Voltage control method and device for permanent magnet synchronous generator based on active disturbance rejection control

Abstract

This application discloses a voltage control method and apparatus for a permanent magnet synchronous generator based on active disturbance rejection control (ADRC), relating to the field of permanent magnet generators. The method includes: constructing a first extended state observer; adjusting the derivative of the observed values ​​according to the error between the state variables and their corresponding observed values, and constructing a second extended state observer based on the first extended state observer; constructing a disturbance observer based on a second-order linear model, and compensating the disturbance observed by the disturbance observer to the second extended state observer using a compensation model to obtain a third extended state observer; and obtaining the control law for the q-axis current based on the third extended state observer. This method improves the extended state observer by addressing the error between each state variable and its observed values, effectively enhancing the system's dynamic performance. Furthermore, by using an additional disturbance observer to observe system disturbances and compensate them for by the extended state observer, the disturbance estimation burden on the extended state observer is reduced, improving the estimation accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of permanent magnet generator, in particular to a voltage control method and device of permanent magnet synchronous generator based on active disturbance rejection control. BACKGROUND

[0002] Permanent magnet generator has the advantages of high torque performance, high reliability and high efficiency, and can obtain stable and controllable direct current by adding PWM rectifier device in the later stage, and has a very wide application prospect in military and civilian fields. When the load on the direct current side of the rectification system changes suddenly, it may cause large fluctuations in the bus voltage, and even may cause the power generation system to collapse, which will seriously affect the safety of the rectifier and the electrical equipment. Therefore, it is necessary to study a fast voltage stabilizing control method for sudden change of load power to ensure the reliability and safety of the power generation and rectification system.

[0003] Among the many control methods of permanent magnet generator rectification system, the double closed loop control with bus voltage as the outer loop controlled variable and current as the inner loop controlled variable has been widely used. The traditional voltage outer loop controller adopts proportional integral PI controller. Due to the hysteresis of PI control, when the load condition of the system on the direct current side is very bad (for example, large load mutation), the bus voltage fluctuates greatly, the recovery time is long, and the system dynamic performance is poor. At present, in view of the above problems, scholars at home and abroad have proposed some advanced control methods, such as active disturbance rejection control.

[0004] Active disturbance rejection control is a technology that can estimate and compensate the "total disturbance" of the system by modeling the unmodeled dynamics and external disturbance of the system, and is particularly suitable for nonlinear systems with parameter variation and external disturbance. In the permanent magnet synchronous generator rectification system, the equation between the bus voltage on the output side of the rectifier and the generator q-axis current on the input side of the rectifier is a first-order dynamic equation, which is also a nonlinear system with parameter variation and external disturbance. Therefore, the difference between the reference voltage and the feedback voltage can be used to obtain the given q-axis current by using the active disturbance rejection controller.

[0005] However, in the traditional second-order active disturbance rejection controller, due to the limitation of the traditional state expansion observer, there is a large error with the system equation, which affects the performance of the controller. SUMMARY

[0006] Therefore, it is necessary to provide a voltage control method and device of permanent magnet synchronous generator based on active disturbance rejection control, which can improve the robustness.

[0007] In a first aspect, the present application provides a voltage control method of permanent magnet synchronous generator based on active disturbance rejection control. The method comprises:

[0008] Based on the law of conservation of energy, a power balance equation is constructed based on the engine-side three-phase rectifier.

[0009] The power balance equation is reconstructed into a first-order linear model to represent the relationship between DC bus voltage and q-axis current.

[0010] The state variables of the first-order nonlinear model are extended to obtain the second-order linear model, and the first extended state observer is constructed based on the second-order linear model.

[0011] Adjust the derivative of the observed value according to the error between the state variable and the corresponding observed value, and construct the second extended state observer based on the first extended state observer;

[0012] Based on the second-order linear model, an additional disturbance observer is constructed, and the disturbance observed by the disturbance observer is used as a compensation model to compensate the second extended state observer to obtain the third extended state observer. The control law of the q-axis current is obtained based on the third extended state observer.

