CN103023071A - Motor-side converter control system for direct-drive permanent magnet synchronous wind power system - Google Patents

Abstract

A motor-side converter control system for a direct-drive permanent magnet synchronous wind power system comprises a mathematical model establishment unit, a power control ring design unit, a variable structure control unit, a pseudo-linear system unit, and a sinusoidal pulse width modulation unit. The mathematical model establishment unit is used to establish a mathematical model of a permanent magnet synchronous generator under a dq-coordinate system according to directional vector control for rotor flux linkage. The power control ring design unit acquires an instruction value of a power ring according to the relation between maximum wind power capturing principle and a permanent magnet synchronous generator power equation, and performs PI (proportional-integral) regulator operation to the instruction value and measured power feedback value so as to obtain an instruction value of a current ring. The variable structure control unit designs sliding mode variable structure control law for a pseudo-linear system by exponential approach law. The pseudo-linear system unit determines a reverse system expression of the permanent magnet synchronous generator and serially connects the permanent magnet synchronous generator to an original system to form the pseudo-linear system, plugs the sliding mode variable structure control law into the reverse system expression to obtain controlled quantity of the original system by inverse solution. The sinusoidal pulse width modulation unit processes the controlled quantity by Park inverse transformation and sinusoidal pulse width modulation to obtain a drive control signal.

Description

The motor side converter control system of direct-drive permanent magnetism synchronous wind generating system

Technical field

The present invention relates to driving control system for electric machine, particularly the motor side converter control system of direct-drive permanent magnetism synchronous wind generating system.

Background technology

Direct-driving type wind power generation unit and double feed wind power generator group are two class units of tool development potentiality and market prospects in the current wind power generation, the direct-driving type wind power generation unit adopts magneto alternator, do not need the raising speed gear box, do not have brush and slip ring, stability and the reliability of unit operation are high, become most important developing direction in the current wind power generation.Figure 1 shows that the structured flowchart of direct-drive permanent magnetism synchronous wind generating system, it adopts two PWM current transformers as its parallel network circuit, adopt pusher side current transformer control generator, this electricity generation system comprises the compositions such as wind energy conversion system, transmission mechanism, magneto alternator, motor side current transformer, dc bus capacitor, grid side current transformer, motor side converter control system 10, grid side converter control system 20.By the control of motor side current transformer to generator speed, realize accurate control and the maximal wind-energy tracking control of output of a generator.

Magneto alternator (permanent magnet synchronous generator, PMSG) Mathematical Modeling is a kind of non linear system of close coupling, directly the design current closed loop is Bi Li – integration (proportional integral, referred to as the PI type) controller, method is complicated, controller parameter is difficult to adjust, and when the inner parameter of motor changes or system is when being subject to external interference, wind speed variation etc. and affecting, controller can't send accurately command signal, makes motor speed and torque pulsation larger.The rotating speed control of motor is subject to large impact, also can affect the quality of power supply of wind-powered electricity generation, is unfavorable for wind-electricity integration.

Summary of the invention

The control system of existing direct-drive permanent magnetism synchronous wind generating system motor side converter adopts the PI type controller more, method for designing is complicated, the control system difficult parameters to be adjusting, and the PI controller changes the inner parameter of motor and external disturbance sensitivity comparatively, poor robustness.In order to overcome this point, the invention provides new control system and the control method thereof of a kind of direct-drive permanent magnetism synchronous wind generating system.

