A control method of an event-triggered wind turbine torque control system

Abstract

The present disclosure provides a control method of an event-triggered wind turbine torque control system, comprising: S110, designing an event-triggering condition according to a wind turbine torque control system; S120, executing an actuator fault description to build an actuator fault model; S130, respectively calculating an event-triggering parameter and a robust fault-tolerant controller parameter; S140, designing a robust fault-tolerant controller according to the wind turbine torque control system, the event-triggering condition and the robust fault-tolerant controller parameter, and controlling the wind turbine torque control system according to the robust fault-tolerant controller. The control method of the event-triggered wind turbine torque control system according to the present disclosure is used to design a controller for the fault condition of the wind turbine torque control system, to solve the influence of the fault on the system, so that the system can continue to operate stably, and the event-triggering mechanism can reduce the data packet loss problem in the transmission process and reduce the number of fault occurrences.

Description

TECHNICAL FIELD

[0001] The present disclosure belongs to the technical field of fault-tolerant control, and particularly relates to a control method of a wind turbine torque control system based on event triggering. BACKGROUND

[0002] In traditional time-triggered control, communication resources must be updated at each time, which wastes a lot of unnecessary communication resources. Therefore, compared with event triggering, the event triggering mechanism can save communication resources. Therefore, the event triggering mechanism has attracted widespread attention and research.

[0003] In addition, due to long-time uninterrupted work or human operation errors and other factors, the system is inevitably subject to faults. The emergence and development of fault-tolerant control technology open up a new way to ensure effective operation of the system when a fault occurs and improve the safety and reliability of the system. Among them, robust control as a fault-tolerant control method is increasingly applied in nonlinear systems, time-delay systems, uncertain systems, and fuzzy systems. It can find the minimum requirements that must be met to ensure safety requirements in the actual environment. Once the robust fault-tolerant controller is successfully designed, it does not require much human intervention, which can reduce labor costs. SUMMARY

[0004] The present disclosure aims to at least solve one of the technical problems existing in the prior art, and provides a control method of a wind turbine torque control system based on event triggering.

[0005] In one aspect of the present disclosure, a control method of a wind turbine torque control system based on event triggering is provided, and the method comprises:

[0006] S110, designing an event triggering condition according to a wind turbine torque control system;

[0007] S120, performing an actuator fault description to build an actuator fault model;

[0008] S130, respectively calculating an event triggering parameter and a robust fault-tolerant controller parameter;

[0009] S140, designing a robust fault-tolerant controller according to the wind turbine torque control system, the event triggering condition, and the robust fault-tolerant controller parameter, and controlling the wind turbine torque control system according to the robust fault-tolerant controller.

[0010] In some optional embodiments, in step S110, the state space equation of the wind turbine torque control system is:

[0011]

[0012] Where x(k), u(k), ω(k) and y(k) represent the state variables, inputs, disturbance terms and outputs of the wind turbine torque control system, respectively, and A, B, B1, C and D represent the coefficient matrices of the corresponding variables.

[0013] In some optional implementations, step S110 specifically includes:

[0014] Assume the event triggering condition is:

[0015]

[0016] Where ρ∈[0,1), Ω∈R is a positive definite weighting matrix of appropriate size, and x(j) (j=0,1,2,...,∞) represents the currently sampled measurement value. This indicates the data transmitted in the last time. i represents the number of triggers. The sampler acquires signals at a fixed period T;

[0017] According to the trigger function, the event trigger will only send data to the remote robust fault-tolerant controller when the event triggering condition is met. It can be known that the sent data is a subset of the sampled data. Assuming the sampled output is sent in single packets and no packet loss occurs during data transmission, only network latency is considered in the system. Assuming τ... i Let τ represent the transmission delay between the delay sensor and the robust fault-tolerant controller at the i-th iteration, and τ i ∈[τ m ,τ M ], where τ m =min{τ i |i=0,1,2,...,∞}, τ M =max{τ i |i=0,1,2,...,∞};Therefore, the state output ...will be at the moment ...each reaches the robust fault-tolerant controller;

[0018] Based on the above discussion and event triggering conditions, we can obtain the following for

[0019] Then, input signal

[0020]

[0021] The signal received by the zero-order hold is equal to the signal received by the event trigger. The released signal; the zero-order holder is considered to be event-driven, which takes the latest sampling output and saves them until the next sampling data source.

