CN110620446A - Unipolar SPWM current control method of two-module wireless charging system - Google Patents
Unipolar SPWM current control method of two-module wireless charging system Download PDFInfo
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- CN110620446A CN110620446A CN201910853641.4A CN201910853641A CN110620446A CN 110620446 A CN110620446 A CN 110620446A CN 201910853641 A CN201910853641 A CN 201910853641A CN 110620446 A CN110620446 A CN 110620446A
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of DC power input into DC power output
- H02M3/22—Conversion of DC power input into DC power output with intermediate conversion into AC
- H02M3/24—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters
- H02M3/28—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC
- H02M3/325—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/33569—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
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Abstract
The invention discloses a unipolar SPWM current control method of a two-module wireless charging system, which is a unipolar SPWM control method of an outer output current ring and an inner difference ring of a transmitting coil current and a transmitting coil average current, and feedback items of all control loops are determined by combining an inequality of a mutual inductance size judgment feedback relation, so that the output current of each module can be independently controlled, and output end combined control suitable for an offset condition is also provided. The method can independently control the output current and power of the two wireless charging modules, and the universality of the method is not affected by different resonant cavity parameters, any coil mutual inductance parameter and whether the deviation occurs. By adopting the method, the output current of the single-module receiving end can be independently controlled, and the output of the two wireless charging modules can be independently controlled without adding elements in a main power loop of the system.
Description
Technical Field
The invention belongs to the technical field of wireless charging, and relates to a unipolar SPWM current control method of a two-module wireless charging system.
Background
With the increasing shortage of energy sources and the increasing serious problem of environmental pollution in the global scope, the importance of developing electric automobiles is increasingly prominent. The wireless charging technology of the electric automobile is concerned with due to a series of advantages of high efficiency, convenience, low maintenance cost, no environmental influence and the like. Although the technology of medium-low power wireless charging has been developed to some extent at present, high-power wireless fast charging is still under study. The modularized wireless energy transfer technology is beneficial to breaking through the power limitation of the traditional single-channel wireless charging, but the output of one module is difficult to be controlled independently due to the complex cross coupling among different modules, so that the modularized wireless energy transfer technology is not practically applied at present. The unipolar SPWM current control method applied to the two-module wireless charging system is provided, and the unipolar SPWM idea is utilized to realize independent control of single module output.
Disclosure of Invention
The invention aims to provide a unipolar SPWM current control method suitable for a two-module wireless charging system aiming at the coupling problem in the control of the two-module wireless charging system.
The technical scheme adopted by the invention is as follows:
a unipolar SPWM current control method of a two-module wireless charging system comprises two independent wireless charging modules, wherein each wireless charging module comprises a transmitting coil, a receiving coil, a set of independent primary side and secondary side circuits and a control loop of the module, and the control method is as follows for the two-module wireless charging system: the method comprises the following steps that a unipolar SPWM control method is adopted for an input side inverter, an upper switching tube and a lower switching tube of the same bridge arm of the inverter give complementary control signals, one bridge arm serves as a direction arm, the other bridge arm serves as a chopping arm, and a phase difference between fundamental wave input voltages of two wireless charging modules is set; the amplitude of fundamental wave input voltage of the two modules is used as a control quantity, a control method of an outer loop of output current and an inner loop of difference value of current of a transmitting coil and average current of the transmitting coil is adopted for chopper arms of the two full-bridge inverters, and an inequality for judging a feedback relation through the magnitude of mutual inductance is given, so that feedback items of all control loops are determined, the feedback quantity and the control quantity are ensured to be kept in a monotonous relation all the time, and a PI regulator is used for controlling; an output end joint control method suitable for the offset condition is provided.
In the foregoing technical solution, further, the method for setting a phase difference between fundamental input voltages of two wireless charging modules specifically includes: the phase difference between two modulated waves in the two control loops is set (the phase difference between the modulated waves can be controlled and stabilized at any value, and the recommended value is 180 degrees), so that the phase difference between the conduction signals of the direction arms of the two wireless charging modules is controlled, and finally the phase difference between the fundamental wave input voltages of the two wireless charging modules is controlled.
