CN109190290A - Method for analyzing relationship between the coefficient of coup and power in orthogonal electricity pickup - Google Patents
Method for analyzing relationship between the coefficient of coup and power in orthogonal electricity pickup Download PDFInfo
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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
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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
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
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Abstract
The invention discloses a kind of methods for analyzing relationship between the coefficient of coup and power in orthogonal electricity pickup, by establishing electricity pickup equivalent-circuit model, derive the relationship of the coefficient of coup and output power, analyze the small reason of the electricity pickup coefficient of coup, the characteristics of being wound in conjunction with E type and U-shaped electricity pickup secondary coil, it is proposed orthogonal electricity pickup, it is wound in the center pinch of E-type magnetic core using first coil, second coil is wound on the structure of the two sides of E-type magnetic core perpendicular to first coil, it finally can be improved the coefficient of coup and output power of electricity pickup based on finite element simulation and experimental verification the method.The simple and reliable method of one kind is provided to cause the electricity pickup coefficient of coup and output power to decline when solving the problems, such as automated guided vehicle offset track.
Description
Technical field
Technical solution of the present invention is related to wireless power field, especially a kind of for analyzing inductively coupled power transfer system
In orthogonal electricity pickup in system between the coefficient of coup and power relationship method.
Background technique
It is higher and higher to the automatization level requirement of material conveying equipment with the increasingly propulsion of process of industrialization, automatically
Guide transport lorry is grown rapidly and is widely applied due to its high flexibility, easy extension the advantages that.Automated guided vehicle is logical
Frequently with traditional mobile power supply mode such as battery, hinge, trolley, but accumulator capacity is limited, needs to stop repeatedly
To charge；Hinge is easy winding in moving process, and trolley needs are inspected periodically, poor reliability.Therefore good environmental adaptability,
Securely and reliably, flexibly safe contactlessly powered mode is increasingly subject to the favor of people.
Contactlessly powered mode is divided into resonant mode, induction type and microwave radiation formula.In addition there are field coupling formulas, laser side
Formula and ultrasonic wave mode.Wherein resonant mode and the occasion of the contactlessly powered application of induction type are relatively more, and resonant mode is contactlessly powered
Transmission range is medium, high-efficient, is mainly used in the fields such as electric car, household appliance.The contactlessly powered transmission function of induction type
Rate is big, transmission range is short, is mainly used in the occasions such as communications and transportation, underwater operation.The contactlessly powered transmission distance of microwave radiation formula
From remote, efficiency is extremely low, it is mainly used in the occasions such as unmanned plane, Wireless power transmission.It is carried due to automated guided vehicle
For cargo than heavier, the power that system needs is bigger, compares above-mentioned several contactlessly powered features, induction type is coupled electric energy
Transmission system is applied in automated guided vehicle, and the drawbacks of mobile power supply of tradition is brought is avoided.Automated guided vehicle is logical
Frequently with guidings/airmanships such as electromagnetism guiding, GPS navigation, laser navigations, rail is inevitably deviateed in moving process
Road causes the coefficient of coup and transimission power to decline, and proposes to use orthogonal mechanism for picking for this problem University of Auckland, to magnetic
Power output between the shape of core, balance coil improves transimission power etc. and has very mature experience and research abundant
Achievement, but the relationship to the coefficient of coup and between power is not furtherd investigate.
Summary of the invention
The purpose of the present invention is to solve the above problems, devise a kind of for analyzing the coefficient of coup in orthogonal electricity pickup
The method of relationship between power.
Realize above-mentioned purpose the technical scheme is that, the orthogonal electricity pickup theory of inductively coupled power transfer system and reality
Test research.Firstly, deriving the relationship of the coefficient of coup and output power by founding electricity pickup equivalent-circuit model.It analyzes and picks up
The small reason of the electric appliance coefficient of coup proposes orthogonal electricity pickup, uses the characteristics of winding in conjunction with E type and U-shaped electricity pickup secondary coil
First coil is wound in the center pinch of E-type magnetic core, and second coil is wound on the two sides of E-type magnetic core perpendicular to first coil
Structure.Based on the electricity pickup of Ansoft Maxwell electromagnetic finite element simulation software and exploitation, verifying is transported when homing guidance
When defeated vehicle offset track range, the decline situation of the coefficient of coup and output power is improved, lateral deviation tolerance is improved.It mentions
A kind of simple and reliable method has been supplied to cause the electricity pickup coefficient of coup and output when solving automated guided vehicle offset track
The problem of power declines.
