, conditions 1 and 2, exist and are available
for the designer. Then, the Twisting algorithm can be written as
u = r1 sign(s) r2 sign(s )
(3.60)
where r1 and r2 are the controller parameters, to be tuned based on the system
bounds. It will be demonstrated in the sequel that if they simultaneously satisfy the
conditions
r1 > r2 > 0
m (r1
+ r2 ) > M (r1 r2 ) +
m (r1 r2 ) >
(3.61)
then the Twisting controller (3.60) generates a second-order sliding mode that attracts the trajectories of the system to s = s = 0 in nite time [25].
Twisting Adaptation to Relative Degree 1 Systems Prior to proving the convergence of the Twisting algorithm, it would be useful to explain how to apply it to
relative degree 1 systems.
It is rather obvious that algorithms intended for relative degree 2 can straightforwardly be adapted for its implementation on relative degree 1 systems. The procedure would be as simple as to articially increase the relative degree to 2 by
expanding the system. To this end, an integrator is incorporated prior to input u, and
a new articial input is created (see Fig. 3.7) in accordance with the differential
equation below:
u = (t)
(3.62)
Now, u has become a new internal state variable (xi = u) of the following expanded system with articial or auxiliary input :
xe = Fe (xe , , t) = fe (xe , t) + ge (xe , t)(t)
(3.63)
58
with xe = [x T xi ]T Rn+1 , the new input of the expanded system, and Fe , fe and
ge smooth functions.
The expanded system (3.63) is then of relative degree 2 with respect to s and,
consequently, fulls the conditions required for the design of the Twisting algorithm.
Following the steps previously described, a Twisting SOSM control signal would be
synthesised for the relative degree 2 input:
= u = r1 sign(s) r2 sign(s )
(3.64)
(3.65)
In turn, if the expression of s of the original system, i.e. the expression for relative
degree 1 systems (3.50), is also written in terms of the expanded system variables,
it results in
s = (x, u = xi , t) + (x, u = xi , t)u(t)
(3.66)
Comparing (3.65) and (3.66), it can be appreciated that in this case, in which the
relative degree 2 system comes from an articially expanded relative degree 1 system, the functions to be bounded are exactly the same to those of the latter (i.e.
(xe , t) = (x, u, t) and (xe , t) = (x, u, t)). So, in this particular case, this
would allow the use of the same bounds for designing either relative degree 1 or
2 SOSM controllers. In this way, the computations involved in the design procedure
of this type of systems are signicantly alleviated.
Proof of Convergence of the Twisting Algorithm Auxiliary System To analyse
the convergence of the algorithm, consider a suitable auxiliary system, namely a
double integrator s = u. This system has been chosen given that it will behave as a
majorant of the system under consideration (3.56), i.e. it will give the worst case
for the region of convergence in the phase plane (s, s ). Then, controlling the auxiliary system with a control law of the Twisting form u = b1 sign(s) b2 sign(s ),
yields
s =
d s d s
= s = b1 sign(s) b2 sign(s )
dt
ds
(3.67)
59
b
+b
d s 1s 2 if s > 0, s < 0
= b b
1
2
ds
if s < 0, s > 0
b1 +b2
if s < 0, s < 0
s
(3.68)
Then, the system vector eld will take the shape shown in Fig. 3.8.
Taking the initial conditions P1 = (0, s0 ), the solution of (3.67) for the rst quadrant can be found as follows:
s
s
s d s =
(b1 + b2 )ds
(3.69)
0
s1
1 2
s = (b1 + b2 )(s1 s)
2
s 2
2(b1 + b2 )
For the second quadrant, a similar expression can be found:
s = s1
(3.70)
(3.71)
s 2
(3.72)
2(b1 b2 )
Taking two xed points of this trajectory, P1 = (0, s0 ) and P2 = (0, s1 ) (see
Fig. 3.9), it can be concluded that
s = s1
s02 = s1 2(b1 + b2 )
s12 = s1 2(b1 b2 )
(3.73)
60
|s1 |
=
|s0 |
b1 b2
=q <1
b1 + b2
(3.74)
Extending this reasoning to the rest of the trajectory, it is veried that the following inequality always holds:
|si+1 |
=q <1
|si |
(3.75)
Knowing that
s (t1+ ) = 0,
s (t) = (b1 + b2 )t + s0
(3.77)
we get that
t1+ =
s0
b1 + b2
(3.78)
s 2
[(b1 b2 )t]2
(b1 b2 )t 2
= s1
= s1
2(b1 b2 )
2(b1 b2 )
2
(3.79)
61
Taking into account that s(t1 ) = 0 and using (3.73), we can state that
2s
1
1
t1 =
s0
=
b1 b2
(b1 b2 )(b1 + b2 )
(3.80)
(3.81)
1
=
+
b1 + b2
1
(b1 b2 )(b1 + b2 )
(3.82)
(3.83)
ti =
i=1
|si1 | =
i=1
q i1 s0 =
i=1
s0
1q
(3.84)
0 m (x, t) M
(3.85)
(3.86)
(3.87)
provided that the solutions of (3.85) are understood in the Filippov sense.
The Twisting law (3.60) with r1 and r2 simultaneously satisfying
r1 > r2 > 0
m (r1
+ r2 ) > M (r1 r2 ) +
m (r1 r2 ) >
(3.88)
62
Then, to prove that the auxiliary system (3.67) is a majorant for (3.85) controlled
with the Twisting algorithm, the following appropriate selection for constants b1 >
b2 > 0 is proposed:
b1 + b2 = m (r1 + r2 ) ,
b1 b2 = M (r1 r2 ) +
(3.89)
With this parameter selection, trajectories s0 s1 s1 and s0 sM sM in Fig. 3.10 correspond to (3.85) and (3.67), respectively, with common initial conditions s = 0 and
s = s0 > 0 for t = 0.
In particular, s0 sM sM is the so-called majorant curve of the system. One of its
points, P (sp , sp ), in the rst quadrant is considered. If the trajectories of the system
(3.85) pass through this point, controlled by (3.60), the system velocity would have
the coordinates (sp , sp ). Note that the horizontal component of velocity (sp ) is the
y-coordinate of the point P (positive value).
On the other hand, using the control (3.60) in system (3.87) on the rst quadrant,
the following will be fullled:
s , + m (r1 r2 ), M (r1 r2 )
(3.90)
Moreover, due to the fact that inequalities (3.88) hold, the vertical component is
kept within the following limits:
M (r1 + r2 ) s m (r1 + r2 ) < 0
(3.91)
This implies that the velocity of system (3.85), (3.60) at P (sp sp ), will always
point to the interior of the region bounded by the axes s = 0, s = 0 and the surrounding curve (3.67), (3.89). Then, the trajectory of system (3.85), (3.60) intersects
+
the axis s = 0 in a point s1 sM in nite time t1+ tM
.
63
(3.92)
This means that the trajectories of system (3.85), (3.60) are inside the surrounding system. On the other hand, the time required to cover the vertical segment (0, s1 )
is the same, but the surrounding trajectory must also cover the vertical segment
(3.93)
with
u 1 (t) = sign(s)
u2 (t) = |s| sign(s)
(3.94)
where > 0, > 0 and (0, 1/2] are the parameters of the controller. The restrictions for their design are based on the bounds dened in Case 1 and conditions 1
and 2 in Sect. 3.5.1. The following are sufcient conditions for convergence in nite
64
m
2 (m + )2
2 > 2
m (m )
>
(3.95)
if = 0.5
Note that if = 1 and and / are large enough, it can be even proven that
there will be a stable second-order sliding mode. In this case, |s| + |s | would tend
to zero with exponential upper and lower bounds.
Super Twisting Adaptation to Relative Degree 2 Systems In similar way that
an algorithm intended for relative degree 2 can be adapted for its implementation on
relative degree 1 systems, the Super Twisting algorithm can be adapted for application to relative degree 2 systems. In this case a differentiator should be incorporated
into the system. This is not at all a specic subject matter of this book, and therefore it will not be addressed here. Nevertheless, to give an idea of the procedure,
consider that the articial input is created in this case such that u = , i.e. differentiating the new input instead of integrating it (as it was done in the Twisting
analogous case). Then, substituting for u in the expression of s for the relative
degree 2 system (3.55), it would become afne with respect to the derivative of the
input, specically, the articial input . Displaying that form, the differential inclusion proposed for relative degree 1 is applicable to (3.56), hence the standard Super
Twisting algorithm could be used to synthesise the control signal for the articial
input . The actual implementation method and the proper use of differentiators are
much more elaborate and, as previously stated, far exceed the scope of this book.
The interested reader is strongly encouraged to read the specialised literature on this
topic (e.g., [4, 32]).
65
Proof of Convergence of the Super Twisting Algorithm Consider now the controlled process (3.47) with output s of relative degree 1 with respect to u. As was
said, if the control problem satises conditions (3.51), (3.52), the system solutions
can be understood in the sense of Filippov, and Eq. (3.50) can be replaced by the
differential inclusion (3.53).
Then, substituting (3.94) into the differential inclusion (3.53), the overall system
performance and the majorant curves that limit the evolution of the system trajectories can be evaluated. Consider the case where |s| < |s0 | and the trajectory of the
system is within the rst quadrant (s > 0 and s > 0):
(3.96)
s [, ] + [m , M ] s 1 s
Due to the fact that in this quadrant s > 0, in order to decrease the value of s and
ensure that the system trajectories cross s = 0, the condition s < 0 must be achieved
in the entire quadrant. The worst possible scenario is when (x, t) = (maximum
positive value that the vector eld can take) and (x, t) = m (lower dominance
of control in the system dynamics):
(3.97)
s = + m s 1 s < 0
To keep the sign of s negative, even when s 1 s 0, the relation m <
0 must be satised. This imposes the rst convergence condition of the algorithm:
>
(3.98)
To improve clarity in the analysis, the second convergence condition of the algorithm will be obtained with the help of the following change of notation: s = z1 and
s = z2 . Then, the dynamics of the planar system in the rst quadrant is given by
z 1 = z2
(3.99)
1
z 2 = + z1 z2
Considering the worst-case scenario for this quadrant ( = and = m ), system (3.99) will have a limit trajectory in the solutions of the following planar system:
z 1 = z2
(3.100)
z 2 = + m (z1 )1 z2 +
The analytical solutions of this nonlinear system cannot be straightforwardly
found, but numeric tools can be used to predict the solution from an initial condition.
Figure 3.12 presents the results of a numerical evaluation of the limit trajectories of
system (3.99) with a set of parameters arbitrarily chosen as an example ( = 10,
m = 1, M = 1.7, = 50, = 15 and = 0.5).
The case of slower decrease of s takes place as s 1 s 0. Thus, in the rst
quadrant, the majorant curve is governed by the following expression:
s = m
(3.101)
Integrating successively this equation, the following general expression with initial conditions (0, s0 ) can be found, which represent the majorant curve of the sys-
66
1
s0
+ (s s0 )
2K
K
(3.102)
with
K = m < 0
(3.103)
In the example of Fig. 3.12, the external line shows the majorant curve of the
system trajectories (3.99), with the corresponding parameters listed above. It is important to note that, although the trajectories can be closer to the majorant curve at
certain points, the majorant curve does not represent a possible path of the system,
which would imply s 1 s = 0 for all (s, s ).
Using an analogous analysis on the fourth quadrant, similar equations for the
system dynamics can be found:
z 1 = z2
(3.104)
z 2 = + (z1 )1 z2 +
In this case, there are no restrictions on the sign of s , but it can be known from
the continuity of trajectories that, in the rst section, s < 0. Then, from an isocline
analysis, the area where s is zero can be determined. Taking s = 0 in the worst-case
scenario of the quadrant ( = and = m ), we obtain that
s = s 1
(3.105)
with
=
+ m
m
(3.106)
67
Therefore, when crossing the curve (3.105), (3.106), the system trajectories will
do it with s = 0, yielding a local minimum at s and a change of sign in s (see
Fig. 3.12). Since in this quadrant s < 0, the function s(x) decreases monotonically.
This ensures an intersection point with the curve (3.105), (3.106). To dene a majorant curve of the system, the minimum possible value of s can be analysed, which
is determined by the value taken by (3.105), (3.106) when s = s (see Fig. 3.12):
1
s02
+ m
1
s = s =
(3.107)
m
2( m )
Finally, to ensure the algorithm convergence to the origin, it is necessary to satisfy that |s | < |s0 |:
1
s02
|s | + m
1
=
<1
(3.108)
|s0 |
m
2(m )
s0
If = 0.5, this condition is reduced to
2
2 (m + )2
m2 (m )
(3.109)
For the case where |s| > s0 , a simplied expression similar to (3.102) can be
found, which ensures that the controlled system trajectories arrive at the area |s| < s0
in nite time.
if (s sM )sM < 0
(3.110)
where > 1 is the so-called modulation factor, 0 < 1 is the anticipation factor,
and U > 0 is the minimum control magnitude. sM corresponds to the last singular
68
value of the function s, i.e. the last value of s at the time its derivative s reaches
zero (see Fig. 3.13). This value must be refreshed every time s zeroes, thus the SubOptimal algorithm is particularly suitable for plants that incorporate a special device
or software code to detect the singular values (sM ) (i.e. peak detector).
The parameters of the controller, , and U , should be tuned based on the
bounds dened in conditions 1 and 2 of Case 2, Sect. 3.5.1. The sufcient conditions
for the nite-time convergence and robust stabilisation of the system are
U>
m
+ (1 )M U
; +
[1; +)
m U
(3.111)
which are known as the dominance condition and the convergence condition, respectively. The former ensures that the control has sufcient authority to affect the
sign of s . The latter guarantees the sliding-mode stability and determines the rate
of convergence. A detailed analysis and proof of convergence can be found in [2]
and [5].
