Fan control method based on feedforward compensation decoupling controller and related equipment

Abstract

The invention belongs to the technical field of electronic power, and discloses a fan control method based on a feed-forward compensation decoupling controller and related equipment. The draught fan control method based on the feed-forward compensation decoupling controller comprises the steps that the coupling relation between input and output of all channels in a draught fan control system is confirmed through a relative gain matrix analysis method, a feed-forward compensation decoupler is obtained based on the coupling relation, and the feed-forward compensation decoupler is applied to the draught fan control system. Performing decoupling processing on the input of each channel; the rotating speed of the draught fan can be accurately controlled through decoupling, the noise reduction effect is achieved, and meanwhile the heat dissipation requirement of the whole machine is met.

Description

Technical Field

[0001] This invention relates to the field of electronic power technology, specifically to a wind turbine control method and related equipment based on a feedforward compensation decoupling controller. Background Technology

[0002] With the development of the charging pile industry, intelligence is receiving increasing attention within the industry, and intelligent charging piles have become an important development direction for charging piles in the future.

[0003] At present, the heat dissipation methods of charging piles are mainly divided into two types: fan cooling and liquid cooling. Most of them are fixed cooling, that is, after the charging pile is started, the fan runs at a fixed speed, or the liquid cooling oil flows at a fixed flow rate.

[0004] However, air cooling generates significant noise, impacting the living environment of customers and residents, and causing noise pollution. To reduce noise pollution caused by air cooling, most high-power charging piles now employ fan zone control. This means that after the modules in the corresponding fan zone are started, the corresponding fan then starts to dissipate heat. While this method reduces noise, it worsens the overall heat dissipation effect. The main reason is that the heat generated by the lower-level modules rises, and when the corresponding fan starts, the heat flowing upwards cannot dissipate, resulting in a poorer overall heat dissipation effect.

[0005] Therefore, there is an urgent need for a technology that can solve the problem of air cooling generating significant noise while increasing heat dissipation efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide a fan control method and related equipment based on a feedforward compensation decoupling controller to overcome the problems existing in the prior art. This invention can accurately control the speed of the fans in the first and second zones by decoupling the coupling relationship between the first zone module and the second zone fan, and between the second zone module and the first zone fan, so as to achieve noise reduction while meeting the heat dissipation requirements of the whole machine.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a wind turbine control method based on a feedforward compensation decoupling controller, comprising the following steps: Step 1: Confirm the coupling relationship between the input and output of each channel in the wind turbine control system using the relative gain matrix analysis method; Step 2: Obtain the feedforward compensation decoupler based on the coupling relationship; Step 3: Apply the feedforward compensation decoupler to the wind turbine control system to decouple the inputs of each channel.

[0008] In some embodiments, confirming the coupling relationship between the input and output of each channel in the wind turbine control system using relative gain matrix analysis specifically includes: Step 1.1: Establish the input and output models of each channel in the wind turbine control system; Step 1.2: Obtain the static function between input and output based on the input and output model; Step 1.3: Obtain the relative gain of each channel input and output in the wind turbine control system based on the static function; Step 1.4: Obtain the relative gain matrix of each channel's input and output based on the relative gain of each channel's input and output; Step 1.5: Obtain the operating temperature-fan speed data of the charging pile, and obtain the dynamic characteristic matrix based on the operating temperature-fan speed data; Step 1.6: Based on the relative gain matrix and dynamic characteristic matrix of each channel input and output, obtain the relative gain matrix of operating temperature-fan speed; Step 1.7: Confirm the coupling relationship between the input and output of each channel based on the relative gain matrix of operating temperature and fan speed.

[0009] In some embodiments, the functional expressions of the input and output models are: ; In the formula, The input indicates the fan speed in Zone 1. The input indicates the rotational speed of the fan in Zone 2. The output indicates the temperature of the channel module in zone one; The output indicates the temperature of the second-zone channel module; This represents the static gain in the transfer function between the input and output; This represents the dynamic vector of the wind turbine control system.

[0010] In some embodiments, the functional expression of the relative gain matrix of operating temperature and fan speed is: ; In the formula, The relative gain matrix representing operating temperature versus fan speed; express and The relative gain; express and The relative gain; express and The relative gain; express and The relative gain.

