CN109190290B - Method for analyzing relation between coupling coefficient and power in quadrature pick-up - Google Patents
Method for analyzing relation between coupling coefficient and power in quadrature pick-up Download PDFInfo
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- H—ELECTRICITY
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The invention discloses a method for analyzing the relation between coupling coefficient and power in an orthogonal electric pick-up, which is characterized in that the relation between the coupling coefficient and output power is deduced by establishing an electric pick-up equivalent circuit model, the reason that the coupling coefficient of the electric pick-up is small is analyzed, the characteristic that the secondary coil of an E-shaped and U-shaped electric pick-up is wound is combined, the orthogonal electric pick-up is provided, a structure that a first coil is wound on a middle core column of an E-shaped magnetic core and a second coil is perpendicular to the first coil and wound on two sides of the E-shaped magnetic core is adopted, and finally, the coupling coefficient and the output power of the electric pick-up can be improved based on finite element simulation and experiments. A simple and reliable method is provided to solve the problem of reduced coupling coefficient and output power of the pick-up caused by the deviation of the automatic guided vehicle from the track.
Description
Technical Field
The technical scheme of the invention relates to the field of wireless power supply, in particular to a method for analyzing the relation between coupling coefficients and power in an orthogonal pick-up in an inductive coupling power transmission system.
Background
Along with the increasing promotion of the industrialization process, the requirement on the automation level of the material conveying equipment is higher and higher, and the automatic guiding transport vehicle is rapidly developed and widely applied due to the advantages of high flexibility, easy expansion and the like. The automatic guiding transport vehicle usually adopts a traditional mobile power supply mode such as a storage battery, a hinge, a trolley wire and the like, but the storage battery has limited capacity and needs to be repeatedly stopped for charging; the hinge is easy to wind in the moving process, the sliding contact wire needs to be checked regularly, and the reliability is poor. Therefore, a contactless power supply mode with good environmental adaptability, safety, reliability, flexibility and safety is increasingly favored by people.
The contactless power supply modes are classified into a resonance type, an induction type and a microwave radiation type. In addition, there are electric field coupling type, laser type and ultrasonic type. The resonance type non-contact power supply device has the advantages of high transmission distance, high efficiency and the like, and is mainly applied to the fields of electric automobiles, household appliances and the like. The inductive contactless power supply has high transmission power and short transmission distance, and is mainly applied to occasions such as transportation, underwater operation and the like. The microwave radiation type non-contact power supply has long transmission distance and extremely low efficiency, and is mainly applied to occasions such as unmanned aerial vehicles, space solar power stations and the like. Because the automatic guided vehicle carries heavier goods, the power required by the system is larger, and compared with the characteristics of the above-mentioned several contactless power supplies, the inductive coupling electric energy transmission system is applied to the automatic guided vehicle, so that the defects caused by the traditional mobile power supply are avoided. The automatic guided vehicle generally adopts guiding/navigation technologies such as electromagnetic guiding, GPS navigation, laser navigation and the like, and inevitably deviates from a track in the moving process, so that the coupling coefficient and the transmission power are reduced, and aiming at the problem, the university of Okland proposes to adopt an orthogonal pickup mechanism, so that the method has very mature experience and rich research results in aspects of the shape of a magnetic core, the power output between balance coils, the improvement of the transmission power and the like, but does not have deep research on the relationship between the coupling coefficient and the power.
Disclosure of Invention
The invention aims to solve the problems, and designs a method for analyzing the relation between the coupling coefficient and the power in the quadrature pick-up.
The technical scheme of the invention for achieving the purpose is that the theory and experimental research of the orthogonal pick-up device of the inductive coupling power transmission system are carried out. First, the relation between the coupling coefficient and the output power is deduced through the equivalent circuit model of the vertical pick-up. The reason that the coupling coefficient of the electric pick-up is small is analyzed, and the characteristic that the secondary coils of the E-shaped electric pick-up and the U-shaped electric pick-up are wound is combined, so that the orthogonal electric pick-up is provided, a first coil is wound on the middle core column of the E-shaped magnetic core, and a second coil is perpendicular to the first coil and is wound on two sides of the E-shaped magnetic core. Based on Ansoft Maxwell electromagnetic field finite element simulation software and developed electric pick-up, when the automatic guided vehicle deviates from the track range, the reduction condition of coupling coefficient and output power is improved, and the tolerance of transverse deviation is improved. A simple and reliable method is provided to solve the problem of reduced coupling coefficient and output power of the pick-up caused by the deviation of the automatic guided vehicle from the track.
