Control methods, devices, storage media and program products for pitch actuators

Abstract

This disclosure relates to a control method, apparatus, storage medium, and program product for a pitch actuator. The method includes: acquiring operating data of a wind turbine and the original control command value of the pitch actuator; the original control command value is output by a PID controller; based on the operating data and the original control command value, an extended state observer is used to determine the total disturbance estimate of the pitch actuator; a compensation control command value is obtained based on the total disturbance estimate; the original control command value and the compensation control command value are superimposed to obtain a target control command value; and the pitch actuator is controlled according to the target control command value. This disclosure can perform real-time estimation and dynamic compensation for disturbances caused by aging of the pitch actuator, improving the robustness and real-time performance of the pitch actuator control.

Description

Technical Field

[0001] This disclosure relates to the field of wind turbine control technology, specifically to a control method, device, storage medium, and program product for a pitch actuator. Background Technology

[0002] During the long-term operation of wind turbines, the pitch actuator, as a core component, directly affects the power generation efficiency and safe operation of the wind turbine. With the increase in service time, the pitch actuator inevitably exhibits aging phenomena such as response hysteresis, increased internal friction, and expanded dead zone. These changes lead to a decrease in the control accuracy of traditional pitch control systems based on PID (Proportional-Integral-Differential) controllers.

[0003] Existing technologies identify the nonlinear model parameters of actuators online and perform feedforward compensation. However, the identification algorithm is computationally intensive and may affect the smooth operation of pitch control. At the same time, it is highly dependent on the model, and the model structure needs to be preset with nonlinear types. When unforeseen failure modes occur, the identification accuracy may decrease. Furthermore, if the model parameters change abruptly, overcompensation or undercompensation is likely to occur. Summary of the Invention

[0004] The purpose of this disclosure is to provide a control method, apparatus, storage medium, and program product for a pitch actuator to solve the aforementioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of the present disclosure, a control method for a pitch actuator is provided, comprising: The system acquires the operating data of the wind turbine and the raw control command values ​​of the pitch actuator; the raw control command values ​​are output by the PID controller. Based on the operating data and the original control command values, the total disturbance estimate of the pitch actuator is determined using an extended state observer. The compensation control command value is obtained based on the total disturbance estimate; The original control command value is superimposed with the compensated control command value to obtain the target control command value; The pitch actuator is controlled according to the target control command value.

[0006] Optionally, the operating data is the actual pitch angle; the step of determining the total disturbance estimate of the pitch actuator using an extended state observer based on the operating data and the original control command value includes: The actual pitch angle and the original control command value output by the PID controller are input into the extended state observer to obtain the total disturbance estimate of the pitch actuator.

[0007] Optionally, the extended state observer is a third-order linear extended state observer.

[0008] Optionally, obtaining the compensation control command value based on the total disturbance estimate includes: The compensated control command value is obtained based on the total disturbance estimate and the nominal value of the pitch actuator gain. Optionally, the step of superimposing the original control command value and the compensated control command value to obtain the target control command value includes: The compensation control command value is subject to a safety limit to obtain the first control command value; The original control command value is superimposed on the first control command value to obtain the target control command value.

[0009] Optionally, the control method further includes: Calculate the average value of the first control command value over a preset time period; If the average value is greater than the alarm threshold, an alarm signal is output.

[0010] Optionally, the control method further includes: Periodically check the operating frequency and average tracking error of the pitch actuator; Based on the frequency of the actions and the average tracking error, the bandwidth of the extended state observer and the control parameters of the PID controller are updated using fuzzy control rules.

[0011] According to a second aspect of the present disclosure, a control device for a pitch actuator is provided, comprising: an acquisition module, a first determination module, a second determination module, a third determination module, and a control module; The acquisition module is used to acquire the operating data of the wind turbine and the original control command value of the pitch actuator; the original control command value is output by the PID controller; The first determining module is used to determine the total disturbance estimate of the pitch actuator based on the operating data and the original control command value using an extended state observer; The second determining module is used to obtain a compensation control command value based on the total disturbance estimate; The third determining module is used to superimpose the original control command value and the compensated control command value to obtain the target control command value; The control module is used to control the pitch actuator according to the target control command value.

[0012] According to a third aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the control methods for a pitch actuator provided in the first aspect of the present disclosure.

[0013] According to a fourth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of any of the control methods for a pitch actuator provided in the first aspect of the present disclosure.