[0011] In some embodiments, the determination of the coupling relationship between the input and output of each channel based on the relative gain matrix of operating temperature and fan speed specifically includes: When the relative gain in the relative gain matrix of operating temperature-fan speed is greater than 0 and less than 1, there is coupling between the input and output of the channel corresponding to the relative gain. When the relative gain in the relative gain matrix of operating temperature-fan speed is not greater than 0 and less than 1, there is no coupling between the input and output of the channel corresponding to the relative gain.

[0012] In some embodiments, obtaining the feedforward compensation decoupler based on the coupling relationship specifically includes: Acquire temperature and speed data for each channel in the fan control system, and obtain the transfer function matrix based on the temperature and speed data; The model matrix of the decoupler is obtained based on the transfer function matrix; By combining the model matrix of the decoupler with the feedforward compensation decoupling principle, a feedforward compensation decoupler is obtained.

[0013] In some embodiments, the transfer function matrix expression of the feedforward compensation decoupler is: ; In the formula, This represents the transfer function matrix of the feedforward compensation decoupler; Represents complex frequency; Indicates the static gain of the input; Indicates the static gain of the output; This represents the time constant on the temperature molecular side of the first-zone module in the feedforward compensation controller; This represents the time constant on the denominator side of the temperature calculation for the first-zone module in the feedforward compensation controller. This represents the first time constant on the temperature molecular side of the second-zone module in the feedforward compensation controller; This represents the second time constant on the temperature molecular side of the second-zone module in the feedforward compensation controller; This represents the time constant on the denominator side of the temperature calculation in the second-zone module of the feedforward compensation controller; This indicates the temperature response delay time of module 1; This indicates the temperature response delay time of the second-zone module; This represents an exponential function.

[0014] Secondly, the present invention provides a wind turbine control system based on a feedforward compensation decoupling controller, comprising: The coupling relationship confirmation module is used to confirm the coupling relationship between the input and output of each channel in the wind turbine control system through relative gain matrix analysis. A module for obtaining feedforward compensation decouplers is used to obtain feedforward compensation decouplers based on coupling relationships. The decoupling module is used to apply the feedforward compensation decoupler to the wind turbine control system and decouple the inputs of each channel.

[0015] Thirdly, the present invention provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0016] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0017] The above technical solution has the following advantages or beneficial effects: Firstly, this invention provides a wind turbine control method based on a feedforward compensation decoupling controller. By introducing a feedforward compensation decoupling controller, the coupling interference problem between multiple input and output channels in the wind turbine control system is effectively solved. Using relative gain matrix analysis, the coupling relationship between each control loop is accurately identified, and a feedforward compensation decoupling device is designed accordingly, achieving independent and precise control of the wind turbine speed. This method significantly improves the dynamic response performance of the system, enabling intelligent adjustment of the operating status of wind turbines in different zones according to the actual charging power requirements: during low-power charging, only one zone's wind turbine needs to operate normally, while other zones' wind turbines can operate at low speed to reduce energy consumption; when the charging power increases, multiple zones' wind turbines can quickly coordinate and accelerate to meet heat dissipation requirements in a timely manner, ensuring not only heat dissipation efficiency but also achieving on-demand energy allocation, effectively reducing system energy consumption, and improving the overall energy efficiency and operational economy of the system.

[0018] In some embodiments, this invention achieves accurate identification and quantification of complex coupling relationships within the wind turbine control system through systematic relative gain matrix analysis, laying a scientific foundation for the design of a feedforward compensation decoupler. The method first establishes the system's input-output model and derives the static function, then calculates the relative gain matrix reflecting the degree of static coupling between channels. Furthermore, it introduces the dynamic characteristic matrix of "operating temperature - wind turbine speed" from actual operation, combining static analysis with dynamic measured data to ultimately generate a "relative gain matrix of operating temperature - wind turbine speed" that accurately reflects the real-time coupling state of the system. This ensures that the confirmation of coupling relationships is no longer based on purely theoretical assumptions but is closely integrated with the actual operating conditions of the charging pile, greatly improving the accuracy and reliability of the model. Through precise understanding of the coupling relationships, accurate data support is provided for the subsequent design of a high-performance feedforward compensation decoupler, thereby ensuring the effectiveness of decoupling control. Ultimately, it achieves precise and independent matching of wind turbine speed and heat dissipation requirements, significantly improving the system's control quality, heat dissipation efficiency, and overall energy efficiency.

