CN105245025B - A kind of system and its control method for realizing dynamic radio constant power charge - Google Patents
A kind of system and its control method for realizing dynamic radio constant power charge Download PDFInfo
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Abstract
The present invention provides a kind of circuit system and its control method for realizing dynamic radio constant power charge, and system includes energy transmitting module, energy acceptance module and firm power tracing control module；Energy transmitting module is used to primary side DC power supply being converted to high-frequency ac electric energy and be emitted by way of high frequency magnetic field coupling；Energy acceptance module is for receiving electric energy and supplying load；Firm power tracing control module is used for according to the charging current acquisition acquired in real time with reference to control signal, and rectifying port voltage is adjusted to reference to control signal, realization firm power tracing control.The present invention exports DC current as feedback quantity using the DC/DC converters on secondary side, using the firm power tracking and controlling method based on perturbation observation method, disturb uncontrollable rectifier end DC voltage, so that the transmission voltage gain from primary side to secondary side always works on the corresponding voltage gain point of transimission power extreme point, to which real-time ensuring system transmits electric energy with firm power, stable output power is kept.
Description
Technical field
The invention belongs to wireless power transmission technical field, it is related to for realizing the system of dynamic radio constant power charge
And its control method, it is suitable for the dynamic radio charging application scenario of electric vehicle.
Background technology
In recent years, wireless power transmission technology (Wireless Power Transmission, WPT) achieves hair at full speed
Exhibition, especially the wireless power transmission technology of magnetic coupling mode.This mode passes through the high-frequency alternating magnetic field coupling between power dispatch coil
It closes and transmits energy.Magnetic coupling wireless power transmission technology is in low power portable electronic device, such as mobile phone, pacemaker
Deng being applied successfully.Another important application occasion of magnetic coupling wireless power transmission technology is exactly to electric vehicle
(Electric Vehicle, EV) wireless charging.With further increasing for transimission power and efficiency, static wireless charging has can
Traditional conduction-type charging modes can be replaced in not far future.Electric vehicle encounters power battery during introducing to the market
The problem for the primary charging mileage travelled deficiency and charging hardly possible that bottleneck is brought.
In order to further solve electric automobile power battery bottleneck, dynamic radio charging scheme is proposed again.Early in
The confirmatory items of Roadway Inductively powered EV just did in 1970s ages, Univ California-Berkeley
Mesh, but since the limitation of power electronic technique does not succeed.Dynamic radio charging scheme is as shown in Figure 2：Imagine in runway
Under road be laid with transmitting coil chain, automobile chassis be equipped with receiving coil and its receiving circuit, vehicle-mounted receiving coil successively with road surface
Under transmitting coil effect, by high frequency magnetic field be coupled to traveling in electric vehicle uninterruptedly charge, reduce to power battery
Dependence, to effectively extending mileage travelled.
Dynamic radio charges application scenario requirement WPT system with wider effective deviation range, that is, ensures former secondary side work(
When the Mutual Inductance Coupling coefficient of rate coil changes in a certain range, transimission power cannot change and significantly wave with offset distance
It is dynamic, but to keep stablizing transmission state.Due to the local supplied character of dynamic radio charging, only there are one transmittings for synchronization
Coil and the effect of intercoupling of vehicle-mounted receiving coil, action time are of short duration.Therefore in this case, charging requirement should be with
Static wireless charging is different.Static wireless charging needs to realize the complete charging process from constant current to constant pressure.And dynamic radio fills
When electric, vehicle-mounted load is working, in order to ensure supply load and there are certain energy storage surplus and realize economic benefit maximum
Change, dynamic radio charging system answers the moment to work with nominal transmission power.Former and deputy side circuit answers independent control, secondary side completion pair
The regulation and control of power are received, and primary side power supply only requires rapid starting/stopping and can there is over-current over-voltage protection, is controlled to simplify system
Strategy.Therefore the ability that system has anti-offset and firm power dynamic tracking is needed in dynamic radio charging occasion.
However current wireless charging system is concentrated mainly on static wireless charging using upper, system can only static and
Power stability transmission is realized in the case of former and deputy side communication.When dynamic radio charge occasion in power receiving coil relative to
Transmitting coil fast moves, it is possible to larger offset occurs, the degree of coupling of dispatch coil is quickly changing.
Existing wireless charging system does not have since it is for the opposing stationary situation design of dispatch coil to dynamic
The capability of fast response of offset, when dispatch coil degree of coupling quickly changes, then either control mode or system itself
Operating point can not be all corrected in time, causes its working condition that can deviate original set point, to lose automatic adjustment transimission power
Ability.
Invention content
In view of the drawbacks of the prior art, the purpose of the present invention is to provide one kind fills for realizing dynamic radio firm power
The system of electricity, it is intended to solve in causing dynamic radio to charge due to the capability of fast response deficiency to dynamic deflection in the prior art
The problem of transimission power fluctuates.
The present invention provides a kind of systems for realizing dynamic radio constant power charge, including sequentially connected energy
Transmitting module, energy acceptance module and firm power tracing control module；The energy transmitting module is used for primary side direct current
Source is converted to high-frequency ac electric energy and is emitted by way of high frequency magnetic field coupling；The energy acceptance module is described for receiving
Electric energy simultaneously supplies load；The firm power tracing control module is used to be obtained with reference to control according to the charging current acquired in real time
Signal Vref, and by rectifying port voltage Vd2It is adjusted to described with reference to control signal Vref, real-time tracking to power extreme point correspondence
Transmission voltage gain point on, realize firm power tracing control.
Further, energy transmitting module includes sequentially connected high-frequency inversion unit, LC filter units, primary side compensation
Unit and power emission coil；High-frequency inversion unit is used for externally input straight voltage Vd1Inversion is to determine frequency f0Voltage square wave
Vab, the LC filter units are for filtering out the high frequency voltage square wave VabIn harmonic components, power emission coil is for will be through
It crosses filtered high frequency voltage square wave and emits electric energy in such a way that high frequency magnetic field couples；Primary side compensating unit is used for the work(
The electric current of rate transmitting coil is adjusted, and reduces fluctuation of the transimission power with offset distance.