Further, the inner loop control method for the difference between the current of the transmitting coil and the average current of the transmitting coil is as follows: measuring the current in the transmitting coils of the two wireless charging modules, taking an absolute value, carrying out periodic average processing to obtain an average value, adding the average values of the two currents, dividing the added average value by 2 to obtain an average value of the average current of the transmitting coils, respectively carrying out difference on the average value of the current of the transmitting coils of the two wireless charging modules and the average value of the average current of the transmitting coils, and taking the obtained result as the inner loop feedback quantity of a control loop of the wireless charging module.
Further, the inequality for judging the feedback relationship through the magnitude of the mutual inductance is Wherein M is2T2RAnd represents the mutual inductance between the transmitter coil of the second module and the receiver coil of the second module, M1R2RRepresenting the mutual inductance between the first and second modular receiver coils, M1R2TRepresenting the mutual inductance between the first module receiver coil and the second module transmitter coil; for the two-module wireless charging system meeting the above formula, the first wireless charging system is used for chargingThe output current of the electric module is used as the outer ring feedback quantity of the fundamental wave input voltage amplitude of the second wireless charging module, and the output current of the second wireless charging module is used as the outer ring feedback quantity of the fundamental wave input voltage amplitude of the first wireless charging module; for the two-module wireless charging system which does not satisfy the formula, the output current of the first wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the first wireless charging module, and the output current of the second wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the second wireless charging module.
Further, the proposed output end joint control method suitable for the offset condition is as follows: and respectively squaring the output currents of the two modules, then adding the output currents, taking the obtained value as the outer loop feedback quantity of the two control loops, and stabilizing the outer loop feedback value near the outer loop reference value by the PI controller, wherein the outer loop reference value of the control loops is the total power of the system divided by the load resistance value.
The invention has the beneficial effects that:
by adopting the method, the output current of the two-module wireless charging system can be independently controlled by a control means, and the universality of the scheme is not influenced by the design of coil parameters and a resonant cavity; the output end joint control method suitable for the offset condition can reduce the current increase of the primary circuit to the maximum extent under the offset condition.
Drawings
FIG. 1 is a schematic diagram of a two-module wireless charging system;
fig. 2 is a two-module wireless charging system topology;
FIG. 3 is a fundamental equivalent circuit of a two-module system;
FIG. 4 is an equivalent circuit of a controlled source small signal AC model of a two-module system;
FIG. 5 is a control block diagram in a single channel control mode;
FIG. 6 is a graph of an output current waveform of a conventional control method;
FIG. 7 unipolar SPWM control block diagram: (a) a first block diagram of module inverter control signals (b) a second block diagram of module inverter control signals (c) a block diagram of control signals under the condition of deviation of a block diagram (d) of average current calculation of a transmitting coil;
FIG. 8 shows a Maxwell top view with the simulation coils facing each other;
fig. 9 output current simulation waveform diagram: (a) the two-module system stably outputs (b) the output of the first module is suddenly changed;
FIG. 10 simulates a Maxwell top view with coil offset;
FIG. 11 is a waveform diagram of an output current simulation in the case of an offset;
wherein, VT1 to VT8 represent 8 power switching devices of the input side inverter and their drivers (IGBT or MOSFET, etc.) in the two-module wireless charging system, Uin1And Uin2Representing the dc input voltage of the first and second module respectively,andrespectively representing the mean values of the transmit coil currents of the first and second modules,the average value of the average current of the transmitting coil is shown, and the remaining symbolic representations are all described in the detailed description.
Detailed Description
The invention discloses a unipolar SPWM current control method of a two-module wireless charging system, wherein the two-module wireless charging system comprises two independent wireless charging modules, and each module comprises a transmitting coil, a receiving coil, a set of independent primary side and secondary side circuits, and a control loop of the module. A unipolar SPWM control method is adopted for an input side inverter, an upper switching tube and a lower switching tube of the same bridge arm of the inverter give complementary control signals, one bridge arm serves as a direction arm, and the other bridge arm serves as a chopping arm. For a first module, a directional arm of the input side full-bridge inverter adopts complementary square wave control signals, and when the amplitude of a modulation wave is larger than 0, an upper tube is conducted with a signal, and a lower tube is disconnected with the signal; when the amplitude of the modulation wave is less than 0, switching off a signal for an upper tube and switching on a signal for a lower tube; the control logic for the second module direction arm is the same, and the given modulation wave phases are different. And controlling the phase difference between the conduction signals of the two module direction arms by setting the phase difference between the given two modulation waves, thereby determining the phase difference between the fundamental wave input voltages of the two modules. The amplitude of fundamental wave input voltage of the two modules is used as a control quantity, a control method of an outer loop of output current and an inner loop of difference value of current of a transmitting coil and average current of the transmitting coil is adopted for chopper arms of the two full-bridge inverters, and an inequality for judging a feedback relation through the magnitude of mutual inductance is given, so that feedback items of all control loops are determined, the feedback quantity and the control quantity are ensured to be kept in a monotonous relation all the time, and a PI regulator is used for controlling; an output end joint control method suitable for the offset condition is provided.