Sub-Optimal Algorithm Adaptation to Relative Degree 1 Systems Similarly to
the Twisting algorithm case, the application of the Sub-Optimal algorithm to relative
degree 1 systems can be achieved by articially increasing the relative degree, with
the incorporation of an integrator prior to the system input u. The procedure to be
followed is exactly the same as that described in the Twisting algorithm Sect. 3.5.2.1.
3.6 Conclusions
69
3.6 Conclusions
Fundamentals of sliding-mode control have been introduced in this chapter. This
control theory has proven to be capable of successfully dealing with nonlinear systems, presenting several attractive characteristics. Among them, nite convergence,
system order reduction and robustness against certain disturbances are the most relevant. In this context, the extension known as Higher-Order Sliding Modes adds
chattering reduction to the list of positive features, improving accuracy in realisation and, in several plants, contributing to extending the service life of the actuators.
These, together with relatively low on-line computational cost, make the HOSM
technique specially suitable for implementation.
To this end, several algorithms have been developed, particularly the SecondOrder Sliding-Mode ones. In this chapter, three of the most widely used SOSM
controllers have been reviewed, namely Twisting, Super Twisting and Sub-Optimal.
There are many others that robustly solve the problem of convergence, each one with
its own advantages and features (e.g., Drift algorithm [18, 29], Global algorithm [5]
and Prescribed convergence law algorithm [29]).
Then, the challenge now is to tackle the specic problem of PEM fuel cell control
and assess the applicability of this control technique, with the objective of enhancing
fuel cell efciency and increasing their service life. This will be the topic of the next
chapter.
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Berlin
Chapter 4
4.1 Introduction
As it was introduced in Chap. 2, the design of procient control algorithms for the
fuel-oxidant coordination problem in PEM fuel cells under variable load operation
can reduce the fuel consumption while preventing performance deterioration, oxygen starvation and, eventually, irreversible damage in the polymeric membranes.
However, the stoichiometry problem is complex and cannot be successfully tackled
by using traditional techniques. A number of reasons turn fuel cell stacks into a major control challenge, e.g. high-order nonlinear equations are required to describe
hydrogen-air fed stack dynamics, experimental data-based models usually incorporate look-up tables and piecewise functions, as well as a wide variety of model uncertainties [8]. Besides, many internal variables are inaccessible for measurement,
and there exist disturbances that affect the system operation. It is clear that, in order to attain an efcient controller for the FC system, a special control technique
capable of coping with such challenges is required.
Therefore, the main objective of this chapter is to evaluate the feasibility of
SOSM techniques for oxygen stoichiometry control in PEM fuel-cell-based systems. According to the features reviewed in Chap. 3, SOSM algorithms are especially suited candidates to deal with the aforementioned challenges. In general
terms, they are capable of solving the nonlinear robust stability of the fuel cell system, converging to the reference in nite time and avoiding chattering effects, due to
the absence of direct discontinuous components in the rst derivative of the output.
Moreover, if the system is of relative degree 1, then the control action applied to the
actual input of the plant will be continuous. Another feature of relevance for fuel
cell applications is the control design based on nonlinear models. Given the highly
nonlinear nature of the stack, this feature guarantees robust operation and performance in a wider range than those achieved by control methods based on model
linearization [8, 9]. In addition, the SOSM control laws are relatively simple, relying on a reduced set of parameters and few measurable variables, rather than on
the knowledge of the full state vector. Thus, the implementation requirements and
on-line computational burden are considerably alleviated.
C. Kunusch et al., Sliding-Mode Control of PEM Fuel Cells,
Advances in Industrial Control,
DOI 10.1007/978-1-4471-2431-3_4, Springer-Verlag London Limited 2012
73
74
75
76
The load torque Tl depends on the compressor speed, the supply manifold pressure Psm , the compressor efciency (cp ) and the compressor air ow (Wcp ). Its
expression can be obtained from turbine thermodynamics equations given by [2, 3]
Tl =
Cp Tamb
cp cp
Psm
Patm
1
1 Wcp
(4.3)
with Cp the specic heat capacity of air, and the ratio of the specic heats of
air. Wcp is rst given as a ow map determined from the pressure ratio across the
compressor and the motor shaft speed. Then, the look-up table is replaced by an
interpolation given by the Jensen and Kristensen nonlinear curve tting method [6].
Thus, in the current model, Wcp is given in the form of a continuously differentiable
bivariate function of Psm and cp . In turn, the compressor efciency was originally
represented as a double input look-up table depending on Wcp and Psm . However,
it has been proved that the use of the mean value of cp is a sufciently good approximation for modeling and control design purposes. Under these conditions, the
right-hand side of (4.1) is in the whole operation range, at least, a C 1 function.
(4.5)
(4.6)
with Ra the gas constant of air, Vsm the supply manifold volume, and Tsm the manifold air temperature that can be computed using (4.4), (4.6) and the ideal gas law:
Tsm =
Psm Vsm
msm Ra
(4.7)
77
T + 0.143T 20.92
2
(4.8)
(4.9)
(4.10)
78
(4.11)
(4.12)
(4.13)
79
(4.14)
80
(4.16)
1
A P ( Pamb )1/ [1 Pamb ]1/2 if Pamb > A
1
rm Prm
2
P
Prm
rm
Wrm,out =
(4.17)
A3 Prm
if PPamb
A
2
rm
where A1 , A2 , A3 , Pamb and are model constants.
Expression (4.17) is not C 1 , so it cannot be included in the model for secondorder sliding-mode design. Therefore, in order to include the return manifold in the
control design model of Sect. 4.3, Eq. (4.17) was replaced by the following fthorder polynomial [4]:
2
3
4
5
Wrm,out = p0 + p1 Prm + p2 Prm
+ p3 Prm
+ p4 Prm
+ p5 Prm
(4.18)
The values of the polynomial constants in Eq. (4.18) can be found in Appendix A,
Table A.1.
4.3 Electric Vehicle FCGS State Space Model for SOSM Control
Design
To conclude the rst stage of the control design procedure, the dynamic equations
required for oxygen stoichiometry control must be rearranged in the SOSM design
form. Considering that in this model the anode subsystem is decoupled from the
cathode subsystem and does not enter in the oxygen stoichiometry control loop, its
dynamics can be neglected, and the system order is reduced by one.
As a result of the reduction and rebuilding work performed on Pukrushpan et al.s
model, the following sixth-order control design model is proposed:
x = F (x, u, t) = f (t, x) + g(t, x, u)
x R6 ;
u R;
f : R6 R6 ;
g : R6 R6
(4.19)
4.3 Electric Vehicle FCGS State Space Model for SOSM Control Design
81
with f and g sufciently smooth vector functions, where the coordinates of the state
vector
x = [cp
Psm
msm
mO2 ,ca
mN2 ,ca
Prm ]T
(4.20)
1
x2 = B6 1 d(x) x1 1 + n(x)n1
cp x2 B7 x2 B8 x2 x5 B9 x2 x4 B10 x3
1
(4.21)
+ x4 B27 x6 B24 )j (x)x41 j (x)B67 + GN2
m(x) Ist B32
1
x5 = (x2 B50 B51 x5 B52 x4 B53 )(x2 x2 B21 ) e(x) + (x2 B54
B55 x5 B56 x4 B57 )e(x) k(x) 1 j (x)B30 j (x)B68 + GN2
(B35 + x5 B36 + x4 B37 x6 B34 )m(x)
x6 = B47 + x5 B48 + x4 B49 x6 B46 B39 c(x)5 B40 c(x)4 B41 c(x)3
B42 c(x)2 B43 c(x) B44
82
B69 B4 x2B4 1
B4
x12 Pamb
c(x) = x6 B45
B ((
x2
)B4 1)x 2
1
d(x) = e 69 Pamb
1
x2 B20
e(x) = 1 +
x2 x2 B21
x4
j (x) =
x5 B28 + x4 B29
1
B22
k(x) = 1 +
x2 x2 B21 + B23
1
m(x) = 1 + B58 j (x)B68 + GN2
j (x)x41
x2 B4
n(x) =
1
Pamb
(4.22)
(4.23)
Wcp = B11 1 d(x) x1
The constants are given in Appendix A, Table A.2.
(4.24)
83
Fig. 4.2 Steady state analysis of the system performance under different load conditions
ensured through the stack, the load demand is satised with minimum fuel consumption. Additionally, oxygen starvation and irreversible membrane damage are averted.
Accomplishing such an optimal comburent ow is equivalent to maintaining the
oxygen excess ratio of the cathode at an optimal value. The oxygen excess ratio or
oxygen stoichiometry is dened as
O2 =
WO2 ,ca,in
WO2 ,react
(4.25)
where WO2 ,ca,in is the aforementioned oxygen partial ow entering the cathode,
which depends on the air ow released by the compressor Wcp . Recall that WO2 ,react
is the oxygen ow consumed in the reaction, so it is directly related to the stack
current:
WO2 ,react = GO2
nIst
4F
(4.26)
84
value of O2 (O2 ,opt ) depends on Ist . However, in the electric vehicle FCGS under
consideration, O2 ,opt presents minor variations over the operation range. Therefore, a constant value of O2 ,opt was used when computing the system reference.
This condition may not hold for other PEM fuel cell systems, and hence the variable O2 ,opt could be easily expressed as a function of Ist . Alternatively, a possible
solution would be to apply an extremum seeking algorithm. In that case, the proposed problem is solved by a local minimum algorithm, which does not rely on a
detailed model description, and it is considered as a nonlinear on-line optimization
for unconstrained problems [1].
Another important advantage of stoichiometry control is the avoidance of oxygen starvation on the cathode channels, which would occur if O2 is allowed to go
below 1. Oxygen starvation represents a signicant problem in PEM fuel cell systems because if it persists for a long time, it may produce hot spots and consequent
irreversible damage in the catalyst layers and polymeric membranes.
Once O2 ,opt is determined, the objective of keeping the oxygen excess ratio
within optimal values can be written in terms of controlling the oxygen mass ow
(WO2 ,ca,in ). Then, the following cathode oxygen mass ow reference can be obtained from (4.25) and (4.26):
WO2 ,ca,ref = O2 ,opt GO2
nIst
4F
(4.27)
(4.28)
and steering s to zero. The expression of the air mass ow reference Wair,ref can be
readily obtained from the cathode oxygen mass ow reference (4.27). Given that the
molar fraction of oxygen in the air is known (O2 = 0.21), the desired mass ow of
dry air can be directly computed from (4.26):
Wdry,ref =
nIst
1
1
WO2 ,ca,ref =
O ,opt GO2
O2
O2 2
4F
(4.29)
85
Then, taking into account the relative humidity of the air (RH amb ), the nal expression of the air mass reference results in
Wair,ref = (1 + amb )
nIst
1
O2 ,opt GO2
O2
4F
(4.30)
(4.31)
nIst
1
= B11 1 d(x) x1 (1 + amb )
O ,opt GO2
O2 2
4F
(4.32)
s (x, t) = s(x, t) +
s(x, t). f (x, t) + g(x, u, t)
(4.33)
t
x
s(x, t) = s (x, t) +
s (x, t). f (x, t) + g(x, u, t)
t
x
+
s (x, t).u(t)
= (x, u, t) + (x, u, t)u(t)
(4.34)
u
The vector elds f and g are smooth enough in the stack operation range, and
information about s is assumed to be available. Besides, note that s does not explicitly depend on the control input, but u does appear in s via the expression of x1 ;
consequently, the sliding variable s has relative degree 1 with respect to u.
86
Then, analyzing the system equations, it is veried that the conditions required
for SOSM control design are satised by the fuel cell system model (4.19) with
output s given by (4.32). In accordance with the general framework established in
Chap. 3, the system is under the conditions established in Case 1 of Sect. 3.5.1,
which for the particular FCGS under study are:
1. Given the total second time derivative s , there are bounds m and M such that,
within the region |s(x, t)| < s0 , the following inequality holds for all t, x X ,
uU :
s (x, t) M
(4.35)
u
For the fuel cell stack under consideration, such bounds were obtained from a
detailed analysis of the system structure together with comprehensive simulation studies, considering the addition of an appropriate feedforward control that
leads the system to the validity region. As a result, the following bounds were
determined for s0 = 5e3 :
0 < m (x, u, t) =
m = 0.5,
M = 0.9
2. Analogously, a positive constant ( = 0.01 for this FCGS) can also be calculated, such that, within the region |s| < s0 , the following inequality holds for all
t, x X , u U :
s (x, t) + s (x, t). f (x, t) + g(x, u, t)
(4.36)
t
x
with Ist covering the whole operation range of the stack (1 A to 300 A).
Therefore, the stabilization problem of the electric vehicle FCGS (4.19) with
inputoutput dynamics (4.34) is solved through the solutions of the following equivalent differential inclusion by applying SOSM:
s [ = 0.01, = 0.01] + [m = 0.5, M = 0.9]u
(4.37)
and the nal parameters of the robust controller can be designed based on , m
and M .
It is interesting to stress that the bounds for functions (x, u, t) and (x, u, t)
were calculated considering the bounded perturbations and uncertainties existing in
the FCGS. In this way, (4.37) covers their effects, and hence the design based on
these values results in controllers which are naturally robust to such disturbances.
