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

Abstract

The application discloses a permanent magnet synchronous motor power generation control method, device and system based on feedback linearization, belongs to the field of permanent magnet synchronous motor power generation control, and comprises the following steps: acquiring original state signals x1, x2 and x3 respectively, and reconstructing into reconstructed state signals z1, z2 and z3; according to the instruction value of the calculated reconstructed state signal z1, the target value of the input signal v1 and v2 of the system after state reconstruction is calculated; after the input signals v1 and v2 are calculated respectively, the original input signals u1 and u2 of the system are converted; and according to the original input signals u1 and u2, a PWM modulation signal is generated and acts on the inverter of the permanent magnet synchronous motor. The application can fully consider the influence of the nonlinear coupling term of the power generation model, realize the fast response to the bus voltage and the strong robustness to parameter changes and load mutations.

Description

TECHNICAL FIELD

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

[0002] At present, various industries are undergoing electrification and intelligentization. Among them, the electrification of household appliances, more electric aircraft and electric vehicles is rapidly popularizing, and as the key power part of the electrification system, the motor naturally faces more challenges and opportunities. Compared with traditional industrial scene motors, such motors in such application scenarios must have high power density and efficiency, and need to reduce the volume ratio of the cooling system. Among many types of motors, permanent magnet synchronous motors become the first choice for high-power aviation generators due to their excellent performance. Moreover, in power generation control, not only the rapid response of the bus voltage needs to be realized, but also the power generation voltage quality needs to be ensured under the influence of parameter disturbance and load change. In order to meet the above application requirements, the intelligent control of the whole power generation system must be realized.

[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, and the expression is as follows:

[0004]

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

[0006] In the above mathematical model (1), the system states d, q axis currents i d , i q and system inputs u d , u q are coupled, and this nonlinear characteristic makes it difficult for traditional controllers to achieve the expected performance.

[0007] The PI controller of the traditional voltage and current double loop is based on the fact that the time constant of the voltage loop is much smaller than that of the current loop, which is specifically manifested in the bus voltage equation of the nonlinear term, considering id , i q all reach given values, thereby eliminating the nonlinear term. In actual systems, especially in the aviation field with high power density requirements, the time constant CR L of the bus voltage loop is close to the time constant L q / R s of the current loop, the linearization assumption is no longer valid, so the controller under the traditional linear assumption is slow and susceptible to parameter disturbances. SUMMARY

[0008] In view of the defects of the prior art and the need for improvement, the present application provides a feedback linearization-based permanent magnet synchronous motor power generation control method, device and system, which aims to fully consider the influence of the nonlinear coupling term of the power generation model during power generation control of the permanent magnet synchronous motor, and to achieve fast response to bus voltage and strong robustness to parameter changes and load mutations.

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

[0010] State reconstruction: original state signals x1, x2 and x3 are obtained respectively, and are reconstructed into reconstructed state signals z1, z2 and z3; x1, x2 and x3 are q-axis current i q , d-axis current i d and bus voltage u dc ; 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] Integral compensation: the instruction value of the reconstructed state signal z1 is calculated according to represents the instruction value of z1 obtained through 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: the target values of the input signals v1 and v2 of the system after state reconstruction are calculated according to and ; k0, k1, k2, k3 and k4 are all positive coefficients, and z3 is the target value of the reconstructed state signal z3;

[0013] Input transformation: after calculating the input signals v1 and v2 according to and , the input signals v1 and v2 are transformed according to​ The original input signals u1 and u2 of the system are converted; e 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 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 respectively taken as q-axis voltage u q and d-axis voltage u d , according to u q and u d , the PWM modulation signal is generated and acts on the inverter of the permanent magnet synchronous motor, so as to realize the generation control of the permanent magnet synchronous motor.

[0015] Further,

[0016]

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

[0018] Further,

[0019]

[0020] Where, R s represents the motor stator winding, R L represents the bus resistive load, ω e represents the operating frequency of the motor, and ψ f is the permanent magnet flux linkage.

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

[0022] Further, the values of the positive coefficients k0, k1 and k2 make the matrix a Hurwitz matrix.

[0023] Further, the values of the positive coefficients k3 and k4 make the matrix a Hurwitz matrix.

[0024] According to another aspect of the present application, a feedback linearization-based permanent magnet synchronous motor generation controller 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 squared 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 is used 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; e 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 expression 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 respectively 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 the permanent magnet synchronous motor to realize power generation control of the permanent magnet synchronous motor.

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

[0031] Overall, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0032] (1) The present application fully considers the influence of the nonlinear term in the bus voltage equation on voltage control through state reconstruction, and dynamically designs the state command of the reconstructed system with the goal of compensating for the control deviation caused by parameter error, and then determines the target value of the input of the reconstructed system based on the dynamic command and converts it into the input of the original system before reconstruction. Through such a voltage control method, the present application can effectively compensate for the influence of parameter error on voltage control, accurately implement permanent magnet synchronous motor voltage control, and achieve fast response to bus voltage and strong robustness to parameter changes and load mutations.