It is to adopt that the present invention, which solves the problems, such as that automated guided vehicle offset track causes the coefficient of coup and output power to decline,
Following technical scheme is taken to realize:
Electricity pickup circuit model is initially set up, using mutual inductance equivalent theory, primary side series connection, secondary side shunt compensation topology are built
The loosely coupled transformer equivalent-circuit model of vertical electricity pickup is pushed away according to Kirchhoff's second law and Kirchhoff's current law (KCL)
The output power for exporting electricity pickup is brought into the formula of electricity pickup output according to coefficient of coup formula, obtains output power and coupling
Relational expression between collaboration number:
Wherein PLIt is output power, k is the coefficient of coup, IPIt is the electric current of primary side guide rail coil, LPPrimary side guide rail coil from
Sense, LSIt is secondary coil self-induction, RLIt is load resistance.
Step 2: establishing loosely coupled transformer magnetostatic field, the coefficient of coup of loosely coupled transformer is analyzed.
E type loosely coupled transformer is established by magnetic field, analyzes the low reason of the E type loosely coupled transformer coefficient of coup.
Analysis is applied to the common E type of automated guided vehicle and U-shaped two kinds of core structures, and then guide rail is routed magnetic core difference
Difference, the coil being wrapped on magnetic core is combined, is wound in the center pinch of E-type magnetic core using first coil,
Two coils are wound on the structure of the two sides of E-type magnetic core perpendicular to first coil, constitute orthogonal pick-up structure.
Step 3: establishing traditional electricity pickup simulation model, the coefficient of coup and output power of traditional electricity pickup are obtained.
Traditional electricity pickup two-dimensional simulation model is established in Ansoft Maxwell simulation software.
In traditional electricity pickup two-dimensional simulation model, static field is established, by changing transverse direction of the electricity pickup relative to track
Offset distance obtains the coefficient of coup of electricity pickup.
In traditional electricity pickup two-dimensional simulation model, transient field is established by additional circuit, change electricity pickup relative to
The lateral shift distance of track, obtains the output power of electricity pickup.
Step 4: establishing the simulation model of orthogonal electricity pickup, the coefficient of coup and output power of orthogonal electricity pickup are obtained.
Traditional electricity pickup two-dimensional simulation model is established in Ansoft Maxwell simulation software.
In orthogonal electricity pickup two-dimensional simulation model, static field is established, by changing transverse direction of the electricity pickup relative to track
Offset distance obtains the coefficient of coup of electricity pickup
In orthogonal electricity pickup two-dimensional simulation model, transient field is established by additional circuit, quadrature coil is using in parallel
Rectifier system, two coils change lateral offset of the electricity pickup relative to track by powering to the load after each self-rectifying
From obtaining the output power of electricity pickup.
Step 5: being tested to traditional electricity pickup and orthogonal electricity pickup.
Primary side guide rail coil and secondary coil use 1200 strands of Litz line, use the general high-frequency digital electric bridge of JK2816C
The self-induction and mutual inductance of primary and secondary side coil are measured, and then obtains the coefficient of coup of electricity pickup, is carried out by the electricity pickup of exploitation
Experimental analysis, the every offset of electricity pickup is primary, then records the coefficient of coup and output power of an electricity pickup.
Relationship between the coefficient of coup and power is used to analyze in orthogonal electricity pickup using technical solution of the present invention production
Method find out the output power of electricity pickup and the relationship of the coefficient of coup by establishing equivalent-circuit model to electricity pickup.Pass through
E type and U-shaped magnetic core coil winding are analyzed, in conjunction with the two winding the characteristics of, propose orthogonal electricity pickup, by theory deduction and
Simulation analysis obtains the conclusion of emulation with experimental result consistency, provides the simple and reliable method of one kind to solve to lead automatically
The problem of causing the electricity pickup coefficient of coup and output power to decline when drawing transport vehicle offset track.
