Control method and system for temperature regulation actuator of wind turbine generator

Abstract

The invention discloses a control method and system for a temperature regulation actuator of a wind turbine generator, and belongs to the technical field of wind power generation, and the control method for the temperature regulation actuator of the wind turbine generator comprises the following steps: S1, real-time data acquisition; s2, data conversion; s3, initial parameter setting; s4, creating an interval map, and correspondingly putting the data acquired in the S1 and the calculation data in the S2 into the established three-dimensional coordinate system to obtain the interval map; s5, probability density calculation is conducted and used for feeding back the relative possibility of occurrence of the valve under the preset working condition; and S6, clamping stagnation judgment is conducted, actuator clamping stagnation judgment is conducted through a direct torque judgment method and a probability density anomaly judgment method, and when clamping stagnation is judged to occur in any one of the direct torque judgment method and the probability density anomaly judgment method, it is confirmed that the actuator has a clamping stagnation fault. The problem that the fault of the actuator cannot be accurately judged in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of wind power generation, and in particular to a method and system for controlling a temperature regulating actuator of a wind turbine generator set. Background Art

[0002] If a wind turbine wants to operate safely, stably and reliably, a water cooling system in its cabin is indispensable. Figure 1 As shown in the figure, the electric three-way valve controls the heat exchange flow, and its importance is self-evident.

[0003] Conventional technology currently relies solely on simple temperature feedback for protection and fault feedback. This makes it impossible to segment and predict the causes of actuator failures, nor is it possible to optimize the actuator's operating parameters through its own control system to reduce the risk of actuator sticking and wear. This results in increased unplanned downtime on site and reduced system stability and service life.

[0004] Therefore, how to effectively predict and identify three-way valve failures and dynamically optimize the three-way valve actuator control parameters to improve the service life of the three-way valve and system stability and reduce the unplanned downtime of on-site wind turbines is a difficult problem that needs to be solved urgently. Summary of the Invention

[0005] The purpose of this application is to overcome the problems of the prior art and disclose a method and system for controlling a temperature regulating actuator of a wind turbine generator set, so as to solve the problem in the prior art that an actuator fault cannot be accurately judged.

[0006] On the one hand, the purpose of this application is achieved through the following technical solutions: A method for controlling a temperature regulating actuator of a wind turbine generator set, the method comprising: S1: Real-time data acquisition, which collects the operating parameters of the temperature control three-way valve actuator in the temperature control loop of the wind turbine in a periodic cycle. The collected data includes the current operating current, valve position, and temperature of the part of interest of the three-way valve actuator; S2: Data conversion, based on the data collected in step S1, calculate the real-time output torque τ and valve position change rate K of the three-way valve actuator ɵ ; S3: Initial parameter setting, set initial parameters for subsequent fault judgment, including: torque limit τ max , allowable overrun time t max , probability density standard deviation K2, probability density anomaly index K3; S4: Create an interval map, define the data space, and establish an xyz three-dimensional coordinate system, where the x-axis represents the valve position, the y-axis represents the real-time output torque, and the z-axis represents the valve position change rate. The data collected in S1 and the calculated data in S2 are placed in the established three-dimensional coordinate system to obtain the interval map, and the current, temperature, and total valve stroke parameters under the corresponding working conditions are recorded at the same time; Real-time statistics are generated on the number of times the valve appears at the preset working point (x, y, z). Each time the same three-dimensional coordinate appears, 1 is added to the corresponding attribute count to obtain the actual number of times the preset working point occurs within the interval map (count (x, y, z)). The torque in the three-dimensional coordinate system is accumulated to calculate the cumulative torque. S5: Probability density calculation, used to feedback the relative probability of the valve appearing under the preset working conditions. The probability density calculation process includes:

[0007] Among them, P(x,y,z) represents the probability density at the preset working point (x,y,z), Indicates the total number of working conditions in the interval map, Δx indicates the valve position resolution in the interval map, Δy indicates the real-time output torque resolution in the interval map, and Δz indicates the valve position change rate resolution in the interval map; S6. Stuck judgment: The actuator is stuck using the direct torque judgment method and the probability density abnormality judgment method. If either the direct torque judgment method or the probability density abnormality judgment method determines that the actuator is stuck, the actuator is confirmed to have a stuck fault. The direct torque judgment method includes: when it is detected that the real-time output torque τ exceeds the threshold τ max When the time is 1.2 times of the preset time, the timing starts. If the duration exceeds the preset time t max , it is determined that a jam abnormality has occurred; The probability density judgment method includes: calculating the probability density P of the current working condition according to step S5 t and the corresponding working condition historical mean probability density P 平均 For comparison, if (P t -P 平均 ) / K2>K3, it is judged that the actuator is in an abnormal stuck condition.