[0014] The above technical solution acquires the operating data of the wind turbine and the original control command value of the pitch actuator output by the PID controller; inputs the operating data and the original control command value into the extended state observer to obtain the total disturbance estimate of the pitch actuator; calculates the compensation control command value based on the total disturbance estimate; superimposes the original control command value and the compensation control command value to obtain the target control command value; and controls the pitch actuator according to the target control command value. The target control command value calculated in this disclosure can theoretically effectively cancel out all unknown disturbances caused by pitch actuator aging. Therefore, controlling the pitch actuator according to the target control command value can effectively suppress pitch actuator aging without relying on a complex large model. It can perform real-time estimation and dynamic compensation of disturbances caused by pitch actuator aging, improving the robustness and real-time performance of pitch actuator control and reducing the computational burden.

[0015] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating a control method for a pitch actuator according to an exemplary embodiment; Figure 2 This is a schematic diagram illustrating a control method for a pitch actuator according to an exemplary embodiment; Figure 3 This is a block diagram illustrating a control device for a pitch actuator according to an exemplary embodiment; Figure 4 This is a block diagram illustrating an electronic device according to an exemplary embodiment; Figure 5 This is a block diagram illustrating another electronic device according to an exemplary embodiment. Detailed Implementation

[0017] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0018] In the description of the embodiments disclosed herein, terms such as "first" and "second" are used to distinguish similar objects and are not necessarily to be construed as a specific order or sequence. Furthermore, unless otherwise stated, in the description with reference to the accompanying drawings, the same reference numerals in different drawings denote the same elements.

[0019] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0020] Before introducing the specific implementation methods of this disclosure, the application scenarios of this disclosure will first be explained.

[0021] During the long-term operation of wind turbines, the pitch actuator, as a core component, directly affects the power generation efficiency and safe operation of the wind turbine. With the increase in service time, pitch actuators inevitably experience aging phenomena such as response hysteresis, increased internal friction, and expanded dead zone. These changes lead to a decrease in the control accuracy of traditional pitch control systems based on PID controllers.

[0022] Existing technologies identify the nonlinear model parameters of actuators online and perform feedforward compensation. However, the identification algorithm is computationally intensive and may affect the smooth operation of pitch control. Furthermore, it is highly dependent on the model, requiring pre-defined nonlinear types in the model structure. When unforeseen failure modes occur, the identification accuracy may decrease. Moreover, abrupt changes in model parameters can easily lead to overcompensation or undercompensation.

[0023] To address the aforementioned technical problems, this disclosure provides a control method for a pitch actuator.

[0024] It should be noted that the subject of this disclosure can be the control system of the pitch actuator, or a computing service device with data processing, network communication and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device that can realize the control of the aforementioned pitch actuator, etc. This disclosure does not specifically limit it.

[0025] The specific embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0026] Figure 1 A flowchart illustrating a control method for a pitch actuator provided in an embodiment of this disclosure. Figure 1 As shown, the method may include the following steps: S101: Acquire the operating data of the wind turbine and the raw control command value of the pitch actuator; the raw control command value is output by the PID controller.

[0027] In one embodiment of this disclosure, the pitch actuator refers to the device responsible for adjusting the pitch angle of the wind turbine blades to control wind energy capture and turbine load; the PID controller refers to a widely used feedback controller that processes control errors through proportional, integral, and derivative operations, outputs control commands, and does not directly drive mechanical devices. Specifically, the PID controller is the regulating unit that calculates and issues control commands, and the pitch actuator is the mechanical device that receives control commands and drives the blades; the original control command value refers to the uncompensated control quantity calculated and output by the PID controller based on system errors.

[0028] During the operation of a wind turbine, real-time operating data and raw control command values ​​from the pitch actuator can be acquired. Operating data can be obtained in real time from devices installed on the wind turbine, such as wind speed sensors, rotational speed sensors, and pitch angle sensors. Operating data includes the actual pitch angle, among other things. For example, a PID controller can calculate and output a control variable based on the deviation between the actual pitch angle and the target pitch angle.

[0029] S102: Based on the operating data and the original control command values, the total disturbance estimate of the pitch actuator is determined using an extended state observer.