[0013] In one embodiment, constructing the power balance equation based on the engine-side three-phase rectifier according to the law of conservation of energy includes:

[0014] Construct the stator current state equation of a permanent magnet synchronous generator in the dq coordinate system;

[0015] Construct the dynamic differential equations for the DC side of the three-phase rectifier and the power equations for the motor side of the three-phase rectifier;

[0016] The relationship equations between DC-side power, rectifier loss power, and motor-side power are constructed, and the stator current state equation, DC-side dynamic differential equation, and motor-side power equation are substituted into the relationship equations to obtain the power balance equation.

[0017] In one embodiment, reconstructing the power balance equation into a first-order linear model to represent the relationship between the DC bus voltage and the q-axis current includes:

[0018] The power balance equations include the differential term of the DC bus voltage and the component of the q-axis current, with other components treated as a whole as disturbances. A first-order linear model is constructed with the square of the DC bus voltage as the system state variable.

[0019] In one embodiment, extending the state variables of a first-order nonlinear model to obtain a second-order linear model, and constructing a first extended state observer based on the second-order linear model includes:

[0020] The disturbance is used as an extended state variable, and an equation describing the rate of change of the extended state variable is constructed. This equation is then combined with the first-order nonlinear model to form a second-order linear model.

[0021] Based on the second-order linear model, the observer's observed value and the observer's gain are introduced to construct the first extended state observer.

[0022] In one embodiment, constructing a second extended state observer based on a first extended state observer by adjusting the derivative of the observed value according to the error between the state variable and the corresponding observed value includes:

[0023] Obtain the error between the system state variables and their corresponding observations;

[0024] The derivatives of the observed values ​​corresponding to the system state variables in the first extended state observer are improved based on the error and the observer's gain. The derivatives of the observed values ​​corresponding to the extended state variables in the first extended state observer are also improved based on the error, the derivative of the error, and the observer's gain, thus obtaining the second extended state observer.

[0025] In one embodiment, the additional perturbation observer will be constructed based on the second-order linear model, including:

[0026] Construct an initial disturbance observer based on the disturbance amount and the disturbance observer gain;

[0027] Based on the first disturbance observer, an intermediate variable is introduced, and the derivative of the intermediate variable is substituted into the initial disturbance observer to construct the disturbance observer.

[0028] The method for obtaining intermediate variables includes: multiplying the system state variable by the disturbance observer gain to obtain the product, and subtracting the product from the disturbance estimate output by the disturbance observer to obtain the intermediate variable.

[0029] Secondly, this application also provides a voltage control device for a permanent magnet synchronous generator based on active disturbance rejection control. The device includes: a disturbance observer and a third extended state observer, as well as an input module, an output module, and a control law module;

[0030] The input module is used to input a reference value for the square of the DC bus voltage.

[0031] The output module is used to output the actual value of the square of the DC bus voltage.

[0032] The control law module is used to receive reference values ​​and generate a preliminary control law.

[0033] The disturbance observer is used to output a disturbance estimate based on the initial control law;

[0034] The third extended state observer is used to output the system state and total disturbance based on the preliminary control law, disturbance estimate and system output, and feed the system state and total disturbance back to the control law module for real-time compensation of internal dynamics and external disturbances and adjustment of the control law.

[0035] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the aforementioned voltage control method for a permanent magnet synchronous generator based on active disturbance rejection control.

[0036] Fourthly, this application also provides a computer-readable storage medium. This computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps in the aforementioned voltage control method for a permanent magnet synchronous generator based on active disturbance rejection control.

[0037] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps in the aforementioned voltage control method for a permanent magnet synchronous generator based on active disturbance rejection control.

[0038] The aforementioned voltage control method and apparatus for permanent magnet synchronous generators based on active disturbance rejection control (ADRC) includes the following steps: First, constructing a power balance equation based on the engine-side three-phase rectifier according to the law of energy conservation. Second, reconstructing the power balance equation into a first-order linear model to represent the relationship between the DC bus voltage and the q-axis current. Third, extending the state variables of the first-order nonlinear model to obtain a second-order linear model, and constructing a first extended state observer based on the second-order linear model. Fourth, adjusting the derivatives of the observed values ​​according to the errors between the state variables and their corresponding observed values, and constructing a second extended state observer based on the first extended state observer. Fifth, constructing an additional disturbance observer based on the second-order linear model, and compensating the disturbance observed by the disturbance observer to the second extended state observer using a compensation model to obtain a third extended state observer. Finally, obtaining the control law for the q-axis current based on the third extended state observer. This method improves the extended state observer by addressing the errors between each state variable and its observed values, effectively enhancing the system's dynamic performance. Furthermore, by using an additional disturbance observer to observe system disturbances and compensate them for by the extended state observer, the disturbance estimation burden on the extended state observer is reduced, improving the estimation accuracy. Attached Figure Description

