317 results about "Pitch control" patented technology

The invention belongs to the technical field of wind power generation, and discloses a wind driven generator multi-drive variable pitch control method based on big data, which comprises the following steps of: constructing a multi-source data acquisition network covering an environment, a unit, a power grid and a driver, and combining preprocessing means such as denoising and standardization and feature extraction methods such as principal component analysis; high-quality input is provided for a short-term prediction model; the model can accurately pre-judge wind conditions and power requirements in the future 10-30 minutes, and is matched with a global optimization algorithm to dynamically adjust a variable pitch strategy, so that the wind driven generator can still keep stable power output under complex working conditions of gust, power grid fluctuation and the like, and particularly has outstanding performance in areas with unstable wind resources. According to mechanical coupling characteristics of the multi-drive variable pitch system, mechanical parameters such as a gear transmission gap and shafting rigidity are fully included in global optimization, and power output, mechanical fatigue and load distribution are balanced through a multi-objective optimization algorithm.

The invention provides a self-adaptive variable-pitch control method and system based on turbulence intensity dynamic compensation, and relates to the field of wind power generation. Firstly, a real-time turbulence data set in the operation environment of a wind turbine generator is obtained, and the real-time turbulence data set comprises multi-dimensional turbulence characteristic units which are continuously collected and provided with time sequence marks; performing feature extraction on the real-time turbulence data set to obtain turbulence feature distribution containing spatial distribution features and dynamic change features, then generating a dynamic compensation strategy containing a related compensation parameter set according to the turbulence feature distribution, and adjusting control parameters of a preset variable pitch control model based on the dynamic compensation strategy to obtain the variable pitch control model. And finally, a pitch angle adjusting mechanism of the wind turbine generator is controlled through the corrected parameters, self-adaptive adjustment of the pitch angle is achieved, and therefore the operation stability and the output power stability of the wind turbine generator under the complex turbulence working condition can be improved, the damage risk of parts can be reduced, and the service life of the wind turbine generator can be prolonged.

The invention discloses a model-free self-adaptive independent variable pitch control method and system for a wind turbine generator based on multivariable decoupling, and aims to solve the problem of blade fatigue damage caused by blade root asymmetric load under a high-wind-speed turbulence working condition. A multi-input multi-output control architecture is designed, control parameters are dynamically adjusted by using a model-free adaptive control (MFAC) algorithm, a cooperative adjustment instruction of an independent variable pitch angle is generated, optimal control of a three-blade pitch angle is realized, and power output stability is maintained while a blade root load is suppressed. Compared with traditional independent pitch control (IPC), the method has the advantages that model dependence is eliminated through pseudo-gradient matrix multivariable decoupling, the anti-interference capacity under the turbulent wind condition is remarkably enhanced, and technical guarantee is provided for safe operation of a large wind turbine generator.

The invention provides a variable pitch control method and system of a wind generating set and the wind generating set. The variable pitch control method comprises the steps that wind speed data at the wind coming side of an impeller of the wind generating set and at the position away from the impeller by a preset distance in the current control period are determined; determining an estimated pitch angle of the current control period based on the wind speed data of the current control period; comparing the estimated pitch angle of the current control period with the reference pitch angle of the previous control period, and taking the comparison result as the reference pitch angle of the current control period; and on the basis of the reference pitch angle of the current control period, blade pitch variation of the wind generating set is controlled. According to the variable pitch control method of the wind generating set and the wind generating set, the problem that the reduction effect of the fatigue load of the whole machine is poor due to control hysteresis is solved, blade variable pitch can be controlled in advance, and the limit load and the fatigue load of the whole machine are better reduced.

