CN110649685A - Wireless charging device and method for high-voltage cable of inspection unmanned aerial vehicle - Google Patents
Wireless charging device and method for high-voltage cable of inspection unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110649685A CN110649685A CN201811510643.5A CN201811510643A CN110649685A CN 110649685 A CN110649685 A CN 110649685A CN 201811510643 A CN201811510643 A CN 201811510643A CN 110649685 A CN110649685 A CN 110649685A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- voltage
- unit
- circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a wireless charging device and a charging method for a high-voltage cable of an inspection unmanned aerial vehicle, wherein the charging device comprises: the high-voltage line energy taking unit and the power transmitting unit on the side part of the charging station, and the transmitting coil and the transmitting end resonance coil of the coupling unit; the high-voltage line energy-taking unit directly converts the electric energy of the high-voltage cable into an available power supply. The transmitting unit comprises a power supply, a high-frequency inverter circuit, a zero-crossing detection circuit, an FPGA, an MOSFET drive circuit and a phase control inductance branch circuit. The unmanned aerial vehicle side pickup unit comprises an AC-DC uncontrolled full-bridge rectifying circuit, a DC-DC voltage type BUCK circuit, a voltage comparison circuit, an FPGA and an MOSFET. The invention enables the unmanned aerial vehicle to flexibly supply the on-site electric energy on the high-voltage cable, improves the wireless charging efficiency, and overcomes the current situation that the unmanned aerial vehicle is limited by the storage battery and the traditional charging method.
Description
Technical Field
The invention mainly relates to a high-voltage online energy taking technology and a wireless electric energy transmission technology, in particular to a wireless charging device for a high-voltage cable of an inspection unmanned aerial vehicle.
Background
Wireless power transmission technologies are classified according to energy transmission mechanisms, and can be mainly classified into the following three categories:
the first type: electromagnetic radiation type wireless power transmission technology. At present, the technology is generally realized by adopting a Laser Power Transfer (LPT) technology and a Microwave energy Transfer (MPT) technology, and can realize remote transmission with smaller Power. However, due to the strong transmission directivity of the technology, a complex tracking and positioning system is needed in the operation process, and no obstacle can exist in a transmission path. Therefore, the technology is large in limitation and not suitable for hovering and charging of the unmanned aerial vehicle.
The second type: electromagnetic induction type wireless Power Transfer (ICPT for short). The technology belongs to an electromagnetic field near-field coupling wireless power transmission technology, and wireless power transmission is realized through an electromagnetic field which is coupled between a primary coil and a secondary coil based on an electromagnetic induction law. The electromagnetic induction type wireless power transmission technology can increase transmission power and improve transmission efficiency by adding high-permeability materials into an air magnetic circuit. However, this technique has a relatively limited effective transmission distance, and is generally applied to a case where the distance is within 10 cm and the primary coil and the secondary coil are relatively fixed, and is generally applied to charging and supplying power to a small portable electronic device or a home appliance.
In the third category: magnetic resonance type wireless power transmission technology. The magnetic resonance type wireless power transmission technology also belongs to the electromagnetic field near field coupling wireless power transmission technology, and two mutually coupled and self quality factors are added on the basis of the electromagnetic induction type wireless power transmission technologyQResonance coil of very high value, through whichQThe resonance coil can generate a magnetic field with higher intensity in the space, so that electric energy can be efficiently transferred at a longer distance. The technology has the characteristics that the technology has no obvious directivity, the transmission distance is far away from an electromagnetic induction type, the highest multi-kilowatt power high-efficiency transmission can be realized at the middle distance (the middle distance is that the distance between the resonance coils can reach more than several times of the diameter of the coils) theoretically, the transmission can be carried out through non-metallic substances, the influence on the human body and the surrounding environment is relatively small, and the technology is safer and more reliable. Therefore, be more applicable to patrol and examine wireless continuation of journey that charges of hovering of unmanned aerial vehicle.