[0039] Figure 1 Model of permanent magnet synchronous power generation system;

[0040] Figure 2 This is a flowchart illustrating a voltage control method for a permanent magnet synchronous generator based on active disturbance rejection control in one embodiment.

[0041] Figure 3 It is a traditional dual-closed-loop PI control structure;

[0042] Figure 4 This is a control block diagram of a permanent magnet synchronous generator voltage control method based on active disturbance rejection control in one embodiment;

[0043] Figure 5 This is a comparison diagram of DC bus voltage waveforms in one embodiment. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] This application provides a voltage control method for permanent magnet synchronous generators based on active disturbance rejection control, applicable to, for example... Figure 1 The permanent magnet synchronous power generation system model shown includes a prime mover, a permanent magnet synchronous generator, a three-phase full-bridge rectifier, a filter capacitor, and a load.

[0046] like Figure 2 As shown, it includes the following steps:

[0047] S101. Based on the law of conservation of energy, a power balance equation is constructed based on the three-phase rectifier on the engine side.

[0048] For a permanent magnet synchronous generator, its equations in the synchronous rotating coordinate system are:

[0049] (1)

[0050] Where R is the stator resistance of the motor, u d and u q i d and i q These represent the voltage and current along the dq axis of the stator, respectively. d and L q For the stator dq-axis inductance, ω e Ψ is the electric angular velocity of the motor. f It is a permanent magnet flux linkage.

[0051] The electromagnetic torque equation of the generator is:

[0052] (2)

[0053] Among them, T e denoted as electromagnetic torque, and p as the number of pole pairs of the motor.

[0054] For the output of a three-phase rectifier, the dynamic differential equation on the DC side is as follows:

[0055] (3)

[0056] Among them, u dc i dcC represents the DC bus voltage, current, and capacitance, and R represents... L It is a DC-side load.

[0057] For the input of the three-phase rectifier, the power equation on the motor side is as follows:

[0058] (4)

[0059] Among them, P m This refers to the power on the machine side.

[0060] According to the law of conservation of energy, the power on the DC side plus the power loss of the rectifier should be equal to the power on the machine side. The power balance equation is as follows:

[0061] (5)

[0062] in, This refers to the power loss of the rectifier.

[0063] Substituting formulas (1) and (3) into formula (5), we can obtain:

[0064] (6)

[0065] Obviously, this is for u dc For example, it is a typical nonlinear equation.

[0066] S102. Reconstruct the power balance equation into a first-order linear model to represent the relationship between the DC bus voltage and the q-axis current.

[0067] For traditional permanent magnet synchronous generator systems, a dual-loop proportional-integral (PI) control system is typically used, employing both voltage and current. The outer voltage PI controller adjusts the q-axis current setpoint by measuring the deviation between the actual DC bus voltage and its setpoint, while the d-axis current is usually controlled at zero current (i.e., the d-axis current setpoint is 0). The inner dq-axis current PI controller then adjusts the dq-axis control voltage by measuring the deviation between the actual and setpoint values ​​of the dq-axis current. Finally, the dq-axis control voltage undergoes an inverse Park transform to obtain a reference control voltage in a two-phase stationary coordinate system. This reference voltage is then used to generate a PWM signal to control the on / off switching of the three-phase rectifier, thereby controlling the DC bus voltage. The specific control structure diagram is shown below. Figure 3 As shown.

[0068] As can be seen from formula (6), the permanent magnet synchronous generator system under the dq axis exhibits strong coupling nonlinear characteristics. Sudden changes in speed and DC load can lead to excessive dynamic voltage deviation and long fluctuation time. Therefore, the traditional PI-based control strategy is difficult to meet the requirements for high-performance dynamic voltage regulation. To address this, formula (6) is reconstructed. Since the outer voltage loop adjusts the q-axis current setpoint by measuring the deviation between the actual value of the DC bus voltage and the setpoint, the u-axis current setpoint needs to be retained in formula (6). dc and i q If we consider the other components as a whole, then we have the following:

[0069] (7)

[0070] in, .