[0022] In some alternative embodiments, step S120 specifically comprises:

[0023] A discrete actuator fault model is constructed, u(k) and u F (k) represent the output of the actuator under normal conditions and the output under fault conditions, respectively, and the matrix F represents the fault factor of the actuator;

[0024] Define u F (k) = Fu(k)

[0025] Wherein, the relationship between the actuator fault and the matrix F can be obtained

[0026] (a) When F = 1, the actuator is in normal working condition;

[0027] (b) When F = 0, the actuator cannot work completely;

[0028] (c) When F ∈ (0, 1), the actuator has partial failure;

[0029] Therefore, after considering the actuator fault, the following fault-tolerant equivalent control law is obtained:

[0030]

[0031] Then the input of the actuator fault is brought into the discrete system, and the feedback-based system can be expressed as:

[0032]

[0033] In some alternative embodiments, step S130 specifically comprises:

[0034] (1) Construct Lyapunov function and design linear matrix inequality:

[0035] Given ρ ∈ [0, 1), γ ∈ (0, +∞) and matrix K, for the existence of positive definite symmetric matrices P, Q1, Q2, R1, R2, Ω, matrix Z and S, if

[0036]

[0037] Θ1(d(k)) = [e2 τ1e6-e3 τ2e7+τ3e8 -e5-e4]

[0038] Θ2(d(k)) = [e1 τ1 e6 - e1 τ2 e7 + τ3 e8 - e5 - e3]

[0039] Θ3 = [e1 e3 e4], Θ4 = [e2 - e1] Θ5 = [e1 - e3 e1 + e3 - 2e6]

[0040] Θ6 = [e3 - e5 e3 + e5 - 2e7 e5 - e4 e5 + e4 - 2e8]

[0041] τ1 = τ m + 1,

[0042]

[0043] R'2 = diag{R2, 3R2}

[0044]

[0045] e i = [0 n×(i-1)n I n×n 0 n×(9-i)n+1 ], i = 1,..., 9, e 10 = [0 1×9n 1]

[0046] τ1 = τ m + 1, τ2 = 1 + d(k) - τ m ,

[0047] Then, the above feedback system is stable under the H ∞ performance condition.

[0048] where d(k), and τ m denote the function of delay, upper bound and lower bound respectively, α, ρ and γ denote constants in different value ranges, matrix K denotes the robust fault-tolerant controller parameter to be solved, matrices P, Q1, Q2, R1, R2 and Ω denote positive definite symmetric matrices to be solved, Z and S denote non-positive definite symmetric matrices to be solved, and other variables in the formula are obtained from the above variables.

[0049] (2) obtaining inequality matrices, solving the robust fault-tolerant controller parameter and the event triggering parameter:

[0050] Given ρ ∈ [0, 1), γ ∈ (0, +∞), α ∈ (0, 1) and matrix K, for the existence of positive definite symmetric matrices and matrix Z, Γ and If

[0051]

[0052]

[0053]

[0054]

[0055]

[0056]

[0057] Then, the feedback system described above is stable under H ∞ performance condition;

[0058] wherein, and τ m respectively represent the upper and lower bounds of the delay, α, ρ and γ represent constants with different value ranges, and matrix K represents the robust fault-tolerant controller parameter to be solved, matrix and represent the positive definite symmetric matrix to be solved, Z, Γ and represent the non-positive definite symmetric matrix to be solved, wherein other variables are obtained from the above variables;

[0059] Moreover, the robust parameter matrix K can also be obtained

[0060]

[0061] In some optional embodiments, the step S140 specifically comprises:

[0062] Considering the wind turbine torque control system, the robust matrix parameter K and the event triggering condition, a robust fault-tolerant controller is designed for control, so that for The system can still operate stably in the case of failure:

[0063] u(k) = Kx(k).

[0064] Another aspect of the present disclosure provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, can implement the method according to the foregoing.