[0008] According to a preferred embodiment, the calculation process of the real-time output torque τ in step S2 is:

[0009] Among them, K1 represents the torque constant of the three-way valve motor, Indicates the operating current, Indicates the no-load current, represents the friction torque.

[0010] According to a preferred embodiment, the valve position change rate K in step S2 ɵ The calculation process is:

[0011] in, Indicates the valve position at the current moment. Indicates the valve position at the last moment. is the sampling period.

[0012] According to a preferred embodiment, the temperature adjustment actuator control method further includes: S7: Self-healing control. If S6 determines that the system is stuck, self-healing control is initiated to eliminate the stuck state through a hierarchical recovery strategy, including: For the first attempt, apply 50% of the rated torque in the reverse direction for a preset time, then apply 50% of the rated torque in the forward direction for a preset time, and repeat this alternating action three times. If the jamming phenomenon is eliminated, the machine will enter normal operation mode. If the jamming phenomenon is still not eliminated, the machine will enter a second attempt. If the first attempt fails, a second attempt will be made, applying a short-term over-rated torque impact, combined with high-frequency small-amplitude vibration, for a preset time. If the jamming phenomenon is eliminated, the normal operation mode will be entered. If the jamming phenomenon is still not eliminated, the jamming alarm will be triggered, and the interval map data before and after the jam will be transmitted to the host computer through communication.

[0013] According to a preferred embodiment, the temperature adjustment actuator control method further includes: S8, type judgment, completes the jam type judgment based on the interval map data, including: When the valve is stuck repeatedly at the same valve opening and the torque suddenly increases at a single point, that is, the peak torque exceeds 1.2 to 1.5 times the rated torque, and the valve position change rate is 0% / s-0.5% / s, it is judged to be mechanical sticking; When the valve stuck part is scattered throughout the stroke, that is, when a stuck fault occurs, record the current valve opening. If the recorded stuck valve openings are inconsistent and the repetition rate of the fault opening does not exceed 50%, it means that the stuck part is scattered and random, and the torque fluctuates, with the torque repeatedly jumping between zero and maximum torque, and the valve position change rate is irregularly distributed, it is judged to be electrical stuck; When a sticking fault occurs repeatedly at the same valve opening, the torque fluctuates periodically and the same position shows an increasing trend over time, and the valve position change rate is concentrated in the low-speed area, the low-speed area is the area where the valve operating speed is lower than the normal rated speed of the valve, and it is judged to be friction sticking.

[0014] According to a preferred embodiment, the temperature regulating actuator control method further includes: S9: establishing a wear model, and completing the calculation of the actuator's accumulated mechanical work, equivalent friction mileage, and thermal aging index based on the interval map created in S4. Among them, the accumulated mechanical work = ∑(torque × total valve stroke); equivalent friction mileage = ∑(speed × sampling time); thermal aging index = ∑(temperature 2 × sampling time).

[0015] According to a preferred embodiment, the temperature regulating actuator control method further includes: S10: calculating the remaining life, calculating the actuator wear rate and estimating its total remaining life, and the calculation is performed according to the following method: R m =a1×accumulated mechanical work+b1×equivalent friction mileage; R e =a2×thermal aging index+b2×current fluctuation integral; D= ; L = (L0-D) / (R m ×c) Among them, R m is the mechanical aging rate, a1 is the material fatigue coefficient, b1 is the friction and wear coefficient, R e is the electrical aging rate, a2 is the insulation aging coefficient, b2 is the electrical stress coefficient, D is the cumulative damage, L is the remaining life, L0 is the initial life, and c is the safety factor.