[0071] Let x1=u dc 2 Therefore, formula (7) can be written as:

[0072] (8)

[0073] in, The above equation is a first-order nonlinear model, where x1 is the system state variable.

[0074] S103, extend the state variables of the first-order nonlinear model to obtain the second-order linear model, and construct the first extended state observer based on the second-order linear model.

[0075] For the model in formula (8), an active disturbance rejection controller can be designed. In active disturbance rejection control, an extended state observer is required. At this time, the state variables of formula (8) need to be extended. Usually, the disturbance variable is used as the extension variable, and the state variable is set as follows: (i.e., the extended state variables), then the first-order nonlinear model of formula (8) can be extended to the second-order linear model as shown below:

[0076] (9)

[0077] in, .

[0078] According to equation (9), the first extended state observer can be constructed, and the following can be obtained:

[0079] (10)

[0080] Where z1 and z2 are the observations of the extended state observer; l1 and l2 are the observer gains, whose parameters are selected to ensure the stability of the observer system, while also ensuring that z1 and z2 converge to x1 and x2 respectively.

[0081] S104. Adjust the derivative of the observed value according to the error between the state variable and the corresponding observed value, and construct the second extended state observer based on the first extended state observer.

[0082] As can be seen from formula (10), z1 and z2 are both observed through x1-z1, which obviously affects the observation of z2. Therefore, the error between each state variable and its observed value is used to adjust the derivative of the observed value, thus improving the first extended state observer and constructing a second extended state observer, as shown below:

[0083] (11)

[0084] As can be seen from equation (11), the second extended state observer has errors e1 and e1 respectively. By controlling the corresponding control quantities, the dynamic performance of the system can be improved.

[0085] S105. Based on the second-order linear model, construct an additional disturbance observer, and use the disturbance observed by the disturbance observer as a compensation model to compensate the second extended state observer, obtain the third extended state observer, and obtain the control law of the q-axis current according to the third extended state observer.

[0086] When a permanent magnet power generation system is subjected to a large disturbance, the disturbance estimation burden of the extended state observer will increase, and the estimation accuracy will decrease, failing to meet the requirements of high-precision control. Therefore, an additional disturbance observer can be used to observe the disturbances received by the system, and the observed disturbances can be used as a compensation model to compensate the third extended state observer. This way, the extended state observer does not need to observe all disturbances, but only the disturbances that the additional disturbance observer fails to estimate, thereby reducing the disturbance estimation burden of the extended state observer and improving the estimation accuracy. According to the DC bus voltage disturbance model (9), the additional disturbance observer can be designed as follows:

[0087] (12)

[0088] Where h is the perturbation observer gain, This is the disturbance estimate output by the disturbance observer.

[0089] The estimation error of the disturbance can be expressed as:

[0090] (13)

[0091] The sampling period of a system is usually very short, so it is assumed that the change in the disturbance is slow within the sampling period. Then the dynamic equation for the observation error is:

[0092] (14)

[0093] When the error tends to be dynamically stable, the estimation error of the disturbance observer will be 0. As can be seen from Equation (12), the disturbance observer calculation involves the differential calculation of the DC bus voltage. In order to avoid the influence of noise amplification caused by the differential calculation, the method of introducing intermediate variables is used to construct a special disturbance observer.

[0094] Let intermediate variables By differentiating it, we can obtain:

[0095] (15)

[0096] Substituting formula (15) into (12), we can simplify to obtain:

[0097] (16)

[0098] As can be seen from equation (16), the disturbance observer after introducing intermediate variables does not need to perform differential calculation of DC bus voltage. It can achieve accurate estimation of system disturbance by simply adjusting a gain value h.

[0099] Thus, the additional perturbation observer observations of formula (16) are compensated into the second extended state observer of formula (11) to obtain the third extended state observer, as shown in formula (17):

[0100] (17)

[0101] The core of active disturbance rejection control lies in how to estimate f in real time and eliminate it, so that the differential equation of x1 in equation (9) presents a linear integrator series standard form similar to the following equation, thereby making the control simpler.

