Contents lists available at ScienceDirect Neurocomputing com/locate/neucom ELSEVIER journal homepage: www elsevi A novel adaptive neural network constrained control for solid oxide fuel cells via dynamic anti-windup Nan Ji, Dezhi Xu*, Fei Liu Key Iaboratary of Advanced Process Cnt fr ight Industry, Minis of Education, Institute of Automaton, ngran Univer, Wa! 21622, hing Dons ARTICLE INFO ABSTRACT Received fn ensed fort ape 2018 Accepted 25 May 2016, ‘alable one Jane 2016, ‘Ts paper proposes a nearal network based adaptive constrained control scheme fora sold oxide fue cell (SOFC). Fistral basis function (RBF) neural network is designed for the identification of SOFC dynamic model. The Jacobian information can be obtained through the identified RAF model, Then, 2 back propagation (RP) neural network based PID controller is designed to tne the parameters that BP neural network has strong sellearing and adaptive capabilities. At same cime, in order to solve the control input saturation and fue ulization problems of SOFC. a dynamic anti-windup compensator is proposed for accommodating the reference. Moreover thi paper theoretically proves the stability ofthe Proposed method based on Lyapunov stability analysis. Finally, the simulation result for SOFC are Despave contained contol Dynamic anewanee provided to demonstrate the effectiveness ofthe proposed consteaned contol approach "© 2016 Elsevier BY. Al rights reserved, 1, Introduction SOFCs are the class of fuel cells characterized by the use ofthe solid oxide material as the electrolyte. SOFC uses the solid oxide electrolyte to conduct negative oxygen ions from the cathode to ‘the anode. The electrochemical oxidation of the oxygen ions with hydrogen or carbon monoxide accuts on the anode side. A great deal of attention is paid to the use of SOFC which can generate electricity and not produce radiation or air pollution (1|, But some researchers present alot of challenging control problems owing to slow dynamics, nonlinearity and tight operating constraints of SOFC [2 In control theory, intelligent control is a novel and valid control strategy for dynamic nonlinear systems, it contains neural net ‘works control [5~1 fuzzy control (310), expert control and so on. In recent years, neural network (NN) control is a hot topic in in- telligent control fields, this method does not require the controlled system with precise mathematical model and can deal with the nonlinear and uncertainty problems appropriately. Due tothe self- adaption and self-learning features, NN has been widely used to ‘tune the control parameters of PID controllers automatically, this kind of algorithm can be regarded as PID like NN [11=!3 In recent years, a large number of experts have done a lot of works on this issue. Such as in [14), a logarithmic learning method for general- ized classifier neural network was presented to handle the con- vergence problem and improve the rate of convergence when the 101016) neucom 2016.05.07 2016 seer BV. Al ight reserved initial smoothing parameter value deviated from the optimal one. Moteover, an adaptive state-feedback controller based on neural networks for a class of high-order stochastic uncertain systems ‘was designed to eliminate the unknown nonlinearities restrictions in 15}. ‘The development of proportional integral derivative (PID) control has been around for several decades and is still popular in the industrial process control because of its simplicity and ro- bustness [15-18]. To improve the control performance for non- linear systems, self-tuning PID controllers (19), nonlinear PID [20] land PID with wavelet decomposition [21] were proposed in the past. However, few modified PID methods consider the actuator saturation problem. Ifthe actuator saturation factor is not con- sidered, the integral part of PID may appear saturated and para eter estimation may diverge. Many researchers have paid close attention to dynamical systems subject to input saturation due to the frequent occurrence in many systems |22|, In linear systems, a ‘general method to solve this problem of saturation isto treat the system as the sector nonlinearity [23,24]. The linear dlferential inclusion approach is the other effective way for solving this problem, tis strategy puts the saturated linear feedback inside the convex hull of the set in auxiliary linear feedbacks [25,25], But in nonlinear systems, there is no general effective method to deal ‘with the saturation problem due to complex dynamic character istics of the nonlinear systems. In [27], a new method of anti- ‘windup compensator for nonlinear systems was proposed in the condition that people must find the equivalent functions to replace the original unknown nonlinear function. In practice, itis very difficult to realize. In order to prevent over used and under used fuel conditionsNj ec / Neurocomputing 214 (2016) 14-142 Bs for SOFC, the desired range of fuel utilization is from 