Disclosure of Invention
The invention aims to: the unmanned aerial vehicle is patrolled and examined for electric power provides the wireless charging device design of wireless charging under the state of hovering, and device direct mount need not the power failure operation on high tension cable for unmanned aerial vehicle's continuation of the journey is more convenient high-efficient. Under the weak coupling condition that the distance between the unmanned aerial vehicle and the transmitting end is far, the transmission capability of high power is ensured as much as possible in the process that the load and the mutual inductance are continuously changed. Meanwhile, reactive loss caused by mutual inductance and load change of the coupling unit is reduced, and the output voltage of the control system is ensured to be constant.
The technical scheme adopted by the invention is as follows: 1.1, the side part of the charging station comprises a high-voltage line energy taking unit, a power transmitting unit and a coupling unit, and comprises a transmitting coil and a transmitting end resonance coil; 1.2 unmanned aerial vehicle lateral part: the device comprises a receiving end resonance coil (3-3) of a coupling unit (3), a receiving coil (3-4) and an unmanned aerial vehicle side electric energy pickup unit (4), wherein the coupling unit (3) comprises a transmitting coil (3-1), a transmitting end resonance coil (3-2), a receiving end resonance coil (3-3) and a receiving coil (3-4);
the high-voltage line energy taking unit comprises an energy taking CT (current transformer) and is used for transmitting power frequency alternating current electric energy on the high-voltage cable to a power utilization side through electromagnetic induction; the rectifying circuit is used for converting the power frequency alternating current output by the energy taking CT into a stable direct current level and supplying power to the later stage; the pulse protection circuit is connected to the power utilization side, and the pulse protection current can cause instantaneous large current to induce overvoltage at the power utilization side; the charging protection circuit controls the charging state of the storage battery by detecting the charging voltage and the charging current of the energy-taking storage battery unit, and prevents the circuit from being damaged by overlarge current during charging; and the storage battery unit stores the electric energy acquired by the energy acquisition CT and is suitable for stable power output of the high-voltage line under different load conditions.
The transmitting unit comprises a power supply, and the energy-taking storage battery unit supplies power to the transmitting unit through a high-voltage line so as to provide different required direct current levels; the high-frequency inverter circuit converts direct current output by the high-voltage line energy-taking storage battery unit into high-frequency alternating current; the zero-crossing detection circuit is used for carrying out zero-crossing detection on the primary resonance voltage; the FPGA is used as a primary control chip to perform constant frequency control based on dynamic tuning at a transmitting end; the MOSFET driving circuit controls the on-off of the MOSFETs of the high-frequency inverter circuit and the phase control inductance branch circuit; and the phase control inductance branch circuit adjusts and compensates the capacitance reactance value of the resonance branch circuit.
The coupling unit comprises a transmitting coil, a transmitting end resonance coil, a receiving end resonance coil and a receiving coil.
The unmanned aerial vehicle side pickup unit comprises an AC-DC uncontrolled full-bridge rectifying circuit and is used for converting high-frequency alternating current into direct current; the DC-DC voltage type BUCK circuit is used for reducing voltage to supply power to the unmanned aerial vehicle; the voltage comparison circuit samples the output voltage and compares the output voltage with a reference voltage; the FPGA is used as a control chip to adjust the duty ratio of the MOSFET to carry out voltage stabilization control; the MOSFET drive circuit controls the MOSFET to be switched on and off.
The FPGA controller is used as a primary control chip, in order to overcome the resonance frequency drift of the coupling unit caused by mutual inductance and load dynamic change, the FPGA adopts a constant frequency working mode based on phase control inductance dynamic tuning to ensure the power transmission capability of the coupling unit, the zero-crossing detection circuit samples alternating-current resonance voltage, signals are subjected to advanced correction before being sent to a comparator so as to be synchronous with control signals, and the FPGA generates output signals of the MOSFET driving circuit according to the output results of the zero-crossing detection circuit.