The method for setting the phase difference between the fundamental wave input voltages of the two wireless charging modules comprises the following steps: the phase difference between two modulated waves in the two control loops is set (the phase difference between the modulated waves can be controlled and stabilized at any value, and the recommended value is 180 degrees), so that the phase difference between the conduction signals of the direction arms of the two wireless charging modules is controlled, and finally the phase difference between the fundamental wave input voltages of the two wireless charging modules is controlled. The control method of the inner loop of the difference value of the current of the transmitting coil and the average current of the transmitting coil comprises the following steps: measuring the current in the transmitting coils of the two wireless charging modules, taking an absolute value, carrying out periodic average processing to obtain an average value, adding the average values of the two currents, dividing the added average value by 2 to obtain an average value of the average current of the transmitting coils, respectively carrying out difference on the average value of the current of the transmitting coils of the two wireless charging modules and the average value of the average current of the transmitting coils, and taking the obtained result as the inner loop feedback quantity of a control loop of the wireless charging module. The inequality for judging the feedback relationship through the size of the mutual inductance isWherein M is2T2RAnd represents the mutual inductance between the transmitter coil of the second module and the receiver coil of the second module, M1R2RRepresenting the mutual inductance between the first and second modular receiver coils, M1R2TRepresenting the mutual inductance between the first module receiver coil and the second module transmitter coil; for the two-module wireless charging system meeting the formula, the output current of the first wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the second wireless charging module, and the output current of the second wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the first wireless charging module; for the two-module wireless charging system which does not satisfy the formula, the output current of the first wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the first wireless charging module, and the output current of the second wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the second wireless charging module. The proposed output end joint control method suitable for the offset condition is as follows: and respectively squaring the output currents of the two modules, then adding the output currents, taking the obtained value as the outer loop feedback quantity of the two control loops, and stabilizing the outer loop feedback value near the outer loop reference value by the PI controller, wherein the outer loop reference value of the control loops is the total power of the system divided by the load resistance value.
The invention is further described with reference to the following figures and specific embodiments.
Theoretical derivation
Firstly, the influence mechanism of cross coupling in the two-module wireless charging system on output current is analyzed.
An equivalent schematic diagram of a two-module system is shown in fig. 1. The topological structure of the two-module wireless charging system is shown in fig. 2, and the fundamental wave equivalent circuit is shown in fig. 3. According to the fundamental equivalent circuit, the voltage equations can be listed for four loops respectively:
wherein T in the subscripts denotes a transmitting coil (transmitting coil) and R denotes a receiving coil (receiving coil), for example, subscripts 1T, 1R, 2T, 2R respectively correspond to the transmitting coil and the receiving coil of the first module and the transmitting coil and the receiving coil of the second module, and R1T、R2TPrimary side parasitic resistances, R, of the first and second modules, respectively1RAnd R2RIs the sum of the parasitic resistance of the secondary side of the first module and the second module and the equivalent load resistance u1(t) and u2(t) respectively representing the fundamental wave input voltage of the first module and the second module (the fundamental wave input voltage of the two modules has the same value as that of a single-channel system), i1T(t) and i1R(t) represents the current in the transmitting coil and the receiving coil of the first module, respectively, i2T(t) and i2R(t) represents the current in the transmit coil and the receive coil of the first module respectively,andrepresenting the voltage on the compensation capacitors in the primary and secondary loops of the first module,andrepresenting the voltage, L, over the compensation capacitors in the primary and secondary loops of the first module1T、L1R、L2T、L2RRepresenting the self-inductance of four coils in a two-module system, C1T、 C1R、C1TAnd C1RRepresenting compensation capacitors, M, for four loops in a two-module systemiTjR，i、j∈[1，n]And i ≠ j, which represents the mutual inductance between the i-th module transmit coil and the j-th module receive coil. Assuming parameter symmetry among different modules, defining an intermediate variable Z:
Z＝L2TL2R-M2T2R 2＝L1TL1R-M1T1R 2 (9)
defining matrix variables:
by combining equations (1) to (8) and using the above intermediate variables, the following equation of state can be found:
for the laplace transform of equation (18), the following transfer function is assumed:
each loop current can be obtained by adopting the method as follows:
where s represents the parameters of the circuit after laplace transformation, and an equivalent circuit obtained by expressing the coupling coil as a controlled source according to equation (31) is shown in fig. 4.
