Wind turbine component temperature regulation method, apparatus, device, and program product
By introducing a sliding mode control strategy and a temperature response model, the problems of lag and insufficient accuracy in the temperature control of wind turbine units were solved, and precise regulation of the temperature of wind turbine components was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- THREE GORGES GRP ZHEJIANG ENERGY INVESTMENT CO LTD
- Filing Date
- 2026-02-26
- Publication Date
- 2026-05-29
AI Technical Summary
Traditional wind turbine temperature control methods suffer from lag and insufficient precision, making it difficult to meet the temperature tracking requirements of complex dynamic processes and resulting in inaccurate temperature regulation.
By employing a sliding mode control strategy combined with a temperature response model, a time-delay variable for heat transfer delay is introduced. The temperature adjustment error is constrained by a preset performance function, generating a precise control signal to regulate the temperature of wind turbine components.
It improves the stability and accuracy of temperature regulation and control, meeting the temperature regulation requirements of wind turbine components under complex operating conditions.
Smart Images
Figure CN122111130A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of wind power generation technology, and in particular to a method, device, equipment and program product for regulating the temperature of wind turbine components. Background Technology
[0002] During operation, the performance and reliability of many critical internal equipment and components of a wind turbine are closely related to ambient temperature. To ensure the safe, efficient, and long-term operation of the unit, effective and stable temperature control must be implemented for each component, especially maintaining suitable operating temperatures for functional components such as heat dissipation and insulation, to avoid malfunctions or performance degradation caused by abnormal temperatures.
[0003] However, in actual operation, traditional control methods exhibit significant lag between control execution and response, making temperature adjustment prone to overshoot or oscillation. Furthermore, as wind power equipment develops towards higher precision and intelligence, traditional control methods are insufficient in terms of temperature tracking accuracy and dynamic response capability when dealing with complex dynamic processes, making it difficult to meet the demands for refined control of temperature change trajectories.
[0004] Therefore, there is an urgent need for a new method for regulating the temperature of wind turbine components in order to achieve precise temperature regulation of wind turbine components. Summary of the Invention
[0005] This application provides a method, device, equipment, and program product for regulating the temperature of wind turbine components, thereby achieving precise regulation of the temperature of wind turbine components.
[0006] To achieve the above objectives, the main technical solutions adopted in this application include: In a first aspect, embodiments of this application provide a method for regulating the temperature of wind turbine components, the method comprising: Obtain the desired temperature change curve of the target component in the wind turbine; A control signal is generated based on the desired temperature change curve and a preset control law. The control law is established based on the temperature response model of the target element and a sliding mode control strategy. The temperature response model includes a time delay variable that reflects the internal heat transfer delay of the target element. The sliding mode control strategy constrains the boundary of the temperature adjustment error through a preset performance function. The control signal is sent to the temperature control element to adjust the temperature of the target element.
[0007] The wind turbine component temperature regulation method proposed in this application introduces a temperature response model that includes a time-delay variable reflecting heat transfer delay, and combines it with a sliding mode control strategy to compensate for the hysteresis characteristics of the wind turbine thermal system, thereby improving the stability of temperature regulation control. Simultaneously, it constrains the boundary of temperature adjustment error through a preset performance function, achieving precise temperature regulation of wind turbine components.
[0008] Secondly, embodiments of this application provide a temperature regulation device for wind turbine components, the device comprising: The data acquisition module is used to acquire the desired temperature change curve of the target component in the wind turbine. The calculation module is used to generate a control signal based on the desired temperature change curve and a preset control law. The control law is established based on the temperature response model of the target element and a sliding mode control strategy. The temperature response model includes a time delay variable that reflects the internal heat transfer delay of the target element. The sliding mode control strategy constrains the boundary of the temperature adjustment error through a preset performance function. The information transmission module is used to send the control signal to the temperature control element to adjust the temperature of the target element.
[0009] Thirdly, embodiments of this application provide a computer device, including: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the wind turbine component temperature regulation method described in the first aspect.