[0030] In one embodiment of this disclosure, the extended state observer refers to an observer capable of estimating the total internal and external disturbances of a system in real time. It treats unmodeled dynamics, external disturbances, and internal nonlinearities as a unified "total disturbance" for estimation, without requiring a precise mathematical model. The total disturbance estimate refers to the real-time estimate of all unknown disturbances (including unmodeled dynamics, external disturbances, and internal nonlinearities) experienced by the pitch actuator, output by the extended state observer.

[0031] Based on operational data and raw control command values, an extended state observer is used to determine the total disturbance estimate of the pitch actuator. The extended state observer can be designed as a third-order observer, receiving the actual pitch angle signal of the wind turbine and the raw control command value output by the PID controller at its input. The extended state observer estimates the total disturbance experienced by the pitch actuator in real time using internal algorithms, such as those based on Lyapunov stability theory or sliding mode control theory. This total disturbance can include nonlinear factors within the pitch actuator, such as friction, dead zone, and backlash, as well as external disturbances such as changes in wind load.

[0032] S103: Obtain the compensation control command value based on the total disturbance estimate.

[0033] In one embodiment of this disclosure, the compensation control command value refers to a control quantity calculated based on the total disturbance estimate, used to counteract the effects of the total system disturbance. The compensation control command value is calculated based on the total disturbance estimate.

[0034] S104: The original control command value and the compensation control command value are superimposed to obtain the target control command value.

[0035] In one embodiment of this disclosure, the target control command value refers to the final control command formed by superimposing the original control command value and the compensation control command value, which is used to drive the pitch actuator.

[0036] The target control command value is obtained by superimposing the original control command value and the compensated control command value. For example, if the original control command value is Upid and the compensated control command value is Ucomp, then the target control command value is Utotal = Upid + Ucomp.

[0037] S105: Control the pitch actuator according to the target control command value.

[0038] In one embodiment of this disclosure, a target control command value is transmitted to the drive module of the pitch actuator. The drive module controls the movement of the pitch actuator based on the received command value, thereby accurately adjusting the pitch angle of the wind turbine blades. The pitch actuator can be hydraulic, electric, or hybrid, and its drive module converts the target control command value into a corresponding physical quantity (such as current, voltage, or hydraulic pressure) to drive the pitch actuator.

[0039] The control method disclosed herein achieves real-time estimation and dynamic compensation of the total disturbance caused by the aging of the pitch actuator by introducing an extended state observer. This method effectively suppresses pitch actuator aging without relying on an accurate model, and can perform real-time estimation and dynamic compensation of disturbances caused by pitch actuator aging, improving the robustness and real-time performance of pitch actuator control, reducing computational burden. The control method of this disclosure does not require additional excitation signals; the pitch actuator operates entirely under normal operating conditions, avoiding the impact of minor disturbances on power generation. Furthermore, it does not require explicit modeling, does not identify specific parameters such as dead zone, clearance, or friction, and is equally effective for unforeseen aging modes (such as elastic deformation and hydraulic oil emulsification), exhibiting stronger robustness.

[0040] The following section will explain the specific implementation of each of the above steps.

[0041] As an optional implementation, the operating data is the actual pitch angle; in S102, based on the operating data and the original control command value, determining the total disturbance estimate of the pitch actuator using an extended state observer may further include: The actual pitch angle and the original control command value output by the PID controller are input into the extended state observer to obtain the total disturbance estimate of the pitch actuator.

[0042] Understandably, operational data refers to various real-time data collected during the operation of wind turbines, such as actual pitch angle, wind speed, and generator speed, which are used to reflect the current operating status of wind turbines.

[0043] The actual pitch angle is the blade angle actually reached by the pitch actuator during wind turbine operation. It directly reflects the output state of the pitch actuator and is the basis for evaluating its performance and identifying disturbances. The actual pitch angle can be obtained in various ways, such as using an angle sensor installed at the blade root or on the pitch mechanism for real-time measurement, converting the mechanical angle into an electrical signal. The actual pitch angle and the raw control command value output by the PID controller are input into the extended state observer. The raw control command value represents the desired state of the pitch actuator, while the actual pitch angle provides the actual response of the pitch actuator. The extended state observer is a state-space model-based observer that can establish a dynamic model based on the input-output relationship and estimate the system's state variables and total disturbances in real time based on its internal model and input data.