The motor side converter control system of direct-drive permanent magnetism synchronous wind generating of the present invention system is characterized in that, comprising:

The Mathematical Modeling of magneto alternator under the dq coordinate system in conjunction with the rotor flux linkage orientation vector control, set up in the Mathematical Models unit;

The power control loop design cell, by the relation between maximal wind-energy capture principle and the magneto alternator power equation, draw the command value of power ring, and by this command value and measured power value of feedback are carried out the computing of PI type adjuster, draw the command value of electric current loop;

Become the structure control unit, the method for designing that adopts exponential approach to restrain is designed the sliding mode control law of pseudo-linear system;

The pseudo-linear system unit, obtain the inverse system expression formula of magneto alternator, and it is connected on consists of pseudo-linear system before the original system, in the above-mentioned inverse system expression formula of above-mentioned sliding mode control law substitution, the anti-controlled quentity controlled variable of original system that solves is as output; And

Sinusoidal pulse width modulation (sinusoidal pulse width modulation, SPWM) unit through Park inverse transformation and sinusoidal pulse width modulation, draws the drive control signal of motor side current transformer with the controlled quentity controlled variable of above-mentioned pseudo-linear system unit output.

Direct-drive permanent magnetism synchronous wind generating of the present invention system is characterized in that, comprising: wind energy conversion system, transmission mechanism, magneto alternator, motor side current transformer, dc bus capacitor, grid side current transformer, motor side converter control system, and grid side converter control system

Wherein, the motor side converter control system comprises:

The Mathematical Modeling of magneto alternator under the dq coordinate system in conjunction with the rotor flux linkage orientation vector control, set up in the Mathematical Models unit;

The power control loop design cell, by the relation between maximal wind-energy capture principle and the magneto alternator power equation, draw the command value of power ring, and by this command value and measured power value of feedback are carried out the computing of PI type adjuster, draw the command value of electric current loop;

Become the structure control unit, the method for designing that adopts exponential approach to restrain is designed the sliding mode control law of pseudo-linear system;

The pseudo-linear system unit, obtain the inverse system expression formula of magneto alternator, and it is connected on consists of pseudo-linear system before the original system, in the above-mentioned inverse system expression formula of above-mentioned sliding mode control law substitution, the anti-controlled quentity controlled variable of original system that solves is as output; And

The sinusoidal pulse width modulation unit through Park inverse transformation and sinusoidal pulse width modulation, draws the drive control signal of motor side current transformer with the controlled quentity controlled variable of above-mentioned pseudo-linear system unit output.

The control method of the motor side converter control system of direct-drive permanent magnetism synchronous wind generating of the present invention system is characterized in that, comprising:

The Mathematical Models step in conjunction with the rotor flux linkage orientation vector control, is set up the Mathematical Modeling of magneto alternator under the dq coordinate system;

The power control loop design procedure, by the contact between maximal wind-energy capture principle and the magneto alternator power equation, draw the command value of power ring, and by this command value and measured power value of feedback are carried out the computing of PI type adjuster, draw the command value of electric current loop;

Become the structure control step, adopt the method for designing of exponential approach rule to design the sliding mode control law of pseudo-linear system, this pseudo-linear system is the inverse system expression formula of obtaining magneto alternator, and it is connected on before the original system and consists of;

The pseudo-linear system treatment step, in the above-mentioned inverse system expression formula of above-mentioned sliding mode control law substitution, the anti-controlled quentity controlled variable of original system that solves is as output; And

The sinusoidal pulse width modulation step through Park inverse transformation and sinusoidal pulse width modulation, draws the drive control signal of motor side current transformer with the controlled quentity controlled variable of above-mentioned pseudo-linear system treatment step output.

The invention has the beneficial effects as follows that simple, the control system strong robustness of method for designing is when wind speed changes or during internal system parameter generation disturbance, the rotating speed response of generator is functional.

Description of drawings

Below, in conjunction with the accompanying drawings and embodiments, new control system of the present invention and control method thereof are described in further detail.

Fig. 1 is the structured flowchart of direct-drive permanent magnetism synchronous wind generating system;

Fig. 2 be direct-drive permanent magnetism synchronous wind generating of the present invention system in the motor side converter control system, add the structured flowchart that becomes structure control;

Fig. 3 is the control method flow chart of the motor side converter control system of direct-drive permanent magnetism synchronous wind generating of the present invention system;

Fig. 4 is method of inverse Linearization Principle figure.

