Permanent magnet synchronous motor power generation control method, device and system based on feedback linearization

Abstract

The invention discloses a permanent magnet synchronous motor power generation control method, device and system based on feedback linearization, and belongs to the field of permanent magnet synchronous motor power generation control, and the method comprises the steps: obtaining original state signals x1, x2 and x3, and reconstructing the original state signals x1, x2 and x3 into reconstructed state signals z1, z2 and z3; calculating an instruction value of a reconstruction state signal z1 according to # imgabs0 #; calculating target values of input signals v1 and v2 of the system after state reconstruction according to # imgabs2 # and # imgabs3 #; respectively calculating input signals v1 and v2 according to # imgabs4 # and # imgabs5 #, and converting the input signals v1 and v2 into original input signals u1 and u2 of the system; and generating a PWM modulation signal according to the original input signals u1 and u2 and acting the PWM modulation signal on an inverter of the permanent magnet synchronous motor. According to the method, the influence of the nonlinear coupling term of the power generation model can be fully considered, and quick response to the bus voltage and high robustness to parameter change and load mutation are realized.

Description

Technical Field

[0001] The present invention belongs to the field of permanent magnet synchronous motor power generation control, and more specifically, relates to a permanent magnet synchronous motor power generation control method, device and system based on feedback linearization. Background Art

[0002] At present, various industries are undergoing a transformation towards electrification and intelligence. Among them, the electrification of household appliances, more electric aircraft and electric vehicles is rapidly becoming popular, and motors, as the key power parts of electrification systems, naturally face more challenges and opportunities. Compared with traditional industrial scene motors, motors in this type of application scenario must have higher power density and efficiency, and the volume share of the cooling system needs to be reduced. Among the many types of motors, permanent magnet synchronous motors have become the first choice for high-power aircraft generators due to their excellent performance. Moreover, in terms of power generation control, it is necessary not only to achieve a fast response of the bus voltage, but also to ensure the quality of the power generation voltage under the influence of parameter disturbances and load changes. In order to meet the above application requirements, it is necessary to realize the intelligent control of the overall power generation system.

[0003] The existing permanent magnet synchronous motor power generation control method realizes the power generation control of the permanent magnet synchronous motor based on a mathematical model, including the mathematical model of the permanent magnet synchronous motor and the energy transfer model of the motor voltage and current and the DC side bus voltage. The specific expression is as follows:

[0004]

[0005] Among them, R s is the stator winding resistance of the motor, ψ f is the permanent magnet flux, L d and L q Respectively represent the d-axis and q-axis inductance, ω e represents the operating frequency of the motor, C represents the bus capacitance, and R L The busbar resistive load, x1, x2 and x3 are the state signals of the system, which are the q-axis current i q , d-axis current i d and bus voltage u dc The square of

[0006] In the above mathematical model (1), the system state d, q-axis current i d 、i q and system input u d 、u q This nonlinear characteristic makes it difficult for traditional controllers to achieve the expected performance.

[0007] The traditional voltage-current dual-loop PI controller is based on the assumption that the voltage loop time constant is much smaller than the current loop time constant. Specifically, in the bus voltage equation of the nonlinear term, it is assumed that id 、i q All have reached the given value, thus eliminating the nonlinear term. In actual systems, especially in the aviation field with high power density requirements, the time constant CR of the bus voltage loop L The time constant L of the current loop q / R s As the linearization assumption no longer holds, the controller under the traditional linear assumption has a slow adjustment speed and is easily affected by parameter disturbances. Summary of the invention

[0008] In view of the defects of the prior art and the need for improvement, the present invention provides a permanent magnet synchronous motor power generation control method, device and system based on feedback linearization. The purpose is to fully consider the influence of the nonlinear coupling terms of the power generation model in the process of power generation control of the permanent magnet synchronous motor, so as to achieve rapid response to the bus voltage and strong robustness to parameter changes and load mutations.