[0044] Using the above method, the actual pitch angle is taken as one of the key inputs of the extended state observer. Combined with the original control command value output by the PID controller, the extended state observer can establish a more accurate system dynamic model. The actual pitch angle directly reflects the true physical response of the pitch actuator, including its actual motion trajectory under the influence of nonlinear factors such as aging, friction, and dead zone. The extended state observer can accurately estimate the total disturbance caused by the aging of the pitch actuator. Compared with the extended state observer that relies solely on control commands or single feedback, introducing the actual pitch angle as an input can effectively reflect the dynamic characteristics of the pitch actuator under different loads and aging levels, thus making the total disturbance estimate more consistent with the actual operating conditions of the pitch actuator. This provides a reliable basis for subsequent calculation of compensation control command values.

[0045] As an optional implementation, the extended state observer can be a third-order linear extended state observer.

[0046] The third-order linear extended state observer is a control algorithm specifically designed for estimating system state and total disturbance. It can be implemented in various ways. For example, the state equation of the third-order linear extended state observer is:

[0047] in Track the actual pitch angle, Tracking angular velocity, Estimate total disturbance ; For observer gain, This is the nominal value of the actuator gain (which can be taken as an approximation from the factory value). This is the actual pitch angle.

[0048] For example, the initial observer bandwidth , (Originally determined by factory calibration). Control cycle: 20ms. , , .

[0049] The third-order linear extended state observer provides a clear mathematical model foundation for disturbance observation in pitch actuators. In the control system of the pitch actuator, this third-order linear extended state observer can simultaneously estimate the pitch angle position, velocity, and total disturbance in real time, significantly reducing computational resource consumption. This makes the control algorithm easier to implement in the embedded controller of the wind turbine, resulting in a more stable output of the total disturbance estimate, providing a reliable basis for subsequent compensation control command calculations. The extended state observer requires only three addition, subtraction, and multiplication operations, making it suitable for implementation in low-cost embedded controllers.

[0050] As an optional implementation, obtaining the compensation control command value based on the total disturbance estimate in S103 may further include: The compensation control command value is obtained based on the total disturbance estimate and the nominal value of the pitch actuator gain.

[0051] Understandably, the nominal gain of a pitch actuator refers to the proportional relationship between the input signal (e.g., control command) and the output response (e.g., pitch angle change rate or torque), reflecting the actuator's responsiveness or efficiency to control commands. In practical applications, the nominal gain of a pitch actuator can be obtained in various ways. For example, during the system design phase, a fixed nominal gain value can be determined based on the pitch actuator's model, specifications, and performance parameters provided by the manufacturer; this value remains constant during system operation.

[0052] The compensation control command value is obtained based on the total disturbance estimate and the nominal value of the pitch actuator gain. The aim is to convert the total disturbance estimate output by the extended state observer into a compensation control command value that can effectively counteract the disturbance by combining it with the nominal value of the pitch actuator gain.

[0053] Specifically, a proportional compensation method can be used, dividing the total disturbance estimate by the nominal value of the pitch actuator gain, and directly using this as the compensation control command value. For example, the compensation control command value = total disturbance estimate / nominal pitch actuator gain.

[0054] In addition, an extra weighting coefficient can be introduced on top of proportional compensation to fine-tune the compensation amount. For example, the compensation control command value = K Total disturbance estimate / nominal pitch actuator gain, where K is an adjustment factor that can be optimized based on the actual system commissioning results to achieve the best compensation effect.

[0055] By adopting the above method, and by introducing the nominal value of the pitch actuator gain, the total disturbance estimate output by the extended state observer is combined with the nominal value of the pitch actuator gain. This ensures that the compensation command remains within a reasonable range under different individual actuators or different operating conditions, avoiding over-compensation or under-compensation caused by directly using the disturbance estimate. This effectively improves the adaptability of the control system to the nonlinear disturbances of the pitch actuator, and further improves the problem of performance degradation of traditional PID control caused by aging phenomena such as slower response, increased friction, and expanded dead zone after long-term operation of the pitch actuator.

[0056] As an optional implementation, the process of superimposing the original control command value and the compensated control command value in S104 to obtain the target control command value may further include: Apply a safety limit to the compensation control command value to obtain the first control command value; The original control command value is superimposed with the first control command value to obtain the target control command value.

