A wind turbine temperature regulation actuator control method and system

Abstract

The application discloses a wind turbine temperature regulation actuator control method and system, and belongs to the technical field of wind power generation. The wind turbine temperature regulation actuator control method comprises the following steps: S1, real-time data acquisition; S2, data conversion; S3, initial parameter setting; S4, interval map creation, wherein the data collected in S1 and the calculation data in S2 are put into a three-dimensional coordinate system to obtain an interval map; S5, probability density calculation, which is used for feeding back the relative possibility of a valve under a preset working condition; S6, stuck judgment, wherein the direct torque judgment method and the probability density abnormal judgment method are used to judge whether the actuator is stuck, and when any of the direct torque judgment method and the probability density abnormal judgment method judges that the actuator is stuck, it is determined that the actuator is stuck. The problem that the actuator fault cannot be accurately judged in the prior art is solved.

Description

Technical Field

[0001] This application belongs to the field of wind power generation, and in particular relates to a control method and system for a temperature regulation actuator of a wind turbine. Background Technology

[0002] For wind turbines to operate safely, stably, and reliably, a water-cooling system within the nacelle is indispensable, such as... Figure 1 As shown, the electric three-way valve controls the heat exchange flow rate, and its importance is self-evident.

[0003] Currently, conventional technologies for three-way valve actuators rely solely on simple temperature feedback for protection and fault detection. This approach fails to provide detailed analysis and prediction of actuator malfunctions, and it cannot optimize actuator operating parameters through its own control system to reduce actuator jamming and wear-related failures. This leads to increased unplanned downtime in the field, reducing system stability and lifespan.

[0004] Therefore, how to effectively predict and identify three-way valve failures, dynamically optimize the control parameters of the three-way valve actuator, thereby improving the service life of the three-way valve and the stability of the system, and reducing the unplanned downtime of the wind turbine in the field is an urgent problem to be solved. Summary of the Invention

[0005] The purpose of this application is to overcome the problems of the prior art by disclosing a control method and system for a temperature regulating actuator of a wind turbine, so as to solve the problem that the prior art cannot accurately determine the actuator fault.

[0006] On the one hand, the objective of this application is achieved through the following technical solution:

[0007] A method for controlling a temperature regulating actuator in a wind turbine generator set, the method comprising:

[0008] S1: Real-time data acquisition, which collects the operating parameters of the temperature regulating three-way valve actuator in the temperature regulation loop of the wind turbine in a periodic cycle. The collected data includes the current operating current of the three-way valve actuator, valve position, and temperature of the part of interest.

[0009] S2: Data conversion, based on the data collected in step S1, calculates the real-time output torque τ of the three-way valve actuator and the valve position change rate K. ɵ ;

[0010] S3: Initial parameter tuning. Set initial parameters for subsequent fault diagnosis, including: torque limit τ. max Allowed overtime t max , probability density standard deviation K2, probability density anomaly index K3;

[0011] S4: Create a zone map, define the data space, establish a three-dimensional coordinate system of xyz, 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. Put the data collected in S1 and the data calculated in S2 into the established three-dimensional coordinate system to obtain the zone map, and at the same time record the current, temperature and total valve position stroke parameters under the corresponding working conditions.

[0012] The number of times the valve appears at the preset working point (x, y, z) is counted in real time. Each time the same three-dimensional coordinate appears, the corresponding attribute count is incremented by 1 to obtain the count (x, y, z) of the actual number of times the preset working point occurs in the interval map. The torque in the three-dimensional coordinate system is accumulated to calculate the cumulative torque.

[0013] S5: Probability density calculation, used to provide feedback on the relative probability of the valve occurring under preset operating conditions. The probability density calculation process includes:

[0014]

[0015] Where P(x,y,z) represents the probability density at the preset operating point (x,y,z). Δx represents the total number of operating conditions within the interval map, Δy represents the valve position resolution in the interval map, Δz represents the real-time output torque resolution in the interval map, and Δz represents the valve position change rate resolution in the interval map.

