Method and system for determining section bending rigidity of wind power blade based on section curvature
By establishing a three-dimensional plywood finite element shell model of wind turbine blades and applying static loads to calculate the bending stiffness of the cross section, the problems of low accuracy and efficiency in traditional methods are solved, and more accurate bending stiffness calculation is achieved, which improves the reliability of the design and reduces costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-19
- Publication Date
- 2026-04-03
AI Technical Summary
Traditional methods struggle to accurately simulate the three-dimensional, material, and structural complexity of wind turbine blades, resulting in low accuracy and efficiency in calculating the bending stiffness of wind turbine blade sections, which affects the reliability and cost of the design.
A three-dimensional plywood finite element shell model of a wind turbine blade was established using a finite element software based on the curvature of the cross section. Multiple unidirectional static loads were applied to obtain the actual displacement and bending moment of each cross section, and its bending stiffness was calculated.
This improved the calculation accuracy of the bending stiffness of wind turbine blade sections, enhanced the reliability of the design, and reduced material costs.
Smart Images
Figure CN121786989A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of wind turbine blade stiffness calculation technology, and in particular to a method and system for determining the bending stiffness of wind turbine blade sections based on cross-sectional curvature. Background Technology
[0002] Wind turbine blades are the core components of wind turbines for capturing wind energy, and their structural performance directly affects the overall power generation efficiency, safety, and reliability of the turbine. In the design, analysis, and certification of blades, the bending stiffness of the cross-section is a crucial structural parameter. It determines the blade's deformation response, vibration characteristics, and stability under complex loads such as aerodynamic and gravitational loads, and is indispensable basic data for blade strength verification, fatigue life prediction, and aeroelastic stability analysis.
[0003] Currently, in engineering practice, the determination of the bending stiffness of wind turbine blade sections traditionally relies primarily on theoretical calculation methods. These methods are typically based on classical composite material mechanics theory, simplifying the blade section into a beam model composed of a single or a few materials, and using laminated plate theory to calculate its equivalent stiffness. However, wind turbine blades are large, complex three-dimensional thin-walled structures characterized by: geometric complexity (complex aerodynamic shape, twisted angles, and significant variations in wall thickness); material complexity (using various composite materials (such as glass fiber and carbon fiber) laid at different ply angles and sequences, with significant anisotropy in key areas (such as the main beam, trailing edge, and leading edge); and structural complexity (including webs, core materials, etc., forming a non-uniform composite structure). Traditional theoretical calculation methods struggle to accurately simulate these complexities. Simplified models cannot fully account for three-dimensional ply effects, material coupling effects, and complex cross-sectional shapes, leading to significant deviations between the calculated bending stiffness and the blade's actual stiffness. This deviation can further propagate to subsequent structural analyses, potentially leading to overly conservative designs that increase material and manufacturing costs, or inadequate designs that pose potential safety risks. Therefore, there is an urgent need to propose a scheme that can overcome the limitations of traditional theoretical calculations and accurately and efficiently determine the true bending stiffness of each section of the wind turbine blade. Summary of the Invention
[0004] This application provides a method and system for determining the bending stiffness of wind turbine blade sections based on cross-sectional curvature, in order to at least solve the technical problems of low calculation accuracy and efficiency.
[0005] The first aspect of this application proposes a method for determining the bending stiffness of a wind turbine blade cross-section based on its cross-sectional curvature, the method comprising: Based on the three-dimensional layup and structural parameters of the wind turbine blade, a three-dimensional layup finite element shell model of the wind turbine blade was established using finite element software. Multiple different first uniaxial static loads are applied to the tip region of the three-dimensional plywood finite element shell model of the wind turbine blade, and the actual displacement of each section of the wind turbine blade under each first uniaxial static load is obtained. Obtain the section bending moment of each section under each first uniaxial static load, and then determine the bending stiffness of each section of the wind turbine blade based on the section bending moment of each section under each first uniaxial static load and the actual displacement of each section under each first uniaxial static load.
[0006] Preferably, obtaining the section bending moment of each section under each first uniaxial static load includes: The differences between the length of the wind turbine blade and the horizontal distance between each cross section and the blade root were obtained respectively; The product of the difference corresponding to each section and each first uniaxial static load is determined respectively, and the product of the difference corresponding to each section and each first uniaxial static load is used as the section bending moment of each section under the action of each first uniaxial static load.