Further, primary side compensating unit includes the first compensating electric capacity, the second compensating electric capacity and third compensating electric capacity；Institute
It states the first compensating electric capacity and third compensating electric capacity is connected in series with, the non-series connection end of first compensating electric capacity and LC filtering are single
The output end connection of member, the non-series connection end of the third compensating electric capacity are used to be connected to one end of the power emission coil；Institute
The one end and the end that is connected in series with of first compensating electric capacity and third compensating electric capacity for stating the second compensating electric capacity connect, and described second
The other end of compensating electric capacity is used to be connected to the other end of the power emission coil.
Further, energy acceptance module includes sequentially connected power receiving coil, secondary side compensating unit, is not controlled whole
Flow unit and DC/DC converters；Power receiving coil is used to receive the electric energy of the power emission coil transmissions；Secondary side compensation is single
Leakage inductance of the member for compensating power receiving coil so that wattful power is only transmitted between power emission coil and power receiving coil
Rate；The uncontrollable rectifier unit, which is used for, to be direct current by the high-frequency ac electric rectification of reception and exports；DC/DC converters to it is described not
The output for controlling rectification unit carries out supply load after power regulation.
Further, the free-running frequency f of the secondary side compensating unitresWith primary side reverse frequency f0It is identical；Its
In,C2For the capacitance of resonant capacitance in the secondary side compensating unit；L2For the power receiving coil
Inductance value.
Further, the firm power tracing control module includes current sampling circuit, firm power tracing control
Device, DC voltage sample circuit, PI voltage regulator controllers and switch tube driving circuit；The current sampling circuit is for acquiring secondary side
The charging current current value i of outputbatt(k)；The firm power tracking control unit is used for the sampled value to secondary side charging current
Handled and exported the reference control signal V of rectified voltageref, DC voltage sample circuit is for acquiring the DC/DC transformation
The input terminal DC voltage V of device (9)d2；The PI voltage regulator controllers are used for according to described with reference to control signal VrefWith the sampling
Value Vd2(k) deviation between the two is obtained, and regulates and controls the Duty ratio control letter of the DC/DC converters (9) according to the deviation
Number, and by rectifying port voltage Vd2It is adjusted to reference to control signal Vref, real-time tracking to the corresponding transmission voltage of power extreme point
On gain point, firm power tracing control is realized；Switch tube driving circuit is used to control institute according to the duty cycle control signal
State the break-make of switching tube in DC/DC converters (9).
The present invention also provides a kind of control methods of the system for realizing dynamic radio constant power charge, including under
State step：
S1：In each controlling cycle TsInitial time, to DC/DC converters output charging current ibattAmplitude into
Row sampling, obtains charging current ibattCurrent value ibatt(k), and preserve last controlling cycle charging current sampled value
ibatt(k-1)；And to rectified voltage Vd2It is sampled, obtains current rectified voltage sampling quantity Vd2(k)；
S2：Judge rectified voltage sampling quantity Vd2(k) whether in (Vmin, Vmax) in, if so, being transferred to step S3；If it is not, then
Make rectified voltage Vd2Disturbance step-length it is reversed, i.e. Δ Vk+1=-Δ Vk, and enter step S6；
Wherein, VminFor the preset lower limit of rectified voltage, VmaxFor the upper limit value of rectified voltage, Δ VkCurrently to control week
The disturbance step-length of the rectified voltage of phase, its general initial value are set as (Vmax+Vmin)/10, Δ Vk+1For next controlling cycle
The disturbance step-length of rectified voltage；
As an embodiment of the present invention, rectified voltage V can be obtained according to theoretical calculation or experiment detectiond2It is adjustable
Adjusting range, such as adjusted open loop DC/DC converter duty ratios change rectified voltage Vd2, work as Vd2Work(is transmitted when being reduced to certain value
Rate is decreased obviously, this value is set as Vmin, work as Vd2Transimission power is decreased obviously when increasing to certain value, this value is set as Vmax。
S3：Judge the sampled value i of the charging current of current control periodbatt(k) whether it is more than filling for last controlling cycle
The sampled value i of electric currentbatt(k-1), if so, so that the disturbance step delta V of rectified voltagekIt remains unchanged, i.e. Δ Vk+1=Δ
Vk, and enter step S6；If it is not, being then transferred to step S4；
S4：Judge | ibatt(k)-ibatt(k-1)|>△Iset, if so, the disturbance step-length of rectified voltage is become △ Vk+1
=-sign (△ Vk)×△V0/ 2, and S6 is entered step, if it is not, being then transferred to step S5；
Wherein, △ IsetFor the current fluctuation threshold values of setting, value shows that acute variation moment pair has occurred in transmission range
The charging current i answeredbattVariable quantity generally takes the 1/10 of specified charging current, Δ V0For initial disturbance step-length, it is set as (Vmax-
Vmin)/20, sign (Δ Vk) indicate to take Δ VkSign symbol operates；
S5：Judge | △ Vk|≤△Vmin, if so, keeping minimal disturbances step-length and reversed, △ Vk+1=-sign (△ Vk)
×△Vmin；If it is not, then disturbing step delta VkHalve and change perturbation direction, i.e. Δ Vk+1=-Δ Vk/ 2, and it is transferred to step S6；
Wherein, Δ VminFor minimal disturbances step-length, it is traditionally arranged to be initial disturbance step delta V01/4；
S6：In controlling cycle TsFinish time, output reference control value Vref=V (k)+Δ Vk+1；It is back to step S1 simultaneously
Into next controlling cycle.
Further, PI voltage regulator controllers are according to the reference control value VrefWith rectifying port DC voltage sampled value
Vd2Between deviation, carry out proportional integration adjusting, control DC/DC converters, and by rectifying port voltage Vd2It is adjusted to the ginseng
Examine controlling value Vref, on real-time tracking to the corresponding transmission voltage gain point of extreme power point, realize firm power tracing control.
The present invention exports DC current as feedback quantity, using the perseverance based on perturbation observation method using the DC/DC converters on secondary side
Determine power tracking control method, disturbance uncontrollable rectifier end DC voltage so that the transmission voltage gain from primary side to secondary side is always
It is operated on the corresponding voltage gain point of transimission power extreme point, to which real-time ensuring system transmits electric energy with firm power, protects
Hold stable output power.Present invention eliminates the requirements of former secondary side real-time Communication for Power, and secondary side independently regulates and controls, and ensures effective
It is transmitted with rated power in deviation range, and except effective deviation range, then secondary side is automatically stopped reception electric energy, is suitable for width
The dynamic radio power transmission application occasion of deviation range.
