CN104682581B - Movable equipment dynamic radio electric supply installation and dynamic radio method of supplying power to thereof based on sectional guide rail equilibrium field intensity - Google Patents
Movable equipment dynamic radio electric supply installation and dynamic radio method of supplying power to thereof based on sectional guide rail equilibrium field intensity Download PDFInfo
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Abstract
Movable equipment dynamic radio electric supply installation and dynamic radio method of supplying power to thereof based on sectional guide rail equilibrium field intensity, relate to dynamic radio electric supply installation and the dynamic radio method of supplying power to thereof of a kind of movable equipment, the present invention solves existing movable equipment wireless power technology electromagnetic radiation height, cost height, distance and supply the problem that between electromagnetic coupling mechanisms, mutual inductance is uneven.Dynamic radio method of supplying power to of the present invention, sets the sensitive border of Magnetic Sensor, positions movable equipment according to sensitive border, opens the two-stage sectional guide rail immediately below the receiving end system of movable equipment side, and remaining sectional guide rail is closed；Controller produces Sofe Switch control signal according to the framing signal of Magnetic Sensor, and Sofe Switch control signal is through driver for isolating electrical isolation and generates driving signal after driving, and drives signal control to open the break-make of two-stage sectional guide rail medium-high frequency inverter；Realize that dynamic radio is powered.The present invention powers for the dynamic radio of movable equipment.
Description
Technical field
The present invention relates to dynamic radio electric supply installation and the dynamic radio method of supplying power to thereof of a kind of movable equipment.
Background technology
In industrial production, motor-driven fixed venue mobile device is widely used, such as AGV automatic guided vehicle, tunnel
Road cable inspection robot, rail transit, factory automation production line etc..Owing to saving the energy, environmental pollution is little, electricity
Electrical automobile receives wideling popularize of countries in the world.Above-mentioned removable executing agency generally requires internal battery group or external cable
Power supply, have impact on its continuity using and flexibility.This is accomplished by exploring a kind of applicable energy loading technique, from energy
Supply angle solves the powerup issue that above-mentioned movable equipment develops further.
Traditional plug charging modes can only be an equipment charge the same time owing to limiting by interface, and charger
The high voltage of output can cause a series of safety problem.Wireless charging technology can well solve the problems referred to above, and user only needs
Reaching equipment specify charged area, just can being automatically charged, this technology is referred to as static wireless charging technology.For can move
For dynamic executing agency, the connector that wireless charging does not expose, thoroughly avoid the potential safety hazards such as electric leakage, leakage of electricity, can be significantly
Increase its flying power and mobile flexibility.But, traditional static wireless charging also exists that course continuation mileage is short, the charging interval
The problems such as length, charging is frequent, battery pack volume weight is big, with high costs.Bus especially for electronic bus one class
, its continuous flying power is increasingly important.In this context, dynamic radio charging technique arises at the historic moment, and it connects with non-
The mode touched provides energy to supply for the movable equipment in traveling in real time.Movable equipment can carry even without taking on a small quantity
Carrying battery pack, its course continuation mileage is extended, and electric energy feeds more simultaneously.
Existing movable equipment dynamic radio power supply technique, it is intended that solve the electricity existing when movable equipment dynamic radio is powered
Continuity problem can be transmitted.Dynamic radio electric supply installation mainly includes the ground installation fixed and is arranged on movable equipment
Energy acceptance and converting system, main performance assessment criteria includes: wireless energy transfer distance, efficiency, power, road surface cross side
Move distance etc..Thus, develop dynamic radio electric power system high-power, high efficiency, low electromagnetic, moderate cost, become
For the current main research of external Ge great research institution.Auckland, NZL university uses long guideway formula coil to solve car
In motion process, energy channel switches the problem brought, but the method exists the mutual inductance of transmitting coil structure and receiving terminal coil
Measuring little, this results in the problems such as transmission range is little, efficiency of transmission is low.Korea Advanced Institute of Science and Technology adds through optimizing in coil
The core structure of design, improves efficiency of transmission and transmission range compared with the solution of University of Auckland, but after being to increase magnetic core
There is equipment cost high, the shortcoming being not suitable for large-scale application.It is continuous that U.S.'s Oak Ridge laboratory uses many splits coil
The scheme laid, its above-ground launcher uses many monomers coil tandem collectively form a series resonance chamber and use single inverse
The topological structure in change source, but through-put power and efficiency in vehicle travel process by launch with receive coil affected relative to position in
Now for inequality, at two transmitting coil centre position power and extremely inefficient.
Particularly, there is the significant drawback of electromagnetic radiation in prior art, and current solution can only be by taking some limited
Electromagnetic shielding measure, as installed magnetic core or aluminium sheet at electric automobile chassis, to weaken the electromagnetic radiation of vehicle occupant's body.But
When on highway, laying large power long guide rail carries out wireless power to the electric automobile travelling, when pedestrian goes across the road big from be energized
Process on power guide rail, will suffer from strong electromagnetic and irradiates impact, safe to the human body constitute a serious threat.According to international unionized spoke
Penetrate the protection committee (The International Commission on Non-Ionizing Radiation Protection,
ICNIRP) standard formulated, is 200mA/m at 100kHz current density public's exposure limits2, its too high possibility of value
Nerve system of human body function is impacted；Specific absorption rate (Specific Absorption Rate, SAR) limit value is 2W/kg,
Power density limit value is 10W/m2, the two value is too high will cause human local tissue overheated.Therefore, it is necessary to provide one
Improved method and apparatus solves above-mentioned technical problem.