The invention solves the problem that the coupling coefficient and the output power are reduced due to the deviation of an automatic guided vehicle from a track, and is realized by adopting the following technical scheme:
firstly, establishing an electric pick-up circuit model, adopting a mutual inductance equivalent theory, connecting primary sides in series and secondary sides in parallel to compensate topology, establishing a loose coupling transformer equivalent circuit model of the electric pick-up, deducing the output power of the electric pick-up according to a kirchhoff voltage law and a kirchhoff current law, and carrying the output power into an electric pick-up output formula according to a coupling coefficient formula to obtain a relational expression between the output power and the coupling coefficient:
wherein P is L Is the output power, k is the coupling coefficient, I P Is the current of the primary side guide rail coil, L P Is self-inductance of primary side guide rail coil, L S Is the self-inductance of the secondary coil, R L Is the load resistance.
And a second step of: and establishing a static magnetic field of the loose coupling transformer, and analyzing the coupling coefficient of the loose coupling transformer.
And establishing an E-type loose coupling transformer to analyze the reason that the coupling coefficient of the E-type loose coupling transformer is low by using a magnetic field.
The method is applied to the E-shaped and U-shaped magnetic core structures commonly used for the automatic guiding transport vehicle in analysis, the magnetic cores are different, the guide rails are different in wiring, coils wound on the magnetic cores are combined, a first coil is wound on a middle core column of the E-shaped magnetic core, and a second coil is perpendicular to the first coil and is wound on two sides of the E-shaped magnetic core, so that an orthogonal pickup structure is formed.
And a third step of: and establishing a traditional electric pick-up simulation model to obtain the coupling coefficient and the output power of the traditional electric pick-up.
And establishing a traditional two-dimensional simulation model of the pick-up in Ansoft Maxwell simulation software.
In a traditional two-dimensional simulation model of the electric pick-up, a static field is established, and the coupling coefficient of the electric pick-up is obtained by changing the transverse offset distance of the electric pick-up relative to the track.
In a traditional two-dimensional simulation model of the electric pick-up, a transient field is established through an externally added circuit, the transverse offset distance of the electric pick-up relative to a track is changed, and the output power of the electric pick-up is obtained.
Fourth step: and establishing a simulation model of the quadrature pick-up to obtain the coupling coefficient and the output power of the quadrature pick-up.
And establishing a traditional two-dimensional simulation model of the pick-up in Ansoft Maxwell simulation software.
In the two-dimensional simulation model of the orthogonal pick-up, a static field is established, and the coupling coefficient of the pick-up is obtained by changing the transverse offset distance of the pick-up relative to the track
In the two-dimensional simulation model of the orthogonal pick-up, a transient field is established through an external circuit, the orthogonal coils adopt a parallel rectification mode, the two coils supply power to a load after being rectified respectively, the transverse offset distance of the pick-up relative to a track is changed, and the output power of the pick-up is obtained.
Fifth step: experiments were performed on conventional and quadrature pickups.
The primary side guide rail coil and the secondary side coil adopt 1200 Litz wires, the JK2816C universal high frequency digital bridge is used for measuring self inductance and mutual inductance of the primary side coil and the secondary side coil, so that the coupling coefficient of the electric pick-up is obtained, experimental analysis is carried out through the developed electric pick-up, and the coupling coefficient and output power of the electric pick-up are recorded once when the electric pick-up deviates once.
The method for analyzing the relation between the coupling coefficient and the power in the quadrature electric pick-up, which is manufactured by the technical scheme of the invention, finds out the relation between the output power and the coupling coefficient of the electric pick-up by establishing an equivalent circuit model for the electric pick-up. Through analyzing the winding method of the E-shaped magnetic core coil and the U-shaped magnetic core coil, combining the characteristics of the winding method of the E-shaped magnetic core coil and the U-shaped magnetic core coil, the orthogonal pick-up is provided, and through theoretical derivation and simulation analysis, the conclusion of consistency of simulation and experimental results is obtained, and a simple and reliable method is provided for solving the problem that the coupling coefficient and the output power of the pick-up are reduced when the automatic guiding transport vehicle deviates from the track.
