CN103872795B - For the charge system of unmanned aerial vehicle - Google Patents
For the charge system of unmanned aerial vehicle Download PDFInfo
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- CN103872795B CN103872795B CN201410097689.4A CN201410097689A CN103872795B CN 103872795 B CN103872795 B CN 103872795B CN 201410097689 A CN201410097689 A CN 201410097689A CN 103872795 B CN103872795 B CN 103872795B
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Abstract
A kind of charge system for unmanned aerial vehicle, it is characterised in that: include the electricity getting device installing overhead transmission line; Electric energy transmission device, is converted to high frequency alternating-current by industrial-frequency alternating current; The electric energy receiving trap being arranged on unmanned aerial vehicle, realizes electric energy transmission by wireless between electric energy receiving trap and electric energy transmission device; And on-board batteries, it being arranged on unmanned aerial vehicle and power to this unmanned aerial vehicle, on-board batteries is serially connected on the current circuit of electric energy receiving trap. Compared with prior art, the present invention proposes a kind of electronic unmanned aerial vehicle charge system based on alternating current transmission pole line, it is achieved without man-machine entirely autonomous, safe charging modes, promote unmanned aerial vehicle course continuation mileage; Simultaneously, it provides a kind of based on unstable AC power, high-frequency induction continuous current formula charging circuit, realize unmanned charging operations completely, reduce without man-machine to the dependence in base, ground or mobile base station, reduce manual work, reduce human cost.
Description
Technical field
The present invention relates to a kind of charge system, particularly a kind of charge system for unmanned aerial vehicle.
Background technology
Along with the development in epoch, society is day by day strong to the demand executed the task in the air. And compared with manned aircraft, having many unrivaled advantages without man-machine: size is relatively little, overall flexible layout, cost is lower, it may also be useful to convenient, it is possible to enter dangerous environment, it is possible to meet the demand of special purpose.
Electronic without the man-machine aircraft referring to dependence electric motor instead of internal combustion engine drive, power source comprises the battery etc. of fuel cell, solar cell, ultracapacitor, wireless energy transfer or other kinds. It is combustion engine powered that electric airplane uses electric power propulsion system to replace, and obtains lot of advantages and unique quality, and the most outstanding advantage is energy-conserving and environment-protective, and efficiency height, energy consumption are low; In addition, also have safe and reliable (can not blast and fuel leak), structure simple, operate the features such as easy to use, maintainability is good. Nowadays, electronic without man-machine can in low latitude, zonule carries out high precision and takes photo by plane and monitor, have efficiency height, than have people drive vertiplane use cost low many features, can as aerial work platform, the equipment such as high-resolution digital camera, optical camera of lift-launch, as required whole region is scanned, or counterweight point target carries out taking, monitoring. Not only militarily extensively paid attention to without man-machine application, also more and more paid close attention in people's livelihood field.
Existing electronic normally returning to base, ground when needs charge without man-machine, then battery disassembles charging or changes battery, the shortcoming that this kind of mode thus causes is: first, the working flight radius of unmanned aerial vehicle is little. Owing to continuation of the journey is subject to the restriction of cell container and performance, unmanned aerial vehicle cannot aloft fly for a long time, just needs to return base, ground when the batteries have been exhausted; Secondly, it is necessary to a large amount of manual work. Although, the distribution density increasing base, ground or mobile base station, ground can improve the working radius of unmanned aerial vehicle, but multiple base or setting up of mobile base station need to drop into more man power and material, greatly increase Financial cost.
Summary of the invention
Technical problem to be solved by this invention provides a kind of to expand flying radius for above-mentioned prior art present situation and effectively reduce the charge system for unmanned aerial vehicle of manual operation amount.
The present invention solves the problems of the technologies described above the technical scheme adopted: a kind of charge system for unmanned aerial vehicle, it is characterised in that: this charge system includes
Electricity getting device, is installed on overhead transmission line;
Electric energy transmission device, is converted to high frequency alternating-current by industrial-frequency alternating current, and this electric energy transmission device is arranged on the shaft tower of overhead transmission line, and electric energy is transferred to described electric energy transmission device by ac bus by described electricity getting device;
Electric energy receiving trap, receives the electric energy from described electric energy transmission device, and this electric energy receiving trap is arranged on unmanned aerial vehicle, realizes electric energy transmission by wireless between described electric energy receiving trap and described electric energy transmission device; And
On-board batteries, is arranged on unmanned aerial vehicle and powers to this unmanned aerial vehicle, and described on-board batteries is serially connected on the current circuit of described electric energy receiving trap.
Overhead transmission line can adopt multiple distributed architecture, and as preferably, described overhead transmission line can be the twisted wire consisted of the sub-thread line of electric current or by the twisted wire of the multiplied yarn composition of the not mutually insulated of electric current.
For electric current, the voltage requirements of satisfied different charging circuit, as preferably, described overhead transmission line being arranged at intervals with multiple series connection or the electricity getting device being connected in parallel.