[0009] To achieve the above object, according to one aspect of the present invention, a permanent magnet synchronous motor power generation control method based on feedback linearization is provided, comprising:

[0010] State reconstruction: The original state signals x1, x2 and x3 are obtained respectively and reconstructed into reconstructed state signals z1, z2 and z3; x1, x2 and x3 are the q-axis current i q , d-axis current i d and bus voltage u dc The square of z1 is the reactive power of the entire system, z2 is the difference between the active power emitted by the motor side and the active power absorbed by the DC side, and z3 is the d-axis current i d ;

[0011] Points compensation: based on Calculate the command value of the reconstruction state signal z1 Indicates the command value of z1 obtained by the parameter named value, represents the target value of the original state signal x3, k5 is a positive coefficient, and t represents the current time;

[0012] Control rate setting: according to and Calculate the target values ​​of the input signals v1 and v2 of the system after state reconstruction; k0, k1, k2, k3 and k4 are all positive coefficients, is the target value of the reconstructed state signal z3;

[0013] Input transformation: According to and After calculating the input signals v1 and v2 respectively, according to The original input signals u1 and u2 of the system are obtained by conversion; v1 and e v2 represents the error caused by parameter uncertainty, represents the Lie derivative, x = [x1 x2 x3] T , S 11 (x) and S 21 (x) are all scalar functions, S 11 (x) is used to describe the relationship between z1 and x, S 21 (x) is used to describe the relationship between z3 and x;

[0014] Modulation control: The original input signals u1 and u2 are used as the q-axis voltage u q and d-axis voltage u d , according to u q and u d A PWM modulation signal is generated and acts on the inverter of the permanent magnet synchronous motor to realize power generation control of the permanent magnet synchronous motor.

[0015] Further,

[0016]

[0017] Among them, L d and L q They represent the d-axis and q-axis inductances respectively, and C represents the bus capacitance.

[0018] Further,

[0019]

[0020] Among them, R s Represents the motor stator winding, R L Represents the busbar resistive load, ω e Indicates the operating frequency of the motor, ψ f is the permanent magnet flux.

[0021] Furthermore, z3=S 21 (x) = x2.

[0022] Furthermore, the values ​​of the positive coefficients k0, k1, and k2 make the matrix is the Hurwitz matrix.

[0023] Furthermore, the values ​​of the positive coefficients k3 and k4 make the matrix is the Hurwitz matrix.

[0024] According to another aspect of the present invention, a permanent magnet synchronous motor power generation controller based on feedback linearization is provided, comprising:

[0025] The state reconstruction module is used to obtain the original state signals x1, x2 and x3 respectively, and reconstruct them into reconstructed state signals z1, z2 and z3; x1, x2 and x3 are the q-axis current i q , d-axis current i d and bus voltage u dc The square of z1 is the reactive power of the entire system, z2 is the difference between the active power emitted by the motor side and the active power absorbed by the DC side, and z3 is the d-axis current i d ;

[0026] Integral compensation module, used according to Calculate the command value of the reconstruction state signal z1 Indicates the command value of z1 obtained by the parameter named value, represents the target value of the original state signal x3, k5 is a positive coefficient, and t represents the current time;

[0027] Control rate setting module, used to and Calculate the target values ​​of the input signals v1 and v2 of the system after state reconstruction; k0, k1, k2, k3 and k4 are all positive coefficients, is the target value of the reconstructed state signal z3;

[0028] Input transformation module, used to and After calculating the input signals v1 and v2 respectively, according to The original input signals u1 and u2 of the system are obtained by conversion; v1 and e v2 represents the error caused by parameter uncertainty, represents the Lie derivative, x = [x1 x2 x3] T , S 11 (x) represents the relationship between z1 and x, S 21 (x) represents the relational expression between z3 and x;

[0029] And the modulation control module, the original input signals u1 and u2 are used as the q-axis voltage u q and d-axis voltage u d , according to u q and u d A PWM modulation signal is generated and acts on the inverter of the permanent magnet synchronous motor to realize power generation control of the permanent magnet synchronous motor.