[0057] Understandably, imposing safety limits on the compensation control command value aims to constrain it within a reasonable physical range, preventing overly aggressive compensation commands due to momentary anomalies or excessive deviations in the disturbance estimate output by the extended state observer. This safety limit operation can be implemented in various ways. For example, the maximum compensation amount Ucomp can be directly limited to no more than 20% of the pitch actuator's rated torque. After the safety limit processing, a first control command value is obtained, representing the actual effective amount of compensation for the pitch actuator. The original control command value and the first control command value are then superimposed to obtain the final target control command value. This superposition method can be the simplest additive superposition, where the target control command value equals the sum of the original and first control command values; or it can be a weighted superposition, assigning different weight coefficients to the original and first control command values ​​to achieve a more refined control effect.

[0058] For example, at the 1st second, The value gradually increases from 0 to approximately 0.15 rad / s² (corresponding to the additional thrust required due to increased friction). Ucomp is approximately -0.12 (per unit), and after superposition, the actual pitch angle tracking error is reduced from ±1.2° to ±0.3°.

[0059] By employing the above method and imposing safety limits on the compensation control command value, it is possible to effectively avoid abnormally large or small compensation commands caused by fluctuations in the total disturbance estimate or calculation errors. Superimposing the original control command value with the first control command value after the safety limit ensures that the final generated target control command value can effectively compensate for the aging of the pitch actuator while maintaining its stable operation, significantly improving the robustness and safety of the control system.

[0060] As an optional implementation, the following steps are also included: Calculate the average value of the first control command over a preset time period; If the average value is greater than the alarm threshold, an alarm signal is output.

[0061] It is understood that the average value of the first control command value is calculated over a preset time period. The calculation method for this average value can refer to methods described in related technologies, and this disclosure does not limit it. The preset time period can be set according to the actual application scenario and the characteristics of the pitch actuator. For example, it can be set to 72 hours based on experience. The alarm threshold is a key basis for determining whether there is an abnormality in the pitch actuator. For example, a reasonable alarm threshold can be determined through simulation or experimentation by combining expert experience, the design parameters of the pitch actuator, aging models, or failure mode analysis. The purpose of the output signal is to promptly notify maintenance personnel or trigger further protection measures. When the calculated average value exceeds the preset alarm threshold, the system can issue a warning in various ways. For example, an audible and visual alarm device (such as a buzzer or indicator light) can be used to issue a warning on-site.

[0062] For example, if the average value for three consecutive days remains at 0.13 (per unit), exceeding the threshold of 0.1, the system sends an alarm signal to the central monitoring system.

[0063] By adopting the above method, the continuous degradation of pitch actuator performance or abnormal load conditions can be detected in a timely manner, thereby improving the operational reliability and targeted maintenance of wind turbine pitch actuators, realizing real-time monitoring and fault early warning of pitch actuator operating status, and providing strong engineering interpretability.

[0064] As an optional implementation, the following steps are also included: Regularly check the operating frequency and average tracking error of the pitch actuator; Based on the frequency of actions and the average tracking error, the bandwidth of the extended state observer and the control parameters of the PID controller are updated using fuzzy control rules.

[0065] Understandably, the frequency of operation of the pitch actuator is periodically measured. This frequency refers to the number of times the pitch actuator operates within a specific time window, reflecting its activity level and load intensity. For example, the frequency is the number of times the absolute value of the pitch angle change exceeds 0.5° per minute. Simultaneously, the average tracking error of the pitch actuator is periodically measured. This average tracking error refers to the average deviation between the actual output and the expected output of the pitch actuator over a period of time, directly reflecting the tracking performance of the control system and the accuracy of the pitch actuator's response to control commands. The measurement method can refer to the methods described in related technologies, and this disclosure does not limit it.

[0066] Based on the frequency of actions and the average tracking error, the bandwidth of the extended state observer and the control parameters of the PID controller are updated using fuzzy control rules. Fuzzy control rules are a control method based on fuzzy logic, which handles uncertainties and nonlinear relationships by simulating human fuzzy reasoning. These rules take the frequency of actions and the average tracking error as inputs and output the bandwidth adjustment of the extended state observer and the parameter adjustment of the PID controller. For example, when a slowdown in response due to aging of the pitch actuator is detected, the bandwidth can be appropriately reduced to improve the smoothness of the estimation; when an increase in disturbance is detected, the bandwidth can be appropriately increased to improve the estimated response speed. For example, when the average tracking error increases, the proportional gain can be appropriately increased to speed up the response; when a steady-state error exists in the system, the integral gain can be increased to eliminate the error; when the system oscillates, the derivative gain can be adjusted to suppress the oscillation.