By the primary side guide rail wiring analysis of magnetic field analysis and E type and U-shaped electricity pickup to E type and U-shaped electricity pickup it is found that
When electricity pickup lateral shift, the winding mode of the two magnetic core is combined, complementation is formed, improves the coupling of electricity pickup
Coefficient and transimission power are avoided using other control modes, only need a secondary coil winding, so that it may which raising is picked up
The coefficient of coup and transimission power of electric appliance.
Orthogonal electricity pickup is powered to the load since there are two coils using two each self-rectifyings of coil later, this side
Formula avoids when two coils are connected under normal operating conditions, a coil output power, another coil is not only defeated
Power is also consumed by power instead out.
Detailed description of the invention
Fig. 1 is E type electricity pickup loosely coupled transformer structure chart；
Fig. 2 is E type electricity pickup loosely coupled transformer mutual inductance equivalent-circuit model；
Fig. 3 is inductive coupling system electricity pickup equivalent circuit type；
Fig. 4 is E type electricity pickup loosely coupled transformer Distribution of Magnetic Field；
Fig. 5 is E type and U-shaped electricity pickup model；
Fig. 6 is orthogonal electricity pickup model；
Fig. 7 is the coefficient of coup of E type electricity pickup with the simulation curve of lateral shift distance variation；
Fig. 8 is the bearing power of E type electricity pickup with lateral shift distance variation simulation curve；
Fig. 9 is that the coils from parallel connection of coils of orthogonal electricity pickup rectifies schematic diagram；
Figure 10 is the coefficient of coup of electricity pickup with lateral shift distance variation simulation curve；
Figure 11 is the bearing power of electricity pickup with the variation simulation curve of lateral shift distance；
Figure 12 is the coefficient of coup of electricity pickup with the change curve of lateral shift distance；
Figure 13 is change curve of the electricity pickup bearing power with lateral shift distance.
Specific embodiment
The present invention is specifically described with reference to the accompanying drawing, will be made below elaborating for specific implementation step.
Step 1: establishing the circuit model of inductively coupled power transfer system electricity pickup
Common E-type magnetic core is selected, establishes the loosely coupled transformer structural model of E type electricity pickup, as shown in Figure 1.
Using the mutual inductance principle of equal effects, the loosely coupled transformer mutual inductance equivalent-circuit model of E type electricity pickup is established, such as Fig. 2 institute
Show.
Using primary side series connection, secondary side shunt compensation topological structure, inductively coupled power transfer system E type electricity pickup is established
Loosely coupled transformer equivalent circuit type, as shown in Figure 3.
Fig. 3 is analyzed, according to Kirchhoff's second law and Kirchhoff's current law (KCL):
The then power in load are as follows:
Make bearing power PLMaximum value is obtained, then 1-w2LPCP=0, i.e.,The self-induction L of secondary coilPWith
Shunt compensation capacitor CPResonance occurs, then bearing power at this time:
By the coefficient of coupIt brings into obtain bearing power are as follows:
It derives the power of electricity pickup output, and obtains the relational expression of the coefficient of coup and output power.But it ought lead automatically
When drawing transport vehicle offset track, since secondary coil deviates central magnetic field, the secondary side coupling of the original of loosely coupled transformer weakens, leads
Coefficient of coup k is caused to reduce.The voltage that vice-side winding induces reduces, therefore can reduce to the power that load provides, and influences automatic
The normal operation of guide transport lorry.Therefore when automated guided vehicle offset track, the coefficient of coup is needed to be improved, is mentioned to load
For stable power.
Step 2: establishing loosely coupled transformer magnetostatic field, the coefficient of coup of loosely coupled transformer is analyzed.