The high-voltage line energy-taking unit and the transmitting unit are directly installed on the power transmission line, the energy-taking storage battery unit is connected with the power supply, the continuous and stable power supply of the transmitting unit is maintained, the high-voltage line energy-taking unit and the transmitting unit can be installed and maintained in an electrified mode, electricity is taken on the spot to supply power to the unmanned aerial vehicle, and the unmanned aerial vehicle is hovered and charged.
The transmitting unit adopts a push-pull high-frequency inverter circuit, the outlet end of the transmitting unit is connected with a phase control inductance branch circuit, the phase control inductance branch circuit consists of two MOSFETs which are reversely connected in parallel and a fixed inductor, and the constant-frequency work of the system is realized through constant-frequency control based on dynamic tuning under the condition that the posture adjustment of a load unmanned aerial vehicle causes the mutual inductance of coils and the change of the load.
The voltage comparison circuit in the pickup unit uses the reference voltage signal to compare with the sampling signal, and the FPGA adjusts the duty ratio of the MOSFET according to the comparison result to maintain the stability of the output voltage.
The transmitting coil, the transmitting end resonance coil, the receiving end resonance coil and the receiving coil are wound by litz wires.
The transmitting coil and the transmitting end resonance coil are arranged on a charging device on a high-voltage cable; receiving terminal resonance coil, receiving coil install in unmanned aerial vehicle equipment below.
The transmitting coil of the coupling unit is compensated in a series capacitance mode, the receiving coil is also connected in series by the compensation capacitor, and the capacitance parameter is matched with the parameters of the transmitting unit and the coupling unit through optimization so as to improve the transmission power under the weak coupling condition.
The invention also provides a charging method of the polling unmanned aerial vehicle high-voltage cable wireless charging device, which is characterized by comprising the following steps: the side part of the charging station comprises a high-voltage line energy taking unit, a power transmitting unit and a coupling unit, and comprises a transmitting coil and a transmitting end resonance coil; unmanned aerial vehicle lateral part: receiving end resonance coil and receiving end resonance coil comprising coupling unitThe unmanned aerial vehicle high-voltage cable wireless charging device adopts an FPGA controller as a primary control chip, the FPGA adopts a constant-frequency working mode based on phase control inductance dynamic tuning to ensure the power transmission capability of the coupling unit, and the zero-crossing detection circuit samples alternating-current resonance voltage and performs advanced correction before the signal is sent to the comparator so as to be synchronous with a control signal. The FPGA generates output signals driven by the MOSFET according to the output result of the zero-crossing detection circuit, and the current-level natural resonant frequencyf pRated operating frequency of systemf 0At different times, i.e.f p≠f 0In the method, the output duty ratio of the MOSFET drive circuit is adjusted through the FPGA, and the equivalent inductance value of the phase control inductor is adjustedL teqMaking the primary natural resonant frequencyf pAlways with the rated working frequency of the systemf 0Keep equal and avoid detuning of the resonance network of the transmitting coil, in particular, when the system is operating at a frequencyf 0< f pIncreasing the phase control inductance equivalent valueL teqI.e. increasing the phase-controlled inductance conduction angleαRealize the reduction of the primary natural frequencyf p(ii) a When the system operating frequencyf 0> f pTime, phase control inductance equivalent value is reducedL teqI.e. reducing the phase-controlled inductance conduction angleαIncrease the natural frequency of the primary stagef p(ii) a When the system operating frequencyf 0= f pWhile maintaining the conduction angle of the phase-controlled inductorαAnd (5) outputting the output quantity.
In order to ensure safe and stable operation of the power transmission line, the unmanned aerial vehicle needs to keep a safety distance as large as possible to carry out wireless charging, the mutual inductance coefficient is reduced due to the increase of the distance, and the weak coupling characteristic is prominent. Therefore, a wireless power transmission mode which is more suitable for weak coupling conditions and is based on magnetic resonance is adopted, a transmitting coil of the coupling unit adopts a series capacitor mode for compensation, and a receiving coil also adopts a compensation capacitor in series. The capacitance parameters are optimized and matched with the parameters of the transmitting unit and the coupling unit so as to improve the transmission power under the weak coupling condition.