0.7 to 09, and in practice, the actuator saturation problem needs to be con- sidered. AU present, most control approaches of SOFC focus on predictive control [3.4,28~30), In [3], the authors developed a novel offset free input to state stable fuzzy predictive controll via identified fuzzy model. A fuzzy Hammerstein model based model predictive control of SOFC was presented in [2°]. Moreover, some researchers presented a review of SOFC from perspective of éy- namie modeling and model-based control in [31 In this paper, we propose a constrained PID controler based on, BF neural network and BP neural network. In order to satisty the requirements for fue! utilization and control constraints, a éy- nnamic constraint unit and an anti-windup scheme are adopted. “The rest of this paper is organized as follows, in Section 2, a brief description of the SOFC is given. Next main result of the novel adaptive neural network constrained control for SOFC via dynamic anti-windup is proposed in Section >. Simulation results are pre- sented to show the effectiveness of the proposed lechnique in Section 4, Finally, some conclusions are made at end of this paper. 2. Problem formulation for SOFC ‘The working principle of SOFC is the same as that of other fuel cells. its equivalent to the “inverse” device of water electrolysis in principle (See fig. 1). The single cell consists of an anode, a cathode and solid oxide electrolyte. The anade is the place for fuel oxida- tion, and the cathade isthe place for oxidant reduction. Two poles both contain a catalyst accelerating the electrochemical reaction of the electrode. When the SOFC is working, i is the equivalent of a DC power supply, whose anode is the negative power supply and cathode is the positive power supply. Continue to pass into the fuel gas on the anode side of SOFC, such as hydrogen (H,), methane (CH), and city gas (CO). The fei ss is adsorbed on the surface of the catalytic anode Co diffuse into the interface of the anode and the electrolyte through the porous structure of the anode. Continue to pass into oxygen or air on the cathode side, The cathode surface with a porous structure adsorbs oxygen. Due to the catalytic action of the cathode, 0 turns into (02> after obtaining electron. Under the action of the chemical potential, O2- enters into the solid oxygen fon conductor working as an electrolyte, Since the concentration gradient causes diff- son, that finaly arives atthe interface ofthe solid electrolyte and the anode, reacting with fuel gas, the lost electrons return to the cathode through the external circut. The anode reaction and cathode reaction of SOFC are shown as follows: ‘Anode reaction: Il) + 0? + 1h0 + 2e Cathode reaction: 0; + 4e~ = 20 In this paper, take the SOFC dynamical model widely accepted as the object of study [25-31], which is shown in Fig. 2, where Vac is NH, oHo¥2e the stack output voltage (V),qis the natural gas (eg H,) low rate (mols), and I expresses the measurable external current load (A); Phy: Poy id yo denote the partial pressures of hydrogen, oxygen, and water (Pa), respectively. and gif are the input flow rates of hydrogen and oxygen (mol/s) respectively. Applying Nernst's equation and taking into account omic, concentration, activation Tosses (Le. Moonie Non and MY) the stack output voltage Vgc is described as follows [23-30], Vic=Vo~ Mo ane“ ® where in Po TOT, 3B vie e+ By Pool hy Paso @ 1__( 1g x.) Pa Rema To gat 6 Pos R= al ® — 2K atta) ® re st koe A II n= A (IE) ‘The parameters of the SOFC model are summarized in Table I (1) Im the close-loop control system of SOFC, there are three aspects Which are considered, they are (The dynamic model of SOFC shows that the current load [ hhas an impact on the stack output voltage Vac (see Fig. 2). Hence, the designed controller must reduce the influence of current load ! changes and keep the output voltage steady. (il) From the stationary voltage-current characteristics of the used SOFC system, which are depicted in Fig. 3 t can be seen that the SOFC exhibits nonlinear behavior over a wide operating re- sgime. Especially at low and high current loads, and the overloaded current leads to a rapid deterioration of the operating stack vol- tage, stronger nonlinear characteristics of SOFC system will be obvious. So nonlinear SOFC controller is better than linear SOFC controller, Ul) On the one hand, the input gy of SOFC cannot change too fast within a small time interval due to the inertia of the actuator, “The control inputs are subject to magnitude and rate constraints as follows: Yom $$ Ya Yom $4 Sax o On the other hand, fuel utilization ofthe SOFC system is one of the ‘most important operating variables that can affect the perfor- ‘mance of SOFC, fuel utilization should also be kept within a safe range for as long as possible, which is defined as 2k its 8 ai, iy where gf, and faethe hydrogen input flow rate, eated fw vate and output fw rae respectively, The