CN104852476A - Dynamic load coupling circuit - Google Patents
Dynamic load coupling circuit Download PDFInfo
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- CN104852476A CN104852476A CN201510304173.7A CN201510304173A CN104852476A CN 104852476 A CN104852476 A CN 104852476A CN 201510304173 A CN201510304173 A CN 201510304173A CN 104852476 A CN104852476 A CN 104852476A
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- CN
- China
- Prior art keywords
- network
- capacitance group
- dynamic load
- mobile robot
- coupling circuit
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Abstract
The invention discloses a dynamic load coupling circuit and provides a design applied to a dynamic load coupling circuit for wireless charging of a mobile robot. For the purpose of meeting the wireless charging requirement of the mobile robot, a load change scope and a speed are taken into consideration, and a circuit topology structure employs a "general pi+gamma network", i.e., a pi network of a fixed structure and a coupling network which is composed of three adjustable networks of an L inductor group, a C1 capacitor group, a C2 capacitor group, can be realized through capacitor and inductor switching, and is capable of mutual conversion between the pi network and a gamma network and randomly adjusting parameters. The system provided by the invention is simple in structure and high in reliability, thereby having great application prospect.
Description
Technical field
The present invention relates to a kind of dynamic load match circuit technology.This technology is mainly used in mobile robot's wireless power field, is the circuit that a kind of structure is simple, reliability is high.
Background technology
The sixties in 20th century, the method that first Grey Walter adopts light source to locate has carried out docking charging research to 2 robots.The autonomous contact mobile robot that University of tsukuba in 1998 also develops, utilizes known environment map guided robot to arrive charging station.
Recharging obtains the favor of lot of domestic and international scholar, is enough to the importance of electric energy supply to mobile robot is described, but the recharging of mobile robot also exists a lot of problem at present: navigation system is complicated, positioning precision is poor; The automatic charging time, appearance was to shortening the operating time; Most recharging system, for specific robotic, is difficult to realize modularization and extensively promote the use of; Because recharging system exists friction, wearing and tearing and nuditing wire, be easy to produce contact sparking, have impact on the safety and reliability of power supply, shorten the useful life of electric equipment; Under water, mine, the special occasions such as oil field drilling, there is the potential hazard of electric shock, the small electric spark produced because of contact friction is easy to set off an explosion, and even causes a serious accident.Simultaneously to scrap the environmental pollution that brings of managing improperly also increasingly serious battery self-technique problem and later stage.
For solving the powerup issue of mobile robot, the mode of wireless power can be adopted to power to mobile robot, but in radio energy transmission system, magnetizing coil is as the load of radio-frequency power supply, its input impedance can along with factor real-time change such as operating frequency, transmission range, external environments, and therefore research keeps load stabilization most important for system worked well.
For overcoming load dynamic change, ensure the stability of mobile robot's wireless power, the present invention proposes a kind of dynamic load match circuit, this circuit structure is simple, reliability is high.
Summary of the invention
Technical problem to be solved by this invention is, in the wireless power process of mobile robot, along with the change of load, circuit can realize Dynamic Matching.
The technical solution adopted in the present invention is: a kind of dynamic load match circuit, comprising: radio frequency source, reflection coefficient detector, capacitance group C1, inductive bank L, capacitance group C2, DSP control system and relay array controller.
Described transmitting terminal DSP control system for order explanation, execution, state-detection and control etc.
Described reflection coefficient detector is used for the change of Real-Time Monitoring transmitting terminal reflection coefficient.
Described relay array controller is used for the control opened relay array or turn off.
Accompanying drawing explanation
Fig. 1 is the entire block diagram of design system;
Fig. 2 is dynamic load match circuit figure;
Embodiment
The invention provides that a kind of structure is simple, the dynamic load match circuit for mobile robot's wireless power of high reliability.Below in conjunction with embodiment and accompanying drawing, the present invention is described in detail.