In the conventional control mode, a control block diagram of the two-module system is shown in fig. 5. As can be seen from the controlled source equivalent circuit of FIG. 4, the pair u is due to the mutual coupling of the two module outputs1Control of(s) not only affects i1R(s), also influences i2R(s). Under the conventional control mode, the output current of the two modules changes as shown in fig. 6. It can be seen that, when the cross coupling between the two module systems is large, the two module systems are still used as a single channel system to respectively perform output voltage outer loop and output current inner loop phase shift control on the two modules, so that the output current of one module is easy to diverge, and the output current of the other module does not reach the reference value yet. This is because the output voltage of one module is simultaneously subjected to the input voltage of the fundamental wave of the module and the input voltage of the fundamental wave of the other moduleThe input voltage of the wave and the phase difference between the input voltages of the fundamental waves of the two modules are influenced, the amplitude of the output voltage and the amplitude of the input voltage of the fundamental wave of the module are not always in a monotonous relation, and no static difference can not be realized through PI regulation.
In order to ensure that the control quantity and the feedback quantity maintain a monotonic relation, two fundamental wave input voltages u need to be determined1(s)、 u2(s) and the phase difference between them, it is clear that determining the phase difference of the fundamental input voltages of the two modules is more consistent with the control logic. For cross mutual inductance M1T2R、M1R2TFor a negative two-module system, taking the receiving coil of the first module as an example, the induced voltages of the two transmitting coils are respectivelyAnddue to the positive coupling M1T1RCross mutual inductance M for positive1R2TNegative, so that two transmitter coil currents need to be connected to ensure the same phase of the induced voltageAndthe phase difference is 180 degrees, the same phase of the induced voltage of each receiving coil by the two transmitting coils can be ensured, the active power is transmitted from the primary side to the secondary side, and the efficiency is high. At the same time, in the case of complete compensation, the fundamental input voltage of each module is now approximately in phase with the transmitter coil current, so that the phase difference between the fundamental input voltages now assumes approximately 180 °. For the same reason, for cross mutual inductance M1T2R、M1R2TThe current phase difference of the transmitting coils is 0 degrees in a positive two-module system, the same phase of the induced voltage of each receiving coil by the two transmitting coils can be ensured, the active power is transmitted from the primary side to the secondary side,the efficiency is high and the phase difference between the fundamental input voltages is approximately 180 deg.. The cross mutual inductance of the simulation parameters used in the simulation verification part of the invention is negative, so the phase difference of the sine modulation waves of the directional arms of the two-module inverter is set to be 180 degrees.
Another important reason why the conventional single-channel wireless charging system control method is not suitable for the two-module system is that when the cross coupling between the two modules is very large (comparable to the direct coupling), the first module output current i may occur1R(s) receiving the fundamental input voltage amplitude u of the second module2(s) is more influential, while the second module outputs a current i2R(s) receiving the fundamental input voltage amplitude u of the first module1(s) affects the situation even more. At this time, the output current i of the first module needs to be adjusted1R(s) as a feedback quantity of the amplitude of the fundamental input voltage of the second module, the output current i of the second module2R(s) as a feedback quantity of the amplitude of the fundamental input voltage of the first module. Laplace transform is performed on the formula (18) to output the current i1R(s) and i2R(s) are each represented by two fundamental input voltages u1(s) and u2(s) to find the conditions to be satisfied between the cross-coupling and the opposite coupling when the above conditions occur:
for a two-module system satisfying equation (32), it is necessary to adjust the output current i of the first module1R(s) as a feedback quantity of the amplitude of the fundamental input voltage of the second module, the output current i of the second module2R(s) as a feedback quantity of the amplitude of the fundamental input voltage of the first module; for a two-module system that does not satisfy equation (32), it is necessary to match the output current i of the first module1R(s) as a feedback quantity of the amplitude of the fundamental input voltage of the first module, the output current i of the second module2R(s) as a feedback quantity of the amplitude of the fundamental input voltage of the second module.