[0010] Fourthly, embodiments of this application provide a computer program product, including computer instructions, which are used to cause a computer to execute the wind turbine component temperature regulation method described in the first aspect. Attached Figure Description
[0011] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0012] Figure 1 A step diagram illustrating a method for regulating the temperature of wind turbine components provided in this application embodiment; Figure 2 A schematic diagram of the temperature curve of a target component model of a wind turbine provided in an embodiment of this application; Figure 3This is a schematic diagram of the temperature adjustment error curve obtained by simulating a target component model of a type of wind turbine based on the wind turbine component temperature adjustment method provided in this embodiment; Figure 4 This is a schematic diagram of the structure of a wind turbine component temperature regulation device provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation
[0013] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0014] This application provides a method for regulating the temperature of wind turbine components. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than that presented here.
[0015] This embodiment provides a method for regulating the temperature of wind turbine components, such as... Figure 1 As shown, it includes the following steps: Step 110: Obtain the desired temperature change curve of the target component in the wind turbine.
[0016] The desired temperature change curve reflects the trajectory of the desired target component temperature change over time during a specific operating phase or condition.
[0017] The desired temperature change curve can be preset based on the wind turbine's design specifications, safe operating boundaries, and life management strategies, serving as a target reference input for temperature control; or it can be obtained by receiving external temperature scheduling commands; or it can be automatically generated based on the abnormal situation when the target component's temperature is abnormal.
[0018] The desired temperature change curve can be in the form of a continuous function or a discrete time-point sequence. For the discrete time-point sequence form, each data point defines the target temperature that the target element should reach at a specific moment. The time interval between adjacent data points can be set according to actual control requirements.
[0019] Step 120: Generate a control signal based on the desired temperature change curve and the preset control law. The control law is established based on the temperature response model of the target element and the sliding mode control strategy. The temperature response model includes a time delay variable that reflects the internal heat transfer delay of the target element. The sliding mode control strategy constrains the boundary of the temperature adjustment error through a preset performance function.
[0020] To improve the accuracy of temperature regulation, this embodiment proposes to pre-establish a temperature response model for the target component. Considering the temperature response hysteresis characteristics of the target component due to factors such as communication, material heat capacity, structural layout, and environmental interaction during actual operation, a time-delay variable reflecting the internal heat transfer delay of the target component is set. This time-delay variable is then explicitly introduced into the temperature response model to more accurately describe the temperature regulation process of the target component.
[0021] Furthermore, a control law for the target component is established by combining a temperature response model and a sliding mode control strategy. Sliding mode control is a control theory that designs specific sliding modes to enable the system state to rapidly approach and stabilize at a preset sliding surface within a finite time.
[0022] Based on the sliding mode control strategy and temperature response model, the control law dynamically generates a control signal that converges the system state to the sliding mode according to the deviation between the real-time temperature and the desired value, thereby ensuring that the temperature regulation process has strong anti-disturbance capability and predetermined dynamic quality. Sliding mode control is a modern control theory whose core lies in designing a "sliding mode" that enables the system state to converge quickly and stabilize. In this strategy, the control law generates a control signal based on the deviation between the system state and the sliding mode, thus controlling the system state to approach the ideal mode.
[0023] To improve the accuracy of temperature regulation, this embodiment also introduces a preset performance function. The performance function specifically defines the maximum allowable deviation range and convergence trend of the temperature regulation error as it approaches the steady state from the transient state, thereby improving the accuracy of temperature regulation and ensuring that the entire temperature regulation process meets performance requirements.
[0024] By substituting the desired temperature change curve into the control law for calculation, the control signal driving the temperature control element can be obtained.
[0025] Step 130: Send a control signal to the temperature control element to adjust the temperature of the target element.
[0026] After generating the control signal, it is transmitted to the temperature control element associated with the target element. The temperature control element heats or cools the target element according to the received control signal, thereby regulating the temperature of the target element.