Content of the invention
The invention aims to solve that existing movable equipment wireless power technology electromagnetic radiation is high, cost is high, distance and
For the uneven problem of mutual inductance between electromagnetic coupling mechanisms, provide a kind of movable equipment based on sectional guide rail equilibrium field intensity and move
State wireless power supply and dynamic radio method of supplying power to thereof.
Movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity of the present invention, this movable equipment moves
State wireless power supply includes net side feeder ear system and movable equipment side receiving end system, and net side feeder ear system is by energy
Transmission is to movable equipment side receiving end system；
Net side feeder ear system includes frequency rectifier, high power DC bus, n level sectional guide rail and the detection control of n level position
Circuit processed, n is positive integer；The electric energy of electrical network is delivered on high power DC bus by frequency rectifier；
N level segmentation guide rail structure is identical, all includes high-frequency inverter, complex resonant circuit and transmitting winding；High frequency at different levels
Inverter is all connected in parallel on high power DC bus, and high-frequency inverter exports electric energy to complex resonant circuit, then by sending out
Penetrate winding to transmit to air dielectric；
N level position detection control circuit structure is identical, all includes Magnetic Sensor, controller and driver for isolating, Magnetic Sensor
Being arranged on adjacent two centers launched between winding, Magnetic Sensor detects magnetic field intensity when movable equipment moves,
Positioning movable equipment according to threshold value, controller produces Sofe Switch control letter according to the framing signal of Magnetic Sensor
Number, Sofe Switch control signal is through driver for isolating electrical isolation and generates driving signal after driving, and drives signal control correspondence
The break-make of high-frequency inverter；
Described threshold value is the sensitive border of the Magnetic Sensor setting, and by setting threshold value, opens movable equipment side
Two-stage sectional guide rail immediately below receiving end system, remaining n-2 level sectional guide rail is closed；
The sensitive border of described Magnetic Sensor is set as:Wherein: r represents transmitting winding inscribed circle radius, d
Represent adjacent two transmitting winding frontier distances；
The operating point frequency of the Sofe Switch control signal that controllers at different levels produce is f0, the resonance frequency of complex resonant circuits at different levels
Rate is fk, and meet fk=f0；
Movable equipment side receiving end system includes receiving resonance circuit, hf rectifier, dc bus, DC-DC conversion
Device, DC-AC converter, on-vehicle battery group and vehicle-mounted alternating current generator；
Receive resonance circuit and receive the magnetic energy launching winding transmission in the feeder ear system of net side, and magnetic energy is converted into exchange
The electric flux of current forms, exports after being rectified into direct current by hf rectifier to dc bus, DC-DC converter and
DC-AC converter is connected in parallel on dc bus, and the energy receiving during movable equipment motion is converted by DC-AC
Device drives vehicle-mounted alternating current generator, and the energy that movable equipment receives when entering anchor point is vehicle-mounted by DC-DC converter
Battery pack is charged；
Receive and on resonance circuit, be provided with reception winding, receive winding and receive the magnetic launching winding transmission in the feeder ear system of net side
Energy, is provided with magnetic markers in the geometric center position receiving winding；
Produced with the reception winding in the receiving end system of movable equipment side by the winding of launching on the two-stage sectional guide rail opened
Magnetic field resonance coupling, completes dynamic radio and powers.
Dynamic radio based on the movable equipment dynamic radio electric supply installation of sectional guide rail equilibrium field intensity of the present invention is powered
Method, the detailed process of this dynamic radio method of supplying power to is:
Step 1, the Magnetic Sensor in net side feeder ear system and transmitting winding are arranged on below ground, net side feeder ear system
Remaining part in system is arranged on above the ground, and movable equipment side receiving end system is arranged in electric motor car；
Step 2, set the sensitive border of Magnetic Sensor as:Wherein: r represents transmitting winding inscribed circle radius,
D represents adjacent two transmitting winding frontier distances；
The changing value of trunnion axis output when step 3, Magnetic Sensor measurement electric motor car move, obtains magnetic field intensity, according to step
Electric motor car is positioned by the 2 sensitive borders setting, and opens the two-stage segmentation immediately below the receiving end system of movable equipment side and leads
Rail, remaining n-2 level sectional guide rail is closed；
Step 4, controller produce Sofe Switch control signal, the work of Sofe Switch control signal according to the framing signal of Magnetic Sensor
It is f as dot frequency0, set the resonant frequency of complex resonant circuit as fk, and meet fk=f0；
Step 5, Sofe Switch control signal are through driver for isolating electrical isolation and generate driving signal after driving, and drive signal
The break-make of two-stage sectional guide rail medium-high frequency inverter is opened in control；
Electric energy is transmitted to air dielectric by step 6, the high-frequency inverter opened by transmitting winding at the same level；
The winding that receives in step 7, movable equipment side receiving end system produces with the transmitting winding in the sectional guide rail opened
Magnetic field resonance coupling, receives winding and receives the magnetic energy launching winding transmission；
The energy that step 8, electric motor car receive when moving drives the work of vehicle-mounted alternating current generator, electricity by DC-AC converter
The energy that motor-car receives when entering anchor point is the charging of on-vehicle battery group by DC-DC converter, completes dynamic radio and supplies
Electricity.