[0007] Furthermore, determining the bending stiffness of each section of the wind turbine blade based on the section bending moment under each first uniaxial static load and the actual displacement of each section under each first uniaxial static load includes: The actual curvature of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The bending stiffness of each section of the wind turbine blade is determined based on the actual curvature of each section under each first uniaxial static load and the bending moment of each section under each first uniaxial static load.
[0008] Furthermore, determining the actual curvature of each section under each first uniaxial static load based on the actual displacement of each section under each first uniaxial static load includes: The relative displacement of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The actual rotation angle of each section under each first uniaxial static load is determined based on the relative displacement of each section under each first uniaxial static load. The actual curvature of each section under each first uniaxial static load is determined based on the actual rotation angle of each section under each first uniaxial static load. Alternatively, based on the actual displacement of each section under each first unidirectional static load, the displacement curve of the wind turbine blade can be constructed using a polynomial fitting method. The actual curvature of each section under each first uniaxial static load is determined based on the displacement curve of the wind turbine blade.
[0009] Furthermore, determining the bending stiffness of each section of the wind turbine blade based on the actual curvature of each section under each first uniaxial static load and the section bending moment of each section under each first uniaxial static load includes: The bending stiffness of each section under each first uniaxial static load is determined based on the actual curvature of each section under each first uniaxial static load and the section bending moment of each section under each first uniaxial static load. The mean bending stiffness of each section is determined based on the bending stiffness of each section under each first uniaxial static load, and the mean bending stiffness of each section is taken as its bending stiffness.
[0010] A second aspect of this application provides a system for determining the bending stiffness of a wind turbine blade section based on its cross-sectional curvature, comprising: A module is established to build a three-dimensional layup finite element shell model of the wind turbine blade based on the three-dimensional layup and structural parameters of the wind turbine blade, and finite element software is used to build the three-dimensional layup finite element shell model of the wind turbine blade. The acquisition module is used to apply multiple different first uniaxial static loads to the tip region of the three-dimensional plywood finite element shell model of the wind turbine blade, and to acquire the actual displacement of each section of the wind turbine blade under each first uniaxial static load. The module is used to obtain the section bending moment of each section under each first uniaxial static load, and then determine the bending stiffness of each section of the wind turbine blade based on the section bending moment of each section under each first uniaxial static load and the actual displacement of each section under each first uniaxial static load.
[0011] Preferably, the determining module is further configured to: The differences between the length of the wind turbine blade and the horizontal distance between each cross section and the blade root were obtained respectively; The product of the difference corresponding to each section and each first uniaxial static load is determined respectively, and the product of the difference corresponding to each section and each first uniaxial static load is used as the section bending moment of each section under the action of each first uniaxial static load.
[0012] Furthermore, the determining module is also used for: The actual curvature of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The bending stiffness of each section of the wind turbine blade is determined based on the actual curvature of each section under each first uniaxial static load and the bending moment of each section under each first uniaxial static load.
[0013] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in the first aspect embodiment.
[0014] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described in the first aspect.
[0015] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects: This application proposes a method and system for determining the bending stiffness of wind turbine blade sections based on cross-sectional curvature. The method includes: establishing a three-dimensional plywood finite element shell model of the wind turbine blade using finite element software based on its three-dimensional plywood and structural parameters; applying multiple different first uniaxial static loads to the tip region of the three-dimensional plywood finite element shell model of the wind turbine blade; obtaining the actual displacement of each section of the wind turbine blade under each first uniaxial static load; obtaining the section bending moment of each section under each first uniaxial static load; and then determining the bending stiffness of each section of the wind turbine blade based on the section bending moment and the actual displacement of each section under each first uniaxial static load. The technical solution proposed in this application improves the accuracy of bending stiffness calculation for composite material blade sections.
[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart illustrating a method for determining the bending stiffness of a wind turbine blade section based on its cross-sectional curvature, according to an embodiment of this application. Figure 2 This is a detailed flowchart of a method for determining the bending stiffness of a wind turbine blade section based on the cross-sectional curvature, according to an embodiment of this application. Figure 3 This is a structural diagram of a system for determining the bending stiffness of a wind turbine blade section based on the cross-sectional curvature, according to an embodiment of this application. Detailed Implementation
[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.