In the sequel, a control law based on the Super-Twisting (ST) algorithm is developed. As it was explained in Chap. 3, this algorithm only requires the knowledge of
the sign of s during on-line operation, and it is specially suited for plants of relative
degree 1, like the FC system under consideration. According to (3.93) and (3.94),
the control u is given as the sum of two components:
u(t) = u1 (t) + u2 (t)
(4.38)
87
Fig. 4.3 Schematic block diagram of the FCGS and the proposed SOSM control set up
u 1 (t) = sign(s)
u2 (t) = |s| sign(s)
(4.39)
where the controller parameters , and are designed to fulll the sufcient
conditions for convergence to s(x) = s (x) = 0 in nite time, i.e.
m
2 (m + )2
2 > 2
m (m )
>
(4.40)
= 0.5
In this way it is ensured that the control has sufcient authority to affect the sign
of s , guaranteeing the establishment of a SOSM.
To complete the control set up to be implemented, as previously mentioned, an
appropriate extra control action is added, to steer the sliding variable within the
validity region. In the FCGS, a feedforward action (uff ) proved to be effective to
speed up the reaching phase. Therefore, uff was included into the control scheme,
and the implemented control action (ui (t)) comprises two terms:
ui (t) = u(t) + uff (t)
(4.41)
where u corresponds to the SOSM control action particularized by Eqs. (4.38) and
(4.39). The expression of uff is computed via a simple polynomial, a function of
the measurable current Ist , obtained from an off-line test along the entire operation
range of the FCGS [8].
A schematic block diagram of the control set-up proposed for implementation
can be appreciated in Fig. 4.3.
To rene the nal tuning of the Super-Twisting controller, it is recommended to
consider not only the behavior of the controlled variable (in this case the oxygen
stoichiometry), but also any other involved variable that can affect the overall performance of the plant. For instance, in this particular system, the electric quality of
the FCGS net power should be also taken into account. This is due the direct effect of the control on the electric power (a relative degree 0 output). Therefore, the
Super-Twisting controller parameters were selected aiming to smooth the control
88
Parameter
Variation
+10%
+5%
10%
+10%
+10%
10%
10%
+5%
+1%
+10%
Motor inertia (J )
= 3,
= 0.5
(4.42)
In the next section it will be shown that, under the inuence of the control (4.41),
the phase portrait ((s, s ) plane) of the controlled system presents the characteristic
non-monotonous behavior of the homogeneous Super-Twisting algorithm. The trajectories converge to the origin in nite time, twisting around the center during the
reaching mode.
[N m/s2 ],
106
(4.43)
with B1 =
B2 = 20
[N m/s] and e(t) corresponding to a
band-limited noise component.
Then, the features of the designed controller are examined through simulation
tests, which aim to demonstrate its nominal performance and its robust tracking
89
90
In Fig. 4.6 and the sequel, the black line depicts the system variables evolution
in the presence of uncertainties and friction disturbances, while the grey line shows
the corresponding variables of the undisturbed system. Note that in Figs. 4.6, 4.8
and 4.9 both lines are superimposed during the entire test.
The behavior of the oxygen stoichiometry (O2 ) under different load conditions
is depicted in Fig. 4.6. In accordance with the explanation of Sect. 4.4, the values
of O2 that enable the system to work in its maximum net power points were determined performing off-line simulations (Fig. 4.2). In this electric vehicle FCGS,
due to the relatively small variation of O2 ,opt for different values of stack current,
a unique value O2 ,opt = 2.05 was adopted. When O2 ,opt is reached, it can be assured that the system is working in the neighborhood of its maximum power generation points. It is observed in Fig. 4.6 that the excess oxygen ratio satisfactorily
follows that reference in spite of uncertainties and disturbances.
Figures 4.7 and 4.8 present the dynamic behavior of the system net power (Pnet )
and the stack voltage (Vst ). It can be observed that, effectively, the former displays
a desirable low content of high-frequency components. Besides, remark that the
noticeable difference between the net power of the nominal and the disturbed system (after t = 15 sec) is not a controller aw, but the expected consequence of the
addition of the torque disturbance of Fig. 4.4. To compensate this spurious load,
the compressor must increase its consumption, hence for given Ist , the resultant net
power decreases. In spite of all disturbances, the ST robustly controls the output s,
as attested by Fig. 4.9.
Figure 4.9 shows the evolution of the sliding output s. Once the brief reaching
mode elapses, the controller maintains the system operating on the sliding surface
(s = 0, i.e. regulating O2 at its optimum value), despite the coexistence of parameters uncertainties, external perturbations and important load variations. Recall that
91
the stability of the closed-loop system is guaranteed because the differential inclusion (4.37) has been computed to hold in the presence of such disturbances.
Note that s exhibits the typical overshoots of a system controlled by an ST algorithm (Fig. 4.9). Effectively, the characteristic twisting behavior imposed by the
Super-Twisting controller can be better appreciated in Fig. 4.10, where the phase
portrait of the system is plotted for a representative lapse, ranging in time from
24.2 sec to 24.3 sec.
92
Finally, in Fig. 4.11 the time evolution of the control signals are presented, in
terms of the actual input compressor voltage units (i.e. denormalizing the control
actions by multiplying by Vnor ). The implemented control action ui that drives the
fuel-cell-based system, together with the two constituent components u and uff , are
depicted. Note the increase in the control effort after the appearance of the friction
disturbance. To counteract its effect, the SOSM controller is in charge of providing
the necessary action to achieve the regulation objective.
93
(4.44)
(4.45)
94
Fig. 4.12 Schematic block diagram proposed for Twisting and Sub-Optimal algorithms in relative
degree one systems
Note that the control law (4.44) requires the knowledge of s and s and, in the relative
degree 1 fuel cell system, synthesizes a continuous control voltage Vcp , due to the
integrator.
Recall that in this particular case, in which the relative degree 2 system is articially obtained from expanding a relative degree 1 plant, the bounds of the former
are equal to those of the latter (see Chap. 3, Sect. 3.5.2.1). Therefore, the Twisting controller gains can be directly computed using the same bounds calculated in
(4.35) and (4.36) (i.e., m = m = 0.5, M = M = 0.9 and = = 0.9). Then,
the selected parameters for the controller were r1 = 2.25 and r2 = 0.75.
if (s sM )sM < 0
(4.46)
It requires the knowledge of s and of the last extremal value of the sliding variable,
sM , that is the value of s at the last local maximum, minimum or horizontal inexion point, which has to be updated on-line (see Chap. 3, Sect. 3.5.2.3 for details).
To ensure the nite-time convergence, the minimum control magnitude U > 0, the
modulation factor > 1 and the anticipation factor 0 < 1 must be selected in
accordance with
U>
m
+ (1 )M U
; +
[1; +)
m U
(4.47)
Then, the Sub-Optimal controller parameters for the electric vehicle fuel cell
were chosen as U = 3, = 0.3 and = 5.
95
Fig. 4.13 Time evolution of the sliding variable under the action of different SOSM controllers
96
gure only the Super-Twisting and Sub-Optimal algorithms are depicted. In fact, the
response of the Twisting controller would almost overlap the Super-Twisting one).
Their performance can be assessed from the actual Wcp curves, proving all of them
to have an excellent behavior. This is specially manifested after t = 15 sec, with the
perturbations disturbing the system simultaneously.
Note that there is an output that can be considerably inuenced by the measurement noise in certain cases. This is the net power of the generation system. Even
though the latter has not been dened as an output from the strict control viewpoint,
97
98
feedback (state estimated plus integral) control. The form of the proposed controller
is [8]
Vcpi = Vcpff + VcpLQR = Vcpff + Vcpp k x kI q
(4.48)
The implemented control input Vcpi is the compressor voltage command, while
Vcpff and Vcpp are feedforward and pre-compensation terms, respectively, which
only depend on the measurable stack current Ist . The third term is a state feedback
control action, where x is the estimate of the linearized system state x = x x o .
The constant vector x o represents the state value at the nominal operating point of
linearization, in this case computed at optimal stoichiometry and a net power of
40 kW, with Ist = 191 A and Vcp = 164 V. Note that in this controller, the system
state x has order eight, due to the additional presence of mH2 ,an and mw,an , the
mass of hydrogen and water inside the anode, respectively:
x = [mO2 ,ca
mH2 ,an
mN2 ,ca
cp
Psm
msm
mw,an
Prm ]T
(4.49)
(4.50)
Finally, the gains of the feedback control terms have been designed using LQR
optimal control techniques, resulting in [7]
k = 28.59 1.6 1013 60.57 7.57 579.74 2.55
(4.51)
3.6 1014 189.97
kI = 0.18
99
100
In the former gure, it can be appreciated that, during undisturbed operation, both
controllers display very good results, although the Super-Twisting better regulates
the actual Wcp at its desired value, given that it maintains s = 0 (recall Fig. 4.9),
except for the abrupt steps of current Ist .
Respectively, with regard to the undisturbed behavior of the oxygen stoichiometry O2 , it is observed in Fig. 4.18 that the LQR presents an initially faster dynamic
response after the steeps, but in the end it requires longer times to reach the immediate vicinity of the desired value. On the other hand, the Super-Twisting controller
attains less than 1% error in 3 sec.
It is worthwhile to mention that the linear LQR improves considerably its performance in the neighborhood of the linearization point. Moreover, in that region and
considering small excursions, it could even surpass the performance of the SuperTwisting regarding the control of O2 (see Fig. 4.20). However, as it can be observed
in Figs. 4.17 and 4.18, the SOSM Super-Twisting excels the linear controller when
working in a wide operation range.
Nevertheless, in this fuel cell application, it is in the presence of perturbations and
uncertainties that the SOSM controller demonstrates its superiority over the LQR.
This can be attested by comparing the response of both controllers under disturbed
conditions (see t > 15 sec in Figs. 4.17 and 4.18).
To emphasize this feature, showing that the robustness of the Super-Twisting
algorithm surpasses that of the LQR approach, a test conducted at constant Ist =
191 A (i.e., the value used for the linearized design of the LQR) is presented in
Fig. 4.21. In this magnied view, the excellent robustness of the SOSM proposed
controller can be clearly appraised.
To farther prove its advantageous robustness, a more exacting condition is introduced in Figs. 4.22 and 4.23, where the controllers are facing an extreme torque
101
disturbance (four times greater than the original). Even when subjected to this
bulk disturbance, the Super-Twisting controller exhibits a remarkable robustness.
Comparable satisfactory results have been obtained with the other SOSM controllers.
To conclude, it is interesting to stress that the Super-Twisting controller does
not require of a state observer depending only on measurements, and its on-line
computational burden is considerably lower.
102
4.8 Conclusions
In this chapter the feasibility of SOSM techniques to control PEM fuel cells has
been assessed. The evaluation has been conducted using a benchmark model of a
fuel cell system for an electric vehicle. The analysis has established the viability of
SOSM techniques for oxygen stoichiometry control, aiming to improve the overall
energy efciency.
Taking into account several features, such as the controlled system performance,
robustness and implementation simplicity, the SOSM controllers are shown to be
a highly efcient solution for this challenging problem, proving to be capable to
robustly tracking the optimal air mass ow, even in the presence of severe external
perturbations and model uncertainties. Among them, the Super-Twisting has been
considered as a very suitable algorithm for the FCGS, given that it is specially intended for relative degree 1 systems and only requires the real-time knowledge of
the sliding variable and not of its derivative.
Compared to the standard LQR control, the SOSM controllers demonstrate better
robustness features, in a wide range of operation. Additionally, no state observers
are required, resulting in a simple and low-computational-cost algorithm.
Now that the suitability of SOSM control for FCGS has been conrmed, the
following stage will be the development and implementation of these controllers in
an experimental fuel cell plant. This will be the subject matter of the following two
chapters.
References
1. Arce A (2010) Advanced control for fuel cell systems. PhD thesis, Universidad de Sevilla
References
103
Chapter 5
5.1 Introduction
In the previous chapter, the viability of second-order sliding-mode (SOSM) techniques to control fuel cell (FC) stacks has been theoretically investigated and analysed through computer simulations. After an extensive assessment of their features,
their suitability has been well established. Therefore, the natural next step is to face
the challenge of designing and implementing an efcient SOSM controller for an
actual FC stack. Particularly, the practical case under study in this chapter is an
FC-based generation workbench used for laboratory experimentation. Like in most
control design procedures, the rst and decisive stage is to obtain a reliable and
adequate mathematical description of the system. Specically, the control-oriented
nonlinear model is a key requirement for the development of the sliding-mode control algorithms, capable to robustly improve the efciency of the generation system,
avoid irreversible damage in cell membranes and extend the device lifetime.
Then, the main goal of the current chapter is to present an experimentally validated, fully analytical model of the laboratory FC ow dynamics, specially developed for SOSM control design, testing and implementation. The modelling process
is conducted following a modular methodology combining a theoretical approach,
analogous to the one outlined in Chap. 4, together with an empirical analysis based
on experimental data. The proposed semi-empirical model is capable to adequately
describe the interaction between the different subsystems, while retaining parameters that have physical signicance. The systematic procedure developed in this
chapter is organised in a way such that it can be used as a general modelling guideline, being straightforward to adapt to different fuel cell systems with few modications.
Concisely, the laboratory test plant under consideration mainly comprises a central fuel cell stack and ancillary units: air compressor, hydrogen storage tank, humidiers and line heaters (see schematic representation in Fig. 5.1). In addition, to
measure the required experimental data, different sensors are incorporated into the
system: an air mass ow meter (range 015 slpm) at the end of the supply manifold,
a piezoresistive pressure transducer (range 06 bar) to measure the manifold pressure, a piezoresistive differential pressure transducer (range 0250 mbar) to measure
C. Kunusch et al., Sliding-Mode Control of PEM Fuel Cells,
Advances in Industrial Control,
DOI 10.1007/978-1-4471-2431-3_5, Springer-Verlag London Limited 2012
105
106
the stack pressure drop, a tachometer (range 03000 rpm) on the motor shaft, a current clamp (range 03 A) and a voltage meter (range 015 V) to measure the motor
stator current and voltage, respectively. Besides, temperature sensors are arranged
in order to register the different operation conditions.