As shown in Figure 1, the autonomous wireless charging system of mobile robot of the present invention, comprising: power supply, electric energy and signal transmitting system, electric energy and receiving system and mobile robot.It is characterized in that: power supply provides electric energy to electric energy and signal transmitting system, electric energy and signal transmitting system control the electric energy launched in real time according to the feedback information of electric energy and receiving system.Electric energy and receiving system receive the energy from electric energy and signal transmitting system by space magnetic field coupling, and then power in real time for mobile robot, and constantly detect the power received, then Real-time Feedback is to energy and signal transmitting system
As shown in Figure 2, the technical solution adopted in the present invention is: a kind of dynamic load match circuit, comprising: radio frequency source, reflection coefficient detector, capacitance group C1, inductive bank L, capacitance group C2, DSP control system and relay array controller.It is characterized in that: circuit topological structure adopts " broad sense π+Γ network ", namely fixed structure π network and form a π network realized by capacitor and inductor switching and Γ network can be changed mutually, parameter is adjustable arbitrarily matching network by L inductive bank, C1 capacitance group, C2 capacitance group 3 adjustable network.When mobile robot moves or range transmission changes, now load occurrence dynamics change is the stability ensureing system, and DSP control system, by the situation of change according to load, sends corresponding order to relay array controller, thus C in control C1 capacitance group
11, C
12, C
13some conductings, or C2 capacitance group C
21, C
22, C
23some conductings, or L in L inductive bank
41, L
42, L
43some conductings, thus form different networks, as: work as C
11and L
41conducting, can form a Γ network; Work as C
21and L
41during conducting, also can form a Γ network; Work as C
11, L
41, C
21during conducting, can form a π+Γ network, so C1 capacitance group, the flexible conducting of C2 capacitance group and L inductive bank, can form rapidly different networks, with dynamically quick, the stable matching of proof load.
Schematically above be described the present invention and execution mode thereof, this description does not have limitation, yet just one of the embodiments of the present invention shown in accompanying drawing.If so those of ordinary skill in the art enlightens by it; when not departing from the invention aim; adopt each component layouts mode of the same item of other form or other form; design the technical scheme similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (2)
1. a dynamic load match circuit, comprise: radio frequency source (1), reflection coefficient detector (2), capacitance group C1 (3), inductive bank L (4), capacitance group C2 (5), DSP control system (6) and relay array controller (7); It is characterized in that: radio frequency source (1) is connected with reflection coefficient detector (2), reflection coefficient detector (2) is connected with capacitance group C1 (3), capacitance group C1 (3) is connected with inductive bank L (4), inductive bank L (4) is connected with capacitance group C2 (5), capacitance group C2 (5) is connected with inductance L 1, reflection coefficient detector (2) is connected with DSP control system (6), and DSP control system (6) is connected with relay array controller (7).
2. capacitance group C1 according to claim 1 (3) comprises C
11, C
12, C
13, K
11, K
12, K
13; Wherein C
11and K
11be connected, C
12and K
12be connected, C
13and K
13be connected; Inductive bank L according to claim 1 (3) comprises L
41, L
42, L
43, K
41, K
42, K
43; Wherein L
41and K
41be connected, L
42and K
42be connected, L
43and K
43be connected; Capacitance group C2 according to claim 1 (5) comprises C
21, C
22, C
23, K
21, K
22, K
23; Wherein C
21and K
21be connected, C
22and K
22be connected, C
23and K
23be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510304173.7A CN104852476A (en) | 2015-05-28 | 2015-05-28 | Dynamic load coupling circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510304173.7A CN104852476A (en) | 2015-05-28 | 2015-05-28 | Dynamic load coupling circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104852476A true CN104852476A (en) | 2015-08-19 |
Family
ID=53851911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510304173.7A Pending CN104852476A (en) | 2015-05-28 | 2015-05-28 | Dynamic load coupling circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104852476A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012172410A1 (en) * | 2011-06-17 | 2012-12-20 | Toyota Jidosha Kabushiki Kaisha | Power transmitting device, power receiving device, vehicle, and contactless power supply system and control method for contactless power supply system |
| CN103151853A (en) * | 2013-04-03 | 2013-06-12 | 天津工业大学 | Wireless power transmission impedance automatic matching device |
| CN104242481A (en) * | 2014-07-10 | 2014-12-24 | 丁文萍 | Automatic impedance matching control device for high-power wireless power transmission device |
-
2015
- 2015-05-28 CN CN201510304173.7A patent/CN104852476A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012172410A1 (en) * | 2011-06-17 | 2012-12-20 | Toyota Jidosha Kabushiki Kaisha | Power transmitting device, power receiving device, vehicle, and contactless power supply system and control method for contactless power supply system |
| CN103151853A (en) * | 2013-04-03 | 2013-06-12 | 天津工业大学 | Wireless power transmission impedance automatic matching device |
| CN104242481A (en) * | 2014-07-10 | 2014-12-24 | 丁文萍 | Automatic impedance matching control device for high-power wireless power transmission device |
Non-Patent Citations (1)
| Title |
|---|
| 李阳: "大功率谐振式无线电能传输方法与实验研究", 《中国博士学位论文全文数据库》 * |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150819 |