Embodiment

Fig. 2 is the schematic diagram that add to become the direct-drive permanent magnetism synchronous wind generating of the present invention system of structure control in the motor side converter control system 110.Direct-drive permanent magnetism synchronous wind generating of the present invention system has technology to comprise that equally also wind energy conversion system, transmission mechanism, magneto alternator, motor side current transformer, dc bus capacitor, grid side current transformer and grid side converter control system 120(can be identical with grid side converter control system 20 among Fig. 1 with Fig. 1 center line).Owing to adopt motor side current transformer control generator, and the Mathematical Modeling of magneto alternator is System with Nonlinear Coupling, so that design motor side current transformer becomes comparatively complicated.

The control strategy that the present invention adopts vector control, method of inverse and Sliding mode variable structure control to combine designs its control system.At first, method of inverse in the employing nonlinear Control is found the solution the inverse system of original system, and it is formed pseudo-linear system with original system, and the realization system linearity is dissolved coupling, then, adopt the Sliding mode variable structure control unit of the method design pseudo-linear system of exponential approach rule.Below, binding isotherm is derived and schematic diagram is explained control system and the control method thereof of direct-drive permanent magnetism synchronous wind generating of the present invention system.

Motor side converter control system 110 comprises: Mathematical Models unit 130, power control loop design cell 140 becomes structure control unit 150, pseudo-linear system unit 160, and sinusoidal pulse width modulation unit 170.

Below, in conjunction with Fig. 3,4, operation principle and the control method thereof of each part of motor side converter control system 110 is elaborated.

[foundation of Mathematical Modeling]

Shown in step 101 among Fig. 3, at first, the Mathematical Modeling of PMSG under the dq coordinate system set up in conjunction with the rotor flux linkage orientation vector control in Mathematical Models unit 130.

PMSG adopts the rotor flux linkage orientation vector control, under the dq coordinate system, the q axle is ahead of 90 ° on d axle, the magnetic linkage direction of rotor permanent magnet is oriented to the d axle, stator voltage, electric current positive direction are followed Motor convention, and it is as follows then can to draw its stator voltage, magnetic linkage, electromagnetic torque and equation of motion under the dq coordinate system:

Stator voltage, magnetic linkage equation are

$\left\{\begin{array}{c}{u}_{\mathrm{sd}}=R_s{i}_{\mathrm{sd}}+{\mathrm{p\ψ}}_{\mathrm{sd}}-{\mathrm{\ω}}_s{\mathrm{\ψ}}_{\mathrm{sq}}\\ u_{\mathrm{sq}}=R_s{i}_{\mathrm{sq}}+{\mathrm{p\ψ}}_{\mathrm{sq}}+{\mathrm{\ω}}_s{\mathrm{\ψ}}_{\mathrm{sd}}\\ {\mathrm{\ψ}}_{\mathrm{sd}}=L_{\mathrm{sd}}{i}_{\mathrm{sd}}+{\mathrm{\ψ}}_f\\ {\mathrm{\ψ}}_{\mathrm{sq}}=L_{\mathrm{sq}}{i}_{\mathrm{sq}}\end{array}\right....\left(1\right)$

Electromagnetic torque, the equation of motion are

$\left\{\begin{array}{c}{T}_e=\frac{3}{2}{n}_p{i}_{\mathrm{sq}}[{\mathrm{\ψ}}_f+i_{\mathrm{sd}}(L_{\mathrm{sd}}-L_{\mathrm{sq}})]\\ T_m-T_e=\frac{J}{n_p}\frac{{\mathrm{d\ω}}_s}{\mathrm{dt}}\end{array}\right....\left(2\right)$