[0019] This application proposes a method and system for determining the bending stiffness of wind turbine blade sections based on cross-sectional curvature. The method includes: establishing a three-dimensional plywood finite element shell model of the wind turbine blade using finite element software based on its three-dimensional plywood and structural parameters; applying multiple different first uniaxial static loads to the tip region of the three-dimensional plywood finite element shell model of the wind turbine blade; obtaining the actual displacement of each section of the wind turbine blade under each first uniaxial static load; obtaining the section bending moment of each section under each first uniaxial static load; and then determining the bending stiffness of each section of the wind turbine blade based on the section bending moment and the actual displacement of each section under each first uniaxial static load. The technical solution proposed in this application improves the accuracy of calculating the bending stiffness of composite material blade sections.
[0020] The following describes, with reference to the accompanying drawings, a method and system for determining the bending stiffness of a wind turbine blade section based on its cross-sectional curvature, according to embodiments of this application.
[0021] Example 1 Figure 1 This is a flowchart illustrating a method for determining the bending stiffness of a wind turbine blade section based on its cross-sectional curvature, according to an embodiment of this application. Figure 1 As shown, the method includes: Step 1: Based on the three-dimensional layup and structural parameters of the wind turbine blade, a three-dimensional layup finite element shell model of the wind turbine blade is established using finite element software; It should be noted that the three-dimensional finite element shell model of the wind turbine blade is mainly based on the thickness, position (spanwise and chordwise), width, and properties of the ply material.
[0022] Step 2: Apply multiple different first uniaxial static loads to the tip region of the three-dimensional plywood finite element shell model of the wind turbine blade, and obtain the actual displacement of each section of the wind turbine blade under each first uniaxial static load. It should be noted that a unidirectional static load is applied to the section near the blade tip of the finite element model, and the force is set to F.
[0023] Suppose we need to determine the bending stiffness of n sections, extract the displacements of the leading edge and trailing edge of the blade section i in the direction of the force, and calculate the average value (actual displacement) Di, which is taken as the actual displacement of the blade under the action of F.
[0024] Step 3: Obtain the section bending moment of each section under each first uniaxial static load, and then determine the bending stiffness of each section of the wind turbine blade based on the section bending moment of each section under each first uniaxial static load and the actual displacement of each section under each first uniaxial static load.
[0025] In this embodiment of the disclosure, obtaining the section bending moment of each section under each first uniaxial static load includes: The differences between the length of the wind turbine blade and the horizontal distance between each cross section and the blade root were obtained respectively; The product of the difference corresponding to each section and each first uniaxial static load is determined respectively, and the product of the difference corresponding to each section and each first uniaxial static load is used as the section bending moment of each section under the action of each first uniaxial static load.
[0026] In this embodiment of the disclosure, determining the bending stiffness of each section of the wind turbine blade based on the section bending moment under each first uniaxial static load and the actual displacement of each section under each first uniaxial static load includes: The actual curvature of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The bending stiffness of each section of the wind turbine blade is determined based on the actual curvature of each section under each first uniaxial static load and the bending moment of each section under each first uniaxial static load.
[0027] Furthermore, determining the actual curvature of each section under each first uniaxial static load based on the actual displacement of each section under each first uniaxial static load includes: The relative displacement of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The actual rotation angle of each section under each first uniaxial static load is determined based on the relative displacement of each section under each first uniaxial static load. The actual curvature of each section under each first uniaxial static load is determined based on the actual rotation angle of each section under each first uniaxial static load. Alternatively, based on the actual displacement of each section under each first unidirectional static load, the displacement curve of the wind turbine blade can be constructed using a polynomial fitting method. The actual curvature of each section under each first uniaxial static load is determined based on the displacement curve of the wind turbine blade.
[0028] Furthermore, determining the bending stiffness of each section of the wind turbine blade based on the actual curvature of each section under each first uniaxial static load and the section bending moment of each section under each first uniaxial static load includes: The bending stiffness of each section under each first uniaxial static load is determined based on the actual curvature of each section under each first uniaxial static load and the section bending moment of each section under each first uniaxial static load. The mean bending stiffness of each section is determined based on the bending stiffness of each section under each first uniaxial static load, and the mean bending stiffness of each section is taken as its bending stiffness.
[0029] Specifically, such as Figure 2 As shown, the detailed process of the method for determining the bending stiffness of wind turbine blade cross-section based on cross-sectional curvature is as follows: 1) Based on the three-dimensional layup and structure of wind turbine blades, a three-dimensional layup finite element shell model of wind turbine blades is established using finite element software.
[0030] 2) Apply uniaxial static loading to the section near the blade tip of the finite element model, and take m different static loads denoted as Fj, j=1…m. m is greater than or equal to 5.
