CN105245025A - System for achieving dynamic wireless constant power charging and control method for system - Google Patents
System for achieving dynamic wireless constant power charging and control method for system Download PDFInfo
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Abstract
The invention provides a system for achieving dynamic wireless constant power charging and a control method for the system. The system comprises an energy transmitting module, an energy receiving module and a constant power tracking control module, wherein the energy transmitting module is used for converting a primary direct current power supply into high-frequency alternating current electrical energy and transmitting the high-frequency alternating current electrical energy in a high-frequency magnetic field coupling manner; the energy receiving module is used for receiving electrical energy and supplying the electrical energy to a load; the constant power tracking control module is used for obtaining a reference control signal according to charging current collected in real time, and adjusting voltage of a rectifying port into a reference control signal to achieve a constant power tracking control. With direct current output by a DC/DC converter at a secondary side as feedback quantity, direct current voltage of an uncontrollable rectifier terminal is disturbed by a perturbation and observation method-based constant power tracking control method; and a transmission voltage gain from the primary side to the secondary side always works on a voltage gain point corresponding to a transmission power extreme point, so that the condition that the system transmits the electrical energy at constant power is ensured, and the output power is kept stable.
Description
Technical field
The invention belongs to wireless power transmission technical field, relating to the system for realizing dynamic radio constant power charge and control method thereof, be applicable to the dynamic radio charging application scenario of electric automobile.
Background technology
In recent years, wireless power transmission technology (WirelessPowerTransmission, WPT) achieves develop rapidly, particularly the wireless power transmission technology of magnetic coupling mode.This mode is by the high-frequency alternating magnetic field coupling transferring energy between power dispatch coil.Magnetic coupling wireless power transmission technology is such as, at low power portable electric appts, mobile phone, and cardiac pacemaker etc., obtain successful Application.Another important application occasion of magnetic coupling wireless power transmission technology is exactly to electric automobile (ElectricVehicle, EV) wireless charging.Along with the further raising of through-put power and efficiency, static wireless charging will likely replace traditional conduction-type charging modes in not far future.Electric automobile runs into the problem that distance travelled is not enough and charging is difficult of once charging that electrokinetic cell bottleneck brings in the process of introducing to the market.
In order to solve electric automobile power battery bottleneck further, dynamic radio charging scheme is proposed again.As far back as the 1970s age, the confirmatory project of RoadwayInductivelypoweredEV was just done by Univ California-Berkeley, but because the restriction of power electronic technology is less than success.Dynamic radio charging scheme is as shown in Figure 2: imagine and lay transmitting coil chain under carriage way, at automobile chassis, receiving coil and receiving circuit thereof are housed, vehicle-mounted receiving coil successively with the transmitting coil effect under road surface, by high frequency magnetic field be coupled to travel in electric automobile uninterruptedly charge, reduce the dependence to electrokinetic cell, thus effectively extend distance travelled.
Dynamic radio charging application scenario requires that WPT system has wider effective deviation range, when namely ensureing that the Mutual Inductance Coupling coefficient of former secondary power coil changes within the specific limits, through-put power can not fluctuate widely with offset distance change, but will keep stable transfer state.Due to the local supplied character of dynamic radio charging, synchronization only has a transmitting coil and vehicle-mounted receiving coil to intercouple to act on, and its action time is of short duration.Therefore in this case, its charging requirement should be different from static wireless charging.Static wireless charging needs to realize the complete charging process from constant current to constant voltage.And during dynamic radio charging, vehicle-mounted load is working, in order to ensure supply load and leave certain energy storage surplus and realize maximization of economic benefit, dynamic radio charging system should work with nominal transmission power in the moment.Former and deputy limit circuit should independently control, and secondary completes the regulation and control to received power, and former limit power supply only require can rapid starting/stopping have over-current over-voltage protection, thus simplify system control strategy.Therefore in the ability that dynamic radio charging occasion needs system to have anti-skew and firm power dynamically to follow the tracks of.
But current wireless charging system mainly concentrates in the application of static wireless charging, system can only realize power stability transmission when static state communicates with former and deputy limit.When in dynamic radio charging occasion, power receiving coil is relative to transmitting coil fast moving, likely occur larger skew, the degree of coupling of dispatch coil is at Rapid Variable Design.
Existing wireless charging system designs for dispatch coil geo-stationary situation due to it, therefore the capability of fast response to dynamic deflection is not had, when dispatch coil degree of coupling Rapid Variable Design, then that control mode or system itself all cannot revise working point in time, cause its operating state can depart from original set point, thus lose the ability automatically regulating through-put power.
Summary of the invention
For the defect of prior art, the object of the present invention is to provide a kind of system for realizing dynamic radio constant power charge, being intended to solve in prior art owing to causing the problem of through-put power fluctuation in dynamic radio charging to the capability of fast response deficiency of dynamic deflection.
The invention provides a kind of system for realizing dynamic radio constant power charge, comprising the energy transmitter module, energy acceptance module and the firm power tracing control module that connect successively; Described energy transmitter module is used for former limit DC power supply being converted to high-frequency ac electric energy and being launched by the mode that high frequency magnetic field is coupled; Described energy acceptance module is for receiving described electric energy and supply load; Described firm power tracing control module is used for obtaining with reference to control signal V according to the charging current of Real-time Collection
ref, and by rectifying port voltage V
d2be adjusted to described with reference to control signal V
ref, real-time tracking, on transmission voltage gain point corresponding to power extreme point, realizes firm power tracing control.
Further, energy transmitter module comprises the high-frequency inversion unit, LC filter unit, former limit compensating unit and the power transmit coils that connect successively; High-frequency inversion unit is used for the straight voltage V to outside input
d1inversion is fixed f frequently
0voltage square wave V
ab, described LC filter unit is used for high frequency voltage square wave V described in filtering
abin harmonic components, the mode that power transmit coils is used for the high frequency voltage square wave after is after filtering coupled according to high frequency magnetic field launches electric energy; Former limit compensating unit is used for regulating the electric current of described power transmit coils, reduces the fluctuation of through-put power with offset distance.