[0016] According to a preferred embodiment, the temperature adjustment actuator control method further includes: S11: Operation strategy optimization The speed curve is automatically adjusted in real time using interval maps and probability density to avoid high-wear intervals where the probability density is higher than the historical average. In high-wear intervals, the maximum speed is reduced, and the maximum speed and acceleration parameters are limited to 0.6 times the normal value, thereby reducing friction and shock. According to the target valve opening, when the difference between the current opening and the target opening is greater than the preset value, the valve change rate is increased to 1.2 times the rated value, and the valve passes quickly; when it approaches the target valve position, the valve change rate is reduced to 0.6 times the rated value, and the valve is adjusted slowly and accurately, thereby avoiding repeated adjustments that cause increased wear; Preventive maintenance trigger: When the predicted remaining life is less than the threshold, a maintenance notification is issued in advance and the rated operating parameters are automatically reduced.

[0017] On the other hand, the present application also discloses: A wind turbine temperature adjustment actuator control system, wherein the wind turbine temperature adjustment actuator control system adopts the above-mentioned method to realize actuator control, and the system comprises: The data acquisition unit is used to collect the operating current, valve position and temperature parameters of the three-way valve actuator in real time, and provide the control unit with real-time feedback of the collected real-time data; A control unit is configured to complete data conversion, initial parameter setting, interval map creation, probability density calculation, jamming judgment, self-healing control, jamming type judgment, wear model establishment, and remaining life meter; The execution unit is used to receive the output signal of the control unit and execute the action instruction.

[0018] According to a preferred embodiment, the control unit includes: A data conversion module is used to process the input data of the data acquisition unit to realize data conversion; Initial parameter setting module, used to set initial parameters to assist in subsequent fault diagnosis; Interval map generation module, used to construct the three-dimensional coordinates of valve actuator valve position, torque, and valve position change rate; The stuck judgment module is used to complete the probability density calculation and complete the stuck fault judgment through the direct torque judgment method and the probability density judgment method; Self-healing control module, used to output the response action of the valve actuator after it is stuck; The jam type judgment module completes the jam type judgment based on the interval map data; The remaining life calculation module is used to complete the wear model establishment, calculate and infer the remaining life of the valve actuator, and issue replacement reminders in advance.

[0019] The aforementioned main solution of this application and its further options can be freely combined to form multiple solutions, all of which can be adopted and protected by this application. After understanding the solution of this application, those skilled in the art will understand that there are many combinations based on existing technology and common knowledge, all of which are technical solutions to be protected by this application, and these are not exhaustive here.

[0020] Beneficial effects of this application: The wind turbine temperature control actuator control method and system disclosed in this application can determine the type of stuck fault in real time and automatically initiate recovery actions based on real-time acquisition of actuator operating parameters. Simultaneously, they create interval maps and wear prediction models to provide timely feedback on the actuator's remaining life and optimize operating strategies. This reduces the probability of actuator sticking and wear, effectively shortening unplanned downtime and improving the overall system's operating life and stability.

[0021] The method of the present application uses dual technical means to perform stuck judgment, thereby improving the accuracy of the judgment result, avoiding the occurrence of misjudgment and missed judgment, and thus ensuring the operational stability of the temperature control loop. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the water cooling circuit principle of the wind turbine unit in this application; Figure 2 This is a flow chart of the wind turbine temperature regulation actuator control method of the present application; Figure 3 This is a structural diagram of the temperature regulation actuator control system of the wind turbine set in this application. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0025] Example 1 refer to Figure 2 As shown, this embodiment discloses a method for controlling a temperature regulating actuator of a wind turbine generator set, and the method for controlling a temperature regulating actuator includes the following steps.

[0026] Step S1: Real-time data acquisition, collecting the operating parameters of the temperature control three-way valve actuator in the temperature control loop of the wind turbine in a periodic cycle. The collected data includes the current operating current, valve position, and temperature of the part of interest of the three-way valve actuator.

[0027] Step S2: Data conversion, based on the data collected in step S1, calculate the real-time output torque τ and valve position change rate K of the three-way valve actuator ɵ .

[0028] Specifically, the calculation process of the real-time output torque τ is:

[0029] Among them, K1 represents the torque constant of the three-way valve motor, Indicates the operating current, Indicates the no-load current, represents the friction torque.