[0031] 3) Assuming that the bending stiffness of n sections needs to be determined, extract the displacements of the leading edge and trailing edge of the blade section i to be determined in the direction of the force, and calculate the average value Di_j of the two as the actual displacement of the applied force Fj.
[0032] 4) Based on the above cross-sectional displacements, the actual displacement Yi_j of cross-section i relative to cross-section i-1 is calculated, Yi_j = Di_j - Di-1_j; 5) Let the blade length be L, and the length between section i and section i-1 be Li. Further calculation yields the actual rotation angle Ai_j of section i: Ai_j = (Yi+1_j - Yi_j) / Li+1. Further calculation yields the actual curvature Ci_j of section i: Ci_j = (Ai_j - Ai-1_j) / Li. 6) Based on the applied load Fj and its loading position, calculate the bending moment Mi_j at each section position, Mi_j=Fj*(L-Xi), where Xi is the horizontal distance of section i from the leaf root.
[0033] 7) Based on the bending moment and curvature of each section under the action of Fj, the initial bending stiffness of the section is calculated as EIi_j = Mi_j / Ci_j. Finally, the bending stiffness of section i is calculated as EIi = sum(EIi_j) / m. 8) Steps 4) and 5) can also be replaced as follows. Based on the actual displacement under Fj, and based on the displacement Di_j and position Xi of section i, the displacement curve D=f(X) of the blade can also be fitted. The displacement curve is constructed using a polynomial fitting method, and the polynomial degree needs to be at least 3. From this, the curvature of section i can be obtained as Ci_j=d2D / dX2 In summary, the method for determining the bending stiffness of wind turbine blade sections based on cross-sectional curvature proposed in this embodiment improves the accuracy of bending stiffness calculation for composite material blade sections.
[0034] Example 2 Figure 3 This is a structural diagram of a system for determining the bending stiffness of a wind turbine blade section based on its cross-sectional curvature, according to an embodiment of this application. Figure 3 As shown, the system includes: Module 100 is established to build a three-dimensional layup finite element shell model of the wind turbine blade based on the three-dimensional layup and structural parameters of the wind turbine blade and using finite element software. The acquisition module 200 is used to apply multiple different first uniaxial static loads to the tip region of the three-dimensional plywood finite element shell model of the wind turbine blade, and to acquire the actual displacement of each section of the wind turbine blade under each first uniaxial static load. The determination module 300 is used to obtain the section bending moment of each section under each first uniaxial static load, and then determine the bending stiffness of each section of the wind turbine blade based on the section bending moment of each section under each first uniaxial static load and the actual displacement of each section under each first uniaxial static load.
[0035] In this embodiment of the disclosure, the determining module 300 is further configured to: The differences between the length of the wind turbine blade and the horizontal distance between each cross section and the blade root were obtained respectively; The product of the difference corresponding to each section and each first uniaxial static load is determined respectively, and the product of the difference corresponding to each section and each first uniaxial static load is used as the section bending moment of each section under the action of each first uniaxial static load.
[0036] In this embodiment of the disclosure, the determining module 300 is further configured to: The actual curvature of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The bending stiffness of each section of the wind turbine blade is determined based on the actual curvature of each section under each first uniaxial static load and the bending moment of each section under each first uniaxial static load.
[0037] In this embodiment of the disclosure, the determining module 300 is further configured to: The relative displacement of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The actual rotation angle of each section under each first uniaxial static load is determined based on the relative displacement of each section under each first uniaxial static load. The actual curvature of each section under each first uniaxial static load is determined based on the actual rotation angle of each section under each first uniaxial static load. Alternatively, based on the actual displacement of each section under each first unidirectional static load, the displacement curve of the wind turbine blade can be constructed using a polynomial fitting method. The actual curvature of each section under each first uniaxial static load is determined based on the displacement curve of the wind turbine blade.
[0038] In this embodiment of the disclosure, the determining module 300 is further configured to: The bending stiffness of each section under each first uniaxial static load is determined based on the actual curvature of each section under each first uniaxial static load and the section bending moment of each section under each first uniaxial static load. The mean bending stiffness of each section is determined based on the bending stiffness of each section under each first uniaxial static load, and the mean bending stiffness of each section is taken as its bending stiffness.
[0039] In summary, the system for determining the bending stiffness of wind turbine blade sections based on cross-sectional curvature proposed in this embodiment improves the accuracy of bending stiffness calculation for composite material blade sections.
[0040] Example 3 To implement the above embodiments, this disclosure also proposes an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in Embodiment 1.
