CN108321939A - Dynamic radio electric energy Transmission system and its forecast Control Algorithm - Google Patents

Dynamic radio electric energy Transmission system and its forecast Control Algorithm Download PDF

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Publication number
CN108321939A
CN108321939A CN201810203046.1A CN201810203046A CN108321939A CN 108321939 A CN108321939 A CN 108321939A CN 201810203046 A CN201810203046 A CN 201810203046A CN 108321939 A CN108321939 A CN 108321939A
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formula
energy transmission
transmission system
dynamic radio
electric energy
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CN108321939B (en
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张立炎
周泽
陈启宏
全书海
谢长君
石英
黄亮
邓坚
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • B60L53/39—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer with position-responsive activation of primary coils
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

The present invention relates to dynamic radio electric energy Transmission system and its forecast Control Algorithms, the dynamic radio electric energy Transmission system includes primary and secondary side, the original paper is made of several segmented energy emitting devices, and the energy emitting device for often covering emitter includes an inverter, a primary compensation network and a transmitting coil；The pair side includes a set of energy acceptance equipment, and energy acceptance equipment includes an energy receiving coil, a secondary compensation network, a rectification circuit, a DC/DC circuit and a controller；Energy emitting device is transmitted through the high-frequency alternating current come and is converted into direct current by the rectification circuit, and controller is for controlling DC/DC circuits to control system power boost system efficiency, and last energy transmission is to load.Forecast Control Algorithm of the present invention can improve the followability of system, rapidity, and can reduce overshoot, increase the stability of system relative to traditional PID control.