[0067] For example, if the pitch control frequency is 8 times / minute for 10 consecutive minutes (normal is 15 times / minute), it is judged as a deterioration in static characteristics. Fuzzy rule output: From 30 to 45, Increased by 15%. After implementation, the tracking error was further reduced to ±0.2°.

[0068] Using the above method, this disclosure introduces an adaptive adjustment mechanism, which effectively solves the problem of control performance degradation caused by the dynamic evolution of the aging degree of the pitch actuator during long-term operation. It enables the extended state observer and PID controller to always match the actual operating state of the pitch actuator, effectively compensating for nonlinear characteristics such as slower response, increased friction, and expanded dead zone caused by aging. It significantly improves the operating stability and power generation efficiency of wind turbine units, maintains a fast response in the early stage of aging, and suppresses oscillations in the case of severe aging.

[0069] Figure 2 This is a schematic diagram illustrating a control method for a pitch actuator according to an exemplary embodiment. Figure 2 As shown, during the operation of the wind turbine, the actual pitch angle data of the wind turbine can be obtained in real time. The measured rotor speed and target rotor speed of the wind turbine are used as inputs. The PID controller can calculate and output an initial control command value for the pitch actuator based on the deviation between these two speeds. The actual pitch angle data and the initial control command value are input into an extended state observer to obtain the total disturbance estimate for the pitch actuator (extended state observer module). A compensation control command value is calculated based on the total disturbance estimate (disturbance compensation module). The compensation control command value is periodically updated (adaptive gain scheduling module). A safety limit is applied to the compensation control command value (safety limiter) to obtain a first control command value. The initial control command value is superimposed on the first control command value to obtain the target control command value (set pitch angle). The pitch actuator is then controlled according to the target control command value.

[0070] Furthermore, when a step change in the pitch angle command is detected, the error integral term of the third-order linear extended state observer is temporarily frozen (i.e., Set to 0), last for 50ms, to avoid overshooting by the observer when tracking mutation signals.

[0071] Figure 3 This is a schematic diagram of the structure of a control device for a pitch actuator provided in an embodiment of this disclosure. Figure 3 As shown, the control device 200 includes: an acquisition module 201, a first determination module 202, a second determination module 203, a third determination module 204, and a control module 205.

[0072] The acquisition module 201 is used to acquire the operating data of the wind turbine and the raw control command value of the pitch actuator; the raw control command value is output by the PID controller. The first determining module 202 is used to determine the total disturbance estimate of the pitch actuator based on the operating data and the original control command value using an extended state observer. The second determining module 203 is used to obtain the compensation control command value based on the total disturbance estimate; The third determining module 204 is used to superimpose the original control command value and the compensation control command value to obtain the target control command value; The control module 205 is used to control the pitch actuator according to the target control command value.

[0073] The control device for the pitch actuator is determined according to any one of the control methods described in the above embodiments of this disclosure.

[0074] Optionally, the operating data is the actual pitch angle; the first determining module is specifically used for: The actual pitch angle and the original control command value output by the PID controller are input into the extended state observer to obtain the total disturbance estimate of the pitch actuator.

[0075] Optionally, the extended state observer is specifically a third-order linear extended state observer.

[0076] Optionally, the second determining module is specifically used for: The compensation control command value is obtained based on the total disturbance estimate and the nominal value of the pitch actuator gain.

[0077] Optionally, the third determining module is specifically used for: Apply a safety limit to the compensation control command value to obtain the first control command value; The original control command value is superimposed with the first control command value to obtain the target control command value.

[0078] Optionally, the third determining module is also specifically used for: Calculate the average value of the first control command over a preset time period; If the average value is greater than the alarm threshold, an alarm signal is output.

[0079] Optionally, the control unit for the pitch actuator also includes an update module for: Regularly check the operating frequency and average tracking error of the pitch actuator; Based on the frequency of actions and the average tracking error, the bandwidth of the extended state observer and the control parameters of the PID controller are updated using fuzzy control rules.

[0080] This disclosure proposes a control device for a pitch actuator. By introducing an extended state observer, it achieves real-time estimation and dynamic compensation of the total disturbance caused by the aging of the pitch actuator. This method can effectively suppress the aging of the pitch actuator without relying on an accurate model, and can perform real-time estimation and dynamic compensation of the disturbance caused by the aging of the pitch actuator, thereby improving the robustness and real-time performance of the pitch actuator control and reducing the computational burden.