[0030] According to another aspect of the present invention, a permanent magnet synchronous motor system is provided, comprising: a permanent magnet synchronous motor and the above-mentioned permanent magnet synchronous motor generation controller based on feedback linearization provided by the present invention.

[0031] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

[0032] (1) The present invention fully considers the influence of nonlinear terms in the bus voltage equation on voltage control through state reconstruction, and dynamically designs the state instructions of the reconstructed system with the goal of compensating for the control deviation caused by parameter errors. The target value of the input of the reconstructed system is then determined based on the dynamic instructions, and converted into the input of the original system before reconstruction. Through such a voltage control method, the present invention can effectively compensate for the influence of parameter errors on voltage control, and while accurately realizing the voltage control of the permanent magnet synchronous motor, achieve rapid response to the bus voltage and strong robustness to parameter changes and load mutations.

[0033] (2) The present invention makes a special design for the target value of the system input after reconstruction, which can ensure that the reconstructed state signals z1 and z3 converge to the command value quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the design process of the permanent magnet synchronous motor power generation controller provided by the present invention;

[0035] Figure 2 A schematic diagram of a permanent magnet synchronous motor power generation control method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0037] In the present invention, the terms "first", "second", etc. (if any) in the present invention and the accompanying drawings are used to distinguish similar objects but not necessarily to describe a specific order or sequence.

[0038] In order to solve the technical problem that the existing permanent magnet synchronous motor voltage control method ignores the nonlinear terms in the bus voltage equation, resulting in slow controller adjustment speed and susceptibility to parameter disturbances, and cannot be applied to fields with high power density, the present invention provides a permanent magnet synchronous motor power generation control method, device and system based on feedback linearization. The overall concept is to fully consider the influence of the existence of nonlinear terms in the bus voltage equation on the controller adjustment speed and stability, and compensate for the steady-state error of the bus voltage under parameter disturbances and load mutations through state reconstruction and system decoupling to ensure the convergence and robustness of the bus voltage, so that the corresponding voltage control method can be applied to fields with high power density such as aviation.

[0039] Based on the above technical concept, the present invention designs a corresponding voltage control method and a controller for implementing the voltage control method. Before explaining the technical solution of the present invention in detail, the design process of the controller in the present invention is first introduced as follows.

[0040] It is known that the equation of the permanent magnet synchronous motor power generation system in the synchronous rotating coordinate system can be written as follows:

[0041]

[0042] Among them, the state variable i q 、i d , They are represented by x1, x2, and x3 respectively, and input u q 、u d They are represented by u1 and u2 respectively. The terms containing x1 and x2 in g1(x) and g2(x) are the nonlinear coupling terms of the input state of the power generation system. The following g1(x), g2(x), f(x) are abbreviated as g1, g2, f.

[0043] The equation for the square of the bus voltage x3 in equation (2) contains the nonlinear coupling term of the permanent magnet synchronous motor generator system, as follows:

[0044]

[0045] According to the feedback linearization requirements, model (2) needs to meet two conditions:

[0046] (i) The vector space spanned by g1, g2, f and their Lie brackets The dimension is 3, adfg1 represents the Lie bracket of f and g1, and adfg2 represents the Lie bracket of f and g2 respectively;

[0047] (ii) From formula (1), we get the space consisting of linearly independent vectors Among them, (κ1, κ2) is called the Kronecker index, κ max is the maximum value in (κ1, κ2), linear space Satisfy the matching conditions.

[0048] The following proves that model (2) satisfies the feedback linearization condition in the entire operating region.

[0049] In condition (i), by calculating the vector space The Kronecker index of the system can be obtained as (κ1, κ2) = (2, 1), and from g1, g2 and the Lie bracket ad of f and g1 f The vector space spanned by g1 is

[0050]

[0051] The rank of this matrix (4) is 3, so condition (i) is satisfied.