[0065] The control method of the event-triggered wind turbine torque control system according to the embodiment of the present disclosure is used to design the controller to solve the influence of the fault on the system, so that the system can continue to operate stably, and the event-triggering mechanism can reduce the data packet loss problem in the transmission process and reduce the number of fault occurrences. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 FIG. 1 is a structural diagram of an event-triggered wind turbine torque control system according to an embodiment of the present disclosure;

[0067] Figure 2 FIG. 2 is a flowchart of a control method of an event-triggered wind turbine torque control system according to another embodiment of the present disclosure;

[0068] Figure 3 FIG. 3 is a trajectory diagram of the system state according to another embodiment of the present disclosure;

[0069] Figure 4 FIG. 4 is a control input curve diagram according to another embodiment of the present disclosure;

[0070] Figure 5 FIG. 5 is an output curve diagram according to another embodiment of the present disclosure;

[0071] Figure 6 FIG. 6 is a trigger time interval curve diagram according to another embodiment of the present disclosure. DETAILED DESCRIPTION

[0072] In order for those skilled in the art to better understand the technical solutions of the present disclosure, the present disclosure will be further described in detail below in combination with the drawings and specific embodiments.

[0073] The embodiment of the present disclosure relates to a control method of an event-triggered wind turbine torque control system, which can adopt the system shown in Figure 1 which includes an actuator, a control object, a sensor, an event trigger, a zero-order holder, a robust fault-tolerant controller, and the like.

[0074] The control method of an event-triggered wind turbine torque control system according to an embodiment of the present disclosure will be described below with reference to Figure 2 FIG. 1.

[0075] As shown in Figure 2 FIG. 2, a control method S100 of an event-triggered wind turbine torque control system includes the following steps.

[0076] S110, according to the wind turbine torque control system, the event trigger condition is designed.

[0077] S120. Actuator fault description and construction of actuator fault model.

[0078] S130, Calculate the event triggering parameters and robust fault-tolerant controller parameters respectively.

[0079] S140. Based on the wind turbine torque control system, the event triggering conditions, and the robust fault-tolerant controller parameters, design a robust fault-tolerant controller, and control the wind turbine torque control system according to the robust fault-tolerant controller.

[0080] This disclosure discloses a control method for a wind turbine torque control system based on event triggering. The method is used to design a controller to address the impact of faults on the wind turbine torque control system, enabling the system to continue to operate stably. At the same time, the event triggering mechanism can reduce data packet loss during transmission and reduce the number of faults.

[0081] In some alternative embodiments, the state-space equation of the wind turbine torque control system is:

[0082]

[0083] Where x(k), u(k), ω(k) and y(k) represent the state variables, inputs, disturbance terms and outputs of the wind turbine torque control system, respectively, and A, B, B1, C and D represent the coefficient matrices of the corresponding variables.

[0084] In some optional implementations, step S110 specifically includes:

[0085] Assume the event triggering condition is:

[0086]

[0087] Where ρ∈[0,1), Ω∈R is a positive definite weighting matrix of appropriate size, and x(j) (j=0,1,2,...,∞) represents the currently sampled measurement value. This indicates the data transmitted in the last time. i represents the number of triggers. The sampler acquires signals at a fixed period T;

[0088] According to the trigger function, the event trigger will only send data to the remote robust fault-tolerant controller when the event triggering condition is met. It can be known that the sent data is a subset of the sampled data. Assuming the sampled output is sent in single packets and no packet loss occurs during data transmission, only network latency is considered in the system. Assuming τ... idenotes the transmission delay between the ith delayed sensor and the robust fault-tolerant controller, and τ i ∈ [τ m ,τ M ], where τ m = min{τ i |i = 0, 1, 2,..., ∞}, τ M = max{τ i |i = 0, 1, 2,..., ∞}; thus, the state output ... will reach the robust fault-tolerant controller at time ... respectively;

[0089] Based on the above discussion and the event-triggered condition, it can be obtained that for

[0090] Then, the input signal

[0091]

[0092] The signal received by the zero-order holder is equal to the signal released by the event trigger at The zero-order holder is considered to be event-driven, which takes the latest sampling output and saves them until the next sampling data source.