Through the magnetic field analysis of the E-type and U-type electric pick-up and the primary side guide rail wiring analysis of the E-type and U-type electric pick-up, when the electric pick-up is transversely offset, the winding modes of the two magnetic cores are combined to form complementation, the coupling coefficient and the transmission power of the electric pick-up are improved, other control modes are avoided, and the coupling coefficient and the transmission power of the electric pick-up can be improved only by one secondary side coil winding.
The two coils are adopted in the quadrature current collector, and the two coils are respectively rectified and then are used for supplying power to the load, so that the phenomenon that one coil outputs power and the other coil consumes power instead of the power under the normal operation condition when the two coils are connected in series is avoided.
Drawings
FIG. 1 is a block diagram of an E-pick up loosely coupled transformer;
FIG. 2 is a schematic diagram of an equivalent circuit model of an E-type pick-up loosely coupled transformer;
FIG. 3 is an equivalent circuit of an inductive coupling system pick-up;
FIG. 4 is a graph of E-pick up loosely coupled transformer magnetic field distribution;
FIG. 5 is an E-type and U-type pick-up model;
FIG. 6 is a quadrature pick-up model;
FIG. 7 is a simulation plot of coupling coefficient of an E-type pick-up as a function of lateral offset distance;
FIG. 8 is a simulation plot of load power versus lateral offset distance for an E-pick up;
fig. 9 is a schematic diagram of coil parallel rectification for an orthogonal pick-up;
FIG. 10 is a simulation plot of coupling coefficient of a pick-up as a function of lateral offset distance;
FIG. 11 is a simulation plot of load power of a pick-up as a function of lateral offset distance;
FIG. 12 is a plot of coupling coefficient of a pick-up as a function of lateral offset distance;
fig. 13 is a plot of pick-up load power as a function of lateral offset distance.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings, and detailed description of specific implementation steps will be provided below.
The first step: establishing a circuit model of an inductive coupling power transfer system pick-up
A commonly used E-core is selected to create a loosely coupled transformer structural model of the E-pick up, as shown in fig. 1.
And a mutual inductance equivalent circuit model of the loosely coupled transformer of the E-type electric pick-up is established by adopting a mutual inductance equivalent principle, as shown in figure 2.
And a primary side series connection and a secondary side parallel connection compensation topological structure are adopted to establish a loose coupling transformer equivalent circuit type of an E-type pick-up of the inductive coupling power transmission system, as shown in figure 3.
From the analysis of fig. 3, the kirchhoff voltage law and kirchhoff current law are as follows:
the power on the load is:
to make the load power P L Maximum value is obtained1-w 2 L P C P =0, i.eSelf-inductance L of secondary coil P With compensating capacitance C in parallel P Resonance occurs, then the load power:
coupling coefficientThe load power obtained by carrying in is as follows:
deducing the power output by the electric pick-up device and obtaining the relation between the coupling coefficient and the output power. However, when the automated guided vehicle is off track, the primary and secondary side coupling of the loosely coupled transformer is reduced due to the off-center magnetic field of the secondary side coil, resulting in a reduction in the coupling coefficient k. The voltage induced by the secondary winding decreases, and therefore the power supplied to the load decreases, affecting the normal operation of the automated guided vehicle. Therefore, when the automated guided vehicle is off-track, there is a need to improve the coupling coefficient to provide stable power to the load.
And a second step of: and establishing a static magnetic field of the loose coupling transformer, and analyzing the coupling coefficient of the loose coupling transformer.
The magnetic field of the E-type loose coupling transformer is established, as shown in fig. 4, the leakage inductance of the loose coupling transformer is large, the coupling performance of the primary side and the secondary side is poor, and therefore the coupling coefficient is relatively low as can be seen from fig. 4. The primary side guide rail generates a high-frequency magnetic field in space, an E-shaped pick-up is positioned above the primary side guide rail, and a vertical component of magnetic flux enters a magnetic core to be linked with a coil; for a U-shaped pick-up, the horizontal component of the magnetic flux enters the core and is interlinked with the coil, the coil structure of both pick-ups being shown in FIG. 5. Because the two types of electric pick-up devices can not fully utilize the magnetic field and the coupling coefficient is relatively low, the magnetic field needs to be fully utilized, the magnetic leakage is reduced, the mutual inductance between the coil and the guide rail is improved, and the coupling coefficient is improved. According to the coil characteristics of the E-shaped and U-shaped electric pick-up, the two coils are combined to form an orthogonal electric pick-up, namely the U-shaped electric pick-up coil is wound on a core column in the middle of the E-shaped electric pick-up and is perpendicular to the E-shaped electric pick-up coil, as shown in figure 6.