desired range of fie tization is rt pay = 0.7 € pe = 09 (282729), To en sure a safe uation "the hydrogen dow shouldbe within [itn fy J hough the cleulaton of (3), Prther, we ean 5 maxwe, | [ees] [HS |: ener] Paraecers in the SOFC syste mod uy canes malsPa) Yate ol conta or byéonen foe Mates meta) abe ml conan cn whe 7828 espn ie te fw nes aetna an Rata the i poser re calculate the constraints [onc] 09 the fel flv (the natural gas ow rate) bY [.un- eu) The final dynamic magnitude constraints [mis mac ] 0” the fuel flow can be de- scribed as Yin = BAX( 4 sin Goin) Gon = MN( Yue mae) ° Hence, the newly magnitude and rate constraints are redefined as Y nn $Y SFr Y mn $4 $ Ana ao) ‘The qy, Vac and I are redefined as the control input u, control objective y and disturbance d, respectively. The input-output re- lation of SOFC can be rewritten in the following unknown one- order nonlinear autoregressive with exogenous input (NARX) ‘model: yk+0) (9@, uo, de) ay 3. Adaptive neural network constrained control 31. RBF identification algorithm Although PID controller has advantages of simple structure and ‘food robustness, it cannot be widely used when the characteristics ‘of model change momentarily because ofits fixed coefficients (22) ‘The RBF neural network which is able to approach a nonlinear function arbitrarily can be used to identify online model with high accuracy, Define the vector that X= (2,222) = (ui, die), yo is ci woo EGSE) jet om 2b} (12) where Gis the center vector of node jin the network, and b is the basis width parameter. The weight vector of the network is In, Wa) Wal. The network ousput ym can be written as Son nth) a3 ‘The performance index function of controller is defined as Uk) ~ Yabo? a4)Nj etal /Neurocom According to the gradient descent method, iterative algorithm of weights, node center and node radial parameters are as follows: yh) = Kk — 1) + Ma O7KK) — yg WIA; + aotwyEk— 1) — yeh = 29) k= GIF 7 beh) = byk = 1) + moby + antbk ~ 1) ~ byck ~ 29) (VK) ~ YL ab = noe = yor ac e uth) = 6y(k = 1) + my ey + aatGitk —1) x(k 2) as where pis the learning rate and a is the momentum gene. Remark 1. In the past, the convergence of the RBF identification algorithm has be discussed in [33], besides that, a number of re- searchers have done a lot of works in this aspect, so we do nat have detailed description in this paper Based on Eqs. (12) and (13), Jacobian information (sensitivity of plant output to controlled input) algorithm is as follows ath _ auc) avo mu) Se ci 2.2, BP neural network based constrained controler design In this paper, we propose adaptive constrained PID control based on RBF neural network identification and BP neural network via dynamic anti-windup. The structure of adaptive neural net- work constrained controller is depicted in Fig. 4. BP neural network is a classic multilayer forward feedback network. We make use of optimized gradient descent method to adjust the neural network weights, this method adjusts the parameters along the opposite direction of the error-performance function gradient until the error of the desired network output and actual network output satisfies the performance index re- quired (3437), In general, BP neural network consists of input layer, hidden layer and output layer. By the way, there is no cou- pling among nodes in the same layer. In other words, the output of each layer only affects the output of next layer. Due to the struc- tural characteristics and the advantages, BP neural network is widely applied to PID control (38) Define the new tracking error ek) = y-ck) yk) ~ ¢. Since the dynamic constraints exist in the close-loop SOFC control, an anti- windup compensator is designed to accommodate the reference zo 1 ol E aa eo i ork Bhtvee 5 mnt tan pe cine L Fig. 6 Te change curves ofthe constrained PID controller parameter |) ¥0.05 0.06 0.7] 9090 Nl etal Nearocompucing 2442018) 154-142 7000 7500 3000 300 7000 78002000 7500 00 0.5| oa! 05} oss! 0 30 7000 7800 3000 Ties) 7500 80 7 0 0 7000 7000 Tinos) 300 - 0 1000 200 00 Times) Fig 8 The change curves ofthe BP neural network weight cefclents trajectory y*tk) where y(k) denotes the output of the system, The ‘compensation signal ¢(k) is presented as follows c= eck 0) + 2B dy — dey au) an where pis chosen in the unit circle. The algorithm ofthe basic PID controller which is commonly known in the literature is as follows eh Wie — 1) + Keck) ~ eck = 1)) + heck ¥ keleck) — 2e¢k — 1) + etk 2) as) Three inputs of PID are defined as followsNJ eel / Neurocomputing 214 (2016) 14-142 Bo xqido = eth) ~ e¢k ~ xe tk = et, (&) — 2e(k 1) + etk-2) x6tk) Then the PID controller (18) can be rewritten as follows he) = Uk — 1) + ep + Reeth) + kates) 20) According to the input constraints (10), the adaptive constrained controller is described as c= rf (ue =19 + anf (neh == 0). Tae Tae) me oat } an where Tis the sampling time, and Sat() function is defined as basb Saab.O= 4a beace where ¢