In formula (1), (2), R _sIt is the every phase resistance of stator of generator; L _Sd, L _SqBe respectively stator d-axis inductance, hand over the axle inductance; u _Sd, u _SqBe respectively d, the q axle component of stator voltage; i _Sd, i _SqBe respectively d, the q axle component of stator current; ψ _Sd, ψ _SqBe respectively d, the q axle component of generator unit stator magnetic linkage; ψ _fBe the rotor permanent magnet magnetic linkage; ω _sBe generator electric angle speed; P is differential operator; J is moment of inertia; n _pBe the power generator electrode logarithm; T _e, T _mBe respectively electromagnetic torque and machine torque; T _m=P _m/ ω _r, P _mBe wind energy conversion system output mechanical power, ω _rBe wind energy conversion system mechanical angle speed, and ω _s=n _pω _r

For non-salient pole magneto alternator, L _Sd=L _Sq=L _s, the stator voltage equation after stator magnetic linkage equation substitution stator voltage equation in the formula (1) is simplified is

$\left\{\begin{array}{c}{u}_{\mathrm{sd}}=R_s{i}_{\mathrm{sd}}+L_s\frac{{\mathrm{di}}_{\mathrm{sd}}}{\mathrm{dt}}-{\mathrm{\ω}}_s{L}_s{i}_{\mathrm{sq}}\\ u_{\mathrm{sq}}=R_s{i}_{\mathrm{sq}}+L_s\frac{{\mathrm{di}}_{\mathrm{sq}}}{\mathrm{dt}}+{\mathrm{\ω}}_s{L}_s{i}_{\mathrm{sd}}+{\mathrm{\ω}}_s{\mathrm{\ψ}}_f\end{array}\right.---\left(3\right)$

[power control loop design]

The double-loop control strategy principle of motor side current transformer power outer shroud, current inner loop at first, is described.

The magneto alternator rotor adopts permanent magnet, does not need to provide exciting current, and by first expression formula in the formula (2) as can be known, in motor operation course, control generator unit stator electric current d axle component is zero, i.e. i _Sd=0, then the expression formula of the electromagnetic torque of generator is

T _e=1.5n _pψ _fi _sq.............................................................................................(4)

By formula (4) as can be known, the electromagnetic torque of generator is only relevant with stator current q axle component, therefore only need control quickly and accurately generator unit stator electric current q axle component i _Sq, just can control the electromagnetic torque of generator.Because stator copper loss and iron loss are very little, if ignore this part loss, the active-power P of generator output then _sExpression formula be

P _s≈P _e=T _eω _r＝1.5n _pψ _fi _sqω _r...................................................................(5)

In the formula (5), ω _rBe generator machinery angular speed.

By (4), (5) as can be known, when wind speed changes, by control i _SqIn time change the generator electromagnetic torque, regulate the wind energy conversion system rotating speed, keep the operation of wind energy conversion system optimum tip-speed ratio, then can accurately control the active power of generator output, realize the maximal wind-energy Tracing Control of whole electricity generation system.

According to based on the given maximal wind-energy capture principle of best power and the relation between the magneto alternator power equation, draw

Computing formula as follows:

$\left\{\begin{array}{c}{P}_s^{*}=P_{\mathrm{opt}}-\mathrm{\ΔP}\\ P_{\mathrm{opt}}={\mathrm{k\ω}}^3\\ \mathrm{\ΔP}=P_0+P_{\mathrm{cus}}+P_{\mathrm{fes}}\\ k=\mathrm{\ρA}{(R/{\mathrm{\λ}}_{\mathrm{opt}})}^3{C}_{p\max }/2\end{array}\right....\left(6\right)$

In the formula (6): P _OptBest power (for specific wind energy conversion system, its best power curve is well-determined, and namely the k value is unique) for wind energy conversion system; ρ is atmospheric density; A is the wind energy conversion system wind sweeping area; R is the blade radius; λ _OptBe optimum tip-speed ratio; C _PmaxBe the maximal wind-energy usage factor; ω is the mechanical angle speed of wind energy conversion system; P ₀, P _Cus, P _FesBe respectively mechanical loss, stator copper loss, the iron loss of generator.