The unmanned aerial vehicle hovering and charging process is controlled by the constant frequency of the transmitting unit on one hand to guarantee the transmission efficiency under the weak coupling condition, and is controlled by the voltage stabilization of the unmanned aerial vehicle side pickup unit on the other hand to guarantee the stability of the output voltage. The high-voltage cable wireless charging device for the inspection unmanned aerial vehicle improves the wireless charging transmission power of the unmanned aerial vehicle under the weak coupling condition, overcomes the working frequency drift caused by mutual inductance and load change by adopting dynamic tuning control, and maintains higher transmission efficiency. Make unmanned aerial vehicle can carry out on the spot electric energy supply in a flexible way at the high-voltage cable, provide a feasible scheme for increasing unmanned aerial vehicle's duration.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
fig. 2 is a block diagram of a high-voltage line energy-taking unit 1 of the high-voltage cable wireless charging device of the inspection unmanned aerial vehicle;
fig. 3 is a block diagram of the transmitting unit 2 of the high-voltage cable wireless charging device of the inspection unmanned aerial vehicle;
fig. 4 is a block diagram of the coupling unit 3 of the high-voltage cable wireless charging device of the inspection unmanned aerial vehicle;
fig. 5 is a block diagram of the pickup unit 4 of the high-voltage cable wireless charging device of the inspection unmanned aerial vehicle;
fig. 6 is a connection diagram of the installation of the high-voltage line energy-taking unit 1 and the transmitting unit 2 on the high-voltage transmission cable;
fig. 7 is a schematic diagram of the control process of the present invention for constant frequency control by dynamic tuning.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The invention relates to a high-voltage cable wireless charging device of an inspection unmanned aerial vehicle, which comprises a 1.1 charging station side part, a power transmission unit, a coupling unit, a transmitting coil and a transmitting end resonance coil, wherein the high-voltage line energy taking unit, the power transmission unit and the coupling unit comprise the transmitting coil and the transmitting end resonance coil; 1.2 unmanned aerial vehicle lateral part: the device comprises a receiving end resonance coil 3-3, a receiving coil 3-4 and an unmanned aerial vehicle side electric energy pickup unit 4 of a coupling unit 3, wherein the coupling unit 3 comprises a transmitting coil 3-1, a transmitting end resonance coil 3-2, a receiving end resonance coil 3-3 and a receiving coil 3-4;
wherein:
the high-voltage line energy taking unit 1 comprises an energy taking CT 1-1 and is used for transmitting power frequency alternating current electric energy on the high-voltage cable to a power utilization side through electromagnetic induction; the rectifying circuit 1-2 is used for converting the power frequency alternating current output by the energy taking CT into a stable direct current level to supply power for the later stage; the pulse protection circuit 1-3 is connected with pulse protection current at the power utilization side to prevent the power utilization side from inducing overvoltage at the power utilization side due to instantaneous heavy current caused by lightning stroke, short circuit and the like; the charging protection circuit 1-4 controls the charging state of the storage battery by detecting the charging voltage and the charging current of the storage battery unit 1-5, and prevents the circuit from being damaged by overlarge current during charging; and the storage battery units 1-5 are used for storing the electric energy obtained by the energy acquisition CT and are suitable for stable power output of a high-voltage line under different load conditions.