Further, former limit compensating unit comprises the first building-out capacitor, the second building-out capacitor and the 3rd building-out capacitor; Described first building-out capacitor and the 3rd building-out capacitor are connected in series, and the non-series connection end of described first building-out capacitor is connected with the output of described LC filter unit, non-series connection end one end for being connected to described power transmit coils of described 3rd building-out capacitor; Being connected in series to hold of one end of described second building-out capacitor and described first building-out capacitor and the 3rd building-out capacitor is connected, and the other end of described second building-out capacitor is for being connected to the other end of described power transmit coils.
Further, the capacitance of described first building-out capacitor, the second building-out capacitor and the 3rd building-out capacitor is respectively C
cmi=1/ [| Z
cmi| × (2 π f
0)]; Reactance value is respectively:
Wherein, i is the sequence number of building-out capacitor, i=1,2,3; f
0for system operating frequency; γ
1be the first penalty coefficient, κ is the second penalty coefficient, β is compensating proportion coefficient, Z
l1for the reactance of power transmit coils, Z
cm1be the reactance value of the first building-out capacitor, Z
cm2be the reactance value of the second building-out capacitor, Z
cm3it is the reactance value of the 3rd building-out capacitor.
Further, energy acceptance module comprises the power receiving coil, the secondary compensating unit that connect successively, uncontrollable rectifier unit and DC/DC converter; The electric energy that power receiving coil is launched for receiving described power transmit coils; Secondary compensating unit is used for the leakage inductance of compensation power receiving coil, makes only to transmit active power between power transmit coils and power receiving coil; Described uncontrollable rectifier unit is used for the high-frequency ac electric rectification of reception be direct current and export; Supply load after power adjustments is carried out in the output of DC/DC converter to described uncontrollable rectifier unit.
Further, the free-running frequency f of described secondary compensating unit
reswith former limit reverse frequency f
0identical; Wherein,
c
2for the capacitance of resonant capacitance in described secondary compensating unit; L
2for the inductance value of described power receiving coil.
Further, described firm power tracing control module comprises current sampling circuit, firm power tracking control unit, direct voltage sample circuit, PI voltage regulator controllers and switch tube driving circuit; The charging current currency i that described current sampling circuit exports for gathering secondary
batt(k); Described firm power tracking control unit is used for processing the sampled value of secondary charging current and exports the reference control signal V of commutating voltage
ref, direct voltage sample circuit is for gathering the input direct voltage V of described DC/DC converter (9)
d2; Described PI voltage regulator controllers is used for according to described with reference to control signal V
refwith described sampled value V
d2k () obtains deviation between the two, and regulate and control the duty cycle control signal of described DC/DC converter (9) according to described deviation, and by rectifying port voltage V
d2be adjusted to reference to control signal V
ref, real-time tracking, on transmission voltage gain point corresponding to power extreme point, realizes firm power tracing control; Switch tube driving circuit is used for the break-make controlling described DC/DC converter (9) breaker in middle pipe according to described duty cycle control signal.
Present invention also offers a kind of control method of the system for realizing dynamic radio constant power charge, comprising the steps:
S1: at each control cycle T
sinitial time, to DC/DC converter export charging current i
battamplitude sample, obtain charging current i
battcurrency i
batt(k), and the sampled value i preserving the charging current of last control cycle
batt(k-1); And to commutating voltage V
d2sample, obtain current commutating voltage sampling quantity V
d2(k);
S2: judge commutating voltage sampling quantity V
d2k whether () be at (V
min, V
max) in, if so, then proceed to step S3; If not, then commutating voltage V is made
d2disturbance step-length reverse, i.e. Δ V
k+1=-Δ V
k, and enter into step S6;
Wherein, V
minfor the preset lower limit of commutating voltage, V
maxfor the higher limit of commutating voltage, Δ V
kfor the disturbance step-length of the commutating voltage of current control period, generally its initial value is set to (V
max+ V
min)/10, Δ V
k+1for the disturbance step-length of the commutating voltage of next control cycle;
As one embodiment of the present of invention, can detect according to theory calculate or experiment and obtain commutating voltage V
d2adjustable extent, such as adjusted open loop DC/DC converter duty ratio, changes commutating voltage V
d2, work as V
d2when being reduced to certain value, through-put power obviously declines, and this value is set as V
min, work as V
d2when being increased to certain value, through-put power obviously declines, and this value is set as V
max.
S3: the sampled value i judging the charging current of current control period
battk whether () be greater than the sampled value i of the charging current of last control cycle
batt(k-1) the disturbance step delta V of commutating voltage, is if so, then made
kremain unchanged, i.e. Δ V
k+1=Δ V
k, and enter step S6; If not, then step S4 is proceeded to;
S4: judge | i
batt(k)-i
batt(k-1) | > △ I
set, if so, then the disturbance step-length of commutating voltage is become △ V
k+1=-sign (△ V
k) × △ V
0/ 2, and enter step S6, if not, then proceed to step S5;
Wherein, △ I
setfor the current fluctuation threshold values of setting, its value shows the charging current i that there occurs acute variation moment correspondence in transmission range
battvariable quantity, generally gets 1/10 of rated charge stream, Δ V
0for initial disturbance step-length, be set to (V
max-V
min)/20, sign (Δ V
k) represent and get Δ V
ksign symbol operates;
S5: judge | △ V
k|≤△ V
min, if so, then minimally disturbance step-length is also reverse, △ V
k+1=-sign (△ V
k) × △ V
min; If not, then disturbance step delta V
kreduce by half and change perturbation direction, be i.e. Δ V
k+1=-Δ V
k/ 2, and proceed to step S6;
Wherein, Δ V
minfor minimal disturbances step-length, be traditionally arranged to be initial disturbance step delta V
01/4;
S6: at control cycle T
sfinish time, export reference control value V
ref=V (k)+Δ V
k+1; Be back to step S1 and enter next control cycle.