In the sequel the following modelling assumptions have been considered:
A mass ow control device ensures a constant hydrogen supply.
An auxiliary control system efciently regulates gas temperatures at ve points
of the plant (cathode and anode humidiers, cathode and anode line heaters and
stack).
A humidity control loop regulates moisture to a relative level close 100%.
The fuel cell model is one-dimensional, so the gases and reactions are considered
uniformly distributed in the cell.
The electrochemical properties are evaluated at the average stack temperature
(60 C), so temperature variations across the stack are neglected.
The water entering to the cathode and anode is only in vapour phase.
The effects of liquid water creation are negligible at the gas ow model level.
The water activity is uniform across the membrane and is in equilibrium with the
water activity at the cathode and anode catalyst layers.
General physics constants used in calculations and typical operating conditions
are summarised in Appendix B, Tables B.1 and B.5.
107
the air or gas being handled through the inlet valve. On the up-stroke the diaphragm
forces the gas through the exhaust valve and out of the head. The compression
chamber is hermetically separated from the drive mechanism by the diaphragm.
The pump transfers, evacuates and compresses completely oil-free gas and is driven
by a 15-W DC motor.
The equations that describe the behaviour of the system are obtained by analysing
the air compressor as two coupled subsystems. The rst one embodies the permanent magnet DC motor dynamics, and the second one represents the compressing
diaphragm nonlinear characteristics (Fig. 5.2).
dcp
= Te (t) Tl cp (t), Pcp (t)
J
dt
(5.1)
(5.2)
with
Te (t) = k ia (t)
(5.3)
where Vcp is the armature voltage, ia the armature current, L and R the electrical
inductance and resistance of the stator winding, k the motor constant, cp the shaft
angular speed, Pcp the absolute pressure at the compressor output, J the inertia,
Te the electrical torque, and Tl is a nonlinear function that groups together the effects of the motor and diaphragm friction and the pneumatic load. The computations
of the electrical and mechanical parameters of the compressor and the load torque
function Tl are systematically developed in the sequel.
To start with, the electrical resistance and inductance of the stator winding can
be directly measured through an electronic impedance meter. Then, the k value is
determined using the electrical equation of the motor (5.1) in steady-state operation:
L
dia (t)
= 0 = Vcp Ria k cp
dt
V R.i
(5.4)
108
The next step deals with the characterisation of the load torque function Tl that
lumps the friction and the pneumatic loads. In a rst approach, it can be modelled as
a nonlinear static function of cp and Pcp . For modelling purposes, this load torque
expression was divided into two terms:
Tl (cp , Pcp ) = Tl,amb (cp ) + Tl (cp , Pcp )
(5.5)
The former corresponds to the load torque of the system operating at ambient
pressure. The latter takes into account the extra torque that appears when the diaphragm vacuum pump operates at pressures higher than the ambient [7].
The experimental values of the load torque can be computed using data obtained
from steady-state operation tests. Under these conditions, (t)
(5.6)
(5.7)
109
(5.8)
Then using (8) in combination with data gathered in the experiments conducted
with different values of < cp < and < Pcp <, the following bivariate quadratic
function can be obtained by means of polynomial regression modelling tools (e.g.
polytn [8]):
2
2
Tl = A00 + A10 cp + A20 cp
+ A01 Pcp + A11 cp Pcp + A02 Pcp
(5.9)
110
Fig. 5.5 Tl surface interpolation from real data (coloured surface) and polynomial approximation
(grey surface)
111
Fig. 5.7 Wcp surface interpolation from real data (coloured surface) and polynomial approximation (grey surface)
(5.10)
112
(5.11)
dPsm
Ra
(Wcp Tcp Wsm Tsm )
=
dt
Vsm
(5.12)
(5.13)
113
where msm is the supply manifold mass of air, Wsm the supply manifold output
ow, Ra the atmospheric air gas constant, Vsm the supply manifold volume, Tcp
the compressor air temperature, Tsm the supply manifold air temperature, Psm the
supply manifold air pressure, Phum the humidier pressure, and Ksm is the restriction
constant of the output nozzle.
In the general case, the temperatures Tsm and Tcp are different; however in the
laboratory FC stack this process is practically isothermal, so Eqs. (5.11) and (5.12)
become equivalent, reducing the order by one. Additionally, in this system, due to
the presence of a humidier before the cathode, Phum appears instead of Pca in the
output nozzle equation.
Note that Ra is a known constant and Vsm is easily measurable, so the single
parameter left to be estimated is Ksm . This goal can be achieved by setting the
compressor ow Wcp at different steady-state operating points and collecting data
of the differential pressure Psm Phum . Then, Ksm can be obtained by adjusting the
restriction constant value such that the experimental data satises Eq. (5.13). Note
that this value does not exactly correspond to the actual output nozzle. It can be
interpreted as the restriction constant of an equivalent air supply manifold, which is
taking into account the effect of any possible remaining dynamics, disregarded in
the model of the compressor subsystem developed in the previous subsection.
114
effect of the vapour injected to the gas (see Fig. 5.9). Then, as a second stage, the
effect of the vapour ow injected to the gas, Wv,inj , is taken into consideration by
adding a nonlinear static term, function of the gas temperature, pressure and speed
conditions [7].
5.4.1 Step 1
Under the aforementioned assumptions and considering that the humidier pressure
is similar to the compressor load pressure (Pcp = Phum ), the equations of the cathode
humidier dynamics are given by the following expressions:
dmhum
= Wcp Whum
dt
(5.14)
dPhum
Ra
=
(Wcp Tcp Whum Thum )
dt
Vhum
(5.15)
(5.16)
(5.17)
with
where mhum and Phum are the mass and pressure of air inside the humidier, Whum is
the ow of air that leaves the humidier, Vhum is the volume of the humidier, Thum
is the gas temperature inside the humidier, Phum,diff is the humidication subsystem pressure drop, and Pca is the cathode inlet pressure. Note that in the approximated model proposed in Sect. 5.3 the effect of the manifold has been incorporated
into the compressor model hence, in (5.14), Wcp has been considered as the inlet
ow into the humidier.
The right-hand side of (5.16) corresponds to a nonlinear nozzle function, strongly
dependent on the humidier gas temperature, the cathode pressure and the humidier pressure drop (see Fig. 5.10). It could be approximated by a trivariate function
or a family of bivariate functions (parameterised by Thum ), obtained through experimental data gathered from tests performed at different operating temperatures and
pressures. In particular, the current laboratory test plant is set to operate at constant
stack temperature of 60 C and humidier temperature of 55 C, respectively, regulated through external controllers. The former is a recommended operation temperature for the equipment, whereas the latter is adjusted to obtain high relative
115
humidity of the cathode inlet ow (> 79%) while preventing vapour condensation.
Then, considering a constant humidier working temperature, the nozzle function
can be well approximated by the following bivariate function:
Whum = C0 + C1 Phum,diff Pca + C2 Pca
(5.18)
where the coefcients C0 , C1 and C2 are experimentally determined from the tests
(see thick solid lines in Fig. 5.10). Coefcient values are given in Appendix B,
Table B.4.
5.4.2 Step 2
In this step, the vapour injected to the air stream is incorporated to the model. Then,
the total humidied air ow entering the cathode (Wca ) is given by
Wca = Whum + Wv,inj
(5.19)
Assuming that the humidifying closed-loop system of the device efciently regulates the gas relative humidity, the computation of the injected water to the air ow
can be described by
Wv,inj =
(5.20)
116
Gv being the vapour molar mass, Ga the dry air molar mass, and Psat (Thum ) the
vapour saturation pressure at the humidier temperature. RH hum is the relative humidity of the gas exiting the humidier, which in normal operating conditions can
be considered a known value, in accordance with the humidier technical specications (usually, close to 100%). The dry air partial pressure (Pa ), the dry air output
ow of the humidier (Wa,hum ) and the ow of vapour due to ambient moisture entering the humidier (Wv,hum ) are variables that depend on the ambient conditions
and can be directly computed using the following relationships:
Wa,hum =
1
Whum,out
1 + hum
(5.21)
(5.22)
with
hum =
(5.23)
where hum is the ambient humidity ratio, Tamb the ambient temperature, Pamb the
ambient pressure, and RH amb is the ambient relative humidity.
At this point, there is only one parameter left to be estimated to complete the humidication subsystem model. This is the humidier volume (Vhum ), present in the
dynamic equation (5.15). Instead of using a measured value of the volume, a convenient estimation of this parameter can be attained by adjusting the transient response
of the modelled Phum to match the experimental data (tests varying the compressor
air ow at xed humidier temperature are considered). The estimated value does
not exactly correspond to the actual humidier volume. It rather represents the volume of an equivalent humidication subsystem, which takes into account modelling
errors and unmodelled dynamics. Figure 5.11 shows that highly satisfactory dynamic validation results are achieved (refer to Appendix B, Tale B.4 for estimated
parameters).
A nal remark is pertinent to close this section. It was previously mentioned that
regulation of the line heater temperature allows controlling the relative humidity
of the gas. Then, in accordance with the Dalton law, the effect of the increase of
temperature (from Thum to Tlh ) on the partial pressures and the relative humidity of
the cathode inlet gas ow can be easily computed through
Tlh
Pi,hum
Thum
Pv,lh
RH lh =
Psat (Tlh )
Pi,lh =
(5.24)
(5.25)
where i stands for O2 , N2 and vapour, respectively, and Psat (Tlh ) is the vapour saturation pressure at the line heater temperature Tlh .
117
(5.26)
dmN2 ,ca
= WN2 ,ca,in WN2 ,ca,out
dt
(5.27)
118
dmv,ca
= Wv,ca,in Wv,ca,out + Wv,ca,gen + Wv,mem
(5.28)
dt
while the following relationships hold for the cathode input and output ows (Wca
and Wca,out ):
Wca = WO2 ,ca,in + WN2 ,ca,in + Wv,ca,in
(5.29)
(5.30)
where WO2 ,ca,in , WN2 ,ca,in , Wv,ca , WO2 ,ca,out , WN2 ,ca,out and Wv,ca,out are the input and output ows of oxygen, nitrogen and vapour, WO2 ,react the ow of oxygen
that reacts in the cathode, Wv,ca,gen the ow of vapour generated in the reaction,
and Wv,mem is the ow of water transferred across the membrane (comprising the
electro-osmotic drag term and the back-diffusion term).
Subsequently, the calculation of the ow terms that constitute the right-hand sides
of Eqs. (5.26)(5.28) must be addressed.
To begin with, the amount of reduced oxygen and generated vapour in the cathode reaction is computed from the stack current, according to the following two
electrochemical principles:
nIst
(5.31)
4F
nIst
Wv,ca,gen = Gv
(5.32)
2F
where n is the number of cells of the stack, and GO2 and Gv are the molar masses
of oxygen and vapour, respectively, and F is the Faraday constant.
Next, the components of the cathode input and output ows are considered. First,
assuming knowledge of Wca from (5.19), the partial input ows WO2 ,ca,in , WN2 ,ca
and Wv,ca are readily calculated using (5.29):
WO2 ,react = GO2
1
Wca
1 + ca
1
WN2 ,ca,in = (1 XO2 ,ca )
Wca
1 + ca
Wv,ca,in = Wca WN2 ,ca,in WO2 ,ca,in
(5.33)
(5.34)
(5.35)
where ca is the humidity ratio, and XO2 ,ca is the mass mole fraction of the input
air ow, given by
Gv Pv,lh
Ga (PO2 ,lh + PN2 ,lh )
O2 GO2
XO2 ,ca =
O2 GO2 + (1 O2 )GN2
ca =
(5.36)
(5.37)
119
1
Wca,out
1 + ca,out
1
WN2 ,ca,out = (1 XO2 ,ca,out )
Wca,out
1 + ca,out
Wv,ca,out = Wca,out WO2 ,ca,out WN2 ,ca,out
(5.38)
(5.39)
(5.40)
Gv Pv,ca
Ga (PO2 ,ca + PN2 ,ca )
O2 ,out GO2
O2 ,out GO2 + (1 O2 ,out )GN2
O2 ,out =
PO2 ,ca
Pca
(5.41)
(5.42)
(5.43)
(5.44)
where Pamb is the ambient pressure, and Kca,out is the cathode output restriction that
can be also governed through a mechanical back pressure regulator.
Then, to compute Wca,out , it is necessary to determine Kca,out (with a bypass
in the cathode back pressure regulator). To estimate this parameter, experimental
data of the pressure drop and the cathode output ow are required. The former is
available from the differential pressure transducer, but, as it was previously said, no
direct measurement of Wca,out is feasible due to its high relative humidity. However,
under appropriate experimental conditions, its steady-state values can be inferred
from measurements of the compressor ow Wcp . The estimation test conditions are:
(a) steady-state operation, (b) equally humidied reactant gases and (c) nil stack
current. On the one hand, Ist = 0 guarantees that the liquid water (Wl,ca,out ) and the
reaction ows (WO2 ,react and Wv,ca,gen ) remain zero. On the other hand, considering
anode and cathode gases at similar relative humidities ensures that at steady-state
operation there is no water concentration gradient across the membrane, so the effect
of Wv,mem can be neglected. Therefore, under these testing conditions, Wca,out is
equal to Wca (see (5.26)(5.28)). Then, using (5.14), (5.19) and (5.20), the data
of Wcp allow the computation of Wca,out and, consequently, the estimation of the
nozzle restriction [7].