Change for the ease of assembling and convenient for maintaining, as preferably, described electricity getting device include two structures identical and can the split of symmetrical ground in together adopt electric unit, each adopts one group of power taking coil that electric unit includes insulation layer, magnetic core and is correspondingly set around on described magnetic core, often organize power taking coil and there are two output terminals, described electricity getting device has four ac output ends after described rectifier rectification, described overhead transmission line is located in by the vestibule formed after adopting the insulation layer split of electric unit described in two, outside described magnetic core is sheathed on described insulation layer. Electricity getting device adopts modular design, is be put together by two independent electric units of adopting, it is possible to realize circuit connection structure more versatile and flexible, to meet the demand of different voltage, electric current; And facilitate processing and subsequent maintenance, reduce and produce and maintenance cost; In addition, the electricity getting device of this kind of Modular Structure Design also has circuit fault-tolerant ability.
As preferably, described electric energy transmission device includes pulse width modulation rectifier and high-frequency inverter, the output terminal of described electricity getting device is connected with the input terminus of described pulse width modulation rectifier, described pulse width modulation rectifier output terminal is connected with the input terminus of described high-frequency inverter, for direct current connects between described pulse width modulation rectifier and high-frequency inverter; The pilot circuit of described electric energy receiving trap includes high-frequency rectification charger; Wireless power transmission is realized by high-frequency induction transformer between described electric energy transmission device and electric energy receiving trap.
As preferably, described pulse width modulation rectifier can include direct-flow positive pole output terminal, direct current cathode output end, the first diode, the 2nd diode, the 3rd diode, the 4th diode, the first electric capacity, the first electronic switch, the 2nd electronic switch, the 3rd electronic switch and the 4th electronic switch; Wherein, a road of the first ac output end of described electricity getting device is connected with the positive pole of described first diode, and another road is connected to the direct current cathode output end of described pulse width modulation rectifier through described first electronic switch; One tunnel of the 2nd ac output end of described electricity getting device is connected with the positive pole of described 2nd diode, and another road is connected to the direct current cathode output end of described pulse width modulation rectifier through described 2nd electronic switch; One tunnel of the 3rd ac output end of described electricity getting device is connected with the positive pole of described 3rd diode, and another road is connected to the direct current cathode output end of described pulse width modulation rectifier through described 3rd electronic switch; One tunnel of the 4th ac output end of described electricity getting device is connected with the positive pole of described 4th diode, and another road is connected to the direct current cathode output end of described pulse width modulation rectifier through described 4th electronic switch; The negative pole of described first diode, the negative pole of described 2nd diode, the negative pole of described 3rd diode and the negative pole of described 4th diode are connected to the direct-flow positive pole output terminal of described pulse width modulation rectifier after connecing altogether; The two ends of described first electric capacity are connected to direct-flow positive pole output terminal and the direct current cathode output end of described pulse width modulation rectifier.
Preferred as another, described pulse width modulation rectifier includes direct-flow positive pole output terminal, direct current cathode output end, the first diode, the 2nd diode, the 3rd diode, the 4th diode, the first electric capacity, the first electronic switch, the 2nd electronic switch, the 3rd electronic switch and the 4th electronic switch; Wherein, a road of the first ac output end of described electricity getting device is connected with the negative pole of described first diode, and another road is connected to the direct-flow positive pole output terminal of described pulse width modulation rectifier through described first electronic switch; One tunnel of the 2nd ac output end of described electricity getting device is connected with the negative pole of described 2nd diode, and another road is connected to the direct-flow positive pole output terminal of described pulse width modulation rectifier through described 2nd electronic switch; One tunnel of the 3rd ac output end of described electricity getting device is connected with the positive pole of described 3rd diode, and another road is connected to the direct current cathode output end of described pulse width modulation rectifier through described 3rd electronic switch; One tunnel of the 4th ac output end of described electricity getting device is connected with the positive pole of described 4th diode, and another road is connected to the direct current cathode output end of described pulse width modulation rectifier through described 4th electronic switch; The positive pole of described first diode and the positive pole of described 2nd diode are connected to the direct current cathode output end of described pulse width modulation rectifier after connecing altogether; The negative pole of described 3rd diode and the negative pole of described 4th diode are connected to the direct-flow positive pole output terminal of described pulse width modulation rectifier after connecing altogether; The two ends of described first electric capacity are connected to direct-flow positive pole output terminal and the direct current cathode output end of described pulse width modulation rectifier.
Above-mentioned pulse width modulation rectifier is driven by PI closed loop controller, this PI closed loop controller has four road pulse-width modulated output signals, and pulse-width modulated output signal drives the door pole of the first electronic switch, the 2nd electronic switch, the 3rd electronic switch and the 4th electronic switch respectively.
Above-mentioned two kinds of pulse width modulation rectifier circuit ensure that the uniflux of electric energy, achieve and can control and power factor correction by power taking current sinusoidal, completely eliminate the low-order harmonic to electrical network to inject, solve the problem of charging voltage shakiness owing to the change of pole line current amplitude causes so that the quality of power supply of power transmission lines obtains improvement; Owing to electricity getting device coil itself has enough inductance, it is not necessary to increase extra inductance and realize current filtering, thus the weight saving of system, cost are reduced.