Further, PI voltage regulator controllers is according to described reference control value V
refwith rectifying port direct voltage sampled value V
d2between deviation, carry out proportional integral adjustment, control DC/DC converter, and by rectifying port voltage V
d2be adjusted to described reference control value V
ref, real-time tracking, on transmission voltage gain point corresponding to extreme power point, realizes firm power tracing control.
The present invention exports direct current for feedback quantity with the DC/DC converter of secondary, adopt the firm power tracking and controlling method based on disturbance observation, disturbance uncontrollable rectifier end direct voltage, the transmission voltage gain from former limit to secondary is made to always work in voltage gain point corresponding to through-put power extreme point, thus real-time ensuring system is with firm power electric energy transmitting, keep stable output power.Present invention eliminates the requirement of former secondary real time communication, secondary independently regulates and controls, and ensures with rated power transmission in effective deviation range, and outside effective deviation range, then secondary stops receiving electric energy automatically, is applicable to the dynamic radio power transmission application occasion of wide deviation range.
Tool of the present invention has the following advantages:
(1) former secondary does not need to communicate.Former limit circuit is work frequently surely, and only regulate and control through-put power completely at secondary, only needs sampling secondary information about power, real-time tracking power extreme point.Control method is simple, is more suitable for dynamic radio charging occasion.
In dynamic radio charging occasion, some transmitting coils and vehicle-mounted coil are of short duration for action time, and have randomness, and therefore former secondary correctly matches, and real time communication is difficult.And adopting secondary control methods to completely avoid the requirement of communication, electric automobile real-time reception system can transmit constant rated power, improves the utilance of equipment and charging road, makes maximization of economic benefit.
(2) sampling quantity needed for control method is secondary commutating voltage V
d2with charging current i
batt, they are DC quantity, and detection hardware is relatively easy.
(3) within the scope of certain transmission deviation, when not obvious lowering efficiency, power output substantially constant can be kept, substantially not by the impact of transmission deviation distance.
Accompanying drawing explanation
The circuit diagram of the system for realizing dynamic radio constant power charge that Fig. 1 provides for the embodiment of the present invention;
The electric automobile dynamic radio charging scheme schematic diagram that Fig. 2 provides for the embodiment of the present invention;
Fig. 3 for the embodiment of the present invention provide at different penalty coefficient γ
1power transmission factor g (the γ of the T-shaped compensating network in lower former limit
1, x) with the change curve of independent variable x;
Under the different coupling coefficient k that Fig. 4 provides for the embodiment of the present invention, through-put power is with rectifying port voltage V
d2change curve;
The firm power tracking and controlling method realization flow figure that Fig. 5 provides for the embodiment of the present invention;
The secondary circuit topology diagram that Fig. 6 provides for the embodiment of the present invention;
Fig. 7 is the coupling coefficient k change curve schematic diagram of emulation setting;
Fig. 8 is commutating voltage V
d2perturbation process schematic diagram;
Fig. 9 is battery charge i
battwaveform schematic diagram.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Contemplated by the invention the specific demand of dynamic radio charging application scenario, further improvement has been done to existing wireless charging system and control method, its invariable power meeting dynamic radio charging is required and stronger anti-excursion capability.Particularly, the present invention is directed to dynamic radio invariable power charging requirement, propose a kind of system for realizing dynamic radio constant power charge and control method thereof, anti-excursion capability and the dynamic response capability of system can be improved, existing state type wireless charging system is generalized to electric automobile dynamic radio charging application scenario.
Fig. 1 shows the circuit structure of the system for realizing dynamic radio constant power charge that the embodiment of the present invention provides, and for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention, details are as follows:
System for realizing dynamic radio constant power charge adopts magnetic coupling type wireless power transmission technology, comprise high-frequency inversion unit 2, LC filter unit 3, former limit compensating unit 4, power transmit coils 5, power receiving coil 6, secondary compensating unit 7, uncontrollable rectifier unit 8, DC/DC converter 9 and firm power tracing control module 10; The input of high-frequency inversion unit 2 for connecting DC power supply 1, for the stable straight voltage V that DC power supply 1 is provided
d1inversion is fixed f frequently
0voltage square wave V
ab; LC filter unit 3 is connected to inverter bridge and exports between a port and former limit compensating unit 4; The output of former limit compensating unit 4 is connected to the transmitting power coil 5 on former limit; The output of secondary compensating unit 7 is connected to the input of uncontrollable rectifier unit 8, and the output of uncontrollable rectifier unit 8 is for connecting the input of DC/DC converter 9; The output of DC/DC converter 9 is for connecting cell load 11; The input of firm power tracing control module 10 is connected to the output current i of DC/DC converter 9
battfeedback end and input direct voltage V
d2feedback end, the output of firm power tracing control module 10 is connected to the control end of DC/DC power converter cells 9; Firm power tracing control module 10 obtains with reference to control signal for the charging current according to Real-time Collection, and is with reference to control signal by rectifying port Voltage Cortrol, realizes firm power tracing control.
Wherein, LC filter unit 3 comprises the inductance L be connected in series
fwith electric capacity C
f; Wherein the series resonance frequency point of LC filter unit 3 is former limit reverse frequency f
0, namely meet C
fl
f=1/ (2 π f
0)
2, then the impedance of LC filter unit 3 is approximately zero, does not change the power adjustments characteristic of former limit compensating unit 4.LC filter unit 3 is for the harmonic components of filtering high frequency voltage square wave, and harmonic reduction is on the impact of system.
Former limit compensating unit 4 comprises by series-parallel first compensating element, Z successively
cm1, the second compensating element, Z
cm2with the 3rd compensating element, Z
cm3the T-type structure formed; Its function automatically regulates transmitting coil electric current according to the Mutual Inductance Coupling situation of transmitting-receiving power coil, and mild through-put power is with the fluctuation of offset distance.When coupling distance increases, when Mutual Inductance Coupling coefficient k reduces, the T-shaped compensating unit in former limit 4 can increase according to mapping the variation tendency of impedance the electric current flowing to transmitting power coil automatically, thus avoids through-put power and increase with coupling distance and the problem that sharply declines.