The invention has the advantages that：
(1) former secondary side need not be communicated.The fixed frequency of primary circuit works, and only regulates and controls transimission power completely on secondary side,
It only needs to sample secondary side information about power, real-time tracking power extreme point.Control method is simple, is more suitable for dynamic radio charging field
It closes.
In dynamic radio charging occasion, some transmitting coil and vehicle-mounted coil action time are of short duration, and with random
Property, therefore former secondary side is correctly matched, real-time Communication for Power is difficult.And secondary side control methods is used to completely avoid the requirement communicated, electricity
Electrical automobile real-time reception system can transmit constant rated power, improve equipment and the utilization rate of charging road so that warp
Ji maximizing the benefits.
(2) sampling quantity needed for control method is pair side rectified voltage Vd2With charging current ibatt, they are DC quantity, inspection
It is relatively easy to survey hardware.
(3) within the scope of certain transmission deviation, in the case where significantly reducing efficiency, output power can be kept basic
It is constant, it is not influenced substantially by transmission deviation distance.
Description of the drawings
Fig. 1 is the circuit diagram of the system provided in an embodiment of the present invention for realizing dynamic radio constant power charge；
Fig. 2 is electric vehicle dynamic radio charging scheme schematic diagram provided in an embodiment of the present invention；
Fig. 3 is provided in an embodiment of the present invention in different penalty coefficient γ1The power transmission of lower primary side T-type compensation network because
Sub- g (γ1, x) and with the change curve of independent variable x；
Fig. 4 is under different coefficient of coup k provided in an embodiment of the present invention, and transimission power is with rectifying port voltage Vd2Variation
Curve；
Fig. 5 is firm power tracking and controlling method implementation flow chart provided in an embodiment of the present invention；
Fig. 6 is secondary circuit topology diagram provided in an embodiment of the present invention；
Fig. 7 is the coefficient of coup k change curve schematic diagrames of emulation setting；
Fig. 8 is rectified voltage Vd2Perturbation process schematic diagram；
Fig. 9 is battery charge ibattWaveform diagram.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention considers the specific demand of dynamic radio charging application scenario, to existing wireless charging system and controlling party
Method is further improved, it is made to meet the invariable power requirement of dynamic radio charging and stronger anti-excursion capability.Specifically,
The present invention is directed to dynamic radio invariable power charging requirement, it is proposed that a kind of system for realizing dynamic radio constant power charge
And its control method, the anti-excursion capability and dynamic response capability of system can be improved, by existing state type wireless charging system
It is generalized to electric vehicle dynamic radio charging application scenario.
Fig. 1 shows the circuit knot of the system provided in an embodiment of the present invention for realizing dynamic radio constant power charge
Structure, for convenience of description, illustrate only with the relevant part of the embodiment of the present invention, details are as follows：
It is inverse using magnetic coupling type wireless power transmission technology, including high frequency for realizing the system of dynamic radio constant power charge
Become unit 2, LC filter units 3, primary side compensating unit 4, power emission coil 5, power receiving coil 6, secondary side compensating unit 7,
Uncontrollable rectifier unit 8, DC/DC converters 9 and firm power tracing control module 10；The input terminal of high-frequency inversion unit 2 is used for
Connect DC power supply 1, the straight voltage V of the stabilization for providing DC power supply 1d1Inversion is to determine frequency f0Voltage square wave Vab；LC is filtered
Wave unit 3 is connected between the inverter bridge output ports a and primary side compensating unit 4；The output end of primary side compensating unit 4 is connected to original
The transmission power coil 5 on side；The output end of secondary side compensating unit 7 is connected to the input terminal of uncontrollable rectifier unit 8, uncontrollable rectifier list
The output end of member 8 is used to connect the input terminal of DC/DC converters 9；The output end of DC/DC converters 9 is for connecting cell load
11；The input terminal of firm power tracing control module 10 is connected to the output current i of DC/DC converters 9battFeedback end and input
DC voltage Vd2The output end of feedback end, firm power tracing control module 10 is connected to the control of DC/DC power converter cells 9
End；Firm power tracing control module 10 is used to be obtained with reference to control signal according to the charging current that acquires in real time, and by rectification
Port voltage is adjusted to, with reference to control signal, to realize firm power tracing control.
Wherein, LC filter units 3 include the inductance L being connected in series withfWith capacitance Cf；The wherein series resonance of LC filter units 3
Frequency point is primary side reverse frequency f0, that is, meet CfLf=1/ (2 π f0)2, then the impedance of LC filter units 3 is approximately zero, is not changed
Become the power regulation characteristic of primary side compensating unit 4.LC filter units 3 are used to filter out the harmonic components of high frequency voltage square wave, reduce
Influence of the harmonic wave to system.
Primary side compensating unit 4 includes by series-parallel first compensating element, Z successivelycm1, the second compensating element, Zcm2And third
Compensating element, Zcm3The T-type structure of formation；Its function is to automatically regulate transmitting according to the Mutual Inductance Coupling situation of transmitting-receiving power coil
Coil current, gentle transimission power with offset distance fluctuation.When coupling distance increases, and Mutual Inductance Coupling coefficient k reduces, primary side
T-type compensating unit 4 can then be automatically increased the electric current for flowing into transmission power coil according to the variation tendency of mapping impedance, to avoid
The problem of transimission power increases with coupling distance and drastically declines.
Power emission coil 5 is coupled with power receiving coil 6 by high frequency magnetic field, and electric energy is transmitted to secondary side from primary side.
The secondary resonant capacitance C when compensating unit 7 includes secondary2, it is connected in series with power receiving coil 6, free harmonic vibration frequency
RateWith primary side reverse frequency f0Keep identical.
Wherein, DC/DC converters 9 can be that the DC/DC transformation of the conventional electric powers electronics such as Buck, Boost, BuckBoost is opened up
It flutters, is not limited to put forward converter type, major function is to adjust input terminal voltage Vd2, to adjust, from primary side to be input to secondary side whole
Stream output DC voltage gain GV=Vd2/Vd1, realize the regulation and control of transimission power.It should be noted that DC/DC of the present invention becomes
Parallel operation is not limited to above-mentioned carried DC/DC transformation topologies, as long as the DC/DC transformation topologies for playing the role of pressure regulation are applicable.