[0052] In condition (ii), since the Lie bracket adg1g2 of g1 and g2 is a zero vector, the linear space span{g1(x),g2(x)} satisfies the involution condition, and condition (ii) is satisfied.

[0053] In summary, the power generation system model shown in formula (2) can be linearized by inputting state feedback in the entire operating range. Therefore, the system has a scalar function S 11 (x), S 21 (x) allows the original state x to be reconstructed into [x1 x2 x3] T Reconstructed into z = [z1, z2, z3] T . We can further derive the scalar function S 11 (x), S 21 (x) are as follows:

[0054]

[0055] Based on the reconstructed state signal shown in formula (5), the new state equation of the system can be written as follows:

[0056]

[0057] Among them, v1 and v2 represent the input of the system after state reconstruction; the original input u1 and u2 can be represented by the new input v1 and v2 as follows:

[0058]

[0059] in,

[0060]

[0061] in, represents the Lie derivative.

[0062] Based on the above state reconstruction model, the present invention proposes a linear controller with voltage compensation. Compared with the traditional controller, it takes into account the nonlinear terms in the bus voltage equation, can improve the voltage response speed, and enhance the system's robustness against parameter changes and load disturbances.

[0063] This design takes the surface-mounted permanent magnet synchronous motor as an example and adopts i d =0 control.

[0064] According to the reconstructed state equation (6), the overall system is decomposed into two subsystems part I and part II:

[0065]

[0066] Through the above system decomposition, the structure of the input state is realized, in which subsystem part I is only related to input v1, and subsystem part II is only related to input v2.

[0067] For subsystem part I, which is a second-order system, in order to make the system state z1 track its target value z1* (under ideal conditions, when state z1 tracks the target value z1*, z2 is 0), the target value of the input signal v1 of the system after state reconstruction is designed according to the following formula (10), so that subsystem part I becomes third-order; for subsystem part II, which is a first-order system, in order to make the system state z3 track its target value z3*, the target value of the input signal v2 of the system after state reconstruction is designed according to the following formula (11), so that subsystem part II becomes third-order. The formulas (10) and (11) are as follows:

[0068]

[0069] Among them, k0, k1, k2, k3 and k4 are positive coefficients. The target value of z1 can be calculated by the parameter nominal value.

[0070]

[0071] in, and They are the target values ​​of q-axis current, d-axis current and bus voltage square respectively.

[0072] The expression is as follows:

[0073]

[0074] Taking into account the parameter error, the actual target input can be written as

[0075]

[0076] in, and Respectively represent E 11 、E 12 、E 21 and E 22 The reference value of and Respectively represent B 11 and B 21 reference value.

[0077] The true v1 and v2 are represented by the target input as

[0078]

[0079] in, and is the error caused by parameter uncertainty, which can be written as

[0080]

[0081] The superscript “^” indicates a nominal value, and the superscript “~” indicates the error value obtained by subtracting the nominal value from the actual value.

[0082] Relative to the entire control cycle, the error term is a slow variable over time, so in a control cycle, it can be considered that

[0083]

[0084] Accordingly, the dynamic responses of subsystem part I and subsystem part II under parameter changes are:

[0085]

[0086] in,

[0087]

[0088] Among them, A1 and A2 are Hurwitz matrices, so the designed dynamic system is stable.

[0089] The above controller design shows that when the inputs are (10) and (11), the system can be exponentially stable and achieve the control target, that is, z1 reaches its command value and z3 reaches its command value. Due to the existence of parameter errors, the actual desired target value of z1 deviates from z1* calculated by the parameter nominal value, which in turn leads to a deviation between the controlled x3 and x3*.