Power transmit coils 5 is coupled by high frequency magnetic field with power receiving coil 6, and electric energy is delivered to secondary from former limit.
Secondary compensating unit 7 comprises secondary resonant capacitance C
2, be connected in series with power receiving coil 6, its free-running frequency
with former limit reverse frequency f
0keep identical.
Wherein, DC/DC converter 9 can be the conventional electric power electronics DC/DC transformation topologies such as Buck, Boost, BuckBoost, is not limited to put forward converter kind, and major function is for regulating input terminal voltage V
d2, thus adjustment is input to secondary rectification output dc voltage gain G from former limit
v=V
d2/ V
d1, realize the regulation and control of through-put power.It should be noted that DC/DC converter of the present invention is not limited to above-mentioned carried DC/DC transformation topology, as long as the DC/DC transformation topology playing pressure regulation effect is all applicable.
Wherein, firm power tracing control module 10 comprises the current sampling circuit, the firm power tracking control unit that connect successively, direct voltage sample circuit, PI voltage regulator controllers and switch tube driving circuit; Current sampling circuit exports charging current currency i for gathering secondary
batt(k); Firm power tracking control unit is used for processing the sampled value of primary current and exports the reference control signal V of commutating voltage
ref, direct voltage sample circuit is used for the input direct voltage V to DC/DC power converter cells
d2sampling; PI voltage regulator controllers is used for comparing with reference to control signal V
refwith sampled value V
d2k the deviation of () also regulates and controls the duty cycle signals of DC/DC converter, thus regulation and control rectifying port voltage V
d2by given control reference value V
ref, real-time tracking, on transmission voltage gain point corresponding to power extreme point, realizes firm power tracing control.Switch tube driving circuit is used for according to duty cycle control signal control switch pipe break-make.
The former limit compensating unit 4 that the embodiment of the present invention provides has anti-excursion capability; There is following several feature: (1) T-shaped compensating network unit 4 is by three resonance compensation element Z
cm1, Z
cm2, Z
cm3composition.Compensating element, is has high q-factor, the reactance component of high-frequency low-consumption feature.The connected mode of (2) three compensating element,s for going here and there and go here and there-T-shaped: the 3rd compensating element, Z
cm3with former edge emitting coil L
1a series arm in series, the second compensating element, Z
cm2with by Z
cm3, L
1the branch circuit parallel connection of composition, its one end is connected to the 3rd compensating element, Z
cm302 end, its other end is connected to former edge emitting coil L
104 end; First compensating element, Z
cm1with by Z
cm2, Z
cm3, L
1composition branch road series connection, its one end with by L
f, C
f01 end of the LC filter unit 3 that series connection is formed is connected, and the other end 02 is three compensating element, Z
cm1, Z
cm2, Z
cm3common node.(3) add by L between inverter bridge output a port and T-shaped compensation topology unit 4
f, C
fthe LC filter unit 3 that series connection is formed.L
fand C
fbe high q-factor reactance component, its series resonance frequency point is reverse frequency f
0, namely meet C
fl
f=1/ (2 π f
0)
2, then the impedance of series filtering unit is approximately zero, does not change the power adjustments characteristic of compensating network.
By to three element compensating element, Z
cm1, Z
cm2, Z
cm3the optimal design of parameter, T-shaped compensation topology can automatically regulate former limit power coil electric current according to the Mutual Inductance Coupling degree of dispatch coil, thus obtains the characteristic keeping stablizing power output.Based on T-shaped compensation topology WPT system circuit as shown in Figure 1.Secondary maps impedance Z to the impact on former limit
rrepresent it, when Mutual Inductance Coupling coefficient k changes, its Z
rchange thereupon.Do not consider circuit parasitic loss ideally, map impedance Z
rthe active power obtained is the through-put power of system, also to represent in load obtain power.Suppose that the reactance of former and deputy limit power coil is expressed as Z respectively
l1=j ω L
1, Z
l2=j ω L
2, Z
2=j ω L
2+ 1/ (j ω C
2)+R
acfor secondary circuit total impedance, then secondary is mapped to the equivalence mapping impedance on former limit is Z
r=(ω M)
2/ Z
2, wherein
for former secondary power coil mutual inductance value.DC load R
d2equivalence to the equivalent AC load of the interchange cd port of uncontrollable rectifier unit 8 is
then subcarrier band carries quality factor and is expressed as Q
load=| Z
l2|/R
ac.Three building-out capacitor reactance of the T-shaped compensation topology in former limit are expressed as Z respectively
cm1, Z
cm2, Z
cm3, three compensating element,s provide three and regulate the degree of freedom, define compensating proportion factor beta respectively, the first penalty coefficient γ
1, the second penalty coefficient κ is as follows:
Wherein, compensating proportion factor beta represents the first compensating element, Z
cm1with the second compensating element, Z
cm2proportionality coefficient; First penalty coefficient γ
1represent the power transfer characteristic of compensating network, determine the variation tendency of through-put power with the degree of coupling of power coil; Second penalty coefficient κ represents containing Z
l1the degree of compensation of branch road.
Definition independent variable x=|1+ β | k
2q
load, wherein k is the Mutual Inductance Coupling coefficient of transmitting-receiving power coil, Q
loadfor subcarrier band carries quality factor.Independent variable x contains Mutual Inductance Coupling coefficient k and load Q
loadchange mapping impedance Z
rimpact.Change due to transmission deviation distance shows as the fluctuation of Mutual Inductance Coupling coefficient k, therefore the impact of independent variable x on through-put power is discussed can be used to set up the theoretical model that through-put power changes with offset distance.
Ignore the parasitic drain of circuit, by Circuit theory model, easily obtaining through-put power is:
In the present invention, namely firm power tracking and controlling method is the power transfer characteristic based on former limit compensating unit: system transfers power is with voltage gain G
vthere is extreme point in change curve, and extreme value size is constant, shows constant output characteristic.Its theoretical foundation is summarized as follows.Suppose that the voltage change ratio of DC-DC converter is m and V
batt=mV
d2.