Note that the partial pressures of the gases inside the cathode, required in (5.36),
can be obtained from the stack temperature and the masses of oxygen, nitrogen and
vapour. Using the Dalton law, the cathode partial pressures and relative humidity
are:
120
mi,ca Ri Tst
Vca
Pv,ca
RH ca =
Psat (Tst )
Pi,ca =
(5.45)
(5.46)
where subscript i stands for O2 , N2 and v, respectively, and Vca is the cathode
volume.
The last ow term of (5.26)(5.28) to be computed is the water transferred across
the membrane. To this end, the anode relative humidity is required, so the anode ow
model will be rst addressed, and, subsequently, the calculation of Wv,mem will be
resumed.
(5.47)
(5.48)
(5.49)
(5.50)
where WH2 ,an,in , Wv,an,in , WH2 ,ca,out and Wv,an,out are the input and output ows
of hydrogen and vapour, respectively, WH2 ,react is the ow of hydrogen consumed
in the reaction, and Wv,mem is the aforementioned ow of water transferred to the
cathode. In this particular case, no liquid water is supposed to be condensed in the
anode channels, given that in normal working conditions the relative humidity of
the anode is always below 100%. On the other hand, the hydrogen consumed in the
reaction is
nIst
(5.51)
2F
where GH2 stands for the molar mass of hydrogen.
Analogously to the cathode channel, the components of the anode input and output ows must be calculated. The partial input ows WH2 ,an,in and Wv,an,in are obtained through
WH2 ,react = GH2
121
WH2 ,an,in =
1
Wan
1 + an
Gv Pv,lh,an
GH2 PH2 ,lh,an
(5.52)
(5.53)
(5.54)
where an is the humidity ratio of the anode input gas, PH2 ,lh,an the anode input H2
partial pressure, and Pv,lh,an is the anode input vapour partial pressure that can be
obtained using the Dalton law.
Besides, the partial output ows WH2 ,an,out and Wv,an,out are computed as follows:
1
WH2 ,an,out =
Wan,out
(5.55)
1 + an,out
Wv,an,out = Wan,out WH2 ,an,out
an,out =
Gv Pv,an
GH2 PH2 ,an
(5.56)
(5.57)
where an,out is the humidity ratio of the gas inside the anode, PH2 ,an the anode H2
partial pressure, and Pv,an is the anode vapour partial pressure.
122
where m,dry is the membrane dry density, and Gm,dry is the membrane dry molecular weight. The water content in the membrane is dened as the ratio of water
molecules to the number of charge sites. When no liquid water is present in the
channels, the ratio can be estimated at both sides using the following equation [15]:
j = a0 + a1 RH j + a2 RH 2j + a3 RH 3j
(5.61)
RH j being the gas relative humidity, and subscript j referring to cathode or anode
(j = ca, an), respectively.
The next step is to estimate the apparent diffusion coefcient Dw of expression (5.58). Two different experiments can be set-up to compute this parameter,
either a cathode or an anode drying test. In both cases, the stack current must be
set to zero (Ist = 0) in order to cancel the stack current density i in (5.58). For the
former, a long-term cathode drying procedure is conducted, decreasing the cathode
humidier temperature from 55 C to 40 C, while setting the temperatures of the
anode humidier, both line heaters and the stack at 60 C. With this test, a water
concentration gradient is established between the channels, and an increasing extra
ow in the cathode output can be detected due to the membrane contribution [7].
The second test is conducted analogously to the rst one, but in this case the
anode channel is dried out, keeping the other variables at similar stationary conditions. Following this simple procedure, the Dw coefcient can be directly determined without using humidity sensors or a more specic equipment. Figure 5.12
displays the data gathered from both tests (the average value obtained for the backdiffusion coefcient is given in Appendix B, Table B.4).
123
(5.62)
where m is the average membrane water content, which can be derived from equation (5.61) considering
RH m = (RH ca + RH an )/2
(5.63)
(5.64)
The parameters that dene expression (5.64) can be computed with the help of
appropriate experimental data. Under these conditions, the term E can be substituted by V0 = E0 = 1.229 V, the theoretical electrochemical potential of a single
hydrogen/oxygen fuel cell. Then, the following particular expression is valid:
RTst
PO2 ,ca
i
(nc i)
ln
(5.65)
+ b ln
(R0 R1 m )i me
Vfc = V0
2F
i0
a
where i is the current density, and , i0 , R0 , R1 , m, nc , b and a are empirical parameters obtained from the experiments, which are required to characterise the general
expression (5.64) (see the explicit equation in Chap. 2). Hereinafter the section is
devoted to describe the procedure followed to obtain such parameters. This procedure can be used as a general guideline applicable to different PEM fuel-cell-based
generation systems.
First, considering that the activation losses do not depend on the pressure and
oxygen stoichiometry, the coefcients and i0 are calculated. To this end, a logarithmic plot of the VI curve is a helpful tool to better determine the electrical
behaviour of the MEAs at low current densities (see Fig. 5.13).
In this particular system, = 0.7 and i0 = 4.5 106 A/cm2 are the values that
better adjust the experimental data when the cathode air ow rates (Wca ) is varied
from 1.108 105 kg/s to 7.707 105 kg/s and Pan = Pca = 1 bar. It is important
to stress that in all the experiments presented in this section the air and hydrogen
124
dew points are set at 55 C, while the line heaters and stack temperatures are xed
at 60 C in order to avoid water condensation inside the stack. Considering these
externally regulated temperatures, the relative humidity of the inlet gases is 0.75.
The stack current prole is set to vary from 0 A to 12 A, and the anode hydrogen ow
is xed at 6.483 106 kg/s (2 slpm of dry H2 ). Under these testing conditions, the
hydrogen stoichiometry remains above 5, even at the highest current (12 A), and
thus the losses due to hydrogen concentration can be neglected [6].
At this stage, is important to remark that liquid water occupies the pore volume and reduces the gas diffusion layer surface, resulting in a decrease in voltage
and fuel cell efciency. This phenomenon is unimportant in the cathode and anode
dynamics because it does not interfere with the channels gas transport as the water
excess is dragged by the ows. Nevertheless, it affects the system efciency because
the amount of liquid water inside the diffusion gas layers increases, decreasing the
membrane effective area (Afc ), resulting in an increased current density and hence
a drop in voltage [1, 10, 14]. Consequently, for model purposes, an apparent fuel
cell area (Aapp ) can be dened, to take into account the surface reduction due to the
liquid lm at the interface of the gas diffusion layers and membrane. In the present
test bench there is not a purging schedule, and cathode and anode ows are kept
constant in every operating conditions, so the aforementioned effect can be modelled with the incorporation of a scaling factor for Afc , which takes into account the
membrane effective area decrease due to liquid water generation:
i=
Ist
Ist
=
Aapp Afc (1 ca mH2 O,ca,liq an mH2 O,an,liq )
(5.66)
125
where mH2 O,ca,liq and mH2 O,an,liq are the cathode and anode liquid water masses
in the channels, respectively. This terms were not approximated in this modelling
approach, due to the fact that the model presented in this book is mainly oriented
to be used in gases ow control issues. Besides, note that the parameters ca and
an can be adjusted in order to take into account the modulation effects of cathode
and anode water accumulation in the stack voltage (low-frequency phenomena).
Nevertheless, for steady-state computations done in this section, the approximated
value of the apparent fuel cell area for the current stack was Aapp = 20.74 cm2 for
all working conditions.
Subsequently, the ohmic polarisation is determined in base of the membrane average water content m (Eqs. (5.61)(5.63)). The following gure (Fig. 5.14) depicts
the prole described by m in the validated model of the stack presented in Sect. 5.5,
at different current densities and air ow rates.
Considering that above a certain value of i the relationship between m and i
remain xed, it is natural to assume that the ionic conductivity of the membrane
remains practically unaltered at different air ow rates. This assumption conducts
to select a small value of R1 and R0 close to the average resistance of the MEA,
according to the data. In this particular case, the most representative values for the
stack cells are R1 = 0.005 /cm2 and R0 = 0.22 /cm2 .
The next pair of parameters to be estimated are a and b, which consider the
effect of low oxygen stoichiometry in the cathode. As it can be seen in Fig. 5.15, in
all polarisation curves there is a signicant voltage drop at certain current densities.
Moreover, the values of current densities where voltage drops start vary with the
air mass ow. Then, in the model, the parameter a can be associated to the value
126
Fig. 5.15 Polarisation curve of the fuel cell stack at constant pressure and different levels of air
ow
of oxygen partial pressure that produces the steep effect of the concentration loss.
On the other hand, parameter b represents the sensitivity of the polarisation curve at
different air ow rates, so it can be adjusted depending on the data obtained from the
polarisation curves at the minimum and maximum air ow rates (red line and yellow
line in Fig. 5.15). For the laboratory fuel cell stack, the estimated values of these
parameters were a = 0.2 bar and b = 0.06 V. A standard curve tting procedure
was followed to estimate the parameters [6].
Lastly, values m and nc are adjusted in order to verify the general gas diffusion
loss at high stack currents. The obtained values from the tting were m = 8.1
105 V and nc = 15.2 cm2 /A.
Figure 5.15 presents the polarisation curves obtained at constant pressure (1 bar)
and different levels of air ow (1.108 105 kg/s to 7.707 105 kg/s), while
Fig. 5.16 depicts the polarisation curves obtained at constant air ow (7.707
105 kg/s) and increasing levels of working pressures (12.35 bar).
In these gures it can be appreciated that the model based on Eq. (5.65) with
the proposed parameters satisfactorily predicts the fuel cell VI behaviour under
different tested conditions of air ow rates and cathode pressures.
5.7 Conclusions
The control-oriented modelling of an actual PEM fuel cell stack has been approached in this chapter. The proposed procedure tackles the modular modelling of
5.7 Conclusions
127
Fig. 5.16 Polarisation curve of the fuel cell stack at constant air ow and increasing levels of
working pressure
128
References
1. Arce A (2010) Advanced control for fuel cell systems. PhD thesis, Universidad de Sevilla,
Spain
2. Arce A, del Real AJ, Bordons C, Ramrez DR (2010) Real-time implementation of a constrained MPC for efcient airow control in a PEM fuel cell. IEEE Trans Ind Electron
57(6):18921905
3. Cellkraft (2007) P-10 humidier manual: v 2.0
4. Dutta S, Shimpalee S, Van Zee JW (2001) Numerical prediction of mass-exchange between
cathode and anode channels in a PEM fuel cell. Int J Heat Mass Transf 44:20292042
5. Helvoirt J, Jager B, Steinbuch M, Smeulers J (2005) Modeling and identication of centrifugal
compressor dynamics with approximate realizations. In: IEEE conference on control applications, Toronto, Canada
6. Kunusch C, Puleston PF, Mayosky MA, More J (2010) Characterization and experimental
results in PEM fuel cell electrical behaviour. Int J Hydrog Energy 35:58765881
7. Kunusch C, Puleston PF, Mayosky MA, Husar A (2011) Control-oriented modelling and experimental validation of a PEMFC generation system. IEEE Trans Energy Convers 26(3):851
861
8. DErrico J (2006) Polytn (N-d polynomial regression model). http://www.mathworks.com/
matlabcentral/leexchange/10065
9. McKay DA, Ott WT, Stefanopoulou AG (2005) Modeling, parameter identication, and validation of reactant and water dynamics for a fuel cell stack. In: ASME international mechanical
engineering congress & exposition
10. McKay DA, Siegel JB, Ott WT, Stefanopoulou AG (2008) Parameterization and prediction of
temporal fuel cell voltage behavior during ooding and drying conditions. J Power Sources
178:207222
11. Pukrushpan JT, Stefanopoulou AG, Peng H (2004) Control of fuel cell power systems.
Springer, Berlin
12. Ramos-Paja C, Bordons C, Romero A, Giral A, Martinez-Salamero L (2009) Minimum fuel
consumption strategy for PEM fuel cells. IEEE Trans Ind Electron 56(3):685696
13. Rodatz PH (2003) Dynamics of the polymer electrolyte fuel cell: experiments and modelbased analysis. PhD thesis, Swiss Federal Institute of Technology Zurich
14. Siegel JB, McKay DA, Stefanopoulou AG (2008) Modeling and validation of fuel cell water
dynamics using neutron imaging. In: American control conference
15. Springer TE, Zawodzinski TA, Gottesfeld S (1991) Polymer electrolyte fuel cell model. J Electrochem Soc 138(8):23342342
Chapter 6
6.1 Introduction
The main objective of this chapter is to present the actual development and experimental validation of SOSM controllers, previously reviewed and analysed in this
book. As anticipated, the controllers were designed and implemented in the real
FC-based generation workbench introduced and modelled in Chap. 5. Three control
set-ups based on Super-Twisting, Twisting and Sub-Optimal algorithms were developed. As detailed in Chap. 4, power conversion optimisation of the laboratory PEM
fuel cell system is sought via oxygen stoichiometry regulation. In the implementation, the effect of practical problems such as saturation and possible wind-up have
been also taken into account and counteracted.
There is also a second intention for this chapter. Taking advantage of the consecutive steps required to present the development of the aforementioned actual FC
controllers, it is aimed to provide in parallel a condensed recapitulation of the concepts and design procedures reviewed and elaborated along the previous chapters.
The objective is twofold. On the one hand, this endows the chapter with a certain
degree of self-containment, improving its readability by sparing the reader from
awkward goings and comings. On the other hand, the goal is to summarise the successive stages of the FC-SOSM control design process presented in this book into
one concise format. This would offer a unied abridged design guideline to develop
procient practical SOSM controllers for efciency optimisation of FCGS.