The invention provides a variable pitch system and a wind generating set, and the variable pitch system comprises a variable pitch oil cylinder which is provided with a rod cavity, a rodless cavity and a piston rod; the variable-pitch control unit is arranged between an oil source and the variable-pitch oil cylinder, and the variable-pitch control unit is communicated with the rod cavity and the rodless cavity, so that a piston rod of the variable-pitch oil cylinder extends out or retracts back to carry out variable-pitch adjustment on blades by switching the flow directions of an oil inlet path and an oil outlet path of the rod cavity and the flow direction of an oil outlet path of the rodless cavity; the anti-vortex unit is connected between one of the rod cavity and the rodless cavity and an oil source, the anti-vortex unit can supply oil to one of the rod cavity and the rodless cavity and can close an oil supply and return path of the other one of the rod cavity and the rodless cavity, so that the piston rod is kept still, and the blades are kept at the anti-vortex angle.

The invention relates to the technical field of wind power generation, and discloses a variable-pitch control method, device, equipment and product for a floating type wind turbine generator. A wind turbine generator model is constructed by comprehensively considering multiple factors such as aerodynamics, hydrodynamics and mooring dynamics, and a gain scheduling control model is introduced into a preset PI control method; the method can adapt to different working conditions, effectively overcomes the limitation of the traditional PID control in the complex dynamic environment of the floating wind turbine generator, reduces the power fluctuation, and reduces the structure resonance risk. A preset platform pitching value is introduced into expert PID control, and Kohmann coordinate transformation is combined, so that the negative damping problem of a unified variable-pitch floating type fan is solved, and accurate distribution of control signals is realized. And finally, through the control combination of unified variable pitch and independent variable pitch, the pitching amplitude is reduced, the blade load is reduced, the stability and safety of the floating type wind turbine generator are remarkably improved, and reliable operation of the generator is guaranteed.

The invention discloses a wind turbine generator self-adaptive control method, medium and system based on environmental turbulence, and the method comprises the steps: S1, collecting the power of a generator and the current pitch angle in the normal operation process of a wind turbine generator; s2, estimating the real-time wind speed based on the power of the generator and the inherent parameters of the unit; s3, calculating real-time environmental turbulence intensity according to the real-time estimated wind speed; s4, inputting the real-time environmental turbulence intensity and the current pitch angle into a fuzzy controller, and calculating a variable pitch control parameter coefficient according to a preset fuzzy rule; and S5, based on the variable-pitch control parameter coefficient, the variable-pitch control parameter is adjusted to carry out variable-pitch control, and self-adaptive stable operation of the unit is achieved. According to the method, no hardware needs to be additionally installed, unit load impact and rotating speed fluctuation caused by large turbulence can be effectively restrained, and on the premise that it is ensured that the limit load of key components does not exceed the limit, the operation stability of the unit is improved, the power generation loss is reduced, and cost reduction, efficiency improvement and safe and stable operation are achieved.

The method aims at solving the problems that in a wind power generation system, due to modeling errors of a prediction model in model prediction independent variable pitch control, the load of a blade root of a fan is too large, and output power is unstable. On the basis of model predictive control (MPC) independent variable pitch control, a model predictive independent variable pitch control method integrating deep deterministic policy gradient algorithm (DDPG) reinforcement learning compensation is provided, so that the modeling error of an MPC predictive model is reduced, the load reduction effect is improved, and the stability of output power is enhanced. And a DDPG compensator is designed, so that an intelligent agent continuously learns through a trial-and-error and feedback mechanism, thereby dynamically compensating a modeling error and improving the load reduction performance of MPC independent variable pitch control. According to the invention, the output power of the fan can be more stable, and the fluctuation of blade root load can be effectively reduced, so that the service life of the fan is prolonged, and the operation reliability of the system is improved.

The invention discloses a wind turbine generator independent variable pitch control method embedded with linear processing predictive control, which belongs to the field of wind power and comprises the following steps: establishing a mathematical model of a large wind turbine generator; establishing a mathematical model of a linear processor; establishing a mathematical model of the model prediction controller; and based on the established model prediction controller, taking the pitch angle signal as the input of the model prediction controller, and carrying out independent variable pitch control on the wind turbine generator. A variable pitch signal is dispersed into a plurality of signals to be output in a communication period through the linear processor, signal frequency and amplitude fluctuation are reduced, the superiority of model predictive control in the aspect of a multiple-input-multiple-output system is combined, and therefore fatigue loss of a driving mechanism is reduced, the blade load reduction effect is improved, and the service life of the blade is prolonged. The method is suitable for high-precision control and parameter change systems.