[0041] Example 4 To implement the above embodiments, this disclosure also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in Embodiment 1.
[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0043] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.
[0044] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.
Claims
1. A method for determining the bending stiffness of a wind turbine blade cross-section based on its cross-sectional curvature, characterized in that, The method includes: Based on the three-dimensional layup and structural parameters of the wind turbine blade, a three-dimensional layup finite element shell model of the wind turbine blade was established using finite element software. Multiple different first uniaxial static loads are applied to the tip region of the three-dimensional plywood finite element shell model of the wind turbine blade, and the actual displacement of each section of the wind turbine blade under each first uniaxial static load is obtained. Obtain the section bending moment of each section under each first uniaxial static load, and then determine the bending stiffness of each section of the wind turbine blade based on the section bending moment of each section under each first uniaxial static load and the actual displacement of each section under each first uniaxial static load.
2. The method as described in claim 1, characterized in that, The process of obtaining the section bending moment of each section under each first uniaxial static load includes: The differences between the length of the wind turbine blade and the horizontal distance between each cross section and the blade root were obtained respectively; The product of the difference corresponding to each section and each first uniaxial static load is determined respectively, and the product of the difference corresponding to each section and each first uniaxial static load is used as the section bending moment of each section under the action of each first uniaxial static load.
3. The method as described in claim 2, characterized in that, The determination of the bending stiffness of each section of the wind turbine blade based on the section bending moment and the actual displacement of each section under each first uniaxial static load includes: The actual curvature of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The bending stiffness of each section of the wind turbine blade is determined based on the actual curvature of each section under each first uniaxial static load and the bending moment of each section under each first uniaxial static load.
4. The method as described in claim 3, characterized in that, The step of determining the actual curvature of each section under each first uniaxial static load based on the actual displacement of each section under each first uniaxial static load includes: The relative displacement of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The actual rotation angle of each section under each first uniaxial static load is determined based on the relative displacement of each section under each first uniaxial static load. The actual curvature of each section under each first uniaxial static load is determined based on the actual rotation angle of each section under each first uniaxial static load. Alternatively, based on the actual displacement of each section under each first unidirectional static load, the displacement curve of the wind turbine blade can be constructed using a polynomial fitting method. The actual curvature of each section under each first uniaxial static load is determined based on the displacement curve of the wind turbine blade.
5. The method as described in claim 4, characterized in that, The determination of the bending stiffness of each section of the wind turbine blade based on the actual curvature of each section under each first uniaxial static load and the section bending moment of each section under each first uniaxial static load includes: The bending stiffness of each section under each first uniaxial static load is determined based on the actual curvature of each section under each first uniaxial static load and the section bending moment of each section under each first uniaxial static load. The mean bending stiffness of each section is determined based on the bending stiffness of each section under each first uniaxial static load, and the mean bending stiffness of each section is taken as its bending stiffness.
6. A system for determining the bending stiffness of a wind turbine blade cross-section based on its cross-sectional curvature, characterized in that, The system includes: A module is established to build a three-dimensional layup finite element shell model of the wind turbine blade based on the three-dimensional layup and structural parameters of the wind turbine blade, and finite element software is used to build the three-dimensional layup finite element shell model of the wind turbine blade. The acquisition module is used to apply multiple different first uniaxial static loads to the tip region of the three-dimensional plywood finite element shell model of the wind turbine blade, and to acquire the actual displacement of each section of the wind turbine blade under each first uniaxial static load. The module is used to obtain the section bending moment of each section under each first uniaxial static load, and then determine the bending stiffness of each section of the wind turbine blade based on the section bending moment of each section under each first uniaxial static load and the actual displacement of each section under each first uniaxial static load.
7. The system as described in claim 6, characterized in that, The determining module is also used for: The differences between the length of the wind turbine blade and the horizontal distance between each cross section and the blade root were obtained respectively; The product of the difference corresponding to each section and each first uniaxial static load is determined respectively, and the product of the difference corresponding to each section and each first uniaxial static load is used as the section bending moment of each section under the action of each first uniaxial static load.
8. The system as described in claim 7, characterized in that, The determining module is also used for: The actual curvature of each section under each first uniaxial static load is determined based on the actual displacement of each section under each first uniaxial static load. The bending stiffness of each section of the wind turbine blade is determined based on the actual curvature of each section under each first uniaxial static load and the bending moment of each section under each first uniaxial static load.
9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1-5.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-5.