6.2 State Space Model of the Experimental Fuel Cell System for
Control Design
A necessary phase, previous to the controller design stage, deals with the rearrangement of the equations presented in Sects. 5.25.5, in order to obtain the state space
model suitable for nonlinear control design purposes. This procedure involves coupling all the presented differential equations with their auxiliary equations in order
C. Kunusch et al., Sliding-Mode Control of PEM Fuel Cells,
Advances in Industrial Control,
DOI 10.1007/978-1-4471-2431-3_6, Springer-Verlag London Limited 2012
129
130
to represent the system only in terms of the space states, external inputs (Ist , Wan,in
and Vcp ) and constants, as well as taking into account any possible issue leading
to order reduction. In this particular case, the latter involves taking Tcp = Thum and
dia /dt = 0 [4]. In fact, experimental tests revealed that Eqs. (5.14)(5.15) are linearly coupled within the PEMFC operation range. Besides, the time constant of the
variable ia can be neglected with respect to the rest of the system dynamics. It must
be taken into account that the system is operating under the assumptions stated in
Sect. 5.1.
Taking the state x R7 , the control input u = Vcp R1 and the operating conditions given in Table B.5 of Appendix B, the experimental PEMFC generation system
under study can be described as a seventh-order nonlinear system with C 1 vector
elds, accordingly represented by the following state space relations (6.2)(6.8):
x = f (x, t) + gu(t)
xR ;
7
u R;
f : R 7 R7
(6.1)
The physical input to the system is the armature voltage of the compressors DC
motor (Vcp ). The measured outputs selected to evaluate the control performance
are the compressor current, the stack voltage, the stack cathode pressure and the
compressor air mass ow. The stack current is an external perturbation that can also
be measured in real time. In what follows, each differential equation is analysed,
reviewing the corresponding physical relations that support them [3].
The rst expression comes from Eq. (5.1) and relates the motor shaft angular
velocity, the inertia, the electric torque delivered by the motor and the compressors
load torque. This last variable value comes from the empirical relation that links the
compressor working pressure and the shaft angular velocity (x1 ) (see Eq. (5.10)),
considering both friction and pneumatic load terms:
x1 = m1 (u m2 x1 ) x1 m3 + A0 + A00 + A10 (x2 m5 + m6 )
+ A20 (x2 m5 + m6 )2 + A01 x1 + A11 (x2 m5 + m6 )x1
+ A02 x12 m4
(6.2)
The dynamics of the second state variable is obtained considering the mass conservation principle inside the humidier. It takes into account the mass ow of air
injected by the compressor, given by the relation obtained from (5.10), which includes the working pressure of the compressor and the shaft angular velocity:
131
(6.3)
The remaining states of the model are related to the PEM fuel cell stack variables.
As already stated in Chap. 5, these are given by three states of the cathode channels
and two of the anode. Thus, the third state space equation describes the behaviour
of the oxygen mass within the cathode channels that comes from Eq. (5.26):
1
x3 = XO2 ,ca m9 b1 (x)3 C3 + b1 (x)2 C2 + b1 (x)C1 + C0 G1
a (x2 m5 m10 )
1+
m11
x2 m5 m10
1
+ b1 (x)3 C3 + b1 (x)2 C2 + b1 (x)C1 + C0
1
1
m11
m14
1+
1+
x2 m5 m10
(x3 RO2 + x4 RN2 + x5 Rv )m8 m12
1
x3 RO2 GO2
x 3 RO 2
GO nIst
+ 1
1/4 2
GN2
x 3 R O 2 + x 4 RN 2
x 3 RO 2 + x 4 RN 2
F
(6.4)
The rst term of Eq. (6.4) corresponds to the incoming oxygen mass fraction, while the second models the cathode output ow using a linear nozzle equation (5.44). The third term takes into account the oxygen mass consumed per second
by the cathodic reaction (5.31).
In accordance with Sect. 5.5.1, the dynamics of the fourth state variable, the
mass of nitrogen in the cathode, is similar to that obtained for x3 , apart from the
fact that there is no nitrogen consumption in the reaction. Then, from the analysis of
Eq. (5.27), there are only two terms involved, relating the nitrogen input and output
ow fractions:
1
x4 = m9 b1 (x)3 C3 + b1 (x)2 C2 + b1 (x)C1 + C0 G1
a (x2 m5 m10 )
1+
1+
m11
x2 m5 m10
m11
x2 m5 m10
1
+ b1 (x)3 C3 + b1 (x)2 C2 + b1 (x)C1 + C0
1
(1 XO2 ,ca,in ) 1 +
x3 m8 GO2
1 x3 m8 GO2 b3 (x)1
b3 (x)
Gv m12
Ga (b2 (x) m12 )
1
x3 m8
+ 1
GN 2
b3 (x)
1
132
1
x3 m8
x3 m8 GO2
1 + Gv x5 Rv m8
+ 1
GN 2
b3 (x)
b3 (x)
1
(6.5)
The vapour mass equation in the cathode takes into account four different ows
(5.28), namely the input and output partial vapour ows, the water generated by the
reaction (which depends on the stack current Ist ) and the water ow transported by
the polymeric membrane (Sect. 5.5.3):
1
x5 = Gv m12 b1 (x)3 C3 + b1 (x)2 C2 + b1 (x)C1 + C0 G1
a (x2 m5 m10 )
1
Gv m10
b4 (x)
1+
+
Ga (x2 m5 m10 )
b5 (x)
1
b4 (x)
Gv m12 b4 (x)
Gv m12
+
1+
Ga (x2 m5 m10 )b5 (x) b5 (x)
Ga (b2 (x) m12 )
Gv nIst
+ 1/2
+ n0 + n1 a0 + a1 b6 (x) + a2 b6 (x)2 + a3 b6 (x)3
F
(6.6)
tm Gv Afc n
Gm,dry
The rst anode state (Sect. 5.5.2) is derived from the mass conservation principle
applied to the hydrogen in the anode channels. Following Eq. (5.47), its dynamics is
computed in a similar way as x3 . It relates the input and output partial ows, as well
as the hydrogen consumed by the electrochemical reaction on the anodes catalyst
surface:
1
Gv m17
x6 = Wan,in 1 +
Kan,out b7 (x) Pamb
GH2 (b7 (x) m17 )
GH nIst
Gv x7 m19 1
1/2 2
(6.7)
1+
GH2 x6 m20
F
The last state space equation models the vapour mass dynamics in the anode
channels. Regarding Eq. (5.48), it only consists of three ow terms, given the assumption that no water is generated at the anode side:
1
Gv m17
x7 = Wan,in Wan,in 1 +
Kan,out b7 (x) Pamb
GH2 (b7 m17 )
Gv x7 m19
1+
GH2 x6 m20
133
1
n0 + n1 a0 + a1 b6 (x) + a2 b6 (x)2 + a3 b6 (x)3
tm Gv Afc n
Gm,dry
(6.8)
(6.9)
(6.10)
(6.11)
(6.13)
(6.16)
(6.12)
(6.14)
(6.15)
Appendix C resumes the values of the parameters used in the model equations
presented above. Most of them come directly from physical constants of the experimental system. The proposed model that can be straightforwardly adjusted or scaled
to other PEM fuel-cell-based systems.
134
135
Fig. 6.2 Pnet vs. Wcp . Cathode pressure Pca = 1.6 bar
As stated in Chaps. 4 and 5, a direct relation exists between Pnet and the system conversion efciency, given that for a constant current demand, the amount of
hydrogen consumed by the anodic reaction remains constant.
In Figs. 6.3 and 6.4 the experimental static characteristics of the plant are displayed as functions of the cathodes oxygen stoichiometry (also for Pca = 1 bar and
Pca = 1.6 bar, respectively). It becomes evident that setting the air ow at its optimum value for each case is equivalent to maintaining an optimal value of oxygen
stoichiometry. This value can be obtained off-line or using on-line trajectory planning.
From Chap. 4, oxygen stoichiometry or oxygen excess ratio is dened as follows:
O2 =
WO2 ,in
WO2 ,react
(6.17)
where WO2 ,in is the partial oxygen ow that inputs the cathode, and WO2 ,react is the
amount of oxygen consumed by reduction at the cathode:
nIst
(6.18)
4F
From these gures it becomes evident that starting at low oxygen stoichiometry
values, as O2 increases (and so does the partial oxygen pressure), the stack power
(and therefore Pnet ) is also increased. However, after reaching a region of optimal
values, further increments on O2 cause a decrement on Pnet due to the excess power
drained by the compressor. This effect is veried over the entire stack working range
(1 bar < Pca < 2.5 bar). Analysing the optimal values for O2 , Figs. 6.3 and 6.4
suggest that the use of oxygen excess ratio values should be within a range from 2
to 3. It is important to stress that values lower than one (O2 < 1) must be avoided
because, if WO2 ,in < WO2 ,react , there is the risk of cathode starvation.
WO2 ,react = GO2
136
Once the desired values for the oxygen excess ratio for each load demand are determined, the control strategy can be formulated from concepts already presented in
Chap. 4. The immediate way to attain the control goal of O2 regulation would be to
directly control WO2 ,in . However, this is impossible to do in practice, given that it is
an inaccessible internal variable. To circumvent this problem, an alternative formulation in terms of control of the compressor air mass ow previously proposed. The
compressor output mass ow (Wcp ), which is easily measurable, is directly related
with WO2 ,in through the humidier dynamics. Besides, once this dynamics is extinguished, a constant relationship between Wcp and WO2 ,in exists. Therefore, setting
proper Wcp reference values, an operation in the neighbourhood of the maximum efciency can be achieved, and, after the humidier transient is elapsed, O2 = O2 ,opt
can be ensured for each load condition [5].
In the sliding mode framework, this objective can be attained using the following
restriction or sliding surface:
s(x, t) = Wcp Wair,ref
(6.19)
where s is the sliding variable that must be steered to zero. The reference value
(Wair,ref ) can be directly obtained from the desired dry air ow. Given that the oxygen mass fraction (O2 ) is known for the current ambient conditions, the required
dry air ow (Wdry,ref ) can be found from the following expression:
Wdry,ref =
nIst
1
O2 ,opt GO2
O2
4F
(6.20)
Then, considering that the relative humidity of the air (amb ) is also known, the
nal expression of the reference to be followed by the control system is
Wair,ref = (1 + amb )
nIst
1
O ,opt GO2
O2 2
4F
(6.21)
137
Fig. 6.4 Pnet vs. O2 characteristic. Cathode pressure Pca = 1.6 bar
It is worth noting that for stable ambient conditions (amb and O2 constant), this
value depends on a single measurable variable, Ist .
Therefore, according to Chap. 3, the control problem can be mathematically
stated as follows:
x = f (x, t) + gu(t)
(6.22)
s = s(x, t) R
u = U (x, t) R
where x R7 , t is time, u is a bounded control action, and f , s are smooth functions.
The control task is to keep s 0.
Lg s(x, t) = B01 + B11 (x2 m5 + m6 ) + 2B02 x1 m1 m4
= 0
(6.23)
(6.24)
Given that s(x, t) has relative degree 1 with respect to the control action u, it
could have been possible to implement a classic (rst-order) sliding-mode controller. However, as it was discussed in Chaps. 3 and 4, this option does not represent
138
an attractive alternative for this particular type of plant. A switching control action
may provoke undesirable oscillations in the compressor DC motor and also affect
the net output power, which has a relative degree 0 with respect to the compressor
voltage (Vcp ). In this context a second-order sliding-mode controller proves to be
an interesting choice to robustly control the system, achieving smoothness on Vcp ,
thus avoiding deterioration of the quality of Pnet . Differentiating twice the sliding
variable with respect to time, we obtain the following expressions:
s(x, t) +
s(x, t). f (x, t) + gu(t)
t
x
+ B11 m5 x1 B00 + B10 (x2 m5 + m6 ) + B20 (x2 m5 + m6 )2 + B01 x1 + B02 x12
3
+ B11 (x2 m5 + m6 )x1 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3
2
x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2 x2 m5
(6.25)
(x3 RO2 + x4 RN2 + x5 Rv )m8 C1 C0
s =
s (x, t) +
s (x, t). f (x, t) + g +
s (x, t).u(t)
t
x
u
= (x, u, t) + (x, u, t)u(t)
s =
(6.26)
with
(x, u, t) = Lg s(x, t)
(6.27)
(6.28)
See Appendix C for the complete expression of (x, u, t). The functions
(x, u, t) and (x, u, t) can be globally bounded as follows:
0 < m (x, u, t) M
(6.29)
(x, u, t)
(6.30)
Particularly, for the PEMFC system under study, the bounding values were computed by means of a numerical study of the nonlinear system and rened through an
experimental analysis. Additionally, uncertainties were included in representative
parameters such as the motor inertia, torque friction, humidier volume and cathode air constant. Under the effect of an appropriate control action (a feedforward,
as in Chap. 4, proved to be suitable), to lead the system to the vicinity of the desired
air mass ow, the following values were obtained:
= 2.3 105 ;
m = 0.002;
M = 0.0083
(6.31)
139
Once the bounds have been determined, the stabilisation problem of system
(6.22) with inputoutput dynamics (6.26) can be solved through the solutions of
the following equivalent differential inclusion by applying SOSM:
s 2.3 105 ,
2.3 105 + [0.002, 0.0083]u
(6.32)
It is worth noting that this study is performed off-line and does not burden the
real-time controller operation.
As mentioned in Chap. 3, a variety of SOSM algorithms can be found in the literature to solve the control problem, each of them with its distinctive features. In
this chapter, the SOSM controllers analysed and detailed in Chaps. 3 and 4, namely
Super-Twisting, Twisting and Sub-Optimal, have been designed and implemented
in the laboratory fuel-cell-based system. Previous to the experimental tests, the controllers have been assessed by thorough simulations.