The invention discloses an intelligent variable pitch control method, system and equipment for a wind generating set, and relates to the technical field of wind generating set control, and the method comprises the steps: synchronously collecting multi-source data in real time through a multi-source heterogeneous sensor array, constructing a dynamic load spectrum matrix, and carrying out nonlinear optimization; an optimal pitch angle sequence is generated to drive a variable pitch execution mechanism, meanwhile, the blade stress change rate is monitored in real time, and an aerodynamic load-structure response coupling factor is calculated; when the factor exceeds a safety threshold, the pitch angle command is reconstructed and the pitch angle is forcibly adjusted to a preset safety angle. The technical problems that the power generation efficiency and the structure safety are difficult to consider under the complex turbulence condition and a safety protection mechanism under the over-limit working condition is lacked in the variable pitch control of the existing wind generating set are solved, and the aim that the power generation efficiency and the structure safety are effectively improved through nonlinear optimization control and introduction of an over-limit triggered standby control path is achieved. And the technical effect of dynamic unification of power generation efficiency and structural safety in a complex turbulence environment is achieved.

The invention discloses a dynamic independent variable pitch control method and system for a wind turbine generator under a large yaw error. The method comprises the steps that S1, wind speed and wind direction data during operation of the wind turbine generator are obtained; s2, comparing the wind speed and wind direction data with a preset threshold value; when the wind speed and wind direction data are larger than a preset threshold value, it is judged that the unit is in a large yaw error state; when the unit is in a large yaw error state, a dynamic IPC amplitude is obtained according to the current wind speed and direction data and a preset threshold value; and S3, superposing the dynamic IPC amplitude to the variable pitch amount of the unit so as to control the wind turbine unit to continuously operate. When a large yaw error occurs, power and speed are reduced, and an independent variable-pitch operation mode is started, so that a non-stop strategy is adopted while the limit load of important parts such as a hub and a yaw bearing is reduced, the power generation amount is maximized, and the power generation potential is fully excavated.

The invention provides a variable pitch control method of a wind generating set under a gust condition and the wind generating set, and the variable pitch control method comprises the following steps: determining the wind speed characteristic quantity of wind reaching an impeller of the wind generating set based on wind speed data; based on the wind speed characteristic quantity, a wind speed trend quantity is determined, and the wind speed trend quantity represents the cumulant of the change of the wind speed characteristic quantity within a preset time period before wind reaches the impeller; and in response to the wind speed trend quantity, indicating that the wind generating set is in a gust wind condition, performing variable pitch control on the wind generating set. According to the variable-pitch control method for the wind generating set under the gust wind condition and the wind generating set, the problem that safe operation of the wind generating set cannot be ensured due to the fact that the limit load of the wind generating set under the gust wind condition is increased is solved, the gust wind condition can be recognized, variable-pitch control is conducted on the wind generating set, and the wind generating set is more reliable. And the safety and the stability of the unit are ensured.

The invention discloses a wind power plant equivalent frequency response modeling method considering working condition uncertainty and an equivalence method, belongs to the technical field of power system modeling and equivalence, and aims to solve the problem that no method capable of considering the working condition uncertainty of units in a wind power plant to perform equivalent aggregation on the frequency response of the whole wind power plant exists at present. According to the method, modeling is carried out on the wind speed distribution uncertainty in a wind power plant by adopting a probability method, a wind power plant wind speed distribution scene is generated based on a three-parameter Weibull distribution function, and the working condition uncertainty of each unit is represented; dividing the wind power plant into a non-frequency modulation area, a comprehensive inertia and overspeed load shedding control area and a comprehensive inertia and variable pitch control area according to the wind speed distribution and the corresponding wind speed during fan output; and based on a partitioning result, determining an equivalent influence coefficient and an equivalent control coefficient by utilizing parameters of each wind turbine generator, obtaining a wind power plant equivalent frequency response model considering working condition uncertainty by combining a wind turbine generator frequency response model, and realizing equivalence based on the model.