[0019] In some embodiments, this invention provides a solid foundation for core decoupling control by introducing precise input-output model function expressions. This model not only clearly defines the correspondence between the speed input of the first and second zone fans and the module temperature output, but also decomposes the system characteristics into two parts: static gain and dynamic vector. The static gain (K) quantifies the inherent, steady-state coupling strength between channels, providing key parameters for relative gain matrix calculation and feedforward compensator design. The dynamic vector (G(s)) accurately describes the dynamic response characteristics of the system as frequency or time changes, separating the static and dynamic characteristics of the system. This allows the decoupling design to eliminate steady-state coupling while taking into account the mutual influence during the dynamic process, thus laying the core theoretical foundation for achieving high-precision, fast-response intelligent fan control and ultimately ensuring the thoroughness of decoupling control and the accuracy of system regulation.

[0020] In some embodiments, this invention provides a direct and quantitative analysis tool for core decoupling control by explicitly defining a relative gain matrix of operating temperature and fan speed. This matrix function accurately characterizes the degree of coupling influence of any fan speed input on the temperature output of all modules. Specifically, each element in the matrix measures the control dominance of its channel and quantifies the mutual coupling interference between channels. By analyzing this matrix, the main coupling paths and strengths of the system in the dynamic process can be clearly identified, thus providing a precise mathematical basis for the design of the feedforward compensation decoupler, ensuring the pertinence and effectiveness of the compensation, and ultimately achieving independent and precise control of the fan speed, significantly improving the dynamic response speed and control quality of the system.

[0021] In some embodiments, by setting clear relative gain numerical criteria, a clear and quantifiable standard is provided for determining the coupling relationship, realizing the key transformation from theoretical analysis to engineering application. The control system can automatically and quickly identify key coupling loops, so that the design of the feedforward compensation decoupler can accurately focus on these channels with interference, effectively avoiding overcompensation or undercompensation, significantly improving the accuracy and efficiency of decoupling control, and ultimately ensuring the optimal dynamic performance of fan-coordinated heat dissipation.

[0022] In some embodiments, a highly efficient and reliable feedforward compensation decoupler is constructed through a systematic design process. This method is based on measured temperature and speed data to accurately obtain the system transfer function matrix, ensuring that the model truly reflects the actual dynamic characteristics. The decoupler model matrix derived therefrom can accurately cancel the coupling effect between channels. Finally, by combining the model matrix with the feedforward compensation principle, active and proactive compensation for coupling interference is achieved. This enables the system to cancel the mutual influence between channels in real time, ensuring that the speed of each fan can be independently and accurately controlled, significantly improving the system's response speed and control accuracy, and achieving the optimal dynamic balance between heat dissipation and energy consumption.

[0023] In some embodiments, the present invention provides a direct algorithmic core for engineering implementation by accurately providing the mathematical expression of the transfer function matrix of the feedforward compensation decoupler, aiming to systematically cancel the inter-channel coupling identified by the relative gain matrix in the original system; by connecting this decoupler in series before the original control system, a compensation signal with the same magnitude and opposite direction as the coupling effect can be actively generated, thereby achieving "prescient" elimination of interference; thus, the originally mutually interfering dual-channel fan control system is decoupled into two independent single-input single-output systems, thereby allowing independent, precise, and rapid control of the speed of the fans in Zone 1 and Zone 2, ultimately ensuring precise matching between the dynamic requirements of heat dissipation response and charging power, significantly improving the control quality and energy efficiency of the system.

[0024] Secondly, this invention provides a wind turbine control system based on a feedforward compensation decoupling controller. By constructing a wind turbine control system with a clear structure, the advanced feedforward compensation decoupling control method is transformed into an implementable hardware module. The system accurately identifies dynamic coupling between channels through a coupling relationship confirmation module, generates a precise compensation algorithm through a feedforward compensation decoupling module, and finally achieves real-time decoupling control through a decoupling processing module. The three modules are interconnected, engineering the theoretical method, enabling the system to eliminate coupling interference between channels in real time, ensuring independent and precise control of each wind turbine. This not only significantly improves the timeliness and accuracy of heat dissipation response but also realizes on-demand airflow allocation, significantly reduces the energy consumption of charging pile operation, and improves the overall stability and energy efficiency of the system.