Based on above analysis, by formula (3) ~ (6) as can be known, for accurate control and the maximal wind-energy of realizing stator current d, q axle component are followed the tracks of control, determine that the generator side converter can adopt two closed-loop vector controls, outer shroud is the active power control ring, and interior ring is the control strategy of stator current control ring.

Shown in step 102 among Fig. 3, power control loop design cell 140 is tried to achieve the active power command value by formula (6) After, with the active-power P of itself and generator output _sBy the computing of PI controller, output variable is as the command value of interior ring stator current real component.

[structure of pseudo-linear system]

Below, the inverse system of original system is found the solution in pseudo-linear system unit 160, and its principle that is connected on original system front construction one pseudo-linear system is described.

By formula (3) as can be known, exist the close coupling relation between generator unit stator electric current d, q axle component, in order to design d, q shaft current i _Sd, i _SqController, need to carry out decoupling zero control to it.

Method of inverse is that a kind of non linear system feedback linearization is theoretical, its basic thought is, for given system, go out the inverse system of the original system of available feedback method realization according to the model solution of object, and original system compensated into the standardization system with linear relationship and decoupling zero, be referred to as pseudo-linear system, finish the comprehensive of pseudo-linear system with the various theories of linear system again.The method clear physics conception, simple, the easy to understand of mathematical derivation.

For the Mathematical Modeling of magneto alternator under the dq coordinate system shown in formula (2), (3), choose state variable and be [x ₁, x ₂, x ₃]=[i _Sd, i _Sq, ω _s], controlled quentity controlled variable is [u ₁, u ₂]=[u _Sd, u _Sq], output variable is [y ₁, y ₂]=[x ₁, x ₂], then formula (2), (3) can be changed into

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=(-R_s{x}_1+L_s{x}_2{x}_3+u_1)/L_s\\ {\stackrel{\·}{x}}_2=(-R_s{x}_2-L_s{x}_1{x}_3-{\mathrm{\ψ}}_f{x}_3+u_2)/L_s\\ {\stackrel{\·}{x}}_3=n_p(T_m-T_e)/J\\ y_1=x_1\\ y_2=x_2\end{array}\right....\left(7\right)$

Ask first order derivative to get to the output equation in the formula (7):

$\left\{\begin{array}{c}{\stackrel{\·}{y}}_1=(-R_s{x}_1+L_s{x}_2{x}_3+u_1)/L_s\\ {\stackrel{\·}{y}}_2=(-R_s{x}_2-L_s{x}_1{x}_3-{\mathrm{\ψ}}_f{x}_3+u_2)/L_s\end{array}\right....\left(8\right)$

By following formula as can be known, show in the output equation and contain input variable, the inverse system equation that then can try to achieve formula (7) is:

$\left\{\begin{array}{c}{u}_1=L_s{\stackrel{\·}{y}}_1+R_s{x}_1-L_s{x}_2{x}_3\\ u_2=L_s{\stackrel{\·}{y}}_2+R_s{x}_2+L_s{x}_1{x}_3+{\mathrm{\ψ}}_f{x}_3\end{array}\right....\left(9\right)$

Order

Be the new input variable of inverse system, inverse system formula (9) be connected on before the original system, as shown in Figure 4.Can find out that from input/output relation inverse system formula (9) has compensated original system formula (7) for pseudo-linear system into the decoupling zero with linear transitive relation.

According to inverse system relative rank definition, and convolution (8), the phase match exponents of trying to achieve above-mentioned inverse system is

α=(α ₁，α ₂)=(1,1)=2...........................................................................(10)

Because the exponent number of original system is 3, greater than the phase match exponents 2 of inverse system, illustrate that one of existence is hidden dynamic in the pseudo-linear system,

Be the 3rd expression formula in the equation (6).For making this hidden dynamic stability, according to generator electrical degree ω _sAnd the contact between the best power command value, the present invention controls it by the PI controller of active power control ring and stablizes.