[0033] (2) The present application specially designs the target value of the input of the reconstructed system, which can ensure that the reconstructed state signals z1 and z3 quickly converge to the command value. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 The design flowchart of the permanent magnet synchronous motor power generation controller provided by the present application;

[0035] Figure 2 The schematic diagram of the permanent magnet synchronous motor power generation control method provided by the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

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

[0038] In order to solve the technical problems that the existing voltage control method of the permanent magnet synchronous motor ignores the nonlinear term in the bus voltage equation, the controller is slow in adjusting speed and is easily affected by parameter disturbance, and cannot be applied to the field with high power density, the application provides a permanent magnet synchronous motor power generation control method, device and system based on feedback linearization, and the overall concept is that the influence of the existence of the nonlinear term in the bus voltage equation on the adjusting speed and stability of the controller is fully considered, the steady-state error of the bus voltage under parameter disturbance and load mutation is compensated through state reconstruction and system decoupling, so that the convergence and robustness of the bus voltage are ensured, and the corresponding voltage control method can be applied to the field with high power density such as aviation.

[0039] Based on the above technical concept, the application designs a corresponding voltage control method and a controller for realizing the voltage control method. Before explaining the technical scheme of the application in detail, the design process of the controller in the application is introduced as follows.

[0040] The equation of the known permanent magnet synchronous motor power generation system in the synchronous rotating coordinate system can be written in the following form:

[0041]

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

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

[0044]

[0045] According to the feedback linearization requirement, 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) The space composed of linearly independent vectors obtained from formula (1) Among them (κ1, κ2) is called the Kronecker index, κ max is the maximum value in (κ1, κ2), linear space Satisfy the involution 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 = [x1 x2 x3] to be reconstructed by state T Reconstructed as z = [z1,z2,z3] T . We can further derive the scalar function S 11 (x), S 21 (x) The details 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 expressed by the new input v1 and v2 as follows:

[0058]

[0059] in,

[0060]

[0061] wherein, denotes the Lie derivative.

[0062] Based on the above state reconstruction model, the application proposes a linear controller containing voltage compensation, which considers the nonlinear term in the bus voltage equation compared with the traditional controller, can improve the voltage response speed, and improve the robustness of the system against parameter changes and load disturbances.

[0063] The design takes a surface-mounted permanent magnet synchronous motor as an example, adopts i d =0 control.

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

[0065]

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

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

[0068]

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

[0070]

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

[0072] The expression of is as follows:

[0073]

[0074] Considering 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, and Respectively represent B 11 and B 21 reference value.

[0077] The real 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 “^” represents the nominal value, and the superscript “~” represents the error value obtained by subtracting the nominal value from the actual value.

[0082] Compared with the entire control cycle, the error term is a slow variable over time, so in one 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 controller design above shows that when the inputs (10) and (11) are selected, the system can achieve exponential asymptotic stability 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 from the parameter nominal values, which in turn causes a deviation between the controlled x3 and x3*.

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

[0091]

[0092] where k is a positive number. z1* is recorded as The designed dynamic command value is

[0093]

[0094] where represents the new dynamic command value of the reconstructed state signal z1, and k5 is a positive coefficient. Derivation on both sides of the equation obtains the following dynamic equation:

[0095]

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

[0097] The above controller design idea can be described by the flow shown in Figure 1

[0098] Step one: 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 two: because the linear system (6) after state reconstruction and input reconstruction is decoupled, the entire system is divided into two subsystems, i.e., subsystem part I and subsystem part II, according to different input signals (v1, v2), and the controller is designed respectively;

[0100] Step three: according to the subsystem part I, the input is designed as (10), where the parameters k0, k1, k2 are selected to make A1 a Hurwitz matrix, so as to ensure that z1 quickly converges to its command value;

[0101] Step four: according to the subsystem part II, the input is designed as (11), where the parameters k3, k4 make A2 a Hurwitz matrix, so as to ensure that z3 quickly converges 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] Example 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 squared 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; e v1 and ev2 denotes the error caused by parameter uncertainty, denotes the Lie derivative, x = [x1 x2 x3] T , S 11 (x) and S 21 (x) are 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 respectively taken as q-axis voltage u q and d-axis voltage u d , according to u q and u d , the PWM modulation signal is generated and acts on the inverter of the permanent magnet synchronous motor, so as to realize the generation control of the permanent magnet synchronous motor.

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

[0113]

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

[0115] Where, 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 bus resistive load, ω e represents the operating frequency of the motor, ψ f is the permanent magnet flux linkage.