Advantages of the present invention: the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity of the present invention
Simple, radio energy-transmitting efficiency is high, stable output power, the field homogeneity that coupling mechanism produces, and electromagnetic radiation is low, becomes
This is cheap, and system reliability is higher.
Brief description
Fig. 1 is the circuit knot of the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity of the present invention
Structure schematic diagram；
Fig. 2 is the electrical block diagram of net side of the present invention feeder ear system；
Fig. 3 is transmitting winding of the present invention and the size of reception winding and the sensitive border of Magnetic Sensor arranges schematic diagram；
Fig. 4 is driving signal of the present invention, high-frequency inverter voltage, launches winding current waveform figure；
Fig. 5 is that embodiment 2 of the present invention is opened two transmitting windings and receives winding mutual inductance curve map, and curve a represents
M1+M2, curve b represent that M1, curve c represent M2；
Fig. 6 is efficiency of transmission and power output oscillogram in embodiment 2 movable equipment motion process of the present invention, bent
Line d represents through-put power, and curve e represents power output；
Fig. 7 is that the power supply based on the movable equipment dynamic radio electric supply installation of sectional guide rail equilibrium field intensity of the present invention is former
Reason figure.
Detailed description of the invention
Detailed description of the invention one: present embodiment is described below in conjunction with Fig. 1, Fig. 2 and Fig. 3, described in present embodiment based on
The movable equipment dynamic radio electric supply installation of sectional guide rail equilibrium field intensity, this movable equipment dynamic radio electric supply installation includes
Net side feeder ear system 1 and movable equipment side receiving end system 2, net side feeder ear system 1 transfers energy to may move
Equipment side receiving end system 2；
Net side feeder ear system 1 includes frequency rectifier 1-1, high power DC bus 1-2, n level sectional guide rail 1-3 and n
Control circuit 1-4 is detected in level position, and n is positive integer；The electric energy of electrical network by frequency rectifier 1-1 be delivered to high-power directly
On stream bus 1-2；
N level sectional guide rail 1-3 structure is identical, all include high-frequency inverter 1-3-1, complex resonant circuit 1-3-2 and launch around
Group 1-3-3；High-frequency inverter 1-3-1 at different levels are all connected in parallel on high power DC bus 1-2, and high-frequency inverter 1-3-1 is by electricity
Can export to complex resonant circuit 1-3-2, then be transmitted to air dielectric by launching winding 1-3-3；
N level position detection control circuit 1-4 structure is identical, all includes Magnetic Sensor 1-4-1, and controller 1-4-2 and isolation are driven
Dynamic device 1-4-3, Magnetic Sensor 1-4-1 are arranged on adjacent two centers launched between winding 1-3-3, Magnetic Sensor 1-4-1
Detect magnetic field intensity when movable equipment moves, according to threshold value, movable equipment is positioned, controller 1-4-2
Framing signal according to Magnetic Sensor 1-4-1 produces Sofe Switch control signal, and Sofe Switch control signal is through driver for isolating
Generate after 1-4-3 electrical isolation and driving and drive signal, drive the break-make of the corresponding high-frequency inverter 1-3-1 of signal control；
Described threshold value is the sensitive border of the Magnetic Sensor 1-4-1 setting, and by setting threshold value, opens removable
Two-stage sectional guide rail 1-3 immediately below equipment side receiving end system 2, remaining n-2 level sectional guide rail 1-3 are closed；
The sensitive border of described Magnetic Sensor 1-4-1 is set as:Wherein: r represents transmitting winding inscribed circle half
Footpath, d represents adjacent two transmitting winding frontier distances；
The operating point frequency of the Sofe Switch control signal that controller 1-4-2 at different levels produce is f0, complex resonant circuits at different levels
The resonant frequency of 1-3-2 is fk, and meet fk=f0；
Movable equipment side receiving end system 2 include receive resonance circuit 2-1, hf rectifier 2-2, dc bus 2-3,
DC-DC converter 2-4, DC-AC converter 2-5, on-vehicle battery group 2-6 and vehicle-mounted alternating current generator 2-7；
Receive resonance circuit 2-1 and receive the magnetic energy launching winding 1-3-3 transmission in net side feeder ear system 1, and by magnetic energy
Amount is converted into the electric flux of alternating current form, exports to dc bus 2-3 after being rectified into direct current by hf rectifier 2-2,
DC-DC converter 2-4 and DC-AC converter 2-5 are connected in parallel on dc bus 2-3, during movable equipment motion
The energy receiving drives vehicle-mounted alternating current generator 2-7 by DC-AC converter 2-5, when movable equipment enters anchor point
The energy receiving is the charging of on-vehicle battery group 2-6 by DC-DC converter 2-4；
Receive and on resonance circuit 2-1, be provided with reception winding 2-1-1, receive winding 2-1-1 and receive net side feeder ear system 1
The magnetic energy of middle transmitting winding 1-3-3 transmission, is provided with magnetic markers 2-1-2 in the geometric center position receiving winding 2-1-1；
By the transmitting winding 1-3-3 on the two-stage sectional guide rail 1-3 opening and connecing in movable equipment side receiving end system 2
Receive winding 2-1-1 and produce magnetic field resonance coupling, complete dynamic radio and power.