The invention relates to the field of wind driven generators, and particularly discloses a floating type vertical axis wind turbine multi-partition variable pitch control strategy which comprises the steps that S1, basic parameters and operating condition parameters of a unit are obtained; s2, establishing an aerodynamic model based on a double-disk multi-flow management theory and a superposition wind speed method; s3, measuring parameters through a sensor, and calculating a theoretical attack angle of the blade; s4, establishing a multi-partition pitch angle change function based on the theoretical attack angle; s5, constructing an NSGA-II multi-target optimization model, and taking maximization of an average power coefficient and minimization of a blade thrust standard deviation as targets; s6, substituting a function to obtain an optimal variable pitch control factor and an optimal pitch angle; and S7, the optimal pitch angle is converted into a variable pitch actuator instruction. The problems that an existing strategy is limited in partition, the wind direction influence is ignored, and optimal parameters for working condition adaptation are lacked are solved, the wind energy capture efficiency is improved, the load fluctuation is reduced, and the variable pitch control accuracy is improved.

The invention discloses a wind power variable pitch intelligent control method, and belongs to the field of wind power generation control. Aiming at the problems of wind speed abrupt change response lag, poor blade aging adaptation and low load control precision of existing variable pitch control, the method comprises the following steps: firstly, collecting real-time wind speed, blade strain, wind wheel rotating speed and blade historical data; predicting a short-term wind speed by using an improved ARIMA model, calculating a blade aging degree in combination with strain data, and determining a correction coefficient; then taking the predicted wind speed, the real-time strain and the correction coefficient as input, constructing a multi-target control model, and solving an optimal pitch angle through a particle swarm optimization algorithm; and finally, performing adjustment and performing real-time feedback and correction to form closed-loop control. The method can improve the variable pitch response speed, is adaptive to the full life cycle of the blade, balances the power generation efficiency and the unit safety, and is suitable for a multi-power-level wind turbine unit.

The invention relates to the technical field of data processing, and discloses a multi-source collaborative super-long wind power blade flexible variable pitch control method and system, and the method comprises the steps: constructing a response frequency band distribution matrix, effectively recognizing a frequency band overlapping interval caused by the distribution coupling of a modal frequency sequence and node coordinates in a flexible variable pitch blade, and obtaining a flexible variable pitch control result. The problem that in the prior art, control path frequency decoupling cannot be achieved under the condition of flexible response frequency band overlapping is solved, further, on the basis of an initial paddle angle path sequence, nonlinear projection analysis processing is introduced, a mapping drift vector is generated, and the path frequency decoupling effect is improved. The method is used for depicting a nonlinear projection drift trend generated by target propeller angle response in a variable-pitch control path, the problem of dynamic error accumulation caused by nonlinear projection drift of the variable-pitch path is solved, and through the two key steps, it is ensured that in an ultra-long flexible blade system, the nonlinear projection drift of the variable-pitch path is reduced. Cooperative execution of frequency domain mapping constraint and path offset correction can be achieved through variable pitch control.

The invention provides a controller for a wind turbine having three rotor blades, the controller being for controlling activation of individual pitch control of the rotor blades. The controller is configured to receive a flap load signal, from a flap loading sensor of each of the three rotor blades, indicative of flap loading on each of the respective rotor blades. The controller is configured to determine, based on the received flap load signals, a statistical dispersion parameter of flap loading for each of the rotor blades, the statistical dispersion parameters being indicative of a wind event in a wind field in which the wind turbine operates. The controller is configured to control activation of individual pitch control based on the respective statistical dispersion parameters.