[0025] Thirdly, the present invention provides a computer device that, through a processor executing a specific computer program, can efficiently implement the steps of the method of the present invention. When performing data processing tasks, the computer device can accurately perform numerical calculations and logical judgments, avoiding errors caused by human factors. At the same time, since the computer program has high stability and reliability, it can ensure the accuracy and consistency of the data processing results.

[0026] Fourthly, the present invention provides a computer-readable storage medium. By programming the steps of the method of the present invention into a computer program and storing it on the computer-readable storage medium, users can easily load these programs onto any compatible computer device and execute them without rewriting or converting the code, which greatly improves the convenience and flexibility of program execution. Attached Figure Description

[0027] Figure 1 This is a schematic flowchart of a wind turbine control method based on a feedforward compensation decoupling controller, according to some embodiments of this specification. Figure 2This is a framework diagram of a wind turbine control system based on a feedforward compensation decoupling controller, as shown in some embodiments of this specification. Figure 3 This is a schematic diagram of the structure of a computer device according to some embodiments of this specification. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to specific embodiments. These descriptions are for explanation purposes only and are not intended to limit the scope of the invention.

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example: This invention allows for adjustment of the fan speed based on the actual operating module. For example, if a vehicle's initial charging power demand is low, only the Zone 1 module is activated. At this time, while the Zone 1 fan operates at a certain speed, the Zone 2 fan can operate at a low speed because heat also accumulates in the upper part of the charging pile. When the vehicle's charging power demand increases and the Zone 2 module is activated simultaneously, the speeds of both the Zone 2 and Zone 1 fans can be increased simultaneously to quickly meet the heat dissipation requirements.

[0032] This invention provides a wind turbine control method based on a feedforward compensation decoupling controller. Figure 1 The present invention provides a schematic flowchart of a wind turbine control method based on a feedforward compensation decoupling controller, according to some embodiments thereof. The wind turbine control method based on the feedforward compensation decoupling controller includes the following steps: Step 1: Confirm the coupling relationship between the input and output of each channel in the wind turbine control system using relative gain matrix analysis. This specifically includes: Step 1.1: Establish the input and output models of each channel in the wind turbine control system.

[0033] In some embodiments, with Taking the control channel as an example, the input (quantity) of the fan speed in channel i is... The output (quantity) of the fan speed in zone j. The open-loop gain formula between them is:

[0034] In the formula, express and Open-loop gain; Indicates the derivative symbol; The input (quantity) represents the fan speed in zone j; In addition to Other control variables are considered constants. In addition to Other controlled quantities are considered constants. Using the temperature of the first-zone module (located in the lower layer of the charging pile) and the temperature of the second-zone module (located in the upper layer of the charging pile) as the controlled variables (outputs), and the fan speeds of the first-zone and second-zone modules as the control variables (inputs), a two-input, two-output system is established. The functional expressions of the input and output models are as follows: ; In the formula, Input (control variable) representing the speed of the fan in Zone 1 channel; The input (control variable) represents the fan speed in Zone 2. The output (controlled variable) represents the temperature of the channel module in zone one. The output (controlled variable) represents the temperature of the second-zone channel module. This represents the static gain in the transfer function between the input and output; This represents the dynamic vector of the wind turbine control system.

[0035] Step 1.2: Based on the input and output model, obtain the static function between the input and output, expressed as:

[0036] In the formula, express and The static gain in the transfer function between them; express and The static gain in the transfer function between them; express and The static gain in the transfer function between them; express and The static gain in the transfer function between them.

[0037] Step 1.3: Obtain the relative gain of each channel input and output in the wind turbine control system based on the static function.

[0038] In some embodiments, when i=1 and j=1, according to (1.1), (1.2) and (1.4), we can obtain:

[0039]

[0040] Therefore The relative gain of the channel is: .