[0093] In some optional embodiments, the step S120 specifically comprises:

[0094] A discrete actuator fault model is constructed, u(k) and u F (k) represent the output of the actuator under normal conditions and the output under fault conditions respectively, and the matrix F represents the fault factor of the actuator;

[0095] u F (k) = Fu(k)

[0096] where the relationship between the actuator fault and the matrix F can be obtained

[0097] (a) When F = 1, the actuator is in normal working condition;

[0098] (b) When F = 0, the actuator cannot work completely;

[0099] (c) When F ∈ (0, 1), the actuator has partial faults;

[0100] Therefore, after considering the actuator fault, the following fault-tolerant equivalent control law with faults is obtained:

[0101]

[0102] Then the input of actuator fault is brought into the discrete system, and the feedback-based system can be expressed as:

[0103]

[0104] In some optional embodiments, step S130 specifically comprises:

[0105] (1) Construct Lyapunov function, design linear matrix inequality:

[0106] Given ρ∈[0,1),γ∈(0,+∞) and matrix K, for the existence of positive definite symmetric matrix P, Q1, Q2, R1, R2, Ω, matrix Z and S, if

[0107]

[0108] Θ1(d(k))=[e2 τ1e6-e3 τ2e7+τ3e8 -e5-e4]

[0109] Θ2(d(k))=[e1 τ1e6-e1 τ2e7+τ3e8 -e5-e3]

[0110] Θ3=[e1 e3 e4],Θ4=[e2-e1]Θ5=[e1-e3e1+e3-2e6]

[0111] Θ6=[e3-e5 e3+e5-2e7 e5-e4 e5+e4-2e8]

[0112] τ1=τ m +1,

[0113]

[0114] R′2=diag{R2,3R2}

[0115]

[0116] e i =[0 n×(i-1)n I n×n 0 n×(9-i)n+1 ],i=1,...,9,e 10 =[0 1×9n 1]

[0117] τ1=τ m +1,τ2=1+d(k)-τ m ,

[0118] Then, the feedback system is stable in H ∞ performance condition.

[0119] where d(k), τ and τ m denote the function of delay, upper bound and lower bound, respectively, α, ρ and γ denote constants in different value ranges, matrix K denotes the robust fault-tolerant controller parameter to be solved, matrices P, Q1, Q2, R1, R2 and Ω denote positive definite symmetric matrices to be solved, Z and S denote non-positive definite symmetric matrices to be solved, and other variables are obtained from the above variables.

[0120] (2) Obtain inequality matrix, solve robust fault-tolerant controller parameter and event triggering parameter:

[0121] It is given that ρ∈[0, 1), γ∈(0, +∞), α∈(0, 1) and matrix K, for which there exists a positive definite symmetric matrix and matrix Z, Γ and If

[0122]

[0123]

[0124]

[0125]

[0126]

[0127]

[0128] Then, the feedback system is stable in H ∞ performance condition.

[0129] where and τ m denote the upper bound and lower bound of delay, respectively, α, ρ and γ denote constants in different value ranges, matrix K denotes the robust fault-tolerant controller parameter to be solved, matrices and denote positive definite symmetric matrices to be solved, Z, Γ and denote non-positive definite symmetric matrices to be solved, and other variables are obtained from the above variables.

[0130] Moreover, for the robust parameter matrix K, it can be obtained that

[0131]

[0132] In some alternative implementations, step S140 specifically includes:

[0133] Considering the wind turbine torque control system, the robust matrix parameter K, and the event triggering conditions, the following robust fault-tolerant controller is designed for control. Then, for... The system can still operate stably even in the event of a failure:

[0134] u(k) = Kx(k).

[0135] The following section will provide a detailed explanation using a specific example.

[0136] Taking the torque control system of a wind turbine as an example, the following is its state-space equation:

[0137]

[0138] in

[0139]

[0140] C = [0 0 0.542], D = 0.

[0141] In this example, the external disturbance ω(k) can be expressed as

[0142]

[0143] The sampling time interval is 0.01s.

[0144] Step 1: Design of Event Triggering Mechanism

[0145] An effective event-triggered communication transmission strategy is designed, which can reduce the number of trigger control signals and the burden on the shared network, reduce computational complexity, and improve operating efficiency. The event triggering conditions are assumed to be as follows:

[0146]

[0147] Where ρ∈[0,1), Ω∈R is a positive definite weighting matrix of appropriate size, and x(j) (j=0,1,2,...,∞) represents the currently sampled measurement value. This indicates the data transmitted in the last time. i represents the number of triggers. The sampler acquires signals at a fixed period T.