(1) due to battery terminal voltage V
battsubstantially constant, then DC-DC converter front voltage (namely commutating voltage) V
d2depend on no-load voltage ratio m; V
d2=V
batt/ m
(2) from former limit direct current V
d1to secondary rectification V
d2voltage gain G
vknown, also depend on no-load voltage ratio m.G
V＝V
d2/V
d1＝(V
Batt/m)/V
d1
(3) cell load equivalent resistance depends on charging current i
batt, then R is had
batt=V
batt/ i
batt
(4) the equivalent load R looked over from rectifier bridge to DC-DC converter from direction
d2then depend on charging current i
batt(battery equivalent resistance R
batt) and voltage change ratio m.R
d2＝R
Batt/m
2
(4) transmission voltage gain G
v=V
d2/ V
d1then depend on equivalent AC load
Wherein α=Z
l1/ Z
l2for the ratio of dispatch coil impedance.Charging current i
battfor unknown quantity, there is equivalent AC load R
ac(or Q
load=| Z
l2|/R
ac), make voltage gain G
vfor set point, band can be tried to achieve by above formula and carry quality factor q
load;
Then determine that battery eliminator load resistance is:
Determine charging current thus
Due to battery terminal voltage V
battsubstantially constant, therefore through-put power P
trancurve and charging current i
battin proportion.Described theoretical model will be further elaborated below in conjunction with specific embodiments.
The firm power tracking and controlling method main thought of charging for dynamic radio in the present invention is then disturbance commutating DC voltage V
d2, i.e. disturbance voltage gain G
v, the G that fast searching extreme point power is corresponding under current coupling coefficient k
v, make system time with extreme point power delivery energy, thus in k fluctuation situation, appoint so maintenance through-put power to be stable rated value.Its specific algorithm comprises the steps:
S1: at each control cycle T
sinitial time, exports charging current i to DC/DC converter
battamplitude sample, obtain charging current i
battcurrency i
batt(k), and the sampled value i preserving the charging current of last control cycle
batt(k-1); Equally to commutating voltage sampling V
d2, obtain present sample amount V
d2(k)
S2: judge commutating voltage sampling quantity V
d2k whether () be at (V
min, V
max) in, if so, then proceed to step S3; If not, then commutating voltage V
d2disturbance step-length reverse, i.e. Δ V
k+1=-Δ V
k, and enter into step S6;
Wherein, V
minfor the preset lower limit of commutating voltage, V
maxfor the higher limit of commutating voltage, generally according to theory calculate or experiment detection place commutating voltage V
d2adjustable extent, such as adjusted open loop DC/DC converter duty ratio, changes commutating voltage V
d2, work as V
d2when being reduced to certain value, through-put power obviously declines, and this value is set as V
min, work as V
d2when being increased to certain value, through-put power obviously declines, and this value is set as V
max.Δ V
kfor the disturbance step-length of the commutating voltage of this control cycle, generally its initial value is set to (V
max+ V
min)/10, Δ V
k+1for the disturbance step-length of the commutating voltage of next control cycle;
S3: the sampled value i judging the charging current of current control period
battk whether () be greater than the sampled value i of the charging current of last control cycle
batt(k-1), the disturbance step delta V of if so, then commutating voltage
kremain unchanged, i.e. Δ V
k+1=Δ V
k, and enter step S6; If not, then step S4 is proceeded to;
S4: judge | i
batt(k)-i
batt(k-1) | > △ I
set, if so, then the disturbance step-length of commutating voltage is become △ V
k+1=-sign (△ V
k) × △ V
0/ 2, and enter step S6, if not, then proceed to step S5;
Wherein, △ I
setfor the current fluctuation threshold values of setting, its value shows the charging current i that there occurs acute variation moment correspondence in transmission range
battvariable quantity, generally gets 1/10 of rated charge stream, Δ V
0for initial disturbance step-length, be set to (V
max-V
min)/20, sign (Δ V
k) represent and get Δ V
ksign symbol operates;
S5: judge | △ V
k|≤△ V
min, if so, then minimally disturbance step-length is also reverse, △ V
k+1=-sign (△ V
k) × △ V
min; If not, then disturbance step delta V
kreduce by half and change perturbation direction, be i.e. Δ V
k+1=-Δ V
k/ 2, and proceed to step S6;
Wherein, Δ V
minfor minimal disturbances step-length, be traditionally arranged to be initial disturbance step delta V
01/4;
S6: at control cycle T
sfinish time, export and control reference value V
ref=V (k)+Δ V
k+1, give PI voltage regulator controllers; Be back to step S1 and enter next control cycle.
S7: described PI voltage regulator controllers is according to the given reference control value V of invariable power tracing control step above
refwith rectifying port direct voltage sampled value V
d2deviation, carry out proportional integral adjustment, control DC/DC converter, thus regulation and control rectifying port voltage V
d2by given reference control value V
ref, real-time tracking is on transmission voltage gain point corresponding to extreme power point.
The T-shaped compensation topology of the anti-skew in limit, Central Plains of the present invention makes the through-put power of system have extreme point characteristic with voltage gain change curve, and this extreme point performance number does not change with coupling condition change.The direct current i that the present invention exports with secondary DC/DC converter
battfor feedback quantity, adopt the firm power tracking and controlling method based on disturbance observation, automatically regulate uncontrollable rectifier end direct voltage V
d2, make the transmission voltage gain G from former limit to secondary
valways work on voltage gain point corresponding to through-put power extreme point, thus real-time ensuring system is with constant rated power electric energy transmitting, keeps stable output power.Because control procedure does not need former secondary real time communication, former secondary is accomplished just really to be separated; The detection hardware of sampling direct current and direct voltage is relatively easy, and control method is simple.Invention also reduces the regulation and control difficulty that WPT system adapts to dynamic environment, do not need to add other sniffer, ensure to transmit with firm power in effective deviation range, and outside effective deviation range, then secondary stops receiving electric energy automatically, is applicable to the dynamic radio power transmission application occasion of wide deviation range.