In present embodiment, by setting threshold value, it is ensured that the continuity of electric energy transmission and high efficiency.
In present embodiment, in the motion process of movable equipment, by the work of Sofe Switch switching high-frequency inverter 1-3-1
Make state, remain that the lower section of movable equipment side receiving end system 2 only has 2 to launch winding 1-3-3 work, effectively
Avoid the impact of electromagnetic radiation.
In present embodiment, the energy receiving when movable equipment moves drives vehicle-mounted by DC-AC converter 2-5
Alternating current generator 2-7, the energy receiving when movable equipment enters anchor point is vehicle-mounted by DC-DC converter 2-4
Battery pack 2-6 is charged, and is capable of powering double load wireless of battery and motor.
In present embodiment, owing to Magnetic Sensor 1-4-1 is arranged on adjacent two the geometric center positions launched between winding 1-3-3
Putting, the impact on Magnetic Sensor 1-4-1 for the alternating magnetic field that energy transmission produces all concentrates on vertical axis, thus works as and connect
When receipts winding 2-1-1 moves with movable equipment, can be by the Magnetic Sensor 1-4-1 trunnion axis of net side feeder ear system 1
Exporting change detects change of magnetic field strength in the movable equipment direction of motion for the magnetic markers 2-1-2, and then realizes to can move
Being accurately positioned of dynamic equipment.
In present embodiment, Magnetic Sensor 1-4-1 also may be installed the geometric center position of each transmitting winding 1-3-3, and magnetic passes
Sensor 1-4-1 can also be arranged to be made up of other pressure, laser, infrared sensor, equally realizes setting to removable
The detection of standby position.
In present embodiment, the transmitting winding 1-3-3 structure in sectional guide rail 1-3 at different levels is all identical with size, and launch around
Between group, frontier distance is also identical, to produce equilibrium field intensity.
In present embodiment, magnetic markers 2-1-2 is arranged on the geometric center position receiving winding 2-1-1, is used for changing and can move
The change of magnetic field strength of travel direction during dynamic equipment moving.
In present embodiment, f0And fkMeet fk=f0, fk=f0Value be 20kHz, 85kHz or 100kHz.
Detailed description of the invention two: embodiment one is described further by present embodiment, described frequency rectifier 1-1 includes
Full-wave bridge rectifier circuit and filter capacitor Cpf, the input of full-wave bridge rectifier circuit connects electrical network, full-wave bridge rectifier
The output of circuit is connected on high power DC bus 1-2, filter capacitor CpfThe output of full-wave bridge rectifier circuit in parallel
On end.
Detailed description of the invention three: embodiment one is described further by present embodiment, described high-frequency inverter 1-3-1 is
Four power tube full bridge inverters.
Detailed description of the invention four: illustrate that embodiment three is made furtherly by present embodiment present embodiment below in conjunction with Fig. 3
Bright, the size receiving winding 2-1-1, the size launching winding 1-3-3 and transmitting winding 1-3-3 spacing are set and are respectively as follows:
Wherein: w is for receiving winding width, and l is for receiving winding length, w and l determines according to movable equipment chassis size,
It is square for launching winding, and r is its inscribed circle radius；
According to Kirchhoff's law, system equivalent AC impedance power output PacIt is expressed as with efficiency of transmission η:
Wherein: M1For opening first launches winding and the mutual inductance receiving winding, M2For second the transmitting winding opened
With the mutual inductance receiving winding, V1For net side electric power system high-frequency inverter fundamental voltage output of voltage virtual value, RacSet for removable
Standby equivalent AC load, Rpk1,2And RsFor constant, represent respectively and receive winding and launch winding internal resistance.In present embodiment,
Produce equilibrium field by setting the size receiving winding 2-1-1, the size launching winding 1-3-3 and transmitting winding 1-3-3 spacing
By force (mutual inductance is stable), it is effectively prevented from the appearance of electromagnetic radiation, improve the continuity that system dynamic radio powers and steady simultaneously
Qualitative, due to mutual inductance M1+M2Constant, therefore power PacStable with efficiency eta.
The parameter of present embodiment arranges two the transmitting winding 1-3-3 that ensure that unlatching and receives the magnetic that winding 2-1-1 is formed
Field equilibrium, i.e. mutual inductance is constant, is simultaneously achieved maximum transmitted efficiency.