[0027] The wind turbine component temperature regulation method proposed in this embodiment improves the stability of temperature regulation control by introducing a temperature response model that includes a time-delay variable reflecting heat transfer delay and combining it with a sliding mode control strategy to compensate for the hysteresis characteristics of the wind turbine thermal system. Simultaneously, it constrains the boundary of temperature adjustment error through a preset performance function, achieving precise temperature regulation of wind turbine components.
[0028] The second embodiment of this application further specifies the wind turbine component temperature regulation method in the first embodiment in a more detailed and specific way. Some or all of the technical features in the second embodiment can be combined with or replaced by the first embodiment, either individually or in combination, to obtain more feasible wind turbine component temperature regulation methods.
[0029] The method for regulating the temperature of wind turbine components in the second embodiment of this application is described in detail below: Optionally, the control law is established as follows: a basic temperature response model of the target element is constructed based on a first-order inertial transfer function; the product of the time-delay variable and the basic temperature response model is obtained as the temperature response model, where the time-delay variable is in the form of a natural exponential function with a complex exponent, including the Laplace operator; the temperature response model is transformed to obtain the corresponding state-space model; the performance function is determined according to the output equation of the state-space model; based on the performance function, the temperature adjustment error is obtained using the inverse hyperbolic tangent function; and the control law is established according to the performance function, the temperature adjustment error, and the preset reaching law.
[0030] This embodiment defines the process for constructing the control law.
[0031] Specifically, a basic temperature response model of the target element is first constructed using a first-order inertial transfer function. This model reflects the fundamental thermodynamic characteristics of the target element without time delay. Then, a time-delay variable characterizing the heat transfer delay effect is represented by a natural exponential function with a complex exponent including a Laplace operator. Finally, the time-delay characteristic is incorporated into the basic temperature response model by multiplying the time-delay variable by the basic temperature response model, thus obtaining the final temperature response model.
[0032] For the temperature response model, the model is transformed through mathematical transformation, and it is rewritten as an equation in the state space, which serves as the state space model.
[0033] Based on the state-space model, the target component is subjected to preset performance control. Specifically, the preset performance control dynamically constrains the temperature adjustment error of the target component within a pre-set "performance boundary", thereby directly realizing the precise control and guarantee of the system's transient performance (such as convergence speed and overshoot) and steady-state performance (such as steady-state error band).
[0034] In the preset performance control, the performance function is first determined based on the output equation of the state-space model, and then a performance boundary that shrinks over time is constructed based on the performance function. The performance boundary is generally funnel-shaped, indicating that a larger temperature adjustment error is allowed when the target component first starts temperature adjustment, and the upper bound of the temperature adjustment error gradually decreases as the temperature adjustment process progresses, resulting in more precise temperature adjustment.
[0035] However, to achieve the above objectives, performance boundaries are often represented using inequalities, and the constraints of inequalities are difficult to convert into control signals. Therefore, this embodiment proposes to use an error transformation function, specifically the inverse hyperbolic tangent function, to convert the initially constrained temperature adjustment error into an equivalent unconstrained error, namely the temperature adjustment error.
[0036] Finally, a preset sliding mode reaching law is selected, such as an exponential reaching law or a saturated function-form reaching law. Based on the performance function, temperature adjustment error, and sliding mode reaching law, the specific control law expression is derived through mathematical transformation. The control law is used to generate the actual control signal.
[0037] The control law generated based on the above steps can ensure that the temperature adjustment error during the temperature regulation process meets various dynamic or steady-state performance indicators while compensating for the effects of system time delay.
[0038] Optionally, the temperature response model is: in, The steady-state gain is related to the maximum temperature that the target component can reach. It is a time constant, which is related to the rate of temperature change of the target component over time.
[0039] The first-order inertial transfer function, also known as the transfer function of a first-order inertial system, can be used to represent a system with inertia and can be used for modeling certain circuit systems, temperature control systems, or simple mechanical systems.