Compared with existing wireless charging circuit and control method thereof, the present invention has the following advantages:
(1) former secondary does not need to communicate.Former limit circuit is work frequently surely, and only regulate and control through-put power completely at secondary, only needs sampling secondary information about power, real-time tracking power extreme point.Control method is simple, is more suitable for dynamic radio charging occasion.
In dynamic radio charging occasion, some transmitting coils and vehicle-mounted coil are of short duration for action time, and have randomness, and therefore former secondary correctly matches, and real time communication is difficult.And adopting secondary control methods to completely avoid the requirement of communication, electric automobile real-time reception system can transmit constant rated power, improves utilization rate of equipment and installations, makes maximization of economic benefit.
(2) sampling quantity needed for control method is secondary commutating voltage V
d2with charging current i
batt, they are DC quantity, and detection hardware is relatively easy.
(3) within the scope of certain transmission deviation, when not obvious lowering efficiency, power output substantially constant can be kept, substantially not by the impact of transmission deviation distance.
This point take full advantage of former limit adopt the power transfer characteristic of the T-shaped compensating network of anti-skew.Although the voltage gain point that extreme point power is corresponding can change along with transmission range and the change of Mutual Inductance Coupling coefficient k, on power extreme point, through-put power always keeps constant.
The present invention is directed to the weak point of existing wireless power transmission technology, proposing one does not need former and deputy limit to communicate, but based on the control method of the dynamic radio identical power charging of secondary regulation and control and circuit system, solve the through-put power easily problem of big ups and downs with offset distance change in existing wireless power transmission circuit, be applicable to electric automobile dynamic radio charging occasion.
The present invention based on circuit system adopt magnetic coupling type wireless power transmission technology, mainly comprise DC power supply, high-frequency inversion unit, LC filter unit, the T-shaped compensating unit in former limit, power transmit coils, power receiving coil, secondary compensating unit, uncontrollable rectifier unit, DC/DC converter, power controller unit and cell load.High-frequency inversion unit produces the high frequency voltage square wave of the whole circuit of excitation, and its frequency is circuit work frequency f
0.By the high-frequency coupling magnetic field of power dispatch coil, electric energy is from former limit wireless transmission to secondary.When circuit system adopts the T-shaped compensation topology of the anti-skew in former limit, secondary series connection full remuneration topology, its power transfer characteristic shows as: when regulation voltage gain G
vtime, there is single peak point in through-put power, and under different coupling coefficient k, the voltage gain G that peak point is corresponding
vdifference, but extreme point through-put power remains unchanged substantially, as shown in Figure 4.If by the voltage gain G of WPT system
vtrace on extreme point, then through-put power does not change with coupling coefficient k, but remains unchanged, and has anti-excursion capability.Therefore namely the firm power tracking and controlling method that the embodiment of the present invention provides utilizes this through-put power extreme point characteristic, adopts DC/DC converter output current i
battas Rule of judgment, by voltage gain G
vreal-time lock on extreme power point, thus realizes constant transmission power tracking.
The control method of the dynamic radio invariable power charging that the embodiment of the present invention provides, comprises following concrete steps:
(1) time step T is preset
si.e. control cycle, initial disturbance step delta V
0, minimal disturbances step delta V
min, pressure regulation limited range (V
min, V
max), initial commutating voltage V
d2=V
0.
Wherein initial disturbance step delta V
0generally get higher value, such as V
batt1/5, make the disturbance velocity that starts very fast, circuit can trace into extreme power point sooner; Minimal disturbances step delta V
minthen be less than Δ V
0, such as V
batt1/20, ensure after searching extreme power point, commutating voltage V
d2fluctuate among a small circle, output current i
battalso fluctuating among a small circle.
Wherein pressure regulation limited range (V
min, V
max) the coupling coefficient k Significant Change scope (k of setting should be comprised
min, k
max) in all theoretical extreme power points.When circuit hardware design is complete, minimum and maximum commutating voltage value can be obtained from theoretical calculation or experiment disturbance test.Initial commutating voltage V
d2=V
0be selected in (V
min, V
max) between any one point, generally set V
0=(V
max+ V
min)/2, start WPT system circuit, enter stable state after a period of time;
(2) at each control cycle T
sinitial time, to DC/DC converter output current i
battsampling, obtains current i
battcurrency i
battk (), preserves the current sampling data i of last control cycle simultaneously
batt(k-1);
(3) commutating voltage V is judged
d2k whether () be at (V
min, V
max) in.If voltage V
d2not at (V
min, V
max) in scope, then disturbance step-length is reverse, i.e. Δ V
k+1=-Δ V
k, and enter into step (7).If V
min<V
d2(k) <V
max, then next step is entered.
(4) charging current i is judged
battvariation tendency.Work as i
batt(k) >i
batt(k-1) time, then disturbance step delta V
kremain unchanged, i.e. Δ V
k+1=Δ V
k, and enter step (7); Work as i
batt(k) <I
batt(k-1) time, then next step is entered.
(5) charging current i is judged further
battwith or without big ups and downs.If | i
batt(k)-i
batt(k-1) | > △ I
set, then illustrate that transmission range there occurs acute variation, is at this moment adjusted to disturbance step-length: △ V
k+1=-sign (△ V
k) × △ V
0, and entering step (7), this operation, in order to accelerate extreme power point search speed when transmission range is suddenlyd change, reduces search time.Wherein △ I
setfor the current fluctuation threshold values of setting, generally get 1/10, sign (Δ V of rated charge stream
k) represent and get Δ V
ksign symbol operates.If | i
batt(k)-i
batt(k-1) |≤△ I
set, then current i is described
battwithout big ups and downs, without the need to increasing step-length voltage regulating amplitude.Then enter into next step.