As preferably, described first electronic switch, the 2nd electronic switch, the 3rd electronic switch and the 4th electronic switch can be various existing electron electric power switches, if above-mentioned each electronic switch can be any one or combination in MOS field effect transistor (MOSFET) or PN junction field-effect transistor (JFET) or triode (BJT) or insulated gate bipolar transistor npn npn (IGBT).
As preferably; the shaft tower of described overhead transmission line is provided with isolator; the top of described isolator is provided with described electric energy transmission device; the top of described electric energy transmission device is provided with can for the shutdown platform without man-machine landing; wherein, the magnetic sheet that described electric energy transmission device includes multiple spaced and parallel spread configuration and the inductive charging coil being set around in the magnetic groove of described magnetic sheet. Electric energy transmission device uses the spaced structure of multiple magnetic sheet, have employed lightweight Magnetic Core Design, can reducing overall volume and weight, facilitate electric energy transmission device to be arranged on pole line shaft tower, the space made full use of on shaft tower allows unmanned aerial vehicle drop to charging on electric energy transmission device.
Compared with prior art, it is an advantage of the current invention that: propose a kind of electronic unmanned aerial vehicle charge system based on alternating current transmission pole line, realize without man-machine entirely autonomous, safe charging modes, thus expand unmanned plane during flying working radius, not only promote electronic unmanned aerial vehicle course continuation mileage, and even realize unlimited continuation of the journey in the region laying built on stilts AC power line, but also unmanned aerial vehicle onboard battery volume and weight can be reduced; Simultaneously, electricity owing to obtaining from pole line changes along with electrical network load change, the charge system of the application provide a kind of based on unstable AC power, high-frequency induction continuous current formula charging circuit, wireless transmission method can be adopted between electric energy transmission device and electric energy receiving trap to realize electrodeless contact charging, battery need not be dismantled and charged by high-frequency induction, realize unmanned charging operations completely, reduce without man-machine the dependence in base, ground or mobile base station, improve the intelligence degree of charging, reduce manual work, reduce human cost.
Accompanying drawing explanation
Fig. 1 is the charge system functional block diagram of the embodiment of the present invention.
Fig. 2 is the electricity getting device structural representation of the embodiment of the present invention.
Fig. 3 is the electricity getting device equivalent-circuit diagram of the embodiment of the present invention.
The electricity getting device that Fig. 4 is the embodiment of the present invention installs one of electrical block diagram.
The electricity getting device that Fig. 5 is the embodiment of the present invention installs the two of electrical block diagram.
Fig. 6 is one of pulse width modulation rectifier electrical block diagram of the embodiment of the present invention.
Fig. 7 is the two of the pulse width modulation rectifier electrical block diagram of the embodiment of the present invention.
Fig. 8 is the circuit function block diagram of the inductive charge circuit of the embodiment of the present invention.
The physical circuit that Fig. 9 is high-frequency induction charging circuit shown in Fig. 8 connects one of structure iron.
The physical circuit that Figure 10 is high-frequency induction charging circuit shown in Fig. 8 connects the two of structure iron.
Figure 11 is the structural representation of the electric energy transmission device of the embodiment of the present invention.
Figure 12 is the control principle drawing of the pulse width modulation rectifier circuit of the embodiment of the present invention.
Figure 13 is the control principle drawing of the high-frequency induction charging circuit of the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.
As shown in figs. 1-13, the present embodiment relates to a kind of charge system for unmanned aerial vehicle, and this charge system includes electricity getting device 1, electric energy transmission device 2, electric energy receiving trap 3 and on-board batteries 4; Electricity getting device 1 is installed on overhead transmission line 14, and overhead transmission line 14 can be the twisted wire consisted of the sub-thread line of electric current or can be the twisted wire by the multiplied yarn composition of the not mutually insulated of electric current; The shaft tower of overhead transmission line 14 is provided with isolator, the top of isolator is provided with electric energy transmission device 2, electric energy transmission device 2 may be used for that industrial-frequency alternating current is converted to high frequency alternating-current and is used for wireless charging, it is also possible to industrial-frequency alternating current is converted to direct current and is used for wired charging; Electric energy is transferred to electric energy transmission device 2 by ac bus by electricity getting device 1; The lower section of electric energy transmission device 2 is provided with insulcrete, the top of electric energy transmission device 2 is provided with can for the shutdown platform without man-machine landing, electric energy receiving trap 3 receives the electric energy from electric energy transmission device 2, this electric energy receiving trap 3 is arranged on unmanned aerial vehicle, can realize electric energy transmission by wired or wireless between electric energy receiving trap 3 and electric energy transmission device 2; On-board batteries 4 is arranged on unmanned aerial vehicle and powers to this unmanned aerial vehicle, and, on-board batteries 4 is serially connected on the current circuit of electric energy receiving trap 3.