The invention provides a floating fan strong wind resistance variable pitch control method based on an online optimization algorithm, and the method comprises the steps: describing main components of a floating fan structure, and building a high-fidelity nonlinear dynamic model of a floating wind generating set; carrying out linearization and discretization processing on the high-fidelity nonlinear dynamic model of the floating wind generating set near a cut-out wind speed working point, and giving a control-oriented linearization reduced-order model; constructing an augmented closed-loop control system model based on a standard proportional integral variable pitch control algorithm; performing residual error correction on the closed-loop control system model based on a Gaussian process; calculating a most unfavorable wind speed prediction value based on an online rolling optimization prediction control algorithm; calculating a minimum rotating speed reference derating value meeting security constraints; and calculating a final blade pitch angle instruction. According to the method, on the premise that the load does not exceed the safety upper limit under the strong wind working condition, the minimum necessary derating can be achieved through the online optimization algorithm, and the power generation capacity is kept to the maximum degree.

The invention relates to the technical field of wind power generation control, in particular to a variable pitch control method and system for a wind generating set, and the method comprises the steps: firstly obtaining a real-time operation data set which comprises a set state data unit and an environment parameter data unit and is provided with a timestamp mark, and carrying out the feature fusion processing of the real-time operation data set; a combined feature set reflecting the incidence relation between the blade stress state and the wind regime change is obtained, then a pre-trained pitch angle prediction model is called to predict the pitch angle adjustment amount of the combined feature set, and target pitch angle control parameters meeting the power generation efficiency and structural load balance are determined according to the prediction result; and finally, generating a variable pitch execution instruction containing timestamp alignment based on the target pitch angle control parameter, and sending the variable pitch execution instruction to a variable pitch control system, so that the pitch angle adjustment amount can be accurately predicted, the balance between the power generation efficiency and the structural load is realized, and the operation performance and reliability of the wind generating set are improved.

The invention relates to the technical field of wind power generation control, and discloses a model prediction variable pitch control method, system and equipment based on an LPV model, and a medium, and the method comprises the steps: building a full-range nonlinear variable pitch dynamic characteristic model of a wind turbine generator; through a gap measurement theory, representative working condition points are selected from a plurality of linearization models, and a linear variable parameter fan variable pitch model is constructed by taking the wind speed as a scheduling variable; and a multi-objective function is determined, a model prediction control problem is converted into a constrained quadratic programming problem for online solving, a control input quantity is calculated, and rolling optimization is carried out. According to the method, the pitch angle change is reduced, meanwhile, the loads of the blades and the hub are further reduced, the MPC control algorithm based on the LPV model can better reduce the power fluctuation under the step wind condition, and the tower footing load is reduced.

The invention provides a bending device and method for a coiled pipe of a heat exchanger, the coiled pipe of the heat exchanger is decomposed, and the whole structure is decomposed into a body spiral part and bent parts at the two ends; a spiral bending device is designed, and the spiral part of the coiled pipe body is bent; a pipe end bending device is designed, and the pipe end part of the coiled pipe is bent; the spiral bending device comprises a pipe bending unit, an inlet and outlet angle control unit and a screw pitch control unit, the pipe bending unit is used for bending the spiral part of the coiled pipe body, the inlet and outlet angle control unit is used for controlling the forming angles of the bent parts at the two ends of the coiled pipe, and the screw pitch control unit is used for controlling the screw pitch of the spiral part of the coiled pipe body. The bending device is adopted to solve the problems that heat exchanger coiled pipes of different specifications, pipe types and lengths are difficult to form, filler in an inner cavity is difficult to clean, the manufacturing test period of a special mold is long, and the forming precision of the coiled pipes is poor.