The transmitting unit 2 comprises a power supply 2-1, and the transmitting unit 2 is powered by a storage battery 1-5 of the high-voltage line energy-taking unit to provide different required direct current levels; the high-frequency inverter circuit 2-2 is used for converting the direct current output by the high-voltage line energy-taking unit storage battery 1-5 into high-frequency alternating current; the zero-crossing detection circuit 2-3 is used for carrying out zero-crossing detection on the primary resonance voltage; the FPGA 2-4 is used as an original control chip to carry out constant frequency control based on dynamic tuning at a transmitting end; the MOSFET driving circuit 2-5 controls the MOSFET of the high-frequency inverter circuit 2-1 and the phase control inductance branch circuit 2-6 to be switched on and off; and phase control inductance branches 2-6, and adjusting the capacitive reactance value of the compensation resonance branch.
The unit 3 comprises a transmitting coil 3-1, a transmitting end resonance coil 3-2, a receiving end resonance coil 3-3 and a receiving coil 3-4 which are wound by litz wires. The transmitting coil 3-1 and the transmitting end resonance coil 3-2 are arranged on a charging device on the high-voltage cable. The receiving end resonance coil 3-3 and the receiving coil 3-4 are installed below the unmanned aerial vehicle equipment.
The pick-up unit 4 comprises an AC-DC uncontrolled full bridge rectifying circuit 4-1 which converts high-frequency alternating current into direct current; the DC-DC voltage type BUCK circuit 4-2 is used for reducing voltage to supply power to the unmanned aerial vehicle; a voltage comparison circuit 4-3 for sampling the output voltage and comparing it with a reference voltage; the FPGA 4-4 is used as a control chip for regulating the duty ratio of the MOSFET to carry out voltage stabilization control; MOSFET drive circuit 4-5 controls MOSF
High-voltage line can get unit 1 and the installation of emission unit 2 on transmission line and be connected as shown in fig. 6, but high-voltage line can get unit 1 and emission unit 2 electrified installation and maintenance, can realize and get the electricity on the spot and supply energy for unmanned aerial vehicle.
The high-voltage line energy taking unit 1 transmits power frequency alternating current electric energy on a high-voltage cable to a power utilization side through electromagnetic induction through an energy taking CT 1-1 fixed by a buckle, and the power frequency alternating current output by the energy taking CT is converted into a stable direct current level through a rectifying circuit 1-2 and a charging protection circuit 1-4 and charges a storage battery unit 1-5. The protection circuit adopted by the high-voltage line energy-taking unit 1 comprises: the pulse protection circuit 1-3 is connected with pulse protection current at the power utilization side to prevent lightning stroke, short circuit and the like which can cause instantaneous heavy current to induce over voltage at the power utilization side; the charging protection circuit 1-4 controls the charging state of the storage battery by detecting the charging voltage and the charging current of the storage battery unit 1-5, and prevents the damage of the battery circuit caused by the overlarge current during charging. Finally, the storage battery unit 1-5 stores the electric energy obtained by the energy obtaining CT 1-1, is suitable for stable power output of a high-voltage line under different load conditions, and is connected with the power supply 2-1 through the storage battery unit 1-5 to maintain continuous and stable power supply of the transmitting unit 2.