Wherein, electricity getting device 1 adopts modular design, this electricity getting device include two structures identical and can the split of symmetrical ground in together independently adopt electric unit, each is adopted electric unit and includes insulation layer 13, magnetic core 11 and the one group of power taking coil 12 being correspondingly set around on this magnetic core 11, see Fig. 2, two adopt electric unit split after, a closed insulation ring is formed by two half-turn insulation layers 13, two half-turn magnetic cores 11 form a closed magnet ring, overhead transmission line 14 is located in the vestibule of whole insulation ring, outside magnetic core 11 is sheathed on insulation layer 13, namely outside magnet ring is sheathed on insulation ring, overhead transmission line 14 is positioned at insulation Ring current distribution.
The electricity getting device of the present embodiment has two groups of power taking coils 12, often organize power taking coil 12 and there are two output terminals, as shown in Figure 3, for the equivalent electrical circuit of the present embodiment electricity getting device, To in this equivalent electrical circuit is overhead transmission line 14, Ta represents one of them power taking coil 12 adopting in electric unit of electricity getting device, Tb represents another power taking coil 12 adopting in electric unit of electricity getting device, it is positioned at To and Ta, between Tb is the magnetic core 11 of electricity getting device, AP, AN is two ac output ends of first group of power taking coil 12, BP, BN is two ac output ends of the 2nd group of power taking coil 12, by two independent adopt electric unit split after electricity getting device there are four ac output ends after rectifier rectification. the alternating current of overhead transmission line 14 produces exchange magnetic field in the magnetic core 11 of electricity getting device, thus produces identical inductive emf on delivery port AP and AN, BP and the BN of two groups of power taking coils 12.
Can installing multiple electricity getting device on overhead transmission line 14, multiple electricity getting device can with series and parallel anatomical connectivity to meet different voltage, electric current demand. As shown in Figure 4, the peace overhead transmission line 14 of electricity getting device is arranged at intervals with multiple electricity getting device being connected in series. As shown in Figure 5, overhead transmission line 14 is arranged at intervals with multiple electricity getting device being connected in parallel.
It is adopt wireless power delivery mode to realize induction charging between the electric energy transmission device 2 of the present embodiment and electric energy receiving trap 3, as shown in Figure 8, electric energy transmission device 2 includes pulse width modulation rectifier 21 and high-frequency inverter 22, and the pilot circuit of electric energy receiving trap 3 includes high-frequency rectification charger 31; The output terminal of electricity getting device 1 is connected with the input terminus of pulse width modulation rectifier 21, and pulse width modulation rectifier 21 output terminal is connected with the input terminus of high-frequency inverter 22, for direct current connects between pulse width modulation rectifier 21 and high-frequency inverter 22; Wireless power transmission is realized by high-frequency induction transformer Tc between electric energy transmission device 2 and electric energy receiving trap 3. Wherein, high-frequency induction transformer Tc includes elementary wireless power transmission coil 23, secondary wireless electricity reception coil 32, elementary wireless power transmission magnetic core 24 and secondary wireless by electromagnet core 33, elementary wireless power transmission magnetic core 24 and secondary wireless can be magnetically permeable material or air by electromagnet core 33.
Wherein, pulse width modulation rectifier 21 can adopt following two kinds of circuit structures to realize: this pulse width modulation rectifier 21 includes direct-flow positive pole output terminal DC+, direct current cathode output end DC-, the first diode D1, the 2nd diode D2, the 3rd diode D3, the 4th diode D4, the first electric capacity C1, the first electronic switch K1, the 2nd electronic switch K2, the 3rd electronic switch K3 and the 4th electronic switch K4; One tunnel of the first ac output end AP of electricity getting device is connected with the positive pole of the first diode D1, and another road first electronic switch K1 is connected to the direct current cathode output end DC-of pulse width modulation rectifier 21; One tunnel of the 2nd ac output end AN of electricity getting device is connected with the positive pole of the 2nd diode D2, and another Lu Jing bis-electronic switch K2 is connected to the direct current cathode output end DC-of pulse width modulation rectifier 21; One tunnel of the 3rd ac output end BP of electricity getting device is connected with the positive pole of the 3rd diode D3, and another Lu Jing tri-electronic switch K3 is connected to the direct current cathode output end DC-of pulse width modulation rectifier 21; One tunnel of the 4th ac output end BN of electricity getting device is connected with the positive pole of the 4th diode D4, and another Lu Jing tetra-electronic switch K4 is connected to the direct current cathode output end DC-of pulse width modulation rectifier 21; The negative pole of the first diode D1, the negative pole of the 2nd diode D2, the negative pole of the 3rd diode D3 and the negative pole of the 4th diode D4 are connected to the direct-flow positive pole output terminal DC+ of pulse width modulation rectifier 21 after connecing altogether; The two ends of the first electric capacity C1 are connected to the direct-flow positive pole output terminal DC+ and direct current cathode output end DC-of pulse width modulation rectifier 21.