[0041] In some embodiments, when i=1 and j=2, according to (1.1), (1.3) and (1.4), we can obtain:

[0042]

[0043] Therefore The relative gain of the channel is: .

[0044] In some embodiments, when i=2 and j=1, according to (1.1), (1.3) and (1.4), we can obtain:

[0045]

[0046] Therefore The relative gain of the channel is: .

[0047] In some embodiments, when i=2 and j=2, according to (1.1), (1.3) and (1.4), we can obtain:

[0048]

[0049] Therefore The relative gain of the channel is: .

[0050] Step 1.4: Obtain the relative gain matrix of each channel input and output based on the relative gain of each channel input and output.

[0051] In some embodiments, by combining (1.7), (1.10), (1.13), and (3.16), the functional expression of the relative gain matrix of the two-input two-output system can be obtained as follows: ; In the formula, This represents the relative gain matrix between the input and output of each channel; express and The static gain in the transfer function between them; express and The static gain in the transfer function between them; express and The static gain in the transfer function between them; express and The static gain in the transfer function between them.

[0052] Step 1.5: Obtain the operating temperature-fan speed data of the charging pile, and obtain the dynamic characteristic matrix based on the operating temperature-fan speed data.

[0053] In some embodiments, the following formula is the dynamic characteristic matrix of the charging pile obtained in the laboratory based on the module operating temperature-fan speed data:

[0054] In the formula, Indicates the temperature of module 1; Indicates the temperature of the second-zone module; Represents an exponential function; Represents complex frequency; Indicates the fan speed in Zone 1; This indicates the fan speed in Zone 2.

[0055] Step 1.6: Based on the relative gain matrix and dynamic characteristic matrix of each channel input and output, obtain the relative gain matrix of operating temperature-fan speed.

[0056] In some embodiments, the functional expression of the relative gain matrix of operating temperature and fan speed is: ; In the formula, The relative gain matrix representing operating temperature versus fan speed; express and The relative gain; express and The relative gain; express and The relative gain; express and The relative gain.

[0057] Step 1.7, based on the relative gain matrix of operating temperature and fan speed, confirm the coupling relationship between the input and output of each channel, specifically including: When the relative gain in the relative gain matrix of operating temperature-fan speed is greater than 0 and less than 1, there is coupling between the input and output of the channel corresponding to the relative gain. When the relative gain in the relative gain matrix of operating temperature-fan speed is not greater than 0 and less than 1, there is no coupling between the input and output of the channel corresponding to the relative gain. If the difference between the element values ​​(relative gain) in each row or column is smaller, the coupling characteristics between each channel are stronger. Therefore, according to equation (3.19), the fan speed in zone 1 and the fan speed in zone 2 are strongly coupled with the module temperature in zone 2 and the module temperature in zone 1.

[0058] Step 2, Obtain the feedforward compensation decoupler based on the coupling relationship: Step 2.1: Obtain the temperature and speed data of each channel in the fan control system, and obtain the transfer function matrix based on the temperature and speed data.

[0059] In some embodiments, the transfer function matrix of module temperature in zones one and two versus fan speed in zones one and two is:

[0060]

[0061] In the formula, Indicates the temperature of module 1; Indicates the temperature of the second-zone module; Represents complex frequency; Indicates the fan speed in Zone 1; Indicates the fan speed in Zone 2; This represents the output value of the first controller; This indicates the output value of the second controller; This represents the module temperature-fan speed transfer function matrix; This represents the transfer function matrix of the decoupler.

[0062] In some embodiments, and The matrix expression is as follows:

[0063]

[0064] In the formula, This represents the first decoupling term in the diagonal matrix after the decoupler transfer function matrix is ​​transformed. This indicates that the decoupler transfer function matrix is ​​transformed into the second decoupling term in the diagonal matrix; This represents the first diagonal element in the module temperature-fan speed transfer function matrix; This represents the second diagonal element in the module temperature-fan speed transfer function matrix; This represents the first cross-coupling term in the module temperature-fan speed transfer function matrix; This represents the second cross-coupling term in the module temperature-fan speed transfer function matrix; T represents the temperature time constant of the second-zone module. P1 The dropdown menu is used to indicate the different categories; T represents the temperature time constant of the second-zone module. P2 The dropdown menu is used to indicate the different categories; Indicates the static gain of the decoupler; Indicates the decoupler delay time; express Static gain of diagonal elements V is used to distinguish the other static gain letters; express The diagonal element delay time is distinguished by a single letter used to differentiate it from the remaining time constants; Combining these, we can obtain:

[0065] To eliminate the coupling between variables, a diagonal matrix is ​​introduced. ,make:

[0066] In the formula, This represents the decoupling transfer function of the first input to the first output in the decoupler; This represents the decoupling transfer function of the second input to the second output.