The transmitting unit 2 adopts a push-pull high-frequency inverter circuit 2-2, the outlet end of the transmitting unit is connected with a phase control inductance branch 2-6, the phase control inductance branch 2-6 consists of two MOSFETs which are reversely connected in parallel and a fixed inductor, and the constant frequency work of the system is realized through constant frequency control based on dynamic tuning under the condition that the posture adjustment of a load unmanned aerial vehicle causes the mutual inductance of coils and the change of the load. This unmanned aerial vehicle high tension cable wireless charging device adopts FPGA controller 2-4 as primary control chip, in order to overcome mutual inductance and the resonant frequency drift of coupling unit 3 that the load dynamic change leads to, FPGA 2-4 adopts the constant frequency mode of operation based on controlling inductance dynamic tuning mutually, guarantees the power transmission ability of coupling unit. The zero-crossing detection circuit 2-3 samples the AC resonance voltage and sends the signalAdvance correction is performed before entering the comparator so as to be synchronized with the control signal. The FPGA 2-4 generates output signals of the MOSFET drive 2-5 according to output results of the zero-crossing detection circuit 2-3. When the original natural resonant frequencyf pRated operating frequency of systemf 0At different times, i.e.f p≠f 0In the time, the output duty ratio of the MOSFET drive circuit 2-5 is adjusted through the FPGA 2-4, and the equivalent inductance value of the phase control inductor 2-6 is adjustedL teq. Make the primary natural resonant frequencyf pAlways with the rated working frequency of the systemf 0Keeping the same and avoiding the detuning of the resonance network of the transmitting coil. In particular, when the system is operating at frequencyf 0< f pIncreasing the phase control inductance equivalent valueL teqI.e. increasing the phase-controlled inductance conduction angleαRealize the reduction of the primary natural frequencyf p(ii) a When the system operating frequencyf 0> f pTime, phase control inductance equivalent value is reducedL teqI.e. reducing the phase-controlled inductance conduction angleαIncrease the natural frequency of the primary stagef p(ii) a When the system operating frequencyf 0= f pWhile maintaining the conduction angle of the phase-controlled inductorαThe output quantity and the control flow are shown in fig. 7.
The transmitting coil 3-1 of the coupling unit 3 adopts a series capacitance mode for compensation, and the receiving coil 3-4 adopts a compensation capacitor for series connection in the same way, so as to improve the transmission power under the weak coupling condition. In order to ensure safe and stable operation of the power transmission line, the unmanned aerial vehicle needs to keep the safe distance as large as possible for wireless charging, the mutual inductance coefficient is reduced due to the increase of the distance, and the weak coupling characteristic is outstanding, so the coupling unit 3 adopts a magnetic resonance-based wireless power transmission mode more suitable for the weak coupling condition, and the compensation capacitance parameter is optimized to be matched with the parameters of the transmitting unit 2 and the coupling unit 3 to ensure that the compensation capacitance parameter is matched with the parameters of the transmitting unit 2 and the coupling unit 3f 0= f p。
After the unmanned aerial vehicle is suspended to a charging point, a high-voltage line energy taking unit 1 and a transmitting unit 2 form a line power supply, direct current provided by the power supply is inverted into high-frequency alternating current through a high-frequency inverter circuit 2-2, a high-frequency alternating magnetic field is generated in a coil gap through a transmitting coil 3-1, a transmitting end resonance coil 3-2 with a high Q value can generate larger high-frequency induction voltage and induction current after inducing the magnetic field generated by the transmitting coil 3-1, and a resonance magnetic field with higher strength is generated. Similarly, the Q value of the receiving-end resonance coil 3-3 itself is also high, and although the coupling degree of the transmitting-end resonance coil 3-2 and the receiving-end resonance coil 3-3 is low, the receiving-end resonance coil 3-3 can still induce a high-frequency magnetic field due to a high-intensity magnetic field and a high Q value, and generate a large high-frequency induced voltage and a high-frequency current, thereby transmitting energy to the receiving coil 3-4. And then the high-frequency alternating current is converted into a direct current level which can be charged by the power supply of the unmanned aerial vehicle through a rectifying and voltage stabilizing device at the unmanned aerial vehicle side.
Specifically, in the pickup unit 4, the AC-DC uncontrolled full-bridge rectification circuit 4-1 rectifies the alternating current transmitted by the receiving coil 3-4, and the direct current obtained through rectification is subjected to voltage reduction and output through the DC-DC voltage type BUCK circuit 4-2 to supply power for the storage battery of the unmanned aerial vehicle. The electric energy output process is controlled by voltage stabilization, the voltage comparison circuit 4-3 samples a direct current voltage signal, the sampling signal is subjected to advanced correction before comparison so as to be synchronous with a control signal, the sampling voltage is compared with a reference voltage signal, the FPGA 4-4 adjusts the duty ratio of the MOSFET drive 4-5 through PWM control according to the sampling comparison result output by the comparison circuit, and the output voltage is kept stable.