Another kind of circuit connection structure of pulse width modulation rectifier 21 is: a road of the first ac output end AP of electricity getting device is connected with the negative pole of the first diode D1, and another road first electronic switch K1 is connected to the direct-flow positive pole output terminal DC+ of pulse width modulation rectifier 21; One tunnel of the 2nd ac output end AN of electricity getting device is connected with the negative pole of the 2nd diode D2, and another Lu Jing bis-electronic switch K2 is connected to the direct-flow positive pole output terminal DC+ of pulse width modulation rectifier 21; One tunnel of the 3rd ac output end BP of electricity getting device is connected with the positive pole of the 3rd diode D3, and another Lu Jing tri-electronic switch K3 is connected to the direct current cathode output end DC-of pulse width modulation rectifier 21; One tunnel of the 4th ac output end BN of electricity getting device is connected with the positive pole of the 4th diode D4, and another Lu Jing tetra-electronic switch K4 is connected to the direct current cathode output end DC-of pulse width modulation rectifier 21; The positive pole of the first diode D1 and the positive pole of the 2nd diode D2 are connected to the direct current cathode output end DC-of pulse width modulation rectifier 21 after connecing altogether; The negative pole of the 3rd diode D3 and the negative pole of the 4th diode D4 are connected to the direct-flow positive pole output terminal DC+ of pulse width modulation rectifier 21 after connecing altogether; The two ends of the first electric capacity C1 are connected to the direct-flow positive pole output terminal DC+ and direct current cathode output end DC-of pulse width modulation rectifier 21.
The first electronic switch K1 in above-mentioned pulse width modulation rectifier 21 circuit, the 2nd electronic switch K2, the 3rd electronic switch K3 and the 4th electronic switch K4 are power electronics switch device, it is possible to be any one or the combination in MOS field effect transistor (MOSFET) or PN junction field-effect transistor (JFET) or triode (BJT) or insulated gate bipolar transistor npn npn (IGBT).
Above-mentioned two kinds of pulse width modulation rectifier 21 circuit all ensure that electric energy can only be flowed into DC side from AC side, and cannot reversed flow, this for maintenance the stabilization of power grids extremely important.
Meanwhile, suppressing to inject harmonic wave also very important of exchange grid side, for this reason, the way of realization of above-mentioned two kinds of pulse width modulation rectifier 21 circuit can use same control principle, to realize the object controlling direct current output voltage and eliminating grid side harmonic wave. The control principle drawing of harmonic inhabitation is see Figure 12, voltage regulator uses PI closed loop controller, current regulator also uses PI closed loop controller, this PI closed loop controller has four road pulse-width modulated output signals, the output gate drive signals of pulse-width modulation (PWM) module drives four electronic switch in pulse width modulation rectifier 21, and namely the pulse-width modulated output signal of PI closed loop controller is connected to the door level of the first electronic switch K1, the 2nd electronic switch K2, the 3rd electronic switch K3 and the 4th these four electronic switch of electronic switch K4 respectively. Under this control mode, ac input end mouth AP and AN, BP and the BN of above-mentioned two kinds of pulse width modulation rectifiers 21 can occur the second harmonic component that phase place is just contrary respectively, due to phase place contrast so these second harmonic component can cancel each other in the magnetic core 11 of electricity getting device, only sine wave is made to act on overhead transmission line 14, and do not have harmonic injection overhead transmission line 14, ensure stability and the transmission of electricity quality of electrical network.
The present embodiment can select two kinds of high-frequency induction charging circuits, the first is disresonance type inductive charge circuit, see Fig. 9, specifically, high-frequency inverter 22 includes the 5th electronic switch K5, the 6th electronic switch K6, the 7th electronic switch K7 and the 8th electronic switch K8, and high-frequency rectification charger 31 includes the 9th electronic switch K9, the tenth electronic switch K10, the 11 electronic switch K11, the 12 electronic switch K12, the 2nd electric capacity C2 and the first inductance L 1; Pulse width modulation rectifier 21 includes direct-flow positive pole output terminal DC+ and direct current cathode output end DC-;
Wherein, direct-flow positive pole output terminal DC+ mono-tunnel the 5th electronic switch K5 of pulse width modulation rectifier 21 is connected to elementary wireless power transmission coil 23 first input terminus of high-frequency induction transformer Tc, and another Lu Jing six electronic switch K6 is connected to the 2nd input terminus of the elementary wireless power transmission coil 23 of high-frequency induction transformer Tc; Direct current cathode output end DC-mono-tunnel the 7th electronic switch K7 of pulse width modulation rectifier 21 is connected to elementary wireless power transmission coil 23 first input terminus of high-frequency induction transformer Tc, and another Lu Jing eight electronic switch K8 is connected to elementary wireless power transmission coil 23 the 2nd input terminus of high-frequency induction transformer Tc; Secondary wireless electricity reception coil 32 first input terminus one tunnel the tenth electronic switch K10 of high-frequency induction transformer Tc is connected with one end of the 2nd electric capacity C2, another Lu Jing 12 electronic switch K12 is connected with the other end of the 2nd electric capacity C2, secondary wireless electricity reception coil 32 the 2nd input terminus one tunnel the 9th electronic switch K9 of high-frequency induction transformer Tc is connected with one end of the 2nd electric capacity C2, and another Lu Jing 11 electronic switch K11 is connected with the other end of the 2nd electric capacity C2; One end first inductance L 1 of the 2nd electric capacity C2 is connected with the positive pole of on-board batteries 4, and the other end of the 2nd electric capacity C2 connects the negative pole of on-board batteries 4.