In present embodiment, Sofe Switch operating points at different levels frequency f0With output fundamental voltage virtual value V1Identical.
Detailed description of the invention five: embodiment three is described further by present embodiment, complex resonant circuit 1-3-2 includes
Compensate inductance Lpk,1, the first resistance Rpk,1, the second resistance Rpk,2, first compensation electric capacity Cpk,1With the second compensation electric capacity Cpk,2,
First resistance Rpk,1For compensating inductance Lpk,1Internal resistance, the second resistance Rpk,2For launching winding Lpk,2Internal resistance, at different levels answers
The whole parameters closing resonance circuit 1-3-2 are all identical, it may be assumed that
Lpk,1=Rpk,1=Rpk,2=Cpk,1=Cpk,2；
First compensation electric capacity Cpk,1With compensation inductance Lpk,1Resonance, meets:
Second compensation electric capacity Cpk,2Produce resonance with launching winding 1-3-3, meet:
Wherein: Lpk,2Represent and launch winding 1-3-3.
In present embodiment, complex resonant circuit 1-3-2, π type T-shaped by other can also compensate resonance circuit and form.
Detailed description of the invention six: embodiment three is described further by present embodiment, described reception winding 2-1-1's is interior
Resistance is resistance Rs, compensate electric capacity CsProducing resonance with receiving winding 2-1-1, resonant frequency is fs, and it is equal to high-frequency inverter
Sofe Switch operating point frequency f of 1-3-10, i.e. fs=f0, and meet:
Wherein: LsRepresent and receive winding 2-1-1.
Detailed description of the invention seven: embodiment one is described further by present embodiment, described Magnetic Sensor 1-4-1 is height
Sensitivity magnetic sensor.
Detailed description of the invention eight: embodiment one is described further by present embodiment, the transmitting of sectional guide rail 1-3 at different levels
Winding 1-3-3 all uses single high-frequency inverter 1-3-1 to carry out electric energy transmission；High-frequency inverter 1-3-1 at different levels are connected in parallel on same
On one high power DC bus 1-2.
Detailed description of the invention nine: described in present embodiment, the movable equipment dynamic radio based on sectional guide rail equilibrium field intensity is powered
The dynamic radio method of supplying power to of device, the detailed process of this dynamic radio method of supplying power to is:
Step 1, the Magnetic Sensor 1-4-1 in net side feeder ear system 1 and transmitting winding 1-3-3 is arranged on below ground,
Remaining part in net side feeder ear system 1 is arranged on above the ground, and movable equipment side receiving end system 2 is arranged on electronic
Che Shang；
Step 2, set the sensitive border of Magnetic Sensor 1-4-1 as:Wherein: r represents transmitting winding inscribe
Radius of circle, d represents adjacent two transmitting winding frontier distances；
The changing value of trunnion axis output when step 3, Magnetic Sensor 1-4-1 measurement electric motor car move, obtains magnetic field intensity, root
Electric motor car is positioned by the sensitive border setting according to step 2, opens two immediately below movable equipment side receiving end system 2
Level sectional guide rail 1-3, remaining n-2 level sectional guide rail 1-3 is closed；
Step 4, controller 1-4-2 produce Sofe Switch control signal, Sofe Switch according to the framing signal of Magnetic Sensor 1-4-1
The operating point frequency of control signal is f0, set the resonant frequency of complex resonant circuit 1-3-2 as fk, and meet fk=f0；
Step 5, Sofe Switch control signal are through driver for isolating 1-4-3 electrical isolation and generate driving signal after driving, and drive
The break-make of two-stage sectional guide rail 1-3 medium-high frequency inverter 1-3-1 is opened in dynamic signal control；
Electric energy is transmitted to air dielectric by step 6, the high-frequency inverter 1-3-1 opening by transmitting winding 1-3-3 at the same level
In；
Reception winding 2-1-1 in step 7, movable equipment side receiving end system 2 with in the sectional guide rail 1-3 opening
Launch winding 1-3-3 and produce magnetic field resonance coupling, receive winding 2-1-1 and receive the magnetic energy launching winding 1-3-3 transmission；
The energy that step 8, electric motor car receive when moving drives vehicle-mounted alternating current generator 2-7 by DC-AC converter 2-5
Work, the energy that electric motor car receives when entering anchor point is the charging of on-vehicle battery group 2-6 by DC-DC converter 2-4,
Complete dynamic radio to power.
In the present invention, during movable equipment motion, remain only receive two transmittings immediately below winding around
Group is run, and effectively prevent electromagnetic radiation, simultaneously double launch windings and receives and form equivalent magnetic field between winding, improves and is
The stability that system dynamic radio is powered.The two-stage sectional guide rail opened every time, it drives signal, high-frequency inverter
Voltage, the frequency launching winding current waveform, amplitude, phase place are identical, the magnetic after so adjacent two transmitting winding superpositions
Field is equilibrium field intensity.
Below in conjunction with embodiment 1, provide the process that the method realizes that dynamic radio electric energy transmits.