Description

Dynamic radio electric energy Transmission system and its forecast Control Algorithm
Technical field
The present invention relates to dynamic radio electric energy Transmission systems, in particular to a kind of dynamic radio electric energy Transmission system and its in advance Survey control method.
Background technology
Due to problem of environmental pollution and petroleum resources problem, electric vehicle industry starts to recover.Relative to fuel vehicle, electricity Electrical automobile has zero-emission, reduces noise pollution, the advantages such as automobile component is few, reliability is high, type be broadly divided into pure electric vehicle, Fuel cell and mixed motivity type.Rapid application due to electric vehicle in the fields such as private car and public transport, it is involved Battery boosting technology become the important foundation support system and electric vehicle industrialization and commercialization process of electric vehicle Important link.
In this background, charging batteries of electric automobile technology obtains very fast development.Electric vehicle at this stage Battery charging arrangements are mainly the charging modes of contact, and such charging modes convenience is poor, and there is also certain Security risk.Compared to traditional charging method, wireless charging mode can solve the interface that the charging of Conventional conduction formula faces Limitation, security problems, the technology will be developing progressively as the main charging modes of electric vehicle.According to the traveling of electric vehicle State, wireless charging technology mainly have static wireless charging and dynamic radio two kinds of forms of charging.Static wireless charging requires electricity Electrical automobile remains static, and there is the limitations in fixed charging place and time.In order to further solve the electricity of electric vehicle The problems such as tankage and course continuation mileage, dynamic radio charging technique come into being.
And traditional PID is difficult to quick control, followability is slower, so in order to overcome these disadvantages, using prediction Control, can improve the followability of system, rapidity increases the stability of system.
Invention content
Present invention aims to overcome that the deficiency of above-mentioned existing control technology and a kind of dynamic radio electric energy transmission system is provided System and its forecast Control Algorithm, the forecast Control Algorithm can improve the rapidity of system, stability and followability.
Realize the object of the invention the technical solution adopted is that：A kind of dynamic radio electric energy Transmission system, the dynamic radio Energy Transmission system includes primary and secondary side, and the original paper is made of several segmented energy emitting devices, often covers emitter Energy emitting device include an inverter, a primary compensation network and a transmitting coil；The pair side includes a set of Energy acceptance equipment, energy acceptance equipment include an energy receiving coil, a secondary compensation network, a rectification circuit, One DC/DC circuit and a controller；Energy emitting device is transmitted through the high-frequency alternating current come and is converted by the rectification circuit Direct current, controller is for controlling DC/DC circuits to control system power boost system efficiency, and last energy transmission is to negative It carries.
Further, the DC/DC circuits are made of BUCK circuits, are used for the effect of regulation power, and in garage During sailing, ensure the transmission of maximum power.
Further, the controller is made of sampling module, predictive controller with the IGBT drive module with protection.
Further, the DC/DC circuits include input current source, input filter capacitor, DC/DC converters IGBT, Diode, inductance, capacitance and load.
In addition, the present invention also provides a kind of forecast Control Algorithm of above-mentioned dynamic radio electric energy Transmission system, this method packet It includes：
According to the detection coil being laid on road, the arrival of current electric vehicle is detected, using this moment as zero moment, and will Temporal information is sent to electric vehicle up by car networking, according to speed and and time interval, to judge automobile relative to energy The position of amount transmitting end-coil, so that it is determined that coupling factor size, and coupling factor can influence the input current of DC/DC circuits iin, to derive input current iinSize, by input current iinIt is divided into three sections, mean value is taken respectively in three sections, In the arrival of sampling instant, input current i is judgedinSize, piecewise prediction equation is established to it, constructs the valence of Prescribed Properties Value function calculates optimal duty ratio, acts on system, one-step prediction control is completed, when subsequent time samples, in repetition State step.
Description of the drawings
Fig. 1 is the topology diagram of dynamic radio electric energy Transmission system of the present invention.
Fig. 2 is the secondary side DC/DC converter topology structures of dynamic radio electric energy Transmission system in Fig. 1.
Fig. 3 is the PREDICTIVE CONTROL flow chart of dynamic radio electric energy Transmission system of the present invention.
Specific implementation mode
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, the primary side of dynamic radio electric energy Transmission system is made of several segmented energy emitting devices.One The energy emitting device for covering transmitting terminal is made of an inverter, primary compensation network, a transmitting coil.A set of energy Receiving device is by an energy receiving coil, a secondary compensation network, a rectification circuit, a DC/DC circuit and one Controller, which closes, to be constituted.Resonance circuit is transmitted through the high-frequency alternating current come and is converted into direct current by rectification circuit, and control module is for controlling DC/DC circuits processed are to control system power boost system efficiency, and last energy transmission is to load.
As shown in Fig. 2, the DC/DC circuits to secondary side carry out mathematical modeling, and the filter capacitor of prime is considered, in switching tube The period turned on and off, difference founding mathematical models.SelectionFor the state variable of system.It is opening When closing pipe conducting, shown in state equation such as formula (1)：
When switching tube turns off, shown in state equation such as formula (2)：
Discrete state equations are：
D is the duty ratio of IGBT.Duty ratio is introduced into state equation, average state equation can be obtained：
DC/DC mathematical models are linearized there are amount of nonlinearity x (k) d features, generate a linear piecewise affine System：
X (k+1)=Aix(k)+Bid+Fi,di≤d≤di+1, i=1 ... n (5) linearisation process it is as follows：
Duty ratio d is divided into i+1 region from 0-1, approximation processing is done according to formula (6)：
Formula (6) is brought into Piecewise affine systems formula (5), formula (7) can be obtained：
Formula (7) is brought into Piecewise affine systems formula (5) again, formula (8) can be obtained：
Under steady operation, the d of duty ratio interval borderiIt is discontinuous, this can cause to shake.In order to solve This problem retains Ai, while continuous constraint is applied to averaging model.
Averaging model is found out in duty ratio diAnd di+1When steady operation point (I3For three-dimensional unit matrix)：
It is found out again in duty ratio d by the formula of Piecewise affine systems (5)iAnd di+1When state：
Simultaneous (9) and (10)：
It can derive：
Wherein
A is determinedi, BiAnd FiLater, formula (13) can be obtained.
X (k+1)=Ax (k)+Bd (k)+F
yc(k)=Ccx(k) (13)
yb(k)=Cbx(k)
In above formula, x (k) is quantity of state；D (k) is control input quantity；yc(k) it is controlled output quantity；yb(k) it is constraint output Amount；A, B, F, CcAnd CbIt is corresponding coefficient matrix.iLFor the controlled output quantity of system, uC1For the constraint output quantity of system.And iinIt can influence CcAnd CbSize.
According to the detection coil being laid on road, the arrival of current electric vehicle can be detected, using this moment as zero moment, And temporal information is sent to electric vehicle up by car networking, since communication has delay, automobile passes through the time of coil This communication delay should be added, it is believed that speed be whithin a period of time it is constant, then can according to speed and and time interval, come Judge position of the automobile relative to energy transmitting end-coil, can derive the variation tendency of coupling factor.And coupling factor meeting Influence the input current i of DC/DC convertersin.So as to learn iinSize, carry out piecewise prediction control.
PREDICTIVE CONTROL flow passes through inspection as shown in figure 3, according to the coefficient matrix of the model initialization system of linearization process Test coil detects the zero moment point of vehicle arrival face coil, it is believed that speed remains unchanged whithin a period of time, when to pass through Between and speed determine deviation post of the receiving coil relative to transmitting coil, determine coupling factor, and then derive input currentiin。 Input currentiinIt is divided into three sections, mean value is taken respectively in three sections, in the arrival of sampling instant, judges input electricity StreamiinSize, piecewise prediction equation is established to it, constructs the cost function of Prescribed Properties, calculates optimal duty ratio, System is acted on, one-step prediction control is completed, when subsequent time samples, repeats the above steps.