Wherein, firm power tracing control module 10 includes sequentially connected current sampling circuit, firm power tracking control
Device processed, DC voltage sample circuit, PI voltage regulator controllers and switch tube driving circuit；Current sampling circuit is defeated for acquiring secondary side
Go out charging current current value ibatt(k)；Firm power tracking control unit be used for the sampled value of primary current carry out processing and it is defeated
Go out the reference control signal V of rectified voltageref, DC voltage sample circuit is for the input terminal direct current to DC/DC power converter cells
Voltage Vd2Sampling；PI voltage regulator controllers are for comparison reference control signal VrefWith sampled value Vd2(k) deviation simultaneously regulates and controls DC/DC
The duty cycle signals of converter, to regulate and control rectifying port voltage Vd2To be given control reference value Vref, real-time tracking to power
On the corresponding transmission voltage gain point of extreme point, firm power tracing control is realized.Switch tube driving circuit is used for according to duty
Than controlling Signal-controlled switch pipe break-make.
Primary side compensating unit 4 provided in an embodiment of the present invention has anti-excursion capability；Have the characteristics that following several：(1) T-type
Compensation network unit 4 is by three resonance compensation element Zcm1、Zcm2、Zcm3Composition.Compensating element, is with high q-factor, the low damage of high frequency
The reactance component of consumption feature.The connection type of (2) three compensating element,s is string and-T-type of going here and there：Third compensating element, Zcm3With primary side
Transmitting coil L1A series arm in series, the second compensating element, Zcm2With by Zcm3、L1The branch circuit parallel connection of composition, one end
It is connected to third compensating element, Zcm302 end, the other end is connected to primary side transmitting coil L104 end；First compensating element,
Zcm1With by Zcm2、Zcm3、L1The branch of composition is connected, one end with by Lf、Cf01 end phase of the constituted LC filter units 3 of series connection
Connection, the other end 02 are three compensating element, Zcm1、Zcm2、Zcm3Common node.(3) it is mended with T-type in the inverter bridge output ports a
Addition is by L between repaying topology unit 4f、CfThe constituted LC filter units 3 of series connection.LfAnd CfIt is high q-factor reactance component, string
It is reverse frequency f to join resonant frequency point0, that is, meet CfLf=1/ (2 π f0)2, then the impedance of series filtering unit is approximately zero,
The power regulation characteristic of compensation network is not changed.
Define independent variable x=| 1+ β | k2Qload, wherein k is the Mutual Inductance Coupling coefficient for receiving and dispatching power coil, QloadFor secondary side
Band carries quality factor.Independent variable x contains Mutual Inductance Coupling coefficient k and load QloadVariation is to mapping impedance ZrInfluence.Due to
The variation of transmission deviation distance shows as the fluctuation of Mutual Inductance Coupling coefficient k, therefore discusses that influences of the independent variable x to transimission power is available
To establish the theoretical model that transimission power changes with offset distance.
The parasitic drain for ignoring circuit, by Circuit theory model, being easy to get transimission power is：
Wherein g (γ1, x) and it is defined as power transmission factor, description transimission power PtranWith independent variable x=| 1+ β | k2QloadChange
Trend is changed, Fig. 3 is to set different penalty coefficient γ1In the case of transmission factor g (γ1, x) and bent with the variation of independent variable x
Line.As can be seen from Figure 3, it is characterized in that：g(γ1, x) and in xopt=γ1A little there is maximum g in thismax=1/ (2 γ1), and
It is relatively flat in the variation of this vicinity, therefore primary side T-type compensation network of the present invention is with anti-offset characteristic
This transmission feature is utilized, selected primary side T-type topology corresponds to transmission factor g (γ1, x) extreme point setting Mutual Inductance Coupling
It keeps stablizing output near coefficient k, when to ensure that transimission power changes in k value effective ranges.
Firm power tracking and controlling method is the power transfer characteristic based on primary side compensating unit in the present invention：System passes
Defeated power is with voltage gain GVThere are extreme points for change curve, and extreme value size is constant, shows constant output characteristic.Its theoretical base
Plinth is summarized as follows.Assuming that the voltage change ratio of DC-DC converter is m, that is, Vbatt=mVd2。
(1) due to battery terminal voltage VBattIt is basically unchanged, then DC-DC converter front voltage (namely rectified voltage) Vd2
Depending on no-load voltage ratio m；Vd2=VBatt/m
(2) from primary side direct current Vd1To secondary side rectification Vd2Voltage gain GVIt is known that also depending on no-load voltage ratio m.GV=Vd2/Vd1
=(VBatt/m)/Vd1
(3) cell load equivalent resistance depends on charging current iBatt, then have RBatt=VBatt/iBatt
(4) the equivalent load R looked over from rectifier bridge to DC-DC converter from directiond2Then depend on charging current iBatt
(battery equivalent resistance RBatt) and voltage change ratio m.Rd2=RBatt/m2
(4) transmission voltage gain GV=Vd2/Vd1Equivalent AC is then depended on to load
Then determine that battery eliminator load resistance is：
Due to battery terminal voltage VBattIt is basically unchanged, therefore transimission power PtranCurve and charging current ibattIn proportion.Institute
Stating theoretical model will be further elaborated in conjunction with specific embodiments below.