Disresonance type inductive charge circuit is applicable to the wireless magnetic permeability height by electromagnet core of high-frequency induction transformer Tc, the situation that leakage field is few, the control principle of this disresonance type inductive charge circuit is as shown in figure 13: the phase-angle regulator in figure is PI closed loop controller, four electronic switch in high-frequency inverter 22 carry out high speed switch with fixing frequency (Fs hertz) and 50% dutycycle, produce the elementary wireless power transmission coil 23 of high-frequency voltage excitation high-frequency induction transformer Tc, thus at elementary wireless power transmission magnetic core 24, secondary wireless by electromagnet core 33 produces high frequency magnetic linkage, and induction produces the electromotive force of same frequency in secondary wireless electricity reception coil 32. four electronic switch in high-frequency rectification charger 31 also carry out high speed switch with fixing Fs hertz and 50% dutycycle, the phase angle of the high-frequency voltage waveform that the high-frequency voltage waveform produced by control high-frequency rectification charger 31 is produced relative to high-frequency inverter 22, it is achieved to the constant current charge of on-board batteries 4.
When without man-machine not tight with the magnetic coupling of charging platform, the 2nd kind of resonant mode inductive charge circuit just must be used. Resonant mode inductive charge circuit and disresonance type inductive charge circuit difference structurally are: (1) adds resonant capacitance; (2) the wireless magnetic permeability by electromagnet core of high-frequency induction transformer Tc is lower, and leakage field is bigger.
Specifically, see Figure 10, basic circuit connection structure is identical with shown in Fig. 9, set up the 3rd electric capacity C3 as resonant capacitance the difference is that on the basis of high-frequency inverter 22 circuit of former Fig. 9,3rd electric capacity C3 one end is connected with elementary wireless power transmission coil 23 the 2nd input terminus of high-frequency induction transformer Tc, and the other end of the 3rd electric capacity C3 is connected with the direct current cathode output end DC-of pulse width modulation rectifier 21 through the 8th electronic switch K8.
The the 5th��the 12 electronic switch K12 in above-mentioned two kinds of inductive charge circuit is power electronics switch device, it is possible to be any one or the combination in MOS field effect transistor (MOSFET) or PN junction field-effect transistor (JFET) or triode (BJT) or insulated gate bipolar transistor npn npn (IGBT); 2nd electric capacity C2 is filter capacitor, and the first inductance L 1 is filter inductance, flows into electric current and the direct current charge point electric current of on-board batteries 4 from the first inductance L 1.
Control mode and the disresonance type inductive charge circuit of resonant mode inductive charge circuit are substantially identical, except a bit: namely switching frequency Fs needs to arrange according to system tuning-points, tuning-points depends on the elementary wireless power transmission coil 23 of system medium-high frequency sensor transformer Tc of concrete installation and the inductance value of secondary wireless electricity reception coil 32 and the 3rd electric capacity C3(resonant capacitance) capacitance.
The magnetic sheet 24 ' that the electric energy transmission device 2 of the present embodiment includes multiple spaced and parallel spread configuration and the inductive charging coil 23 ' being set around in the magnetic groove of magnetic sheet 24 ', magnetic sheet 24 ' is equivalent to the elementary wireless power transmission magnetic core 24 of high-frequency induction transformer Tc, inductive charging coil 23 ' is equivalent to the elementary wireless power transmission coil 23 of high-frequency induction transformer Tc, see Figure 11, multiple magnetic sheet 24 ' is spaced apart each other and forms keel structure, alleviate the gross weight of electric energy transmission device 2 with this, inductive charging coil 23 ' is wrapped in the magnetic groove of magnetic sheet 24 '.
The electric energy transmission device 2 of the present embodiment is also integrated with heating snow removing function automatically; high-frequency inverter 22 applies high-frequency voltage to the elementary wireless power transmission coil 23 of high-frequency induction transformer Tc; make the elementary wireless power transmission coil 23 of high-frequency induction transformer Tc due to self-resistance heating; make the elementary wireless power transmission magnetic core 24 of high-frequency induction transformer Tc generate heat due to self core loss simultaneously, reach the object of the snow melting on the shutdown platform made way for above electric energy transmission device 2.
The present embodiment achieves the automatic charging of unmanned aerial vehicle, expands the flying radius of unmanned aerial vehicle, decrease the participation of manual work, it is to increase the intelligence degree of unmanned aerial vehicle charging. Owing to have employed novel electricity getting device structure, by two each other circuit single turn transformer independent, electromagnetic coupled overhead transmission line 14 is adopted electricity, thus achieve circuit structure more versatile and flexible, convenient production is installed and is safeguarded; This kind of novel electricity getting device is in conjunction with the pulse width modulation rectifier circuit of the present embodiment and high-frequency induction charging circuit, efficiently solve the problem of the charging voltage shakiness that unmanned aerial vehicle causes due to the change of overhead transmission line 14 current amplitude when charging, also solve the problem of grid side harmonics restraint simultaneously, ensure that the reliability and stability of network operation.