[0090] In order to achieve the control target bus voltage square x3 of the overall controller to reach its command value under parameter disturbance, the controller adopts dynamic command value design. It is known that the relationship between z1 and x3 satisfies

[0091]

[0092] Where k is a positive number. Let z1* be The designed dynamic instruction value is

[0093]

[0094] in, represents the new dynamic command value of the reconstructed state signal z1, and k5 is a positive coefficient. Taking the derivative of both sides of the equation, we get the following dynamic equation:

[0095]

[0096] Because the dynamic equation (22) is exponentially stable, the controller can achieve the control target and make the bus voltage x3 reach the command value That is to say, the present invention can accurately achieve the control target by compensating the error caused by the parameter disturbance, so that the bus voltage control of the permanent magnet synchronous motor reaches the desired command value.

[0097] The above controller design ideas can be Figure 1 The process shown is described as follows:

[0098] Step 1: In order to eliminate the nonlinear term in the voltage equation, according to the input state feedback linearization condition, when the reconstructed state signal (z1, z2, z3) satisfies formula (5) and the input signal (v1, v2) of the system after state reconstruction satisfies formula (7), the nonlinear system described by formula (2) becomes the linear system described by formula (6);

[0099] Step 2: Since the linear system (6) after state reconstruction and input reconstruction is decoupled, the entire system is divided into two subsystems shown in formula (9), namely subsystem part I and subsystem part II, according to different input signals (v1, v2), and controllers are designed for each subsystem.

[0100] Step 3: According to subsystem part I, the design input is (10), where the parameters k0, k1, k2 are selected so that A1 is a Hurwitz matrix, thereby ensuring that z1 converges quickly to its command value;

[0101] Step 4: According to subsystem part II, the design input is (11), where parameters k3 and k4 make A2 a Hurwitz matrix, thereby ensuring that z3 converges quickly to the command value;

[0102] Step 5: In order to eliminate the steady-state error of the bus voltage under parameter disturbance and load mutation, the command value of z1 is modified to the dynamic command value shown in formula (21), thereby ensuring the convergence and robustness of the bus voltage.

[0103] The controller designed based on the above ideas can be used to realize the voltage control of permanent magnet synchronous motor and accurately adjust the bus voltage u dc The control is performed to a preset target value, and in the process of power generation control of the permanent magnet synchronous motor, the influence of the nonlinear coupling term of the power generation model is fully considered to achieve a fast response to the bus voltage and strong robustness to parameter changes and load mutations.

[0104] The following are examples.

[0105] Embodiment 1:

[0106] A permanent magnet synchronous motor power generation control method based on feedback linearization, such as Figure 2 As shown, including:

[0107] State reconstruction: The original state signals x1, x2 and x3 are obtained respectively and reconstructed into reconstructed state signals z1, z2 and z3; x1, x2 and x3 are the q-axis current i q , d-axis current i d and bus voltage u dc The square of z1 is the reactive power of the entire system, z2 is the difference between the active power emitted by the motor side and the active power absorbed by the DC side, and z3 is the d-axis current i d ;

[0108] Points compensation: based on Calculate the command value of the reconstruction state signal z1 Indicates the command value of z1 obtained by the parameter named value, represents the target value of the original state signal x3, k5 is a positive coefficient, and t represents the current time;

[0109] Control rate setting: according to and Calculate the target values ​​of the input signals v1 and v2 of the system after state reconstruction; k0, k1, k2, k3 and k4 are all positive coefficients, is the target value of the reconstructed state signal z3;

[0110] Input transformation: According to and After calculating the input signals v1 and v2 respectively, according to The original input signals u1 and u2 of the system are obtained by conversion; v1 and ev2 represents the error caused by parameter uncertainty, represents the Lie derivative, x = [x1 x2 x3] T , S 11 (x) and S 21 (x) are all scalar functions, S 11 (x) is used to describe the relationship between z1 and x, S 21 (x) is used to describe the relationship between z3 and x;

[0111] Modulation control: The original input signals u1 and u2 are used as the q-axis voltage u q and d-axis voltage u d , according to u q and u d Generate PWM modulation signal and act on the inverter of permanent magnet synchronous motor to realize power generation control of permanent magnet synchronous motor;