[0102] (18)

[0103] This is how you can get

[0104] (19)

[0105] Generally, linear state error feedback control laws can be designed using a classic proportional-integral-derivative (PI-DE) combination. Since the observer can estimate disturbances and compensations in real time, an integrator is no longer needed, and the linear state error feedback control law can be further simplified to a PI-DE combination design, i.e., we have...

[0106] (20)

[0107] Where, k p Here, r is the control law parameter, and r is a given value.

[0108] Based on the designed observer, the following control law can be obtained:

[0109] (twenty one)

[0110] In one embodiment, Figure 4 This diagram shows the complete control block diagram for voltage control of a permanent magnet synchronous generator based on active disturbance rejection control.

[0111] S201, Input reference value , here it is represented as That is, the reference value of the square of the DC side voltage.

[0112] S202, Reference Values ​​and Actual Estimates The error is incorporated into the control law calculation, and the control law includes a proportional coefficient. and Factors are used to generate preliminary control laws.

[0113] S203, Control Law and System Output After perturbation observer, by introducing intermediate variables and passed through an integrator and gain , After processing, the disturbance estimate is obtained. .

[0114] S204, The third extended state observer receives the control law, disturbance estimate, and system output. Estimate system state variables Total disturbance The output of the extended state observer Feedback is sent to the control input to compensate for internal dynamics and external disturbances in real time, dynamically adjust the control law, and thus enhance the robustness of the system.

[0115] in, That is, the square of the actual DC side voltage is used as a feedback signal and compared with the reference value to form a closed-loop control.

[0116] This invention verifies the proposed active disturbance rejection control (ADRC) technology by building a permanent magnet synchronous generator system on the MATLAB / Simulink simulation platform. Simultaneously, it is compared with traditional PI control and traditional ADRC. The simulation conditions are as follows: the initial speed of the prime mover is 3000 rpm, which increases to 5000 rpm after 0.2 s; the initial DC load is 40 Ω, which increases to 50 Ω after 0.3 s; and the DC bus voltage setpoint is 550 V. The simulation results are as follows. Figure 5 As shown. Figure 5In the diagram, (a) represents the DC bus voltage waveform obtained by PI control, (b) represents the DC bus voltage waveform obtained by traditional active disturbance rejection control, and (c) represents the DC bus voltage waveform obtained by the control method provided by this invention.

[0117] Table 1 shows the comparison results of overshoot and settling time of DC bus voltage waveforms under three control methods under speed and load variations:

[0118] Table 1. Comparison of overshoot and settling time of DC bus voltage under disturbance under three control methods.

[0119]

[0120] from Figure 5 As can be seen from Table 1, the active disturbance rejection control method provided by this invention exhibits good disturbance rejection characteristics during startup, speed changes, and load changes. Its overshoot and settling time are superior to the other two methods, which fully demonstrates the good robustness of the proposed active disturbance rejection control.

[0121] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0122] Based on the same inventive concept, this application also provides a voltage control device for a permanent magnet synchronous generator based on active disturbance rejection control. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the voltage control device for a permanent magnet synchronous generator based on active disturbance rejection control provided below can be found in the limitations of the voltage control method for a permanent magnet synchronous generator based on active disturbance rejection control described above, and will not be repeated here.

[0123] In one embodiment, such as Figure 4 As shown, a voltage control device for a permanent magnet synchronous generator based on active disturbance rejection control is provided, comprising: a disturbance observer and a third extended state observer, as well as an input module, an output module and a control law module;

[0124] The input module is used to input a reference value for the square of the DC bus voltage.

[0125] The output module is used to output the actual value of the square of the DC bus voltage.

[0126] The control law module is used to receive reference values ​​and generate a preliminary control law.

[0127] The disturbance observer is used to output a disturbance estimate based on the initial control law;

[0128] The third extended state observer (i.e. the improved extended state observer) is used to output the system state and total disturbance based on the preliminary control law, disturbance estimate and system output, and feed the system state and total disturbance back to the control law module for real-time compensation of internal dynamics and external disturbances and adjustment of the control law.