E type loosely coupled transformer magnetic field is established, as shown in figure 4, can find out the leakage inductance of loosely coupled transformer from Fig. 4
Greatly, former secondary side coupling performance is poor, therefore the coefficient of coup is relatively low.Primary side guide rail generates high frequency magnetic field in space, leads positioned at primary side
E type electricity pickup above rail, the vertical component of magnetic flux enter magnetic core and interlink with coil；For U-shaped electricity pickup, the level point of magnetic flux
Amount enters magnetic core and interlinks with coil, and the loop construction of both electricity pickups is as shown in Figure 5.Due to both types electricity pickup all
Magnetic field cannot be made full use of, the coefficient of coup is relatively low, therefore, it is necessary to make full use of magnetic field, reduces leakage field, improves coil and leads
Mutual inductance between rail, i.e. the raising coefficient of coup.According to the coil feature of E type and U-shaped electricity pickup, the two coil is combined into shape
Be orthogonal electricity pickup, i.e., U-shaped electricity pickup coil is wound on the stem among E type electricity pickup, vertical with E type electricity pickup coil,
As shown in Figure 6.
Step 3: establishing traditional electricity pickup simulation model, the coefficient of coup and output power of traditional electricity pickup are obtained.
When electricity pickup lateral shift, due to the change in location of offset, can also be occurred by the mutual flux direction of winding
Variation, therefore for the ease of analysis, using guideway centreline as zero point, when electricity pickup is deviated to both sides, mutual flux is taken absolutely
It to value, avoids mutual flux and generates positive and negative variation because of direction change, the obtained coefficient of coup is positive number.
Traditional electricity pickup simulation model is established in Ansoft Maxwell 2D simulation software, static field is established, by changing
Become lateral shift distance of the electricity pickup relative to track, obtains the coefficient of coup of electricity pickup, as shown in Figure 7.In traditional electricity pickup
In two-dimensional simulation model, transient field is established by additional circuit, changes lateral shift distance of the electricity pickup relative to track, obtains
To the output power of electricity pickup, as shown in Figure 8.
Step 4: establishing the simulation model of orthogonal electricity pickup, the coefficient of coup and output power of orthogonal electricity pickup are obtained.
Since the secondary side of orthogonal electricity pickup is there are two coils, horizontal coil and vertical coil, the two coils can be gone here and there
One winding of connection or formation in parallel.Parallel way is used, as shown in figure 9, two coils after each self-rectifying to load by supplying
Electricity, this mode avoid when two coils are connected under normal operating conditions, and a coil output power, another coil is not
But it is also consumed by power instead without output power.The power obtained in load be horizontal coil and vertical coil output power it
With:
Wherein LVIt is the self-induction of vertical coil, LHIt is the self-induction of horizontal coil；kVIt is the coefficient of coup of vertical coil, kHIt is
The coefficient of coup of horizontal coil, when horizontal coil is identical with the self-induction of vertical coil, i.e. LVAnd LHSize is identical, can rewrite
At:
Orthogonal electricity pickup simulation model is established in Ansoft Maxwell 2D simulation software, static field is established, by changing
Become lateral shift distance of the orthogonal electricity pickup relative to track, obtains the coefficient of coup of electricity pickup, as shown in Figure 10.It is picked up orthogonal
In electric appliance two-dimensional simulation model, transient field is established by additional circuit, changes lateral offset of the electricity pickup relative to track
From obtaining the output power of electricity pickup, as shown in figure 11.
It can be obtained by Figure 10 and Figure 11: compared with traditional electricity pickup, under identical lateral shift distance, orthogonal electricity pickup
The coefficient of coup is greater than traditional electricity pickup.This is because traditional electricity pickup can only utilize the vertical component in magnetic field, and orthogonal electricity pickup
The horizontal and vertical component that can use magnetic field, when lateral shift occurs for electricity pickup, the magnetic field of vertical coil interlinkage subtracts
It is weak, and horizontal coil interlinkage is magnetic field-enhanced, orthogonal electricity pickup level compensating component more than traditional electricity pickup.Output work
Rate is similar with coefficient of coup figure, demonstrates the correctness of theory analysis, and orthogonal electricity pickup improves lateral shift range, improves
Coupling performance and transmission characteristic.
Step 5: being tested to traditional electricity pickup and orthogonal electricity pickup.