[0016] S6. Jamming detection: The actuator jamming is detected by the direct torque detection method and the probability density anomaly detection method. If jamming is detected by either the direct torque detection method or the probability density anomaly detection method, the actuator is confirmed to have a jamming fault.

[0017] The direct torque determination method includes: when the detected real-time output torque τ exceeds the threshold τ max When the time reaches 1.2 times the preset time t, the timer starts. max If so, it is determined that an abnormal jamming situation has occurred;

[0018] The probability density judgment method includes: calculating the probability density P of the current working condition based on step S5. t And compared with the historical mean probability density P of the corresponding working conditions 平均 Compare them, if (P t -P 平均 If K2 > K3, then the actuator is determined to be in a stuck abnormal state.

[0019] According to a preferred embodiment, the calculation process for the real-time output torque τ in step S2 is as follows:

[0020]

[0021] Where K1 represents the torque constant of the three-way valve motor, Indicates the operating current. Indicates no-load current. This represents the frictional torque.

[0022] According to a preferred embodiment, the valve position change rate K in step S2 ɵ The calculation process is as follows:

[0023]

[0024] in, Indicates the current valve position. Indicates the valve position at the previous moment. The sampling period.

[0025] According to a preferred embodiment, the temperature regulating actuator control method further includes:

[0026] S7: Self-healing control. If S6 determines that a jamming phenomenon has occurred, then self-healing control is activated. The jamming phenomenon is eliminated through a graded recovery strategy, including:

[0027] 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, repeating this alternating forward and reverse action 3 times. If the jamming phenomenon is eliminated, enter the normal operation mode; if the jamming phenomenon is still not eliminated, proceed to the second attempt.

[0028] 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 system will enter normal operation mode. If the jamming phenomenon is still not eliminated, a jamming alarm will be triggered, and the map data of the section before and after the jamming will be transmitted to the host computer via communication.

[0029] According to a preferred embodiment, the temperature regulating actuator control method further includes:

[0030] S8. Type Determination: Based on the interval map data, determine the type of lag, including:

[0031] When the valve repeatedly jams at the same valve opening degree, and the torque suddenly increases at a single point, i.e. 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 as mechanical jamming.

[0032] When the valve jamming part is dispersed throughout the entire stroke, that is, when a jamming fault occurs, the current valve opening is recorded. If the recorded jamming valve openings are inconsistent and the fault opening repetition rate does not exceed 50%, it indicates that the jamming part occurs randomly and dispersedly. When the torque fluctuates, and the torque repeatedly jumps between zero and maximum torque, and the valve position change rate is irregularly distributed, it is judged as electrical jamming.

[0033] When repeated jamming faults occur at the same valve opening degree, the torque fluctuates periodically and shows an increasing trend over time at the same position, and the valve position change rate is concentrated in the low-speed region, the low-speed region is the region where the valve action speed is lower than the normal rated speed of the valve, and it is judged to be friction jamming.

[0034] According to a preferred embodiment, the temperature regulating actuator control method further includes: S9: Wear model establishment, based on the interval map created in S4, calculating the actuator's cumulative mechanical work, equivalent friction mileage, and thermal aging index.

[0035] Wherein, cumulative mechanical work = ∑(torque × total valve stroke); equivalent friction mileage = ∑(speed × sampling time); thermal aging index = ∑(temperature) 2 ×Sampling time).

[0036] According to a preferred embodiment, the temperature regulating actuator control method further includes: S10: Remaining life calculation, calculating the actuator wear rate, and estimating its total remaining life according to the following method:

[0037] R m =a1×cumulative mechanical work+b1×equivalent friction mileage;

[0038] R e =a2×thermal aging index +b2×current fluctuation integral;

[0039] D= ;

[0040] L = (L0 - D) / (R) m ×c)

[0041] Among them, R m R is the mechanical aging rate, a1 is the material fatigue coefficient, b1 is the friction and wear coefficient, and R is the mechanical aging rate. e denoted as electrical aging rate, a2 as insulation aging coefficient, b2 as electrical stress coefficient, D as cumulative damage, L as remaining life, L0 as initial life, and c as safety factor.