[0030] Valve position change rate K ɵ The calculation process is:

[0031] in, Indicates the valve position at the current moment. Indicates the valve position at the last moment. is the sampling period.

[0032] Step S3: Initial parameter setting: according to the operating conditions of the temperature control loop in the wind turbine, set the initial parameters for subsequent fault diagnosis, including: torque limit τ max , allowable overrun time t max , probability density standard deviation K2, probability density anomaly index K3.

[0033] Step S4: Create an interval map, define the data space, and establish an xyz three-dimensional coordinate system, where the x-axis represents the valve position, the y-axis represents the real-time output torque, and the z-axis represents the valve position change rate. Each dimension is divided into 100 equal parts by percentage, and the data collected in S1 and the calculated data in S2 are placed in the established three-dimensional coordinate system to obtain the interval map, and at the same time record the current, temperature and total valve position stroke parameters under the corresponding working conditions.

[0034] The number of times the valve appears at the preset working point (x, y, z) is counted in real time. Every time the same three-dimensional coordinate appears, 1 is added to the corresponding attribute count to obtain the actual number of times the preset working point occurs in the interval map (count (x, y, z)). The torque in the three-dimensional coordinate system is accumulated to calculate the cumulative torque.

[0035] Step S5: Probability density calculation, which is used to feedback the relative probability of the valve appearing under the preset working conditions. The probability density calculation process includes:

[0036] Among them, P(x,y,z) represents the probability density at the preset working point (x,y,z), Indicates the total number of working conditions in the interval map, Δx indicates the valve position resolution in the interval map, Δy indicates the real-time output torque resolution in the interval map, and Δz indicates the valve position change rate resolution in the interval map; Step S6, determining if the actuator is stuck, uses both the direct torque determination method and the probability density anomaly determination method. If either method indicates a stuck condition, the actuator is confirmed to be stuck. This dual-method approach to determining if a stuck condition exists improves accuracy, avoids misjudgments and missed detections, and ensures stable operation of the temperature control circuit.

[0037] The direct torque judgment method includes: when it is detected that the real-time output torque τ exceeds the threshold τ max When the time is 1.2 times of the preset time, the timing starts. If the duration exceeds the preset time t max, it is determined that a jam abnormality has occurred; The probability density judgment method includes: calculating the probability density P of the current working condition according to step S5 t and the corresponding working condition historical mean probability density P 平均 For comparison, if (P t -P 平均 ) / K2>K3, it is judged that the actuator is in an abnormal stuck condition.

[0038] Step S7: Self-healing control. If S6 determines that the system is stuck, self-healing control is initiated to eliminate the stuck state through a hierarchical recovery strategy, including: For the first attempt, apply 50% of the rated torque in the reverse direction for a preset time, then apply 50% of the rated torque in the forward direction for a preset time, and repeat this alternating action three times. If the jamming phenomenon is eliminated, the machine will enter normal operation mode. If the jamming phenomenon is still not eliminated, the machine will enter a second attempt. If the first attempt fails, a second attempt will be made, applying a short-term over-rated torque impact, combined with high-frequency small-amplitude vibration, for a preset time. If the jamming phenomenon is eliminated, the normal operation mode will be entered. If the jamming phenomenon is still not eliminated, the jamming alarm will be triggered, and the interval map data before and after the jam will be transmitted to the host computer through communication.

[0039] S8, type judgment, completes the jam type judgment based on the interval map data, including: When the valve is stuck repeatedly at the same valve opening and the torque suddenly increases at a single point, that is, the peak torque exceeds 1.2 to 1.5 times the rated torque, and the valve position change rate is 0% / s-0.5% / s, it is judged to be mechanical sticking; When the valve stuck part is scattered throughout the stroke, that is, when a stuck fault occurs, record the current valve opening. If the recorded stuck valve openings are inconsistent and the repetition rate of the fault opening does not exceed 50%, it means that the stuck part is scattered and random, and the torque fluctuates, with the torque repeatedly jumping between zero and maximum torque, and the valve position change rate is irregularly distributed, it is judged to be electrical stuck; When a sticking fault occurs repeatedly at the same valve opening, the torque fluctuates periodically and the same position shows an increasing trend over time, and the valve position change rate is concentrated in the low-speed area, the low-speed area is the area where the valve operating speed is lower than the normal rated speed of the valve, and it is judged to be friction sticking.