Primary side guide rail coil and secondary coil use 1200 strands of Litz line, use the general high-frequency digital electric bridge of JK2816C
The self-induction and mutual inductance of primary and secondary side coil are measured, and then obtains the coefficient of coup of electricity pickup, is carried out by the electricity pickup of exploitation
Experimental analysis, it is a step-length that every 10mm, which is arranged, and the every offset of electricity pickup is primary, then records the coefficient of coup an of electricity pickup and defeated
Power out, as a result as shown in Figures 12 and 13.
Finally, experiment and simulation result can be good at matching.It demonstrates simultaneously, orthogonal electricity pickup has than traditional electricity pickup
Stronger lateral shift tolerance.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of them part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (1)
1. a kind of method for analyzing relationship between the coefficient of coup and power in orthogonal electricity pickup, which is characterized in that this method
Include the following steps:
Step 1: establishing the circuit model of inductively coupled power transfer system electricity pickup
Common E-type magnetic core is selected, the loosely coupled transformer structural model of E type electricity pickup is established；
Using the mutual inductance principle of equal effects, the loosely coupled transformer mutual inductance equivalent-circuit model of E type electricity pickup is established
Using primary side series connection, secondary side shunt compensation topological structure, the loose coupling of inductively coupled power transfer system E type electricity pickup is established
Close transformer equivalent circuit type；
The model of above-mentioned foundation is analyzed, according to Kirchhoff's second law and Kirchhoff's current law (KCL), derives and picks up
The power of electric appliance output, the coefficient of coup is brought into the power of electricity pickup output, obtains the relationship of the coefficient of coup and output power
Formula；
Step 2: establishing loosely coupled transformer magnetostatic field, the coefficient of coup of loosely coupled transformer is analyzed；
E type loosely coupled transformer is established by magnetic field, analyzes the low reason of the E type loosely coupled transformer coefficient of coup；
Analysis is applied to the common E type of automated guided vehicle and U-shaped two kinds of core structures, and then guide rail is routed not magnetic core difference
Together, the coil being wrapped on magnetic core is combined, is wound in the center pinch of E-type magnetic core using first coil, second
Coil is wound on the structure of the two sides of E-type magnetic core perpendicular to first coil, constitutes orthogonal pick-up structure；
Step 3: establishing traditional electricity pickup simulation model, the coefficient of coup and output power of traditional electricity pickup are obtained；
Traditional electricity pickup two-dimensional simulation model is established in Ansoft Maxwell simulation software；
In traditional electricity pickup two-dimensional simulation model, static field is established, by changing lateral shift of the electricity pickup relative to track
Distance obtains the coefficient of coup of electricity pickup；
In traditional electricity pickup two-dimensional simulation model, transient field is established by additional circuit, changes electricity pickup relative to track
Lateral shift distance, obtain the output power of electricity pickup；
Step 4: establishing the simulation model of orthogonal electricity pickup, the coefficient of coup and output power of orthogonal electricity pickup are obtained；
Traditional electricity pickup two-dimensional simulation model is established in Ansoft Maxwell simulation software；
In orthogonal electricity pickup two-dimensional simulation model, static field is established, by changing lateral shift of the electricity pickup relative to track
Distance obtains the coefficient of coup of electricity pickup
In orthogonal electricity pickup two-dimensional simulation model, transient field is established by additional circuit, quadrature coil is using rectification in parallel
Mode, two coils change lateral shift distance of the electricity pickup relative to track, obtain by powering to the load after each self-rectifying
To the output power of electricity pickup；
Step 5: being tested to traditional electricity pickup and orthogonal electricity pickup；
Primary side guide rail coil and secondary coil use 1200 strands of Litz line, use the general high-frequency digital bridge measurement of JK2816C
The self-induction and mutual inductance of primary and secondary side coil, and then the coefficient of coup of electricity pickup is obtained, it is tested by the electricity pickup of exploitation
Analysis, the every offset of electricity pickup is primary, then records the coefficient of coup and output power of an electricity pickup；If experiment and simulation result
It can be good at matching, that, which turns out orthogonal electricity pickup, has stronger lateral shift tolerance than traditional electricity pickup.
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