In order to ensure that the control method can be used under the conditions of single output and parallel output of the two-module wireless charging system, the output voltage is not taken as a control object, and the output current is taken as a control outer ring. In addition, modular systems often desire that the power transmitted by the two modules be approximately equal. If the input power of the two modules is different by several times, even if the output reaches the required value, the advantages of modular system power sharing, avoidance of generation of concentrated magnetic fields, heating and the like are not exerted, so that the circuit parameters of the primary circuit are controlled. In order to ensure that the parameters of the primary-side loop circuits of the two modules are basically symmetrical, the current amplitudes of the transmitting coils need to be controlled to be equal, the difference value between the current average value of the transmitting coils and the current average value of the transmitting coils of the two modules is used as a control variable of the inner loop, and a control block diagram is shown in fig. 7. When the circuit reaches a steady state, the current amplitudes of the transmitting coils of the two modules are equal, and the input apparent power is also basically the same under the condition that the circuit parameters are basically symmetrical and the output power is the same, so that the advantages of the wireless charging system of the two modules can be exerted. Under the conditions of coil offset, asymmetric inductance parameters and greatly reduced direct coupling coefficient, the condition of voltage reduction and current rise of a primary side circuit can occur in order to achieve the same output power, and the control on the primary side current can well share the extra primary side current stress caused by the coil offset. In this case, the increase of the current of the primary circuit can be reduced to the maximum extent by adopting a control method of the secondary output current combined regulation. At the moment, the output currents of the two modules are squared and added together to be used as the outer loop feedback quantity of the two control loops, and the outer loop reference value is the system total power divided by the load resistance value.
To sum up, the circuit structure and control block diagram of the two-module wireless charging system are shown in fig. 2 and fig. 7 (it is assumed here that the formula (30) is not satisfied between the cross-coupling and the opposite-coupling, the two sinusoidal modulation waves given in fig. 7(a) and 7(b) are equal in amplitude and different in phase, the sinusoidal modulation waves and the zero potential are given to the positive and negative ends of the voltage comparator, respectively, the generated control signals are given to the upper tubes (VT1 and VT5) of the two-module inverter arms, respectively, the generated control signals are given to the lower tubes (VT4 and VT8) of the two-module inverter arms, respectively, when the modulation wave amplitude is greater than 0, the upper tubes of the arms are turned on, conversely, the phase difference between the two module modulation waves is converted into the phase difference between the inverter arm control signals, that is the phase difference between the two module equivalent fundamental wave input voltages, fig. 7(c) measures the currents in the two module transmitting coils, and taking an absolute value, carrying out periodic average processing to obtain an average value, adding the two current average values, dividing by 2 to obtain an average value of the average current of the transmitting coil, and respectively making a difference between the average value of the current of the transmitting coils of the two modules and the average value of the average current of the transmitting coil to obtain a result as the inner loop feedback quantity of the control loop of the module. Fig. 7(d) shows a control block diagram for the case of an offset, in which both output currents are adjusted jointly.
When the formula (30) is satisfied between the cross coupling and the opposite coupling, the control block diagram is changed from 7(a) and 7(b) to 7(e) and 7(f), and the output current i of the first module is adjusted1R(s) as a feedback quantity of the amplitude of the fundamental input voltage of the second module, the output current i of the second module2R(s) as a feedback quantity of the amplitude of the fundamental input voltage of the first module.
Simulation verification
Taking a two-module system with a rated power of 3.7KW as an example, the number of turns of the coil is 30 turns, the side length is 350mm, the side length of the magnetic core and the shielding layer is 370mm, the two modules are abutted, and the top view is shown in FIG. 8. Inductance and ac resistance parameters obtained by Maxwell simulation are as follows:
TABLE 1 inductance and AC resistance parameters for two-module wireless charging systems
The DC input voltage is 800V, the control mode of the inverter at the input side is shown in a theoretical part, complete compensation is adopted, the load resistance is 30 omega, capacitance parasitic resistance is ignored, uncontrolled rectification is adopted at the output side, the reference value of the output current is set to be 11.1A, and the waveform of the output current obtained through simulation is shown in fig. 9 (a). It can be seen that the output current waveform can quickly reach the reference value and remain stable.