[0081] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0082] Figure 4 This is a block diagram illustrating an electronic device 700 according to an exemplary embodiment. Figure 4 As shown, the electronic device 700 may include a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0083] The processor 701 controls the overall operation of the electronic device 700 to complete all or part of the steps in the control method for the paddle actuator described above. The memory 702 stores various types of data to support the operation of the electronic device 700. This data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 703 may include a screen and audio components. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting audio signals. I / O interface 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0084] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the control method for the pitch actuator described above.

[0085] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the control method for the pitch actuator described above. For example, the computer-readable storage medium may be the memory 702 including program instructions described above, which may be executed by the processor 701 of the electronic device 700 to complete the control method for the pitch actuator described above.

[0086] Figure 5 This is a block diagram illustrating another electronic device 1900 according to an exemplary embodiment. For example, electronic device 1900 may be provided as a server. (Refer to...) Figure 5 The electronic device 1900 includes a processor 1922, which may be one or more, and a memory 1932 for storing computer programs executable by the processor 1922. The computer program stored in the memory 1932 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processor 1922 may be configured to execute the computer program to perform the aforementioned control method for the pitch actuator.

[0087] Additionally, the electronic device 1900 may also include a power supply component 1926 and a communication component 1950. The power supply component 1926 can be configured to perform power management of the electronic device 1900, and the communication component 1950 can be configured to enable communication of the electronic device 1900, such as wired or wireless communication. Furthermore, the electronic device 1900 may also include an input / output (I / O) interface 1958. The electronic device 1900 can operate on an operating system stored in memory 1932.

[0088] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the control method for the pitch actuator described above. For example, the non-transitory computer-readable storage medium may be the memory 1932 including the program instructions described above, which may be executed by the processor 1922 of the electronic device 1900 to complete the control method for the pitch actuator described above.

[0089] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the control method of the pitch actuator described above when executed by the programmable device.

[0090] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0091] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0092] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A control method for a pitch actuator, characterized in that, The method includes: The system acquires the operating data of the wind turbine and the raw control command values ​​of the pitch actuator; the raw control command values ​​are output by the PID controller. Based on the operating data and the original control command values, the total disturbance estimate of the pitch actuator is determined using an extended state observer. The compensation control command value is obtained based on the total disturbance estimate; The original control command value is superimposed with the compensated control command value to obtain the target control command value; The pitch actuator is controlled according to the target control command value.

2. The control method according to claim 1, characterized in that, The operating data is the actual pitch angle; the step of determining the total disturbance estimate of the pitch actuator using an extended state observer based on the operating data and the original control command value includes: The actual pitch angle and the original control command value output by the PID controller are input into the extended state observer to obtain the total disturbance estimate of the pitch actuator.

3. The control method according to claim 2, characterized in that, The extended state observer is a third-order linear extended state observer.

4. The control method according to claim 1, characterized in that, The compensation control command value obtained based on the total disturbance estimate includes: The compensation control command value is obtained based on the total disturbance estimate and the nominal value of the pitch actuator gain.

5. The control method according to claim 1, characterized in that, The step of superimposing the original control command value with the compensated control command value to obtain the target control command value includes: The compensation control command value is subject to a safety limit to obtain the first control command value; The original control command value is superimposed on the first control command value to obtain the target control command value.

6. The control method according to claim 5, characterized in that, The control method further includes: Calculate the average value of the first control command value over a preset time period; If the average value is greater than the alarm threshold, an alarm signal is output.

7. The control method according to claim 1, characterized in that, The control method further includes: Periodically check the operating frequency and average tracking error of the pitch actuator; Based on the frequency of the actions and the average tracking error, the bandwidth of the extended state observer and the control parameters of the PID controller are updated using fuzzy control rules.

8. A control device for a pitch actuator, characterized in that, The control device includes: an acquisition module, a first determination module, a second determination module, a third determination module, and a control module; The acquisition module is used to acquire the operating data of the wind turbine and the original control command value of the pitch actuator; the original control command value is output by the PID controller; The first determining module is used to determine the total disturbance estimate of the pitch actuator based on the operating data and the original control command value using an extended state observer; The second determining module is used to obtain a compensation control command value based on the total disturbance estimate; The third determining module is used to superimpose the original control command value and the compensated control command value to obtain the target control command value; The control module is used to control the pitch actuator according to the target control command value.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1-7.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-7.

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