And a third step of: and establishing a traditional electric pick-up simulation model to obtain the coupling coefficient and the output power of the traditional electric pick-up.
When the electric pick-up device is shifted transversely, the direction of the mutual inductance magnetic flux passing through the winding is changed due to the change of the shifted position, so that the center of the guide rail is used as a zero point for analysis, and when the electric pick-up device is shifted to two sides, the mutual inductance magnetic flux is absolute value, so that the positive and negative changes of the mutual inductance magnetic flux caused by the change of the direction are avoided, and the obtained coupling coefficients are positive numbers.
A traditional pick-up simulation model is built in an Ansoft Maxwell 2D simulation software, a static field is built, and the coupling coefficient of the pick-up is obtained by changing the transverse offset distance of the pick-up relative to the track, as shown in fig. 7. In the conventional two-dimensional simulation model of the pick-up, a transient field is established through an external circuit, and the lateral offset distance of the pick-up relative to the track is changed, so that the output power of the pick-up is obtained, as shown in fig. 8.
Fourth step: and establishing a simulation model of the quadrature pick-up to obtain the coupling coefficient and the output power of the quadrature pick-up.
Since two coils are present on the secondary side of the quadrature pick-up, a horizontal coil and a vertical coil, the two coils can be connected in series or in parallel to form a winding. In a parallel manner, as shown in fig. 9, the two coils supply power to the load after being rectified respectively, so that the phenomenon that one coil outputs power and the other coil consumes power instead of the output power under the normal operation condition when the two coils are connected in series is avoided. The power obtained on the load is the sum of the output power of the horizontal and vertical coils:
wherein L is V Is the self-inductance of the vertical coil, L H Is the self-inductance of the horizontal coil; k (k) V Is the coupling coefficient, k, of the vertical coil H Is the coupling coefficient of the horizontal coil, when the self-inductance of the horizontal coil and the vertical coil are the same, i.e. L V And L H The size is the same, and can be rewritten as:
an orthogonal pick-up simulation model is built in Ansoft Maxwell 2D simulation software, a static field is built, and the coupling coefficient of the pick-up is obtained by changing the transverse offset distance of the orthogonal pick-up relative to the track, as shown in figure 10. In the two-dimensional simulation model of the orthogonal pick-up, a transient field is established through an externally added circuit, and the transverse offset distance of the pick-up relative to the track is changed, so that the output power of the pick-up is obtained, as shown in fig. 11.
As can be seen from fig. 10 and 11: the coupling coefficient of the quadrature pick-up is greater than that of the conventional pick-up at the same lateral offset distance. This is because conventional pickups can only use the vertical component of the magnetic field, while quadrature pickups can use both the horizontal and vertical components of the magnetic field, and when the pickups are laterally offset, the field of the vertical coil linkages is reduced, and the field of the horizontal coil linkages is enhanced, with the quadrature pickups having one more horizontal compensation component than conventional pickups. The output power is similar to the coupling coefficient graph, the correctness of theoretical analysis is verified, the transverse offset range of the orthogonal pick-up is improved, and the coupling performance and the transmission characteristic are improved.
Fifth step: experiments were performed on conventional and quadrature pickups.
The primary side guide rail coil and the secondary side coil adopt 1200 Litz wires, the JK2816C universal high frequency digital bridge is used for measuring the self inductance and mutual inductance of the primary side coil and the secondary side coil, the coupling coefficient of the electric pick-up is obtained, experimental analysis is carried out through the developed electric pick-up, every 10mm is set to be a step length, and the coupling coefficient and the output power of the electric pick-up are recorded once when the electric pick-up deviates once, and the result is shown in figures 12 and 13.
Finally, the experimental and simulation results can be well matched. It also proves that the quadrature pick-up has stronger lateral offset tolerance than the conventional pick-up.
The above technical solution only represents the preferred technical solution of the present invention, and some changes that may be made by those skilled in the art to some parts of the technical solution represent the principles of the present invention, and the technical solution falls within the scope of the present invention.