[0040] Let the time-delay variable be represented by a natural exponential function with a complex exponent that includes the Laplace operator. The preset time delay parameter is used to characterize the heat conduction rate of the target component. For the Laplace operator.
[0041] Optionally, the method further includes: replacing the time-delay variables with rational fractions based on the first-order Pade approximation, and updating the temperature response model, the updated temperature response model being: To facilitate computation, this example proposes a method for further replacing and updating time-delay variables based on the first-order Pade approximation. The first-order Pade approximation is a method of approximating a given function with a rational function (such as the ratio of two polynomials).
[0042] In this example, the time-delay variable is replaced by the following rational fraction: After replacing the time-delay variable, a mathematical transformation can be performed to obtain the result. The updated temperature response model is described above.
[0043] Next, based on the updated temperature response model described above, the system input is introduced. and control signals The model is transformed into differential equation form through mathematical transformation: To facilitate the design of subsequent sliding mode control strategies, the above equation is transformed into a state-space equation, i.e., a state-space model. Considering disturbances, the standard form of the state-space model is as follows: in, For system disturbances, white noise or simplified waveforms can be used as substitutes during simulation. Has an upper bound and .
[0044] Optionally, based on the performance function, the temperature adjustment error is obtained using the inverse hyperbolic tangent function, including: obtaining the performance function and the basic temperature adjustment error, wherein the basic temperature adjustment error is the difference between the output equation of the state-space model and the desired temperature change curve, and the absolute value of the basic temperature adjustment error is less than the performance function; and substituting the ratio of the basic temperature adjustment error to the performance function as the independent variable into the inverse hyperbolic tangent function to obtain the temperature adjustment error.
[0045] This embodiment limits the method for obtaining temperature adjustment error, as follows: in, For performance functions, This is the upper limit of the allowable temperature error when starting to adjust the target component temperature. To determine the upper limit of the allowable temperature error when adjusting the target component temperature, This parameter characterizes the convergence rate of the upper limit of temperature error.
[0046] The absolute value of the baseline temperature adjustment error is less than the performance function. The base temperature adjustment error is represented by the difference between the output equation of the state-space model and the desired temperature change curve. The output equation of the state-space model. This is the desired temperature change curve.
[0047] exist middle, Represents the natural constant of Power of 1.
[0048] It should be particularly noted that, after replacing the time-delay variables based on the first-order Pade approximation, in the following description of the embodiments of this application, unless otherwise specifically stated, It always represents the error in the base temperature adjustment.
[0049] The performance boundary is represented by an inequality for the baseline temperature adjustment error, but this form is difficult to translate into a control signal.
[0050] Therefore, substituting the ratio of the baseline temperature adjustment error to the performance function as the independent variable into the inverse hyperbolic tangent function, the temperature adjustment error is defined as... The temperature adjustment error is as follows: In the above formula, the performance function and the base temperature adjustment error are used. and Abbreviated representation.
[0051] Next, the temperature adjustment error obtained from the conversion will be analyzed. Analysis: 1. When → When the denominator → 0, →+∞; 2. When →- At that time, the molecule → 0. →-∞; 3. When When =0, =0.
[0052] In other words, as long as... If it is "finite" at any given time (has an upper bound, and is not divergent), then by the inverse function of this formula: That can guarantee | That is, the error lies strictly within the interval defined by the performance function. This is because the range of tanh() is (–1, 1), which is consistent with... After multiplication, the original performance function is naturally satisfied: In summary, by introducing the inverse hyperbolic tangent function, the original "inequality constraint" is equivalently transformed into a "new variable". The goal of "boundedness" is based on the purpose of temperature regulation of the target component, and the basic temperature regulation error and the temperature regulation error can be regarded as equivalent.
[0053] Next, for ease of calculation, the state equation is mathematically transformed into the following form: The above formula is mathematically equivalent to the standard state-space model in the aforementioned embodiments, but it introduces... and ,and Its derivative The linear sum equals Therefore, it can be approximated that, Related to the actual temperature of the target component, It is related to the rate of change of the actual temperature of the target component.