Embodiment 1: as it is shown in figure 1, as a example by kth level sectional guide rail, when Magnetic Sensor k is not detected by movable equipment
When, high-frequency inverter k, without output voltage, now launches no current on winding k, does not outwards transmit energy, hence without
Efficiency losses and electromagnetic radiation.When Magnetic Sensor k detect movable equipment through out-of-date, controller k and k-1 produces immediately
Four road synchronous control signals, generate after driver for isolating k and k-1 respectively and drive signal Gk,1, Gk,2, Gk,3, Gk,4With
Gk-1,1, Gk-1,2, Gk-1,3, Gk-1,4, synchronization drives high-frequency inverter k and k-1 work.As shown in Figure 4, kth fraction
The driving signal of section guide rail and kth-1 grade drive signal same-phase, and the output voltage u of high-frequency inverter k and k-1kAnd uk-1
Equal.Now launch and on winding k and k-1, all have electric current, and launch electric current i on winding kkWith electric current on transmitting winding k-1
ik-1Equal in magnitude, phase place is identical, can be simultaneously to reception winding transmission energy.Finally be opened 2 transmitting windings with
Produced magnetic field resonance by the reception winding in electricity system to couple, complete being wirelessly transferred of energy.
Below in conjunction with embodiment 2, the stability illustrating how to produce equivalent magnetic field to ensure dynamic radio electric energy and transmit and efficiency
Uniformity.
Embodiment 2: in the present embodiment, receives the square coil that winding is the length of side 20 × 40cm, and the number of turn is 14, launches
Winding is the square coil of the length of side 20 × 20cm, and the number of turn is also 14, and each winding border spacing of launching is 14cm, receive around
Group with speed 2cm/ms to launch 20cm directly over winding highly mobile.As it is shown in figure 5, open double launch winding with
Receive winding total mutual inductance M1+M2Constant all the time at 8.2 μ H receiving in winding moving process, finally achieve equivalent magnetic field.
As shown in Figure 6, when movable equipment continuous moving directly over multiple transmitting windings, power output continuous-stable, pass
Defeated efficiency all-the-time stable is more than 85%, it is ensured that stability that system dynamic radio is powered and high efficiency.
As it is shown in fig. 7, because in movable equipment moving process, system remains two transmittings only immediately below it
Winding runs, and effectively prevent electromagnetic radiation and occurs, simultaneously double transmitting forms equivalent magnetic field between winding, it is ensured that energy passes
Defeated uniformity and stability.
Described hf rectifier 2-2 is by full-wave bridge rectifier circuit and filter capacitor CsfComposition, it is possible to by other bridge-types or
Controlled rectification circuit forms, it is achieved alternating current is changed into direct current.Described DC-DC converter 2-4 is by Buck circuit
Composition, connects on-vehicle battery group 2-6, and described DC-AC converter 2-5 is made up of full bridge inverter, connects vehicle-mounted
Alternating current generator 2-7, it it is critical only that: DC-DC converter 2-4 and DC-AC converter 2-5 pass through dc bus 2-3
It is connected in parallel on the output of hf rectifier 2-2, the wireless power of a kind of double loads to battery/motor can be realized.Described
DC-DC converter 2-4 also can be made up of Boost, Buck-Boost or Boost-Buck circuit etc., described DC-AC
Converter 2-5 also can be made up of half-bridge inversion circuit, equally realizes the wireless power to power side load.
Claims (9)
1. the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity, it is characterised in that: this may move and sets
Standby dynamic radio electric supply installation includes net side feeder ear system (1) and movable equipment side receiving end system (2), and net side powers
End system (1) transfers energy to movable equipment side receiving end system (2)；
Net side feeder ear system (1) includes that frequency rectifier (1-1), high power DC bus (1-2), n level segmentation are led
Rail (1-3) and n level position detection control circuit (1-4), n is positive integer；The electric energy of electrical network passes through frequency rectifier (1-1)
It is delivered on high power DC bus (1-2)；
N level sectional guide rail (1-3) structure is identical, all includes high-frequency inverter (1-3-1), complex resonant circuit (1-3-2)
With transmitting winding (1-3-3)；High-frequency inverter (1-3-1) at different levels is all connected in parallel on high power DC bus (1-2), high
Frequently inverter (1-3-1) exports electric energy to complex resonant circuit (1-3-2), then by launching winding (1-3-3) transmission
To air dielectric；
N level position detection control circuit (1-4) structure is identical, all includes Magnetic Sensor (1-4-1), controller (1-4-2)
With driver for isolating (1-4-3), Magnetic Sensor (1-4-1) is arranged on adjacent two centers launched between winding (1-3-3)
Position, Magnetic Sensor (1-4-1) detects magnetic field intensity when movable equipment moves, according to threshold value to movable equipment
Positioning, controller (1-4-2) produces Sofe Switch control signal according to the framing signal of Magnetic Sensor (1-4-1), soft opens
Close control signal and through driver for isolating (1-4-3) electrical isolation and generate driving signal after driving, drive signal control correspondence
The break-make of high-frequency inverter (1-3-1)；