Claims (1)
1. A method for analyzing the relationship between coupling coefficient and power in an orthogonal pick-up, the method comprising the steps of:
the first step: establishing a circuit model of an inductive coupling power transfer system pick-up
Selecting a commonly used E-shaped magnetic core, and establishing a loose coupling transformer structure model of the E-shaped electric pick-up;
by adopting the mutual inductance equivalent principle, a loose coupling transformer mutual inductance equivalent circuit model of the E-type electric pick-up is established
Adopting a primary side series connection and a secondary side parallel connection compensation topological structure to establish a loose coupling transformer equivalent circuit type of an E-type pick-up of an inductive coupling power transmission system;
analyzing the established model, deducing power output by the electric pick-up according to the kirchhoff voltage law and the kirchhoff current law, and bringing the coupling coefficient into the power output by the electric pick-up to obtain a relation between the coupling coefficient and the output power;
and a second step of: establishing a static magnetic field of the loose coupling transformer, and analyzing the coupling coefficient of the loose coupling transformer;
establishing an E-type loose coupling transformer to enable a magnetic field to be generated, and analyzing the reason that the coupling coefficient of the E-type loose coupling transformer is low;
analyzing two commonly used magnetic core structures of E type and U type applied to an automatic guiding transport vehicle, wherein the magnetic cores are different, and the guide rails are different in wiring, coils wound on the magnetic cores are combined, a first coil is wound on a middle core column of the E type magnetic core, and a second coil is perpendicular to the first coil and is wound on two sides of the E type magnetic core, so that an orthogonal pickup structure is formed;
and a third step of: establishing a traditional electric pick-up simulation model to obtain the coupling coefficient and output power of the traditional electric pick-up;
establishing a traditional two-dimensional simulation model of the electric pick-up in Ansoft Maxwell simulation software;
in a traditional two-dimensional simulation model of the electric pick-up, a static field is established, and the coupling coefficient of the electric pick-up is obtained by changing the transverse offset distance of the electric pick-up relative to the track;
in a traditional two-dimensional simulation model of the electric pick-up, a transient field is established through an externally added circuit, and the transverse offset distance of the electric pick-up relative to a track is changed to obtain the output power of the electric pick-up;
fourth step: establishing a simulation model of the quadrature pick-up to obtain a coupling coefficient and output power of the quadrature pick-up;
establishing a traditional two-dimensional simulation model of the electric pick-up in Ansoft Maxwell simulation software;
in the two-dimensional simulation model of the orthogonal pick-up, a static field is established, and the coupling coefficient of the pick-up is obtained by changing the transverse offset distance of the pick-up relative to the track
In the two-dimensional simulation model of the orthogonal pick-up, a transient field is established through an external circuit, the orthogonal coils adopt a parallel rectification mode, the two coils supply power to a load after being rectified respectively, the transverse offset distance of the pick-up relative to a track is changed, and the output power of the pick-up is obtained;
fifth step: experiments were performed on conventional and quadrature pickups;
the primary side guide rail coil and the secondary side coil adopt 1200 Litz wires, the JK2816C universal high frequency digital bridge is used for measuring the self inductance and mutual inductance of the primary side coil and the secondary side coil, so that the coupling coefficient of the electric pick-up is obtained, the experimental analysis is carried out through the developed electric pick-up, and the coupling coefficient and the output power of the electric pick-up are recorded once when the electric pick-up deviates once; if the experimental and simulation results match well, it proves that the quadrature pick-up has stronger lateral offset tolerance than the conventional pick-up.
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| US10217559B2 (en) * | 2016-04-12 | 2019-02-26 | Virginia Tech Intellectual Properties, Inc. | Multiphase coupled and integrated inductors with printed circuit board (PBC) windings for power factor correction (PFC) converters |
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| WO2009006977A1 (en) * | 2007-07-11 | 2009-01-15 | Sew-Eurodrive Gmbh & Co. Kg | Apparatus and method for the contactless transmission of power and of a data signal |
| CN103997133A (en) * | 2014-05-13 | 2014-08-20 | 南京航空航天大学 | Flat plate type non-contact electricity pick-up device |
| CN105226952A (en) * | 2015-09-18 | 2016-01-06 | 中国矿业大学 | A kind of constant current constant frequency inductively transmission system and method for designing thereof |
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