[0148] According to the trigger function, the event trigger sends data to the remote robust fault-tolerant controller only when the trigger condition is met, and it can be known that the sent data is a subset of the sampled data. It is assumed that the sampled output is sent in a single packet and no packet loss occurs during data transmission. Therefore, only network delay is considered on the system. It is assumed that τ i represents the transmission delay between the i-th delayed sensor and the robust fault-tolerant controller, and τ i ∈ [τ m ,τ M ], where τ m = min{τ i |i = 0, 1, 2,..., ∞}, τ M = max{τ i |i = 0, 1, 2,..., ∞}; therefore, the state output ... will reach the robust fault-tolerant controller at time ..., respectively.

[0149] Second step: actuator fault description, build fault model

[0150] A discrete actuator fault model is built, where u(k) and u F (k) represent the output of the actuator under normal and fault conditions, respectively, and matrix F represents the fault factor of the actuator.

[0151] We define u F (k) = Fu(k)

[0152] We give the actuator fault coefficient:

[0153] F = 0.8

[0154] Third step: parameter calculation of event-triggered robust fault-tolerant controller

[0155] Select ρ = 0.1, τ m = 1, and G = B + -Y(I n -BB + ), (Y = [1 1 1 1]) By using the toolbox to solve the inequality equation, we obtain the results that meet the conditions as follows

[0156]

[0157] K = [-17.0177 -202.7379 -714.1062]

[0158] And we obtain the minimum performance index γmin =0.15.

[0159] Step 4: Design a robust fault-tolerant controller

[0160] Considering the actuator's failure coefficient F, the robust fault-tolerant control law is expressed as follows:

[0161] u(k)=[-17.0177 -202.7379 -714.1062]x(k)

[0162] Finally, simulations were used to verify the results, such as... Figures 3 to 6 As shown, in the simulation, the initial condition is chosen as x(0) = [0 0 0]. T . Figure 3 The four system state changes can be observed. Figure 4 The curve of the control input u(k) was plotted. Figure 5 This demonstrates the output change y1. From Figure 3 and Figure 5 As can be seen, when the system receives actuator failure and external interference, the system can still tend to stabilize through the action of the robust fault-tolerant controller. Figure 6 It displays the number of times the event was triggered and the time interval. Figure 6 As we can see, for k∈[0,1000], only 96 output signals need to be transmitted over the network, thus reducing the number of transmissions by 99.9%. Therefore, the method enables the system to operate stably even under the influence of faults, while the event-triggered mechanism reduces data packet loss during transmission and decreases the number of faults.

[0163] Another aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, enables the implementation of the method described above.

[0164] The computer-readable medium may be included in the apparatus, device, or system disclosed herein, or it may exist independently.

[0165] The computer-readable storage medium may be any tangible medium that contains or stores a program, and may be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device. More specific examples include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, an optical fiber, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0166] Computer readable storage media can include, but is not limited to, magnetic storage media, optical storage media, solid state storage media, and any suitable combination thereof. Herein, computer readable storage media does not include a carrier wave.

[0167] It can be understood that the above implementation is only an exemplary implementation adopted for illustrating the principles of the present disclosure, and the present disclosure is not limited thereto. Various modifications and improvements can be made by those of ordinary skill in the art without departing from the spirit and principle of the present disclosure, and these modifications and improvements are also considered to be within the protection scope of the present disclosure.