The gains of the SOSM algorithms were calculated from , m and M guaranteeing that, once the system is steered to the region where Eq. (6.32) holds, the
trajectories do not escape and converge to s = s = 0 in nite time.
It is worthwhile to emphasise that the considered algorithms depend only on
few parameters, which were computed during the off-line tuning procedure. Thus,
the on-line operation of the control algorithms is very simple and consumes scarce
computational resources. In particular, the Twisting and Sub-Optimal algorithms
are intended for a sliding variable of relative degree 2. Given that the considered
output of the PEMFC-based system is of relative degree 1, for these last two cases,
the system has been expanded with an integrator, considering = u(t)
as the control
action for the design. The algorithms structures and the chosen gains for the PEMFC
controllers are succinctly recalled below.
1/2
(6.33)
sign(s)
where and are design parameters that were derived from the corresponding
sufcient conditions for nite-time convergence of the algorithm [6]:
140
m
2 (m + )2
>
m2 (m )
>
(6.34)
Among the set of gains that full (6.34), the best control performance has been
achieved with
= 1;
= 35
(6.35)
(6.36)
(r1 r2 ) >
m
(6.37)
r2 = 0.1
(6.38)
if (s sM )sM < 0
(6.39)
141
[1; +)
+ (1 )M U
; +
m U
(6.40)
This algorithm requires the detection of s becoming zero and the corresponding
values of s at those instants, i.e. sM . The nal choice of the controller parameters
for the PEMFC system under consideration was
U = 1;
= 1.2;
= 0.5
(6.41)
(6.42)
where u corresponds to the SOSM control action particularised above. The expression of uff is computed via a polynomial obtained from an off-line test covering the
entire operation range of the PEMFC system. The complete polynomial expression
is given in Appendix C.
142
143
144
ode humidiers pressures (Phum,ca and Phum,an ), stack pressure drops (Pca and Pan ),
motor stator current (ia ) and voltage (Vcp ), stack voltage (Vst ) and current (Ist ). Besides, a number of sensors were included to monitor and register relevant temperatures (Tst , Thum,ca , Tlh,ca , Thum,an and Tlh,an ). It must be noted that in a typical fuel
cell application many of these measurements are not necessary [5]. For instance,
the proposed controllers only require the measurement of the stack current and the
compressor air mass ow. The operating conditions for all fuel cell test bench experiments are summarised in Appendix C.
145
Fig. 6.9 Control of Wcp using a Super-Twisting algorithm: simulation and experimental results
sliding-mode controllers can be freely designed if it is ensured that u(t) is continuous and drives the sliding variable to a neighbourhood of the surface s = 0 in nite
time.
Then, Fig. 6.10 shows the improvement in the dynamic response obtained when
the SOSM controller is combined with the static FF action given in Appendix C.
In Fig. 6.11, the behaviour of each component of the control action (u and uff ) is
presented, as well as the armature voltage of the compressor motor (Vcp = ui ).
Analogous tests were conducted for the Twisting and Sub-Optimal algorithms.
The results are presented in Figs. 6.11 and 6.12, showing that the three controllers
present similar dynamic performance when the parameters tuning is performed following similar criteria.
146
In the following analysis, a test of oxygen stoichiometry regulation was conducted to verify its performance. This is shown in Fig. 6.13, where O2 is displayed
versus time, for the same reference signal. This test was performed at constant load
conditions.
In Fig. 6.14 the dynamical behaviour of Vst , Ist , ia and Pnet for the same test is
presented.
Afterwards, an experiment under variable load conditions was performed to verify the controlled system response in more demanding (and realistic) situations. Figures 6.15 and 6.16 show that the system exhibits good regulation characteristics for
147
changing loads. Figures 6.17 and 6.18 show a similar test, but in this case performed
at a standard regulation point of the oxygen stoichiometry (O2 = 2.5).
An important issue from the practical point of view is related with actuator saturation. Given that the compressors input cannot exceed the power source voltage (0 V < ui < 12 V), a wind-up effect may appear, due to the integral part of
the controller. To correct this, an anti-wind-up algorithm was included which disconnects the integrators input when such saturation is detected. The effect of the
anti-windup action is shown in Fig. 6.19. Note that the ow value recovers quickly,
converging to the desired values once saturation ends and nominal operation is restored.
148
149
is suddenly bypassed (t = 190 sec), the system abandons the sliding surface, but the
SOSM controller provides a quick recovery. It is worth noting that during this experiment, the feedforward action remains constant, because it only depends on the
reference.
Finally, in Fig. 6.23 a test analogous to the one presented in Fig. 6.20 is depicted.
Nevertheless, this last perturbation test is done at O2 = 3 that is an operating point
in the area of maximum power generation.
150
Fig. 6.20 Regulation of O2 under external perturbations: experimental results using Super-Twisting
6.8 Conclusions
After theoretically and experimentally evaluating different second-order slidingmode controllers that globally solve the oxygen stoichiometry problem of a PEMFC
generation system, a set of SOSM controllers have been developed and implemented
in a laboratory test station. Its suitability was successfully veried through extensive
computer simulations, based on the plant model previously developed in Chap. 5,
which was especially built for nonlinear control purposes, taking into account external disturbances and uncertainties in the system parameters [4]. Subsequently,
highly satisfactory experimental results using Super-Twisting, Twisting and Sub-
6.8 Conclusions
151
Fig. 6.21 Regulation of O2 under external perturbations: experimental results using Twisting
Fig. 6.22 Regulation of O2 under external perturbations: experimental results using Sub-Optimal
Optimal topologies with feedforward action conrm the feasibility, simplicity and
robustness of the solutions. The main advantages of the proposed SOSM control for
PEMFC systems can be summarised as follows:
robust stabilisation of the oxygen stoichiometry problem avoiding chattering effects;
enhanced dynamic characteristics;
robustness to parameter uncertainties and external disturbances;
guaranteed extended range of operation, in spite of the highly nonlinear nature of
plant;
152
the control law only depends on two measurable variables, namely the stack current and the compressor air ow, and therefore no state observer is required;
simple controller structure, resulting in low real-time computational burden.
The resulting controllers are relatively simple to design and require only a few
measurements of easy and low-cost implementation. This represents a major advantage for fuel cells in industrial applications, where the cost of the plant instrumentation is critical.
References
1. Bartolini G, Ferrara A, Usai E (1997) Applications of a sub-optimal discontinuous control
algorithm for uncertain second order systems. Int J Robust Nonlinear Control 7(4):299310
2. Fridman L, Levant A (2002) Higher order sliding modes. In: Sliding mode control in engineering, Dekker, New York, pp 53101 (Chap 3)
3. Kunusch C (2009) Modelling and nonlinear control of PEM fuel cell systems. Phd thesis, Electrical Department, National University of La Plata, Argentina (in Spanish)
4. Kunusch C, Puleston PF, Mayosky MA, Husar A (2011) Control-oriented modelling and experimental validation of a PEMFC generation system. IEEE Trans Energy Convers 26(3):851861
5. Kunusch C, Puleston PF, Mayosky MA, Dvila A (2010) Efciency optimisation of an experimental PEM fuel cell system via super twisting control. In: Proceedings of IEEE 11th international workshop on variable structure systems, Mexico City, June 2628
6. Levant A (1993) Sliding order and sliding accuracy in sliding mode control. Int J Control
58(6):12471263
Chapter 7
153
154
(7.1)
where
u 1 (t) = sign(s)
|s0 | sign(s)
u2 (t) =
|s| sign(s)
if |s| |s0 |
(7.2)
if |s| |s0 |
where > 0, > 0 and (0, 12 ) are parameters dened from suitable bounds on
the system model.
The homogeneous nature of the classic Super-Twisting algorithm does not allow
the compensation of uncertainties/disturbances that change with the state variables.
This means that it cannot ensure the sliding motion for systems with, for instance,
an unknown linear part. Using Lyapunov-based techniques, a non-homogeneous extension of the Super-Twisting algorithm can be proposed, allowing the exact compensation of smooth uncertainties/disturbances with derivatives bounded by known
functions [8]. These are called Variable-Gain Super-Twisting (VGST) algorithms.
The general form of VGST controllers is
t
v = k1 (t, x)1 (s)
k2 (t, x)2 (s) dt
(7.3)
0
where
1
(7.4)
1 = |s| 2 sign(s) + k3 s, k3 > 0
1
1
3
2 = sign(s) + k3 |s| 2 sign(s) + k32 s
(7.5)
2
2
Note that when k3 = 0 and the gains k1 and k2 are constant, the classic SuperTwisting controller results. If k3 > 0, the algorithm can reject perturbations growing
linearly in s, i.e. outside of the sliding surface, and the variable gains k1 and k2
can be used to make the sliding surface insensitive to perturbations growing with
bounds given by known functions. In these cases, the VGST algorithm exhibits a
better behaviour with respect to chattering reduction.
155
156
design, [7] discusses those aspects for the prevention of fuel cell starvation within
the MPC framework.
Given the advantages mentioned above, model predictive control of fuel cell systems has been analysed not only for the control of the fuel cell stacks in itself, but
also in its interaction to other electrical generation system. Research works such
as [9, 22] and [14] discuss aspects such as fuel cell management within micro cogeneration systems, decentralised MPC schemes for mixed topologies of fuel cells
with ultra capacitors and with Photovoltaic Panels. In particular, [21] propose an
adaptive MPC for the network control of fuel cells. All these approaches try to improve the global system performance through MPC controllers (in global and local
mode) in order to full the control objectives and reduce the computation burden.
157
gains for the sliding-mode compensation terms, improving accuracy. Moreover, the
complete or partial knowledge of the system model can give place to the application
of techniques for parametric reconstruction or disturbance reconstruction [11].
158
and alternative energy conversion devices such as fuel cells and microturbines. DGS
are modular in structure, and they are normally placed at the distribution level or
near load centres. They can be strategically placed in distribution systems for grid
reinforcement, reducing power losses and on-peak operating costs. Additionally,
they can be used as control devices to improve voltage proles and load factors. As
a result, their installation can defer or eliminate the need for system upgrades and
can improve system integrity, reliability and efciency. However, important control
problems arise because many DG devices are intermittent and usually not synchronised with power consumption. Among others, grid balancing, smart power injection, distributed power supervision/monitoring and fault detection/recovery arise as
fundamental open issues to be resolved.