[0054] Performance functions in the foregoing embodiments and basic error variables Both are functions of time t, while As a variable associated with the actual temperature of the target component The derivative of implies time t into the state equation. In the following description, we will use... and The temperature regulation process is described in the form of a formula.
[0055] set up Then the temperature regulation error becomes: Optionally, the preset convergence law is: in, The sliding surface in the sliding mode control strategy is defined as such, and its value is equal to the temperature adjustment error. This refers to the approach velocity gain in the sliding mode control strategy. is the exponential convergence coefficient in the sliding mode control strategy. This refers to the disturbance term in the sliding mode control strategy. The boundary layer thickness in the sliding mode control strategy is denoted as .
[0056] To ensure that the transformation error is bounded, the saturation reaching law is used in this embodiment.
[0057] If the temperature adjustment error is also considered as the sliding surface in the sliding mode control strategy, then: Therefore, in order to obtain the control law derivative To obtain the derivative of the temperature adjustment error, we need to introduce the basic temperature adjustment error. The specific derivation process is as follows: Substituting the output equation from the state equation into the base temperature adjustment error, we get: Differentiating the above equation, we have: Next, we calculate the derivative of the temperature adjustment error, i.e. in, The control signal, Let the desired temperature change curve be given, and: If the temperature adjustment error is also considered as the sliding surface in the sliding mode control strategy, then: By performing mathematical transformations and simplifications on the aforementioned formula, the control law is obtained as follows: Next, it will be demonstrated that applying the control law described in this embodiment can enable the temperature regulation process of the target component to meet the preset performance: Substituting the control law into ,get: Consider the following Lyapunov function: Differentiation yields: Based on this result, we analyze whether the temperature adjustment error is bounded under the following conditions: Scenario 1: At this point, the derivative of the Lyapunov function is: And because Then we have: Select appropriate parameters ,satisfy: but 0, at this time the sliding mode state variable will be driven. Upon entering the boundary layer, it evolves into Case 2.
[0058] Scenario 2: At this time, the sliding mode state quantity The boundary layer has been reached, indicating that the temperature adjustment error is within limits and the temperature regulation process can meet the performance requirements. Optionally, the temperature control element is an electric heating device, a cooling fan, and / or a liquid-cooled circulating pump; the control signal is a PWM duty cycle signal or power command for the electric heating device, a speed command or voltage command for the cooling fan, and / or a flow command or speed command for the liquid-cooled circulating pump.
[0059] In wind turbine generators, the temperature regulation of target components (such as converters, generator windings, gearbox bearings, etc.) typically relies on active temperature control devices thermally coupled to them. The temperature control element described in this embodiment can be specifically implemented as one or more combinations of electric heating devices, cooling fans, and / or liquid-cooled circulating pumps to adapt to heating or cooling requirements under different operating conditions.
[0060] When an electric heating device is used, its heat output power can be continuously controlled by adjusting the PWM duty cycle signal of the power supply; in addition, a power command can be directly issued and converted into the corresponding heating intensity by the local drive circuit.
[0061] When a cooling fan is used, its heat dissipation capacity mainly depends on the air volume, which is closely related to the speed. Therefore, the control signal can be expressed as a speed command or, in an analog control architecture, as a voltage command.
[0062] When a liquid-cooled circulating pump is used, the cooling efficiency is positively correlated with the coolant flow rate. Therefore, the control signal can be a flow command or a speed command directly applied to the pump motor to adjust the pump's output performance.
[0063] The aforementioned control signal formats are all matched with the physical characteristics of the corresponding actuators and the control system interface to ensure that the signals generated by the control law can be executed accurately, thereby achieving effective closed-loop regulation of the target component temperature.