[0040] Step S9: Wear model is established. Based on the interval map created in S4, the calculation of the actuator's accumulated mechanical work, equivalent friction mileage, and thermal aging index is completed. Among them, the accumulated mechanical work = ∑(torque × total valve stroke); equivalent friction mileage = ∑(speed × sampling time); thermal aging index = ∑(temperature 2 × sampling time).

[0041] Step S10: Calculate the remaining lifespan, calculate the actuator wear rate, and estimate its total remaining lifespan, according to the following method: R m =a1×accumulated mechanical work+b1×equivalent friction mileage; R e =a2×thermal aging index+b2×current fluctuation integral; D= ; L = (L0-D) / (R m ×c) Among them, R m is the mechanical aging rate, a1 is the material fatigue coefficient, b1 is the friction and wear coefficient, R e is the electrical aging rate, a2 is the insulation aging coefficient, b2 is the electrical stress coefficient, D is the cumulative damage, L is the remaining life, L0 is the initial life, and c is the safety factor.

[0042] S11: Operation strategy optimization The speed curve is automatically adjusted in real time using interval maps and probability density to avoid high-wear intervals where the probability density is higher than the historical average. In high-wear intervals, the maximum speed is reduced, and the maximum speed and acceleration parameters are limited to 0.6 times the normal value, thereby reducing friction and shock. According to the target valve opening, when the difference between the current opening and the target opening is greater than the preset value, the valve change rate is increased to 1.2 times the rated value, and the valve passes quickly; when it approaches the target valve position, the valve change rate is reduced to 0.6 times the rated value, and the valve is adjusted slowly and accurately, thereby avoiding repeated adjustments that cause increased wear; Preventive maintenance trigger: When the predicted remaining life is less than the threshold, a maintenance notification is issued in advance and the rated operating parameters are automatically reduced.

[0043] Example 2 Based on Example 1, Figure 3 As shown, this embodiment discloses a wind turbine temperature adjustment actuator control system, and the wind turbine temperature adjustment actuator control system adopts the method described in Example 1 to realize actuator control.

[0044] The system of this embodiment includes: The data acquisition unit is used to collect the operating current, valve position and temperature parameters of the three-way valve actuator in real time, and provide the control unit with real-time feedback of the collected real-time data; The control unit is configured to complete data conversion, initial parameter setting, interval map creation, probability density calculation, jamming judgment, self-healing control, jamming type judgment, wear model establishment, and remaining life meter.

[0045] The execution unit is used to receive the output signal of the control unit and execute the action instruction.

[0046] Preferably, the control unit comprises: A data conversion module is used to process the input data of the data acquisition unit to realize data conversion; Initial parameter setting module, used to set initial parameters to assist in subsequent fault diagnosis; Interval map generation module, used to construct the three-dimensional coordinates of valve actuator valve position, torque, and valve position change rate; The stuck judgment module is used to complete the probability density calculation and complete the stuck fault judgment through the direct torque judgment method and the probability density judgment method; Self-healing control module, used to output the response action of the valve actuator after it is stuck; The jam type judgment module completes the jam type judgment based on the interval map data; The remaining life calculation module is used to complete the wear model establishment, calculate and infer the remaining life of the valve actuator, and issue replacement reminders in advance.

[0047] The wind turbine temperature control actuator control method and system disclosed in this application can determine the type of stuck fault in real time and automatically initiate recovery actions based on real-time acquisition of actuator operating parameters. Simultaneously, they create interval maps and wear prediction models to provide timely feedback on the actuator's remaining life and optimize operating strategies. This reduces the probability of actuator sticking and wear, effectively shortening unplanned downtime and improving the overall system's operating life and stability.