Claims (8)

1. a kind of dynamic radio electric energy Transmission system, it is characterised in that：Dynamic radio electric energy Transmission system includes primary and secondary side, The original paper is made of several segmented energy emitting devices, and the energy emitting device for often covering emitter includes an inversion Device, a primary compensation network and a transmitting coil；The pair side includes a set of energy acceptance equipment, energy acceptance equipment packet Include an energy receiving coil, a secondary compensation network, a rectification circuit, a DC/DC circuit and a controller；Institute It states rectification circuit and the high-frequency alternating current that energy emitting device is transmitted through is converted into direct current, controller is for controlling DC/DC electricity Road is to control system power boost system efficiency, and last energy transmission is to load.
2. a kind of dynamic radio electric energy Transmission system according to claim 1, which is characterized in that the inverter module by MOSFET pipes form, and effect is that direct current is converted into high-frequency alternating current, passes through rational parameter configuration so that it exports resistance It is anti-to ensure the realization of zero voltage switch at perception, to reduce energy loss.
3. a kind of dynamic radio electric energy Transmission system according to claim 1, which is characterized in that the energy emitting device LCC compensation circuits include resonant inductance Lf1, parallel resonance capacitance Cf1With series compensation capacitance Cp1；It is corresponding to it, energy acceptance end LCC compensation circuits include resonant inductance Lf2, parallel resonance capacitance Cf2With series compensation capacitance Cp2。
4. dynamic radio electric energy Transmission system according to claim 1, it is characterised in that：The DC/DC circuits are by BUCK electricity Road forms, and is used for the effect of regulation power, and in vehicle traveling process, ensures the transmission of maximum power.
5. dynamic radio electric energy Transmission system according to claim 1, it is characterised in that：The controller by sampling module, Predictive controller and IGBT drive module with protection are constituted.
6. dynamic radio electric energy Transmission system according to claim 4, it is characterised in that：The DC/DC circuits include input Current source, input filter capacitor, the IGBT of DC/DC converters, diode, inductance, capacitance and load.
7. the forecast Control Algorithm of dynamic radio electric energy Transmission system described in a kind of claim 1, it is characterised in that：According to road The detection coil of upper laying detects the arrival of current electric vehicle, using this moment as zero moment, and temporal information is joined by vehicle Net is sent to electric vehicle up, according to speed and and time interval, to judge position of the automobile relative to energy transmitting end-coil It sets, so that it is determined that coupling factor size, and coupling factor can influence the input current i of DC/DC circuitsin, to derive input Electric current iinSize, by input current iinIt is divided into three sections, mean value is taken respectively in three sections, in the arrival of sampling instant, Judge input current iinSize, piecewise prediction equation is established to it, constructs the cost function of Prescribed Properties, is calculated optimal Duty ratio, act on system, complete one-step prediction control, when subsequent time samples, repeat the above steps.
8. the forecast Control Algorithm of dynamic radio electric energy Transmission system according to claim 7, it is characterised in that the construction The cost function of Prescribed Properties includes：
Mathematical modeling is carried out to the DC/DC circuits on secondary side, and considers the filter capacitor of prime, when switching tube turns on and off Between section, respectively founding mathematical models；
SelectionFor the state variable of system, iin、uC1、iLAnd uC2Input current, input filter are indicated respectively The inductive current and capacitance voltage of voltage, DC/DC circuits on capacitance；
When switching tube is connected, shown in state equation such as formula (1)：
When switching tube turns off, shown in state equation such as formula (2)：
Discrete state equations are：
D is the duty ratio of IGBT, and duty ratio is introduced into state equation, average state equation is obtained：
DC/DC mathematical models are linearized there are amount of nonlinearity x (k) d features, generate a linear Piecewise affine systems：
X (k+1)=Aix(k)+Bid+Fi,di≤d≤di+1, i=1 ... n (5)
The process of linearisation is as follows：
Duty ratio d is divided into i+1 region from 0-1, approximation processing is done according to formula (6)：
Formula (6) is brought into Piecewise affine systems formula (5), formula (7) is obtained：
Formula (7) is brought into Piecewise affine systems formula (5) again, obtains formula (8)：
Averaging model is found out in duty ratio diAnd di+1When steady operation point, I3For three-dimensional unit matrix：
It is found out again in duty ratio d by the formula of Piecewise affine systems (5)iAnd di+1When state：
Simultaneous (9) and (10)：
It derives：
Wherein,
A is determinedi, BiAnd FiLater, formula (13) is obtained.
In above formula, x (k) is quantity of state；D (k) is control input quantity；yc(k) it is controlled output quantity；yb(k) it is constraint output quantity； A, B, F, CcAnd CbIt is corresponding coefficient matrix, iLFor the controlled output quantity of system, uC1For the constraint output quantity of system, iLAnd uC1 Indicate the voltage on the inductive current and input filter capacitor of DC/DC circuits.
CN201810203046.1A 2018-03-13 2018-03-13 Dynamic wireless power transmission system and prediction control method thereof Active CN108321939B (en)