[0064] Optionally, obtaining the desired temperature change curve of the target component in the wind turbine includes: obtaining the desired temperature of the target component; and generating a continuously differentiable desired temperature change curve from the current actual temperature to the desired temperature based on a preset curve construction strategy, according to the desired temperature and the current actual temperature of the target component.
[0065] This embodiment proposes that, in practical applications, there are many situations where it is necessary to adjust the temperature of a target component to a specific desired temperature value. However, a discrete temperature value cannot be differentiated, and the method provided in this embodiment cannot be applied.
[0066] Therefore, after obtaining the desired temperature, a continuous and differentiable desired temperature change curve that smoothly transitions from the current temperature to the desired temperature is generated based on the current actual temperature of the target component and a preset curve construction strategy, in order to ensure that the method provided in this embodiment is executable.
[0067] In one embodiment, the preset curve construction strategy can be a linear function, a quadratic function, a constant function, or an exponential function, etc. Regardless of the specific mathematical form used, the core requirement is that the generated desired temperature change curve is continuous and differentiable within the control period, with the starting point consistent with the current actual temperature and the ending point consistent with the desired temperature.
[0068] Next, a simulation will be performed using a simplified, idealized component model, based on the method provided in the embodiments of this application. Specifically, appropriate parameters will be set, and a target component of a type of wind turbine will be used as the model. Its temperature curve is shown below. Figure 2 As shown.
[0069] Setting the target temperature to 15 degrees Celsius, and using the method provided in the embodiments of this application, the temperature adjustment error curve is obtained through simulation as shown below. Figure 3 As shown: Simulation results show that, provided the temperature model parameters of the unit equipment are accurate, even with time lag, the method provided in this application can still ensure that the system error is limited to a pre-set boundary range with high accuracy.
[0070] The third embodiment of this application also proposes a temperature regulation device for wind turbine components, such as... Figure 4 As shown, the device includes: The data acquisition module 410 is used to acquire the desired temperature change curve of the target component in the wind turbine. The calculation module 420 is used to generate a control signal based on the desired temperature change curve and a preset control law. The control law is established based on the temperature response model of the target element and a sliding mode control strategy. The temperature response model includes a time delay variable that reflects the internal heat transfer delay of the target element. The sliding mode control strategy constrains the boundary of the temperature adjustment error through a preset performance function. The information transmission module 430 is used to send control signals to the temperature control element to adjust the temperature of the target element.
[0071] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.
[0072] In this embodiment, the wind turbine component temperature regulation device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.
[0073] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application, such as... Figure 5 As shown, the computer device includes one or more processors 510, memory 520, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components are interconnected via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 5 Take the 510 processor as an example.
[0074] Processor 510 may be a central processing unit, a network processor, or a combination thereof. Processor 510 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.
[0075] The memory 520 stores instructions executable by at least one processor 510 to cause the at least one processor 510 to perform the method shown in the above embodiments.
[0076] The memory 520 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 520 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 520 may optionally include memory remotely located relative to the processor 510, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
[0077] The memory 520 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 520 may also include a combination of the above types of memory.
[0078] The computer device also includes a communication interface 530 for communicating with other devices or communication networks.
[0079] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.
[0080] This application provides a computer program product including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method of any embodiment of this application.
[0081] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.
[0082] The methods, apparatus, computer devices, computer-readable storage media, or computer program products described in the above embodiments can be implemented by a computer chip or entity, or by a product having a certain function. A typical implementing device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.
[0083] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.
[0084] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, computer devices, computer-readable storage media, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.
[0085] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, computer devices, computer-readable storage media, or computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0086] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0087] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0088] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0089] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, computer equipment, computer-readable storage media, or computer program products are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.
[0090] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
[0091] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.
Claims
1. A method for regulating the temperature of wind turbine components, characterized in that, The method includes: Obtain the desired temperature change curve of the target component in the wind turbine; A control signal is generated based on the desired temperature change curve and a preset control law. The control law is established based on the temperature response model of the target element and a sliding mode control strategy. The temperature response model includes a time delay variable that reflects the internal heat transfer delay of the target element. The sliding mode control strategy constrains the boundary of the temperature adjustment error through a preset performance function. The control signal is sent to the temperature control element to adjust the temperature of the target element.