Described threshold value is the sensitive border of the Magnetic Sensor (1-4-1) setting, and by setting threshold value, opens and can move
Two-stage sectional guide rail (1-3) immediately below dynamic equipment side receiving end system (2), remaining n-2 level sectional guide rail (1-3) place
In closed mode；
The sensitive border of described Magnetic Sensor (1-4-1) is set as:Wherein: r represents transmitting winding inscribed circle
Radius, d represents adjacent two transmitting winding frontier distances, and R represents the sensitive range radius of Magnetic Sensor (1-4-1)；
The operating point frequency of the Sofe Switch control signal that controllers at different levels (1-4-2) produce is f0, complex resonant circuits at different levels
(1-3-2) resonant frequency is fk, and meet fk=f0；
Movable equipment side receiving end system (2) includes receiving resonance circuit (2-1), hf rectifier (2-2), direct current
Bus (2-3), DC-DC converter (2-4), DC-AC converter (2-5), on-vehicle battery group (2-6) and vehicle-mounted
Alternating current generator (2-7)；
Receive resonance circuit (2-1) and receive the magnetic energy that in net side feeder ear system (1), transmitting winding (1-3-3) is transmitted,
And magnetic energy is converted into the electric flux of alternating current form, export to directly after being rectified into direct current by hf rectifier (2-2)
Stream bus (2-3), DC-DC converter (2-4) and DC-AC converter (2-5) are connected in dc bus (2-3) in parallel
On, the energy receiving during movable equipment motion drives vehicle-mounted alternating current generator (2-7) by DC-AC converter (2-5),
The energy that movable equipment receives when entering anchor point is that on-vehicle battery group (2-6) is filled by DC-DC converter (2-4)
Electricity；
Receive and on resonance circuit (2-1), be provided with reception winding (2-1-1), receive winding (2-1-1) and receive net side feeder ear
System (1) is launched the magnetic energy that winding (1-3-3) transmits, arranges in the geometric center position receiving winding (2-1-1)
There is magnetic markers (2-1-2)；
By the transmitting winding (1-3-3) on the two-stage sectional guide rail (1-3) opened and movable equipment side receiving end system (2)
In reception winding (2-1-1) produce the coupling of magnetic field resonance, complete dynamic radio and power.
2. the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity according to claim 1, its
It is characterised by: described frequency rectifier (1-1) includes full-wave bridge rectifier circuit and filter capacitor Cpf, full-wave bridge rectifier
The input of circuit connects electrical network, and the output of full-wave bridge rectifier circuit is connected on high power DC bus (1-2), filter
Ripple electric capacity CpfOn the output of full-wave bridge rectifier circuit in parallel.
3. the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity according to claim 1, its
It is characterised by: described high-frequency inverter (1-3-1) is four power tube full bridge inverters.
4. the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity according to claim 3, its
It is characterised by: the size receiving winding (2-1-1), the size launching winding (1-3-3) and transmitting winding (1-3-3) are set
Spacing is respectively as follows:
Wherein: w is for receiving winding width, and l is for receiving winding length, w and l determines according to movable equipment chassis size,
It is square for launching winding, and r is its inscribed circle radius；
According to Kirchhoff's law, system equivalent AC impedance power output PacIt is expressed as with efficiency of transmission η:
Wherein: M1For opening first launches winding and the mutual inductance receiving winding, M2For open second transmitting winding with
Receive the mutual inductance of winding, V1For net side electric power system high-frequency inverter fundamental voltage output of voltage virtual value, RacFor movable equipment etc.
Effect AC load, Rpk1,2And RsFor constant, represent respectively and receive winding and launch winding internal resistance；Cpk,1Represent the first compensation electricity
Hold.
5. the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity according to claim 3, its
It is characterised by: complex resonant circuit (1-3-2) includes compensating inductance Lpk,1, the first resistance Rpk,1, the second resistance Rpk,2,
One compensation electric capacity Cpk,1With the second compensation electric capacity Cpk,2, the first resistance Rpk,1For compensating inductance Lpk,1Internal resistance, the second resistance
Rpk,2For launching winding Lpk,2Internal resistance, whole parameters of complex resonant circuit (1-3-2) at different levels are all identical, it may be assumed that
Lpk,1=Rpk,1=Rpk,2=Cpk,1=Cpk,2；
First compensation electric capacity Cpk,1With compensation inductance Lpk,1Resonance, meets:
Second compensation electric capacity Cpk,2Produce resonance with launching winding (1-3-3), meet:
Wherein: Lpk,2Represent and launch winding (1-3-3).
6. the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity according to claim 3, its
It is characterised by: the internal resistance of described reception winding (2-1-1) is resistance Rs, compensate electric capacity CsProduce with receiving winding (2-1-1)
Raw resonance, resonant frequency is fs, and it is equal to Sofe Switch operating point frequency f of high-frequency inverter (1-3-1)0, i.e. fs=f0, and
Meet:
Wherein: LsRepresent and receive winding (2-1-1).
7. the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity according to claim 1, its
It is characterised by: described Magnetic Sensor (1-4-1) is high sensitivity magnetic sensor.