[0067] Step 2.2: Obtain the model matrix of the decoupler based on the transfer function matrix; In some embodiments, the mathematical model matrix expression of the decoupler D(s) can be obtained as follows: .

[0068] Step 2.3: Combine the model matrix of the decoupler with the feedforward compensation decoupling principle to obtain the feedforward compensation decoupler.

[0069] In some embodiments, based on the feedforward compensation decoupling principle, the transfer function matrix of the decoupler is designed as follows: ; In the formula, This represents the transfer function matrix of the feedforward compensation decoupler; Represents complex frequency; Indicates the static gain of the input; Indicates the static gain of the output; This represents the time constant on the temperature molecular side of the first-zone module in the feedforward compensation controller; This represents the time constant on the denominator side of the temperature calculation for the first-zone module in the feedforward compensation controller. This represents the first time constant on the temperature molecular side of the second-zone module in the feedforward compensation controller; This represents the second time constant on the temperature molecular side of the second-zone module in the feedforward compensation controller; This represents the time constant on the denominator side of the temperature calculation in the second-zone module of the feedforward compensation controller; This indicates the temperature response delay time of module 1; This indicates the temperature response delay time of the second-zone module; This represents an exponential function.

[0070] Step 3: Apply the feedforward compensation decoupler to the wind turbine control system to decouple the inputs of each channel.

[0071] In some embodiments, the dynamic characteristics of module temperature and fan speed are as follows:

[0072]

[0073] Discretizing (3.1) and (3.2), we obtain the formulas for T(k) and P(k):

[0074]

[0075] In the formula, Indices representing discrete time points; , , , , , , , These represent the number of steps for the time delay term corresponding to its own state; , , These represent the feedback coefficients of their respective states; , These represent the coefficients of their respective external states M1; , These represent the coefficients of the cross-coupling state after discretization.

[0076] exist , , , , , , , , Parameters that make: .

[0077] The present invention also provides a wind turbine control system based on a feedforward compensation decoupling controller. Figure 2 The present invention provides a framework diagram of a wind turbine control system based on a feedforward compensation decoupling controller, as shown in some embodiments of this specification, comprising: The coupling relationship confirmation module is used to confirm the coupling relationship between the input and output of each channel in the wind turbine control system through relative gain matrix analysis. A module for obtaining feedforward compensation decouplers is used to obtain feedforward compensation decouplers based on coupling relationships. The decoupling module is used to apply the feedforward compensation decoupler to the wind turbine control system and decouple the inputs of each channel.

[0078] See Figure 3In one embodiment of the present invention, a computer device is provided, comprising a processor and a memory. The memory stores a computer program, which includes program instructions. The processor executes the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing and control core of the terminal, and is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in the computer storage medium to realize a corresponding method flow or corresponding function. The processor described in this embodiment of the present invention can be used for the operation of a wind turbine control method based on a feedforward compensation decoupling controller.

[0079] In one embodiment of the present invention, a computer-readable storage medium is provided, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device used to store programs and data. It is understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and extended storage media supported by the computer device. The computer-readable storage medium provides storage space containing the terminal's operating system; and the storage space also contains one or more instructions suitable for loading and execution by a processor. These instructions can be one or more computer programs (including program code). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk storage device. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the wind turbine control method based on a feedforward compensation decoupling controller in the embodiment.

[0080] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wind turbine control method based on a feedforward compensation decoupling controller, characterized in that, Includes the following steps: The coupling relationship between the input and output of each channel in the wind turbine control system was confirmed by relative gain matrix analysis. A feedforward compensation decoupler is obtained based on the coupling relationship; The feedforward compensation decoupler is applied to the wind turbine control system to decouple the inputs of each channel.