[0042] According to a preferred embodiment, the temperature regulating actuator control method further includes:

[0043] S11: Optimization of Operation Strategy

[0044] By using interval maps and probability density to automatically adjust the speed curve in real time, the high wear intervals with probability density higher than the historical average are avoided. In the high wear intervals, the maximum speed is reduced, and the maximum speed and acceleration parameters are limited to 0.6 times the normal value to reduce friction and impact.

[0045] Based on 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 for rapid passage; when approaching the target valve position, the valve change rate is reduced to 0.6 times the rated value for slow and precise adjustment, thereby avoiding repeated adjustments that lead to increased wear.

[0046] Preventative maintenance trigger: When the predicted remaining lifespan is less than the threshold, a maintenance notification is issued in advance, and the rated operating parameters are automatically reduced.

[0047] On the other hand, this application also discloses:

[0048] A wind turbine temperature regulation actuator control system, wherein the wind turbine temperature regulation actuator control system implements actuator control using the aforementioned method, the system comprising:

[0049] 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 to provide real-time feedback of the collected data to the control unit.

[0050] The control unit is configured to perform 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 measurement.

[0051] The execution unit is used to receive output signals from the control unit and execute action commands.

[0052] According to a preferred embodiment, the control unit includes:

[0053] The data conversion module is used to process the input data from the data acquisition unit to achieve data conversion.

[0054] The initial parameter tuning module is used to set initial parameters to assist in subsequent fault diagnosis.

[0055] The interval map generation module is used to construct three-dimensional coordinates of valve position, torque, and valve position change rate of valve actuator;

[0056] The jamming judgment module is used to complete the probability density calculation and to judge the jamming fault through the direct torque judgment method and the probability density judgment method.

[0057] The self-healing control module is used to output the response action after the valve actuator jams.

[0058] The jam type determination module determines the jam type based on interval map data.

[0059] The remaining life calculation module is used to complete the wear model establishment and calculate and infer the remaining life of the valve actuator, and issue a replacement reminder in advance.

[0060] The aforementioned main solution and its various further alternative solutions can be freely combined to form multiple solutions, all of which are solutions that can be adopted and are claimed in this application. Those skilled in the art, after understanding the solution of this application, will realize that there are many combinations based on the prior art and common general knowledge, all of which are technical solutions to be protected in this application, and will not be exhaustively listed here.

[0061] The beneficial effects of this application are:

[0062] The wind turbine temperature regulation actuator control method and system disclosed in this application can determine the type of jamming fault in real time based on the real-time collected actuator operating parameters and automatically perform recovery actions; at the same time, it can create a range map and wear prediction model to provide timely feedback on the remaining lifespan of the actuator and optimize the operating strategy. This reduces the probability of actuator jamming and wear, effectively reduces unplanned downtime of the entire unit, and improves the overall operating life and stability of the system.

[0063] The method described in this application uses dual technical means to determine the jamming, which improves the accuracy of the judgment results and avoids misjudgment and missed judgment, thereby ensuring the operational stability of the temperature regulation circuit. Attached Figure Description

[0064] Figure 1 This is a schematic diagram of the water-cooling circuit principle of the wind turbine unit in this application;

[0065] Figure 2 This is a flowchart illustrating the wind turbine temperature regulation actuator control method of this application;

[0066] Figure 3 This is a schematic diagram of the wind turbine temperature regulation actuator control system of this application. Detailed Implementation

[0067] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0068] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0069] Example 1

[0070] refer to Figure 2 As shown in the figure, this embodiment discloses a control method for a temperature regulating actuator of a wind turbine, which includes the following steps.