(6) now judge that whether disturbance step-length amplitude is enough little further, if | △ V
k|≤△ V
min, illustrate that step-length voltage regulating amplitude is reduced to minimum value, minimally disturbance step-length is also reverse, △ V
k+1=-sign (△ V
k) × △ V
min; Otherwise disturbance step delta V
kreduce by half and change perturbation direction, be i.e. Δ V
k+1=-Δ V
k/ 2.And enter step (7);
(7) at control cycle T
sfinish time, regulate rectification V
d2(k+1)=V (k)+Δ V
k+1; Be back to step (2) and enter next control cycle;
(8) firm power tracking and controlling method obtains the control reference value V of commutating voltage above
ref, voltage sampling circuit obtains commutating voltage instantaneous value V
d2.Then PI voltage regulator controllers is according to given control reference value V
refand V
d2the deviation of sampled value, carries out proportional integral adjustment, the switching tube drive singal of regulation and control DC/DC converter, thus regulation and control rectifying port voltage V
d2by given control reference value V
ref, real-time tracking is on transmission voltage gain point corresponding to extreme power point.
For further illustrating invariable power tracing control mechanism of the present invention, citing below provides circuit typical case design parameter.Suppose that the basic parameter of power coil is: transmitting coil inductance is L
1=87uH, receiving coil inductance is L
2the effective range of=63uH, coupling coefficient k is (0.1,0.2).System input direct voltage V
d1for 200Vdc, cell load terminal voltage is V
batt=80Vdc.System transfers power rating is set as 500W.Set former limit reverse frequency f
0=200kHz.The T-shaped compensating network parameter in former limit is: Z
cm1for 35nF electric capacity, Z
cm2for 11nF electric capacity, Z
cm3for 10.7nF electric capacity, secondary series compensation capacitance is C
2=10.12nF.Then under different coupling coefficient k through-put power with commutating voltage V
d2(namely voltage gain G
v=V
d2/ V
d1) variation tendency as shown in Figure 4.As can be seen from Figure, the commutating voltage V that under different k, power extreme point is corresponding
d2difference, but extreme point performance number is all constant under any k, as long as DC/DC converter is by V
d2be adjusted on power extreme point corresponding to corresponding k, then through-put power will keep invariable, thus in dynamic process, realize power stability transmission.Set V in addition
d2following range is (60V, 120V), then when coupling coefficient k is when setting in effective range, then can real-time tracking on power extreme point, realize firm power transmission, if k is less than setting range, system can not trace into power extreme point, then secondary stops received power automatically, avoids the too small system works that causes of coupling coefficient k in comparatively low transmission efficient state.
DC/DC converter adopts BuckBoost converter as shown in Figure 6 in an embodiment, and D is switching tube duty ratio, then converter voltage no-load voltage ratio m=D/ (1-D).Due to cell load terminal voltage V
battalmost constant, then by-pass cock pipe duty ratio D and adjustable commutating voltage V
d2.
Basic control method is as shown in flow chart 5.In the kth moment, to charging current i
battamplitude is sampled to obtain i
battk (), compares i
battthe i in (k) and a upper moment
batt(k-1) size.Work as i
battelectric current increases, then keep commutating voltage V
d2change direction is constant; Work as i
battreducing, then illustrate and search an extreme point position, then reduce the disturbance step delta V of commutating voltage, and change perturbation direction, until step-length amplitude | Δ V| is reduced to minimal disturbances step delta V
min, shake among a small circle, thus reduce the fluctuation of output current, make the circuit moment trace into voltage gain G corresponding to power extreme point
vswing near point.
Simulation waveform (Fig. 7,8,9) in conjunction with the embodiments illustrates that the basic controlling process of this method is as follows:
Fig. 7 is the time dependent waveform of coupling coefficient k of setting, arranges k=0.18 in the t=0-150ms time period, t=150ms moment coupling coefficient k then saltus step be smaller value 0.12, t=250ms moment coupling coefficient k then saltus step return original value 0.18.
Fig. 8 is commutating voltage V
d2change waveform in time, initial time, voltage disturbance step-length is Δ V=25V to the maximum, when searching charging current i
battafter first flex point, voltage disturbance direction changes step-length and reduces by half, until three times search flex point, step-length is decreased to minimal disturbances step delta V
min, then the voltage gain G that power output extreme point is corresponding is searched out
vpoint.As t=150ms, charging current is suddenlyd change, and controller is again with maximum step delta V=20V disturbance commutating voltage V
d2, start again to search extreme power point, equally through repeatedly searching inflection point, search out new extreme power point.When as t=250ms, charging current is suddenlyd change again, and firm power tracing process is opened again, finally searches out extreme power point.
Fig. 9 is charging current i
battchange waveform in time, contrast Fig. 7 and Fig. 9, as long as illustrate that k is in effective range, no matter what value k gets, and by firm power tracking and controlling method, always searches extreme power point, makes system with specified power delivery and stablize constant.Therefore control method of the present invention is under transmission range situation of change, can ensure that through-put power is stable and export, and is suitable for electric automobile dynamic radio charging occasion.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. for realizing a system for dynamic radio constant power charge, it is characterized in that, comprising the energy transmitter module, energy acceptance module and the firm power tracing control module that connect successively;
Described energy transmitter module is used for the DC power supply of reception to be converted to electric energy and the mode be coupled by high frequency magnetic field is launched;
Described energy acceptance module is for receiving described electric energy and supply load;
Described firm power tracing control module is used for obtaining with reference to control signal V according to the charging current of Real-time Collection
ref, and by rectifying port voltage V
d2be adjusted to described with reference to control signal V
ref, real-time tracking, on transmission voltage gain point corresponding to power extreme point, realizes firm power tracing control.
2. the system as claimed in claim 1, it is characterized in that, described energy transmitter module comprise connect successively high-frequency inversion unit (2), LC filter unit (3), former limit compensating unit (4) and power transmit coils (5);
The straight voltage V of described high-frequency inversion unit (2) for inputting outside
d1inversion is fixed f frequently
0voltage square wave V
ab, described LC filter unit (3) is for high frequency voltage square wave V described in filtering
abin harmonic components, described power transmit coils (5) launches electric energy for the mode be coupled according to high frequency magnetic field by the high frequency voltage square wave after after filtering; Described former limit compensating unit (4), for regulating the electric current of described power transmit coils (5), reduces the fluctuation of through-put power with offset distance.