The invention discloses an active clearance control method and system for a wind turbine generator, and relates to the field of clearance control, and the method comprises the steps: obtaining a sound source signal, wind speed data and rotating speed data of fan blades, and determining the position of a sound source based on the sound source signal; determining a clearance distance based on the sound source position; when the wind speed data and the rotating speed data of the fan blades are both larger than a set threshold value, and the clearance distance is smaller than or equal to a set early warning threshold value, control parameters are optimized through an improved tribe competition and member cooperation algorithm, and the optimized control parameters are obtained; and variable pitch operation control is conducted based on the optimized control parameters, so that active control over the clearance distance is achieved. According to the method, the problem of lack of a corresponding effective active safety control strategy can be solved, and meanwhile, the problems of high cost, low precision, poor environmental adaptability, non-real-time performance and the like of a current wind turbine generator clearance detection mode are solved.

The invention belongs to the technical field of wind power generation control, and relates to a wind turbine variable pitch control method based on load prediction feedforward compensation, which comprises the following steps: firstly, analyzing the frequency spectrum of a wind speed and a load signal, and distinguishing the current interference as periodic load interference or instantaneous load interference according to discrete peak detection, a cross-power spectrum and an energy ratio; then analyzing the lateral energy ratio and multiband energy distribution of the wind wheel shaft to determine the direction of periodic load interference or the intensity change amplitude of instantaneous load interference; generating a corresponding feed-forward compensation signal; generating a synchronous reverse sine compensation signal for periodic load interference; for the instantaneous load interference, generating a filtering compensation signal in direct proportion to the intensity change amplitude of the instantaneous load interference; and finally, fusing the feedforward signal subjected to amplitude limiting and speed limiting processing with a power feedback signal, and outputting an integrated pitch angle instruction. According to the method, through distinguishing and corresponding compensation of the load types, the active inhibition capability of the variable pitch system on the complex load is improved.

The invention relates to the technical field of wind power management systems, and discloses an intelligent land wind power energy conservation and emission reduction management method and system. Comprising a data perception and acquisition module, a data transmission layer, a data processing and analysis layer, a power generation efficiency optimization module, an equipment health management module, a power grid coordination and energy storage optimization module, a carbon footprint tracking and reporting module and an application layer. The data sensing and collecting module collects wind speed, wind direction, temperature and air pressure data and generator rotating speed, gearbox temperature, blade angle and vibration frequency data in real time through a high-precision sensor, and low-delay data preprocessing is achieved through an edge calculation unit. In the invention, aiming at the delay problem of traditional yaw and variable pitch control, the system utilizes an intelligent algorithm to realize dynamic yaw and variable pitch control, and by accurately predicting the wind direction change and adjusting the fan direction and the blade angle in advance, the influence caused by complex wind conditions is effectively overcome, and the wind energy capture efficiency is greatly improved.

The embodiment of the invention provides a wind turbine generator blade clearance control system and method. The system comprises a strain measurement module which comprises a plurality of optical fiber strain sensors arranged on the inner surface of a wind turbine generator blade at intervals and is used for measuring the strain of the blade; the distance calculation module is used for calculating a predicted distance between the tip of the blade and the tower according to the strain of the blade, the current azimuth angle of the blade, the rotating speed of a wind wheel, the wind speed, the static distance between the tip of the blade and the tower, the length of the blade and the pitch angle of a cabin; the interference judgment module is used for judging whether the blade and the tower drum have interference risks or not according to the predicted distance; and the variable pitch control module is used for carrying out independent variable pitch control adjustment on the pitch angle of the blade when the interference risk exists between the blade and the tower drum. The embodiment of the invention is not influenced by environmental factors, and has the capability of protecting the blades from interference with the tower drum in all-weather operation; the independent variable pitch is used for achieving blade clearance protection control, and the generating capacity loss can be effectively reduced.

The invention relates to the technical field of wind generating sets, in particular to a wind generating set generating capacity improving method based on genetic algorithm optimization, which comprises the following steps: calculating rated wind speed, adding a feed-forward compensator, superposing feedback control output as a pitch angle set value, and adding the pitch angle set value with a power controller output value of a feedback system, so as to improve the generating capacity of a wind generating set. And the pitch angle is used as a pitch angle set value of the variable pitch execution structure. According to the wind generating set generating capacity improving method based on genetic algorithm optimization, a fuzzy controller judgment rule is established on the basis of analyzing a wind generating set variable pitch control principle, a fuzzy PID controller is adopted to control a variable pitch system, the controller can effectively make up for the defects of a traditional PID controller, and the generating capacity of the wind generating set is improved. And the control precision and the response time of the variable-pitch control system above the rated wind speed are improved.