[0071] Step S1: Real-time data acquisition. The operating parameters of the temperature regulating three-way valve actuator in the temperature regulation loop of the wind turbine are collected in a periodic cycle. The collected data includes the current operating current of the three-way valve actuator, valve position, and temperature of the part of interest.

[0072] 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 .

[0073] Specifically, the calculation process for the real-time output torque τ is as follows:

[0074]

[0075] Where K1 represents the torque constant of the three-way valve motor, Indicates the operating current. Indicates no-load current. This represents the frictional torque.

[0076] Valve position change rate K ɵ The calculation process is as follows:

[0077]

[0078] in, Indicates the current valve position. Indicates the valve position at the previous moment. The sampling period.

[0079] Step S3: Initial parameter tuning. Based on the operating conditions of the temperature regulation circuit within the wind turbine, initial parameters are set for subsequent fault diagnosis, including: torque limit τ. max Allowed overtime t max , probability density standard deviation K2, probability density anomaly index K3.

[0080] Step S4: Create an interval map, define the data space, and establish a three-dimensional coordinate system of xyz, 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. The data collected in S1 and the data calculated in S2 are placed into the established three-dimensional coordinate system to obtain the interval map. At the same time, the current, temperature and total valve position stroke parameters under the corresponding working conditions are recorded.

[0081] The system counts the number of times the valve appears at the preset working point (x, y, z) in real time. Each time the same three-dimensional coordinate appears, the corresponding attribute count is incremented by 1 to obtain the count (x, y, z) of the actual number of times the preset working point occurs within the interval map. The system also accumulates the torque in the three-dimensional coordinate system to calculate the cumulative torque.

[0082] Step S5: Probability density calculation, used to provide feedback on the relative probability of the valve occurring under preset operating conditions. The probability density calculation process includes:

[0083]

[0084] Where P(x,y,z) represents the probability density at the preset operating point (x,y,z). Δx represents the total number of operating conditions within the interval map, Δy represents the valve position resolution in the interval map, Δz represents the real-time output torque resolution in the interval map, and Δz represents the valve position change rate resolution in the interval map.

[0085] Step S6: Jamming Judgment. Actuator jamming is determined using both the direct torque judgment method and the probability density anomaly judgment method. If jamming is detected by either method, a jamming fault is confirmed in the actuator. This dual-technical approach improves the accuracy of the judgment results, avoids false positives and false negatives, and thus ensures the operational stability of the temperature control loop.

[0086] The direct torque determination method includes: when the detected real-time output torque τ exceeds the threshold τ max When the time reaches 1.2 times the preset time t, the timer starts. max If so, it is determined that an abnormal jamming situation has occurred;

[0087] The probability density judgment method includes: calculating the probability density P of the current working condition based on step S5. t And compared with the historical mean probability density P of the corresponding working conditions 平均 Compare them, if (P t -P 平均 If K2 > K3, then the actuator is determined to be in a stuck abnormal state.

[0088] Step S7: Self-healing control. If S6 determines that a stuck phenomenon has occurred, then self-healing control is activated. The stuck phenomenon is eliminated through a graded recovery strategy, including:

[0089] 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, repeating this alternating forward and reverse action 3 times. If the jamming phenomenon is eliminated, enter the normal operation mode; if the jamming phenomenon is still not eliminated, proceed to the second attempt.

[0090] 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 system will enter normal operation mode. If the jamming phenomenon is still not eliminated, a jamming alarm will be triggered, and the map data of the section before and after the jamming will be transmitted to the host computer via communication.

[0091] S8. Type Determination: Based on the interval map data, determine the type of lag, including:

[0092] When the valve repeatedly jams at the same valve opening degree, and the torque suddenly increases at a single point, i.e. 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 as mechanical jamming.