2. The method according to claim 1, characterized in that, The control law is established in the following manner: The basic temperature response model of the target component is constructed based on the first-order inertial transfer function; The product of the time-delay variable and the basic temperature response model is obtained as the temperature response model. The time-delay variable is in the form of a natural exponential function with a complex exponent, and the complex exponent includes the Laplace operator. The temperature response model is transformed to obtain the corresponding state-space model; The performance function is determined based on the output equation of the state-space model, and the temperature adjustment error is obtained using the inverse hyperbolic tangent function based on the performance function. The control law is established based on the performance function, the temperature adjustment error, and a preset convergence law.
3. The method according to claim 2, characterized in that, The temperature response model is as follows: in, For steady-state gain, It is a time constant. For the time-delay variable, The preset time delay parameter is used to characterize the heat conduction rate of the target component. For the Laplace operator; The method further includes: Based on the first-order Pade approximation, the time-delay variables are replaced with rational fractions to update the temperature response model. The updated temperature response model is as follows:
4. The method according to claim 3, characterized in that, The step of obtaining the temperature adjustment error using the inverse hyperbolic tangent function based on the performance function includes: Obtain the performance function and the base temperature adjustment error, wherein the base temperature adjustment error is the difference between the output equation of the state space model and the desired temperature change curve, and the absolute value of the base temperature adjustment error is less than the performance function; The ratio of the basic temperature adjustment error to the performance function is substituted into the inverse hyperbolic tangent function as the independent variable to obtain the temperature adjustment error.
5. The method according to claim 4, characterized in that, The preset reaching law is: in, This refers to the sliding surface in the sliding mode control strategy, and its value is equal to the temperature adjustment error. This refers to the approach velocity gain in the sliding mode control strategy. is the exponential convergence coefficient in the sliding mode control strategy. This refers to the disturbance term in the sliding mode control strategy. The boundary layer thickness in the sliding mode control strategy; The control law is: in, The control signal, The desired temperature change curve is shown below. This is the basic temperature adjustment error. For the performance function, Related to the actual temperature of the target component, It is related to the rate of change of the actual temperature of the target element.
6. The method according to claim 1, characterized in that, The temperature control element is an electric heating device, a cooling fan, and / or a liquid-cooled circulating pump; The control signals are PWM duty cycle signals or power commands for the electric heating device, speed commands or voltage commands for the cooling fan, and / or flow commands or speed commands for the liquid cooling circulating pump.
7. The method according to claim 1, characterized in that, The acquisition of the desired temperature change curve of the target component in the wind turbine includes: Obtain the desired temperature of the target component; Based on the desired temperature and the current actual temperature of the target component, a continuously differentiable curve of the desired temperature change from the current actual temperature to the desired temperature is generated according to a preset curve construction strategy.
8. A temperature regulating device for wind turbine components, characterized in that, The device includes: The data acquisition module is used to acquire the desired temperature change curve of the target component in the wind turbine. The calculation module is used to generate a control signal based on the desired temperature change curve and a preset control law. The control law is established based on the temperature response model of the target element and a sliding mode control strategy. The temperature response model includes a time delay variable that reflects the internal heat transfer delay of the target element. The sliding mode control strategy constrains the boundary of the temperature adjustment error through a preset performance function. The information transmission module is used to send the control signal to the temperature control element to adjust the temperature of the target element.
9. A computer device, characterized in that, include: A memory and a processor are interconnected, the memory storing computer instructions, and the processor executing the computer instructions to perform the wind turbine component temperature regulation method according to any one of claims 1 to 7.
10. A computer program product, characterized in that, Includes computer instructions for causing a computer to execute the wind turbine component temperature regulation method according to any one of claims 1 to 7.