[0112] Referring to the analysis above, in this embodiment, the expressions of the reconstructed state signals z1, z2 and z3 are respectively as follows:

[0113]

[0114] z3=S 21 (x) = x2

[0115] Among them, L d and L q Respectively represent the d-axis and q-axis inductances, C represents the bus capacitance; R s Represents the motor stator winding, R L Represents the busbar resistive load, ω e Indicates the operating frequency of the motor, ψ f is the permanent magnet flux;

[0116] Furthermore, the values ​​of the positive coefficients k0, k1, and k2 make the matrix is the Hurwitz matrix; the values ​​of the positive coefficients k3 and k4 make the matrix is the Hurwitz matrix.

[0117] In general, this embodiment fully considers the influence of nonlinear terms in the bus voltage equation on voltage control through state reconstruction, and dynamically designs the state instructions of the reconstructed system with the goal of compensating for the control deviation caused by parameter errors. The target value of the reconstructed system input is determined based on the dynamic instructions, and converted into the input of the original system before reconstruction. Through such a voltage control method, the influence of parameter errors on voltage control can be effectively compensated, and while accurately realizing the voltage control of the permanent magnet synchronous motor, a rapid response to the bus voltage and strong robustness to parameter changes and load mutations are achieved; at the same time, a special design is made for the target value of the reconstructed system input, which can ensure that the reconstructed state signals z1 and z3 converge quickly to the instruction value.

[0118] Embodiment 2:

[0119] A permanent magnet synchronous motor generator controller based on feedback linearization, such as Figure 2 As shown, including:

[0120] The state reconstruction module is used to obtain the original state signals x1, x2 and x3 respectively, and reconstruct them into reconstructed state signals z1, z2 and z3; x1, x2 and x3 are the q-axis current i q , d-axis current i d and bus voltage u dc The square of z1 is the reactive power of the entire system, z2 is the difference between the active power emitted by the motor side and the active power absorbed by the DC side, and z3 is the d-axis current i d ;

[0121] Integral compensation module, used according to Calculate the command value of the reconstruction state signal z1 Indicates the command value of z1 obtained by the parameter named value, represents the target value of the original state signal x3, k5 is a positive coefficient, and t represents the current time;

[0122] Control rate setting module, used to and Calculate the target values ​​of the input signals v1 and v2 of the system after state reconstruction; k0, k1, k2, k3 and k4 are all positive coefficients, is the target value of the reconstructed state signal z3;

[0123] Input transformation module, used to and After calculating the input signals v1 and v2 respectively, according to The original input signals u1 and u2 of the system are obtained by conversion; v1 and e v2represents the error caused by parameter uncertainty, represents the Lie derivative, x = [x1 x2 x3] T , S 11 (x) represents the relationship between z1 and x, S 21 (x) represents the relational expression between z3 and x;

[0124] And the modulation control module, the original input signals u1 and u2 are used as the q-axis voltage u q and d-axis voltage u d , according to u q and u d A PWM modulation signal is generated and acts on the inverter of the permanent magnet synchronous motor to realize power generation control of the permanent magnet synchronous motor.

[0125] In this embodiment, the specific implementation of each module can refer to the description in the above embodiment 1 and will not be repeated here.

[0126] Embodiment 3:

[0127] A permanent magnet synchronous motor system comprises: a permanent magnet synchronous motor and a permanent magnet synchronous motor generation controller based on feedback linearization provided in the above-mentioned embodiment 2.