Firm power tracking and controlling method main thought in the present invention for dynamic radio charging is then that disturbance rectification is straight
Galvanic electricity presses Vd2, i.e. disturbance voltage gain GV, the corresponding G of fast searching extreme point power at current coefficient of coup kVSo that it is
The moment unite with extreme point power transmission energy, the rated value that transimission power is stable is so kept to appoint in k fluctuations.Its
Specific algorithm includes the following steps：
S1：In each controlling cycle TsInitial time, to DC/DC converters output charging current ibattAmplitude adopted
Sample obtains charging current ibattCurrent value ibatt(k), and preserve last controlling cycle charging current sampled value ibatt(k-
1)；V equally is sampled to rectified voltaged2, obtain present sample amount Vd2(k)
S2：Judge rectified voltage sampling quantity Vd2(k) whether in (Vmin, Vmax) in, if so, being transferred to step S3；If it is not, then
Rectified voltage Vd2Disturbance step-length it is reversed, i.e. Δ Vk+1=-Δ Vk, and enter step S6；
Wherein, VminFor the preset lower limit of rectified voltage, VmaxFor the upper limit value of rectified voltage, generally according to theoretical calculation
Or rectified voltage V at experiment detectiond2Adjustable extent, such as adjusted open loop DC/DC converter duty ratios change rectified voltage
Vd2, work as Vd2Transimission power is decreased obviously when being reduced to certain value, this value is set as Vmin, work as Vd2It is transmitted when increasing to certain value
Power is decreased obviously, this value is set as Vmax。ΔVkFor the disturbance step-length of the rectified voltage of this controlling cycle, general it is initial
Value is set as (Vmax+Vmin)/10, Δ Vk+1For the disturbance step-length of the rectified voltage of next controlling cycle；
S3：Judge the sampled value i of the charging current of current control periodbatt(k) whether it is more than filling for last controlling cycle
The sampled value i of electric currentbatt(k-1), if so, the disturbance step delta V of rectified voltagekIt remains unchanged, i.e. Δ Vk+1=Δ Vk, and
Enter step S6；If it is not, being then transferred to step S4；
S4：Judge | ibatt(k)-ibatt(k-1)|>△Iset, if so, the disturbance step-length of rectified voltage is become △ Vk+1
=-sign (△ Vk)×△V0/ 2, and S6 is entered step, if it is not, being then transferred to step S5；
Wherein, △ IsetFor the current fluctuation threshold values of setting, value shows that acute variation moment pair has occurred in transmission range
The charging current i answeredbattVariable quantity generally takes the 1/10 of specified charging current, Δ V0For initial disturbance step-length, it is set as (Vmax-
Vmin)/20, sign (Δ Vk) indicate to take Δ VkSign symbol operates；
S5：Judge | △ Vk|≤△Vmin, if so, keeping minimal disturbances step-length and reversed, △ Vk+1=-sign (△ Vk)
×△Vmin；If it is not, then disturbing step delta VkHalve and change perturbation direction, i.e. Δ Vk+1=-Δ Vk/ 2, and it is transferred to step S6；
Wherein, Δ VminFor minimal disturbances step-length, it is traditionally arranged to be initial disturbance step delta V01/4；
S6：In controlling cycle TsFinish time, output control reference value Vref=V (k)+Δ Vk+1, give PI Regulation Controls
Device；It is back to step S1 and enters next controlling cycle.
S7：The reference control value V that the PI voltage regulator controllers give according to front invariable power tracing control steprefWith it is whole
Flow port DC voltage sampled value Vd2Deviation, carry out proportional integration adjusting, control DC/DC converters, to regulate and control rectifier terminal
Mouth voltage Vd2To be given reference control value Vref, on real-time tracking to the corresponding transmission voltage gain point of extreme power point.
The anti-offset T-type compensation topology of primary side makes the transimission power of system have with voltage gain change curve in the present invention
Extreme value dot characteristics, and this extreme point performance number does not change with coupling condition and is changed.The present invention is defeated with secondary side DC/DC converters
The DC current i gone outbattFor feedback quantity, using the firm power tracking and controlling method based on perturbation observation method, automatic adjustment is not
Control rectifier terminal DC voltage Vd2So that the transmission voltage gain G from primary side to secondary sideVAlways work in transimission power extreme point pair
On the voltage gain point answered, to which real-time ensuring system transmits electric energy with constant rated power, stable output power is kept.By
Former secondary side real-time Communication for Power is not needed in control process, former pair side accomplishes just really to detach；Sample the inspection of DC current and DC voltage
Survey hardware is relatively easy, and control method is simple.Invention also reduces the regulation and control difficulty that WPT system adapts to dynamic environment, are not required to
Other detection devices are added, ensure to transmit with firm power in effective deviation range, and except effective deviation range,
Then secondary side is automatically stopped reception electric energy, is suitable for the dynamic radio power transmission application occasion of wide deviation range.
Compared with existing wireless charging circuit and its control method, the present invention has the following advantages：
(1) former secondary side need not be communicated.The fixed frequency of primary circuit works, and only regulates and controls transimission power completely on secondary side,
It only needs to sample secondary side information about power, real-time tracking power extreme point.Control method is simple, is more suitable for dynamic radio charging field
It closes.
In dynamic radio charging occasion, some transmitting coil and vehicle-mounted coil action time are of short duration, and with random
Property, therefore former secondary side is correctly matched, real-time Communication for Power is difficult.And secondary side control methods is used to completely avoid the requirement communicated, electricity
Electrical automobile real-time reception system can transmit constant rated power, improve utilization rate of equipment and installations so that maximization of economic benefit.
(2) sampling quantity needed for control method is pair side rectified voltage Vd2With charging current ibatt, they are DC quantity, inspection
It is relatively easy to survey hardware.
(3) within the scope of certain transmission deviation, in the case where significantly reducing efficiency, output power can be kept basic
It is constant, it is not influenced substantially by transmission deviation distance.
This point takes full advantage of the power transfer characteristic that primary side uses the T-type compensation network of anti-offset.Although extreme value
The corresponding voltage gain point of point power can change as transmission range, that is, Mutual Inductance Coupling coefficient k changes, but in power extreme value
On point, transimission power is always kept constant.
The present invention is directed to the shortcoming of existing wireless power transmission technology, it is proposed that and one kind not needing former and deputy side communication, but
The control method and circuit system of the identical power charging of dynamic radio based on the regulation and control of secondary side, solve in existing wireless power transmission circuit
Transimission power is easy with offset distance variation and the problem of big ups and downs, is suitable for electric vehicle dynamic radio and is charged occasion.