Claims

1. A control method of an event-triggered wind turbine torque control system, characterized in that, The method comprises the following steps: S110, designing an event triggering condition according to a wind turbine torque control system; S120, executing an actuator fault description to build an actuator fault model; S130, respectively calculating an event triggering parameter and a robust fault-tolerant controller parameter; S140, designing a robust fault-tolerant controller according to the wind turbine torque control system, the event triggering condition and the robust fault-tolerant controller parameter, and controlling the wind turbine torque control system according to the robust fault-tolerant controller; In step S110, the state space equation of the wind turbine torque control system is: Wherein, x(k), u(k), ω(k) and y(k) represent state variables, input, disturbance and output of the wind turbine torque control system respectively, and A, B, B1, C and D represent coefficient matrices of corresponding variables respectively; Step S110 specifically comprises: Suppose the event triggering condition is: Wherein, p is in [0, 1), omega is a positive definite weighting matrix with proper size, x(j) (j=0, 1, 2,..., infinity) represents the current sampled measurement value, Data representing the last transmission ( Trigger number representing, The sampler collects signals at a fixed period T; According to the trigger function, the event trigger sends data to the remote robust fault-tolerant controller only when the event trigger condition is met, and it can be known that the sent data is a subset of the sampled data; it is assumed that the sampled output is sent in a single packet, and no packet loss occurs during data transmission, so only network delay is considered on the system; it is assumed that τ i represents the transmission delay between the i-th delayed sensor and the robust fault-tolerant controller, and τ i ∈ [τ m ,τ M ], where τ m = min{τ i |i = 0, 1, 2,..., ∞}, τ M = max{τ i |i = 0, 1, 2,..., ∞}; therefore, the state output ... will reach the robust fault-tolerant controller at time ... respectively; Based on the above discussion and the event trigger condition, it can be derived that for Then, input signal The signal received at the zero-order hold is equal to the event trigger at the signal released; the zero-order hold is considered event-driven, it takes the latest sample outputs and holds them until the next sample data source; Step S120 specifically comprises: A discrete actuator fault model is constructed, u(k) and u F (k) represent the output of the actuator under normal and fault conditions, respectively, and the matrix F represents the fault factor of the actuator; Definition u F (k) = Fu(k) Wherein, the relationship between the actuator fault and the matrix F can be obtained (a) When F = 1, the actuator is in normal working condition; (b) When F = 0, the actuator cannot work completely; (c) When F ∈ (0, 1), the actuator has partial fault; Therefore, after considering the actuator fault, the following robust equivalent control law with fault is obtained: Then the input of the actuator fault is brought into the discrete system, and the feedback system can be expressed as:

2. The method of claim 1, wherein, Step S130 specifically comprises: (1) Constructing Lyapunov function, designing linear matrix inequality: Given P, Q1, Q2, R1, R2, Ω, Z and S are positive definite symmetric matrices, if Θ1(d(k)) = [e2 τ1e6-e3 τ2e7+τ3e8 -e5-e4] Θ2(d(k)) = [e1 τ1e6-e1 τ2e7+τ3e8 -e5-e3] Θ3 = [e1 e3 e4], Θ4 = [e2-e1] Θ5 = [e1-e3 e1+e3-2e6] Θ6 = [e3-e5 e3+e5-2e7 e5-e4 e5+e4-2e8] R'2 = diag{R2, 3R2} e i = [0 n×(i-1)n I n×n 0 n×(9-i)n+1 ], i = 1,..., 9, e 10 = [0 1×9n 1] τ1= τ m +1, τ21+d(k)-τ m , So, the feedback system described above is stable in H ∞ performance conditions; Wherein, d(k), and τ m Let represent the delayed function, upper bound, and lower bound, respectively; α, ρ, and γ represent constants with different ranges of values; matrix K represents the robust fault-tolerant controller parameters to be solved; matrices P, Q1, Q2, R1, R2, and Ω represent the positive definite symmetric matrices to be solved; and Z and S represent the non-positive definite symmetric matrices to be solved. (2) Obtaining inequality matrix, calculating robust fault-tolerant controller parameter and event triggering parameter: Given p e [0, 1), γ e (0, +∞), a e (0, 1) and a matrix K, for which there exists a positive definite symmetric matrix and the matrix Z, Γ and if So, the feedback system described above is stable in H ∞ performance conditions; wherein, and τ m denote the upper and lower bounds of the delay, respectively, and a, p and g denote constants with different value ranges, matrix K denotes the parameter of the robust fault-tolerant controller to be solved, matrix and denote the positive definite symmetric matrix to be solved, Z, and denote the non-positive definite symmetric matrix to be solved, wherein other variables are obtained from the above variables; And, the robust parameter matrix K can also be obtained 3. The method of claim 2, wherein, Step S140 specifically comprises: Considering the torque control system of wind turbine, the robust matrix parameter K and the event-triggered condition, a robust fault-tolerant controller is designed to control the system, and then for The system can still operate stably in the case of failure u(k) = Kx(k).

4. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the method according to any one of claims 1 to 3. The computer program is executed by the processor to realize the method according to any one of claims 1 to 3.

Images