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Cited By (5)

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CN109552086A (en) * 2018-12-18 2019-04-02 深圳市信维通信股份有限公司 A kind of wireless charging system for electric automobile and its control method
CN110543703A (en) * 2019-08-19 2019-12-06 华南理工大学 quasi-resonant converter modeling analysis method considering different time scales
CN113937911A (en) * 2021-10-22 2022-01-14 湘潭大学 Dual-emission wireless power transmission device and control method thereof
CN114221453A (en) * 2021-12-22 2022-03-22 沈阳工业大学 Dynamic anti-offset wireless power transmission system of electric automobile and control method
WO2023029885A1 (en) * 2021-08-31 2023-03-09 华为数字能源技术有限公司 Transmitting end, receiving end, dynamic wireless power supply system and electric vehicle

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WO2017022154A1 (en) * 2015-08-06 2017-02-09 ソニー株式会社 Mobile body device, noncontact power supply system, and method for driving moble body device
CN105245025A (en) * 2015-10-12 2016-01-13 华中科技大学 System for achieving dynamic wireless constant power charging and control method for system
US20170240055A1 (en) * 2016-02-18 2017-08-24 Denso International America, Inc. Optimized Compensation Coils For Wireless Power Transfer System
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Publication number Priority date Publication date Assignee Title
CN109552086A (en) * 2018-12-18 2019-04-02 深圳市信维通信股份有限公司 A kind of wireless charging system for electric automobile and its control method
CN109552086B (en) * 2018-12-18 2024-03-19 深圳市信维通信股份有限公司 Wireless charging system of electric automobile and control method thereof
CN110543703A (en) * 2019-08-19 2019-12-06 华南理工大学 quasi-resonant converter modeling analysis method considering different time scales
WO2023029885A1 (en) * 2021-08-31 2023-03-09 华为数字能源技术有限公司 Transmitting end, receiving end, dynamic wireless power supply system and electric vehicle
CN113937911A (en) * 2021-10-22 2022-01-14 湘潭大学 Dual-emission wireless power transmission device and control method thereof
CN114221453A (en) * 2021-12-22 2022-03-22 沈阳工业大学 Dynamic anti-offset wireless power transmission system of electric automobile and control method

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