[0093] When the valve jamming part is dispersed throughout the entire stroke, that is, when a jamming fault occurs, the current valve opening is recorded. If the recorded jamming valve openings are inconsistent and the fault opening repetition rate does not exceed 50%, it indicates that the jamming part occurs randomly and dispersedly. When the torque fluctuates, and the torque repeatedly jumps between zero and maximum torque, and the valve position change rate is irregularly distributed, it is judged as electrical jamming.

[0094] When repeated jamming faults occur at the same valve opening degree, the torque fluctuates periodically and shows an increasing trend over time at the same position, and the valve position change rate is concentrated in the low-speed region, the low-speed region is the region where the valve action speed is lower than the normal rated speed of the valve, and it is judged to be friction jamming.

[0095] Step S9: Wear model establishment. Based on the interval map created in S4, calculate the actuator's cumulative mechanical work, equivalent friction mileage, and thermal aging index.

[0096] Wherein, cumulative mechanical work = ∑(torque × total valve stroke); equivalent friction mileage = ∑(speed × sampling time); thermal aging index = ∑(temperature) 2 ×Sampling time).

[0097] Step S10: Calculate remaining lifespan. Calculate the actuator wear rate and estimate its total remaining lifespan using the following method:

[0098] R m=a1×cumulative mechanical work+b1×equivalent friction mileage;

[0099] R e =a2×thermal aging index +b2×current fluctuation integral;

[0100] D= ;

[0101] L = (L0 - D) / (R) m ×c)

[0102] Among them, R m R is the mechanical aging rate, a1 is the material fatigue coefficient, b1 is the friction and wear coefficient, and R is the mechanical aging rate. e denoted as electrical aging rate, a2 as insulation aging coefficient, b2 as electrical stress coefficient, D as cumulative damage, L as remaining life, L0 as initial life, and c as safety factor.

[0103] S11: Optimization of Operation Strategy

[0104] By using interval maps and probability density to automatically adjust the speed curve in real time, the high wear intervals with probability density higher than the historical average are avoided. In the high wear intervals, the maximum speed is reduced, and the maximum speed and acceleration parameters are limited to 0.6 times the normal value to reduce friction and impact.

[0105] Based on 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 for rapid passage; when approaching the target valve position, the valve change rate is reduced to 0.6 times the rated value for slow and precise adjustment, thereby avoiding repeated adjustments that lead to increased wear.

[0106] Preventative maintenance trigger: When the predicted remaining lifespan is less than the threshold, a maintenance notification is issued in advance, and the rated operating parameters are automatically reduced.

[0107] Example 2

[0108] Based on Example 1, and referring to Figure 3 As shown, this embodiment discloses a wind turbine temperature regulation actuator control system, which uses the method described in Embodiment 1 to control the actuator.

[0109] The system in this embodiment includes:

[0110] 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 to provide real-time feedback of the collected data to the control unit.

[0111] The control unit is configured to perform 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 measurement.

[0112] The execution unit is used to receive output signals from the control unit and execute action commands.

[0113] Preferably, the control unit includes:

[0114] The data conversion module is used to process the input data from the data acquisition unit to achieve data conversion.

[0115] The initial parameter tuning module is used to set initial parameters to assist in subsequent fault diagnosis.

[0116] The interval map generation module is used to construct three-dimensional coordinates of valve position, torque, and valve position change rate of valve actuator;

[0117] The jamming judgment module is used to complete the probability density calculation and to judge the jamming fault through the direct torque judgment method and the probability density judgment method.

[0118] The self-healing control module is used to output the response action after the valve actuator jams.

[0119] The jam type determination module determines the jam type based on interval map data.

[0120] The remaining life calculation module is used to complete the wear model establishment and calculate and infer the remaining life of the valve actuator, and issue a replacement reminder in advance.