8. the movable equipment dynamic radio electric supply installation based on sectional guide rail equilibrium field intensity according to claim 1, its
It is characterised by: the transmitting winding (1-3-3) of sectional guide rails at different levels (1-3) all uses single high-frequency inverter (1-3-1) to enter
Row electric energy transmits；High-frequency inverters at different levels (1-3-1) are connected in parallel on same high power DC bus (1-2).
9. based on described in claim 1 based on movable equipment dynamic radio electric supply installation dynamic of sectional guide rail equilibrium field intensity
Wireless power method, it is characterised in that: the detailed process of this dynamic radio method of supplying power to is:
Step 1, by the Magnetic Sensor (1-4-1) in net side feeder ear system (1) with launch winding (1-3-3) and be arranged on ground
Below face, the remaining part in net side feeder ear system (1) is arranged on above the ground, movable equipment side receiving end system (2)
It is arranged in electric motor car；
Step 2, set the sensitive border of Magnetic Sensor (1-4-1) as:Wherein: r represents transmitting winding inscribe
Radius of circle, d represents adjacent two transmitting winding frontier distances；
The changing value of trunnion axis output when step 3, Magnetic Sensor (1-4-1) measurement electric motor car move, obtains magnetic field intensity,
According to the sensitive border that step 2 sets, electric motor car is positioned, open immediately below movable equipment side receiving end system (2)
Two-stage sectional guide rail (1-3), remaining n-2 level sectional guide rail (1-3) is closed；
Step 4, controller (1-4-2) produce Sofe Switch control signal according to the framing signal of Magnetic Sensor (1-4-1), soft
The operating point frequency of switch controlling signal is f0, set the resonant frequency of complex resonant circuit (1-3-2) as fk, and meet fk=f0；
Step 5, Sofe Switch control signal are through driver for isolating (1-4-3) electrical isolation and generate driving signal after driving,
Signal control is driven to open the break-make of two-stage sectional guide rail (1-3) medium-high frequency inverter (1-3-1)；
Electric energy is transmitted to air by step 6, the high-frequency inverter opened (1-3-1) by transmitting winding (1-3-3) at the same level
In medium；
Reception winding (2-1-1) in step 7, movable equipment side receiving end system (2) and the sectional guide rail (1-3) opened
In transmitting winding (1-3-3) produce the coupling of magnetic field resonance, receive winding (2-1-1) and receive and launch winding (1-3-3) transmission
Magnetic energy；
The energy that step 8, electric motor car receive when moving drives vehicle-mounted alternating current generator (2-7) by DC-AC converter (2-5)
Work, the energy that electric motor car receives when entering anchor point is on-vehicle battery group (2-6) by DC-DC converter (2-4)
Charging, completes dynamic radio and powers.
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| CN201510130442.2A CN104682581B (en) | 2015-03-24 | 2015-03-24 | Movable equipment dynamic radio electric supply installation and dynamic radio method of supplying power to thereof based on sectional guide rail equilibrium field intensity |
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| CN104917302B (en) * | 2015-07-08 | 2017-03-08 | 重庆大学 | Electric automobile wireless power supply system to embedded energy transmitting coil, method for designing and coil system |
| CN105406563B (en) * | 2015-11-24 | 2018-04-24 | 东南大学 | A kind of electric automobile dynamic radio electric power system is segmented transmitting coil switching method |
| US10759281B2 (en) * | 2016-01-19 | 2020-09-01 | Ford Global Technologies, Llc | Controlling operation of electrified vehicle travelling on inductive roadway to influence electrical grid |
| TWI626459B (en) | 2016-08-17 | 2018-06-11 | 財團法人工業技術研究院 | Sensorless measurement method and device for filter capacitor current by using a state observer |
| CN106314187B (en) * | 2016-09-14 | 2018-11-06 | 东南大学 | A kind of control method of the short segmentation dynamic radio power supply system of electric vehicle |
| CN107196391A (en) * | 2017-06-29 | 2017-09-22 | 北京航空航天大学 | A kind of wireless energy transfer control device in moving process |
| CN107785973A (en) * | 2017-11-16 | 2018-03-09 | 广州大学 | A kind of wireless charging moving guide rail device and its control method |
| CN108448740B (en) * | 2018-03-13 | 2022-03-25 | 武汉理工大学 | Dynamic wireless energy transmission circuit system and primary side multi-coil real-time switching method thereof |
| CN109572458A (en) * | 2018-12-25 | 2019-04-05 | 华北电力大学（保定） | A kind of two-band electric car dynamic radio charging system and its guide rail switching method |
| CN111731116A (en) * | 2020-06-19 | 2020-10-02 | 湖北工业大学 | Parallel segmented guide rail type dynamic wireless charging system for electric automobile |
| CN113300480B (en) * | 2021-06-07 | 2023-03-31 | 哈尔滨工业大学 | Two-phase X-shaped dynamic wireless power supply guide rail with strong lateral movement capability and constant received power |
| CN113595260B (en) * | 2021-07-05 | 2024-03-22 | 哈尔滨工业大学 | Integrated guide rail distribution switching power supply topology circuit based on series compensation |
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