[0128] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor power generation control method based on feedback linearization, characterized in that: include: State reconstruction: The original state signals x1, x2 and x3 are obtained respectively and reconstructed into reconstructed state signals z1, z2 and z3; x1, x2 and x3 are the q-axis current i q , d-axis current i d and bus voltage u dc The square of z1 is the reactive power of the entire system, z2 is the difference between the active power emitted by the motor side and the active power absorbed by the DC side, and z3 is the d-axis current i d ; Points compensation: based on Calculate the command value of the reconstruction state signal z1 Indicates the command value of z1 obtained by the parameter named value, represents the target value of the original state signal x3, k5 is a positive coefficient, and t represents the current time; Control rate setting: according to and Calculate the target values ​​of the input signals v1 and v2 of the system after state reconstruction; k0, k1, k2, k3 and k4 are all positive coefficients, is the target value of the reconstructed state signal z3; Input transformation: According to and After calculating the input signals v1 and v2 respectively, according to The original input signals u1 and u2 of the system are obtained by conversion; v1 and e v2 represents the error caused by parameter uncertainty, represents the Lie derivative, x = [x1 x2 x3] T , S 11 (x) and S 21 (x) are all scalar functions, S 11 (x) is used to describe the relationship between z1 and x, S 21 (x) is used to describe the relationship between z3 and x; Modulation control: The original input signals u1 and u2 are used as the q-axis voltage u q and d-axis voltage u d , according to u q and u d A PWM modulation signal is generated and acts on the inverter of the permanent magnet synchronous motor to realize power generation control of the permanent magnet synchronous motor.

2. The permanent magnet synchronous motor power generation control method based on feedback linearization according to claim 1, characterized in that: Among them, L d and L q They represent the d-axis and q-axis inductances respectively, and C represents the bus capacitance.

3. The permanent magnet synchronous motor power generation control method based on feedback linearization according to claim 2, characterized in that: Among them, R s Represents the motor stator winding, R L Represents the busbar resistive load, ω e Indicates the operating frequency of the motor, ψ f is the permanent magnet flux.

4. The permanent magnet synchronous motor power generation control method based on feedback linearization according to claim 3 is characterized in that: z3=S 21 (x)=x2。 5. The permanent magnet synchronous motor power generation control method based on feedback linearization according to claim 4, characterized in that: The values ​​of the positive coefficients k0, k1, and k2 make the matrix is the Hurwitz matrix.

6. The permanent magnet synchronous motor power generation control method based on feedback linearization according to claim 5, characterized in that: The values ​​of the positive coefficients k3 and k4 make the matrix is the Hurwitz matrix.

7. A permanent magnet synchronous motor generator controller based on feedback linearization, characterized in that: include: The state reconstruction module is used to obtain the original state signals x1, x2 and x3 respectively, and reconstruct them into reconstructed state signals z1, z2 and z3; x1, x2 and x3 are the q-axis current i q , d-axis current i d and bus voltage u dc The square of z1 is the reactive power of the entire system, z2 is the difference between the active power emitted by the motor side and the active power absorbed by the DC side, and z3 is the d-axis current i d ; Integral compensation module, used according to Calculate the command value of the reconstruction state signal z1 Indicates the command value of z1 obtained by the parameter named value, represents the target value of the original state signal x3, k5 is a positive coefficient, and t represents the current time; Control rate setting module, used to and Calculate the target values ​​of the input signals v1 and v2 of the system after state reconstruction; k0, k1, k2, k3 and k4 are all positive coefficients, is the target value of the reconstructed state signal z3; Input transformation module, used to and After calculating the input signals v1 and v2 respectively, according to The original input signals u1 and u2 of the system are obtained by conversion; v1 and e v2 represents the error caused by parameter uncertainty, represents the Lie derivative, x = [x1 x2 x3] T , S 11 (x) represents the relationship between z1 and x, S 21 (x) represents the relational expression between z3 and x; And the modulation control module, the original input signals u1 and u2 are used as the q-axis voltage u q and d-axis voltage u d , according to u q and u d A PWM modulation signal is generated and acts on the inverter of the permanent magnet synchronous motor to realize power generation control of the permanent magnet synchronous motor.

8. A permanent magnet synchronous motor system, characterized in that: include: A permanent magnet synchronous motor and a permanent magnet synchronous motor power generation controller based on feedback linearization as described in claim 7.

Images