[0116] And, the values of the positive coefficients k0, k1 and k2 make the matrix a Hermitian matrix; the values of the positive coefficients k3 and k4 make the matrix a Hermitian 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 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 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] Example 2:

[0119] A permanent magnet synchronous motor generator controller based on feedback linearization, such as Figure 2 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 squared 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 is used 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; e v1 and e v2represents an error caused by parameter uncertainty, represents a Lie derivative, x = [x1 x2 x3] T , S 11 (x) represents a relationship expression between z1 and x, S 21 (x) represents a relationship expression between z3 and x;

[0124] and a modulation control module, taking original input signals u1 and u2 as q-axis voltage u q and d-axis voltage u d respectively, generating PWM modulation signals according to u q and u d and acting on an 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 Embodiment 1 above, which will not be repeated here.

[0126] Embodiment 3:

[0127] A permanent magnet synchronous motor system, comprising: a permanent magnet synchronous motor and a feedback linearization-based permanent magnet synchronous motor power generation controller provided in Embodiment 2.

[0128] Those skilled in the art will easily understand that the above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A permanent magnet synchronous motor power generation control method based on feedback linearization, characterized in that: include: State reconstruction: Get the original state signals separately x 1. x 2 and x 3, and reconstructed into a reconstructed state signal z 1. z 2 and z 3; x 1. x 2 and x 3 are q-axis currents i q , d-axis current i d and bus voltage u dc squared ; z 1 is the reactive power of the entire system, z 2 is the difference between the active power emitted by the motor side and the active power absorbed by the DC side, z 3 is the d-axis current i d ; Points compensation: based on Calculate the reconstruction state signal z Command value of 1 ; Indicates that the value obtained by the parameter is named z The command value is 1, Indicates the original state signal x A target value of 3, k 5 is a positive coefficient, t Indicates the current time; Control rate setting: according to and Calculate the input signal of the system after state reconstruction v 1 and v A target value of 2; k 0. k 1. k 2. k 3 and k 4 are all positive coefficients, , , Reconstruction status signal z A target value of 3; Input transformation: According to and Calculate the input signal separately v 1 and v 2, follow Convert the original input signal of the system u 1 and u 2; e v1 and e v2 represents the error caused by parameter uncertainty, , , represents the Lie derivative, x= [ x 1 x 2 x 3] T , S 11 ( x )and S 21 ( x ) are all scalar functions, S 11 ( x ) is used to describe z 1 and x The relationship between S 21 ( x ) is used to describe z 3 and x the relationship between , , , ; R s Represents the motor stator winding, R L Indicates the busbar resistive load, L d and L q Represent the d-axis and q-axis inductances respectively, ω e Indicates the operating frequency of the motor, ψ f is the permanent magnet flux, C represents bus capacitance; Modulation control: Converts the original input signal u 1 and u 2 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 achieve 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: in, L d and L q Represent the d-axis and q-axis inductances respectively, C Indicates bus capacitance.

3. The permanent magnet synchronous motor power generation control method based on feedback linearization according to claim 2, characterized in that: in, R s Represents the motor stator winding, R L Indicates 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, characterized in that: z 3= S 21 ( x )= x 2。 5. The permanent magnet synchronous motor power generation control method based on feedback linearization according to claim 4, characterized in that: Positive coefficient k 0. k 1 and k The value of 2 makes 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: Positive coefficient k 3 and k The value of 4 makes the matrix is the Hurwitz matrix.

7. A permanent magnet synchronous motor generator controller based on feedback linearization, characterized in that: include: State reconstruction module, used to obtain the original state signal x 1. x 2 and x 3, and reconstructed into a reconstructed state signal z 1. z 2 and z 3; x 1. x 2 and x 3 are q-axis currents i q , d-axis current i d and bus voltage u dc squared ; z 1 is the reactive power of the entire system, z 2 is the difference between the active power emitted by the motor side and the active power absorbed by the DC side, z 3 is the d-axis current i d ; Integral compensation module is used to Calculate the reconstruction state signal z Command value of 1 ; Indicates that the value obtained by the parameter is named z The command value is 1, Indicates the original state signal x A target value of 3, k 5 is a positive coefficient, t Indicates the current time; Control rate setting module, used to and Calculate the input signal of the system after state reconstruction v 1 and v A target value of 2; k 0. k 1. k 2. k 3 and k 4 are all positive coefficients, , , Reconstruction status signal z A target value of 3; Input transformation module, used to and Calculate the input signal separately v 1 and v 2, follow Convert the original input signal of the system u 1 and u 2; e v1 and e v2 represents the error caused by parameter uncertainty, , , represents the Lie derivative, x= [ x 1 x 2 x 3] T , S 11 ( x )express z 1 and x The relational expression between S 21 ( x )express z 3 and x The relational expression between , , , ; R s Represents the motor stator winding, R L Indicates the busbar resistive load, L d and L q Represent the d-axis and q-axis inductances respectively, ω e Indicates the operating frequency of the motor, ψ f is the permanent magnet flux, C represents bus capacitance; And the modulation control module, the original input signal u 1 and u 2 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 achieve 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.

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