[0048] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for controlling a temperature regulating actuator of a wind turbine generator set, characterized in that: The temperature adjustment actuator control method includes: S1: Real-time data acquisition, which collects the operating parameters of the temperature control three-way valve actuator in the temperature control loop of the wind turbine in a periodic cycle. The collected data includes the current operating current, valve position, and temperature of the part of interest of the three-way valve actuator; S2: Data conversion, based on the data collected in step S1, calculate the real-time output torque τ and valve position change rate K of the three-way valve actuator ɵ ; S3: Initial parameter setting, set initial parameters for subsequent fault judgment, including: torque limit τ max , allowable overrun time t max , probability density standard deviation K2, probability density anomaly index K3; S4: Create an interval map, define the data space, and establish an xyz three-dimensional coordinate system, where the x-axis represents the valve position, the y-axis represents the real-time output torque, and the z-axis represents the valve position change rate. The data collected in S1 and the calculated data in S2 are placed in the established three-dimensional coordinate system to obtain the interval map, and the current, temperature, and total valve stroke parameters under the corresponding working conditions are recorded at the same time; Real-time statistics are generated on the number of times the valve appears at the preset working point (x, y, z). Each time the same three-dimensional coordinate appears, 1 is added to the corresponding attribute count to obtain the actual number of times the preset working point occurs within the interval map (count (x, y, z)). The torque in the three-dimensional coordinate system is accumulated to calculate the cumulative torque. S5: Probability density calculation, used to feedback the relative probability of the valve appearing under the preset working conditions. The probability density calculation process includes: Among them, P(x,y,z) represents the probability density at the preset working point (x,y,z), Indicates the total number of working conditions in the interval map, Δx indicates the valve position resolution in the interval map, Δy indicates the real-time output torque resolution in the interval map, and Δz indicates the valve position change rate resolution in the interval map; S6. Stuck judgment: The actuator is stuck using the direct torque judgment method and the probability density abnormality judgment method. If either the direct torque judgment method or the probability density abnormality judgment method determines that the actuator is stuck, the actuator is confirmed to have a stuck fault. The direct torque judgment method includes: when it is detected that the real-time output torque τ exceeds the threshold τ max When the time is 1.2 times of the preset time, the timing starts. If the duration exceeds the preset time t max , it is determined that a jam abnormality has occurred; The probability density judgment method includes: calculating the probability density P of the current working condition according to step S5 t and the corresponding working condition historical mean probability density P 平均 For comparison, if (P t -P 平均 ) / K2>K3, it is judged that the actuator is in an abnormal stuck condition.

2. The wind turbine generator temperature regulating actuator control method according to claim 1, characterized in that: The calculation process of the real-time output torque τ in step S2 is: Among them, K1 represents the torque constant of the three-way valve motor, Indicates the operating current, Indicates the no-load current, represents the friction torque.

3. The wind turbine generator temperature regulating actuator control method according to claim 1, characterized in that: The valve position change rate K in step S2 ɵ The calculation process is: in, Indicates the valve position at the current moment. Indicates the valve position at the last moment. is the sampling period.

4. The wind turbine generator temperature regulating actuator control method according to claim 1, characterized in that: The temperature adjustment actuator control method further includes: S7: Self-healing control. If S6 determines that the system is stuck, self-healing control is initiated to eliminate the stuck state through a hierarchical recovery strategy, including: For the first attempt, apply 50% of the rated torque in the reverse direction for a preset time, then apply 50% of the rated torque in the forward direction for a preset time, and repeat this alternating action three times. If the jamming phenomenon is eliminated, the machine will enter normal operation mode. If the jamming phenomenon is still not eliminated, the machine will enter a second attempt. If the first attempt fails, a second attempt will be made, applying a short-term over-rated torque impact, combined with high-frequency small-amplitude vibration, for a preset time. If the jamming phenomenon is eliminated, the normal operation mode will be entered. If the jamming phenomenon is still not eliminated, the jamming alarm will be triggered, and the interval map data before and after the jam will be transmitted to the host computer through communication.