3. system as claimed in claim 2, it is characterized in that, described former limit compensating unit (4) comprises the first building-out capacitor, the second building-out capacitor and the 3rd building-out capacitor;
Described first building-out capacitor and the 3rd building-out capacitor are connected in series, the non-series connection end of described first building-out capacitor is connected with the output of described LC filter unit (3), and the non-series connection end of described 3rd building-out capacitor is used for the one end being connected to described power transmit coils (5);
Being connected in series to hold of one end of described second building-out capacitor and described first building-out capacitor and the 3rd building-out capacitor is connected, and the other end of described second building-out capacitor is used for the other end being connected to described power transmit coils (5).
4. device as claimed in claim 2 or claim 3, it is characterized in that, the capacitance of described first building-out capacitor, the second building-out capacitor and the 3rd building-out capacitor is respectively C
cmi=1/ [| Z
cmi| × (2 π f
0)]; Reactance value is respectively:
Wherein, i is the sequence number of building-out capacitor, i=1,2,3; f
0for system operating frequency; γ
1be the first penalty coefficient, κ is the second penalty coefficient, β is compensating proportion coefficient, Z
l1for the reactance of power transmit coils, Z
cm1be the reactance value of the first building-out capacitor, Z
cm2be the reactance value of the second building-out capacitor, Z
cm3it is the reactance value of the 3rd building-out capacitor.
5. the system as claimed in claim 1, it is characterized in that, described energy acceptance module comprises the power receiving coil (6), the secondary compensating unit (7) that connect successively, uncontrollable rectifier unit (8) and DC/DC converter (9);
The electric energy that described power receiving coil (6) is launched for receiving described power transmit coils (5); Described secondary compensating unit (7), for compensating the leakage inductance of described power receiving coil (6), makes only to transmit active power between described power transmit coils (5) and described power receiving coil (6); Described uncontrollable rectifier unit (8) is for being direct current by the high-frequency ac electric rectification of reception and exporting; Supply load after power adjustments is carried out in the output of described DC/DC converter (9) to described uncontrollable rectifier unit (8).
6. system as claimed in claim 5, is characterized in that, the free-running frequency f of described secondary compensating unit (7)
reswith former limit reverse frequency f
0identical;
Wherein,
c
2for the capacitance of resonant capacitance in described secondary compensating unit; L
2for the inductance value of described power receiving coil.
7. the system as described in any one of claim 1-6, is characterized in that, described firm power tracing control module comprises current sampling circuit, firm power tracking control unit, direct voltage sample circuit, PI voltage regulator controllers and switch tube driving circuit;
The charging current currency i that described current sampling circuit exports for gathering secondary
batt(k); Described firm power tracking control unit is used for processing the sampled value of secondary charging current and exports the reference control signal V of commutating voltage
ref, direct voltage sample circuit is for gathering the input direct voltage V of described DC/DC converter (9)
d2; Described PI voltage regulator controllers is used for according to described with reference to control signal V
refwith described sampled value V
d2k () obtains deviation between the two, and regulate and control the duty cycle control signal of described DC/DC converter (9) according to described deviation, and by rectifying port voltage V
d2be adjusted to reference to control signal V
ref, real-time tracking, on transmission voltage gain point corresponding to power extreme point, realizes firm power tracing control; Switch tube driving circuit is used for the break-make controlling described DC/DC converter (9) breaker in middle pipe according to described duty cycle control signal.
8. for realizing a control method for the system of dynamic radio constant power charge, it is characterized in that, comprising the steps:
S1: at each control cycle T
sinitial time, to DC/DC converter export charging current i
battamplitude sample, obtain charging current i
battcurrency i
batt(k), and the sampled value i preserving the charging current of last control cycle
batt(k-1); And to commutating voltage V
d2sample, obtain current commutating voltage sampling quantity V
d2(k);
S2: judge commutating voltage sampling quantity V
d2k whether () be at (V
min, V
max) in, if so, then proceed to step S3; If not, then commutating voltage V is made
d2disturbance step-length reverse, i.e. Δ V
k+1=-Δ V
k, and enter into step S6;
Wherein, V
minfor the preset lower limit of commutating voltage, V
maxfor the higher limit of commutating voltage, Δ V
kfor the disturbance step-length of the commutating voltage of current control period, generally its initial value is set to (V
max+ V
min)/10, Δ V
k+1for the disturbance step-length of the commutating voltage of next control cycle;
S3: the sampled value i judging the charging current of current control period
battk whether () be greater than the sampled value i of the charging current of last control cycle
batt(k-1) the disturbance step delta V of commutating voltage, is if so, then made
kremain unchanged, i.e. Δ V
k+1=Δ V
k, and enter step S6; If not, then step S4 is proceeded to;
S4: judge | i
batt(k)-i
batt(k-1) | > △ I
set, if so, then the disturbance step-length of commutating voltage is become △ V
k+1=-sign (△ V
k) × △ V
0/ 2, and enter step S6, if not, then proceed to step S5;
Wherein, △ I
setfor the current fluctuation threshold values of setting, Δ V
0for initial disturbance step-length, be set to (V
max-V
min)/20, sign (Δ V
k) represent and get Δ V
ksign symbol operates;
S5: judge | △ V
k|≤△ V
min, if so, then minimally disturbance step-length is also reverse, △ V
k+1=-sign (△ V
k) × △ V
min; If not, then disturbance step delta V
kreduce by half and change perturbation direction, be i.e. Δ V
k+1=-Δ V
k/ 2, and proceed to step S6;
Wherein, Δ V
minfor minimal disturbances step-length;
S6: at control cycle T
sfinish time, export reference control value V
ref=V (k)+Δ V
k+1; Be back to step S1 and enter next control cycle.
9. control method as claimed in claim 8, it is characterized in that, PI voltage regulator controllers is according to described reference control value V
refwith rectifying port direct voltage sampled value V
d2between deviation, carry out proportional integral adjustment, control DC/DC converter, and by rectifying port voltage V
d2be adjusted to described reference control value V
ref, real-time tracking, on transmission voltage gain point corresponding to extreme power point, realizes firm power tracing control.
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