2. The wind turbine control method based on a feedforward compensation decoupling controller according to claim 1, characterized in that, The method of confirming the coupling relationship between the input and output of each channel in the wind turbine control system through relative gain matrix analysis specifically includes: Establish input and output models for each channel in the wind turbine control system; The static function between input and output is obtained based on the input and output model; The relative gains of the inputs and outputs of each channel in the wind turbine control system are obtained based on static functions; The relative gain matrix of each channel's input and output is obtained based on the relative gain of each channel's input and output. Obtain the operating temperature-fan speed data of the charging pile, and obtain the dynamic characteristic matrix based on the operating temperature-fan speed data; The relative gain matrix of operating temperature versus fan speed is obtained based on the relative gain matrix and dynamic characteristic matrix of each channel input and output. The coupling relationship between the input and output of each channel is confirmed based on the relative gain matrix of operating temperature and fan speed.

3. The wind turbine control method based on a feedforward compensation decoupling controller according to claim 2, characterized in that, The functional expressions of the input and output model are as follows: ； In the formula, The input indicates the fan speed in Zone 1. The input indicates the rotational speed of the fan in Zone 2. The output indicates the temperature of the channel module in zone one; The output indicates the temperature of the second-zone channel module; This represents the static gain in the transfer function between the input and output; This represents the dynamic vector of the wind turbine control system.

4. The wind turbine control method based on a feedforward compensation decoupling controller according to claim 2, characterized in that, The functional expression for the relative gain matrix of operating temperature and fan speed is: ； In the formula, The relative gain matrix representing operating temperature versus fan speed; express and The relative gain; express and The relative gain; express and The relative gain; express and The relative gain.

5. A wind turbine control method based on a feedforward compensation decoupling controller according to claim 2, characterized in that, The relative gain matrix based on operating temperature and fan speed confirms the coupling relationship between the input and output of each channel, specifically including: When the relative gain in the relative gain matrix of operating temperature-fan speed is greater than 0 and less than 1, there is coupling between the input and output of the channel corresponding to the relative gain. When the relative gain in the relative gain matrix of operating temperature-fan speed is not greater than 0 and less than 1, there is no coupling between the input and output of the channel corresponding to the relative gain.

6. The wind turbine control method based on a feedforward compensation decoupling controller according to claim 1, characterized in that, The feedforward compensation decoupler obtained based on the coupling relationship specifically includes: Acquire temperature and speed data for each channel in the fan control system, and obtain the transfer function matrix based on the temperature and speed data; The model matrix of the decoupler is obtained based on the transfer function matrix; By combining the model matrix of the decoupler with the feedforward compensation decoupling principle, a feedforward compensation decoupler is obtained.

7. The wind turbine control method based on a feedforward compensation decoupling controller according to claim 6, characterized in that, The transfer function matrix expression of the feedforward compensation decoupler is: ； In the formula, This represents the transfer function matrix of the feedforward compensation decoupler; Represents complex frequency; Indicates the static gain of the input; Indicates the static gain of the output; This represents the time constant on the temperature molecular side of the first-zone module in the feedforward compensation controller; This represents the time constant on the denominator side of the temperature calculation for the first-zone module in the feedforward compensation controller. This represents the first time constant on the temperature molecular side of the second-zone module in the feedforward compensation controller; This represents the second time constant on the temperature molecular side of the second-zone module in the feedforward compensation controller; This represents the time constant on the denominator side of the temperature calculation in the second-zone module of the feedforward compensation controller; This indicates the temperature response delay time of module 1; Indicates the temperature response delay time of the second-zone module; This represents an exponential function.

8. A wind turbine control system based on a feedforward compensation decoupling controller, characterized in that, include: The coupling relationship confirmation module is used to confirm the coupling relationship between the input and output of each channel in the wind turbine control system through relative gain matrix analysis. A module for obtaining feedforward compensation decouplers is used to obtain feedforward compensation decouplers based on coupling relationships. The decoupling module is used to apply the feedforward compensation decoupler to the wind turbine control system and decouple the inputs of each channel.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-7.

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