5. The wind turbine generator temperature regulating actuator control method according to claim 1, characterized in that: The temperature adjustment actuator control method further includes: S8, type judgment, completes the jam type judgment based on the interval map data, including: When the valve is stuck repeatedly at the same valve opening and the torque suddenly increases at a single point, that is, the peak torque exceeds 1.2 to 1.5 times the rated torque, and the valve position change rate is 0% / s-0.5% / s, it is judged to be mechanical sticking; When the valve stuck part is scattered throughout the stroke, that is, when a stuck fault occurs, record the current valve opening. If the recorded stuck valve openings are inconsistent and the repetition rate of the fault opening does not exceed 50%, it means that the stuck part is scattered and random, and the torque fluctuates, with the torque repeatedly jumping between zero and maximum torque, and the valve position change rate is irregularly distributed, it is judged to be electrical stuck; When a sticking fault occurs repeatedly at the same valve opening, the torque fluctuates periodically and the same position shows an increasing trend over time, and the valve position change rate is concentrated in the low-speed area, the low-speed area is the area where the valve operating speed is lower than the normal rated speed of the valve, and it is judged to be friction sticking.

6. The wind turbine generator temperature regulating actuator control method according to claim 5, characterized in that: The temperature adjustment actuator control method further includes: S9: Wear model is established. Based on the interval map created in S4, the calculation of the actuator's accumulated mechanical work, equivalent friction mileage, and thermal aging index is completed. Among them, the accumulated mechanical work = ∑(torque × total valve stroke); equivalent friction mileage = ∑(speed × sampling time); thermal aging index = ∑(temperature 2 × sampling time).

7. The wind turbine generator temperature regulating actuator control method according to claim 6, characterized in that: The temperature adjustment actuator control method further includes: S10: Calculate the remaining lifespan, calculate the actuator wear rate, and estimate its total remaining lifespan, according to the following method: R m =a1×accumulated mechanical work+b1×equivalent friction mileage; R e =a2×thermal aging index+b2×current fluctuation integral; D= ； L=(L0-D) / (R m ×c) Among them, R m is the mechanical aging rate, a1 is the material fatigue coefficient, b1 is the friction and wear coefficient, R e is the electrical aging rate, a2 is the insulation aging coefficient, b2 is the electrical stress coefficient, D is the cumulative damage, L is the remaining life, L0 is the initial life, and c is the safety factor.

8. The wind turbine generator temperature regulating actuator control method according to claim 7, characterized in that: The temperature adjustment actuator control method further includes: S11: Operation strategy optimization The speed curve is automatically adjusted in real time using interval maps and probability density to avoid high-wear intervals where the probability density is higher than the historical average. In high-wear intervals, the maximum speed is reduced, and the maximum speed and acceleration parameters are limited to 0.6 times the normal value, thereby reducing friction and shock. According to the target valve opening, when the difference between the current opening and the target opening is greater than the preset value, the valve change rate is increased to 1.2 times the rated value, and the valve passes quickly; when it approaches the target valve position, the valve change rate is reduced to 0.6 times the rated value, and the valve is adjusted slowly and accurately, thereby avoiding repeated adjustments that cause increased wear; Preventive maintenance trigger: When the predicted remaining life is less than the threshold, a maintenance notification is issued in advance and the rated operating parameters are automatically reduced.

9. A wind turbine temperature regulating actuator control system, characterized in that: The wind turbine temperature adjustment actuator control system adopts the method according to any one of claims 1 to 8 to realize actuator control, and the system includes: The data acquisition unit is used to collect the operating current, valve position and temperature parameters of the three-way valve actuator in real time, and provide the control unit with real-time feedback of the collected real-time data; A control unit is configured to complete data conversion, initial parameter setting, interval map creation, probability density calculation, jamming judgment, self-healing control, jamming type judgment, wear model establishment, and remaining life meter; The execution unit is used to receive the output signal of the control unit and execute the action instruction.

10. The wind turbine temperature regulating actuator control system according to claim 9, characterized in that: The control unit comprises: A data conversion module is used to process the input data of the data acquisition unit to realize data conversion; Initial parameter setting module, used to set initial parameters to assist in subsequent fault diagnosis; Interval map generation module, used to construct the three-dimensional coordinates of valve actuator valve position, torque, and valve position change rate; The stuck judgment module is used to complete the probability density calculation and complete the stuck fault judgment through the direct torque judgment method and the probability density judgment method; Self-healing control module, used to output the response action of the valve actuator after it is stuck; The jam type judgment module completes the jam type judgment based on the interval map data; The remaining life calculation module is used to complete the wear model establishment, calculate and infer the remaining life of the valve actuator, and issue replacement reminders in advance.

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