[0121] The wind turbine temperature regulation actuator control method and system disclosed in this application can determine the type of jamming fault in real time based on the real-time collected actuator operating parameters and automatically perform recovery actions; at the same time, it can create a range map and wear prediction model to provide timely feedback on the remaining lifespan of the actuator and optimize the operating strategy. This reduces the probability of actuator jamming and wear, effectively reduces unplanned downtime of the entire unit, and improves the overall operating life and stability of the system.

[0122] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling a temperature regulating actuator in a wind turbine generator set, characterized in that, The temperature regulating actuator control method includes: S1: Real-time data acquisition, which collects the operating parameters of the temperature regulating three-way valve actuator in the temperature regulation loop of the wind turbine in a periodic cycle. The collected data includes the current operating current of the three-way valve actuator, valve position, and temperature of the part of interest. S2: Data conversion, based on the data collected in step S1, calculates the real-time output torque τ of the three-way valve actuator and the valve position change rate K. ɵ ; S3: Initial parameter tuning. Set initial parameters for subsequent fault diagnosis, including: torque limit τ. max Allowed overtime t max , probability density standard deviation K2, probability density anomaly index K3; S4: Create a zone map, define the data space, establish a three-dimensional coordinate system of xyz, 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. Put the data collected in S1 and the data calculated in S2 into the established three-dimensional coordinate system to obtain the zone map, and at the same time record the current, temperature and total valve position stroke parameters under the corresponding working conditions. The number of times the valve appears at the preset working point (x, y, z) is counted in real time. Each time the same three-dimensional coordinate appears, the corresponding attribute count is incremented by 1 to obtain the count (x, y, z) of the actual number of times the preset working point occurs in the interval map. The torque in the three-dimensional coordinate system is accumulated to calculate the cumulative torque. S5: Probability density calculation, used to provide feedback on the relative probability of the valve occurring under preset operating conditions. The probability density calculation process includes: Where P(x,y,z) represents the probability density at the preset operating point (x,y,z). Δx represents the total number of operating conditions within the interval map, Δy represents the valve position resolution in the interval map, Δz represents the real-time output torque resolution in the interval map, and Δz represents the valve position change rate resolution in the interval map. S6. Jamming detection: The actuator jamming is detected by the direct torque detection method and the probability density anomaly detection method. If jamming is detected by either the direct torque detection method or the probability density anomaly detection method, the actuator is confirmed to have a jamming fault. The direct torque determination method includes: when the detected real-time output torque τ exceeds the threshold τ max When the time reaches 1.2 times the preset time t, the timer starts. max If so, it is determined that an abnormal jamming situation has occurred; The probability density judgment method includes: calculating the probability density P of the current working condition based on step S5. t And compared with the historical mean probability density P of the corresponding working conditions 平均 Compare them, if (P t -P 平均 If K2 > K3, then the actuator is determined to be in a stuck abnormal condition; S7: Self-healing control. If S6 determines that there is a stuck phenomenon, then the self-healing control is activated, and the stuck phenomenon is eliminated through a graded recovery strategy. S8. Type Determination: Based on the interval map data, determine the type of lag, including: When the valve repeatedly jams at the same valve opening degree, and the torque suddenly increases at a single point, i.e. 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 as mechanical jamming. When the valve jamming part is dispersed throughout the entire stroke, that is, when a jamming fault occurs, the current valve opening is recorded. If the recorded jamming valve openings are inconsistent and the fault opening repetition rate does not exceed 50%, it indicates that the jamming part occurs randomly and dispersedly. When the torque fluctuates, and the torque repeatedly jumps between zero and maximum torque, and the valve position change rate is irregularly distributed, it is judged as electrical jamming. When repeated jamming faults occur at the same valve opening degree, the torque fluctuates periodically and shows an increasing trend over time at the same position, and the valve position change rate is concentrated in the low-speed region, the low-speed region is the region where the valve action speed is lower than the normal rated speed of the valve, and it is judged to be friction jamming.