Claims (8)
1. the charge system for unmanned aerial vehicle, it is characterised in that: this charge system includes
Electricity getting device (1), is installed on overhead transmission line (14);
Electric energy transmission device (2), industrial-frequency alternating current is converted to high frequency alternating-current, this electric energy transmission device (2) is arranged on the shaft tower of overhead transmission line (14), and electric energy is transferred to described electric energy transmission device (2) by ac bus by described electricity getting device (1);
Electric energy receiving trap (3), receive the electric energy from described electric energy transmission device (2), this electric energy receiving trap (3) is arranged on unmanned aerial vehicle, realizes electric energy transmission by wireless between described electric energy receiving trap (3) and described electric energy transmission device (2); And
On-board batteries (4), is arranged on unmanned aerial vehicle and powers to this unmanned aerial vehicle, and described on-board batteries (4) is serially connected on the current circuit of described electric energy receiving trap (3);
Described electricity getting device include two structures identical and can the split of symmetrical ground in together adopt electric unit, each is adopted electric unit and includes insulation layer (13), magnetic core (11) and the one group of power taking coil (12) being correspondingly set around on described magnetic core (11), often organize power taking coil (12) and there are two output terminals, described electricity getting device has four ac output ends after rectifier rectification, described overhead transmission line (14) is located in by the vestibule formed after adopting insulation layer (13) split of electric unit described in two, outside described magnetic core (11) is sheathed on described insulation layer (13), described electric energy transmission device (2) includes pulse width modulation rectifier (21) and high-frequency inverter (22), the output terminal of described electricity getting device (1) is connected with the input terminus of described pulse width modulation rectifier (21), described pulse width modulation rectifier (21) output terminal is connected with the input terminus of described high-frequency inverter (22), for direct current connects between described pulse width modulation rectifier (21) and high-frequency inverter (22), the pilot circuit of described electric energy receiving trap (3) includes high-frequency rectification charger (31), wireless power transmission is realized by high-frequency induction transformer (Tc) between described electric energy transmission device (2) and electric energy receiving trap (3),
Described pulse width modulation rectifier (21) includes direct-flow positive pole output terminal (DC+), direct current cathode output end (DC-), the first diode (D1), the 2nd diode (D2), the 3rd diode (D3), the 4th diode (D4), the first electric capacity (C1), the first electronic switch (K1), the 2nd electronic switch (K2), the 3rd electronic switch (K3) and the 4th electronic switch (K4);
Wherein, one tunnel of first ac output end (AP) of described electricity getting device is connected with the positive pole of described first diode (D1), and another road is connected to the direct current cathode output end (DC-) of described pulse width modulation rectifier (21) through described first electronic switch (K1); One tunnel of the 2nd ac output end (AN) of described electricity getting device is connected with the positive pole of described 2nd diode (D2), and another road is connected to the direct current cathode output end (DC-) of described pulse width modulation rectifier (21) through described 2nd electronic switch (K2); One tunnel of the 3rd ac output end (BP) of described electricity getting device is connected with the positive pole of described 3rd diode (D3), and another road is connected to the direct current cathode output end (DC-) of described pulse width modulation rectifier (21) through described 3rd electronic switch (K3); One tunnel of the 4th ac output end (BN) of described electricity getting device is connected with the positive pole of described 4th diode (D4), and another road is connected to the direct current cathode output end (DC-) of described pulse width modulation rectifier (21) through described 4th electronic switch (K4); The negative pole of described first diode (D1), the negative pole of described 2nd diode (D2), the negative pole of described 3rd diode (D3) and the negative pole of described 4th diode (D4) are connected to the direct-flow positive pole output terminal (DC+) of described pulse width modulation rectifier (21) after connecing altogether; The two ends of described first electric capacity (C1) are connected to direct-flow positive pole output terminal (DC+) and the direct current cathode output end (DC-) of described pulse width modulation rectifier (21).
2. the charge system for unmanned aerial vehicle according to claim 1, it is characterized in that: described overhead transmission line (14) is provided with multiple described electricity getting device (1), connected by series connection or parallel way between the output terminal of described electricity getting device (1).
3. the charge system for unmanned aerial vehicle according to claim 1, it is characterised in that: described first electronic switch (K1), the 2nd electronic switch (K2), the 3rd electronic switch (K3) and the 4th electronic switch (K4) they are MOS field effect transistor or PN junction field-effect transistor or triode or insulated gate bipolar transistor npn npn any one or combination.
4. the charge system for unmanned aerial vehicle according to claim 1; it is characterized in that: the shaft tower of described overhead transmission line (14) is provided with isolator; the top of described isolator is provided with described electric energy transmission device (2); the top of described electric energy transmission device (2) is provided with can for the shutdown platform without man-machine landing; wherein, described electric energy transmission device (2) includes multiple spaced and parallel spread configuration magnetic sheet (24 ') and the inductive charging coil (23 ') being set around in the magnetic groove of described magnetic sheet (24 ').