As seen from Figure 4, the independently linearisation subsystem that is decoupled into of pseudo-linear system can be expressed as

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=v_1\\ y_1=x_1\end{array}\right....\left(11\right)$

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_2=v_2\\ y_2=x_2\end{array}\right....\left(12\right)$

[design of control law of stator current ring]

Shown in step 103 among Fig. 3, become the control law that structure control unit 150 adopts the method design stator current ring of sliding mode control theory Exponential Reaching Law:

Linearisation subsystem to above-mentioned decoupling zero, the method that designs its control unit is varied, the present invention is from eliminating the internal system parameter perturbation, and the angle that strengthens the control unit robustness is set out, and uses the method for sliding mode control theory Exponential Reaching Law to design its control unit.For subsystem formula (11), the design object of control unit is:

Getting sliding-mode surface is

$s_1=x_1-x_1^{*}...\left(13\right)$

Choose the exponential approach rule, order

${\stackrel{\·}{s}}_1=-k_1{s}_1-{\mathrm{\ϵ}}_1\mathrm{sgn}\left(s_1\right)...\left(14\right)$

The sliding mode control law that solves subsystem formula (11) is

$v_1=k_1(x_1^{*}-x_1)+{\mathrm{\ϵ}}_1\mathrm{sgn}(x_1^{*}-x_1)+{\stackrel{\·}{x}}_1^{*}...\left(15\right)$

In the formula (15):

Be constant when stable state, namely

Sgn (s ₁) be sign function; k ₁, ε ₁Be Sliding mode variable structure control parameter, k ₁0, ε ₁0, s ₁Sgn (s ₁) 0, then

$s_1{\stackrel{\&CenterDot;}{s}}_1=-k_1{s}_1^2-{\mathrm{\&epsiv;}}_1{s}_1\mathrm{sgn}\left(s_1\right)<0...\left(16\right)$

By formula (16) as can be known, the control inputs amount of subsystem formula (11) satisfies the arrival condition of sliding-mode surface, so designed control law can be realized the timely tracking of control target, namely

In the formula (15), suitably increase k ₁Value can improve the velocity of approach of sliding formwork control, suitably reduces ε ₁Value can weaken the buffeting of sliding formwork control.

In like manner, the sliding mode control law that can design subsystem formula (12) is

$v_1=k_2(x_2^{*}-x_2)+{\mathrm{\&epsiv;}}_2\mathrm{sgn}(x_2^{*}-x_2)+{\stackrel{\&CenterDot;}{x}}_2^{*}...\left(17\right)$

Shown in step 104 among Fig. 3, the as a result substitution formula (8) of formula (15), (17) gained can be solved original system control inputs amount u ₁, u ₂Expression formula as follows:

$\left\{\begin{array}{c}{u}_1=L_s(k_1(x_1^{*}-x_1)+{\mathrm{\&epsiv;}}_1\mathrm{sgn}(x_1^{-*}-x_1)+x_1^{*})+R_s{x}_1-L_s{x}_2{x}_3\\ u_2=L_s(k_2(x_2^{*}-x_2)+{\mathrm{\&epsiv;}}_2\mathrm{sgn}(x_2^{*}-x_2)+x_2^{*})+R_s{x}_2+L_s{x}_1{x}_3+{\mathrm{\&psi;}}_f{x}_3\end{array}\right....\left(18\right)$

Try to achieve original system control inputs amount u ₁, u ₂After, shown in step 105 among Fig. 3, it through the Park of sinusoidal pulse width modulation unit 170 inverse transformation and sinusoidal pulse width modulation, is drawn the drive control signal of motor side current transformer, thereby effectively control the rotating speed of generator, realize accurate control and the maximal wind-energy tracking control of output of a generator.