[0129] The modules in the aforementioned voltage control device for permanent magnet synchronous generators based on active disturbance rejection control can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0130] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in all of the above method embodiments.

[0131] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in all of the above method embodiments.

[0132] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in all of the above method embodiments.

[0133] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0134] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0135] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A voltage control method for a permanent magnet synchronous generator based on active disturbance rejection control, characterized in that, The method includes: Based on the law of conservation of energy, a power balance equation is constructed based on the engine-side three-phase rectifier. The power balance equation is reconstructed into a first-order linear model to represent the relationship between the DC bus voltage and the q-axis current. The state variables of the first-order nonlinear model are extended to obtain a second-order linear model, and a first extended state observer is constructed based on the second-order linear model. Adjust the derivative of the observed value according to the error between the state variable and the corresponding observed value, and construct a second extended state observer based on the first extended state observer; Based on the second-order linear model, an additional disturbance observer is constructed, and the disturbance observed by the disturbance observer is used as a compensation model to compensate the second extended state observer to obtain a third extended state observer. The control law of the q-axis current is obtained according to the third extended state observer.

2. The method according to claim 1, characterized in that, The power balance equations constructed based on the engine-side three-phase rectifier according to the law of conservation of energy include: Construct the stator current state equation of a permanent magnet synchronous generator in the dq coordinate system; Construct the dynamic differential equations for the DC side of the three-phase rectifier and the power equations for the motor side of the three-phase rectifier; A relational equation is constructed between DC-side power, rectifier loss power, and motor-side power. The stator current state equation, the DC-side dynamic differential equation, and the motor-side power equation are then substituted into the relational equation to obtain the power balance equation.

3. The method according to claim 1, characterized in that, The step of reconstructing the power balance equation into a first-order linear model to represent the relationship between the DC bus voltage and the q-axis current includes: The power balance equation includes the differential term of the DC bus voltage and the component of the q-axis current, with other components treated as a whole as disturbances. A first-order linear model is constructed with the square of the DC bus voltage as the system state variable.

4. The method according to claim 3, characterized in that, The step of extending the state variables of the first-order nonlinear model to obtain a second-order linear model, and constructing a first extended state observer based on the second-order linear model includes: The disturbance is used as an extended state variable to construct an equation describing the rate of change of the extended state variable, which, together with the first-order nonlinear model, forms the second-order linear model. Based on the second-order linear model, the observer's observed value and the observer's gain are introduced to construct the first extended state observer.

5. The method according to claim 4, characterized in that, The step of adjusting the derivative of the observed value based on the error between the state variable and the corresponding observed value, and constructing a second extended state observer based on the first extended state observer, includes: Obtain the error between the system state variables and the corresponding observed values; The derivative of the observed value corresponding to the system state quantity in the first extended state observer is improved based on the error and the gain of the observer. The derivative of the observed value corresponding to the extended state quantity in the first extended state observer is improved based on the error, the derivative of the error, and the gain of the observer to obtain the second extended state observer.

6. The method according to claim 3, characterized in that, The construction of additional perturbation observers based on the second-order linear model includes: Based on the disturbance amount and the disturbance observer gain, construct an initial disturbance observer; Based on the first disturbance observer, an intermediate variable is introduced, and the derivative of the intermediate variable is substituted into the initial disturbance observer to construct the disturbance observer; The method for obtaining the intermediate variable includes: multiplying the system state variable by the disturbance observer gain to obtain a product, and subtracting the product from the disturbance estimate output by the disturbance observer to obtain the intermediate variable.

7. A voltage control device for a permanent magnet synchronous generator based on active disturbance rejection control, characterized in that: The apparatus includes the disturbance observer and the third extended state observer as described in any one of claims 1 to 6, as well as an input module, an output module, and a control law module; The input module is used to input a reference value for the square of the DC bus voltage; The output module is used to output the actual value of the square of the DC bus voltage; The control law module is used to receive the reference value and generate a preliminary control law; The disturbance observer is used to output a disturbance estimate based on the preliminary control law; The third extended state observer is used to output the system state and total disturbance based on the preliminary control law, the disturbance estimate and the system output, and to feed the system state and total disturbance back to the control law module for real-time compensation of internal dynamics and external disturbances and adjustment of the control law.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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