References
1. Arcak M, Gorgun H, Pedersen LM, Varigonda S (2004) A nonlinear observer design for fuel
cell hydrogen estimation. IEEE Trans Control Syst Technol 12(1):101110
2. Arce A, Ramirez DR, del Real AJ, Bordons C (2007) Constrained explicit predictive control
strategies for PEM fuel cell systems. In: 46th IEEE conference on decision and control, New
Orleans, LA
3. Begot S, Harel F, Kauffmann JM (2008) Design and validation of a 2 kW-fuel cell test bench
for subfreezing studies. Fuel Cells 8(1):2332
4. Benallouch M, Outbib R, Boutayeb M, Laroche E (2009) A new scheme on robust unknown
input nonlinear observer for PEM fuel cell stack system. In: 18th IEEE international conference on control applications. Part of 2009 IEEE multi-conference on systems and control,
Saint Petersburg, Russia
5. Bordons C et al (2006) Constrained predictive control. Strategies for PEM fuel cells. In: Proceedings of the 2006 ACC, Minnesota, USA, June 1416
6. Chen Q, Gaob L, Dougal RA, Quan S, (2009) Multiple model predictive control for a hybrid
proton exchange membrane fuel cell system. J Power Sources 191(2):473482
7. Danzer MA, Wittmanna SJ, Hofera EP (2009) Prevention of fuel cell starvation by model
predictive control of pressure, excess ratio, and current. J Power Sources 190(1):8691
8. Davila A, Moreno FA, Fridman L (2010) Variable gains super-twisting algorithm: a Lyapunov
based design. In: 2010 American control conference Marriott Waterfront, Baltimore, MD,
USA, 30 June02 July
9. Del Real AJ, Bordons Arcea AC (2007) Development and experimental validation of a PEM
fuel cell dynamic model. J Power Sources 173(1):310324
10. Fiacchini M, Alamo T, Alvarado I, Camacho EF (2008) Safety verication and adaptive model
predictive control of the hybrid dynamics of a fuel cell system. Int J Adapt Control Signal
Process 22:142160
11. Fridman L, Shtessel Y, Edwards C, Yan X (2008) Higher-order sliding-mode observer for
state estimation and input reconstruction in nonlinear systems. Int J Robust Nonlinear Control
18(45):399412
12. Gorgun H, Arcak M, Barbir F (2006) An algorithm for estimation of membrane water content
in PEM fuel cells. J Power Sources 157(1):389394
13. Hashem Nehrir M, Wang C (2009) Modeling and control of fuel cells. Distributed generation
applications. IEEE Press, New York
14. Houwing M, Negenborn RR, Ilic MD, De Schutter B (2009) Model predictive control of micro
cogeneration fuel cell systems. In: Proceedings of the 2009 IEEE international conference on
networking, sensing, and control (ICNSC 2009), Okayama City, Japan
References
159
15. Kazmi IH, Bhatti AI, Iqbal S (2009) A nonlinear observer for PEM fuel cell system. In: IEEE
13th international multitopic conference
16. Park I, Kim S (2006) A sliding mode observer design for fuel cell electric vehicles. J Power
Electron 6(2):172177
17. Levant A (1998) Robust exact differentiation via sliding mode technique. Automatica
34(3):379384
18. Maciejowski JM (2002) Predictive control with constraints. Prentice Hall, Harlow
19. Spurgeon SK (2008) Sliding mode observers: a survey. Int J Syst Sci 39(8):751764
20. Thawornkuno C, Panjapornpon C (2008) Estimation of water content in PEM fuel cell. Chiang
Mai J Sci 35(1):212220
21. Tong S, Liu G (2007) Networked control of PEM fuel cells using an adaptive predictive control
approach. In: Proceedings of the 2007 IEEE international conference on networking, sensing
and control, London, UK, pp 1517
22. Vahidi A, Stefanopoulou A, Peng H (2006) Current management in a hybrid fuel cell power
system: a model predictive control approach. IEEE Trans Control Syst Technol 14(6):1047
1057
Appendix A
Parameter
Value
0.001248 kg/s
0.001967 kg/s/KPa
0.001524 kg/s/KPa2
0.002122 kg/s/KPa3
0.02772 kg/s/KPa4
0.07804 kg/s/KPa5
Expression
Value
B1
1.6667 104
B2
255
B3
7.4154 104
B4
( 1)/
0.2857
B5
4.7393 107
B6
51.7305
161
162
Expression
Value
B7
5.081 106
B8
B7 pv,ca
0.2391
B9
53.2352
B10
46.5988
B11
8.6437 106
B12
Ksm,out
3.6294 106
B13
Ksm,out pv,ca
170.815 103
B14
38.025
B15
33.284
B16
106.734 103
B17
B16 pv,ca
5.0234 103
B18
1.1183 106
B19
978.85 103
B20
9.6827 103
B21
15.496 103
)1
B22
B23
B24
639.069 103
B25
B24 pv,ca
30.077 103
B26
6.6956 106
B27
5.8609 106
B28
10.4770 106
B29
9.1709 106
B30
B24 /kca,out
293.470 103
B31
256.786 103
B32
1/4GO2 n/F
31.590 106
B33
766.990 103
B34
kca,out
2.177 106
B35
kca,out pv,ca
102.489 103
B36
22.815
B37
19.970
B38
Ra Tst /Vrm
20.255 106
B39
5.18 1021
B42
B43
6.482
B44
B38 pa6
1.5807 106
B45
meana
250 103
B40
B41
29.4084 103
708.05 1018
47.513 1012
5.729 106
163
Expression
Value
B46
B34 B38
44.108
B47
B35 B38
2.075 106
B48
B36 B38
462.123 106
B49
B37 B38
404.514 106
B50
B33 B16
81.864 103
B51
B50 pv,ca
3.852 103
B52
B50 B28
857.694 103
B53
B50 B29
750.771 103
B54
B33 B12
2.783 106
B55
B33 B13
131.013 103
B56
B33 B14
29.164
B57
B33 B15
25.529
B58
Gv pv,ca
848.103
B59
24.870 103
B60
1.1705 103
B61
260.565 103
B62
228.082 103
B63
845.68 109
B64
39.801 103
B65
8.8602
B66
7.7557
B67
B30 B31
36.683 103
B68
36.683 103
Parameter
Value
0.5
2.25
0.75
0.3
( )
164
Table A.4 LQR controller
Value
28.59
1.6 1013
60.57
7.57
579.74
2.55
3.6 1014
189.97
0.18
References
1. Kunusch C (2006) Second order sliding mode control of a fuel cell stack using a twisting algorithm. MSc thesis, University of La Plata, Argentina (in Spanish)
2. Pukrushpan JT, Stefanopoulou AG, Peng H (2004) Control of fuel cell power systems. Springer,
Berlin
3. Pukrushpan JT, Stefanopoulou AG, Peng H (2004) Control of fuel cell breathing. IEEE Control
Syst Mag 24:3046
Appendix B
Parameter
Value
0.029 kg/mol
32 103 kg/mol
28 103 kg/mol
0.01802 kg/mol
286.9 N m/kg/K
259.8 N m/kg/K
296.8 N m/kg/K
461.5 N m/kg/K
Faradays constant (F )
96485 C/mol
Parameter
Value
2.12 mH
2.03
Torque constant (k )
0.0031 N m/A
Motor inertia (J )
0.2 106 N m
1.2 106 N m
4.10 104 N m
3.92 106 N m s
165
166
Value
Parameter
Value
A00
B00
A10
0.0058 N m s
B10
A20
0.0013
B20
A01
3.25 106
B01
A11
2.80 106
B11
A02
B02
N m s2
N m/bar
N m s/bar
Value
8 106 m3
0.0486 kg/s/bar
2 104 m3
1.048 107 kg/s
2.109 104 kg/s/bar2
1.562 105 kg/s/bar
7
0.0094 kg/s/bar
4 104 m3
50 cm2
0.0127 cm
0.002 kg/cm3
1.1 kg/mol
5.43 106 cm2 /s
0.043 [H2 O/SO3 ]
17.81 [H2 O/SO3 ]
39.85 [H2 O/SO3 ]
36.0 [H2 O/SO3 ]
3.4 1019 [H2 O/H+ ]
0.05 [H2 O/H+ ]
0.0029 [H2 O/H+ ]
0.7
4.5 106 A/cm2
20.74 cm2
0.22 /cm2
0.005 /cm2
0.2 bar
0.06 V
8.1 105 V
15.2 cm2 /A
167
Parameter
Value
55 C
60 C
60 C
0.95
0.5
1 bar
25 C
0.21
2 slpm
Appendix C
(x, u, t) = 2B02 m1 u(t) m2 x1 x1 m3 + A0 + A00 + A10 (x2 m5 + m6 )
+ B01 + B11 (x2 m5 + m6 ) + 2B02 x1 m1 m2 m3 + A01
+ A11 (x2 m5 + m6 ) + 2A02 x1 m4 + B11 m5 B00 + B10 (x2 m5 + m6 )
+ B20 (x2 m5 + m6 )2 + B01 x1 + B11 (x2 m5 + m6 )x1 + B02 x12
3
x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3 x2 m5 (x3 RO2
+ x4 RN2 + x5 Rv )m8 C2 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C1
C0 + B10 m5 + 2B20 (x2 m5 + m6 )m5 + B11 m5 x1 B01
+ A11 (x2 m5 + m6 )x1 + A02 x12 m4 + B11 m5 m1 u(t) m2 x1
x1 m3 + A0 + A00 + A10 (x2 m5 + m6 ) + A20 (x2 m5 + m6 )2
+ B01 + B11 (x2 m5 + m6 ) + 2B02 x1 A10 m5 + 2A20 (x2 m5 + m6 )m5
+ A11 m5 x1 m4 + 2B20 m25 B00 + B10 (x2 m5 + m6 )
+ B20 (x2 m5 + m6 )2 + B01 x1 + B11 (x2 m5 + m6 )x1 + B02 x12
3
x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3
2
x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2
x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C1 C0
+ B10 m5 + 2B20 (x2 m5 + m6 )m5 + B11 m5 x1 B10 m5
C. Kunusch et al., Sliding-Mode Control of PEM Fuel Cells,
Advances in Industrial Control,
DOI 10.1007/978-1-4471-2431-3, Springer-Verlag London Limited 2012
169
170
2
3 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3 m5
2 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2 m5 m5 C1
B00 + B10 (x2 m5 + m6 ) + B20 (x2 m5 + m6 )2 + B01 x1
+ B11 (x2 m5 + m6 )x1 + B02 x12
3
x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3
2
x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2
x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C1 C0
+ B10 m5 + 2B20 (x2 m5 + m6 )m5 + B11 m5 x1
2
3 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3 RO2 m8
+ 2 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2 RO2 m8 + RO2 m8 C1
2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C1 + C0 G1
a
1
m11
(x2 m5 m10 )1 1 +
x2 m5 m10
3
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3
2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C1 + C0
1
m11
XO2 ,ca,in
1+
x2 m5 m10
1
m14
1+
(x3 RO2 + x4 RN2 + x5 Rv )m8 m12
2
3 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3 RN2 m8
171
3
m9 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3
+ RN2 m8 C1
2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C1 + C0
1
m11
1
1
+
(x
m
m
)
G1
2 5
10
a
x2 m5 m10
3
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3
2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C1 + C0
1
m11
1+
x2 m5 m10
1
Gv m12
1+
Gac ai n((x3 RO2 + x4 RN2 + x5 Rv )m8 m12 )
(1 XO2 ,ca,in ) 1 x3 RO2 m8 GO2 (x3 RO2 m8 + x4 RN2 m8 )1
1
x3 RO2 m8 GO2
x3 RO2 m8
GN2
+ 1
x3 RO2 m8 + x4 RN2 m8
x3 RO2 m8 + x4 RN2 m8
2
3 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3 Rv m8
3
Gv m12 x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C3
2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C2
+ x2 m5 (x3 RO2 + x4 RN2 + x5 Rv )m8 C1 + C0 G1
a
1
Gv m10
(x2 m5 m10 )1 1 +
Ga (x2 m5 m10 )
+ (x2 m5 b2 )3 C3 + (x2 m5 b2 )2 C2 + (x2 m5 b2 )C1 + C0
1
Gv m10
Gv m12 (x2 m5 b2 )3 C3
1+
Ga (x2 m5 m10 )
172
+ (x2 m5 b2 )3 C3 + (x2 m5 b2 )2 C2 + (x2 m5 b2 )C1 + C0
1
Gv m10
1+
Ga (x2 m5 m10 )
1
Gv m12
1+
Ga((x3 RO2 + x4 RN2 + x5 Rv )m8 m12 )
Gm,dry
(a0 + a1 x7 m15 + a2 x72 m215 + a3 x73 m315 )m,dry Dw
Gv Af c n
Gm,dry
tm
m2 = K 30/,
m5 = Tsm Ra /Vhum ,
m8 = Tst /Vca ,
m4 = /30/Jeq
m3 = A1 30/,
173
Index
A
Air
compressor, 75, 106
humidier, 77, 113
supply, 6, 24
supply manifold, 76, 112
Algorithm
sub-optimal, 56, 67, 94, 139, 140
super twisting, 56, 63, 86, 88, 139, 144
twisting, 56, 93, 139, 140
Alkaline fuel cell, 4
Anode
channels, 78, 120
reaction, 3
Armature
current, 107
voltage, 107
B
Back-diffusion, 121
Bipolar plate, 22
C
Catalyst, 13, 20
Catalytic
oxidation, 3, 13
reduction, 3, 13
Cathode
channels, 77, 117
reaction, 3
starvation, 30
Charge transfer coefcient, 16
Chattering, 36, 47
Compressor, 24
Control afne system, 37
Current collector, 16
D
DC motor, 75
DC/AC converter, 25
DC/DC converter, 25
Degradation, 30
Diaphragm vacuum pump, 106, 111
Diffeomorphism, 37
Differential inclusion, 49, 56, 86, 139
Direct methanol fuel cell, 5
Discontinuous control action, 39, 47
E
Efciency, 17
Electro-osmotic drag, 19, 79, 121
Electrochemical potential, 123
Electrode, 20
Electron, 14
Energy conversion, 17
Enthalpy, 17
Entropy change, 15
Equivalent control, 40, 42
Exchange current density, 16
F
Faradays constant, 14, 79
Feedforward control, 86, 87, 141
Filippov
differential inclusion, 50
method, 45
sense, 51
solution, 51
Finite time convergence, 64
Fuel cell, 3
active area, 79
apparent area, 124
stack, 5, 117
175
176
G
Gas diffusion layer, 21
Gibbs free energy, 14
H
Heat management, 24
Higher order sliding mode, 48
Humidication, 26
Humidier, 26
Humidity ratio, 118
Hydrogen, 1
Hydrogen supply, 24
I
Ideal sliding, 40
Invariance conditions, 41
K
Kalman observer, 98
L
Lie derivative, 37, 41, 137
Line heater, 27
Load torque, 75, 107
Losses
activation, 15, 123
concentration, see diffusion
diffusion, 16, 123
ohmic, 16, 123
LQR, 30, 97, 100
Lyapunov function, 40
Index
excess ratio, see stoichiometry
starvation, 73, 83, 84, 135
stoichiometry, 73, 83, 90, 135, 145
supply, 24
P
Parasitic load, 24
Peak detector, 68
PEM fuel cell, 5, 10, 13, 17, 30
Phosphoric fuel cell, 4
PID, 30
Platinum, 13, 20
Polarisation curve, 17, 123, 126
Polymer electrolyte membrane fuel cell, see
PEM fuel cell
Polymeric membrane, 19, 79
Potential difference, 14
Power conversion, 17
Proton, 14
Proton exchange membrane fuel cell, see PEM
fuel cell
Protonic conductivity, 14
R
Regularity condition, 51
Relative degree, 37, 52, 54, 55
Return manifold, 80
Reversible voltage, 14
M
Majorant curve, 62, 65
Mass mole fraction, 118
Matching condition, 44
MEA, 21, 26, 125
Membrane
conductivity, 16
dry thickness, 16
electrode assembly, see MEA
water content, 16, 125
Modulation factor, 68
Molten carbonate fuel cell, 4
Motor torque, 75, 107
S
Scalar eld, 37
Sealing gasket, 22
Second order sliding mode, 54
Shaft angular speed, 107
Sliding
manifold, see surface
mode control, 35
surface, 37, 39, 82, 136
variable, 137
Solid oxide fuel cell, 5
Stack
current, 89
voltage, 90
State space model, 130
N
Nernst voltage, 15
Net power, 82, 90, 134
Normal form, 52
Nozzle, 112
T
Tafel equation, 16
Thermal management, 6
Torque disturbance, 88
Transversality condition, 42
O
Oxygen, 3
control, 30
V
Vector eld, 37
Voltage drop, 3
Index
W
Water
diffusion, 19
177
management, 6, 24
transport, 121
Windup, 147