More than be implementation method of the present invention, formula (18) is the expression formula of the control system of the drawn direct-drive permanent magnetism synchronous wind generating system motor side converter of new control system of the present invention and control method thereof.

Claims (3)

1. the motor side converter control system of a direct-drive permanent magnetism synchronous wind generating system is characterized in that, comprising:

The Mathematical Modeling of magneto alternator under the dq coordinate system in conjunction with the rotor flux linkage orientation vector control, set up in the Mathematical Models unit;

The power control loop design cell, by the relation between maximal wind-energy capture principle and the magneto alternator power equation, draw the command value of power ring, and by this command value and measured power value of feedback are carried out the computing of PI type adjuster, draw the command value of electric current loop;

Become the structure control unit, the method for designing that adopts exponential approach to restrain is designed the sliding mode control law of pseudo-linear system;

The pseudo-linear system unit, obtain the inverse system expression formula of magneto alternator, and it is connected on consists of pseudo-linear system before the original system, in the above-mentioned inverse system expression formula of above-mentioned sliding mode control law substitution, the anti-controlled quentity controlled variable of original system that solves is as output; And

The sinusoidal pulse width modulation unit through Park inverse transformation and sinusoidal pulse width modulation, draws the drive control signal of motor side current transformer with the controlled quentity controlled variable of above-mentioned pseudo-linear system unit output.

2. a direct-drive permanent magnetism synchronous wind generating system is characterized in that, comprising: wind energy conversion system, transmission mechanism, magneto alternator, motor side current transformer, dc bus capacitor, grid side current transformer, motor side converter control system, and grid side converter control system

Wherein, the motor side converter control system comprises:

The Mathematical Modeling of magneto alternator under the dq coordinate system in conjunction with the rotor flux linkage orientation vector control, set up in the Mathematical Models unit;

The power control loop design cell, by the relation between maximal wind-energy capture principle and the magneto alternator power equation, draw the command value of power ring, and by this command value and measured power value of feedback are carried out the computing of PI type adjuster, draw the command value of electric current loop;

Become the structure control unit, the method for designing that adopts exponential approach to restrain is designed the sliding mode control law of pseudo-linear system;

The pseudo-linear system unit, obtain the inverse system expression formula of magneto alternator, and it is connected on consists of pseudo-linear system before the original system, in the above-mentioned inverse system expression formula of above-mentioned sliding mode control law substitution, the anti-controlled quentity controlled variable of original system that solves is as output; And

The sinusoidal pulse width modulation unit through Park inverse transformation and sinusoidal pulse width modulation, draws the drive control signal of motor side current transformer with the controlled quentity controlled variable of above-mentioned pseudo-linear system unit output.

3. the control method of the motor side converter control system of a direct-drive permanent magnetism synchronous wind generating system is characterized in that, comprising:

The Mathematical Models step in conjunction with the rotor flux linkage orientation vector control, is set up the Mathematical Modeling of magneto alternator under the dq coordinate system;

The power control loop design procedure, by the contact between maximal wind-energy capture principle and the magneto alternator power equation, draw the command value of power ring, and by this command value and measured power value of feedback are carried out the computing of PI type adjuster, draw the command value of electric current loop;

Become the structure control step, adopt the method for designing of exponential approach rule to design the sliding mode control law of pseudo-linear system, this pseudo-linear system is the inverse system expression formula of obtaining magneto alternator, and it is connected on before the original system and consists of;

The pseudo-linear system treatment step, in the above-mentioned inverse system expression formula of above-mentioned sliding mode control law substitution, the anti-controlled quentity controlled variable of original system that solves is as output; And

The sinusoidal pulse width modulation step through Park inverse transformation and sinusoidal pulse width modulation, draws the drive control signal of motor side current transformer with the controlled quentity controlled variable of above-mentioned pseudo-linear system treatment step output.

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