5. the charge system for unmanned aerial vehicle, it is characterised in that: this charge system includes
Electricity getting device (1), is installed on overhead transmission line (14);
Electric energy transmission device (2), industrial-frequency alternating current is converted to high frequency alternating-current, this electric energy transmission device (2) is arranged on the shaft tower of overhead transmission line (14), and electric energy is transferred to described electric energy transmission device (2) by ac bus by described electricity getting device (1);
Electric energy receiving trap (3), receive the electric energy from described electric energy transmission device (2), this electric energy receiving trap (3) is arranged on unmanned aerial vehicle, realizes electric energy transmission by wireless between described electric energy receiving trap (3) and described electric energy transmission device (2); And
On-board batteries (4), is arranged on unmanned aerial vehicle and powers to this unmanned aerial vehicle, and described on-board batteries (4) is serially connected on the current circuit of described electric energy receiving trap (3);
Described electricity getting device include two structures identical and can the split of symmetrical ground in together adopt electric unit, each is adopted electric unit and includes insulation layer (13), magnetic core (11) and the one group of power taking coil (12) being correspondingly set around on described magnetic core (11), often organize power taking coil (12) and there are two output terminals, described electricity getting device has four ac output ends after rectifier rectification, described overhead transmission line (14) is located in by the vestibule formed after adopting insulation layer (13) split of electric unit described in two, outside described magnetic core (11) is sheathed on described insulation layer (13), described electric energy transmission device (2) includes pulse width modulation rectifier (21) and high-frequency inverter (22), the output terminal of described electricity getting device (1) is connected with the input terminus of described pulse width modulation rectifier (21), described pulse width modulation rectifier (21) output terminal is connected with the input terminus of described high-frequency inverter (22), for direct current connects between described pulse width modulation rectifier (21) and high-frequency inverter (22), the pilot circuit of described electric energy receiving trap (3) includes high-frequency rectification charger (31), wireless power transmission is realized by high-frequency induction transformer (Tc) between described electric energy transmission device (2) and electric energy receiving trap (3), described pulse width modulation rectifier (21) includes direct-flow positive pole output terminal (DC+), direct current cathode output end (DC-), the first diode (D1), the 2nd diode (D2), the 3rd diode (D3), the 4th diode (D4), the first electric capacity (C1), the first electronic switch (K1), the 2nd electronic switch (K2), the 3rd electronic switch (K3) and the 4th electronic switch (K4),
Wherein, one tunnel of first ac output end (AP) of described electricity getting device is connected with the negative pole of described first diode (D1), and another road is connected to the direct-flow positive pole output terminal (DC+) of described pulse width modulation rectifier (21) through described first electronic switch (K1); One tunnel of the 2nd ac output end (AN) of described electricity getting device is connected with the negative pole of described 2nd diode (D2), and another road is connected to the direct-flow positive pole output terminal (DC+) of described pulse width modulation rectifier (21) through described 2nd electronic switch (K2); One tunnel of the 3rd ac output end (BP) of described electricity getting device is connected with the positive pole of described 3rd diode (D3), and another road is connected to the direct current cathode output end (DC-) of described pulse width modulation rectifier (21) through described 3rd electronic switch (K3); One tunnel of the 4th ac output end (BN) of described electricity getting device is connected with the positive pole of described 4th diode (D4), and another road is connected to the direct current cathode output end (DC-) of described pulse width modulation rectifier (21) through described 4th electronic switch (K4); The positive pole of described first diode (D1) and the positive pole of described 2nd diode (D2) are connected to the direct current cathode output end (DC-) of described pulse width modulation rectifier (21) after connecing altogether; The negative pole of described 3rd diode (D3) and the negative pole of described 4th diode (D4) are connected to the direct-flow positive pole output terminal (DC+) of described pulse width modulation rectifier (21) after connecing altogether; The two ends of described first electric capacity (C1) are connected to direct-flow positive pole output terminal (DC+) and the direct current cathode output end (DC-) of described pulse width modulation rectifier (21).
6. the charge system for unmanned aerial vehicle according to claim 5, it is characterized in that: described overhead transmission line (14) is provided with multiple described electricity getting device (1), connected by series connection or parallel way between the output terminal of described electricity getting device (1).
7. the charge system for unmanned aerial vehicle according to claim 5, it is characterised in that: described first electronic switch (K1), the 2nd electronic switch (K2), the 3rd electronic switch (K3) and the 4th electronic switch (K4) they are MOS field effect transistor or PN junction field-effect transistor or triode or insulated gate bipolar transistor npn npn any one or combination.
8. the charge system for unmanned aerial vehicle according to claim 5; it is characterized in that: the shaft tower of described overhead transmission line (14) is provided with isolator; the top of described isolator is provided with described electric energy transmission device (2); the top of described electric energy transmission device (2) is provided with can for the shutdown platform without man-machine landing; wherein, described electric energy transmission device (2) includes multiple spaced and parallel spread configuration magnetic sheet (24 ') and the inductive charging coil (23 ') being set around in the magnetic groove of described magnetic sheet (24 ').
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