The circuit system that the present invention is based on uses magnetic coupling type wireless power transmission technology, includes mainly DC power supply, high frequency
Inversion unit, LC filter units, primary side T-type compensating unit, power emission coil, power receiving coil, secondary side compensating unit, no
Control rectification unit, DC/DC converters, power controller unit and cell load.High-frequency inversion unit, which generates, encourages entire circuit
High frequency voltage square wave, frequency is circuit work frequency f0.By the high-frequency coupling magnetic field of power dispatch coil, electric energy from
Primary side wireless transmission is to secondary side.When circuit system be fully compensated using the anti-offset T-type compensation topology of primary side, the series connection of secondary side it is topological,
Its power transfer characteristic is shown as：As adjusting voltage gain GVWhen, there are single peak point, and different coupled systemes in transimission power
Under number k, the corresponding voltage gain G of peak pointVDifference, but extreme point transimission power is held essentially constant, as shown in Figure 4.Such as
Fruit is by the voltage gain G of WPT systemVIt traces on extreme point, then transimission power does not change with coefficient of coup k, and is to maintain not
Become, there is anti-excursion capability.Therefore firm power tracking and controlling method provided in an embodiment of the present invention utilizes this transimission power
Extreme value dot characteristics, using DC/DC converter output currents ibattAs Rule of judgment, by voltage gain GVReal-time lock is in extreme value
On power points, to realize constant transmission power tracking.
The control method of dynamic radio invariable power charging provided in an embodiment of the present invention, comprises the following specific steps that：
(1) time step T is presetsThat is controlling cycle, initial disturbance step delta V0, minimal disturbances step delta Vmin, adjust
Pressure limits range (Vmin, Vmax), initial rectified voltage Vd2=V0。
Wherein initial disturbance step delta V0Generally take higher value, such as Vbatt1/5 so that the disturbance velocity of beginning is very fast,
Circuit can faster trace into extreme power point；Minimal disturbances step delta VminThen it is less than Δ V0, such as Vbatt1/20, ensure
After searching extreme power point, rectified voltage Vd2It is fluctuated in a small range, output current ibattAlso it is fluctuated in small range.
Wherein pressure regulation limits range (Vmin, Vmax) should include the coefficient of coup k Significant Change ranges (k setmin, kmax) in
All theoretical extreme power points.When circuit hardware design finishes, can be obtained from theoretical calculation or experiment disturbance test
Take minimum and maximum rectified voltage value.Initial rectified voltage Vd2=V0It is selected in (Vmin, Vmax) between any one point, generally set
Determine V0=(Vmax+Vmin)/2 start WPT system circuit, and stable state is entered after a period of time；
(2) in each controlling cycle TsInitial time, to DC/DC converter output currents ibattSampling obtains electric current ibatt
Current value ibatt(k), while the current sampling data i of last controlling cycle is preservedbatt(k-1)；
(3) judge rectified voltage Vd2(k) whether in (Vmin, Vmax) in.If voltage Vd2Not in (Vmin, Vmax) in range,
It is reversed then to disturb step-length, i.e. Δ Vk+1=-Δ Vk, and enter step (7).If Vmin<Vd2(k)<Vmax, then enter next step.
(4) judge charging current ibattVariation tendency.Work as ibatt(k)>ibatt(k-1) when, then step delta V is disturbedkIt keeps not
Become, i.e. Δ Vk+1=Δ Vk, and enter step (7)；Work as ibatt(k)<Ibatt(k-1) when, then enter next step.
(5) further judge charging current ibattWhether there is or not big ups and downs.If | ibatt(k)-ibatt(k-1)|>△Iset, then
Illustrate that acute variation has occurred in transmission range, is at this moment adjusted to disturbance step-length：△Vk+1=-sign (△ Vk)×△V0, go forward side by side
Enter step (7), this operation reduces search time to accelerate extreme power point search speed when transmission range is mutated.Wherein
△IsetFor the current fluctuation threshold values of setting, 1/10, sign (the Δ V of specified charging current are generally takenk) indicate to take Δ VkPositive and negative symbol
Number operation.If | ibatt(k)-ibatt(k-1)|≤△Iset, then illustrate electric current ibattWithout big ups and downs, no need to increase pressure regulation steps
Long amplitude.Then enter next step.
(6) further judge whether disturbance step-length amplitude is sufficiently small at this time, if | △ Vk|≤△Vmin, illustrate that pressure regulation walks
Long amplitude has been decreased to minimum value, keeps minimal disturbances step-length and reversed, △ Vk+1=-sign (△ Vk)×△Vmin；Otherwise
Disturb step delta VkHalve and change perturbation direction, i.e. Δ Vk+1=-Δ Vk/2.And enter step (7)；
(7) in controlling cycle TsFinish time adjusts rectification Vd2(k+1)=V (k)+Δ Vk+1；Step (2) is back to go forward side by side
Enter next controlling cycle；
(8) front firm power tracking and controlling method obtains the control reference value V of rectified voltageref, voltage sampling circuit obtains
To rectified voltage instantaneous value Vd2.Then PI voltage regulator controllers are according to given control reference value VrefAnd Vd2The deviation of sampled value carries out
Proportional integration is adjusted, and regulates and controls the switching tube drive signal of DC/DC converters, to regulate and control rectifying port voltage Vd2To be given control
Reference value V processedref, on real-time tracking to the corresponding transmission voltage gain point of extreme power point.
For the invariable power tracing control mechanism further illustrated the present invention, citing below provides circuit typical case's design parameter.
Assuming that the basic parameter of power coil is：Transmitting coil inductance is L1=87uH, receiving coil inductance are L2=63uH, coupled systemes
The effective range of number k is (0.1,0.2).System input direct-current voltage Vd1For 200Vdc, cell load terminal voltage is Vbatt=
80Vdc.System transimission power rated value is set as 500W.Set primary side reverse frequency f0=200kHz.Primary side T-type compensation network
Parameter is：Zcm1For 35nF capacitances, Zcm2For 11nF capacitances, Zcm3For 10.7nF capacitances, secondary side series compensation capacitance is C2=
10.12nF.Then at the different coefficient of coup k transimission power with rectified voltage Vd2(namely voltage gain GV=Vd2/Vd1) variation
Trend is as shown in Figure 4.It is seen that the corresponding rectified voltage V of power extreme point under difference kd2Difference, but extreme point work(
Rate value is all constant at any k, as long as DC/DC converters are by Vd2It adjusts on the corresponding power extreme point of corresponding k, then transmits
Power will keep constant it is constant, in dynamic process realize power stability transmission.In addition V is setd2Following range be (60V,
120V), then when coefficient of coup k is when setting in effective range, then firm power can be realized on real-time tracking to power extreme point
Transmission, if k is less than setting range, system will not trace into power extreme point, then secondary side is automatically stopped reception power, avoids coupling
Close that coefficient k is too small that system is caused to be operated in relatively low efficiency of transmission state.