The invention belongs to the technical field of wind power control, and discloses a wind driven generator fixed time adaptive neural network variable pitch control method, which comprises the following steps: step 1, establishing a kinetic model of a wind driven generator, and initializing a system state and control parameters; 2, aiming at the wind driven generator system with external interference, designing a fixed time sliding mode surface based on a sliding mode thought; and step 3, designing a fixed-time adaptive neural network variable pitch controller. The method has the advantages that under the conditions that external interference exists in the wind driven generator and parameters are uncertain, rapid convergence of the rotor rotating speed tracking error within fixed time is achieved, and the convergence time does not depend on the initial state.

The invention discloses a large-scale wind turbine generator power load cooperative fault-tolerant control method. The method comprises the following steps: establishing a unit load and rotating speed control model considering a variable pitch actuator fault; according to the load and rotating speed control model, a fault-tolerant independent variable-pitch controller composed of a centralized variable-pitch ring, an independent variable-pitch ring and a fault-tolerant compensation ring is constructed for the three-blade variable-pitch actuator; and the fault-tolerant independent variable pitch controller inputs variable pitch given instructions corresponding to the blades to the corresponding variable pitch actuators, and the variable pitch actuators implement fault-tolerant variable pitch with the variable pitch given instructions as reference, so that power and load cooperative control under the fault working condition is achieved. According to the method, the optimization effect and the application capability boundary of pneumatic unbalanced load suppression of the wind wheel of the unit can be improved under the combined action condition of multi-source disturbance and variable-pitch actuator faults, meanwhile, the high stability of power output is guaranteed, and high-performance power-load cooperative control is achieved.

The invention discloses a wind turbine generator independent variable pitch control method embedded with wind speed self-adaptive predictive control, which belongs to the field of wind power, and comprises the following steps: establishing a mathematical model of a large wind turbine generator independent variable pitch system; establishing a mathematical model of a self-adaptive model prediction controller; establishing a mathematical model of a linear processor; and based on the established adaptive model prediction controller, taking a pitch angle signal as the input of a variable pitch system, and carrying out independent variable pitch control on the wind turbine generator. The linear processor is used for limiting the upper and lower output bounds of the signals, the variable pitch signals are dispersed into a plurality of signals to be output in one communication period, and the frequency transformation and amplitude fluctuation of the signals are reduced, so that the fatigue loss of a driving mechanism is reduced, the blade load reduction effect is improved, and the real-time change characteristic of the system is coped with through the wind speed self-adaption criterion. The problem of model mismatching caused by wind speed changes is solved, the performance of the controller is improved, and the method is suitable for systems with high control performance requirements and parameter changes.

The invention provides a jet pipe array missile pitching channel jet flow opening method, device and equipment and a medium. The method comprises the steps that corresponding total thrust is calculated according to pitching control torque needed by a missile; generating a plurality of spray pipe opening combinations capable of providing total thrust according to the thrust of a single spray pipe in the spray pipe array, and taking the spray pipe opening combinations as initial candidate modes; a sequential constraint rule from the middle to the two sides is applied to each nozzle opening combination in the initial candidate modes, and candidate modes conforming to the constraint rule are obtained; calculating a jet amplification factor of the candidate mode conforming to the constraint rule in the current flight state, and evaluating the influence degree of jet interference; the candidate modes with the jet amplification factors smaller than the preset minimum threshold value of the jet amplification factors and conforming to the constraint rule are removed, and the remaining candidate modes conforming to the constraint rule serve as jet opening modes, so that the problem that the control effect is poor due to poor control torque adjustability, control coupling, insufficient spray pipe utilization rate and jet interference influence is solved.