Keeping one path of output unchanged and adjusting the other path of output. The output current references are initially given 11.1A, and the first module is adjusted from 11.1A to 8A after 0.5 seconds. The output waveform is shown in fig. 9(b), and it can be seen that when the output current of the first module changes suddenly, the output current of the second module can be maintained substantially unchanged.
And carrying out simulation verification under the condition that the coil is deviated. The receiving side coils of both modules were moved 150mm in the X-axis direction, as shown in the side view of fig. 10. Inductance and ac resistance parameters obtained by Maxwell simulation are as follows:
TABLE 2 inductance and AC resistance parameters for two-module wireless charging system during migration
The other circuit parameters are unchanged, the primary side current amplitude is still kept equal under the condition of offset, the output side is jointly adjusted, and the total output power is unchanged. The simulation result is shown in fig. 11, and it can be seen that the output current can be controlled to be stable finally.
Claims (5)
1. The unipolar SPWM current control method of the two-module wireless charging system is characterized in that the two-module wireless charging system comprises two independent wireless charging modules, each wireless charging module comprises a transmitting coil, a receiving coil, a set of independent primary side circuit and secondary side circuit and a control loop of the module, and the control method is as follows for the two-module wireless charging system: the method comprises the following steps that a unipolar SPWM control method is adopted for an input side inverter, an upper switching tube and a lower switching tube of the same bridge arm of the inverter give complementary control signals, one bridge arm serves as a direction arm, the other bridge arm serves as a chopping arm, and a phase difference between fundamental wave input voltages of two wireless charging modules is set; the amplitude of fundamental wave input voltage of the two modules is used as a control quantity, a control method of an output current outer ring and a difference value inner ring of transmitting coil current and transmitting coil average current is adopted for chopper arms of the two full-bridge inverters, an inequality for judging a feedback relation through the magnitude of mutual inductance is given, and a feedback item of each control loop is determined according to the inequality, so that the feedback quantity and the control quantity are always kept in a monotonous relation, and a PI regulator is used for controlling; an output end joint control method suitable for the offset condition is provided.
2. The unipolar SPWM current control method of the two-module wireless charging system of claim 1 wherein said method of setting the phase difference between the fundamental input voltages of the two wireless charging modules is specifically: the phase difference between the two modulation waves in the two control loops can be any, so that the phase difference between the conduction signals of the direction arms of the two wireless charging modules is controlled, and finally the phase difference between the fundamental wave input voltages of the two wireless charging modules is controlled.
3. The unipolar SPWM current control method of the two-module wireless charging system of claim 1 wherein said inner loop of differences between the transmit coil current and the transmit coil average current comprises: measuring the current in the transmitting coils of the two wireless charging modules, taking an absolute value, carrying out periodic average processing to obtain an average value, adding the average values of the two currents, dividing the added average value by 2 to obtain an average value of the average current of the transmitting coils, respectively carrying out difference on the average value of the current of the transmitting coils of the two wireless charging modules and the average value of the average current of the transmitting coils, and taking the obtained result as the inner loop feedback quantity of a control loop of the wireless charging module.
4. The unipolar SPWM current control method of the two-module wireless charging system of claim 1 wherein the inequality of the feedback relationship determined by the magnitude of the mutual inductance is Wherein M is2T2RDenotes the firstMutual inductance between two module transmitter coils and a second module receiver coil, M1R2RRepresenting the mutual inductance between the first and second modular receiver coils, M1R2TRepresenting the mutual inductance between the first module receiver coil and the second module transmitter coil; for the two-module wireless charging system meeting the formula, the output current of the first wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the second wireless charging module, and the output current of the second wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the first wireless charging module; for the two-module wireless charging system which does not satisfy the formula, the output current of the first wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the first wireless charging module, and the output current of the second wireless charging module is used as the outer loop feedback quantity of the fundamental wave input voltage amplitude of the second wireless charging module.
5. The unipolar SPWM current control method for the two-module wireless charging system of claim 1 wherein the proposed output joint control method for offset case is: and respectively squaring the output currents of the two modules, then adding the output currents, taking the obtained value as the outer loop feedback quantity of the two control loops, and stabilizing the outer loop feedback value near the outer loop reference value by the PI controller, wherein the outer loop reference value of the control loops is the total power of the system divided by the load resistance value.
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