It is switching tube duty ratio that DC/DC converters, which use BuckBoost converters as shown in FIG. 6, D, in embodiment,
Then converter voltage no-load voltage ratio m=D/ (1-D).Due to cell load terminal voltage VbattIt is almost unchanged, then regulating switch pipe duty ratio D
I.e. adjustable rectified voltage Vd2。
Basic control method is as shown in flow chart 5.At the kth moment, to charging current ibattAmplitude samples to obtain ibatt(k), than
Compared with ibatt(k) with the i of last momentbatt(k-1) size.Work as ibattElectric current increases, then keeps rectified voltage Vd2Change direction is not
Become；Work as ibattReduce, then explanation searches an extreme point position, then reduces the disturbance step delta V of rectified voltage, and change and disturb
Dynamic direction, until step-length amplitude | Δ V | it is reduced to minimal disturbances step delta Vmin, shaken in a small range, to reduce output electricity
The fluctuation of stream so that the circuit moment traces into the corresponding voltage gain G of power extreme pointVPoint is nearby swung.
Simulation waveform (Fig. 7,8,9) in conjunction with the embodiments illustrates that the basic control process of this method is as follows：
Fig. 7 is the waveform that the coefficient of coup k of setting is changed over time, and k=0.18 is arranged in the t=0-150ms periods,
Then saltus step is smaller value 0.12 to t=150ms moment coefficients of coup k, and in t=250ms moment coefficients of coup k, then original value is returned in saltus step
0.18。
Fig. 8 is rectified voltage Vd2Waveform, initial time are changed over time, voltage disturbance step-length is up to Δ V=25V, when
Search charging current ibattAfter first inflection point, voltage disturbance direction changes step-length and halves, until searching inflection point three times, walks
Length is decreased to minimal disturbances step delta Vmin, then the corresponding voltage gain G of output power extreme point is searched outVPoint.Work as t=150ms
When, charging current mutation, controller is again with maximum step-length Δ V=20V disturbance rectified voltages Vd2, start to search extreme value work(again
Rate point, also passes through multiple searching inflection point, searches out new extreme power point.When as t=250ms, charging current is dashed forward again
Become, firm power tracking process is again turned on, and finally searches out extreme power point.
Fig. 9 is charging current ibattWaveform, compares figure 7 and Fig. 9 are changed over time, as long as illustrating k in effective range, nothing
What value is taken always to search extreme power point so that system is with specified power by firm power tracking and controlling method by k
It transmits and stablizes constant.Therefore control method of the present invention can guarantee that transimission power stablizes output under transmission range situation of change,
It is suitable for electric vehicle dynamic radio charging occasion.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of system for realizing dynamic radio constant power charge, which is characterized in that sent out including sequentially connected energy
Penetrate module, energy acceptance module and firm power tracing control module；
The energy transmitting module is used to the DC power supply of reception being converted to electric energy and be sent out by way of high frequency magnetic field coupling
It penetrates；
The energy acceptance module is for receiving the electric energy and supplying load；
The firm power tracing control module is used to be obtained with reference to control signal V according to the charging current acquired in real timeref, and
By rectifying port voltage Vd2It is adjusted to described with reference to control signal Vref, real-time tracking to the corresponding transmission voltage of power extreme point
On gain point, firm power tracing control is realized；
The energy transmitting module includes sequentially connected high-frequency inversion unit (2), LC filter units (3), primary side compensating unit
(4) and power emission coil (5)；
The high-frequency inversion unit (2) is used for externally input straight voltage Vd1Inversion is to determine frequency f0Voltage square wave Vab, the LC
Filter unit (3) is for filtering out the high frequency voltage square wave VabIn harmonic components, the power emission coil (5) is for will be through
It crosses filtered high frequency voltage square wave and emits electric energy in such a way that high frequency magnetic field couples；The primary side compensating unit (4) is used for
The electric current of the power emission coil (5) is adjusted, fluctuation of the transimission power with offset distance is reduced；
The primary side compensating unit (4) includes the first compensating electric capacity, the second compensating electric capacity and third compensating electric capacity；
First compensating electric capacity and third compensating electric capacity are connected in series with, non-series connection end and the LC of first compensating electric capacity
The output end of filter unit (3) connects, and the non-series connection end of the third compensating electric capacity is for being connected to the power emission coil
(5) one end；
One end of second compensating electric capacity and the end that is connected in series with of first compensating electric capacity and third compensating electric capacity connect, institute
The other end for stating the second compensating electric capacity is used to be connected to the other end of the power emission coil (5)；
The capacitance of first compensating electric capacity, the second compensating electric capacity and third compensating electric capacity is respectively Ccmi=1/ [| Zcmi|×(2π
f0)]；Reactance value is respectively：Wherein, i is the serial number of compensating electric capacity, i=1,2,3；f0To be
System working frequency；γ 1 is the first penalty coefficient, κ is the second penalty coefficient, and β is compensating proportion coefficient, ZL1For power emission coil
Reactance, Zcm1For the reactance value of the first compensating electric capacity, Zcm2For the reactance value of the second compensating electric capacity, Zcm3For third compensating electric capacity
Reactance value.
2. the system as claimed in claim 1, which is characterized in that the energy acceptance module includes that sequentially connected power receives
Coil (6), secondary side compensating unit (7), uncontrollable rectifier unit (8) and DC/DC converters (9)；
The power receiving coil (6) is used to receive the electric energy of power emission coil (5) transmitting；Pair side compensating unit
(7) it is used to compensate the leakage inductance of the power receiving coil (6) so that the power emission coil (5) receives line with the power
Active power is only transmitted between circle (6)；The uncontrollable rectifier unit (8) is used for the high-frequency ac electric rectification that will receive as direct current simultaneously
Output；The DC/DC converters (9) supply load after carrying out power regulation to the output of the uncontrollable rectifier unit (8).
3. system as claimed in claim 2, which is characterized in that the free-running frequency f of the pair side compensating unit (7)resWith
Primary side reverse frequency f0It is identical；
Wherein,C2For the capacitance of resonant capacitance in the secondary side compensating unit；L2It is received for the power
The inductance value of coil.