2. The wind turbine temperature regulation actuator control method as described in claim 1, characterized in that, The calculation process for the real-time output torque τ in step S2 is as follows: Where K1 represents the torque constant of the three-way valve motor, Indicates the operating current. Indicates no-load current. This represents the frictional torque.

3. The wind turbine temperature regulation actuator control method as described in claim 1, characterized in that, Valve position change rate K in step S2 ɵ The calculation process is as follows: in, Indicates the current valve position. Indicates the valve position at the previous moment. The sampling period.

4. The wind turbine temperature regulation actuator control method as described in claim 1, characterized in that, The temperature regulating actuator control method further includes: Step S7 includes: 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, repeating this alternating forward and reverse action 3 times. If the jamming phenomenon is eliminated, enter the normal operation mode; if the jamming phenomenon is still not eliminated, proceed to the 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 system will enter normal operation mode. If the jamming phenomenon is still not eliminated, a jamming alarm will be triggered, and the map data of the section before and after the jamming will be transmitted to the host computer via communication.

5. The wind turbine temperature regulation actuator control method as described in claim 1, characterized in that, The temperature regulating actuator control method further includes: S9: Wear model establishment. Based on the interval map created in S4, calculate the actuator's cumulative mechanical work, equivalent friction mileage, and thermal aging index. Wherein, cumulative mechanical work = ∑(torque × total valve stroke); equivalent friction mileage = ∑(speed × sampling time); thermal aging index = ∑(temperature) 2 ×Sampling time).

6. The wind turbine temperature regulation actuator control method as described in claim 5, characterized in that, The temperature regulating actuator control method further includes: S10: Remaining life calculation. Calculate the actuator wear rate and estimate its total remaining life, based on the following method: R m =a1×cumulative 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 R is the mechanical aging rate, a1 is the material fatigue coefficient, b1 is the friction and wear coefficient, and R is the mechanical aging rate. e denoted as electrical aging rate, a2 as insulation aging coefficient, b2 as electrical stress coefficient, D as cumulative damage, L as remaining life, L0 as initial life, and c as safety factor.

7. The wind turbine temperature regulation actuator control method as described in claim 6, characterized in that, The temperature regulating actuator control method further includes: S11: Optimization of Operation Strategy By using interval maps and probability density to automatically adjust the speed curve in real time, the high wear intervals with probability density higher than the historical average are avoided. In the high wear intervals, the maximum speed is reduced, and the maximum speed and acceleration parameters are limited to 0.6 times the normal value to reduce friction and impact. Based on 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 for rapid passage; when approaching the target valve position, the valve change rate is reduced to 0.6 times the rated value for slow and precise adjustment, thereby avoiding repeated adjustments that lead to increased wear. Preventative maintenance trigger: When the predicted remaining lifespan is less than the threshold, a maintenance notification is issued in advance, and the rated operating parameters are automatically reduced.

8. A wind turbine temperature regulation actuator control system, characterized in that, The wind turbine temperature regulation actuator control system employs the method described in any one of claims 1 to 7 to achieve actuator control, the system comprising: 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 to provide real-time feedback of the collected data to the control unit. The control unit is configured to perform 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 measurement. The execution unit is used to receive output signals from the control unit and execute action commands.

9. The wind turbine temperature regulation actuator control system as described in claim 8, characterized in that, The control unit includes: The data conversion module is used to process the input data from the data acquisition unit to achieve data conversion. The initial parameter tuning module is used to set initial parameters to assist in subsequent fault diagnosis. The interval map generation module is used to construct three-dimensional coordinates of valve position, torque, and valve position change rate of valve actuator; The jamming judgment module is used to complete the probability density calculation and to judge the jamming fault through the direct torque judgment method and the probability density judgment method. The self-healing control module is used to output the response action after the valve actuator jams. The jam type determination module determines the jam type based on interval map data. The remaining life calculation module is used to complete the wear model establishment and calculate and infer the remaining life of the valve actuator, and issue a replacement reminder in advance.

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