4. system as described in any one of claims 1-3, which is characterized in that the firm power tracing control module includes electricity
Flow sample circuit, firm power tracking control unit, DC voltage sample circuit, PI voltage regulator controllers and switch tube driving circuit；
The current sampling circuit is used to acquire the charging current current value i of secondary side outputbatt(k)；The firm power tracking control
Device processed is used to handle the sampled value of secondary side charging current and export the reference control signal V of rectified voltageref, direct current
Pressure sample circuit is used to acquire the input terminal DC voltage V of the DC/DC converters (9)d2；The PI voltage regulator controllers are used for root
According to described with reference to control signal VrefWith the sampled value Vd2(k) deviation between the two is obtained, and institute is regulated and controled according to the deviation
State the duty cycle control signal of DC/DC converters (9), and by rectifying port voltage Vd2It is adjusted to reference to control signal Vref, in real time
It traces on the corresponding transmission voltage gain point of power extreme point, realizes firm power tracing control；Switch tube driving circuit is used
In the break-make for controlling switching tube in the DC/DC converters (9) according to the duty cycle control signal.
5. a kind of control method based on the system described in claim 1 for realizing dynamic radio constant power charge,
It is characterized in that, includes the following steps：
S1：In each controlling cycle TsInitial time, to DC/DC converters output charging current ibattAmplitude adopted
Sample obtains charging current ibattCurrent value ibatt(k), and preserve last controlling cycle charging current sampled value ibatt(k-
1)；And to rectified voltage Vd2It is sampled, obtains current rectified voltage sampling quantity Vd2(k)；
S2：Judge rectified voltage sampling quantity Vd2(k) whether in (Vmin, Vmax) in, if so, being transferred to step S3；If it is not, then making
Rectified voltage Vd2Disturbance step-length it is reversed, i.e. Δ Vk+1=-Δ Vk, and enter step S6；
Wherein, VminFor the preset lower limit of rectified voltage, VmaxFor the upper limit value of rectified voltage, Δ VkFor current control period
The disturbance step-length of rectified voltage, its general initial value are set as (Vmax+Vmin)/10, Δ Vk+1For the rectification of next controlling cycle
The disturbance step-length of voltage；
S3：Judge the sampled value i of the charging current of current control periodbatt(k) whether it is more than the charging current of last controlling cycle
Sampled value ibatt(k-1), if so, so that the disturbance step delta V of rectified voltagekIt remains unchanged, i.e. Δ Vk+1=Δ Vk, go forward side by side
Enter step S6；If it is not, being then transferred to step S4；
S4：Judge | ibatt(k)-ibatt(k-1)|>ΔIset, if so, the disturbance step-length of rectified voltage is become Δ Vk+1=-
sign(ΔVk)×ΔV0/ 2, and S6 is entered step, if it is not, being then transferred to step S5；
Wherein, Δ IsetFor the current fluctuation threshold values of setting, Δ V0 is initial disturbance step-length, is set as (Vmax-Vmin)/20, sign
(ΔVk) indicate to take Δ VkSign symbol operates；
S5：Judge | Δ Vk|≤ΔVmin, if so, keeping minimal disturbances step-length and reversed, Δ Vk+1=-sign (Δ Vk)×Δ
Vmin；If it is not, then disturbing step delta VkHalve and change perturbation direction, i.e. Δ Vk+1=-Δ Vk/ 2, and it is transferred to step S6；
Wherein, Δ VminFor minimal disturbances step-length；
S6：In controlling cycle TsFinish time, output reference control value Vref=V (k)+Δ Vk+1；It is back to step S1 and enters
Next controlling cycle.
6. control method as claimed in claim 5, which is characterized in that PI voltage regulator controllers are according to the reference control value Vref
With rectifying port DC voltage sampled value Vd2Between deviation, carry out proportional integration adjusting, control DC/DC converters, and will be whole
Flow port voltage Vd2It is adjusted to the reference control value Vref, real-time tracking to the corresponding transmission voltage gain point of extreme power point
On, realize firm power tracing control.
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| CN106685040B (en) * | 2016-12-21 | 2019-05-24 | 北京华商三优新能源科技有限公司 | Charger and its charging method and device and electric car |
| EP3609040B1 (en) | 2017-04-07 | 2022-08-24 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Wireless charging system, apparatus, method and device to be charged |
| CN106972582B (en) * | 2017-04-28 | 2024-03-29 | 中惠创智(阜阳)技术有限公司 | High-power wireless charging system and control method thereof |
| CN106972647A (en) * | 2017-05-02 | 2017-07-21 | 华中科技大学 | A kind of method for improving dynamic radio charging average efficiency |
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| CN108282035A (en) * | 2018-02-07 | 2018-07-13 | 山东大学 | Wireless electric energy transmission device and method suitable for anti-systematic parameter wide swings |
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| CN108988506B (en) * | 2018-08-30 | 2020-03-17 | 西安交通大学 | PT symmetrical wireless power transmission circuit and construction method thereof |
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| CN110212541B (en) * | 2019-06-27 | 2023-05-30 | 上海电力学院 | Direct-current power spring control method based on predictive model |
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| CN111404281B (en) * | 2020-04-30 | 2022-04-15 | 深圳赫兹创新技术有限公司 | Wireless charging efficiency optimization method and device |
| CN111682658B (en) * | 2020-05-28 | 2022-12-16 | 哈尔滨工业大学 | Resonant cavity constant current control system for wireless power transmission LPE position detection and control method thereof |
| CN112152330B (en) * | 2020-09-30 | 2022-05-31 | 西南交通大学 | IPT system efficiency improving method based on current-multiplying rectification and half-bridge inversion |
| CN113270948B (en) * | 2021-05-26 | 2022-09-23 | 重庆大学 | Dynamic wireless charging system for inhibiting power fluctuation and parameter design method thereof |
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| CN114394004B (en) * | 2021-12-31 | 2023-08-22 | 南京信息工程大学 | Wireless charging device is shared to storage battery car |
| CN114172249B (en) * | 2022-01-10 | 2023-11-07 | 深圳威迈斯新能源股份有限公司 | Automobile wireless charging system and control method thereof |
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