Claims (10)
1. The utility model provides a patrol and examine wireless charging device of unmanned aerial vehicle high tension cable which characterized in that: the method comprises the following steps:
the side part of the charging station comprises a high-voltage line energy taking unit (1), a power transmitting unit (2) and a coupling unit (3), and comprises a transmitting coil (3-1) and a transmitting end resonance coil (3-2);
the high-voltage line energy taking unit (1) comprises an energy taking CT (1-1) and transmits power frequency alternating current electric energy on the high-voltage cable to the electricity utilization side through electromagnetic induction; the rectifying circuit (1-2) is used for converting the power frequency alternating current output by the energy taking CT into a stable direct current level to supply power for the later stage; the pulse protection circuit (1-3) is connected with the pulse protection current at the power utilization side, and transient large current can induce overvoltage at the power utilization side; the charging protection circuit (1-4) controls the charging state of the storage battery by detecting the charging voltage and the charging current of the energy-taking storage battery unit (1-5) so as to prevent the circuit from being damaged by overlarge current during charging; the storage battery units (1-5) are used for storing the electric energy obtained by the energy acquisition CT and adapting to stable power output of a high-voltage line under different load conditions;
the transmitting unit (2) comprises a power supply (2-1), and the transmitting unit (2) is powered by the energy-taking storage battery unit (1-5) through a high-voltage line to provide different required direct current levels; the high-frequency inverter circuit (2-2) is used for converting the direct current output by the high-voltage line energy-taking storage battery unit (1-5) into high-frequency alternating current; a zero-crossing detection circuit (2-3) for performing zero-crossing detection on the primary resonance voltage; the FPGA (2-4) is used as an original control chip to perform constant frequency control based on dynamic tuning at a transmitting end; the MOSFET driving circuit (2-5) controls the MOSFET of the high-frequency inverter circuit (2-1) and the phase control inductance branch circuit (2-6) to be switched on and off; the phase control inductance branch circuits (2-6) are used for adjusting and compensating the capacitive reactance value of the resonance branch circuit;
the coupling unit (3) comprises a transmitting coil (3-1), a transmitting end resonance coil (3-2), a receiving end resonance coil (3-3) and a receiving coil (3-4);
unmanned aerial vehicle lateral part: the device comprises a receiving end resonance coil (3-3) of a coupling unit (3), a receiving coil (3-4) and an unmanned aerial vehicle side electric energy pickup unit (4);
the unmanned aerial vehicle side pickup unit (4) comprises an AC-DC uncontrolled full-bridge rectifying circuit (4-1), high-frequency alternating current is converted into direct current, after the unmanned aerial vehicle hovers to a charging point, the unmanned aerial vehicle side pickup unit carries out electric energy conversion on the high-frequency alternating current output by the coupling unit, rectification is carried out by the DC uncontrolled full-bridge rectifying circuit, and a DC-DC voltage type BUCK circuit (4-2) carries out voltage reduction conversion to obtain charging voltage for continuous voyage of the unmanned aerial vehicle; a voltage comparison circuit (4-3) for sampling the output voltage and comparing the sampled output voltage with a reference voltage; the FPGA (4-4) is used as a control chip for regulating the duty ratio of the MOSFET to carry out voltage stabilization control; the MOSFET drive circuit (4-5) controls the MOSFET to be turned on and off.
2. The inspection unmanned aerial vehicle high-voltage cable wireless charging device of claim 1, wherein: the FPGA controller (2-4) is used as a primary control chip, in order to overcome resonance frequency drift of the coupling unit (3) caused by mutual inductance and load dynamic change, the FPGA (2-4) adopts a constant frequency working mode based on phase control inductance dynamic tuning to ensure the power transmission capability of the coupling unit, the zero-crossing detection circuit (2-3) samples alternating current resonance voltage, signals are subjected to advanced correction before being sent to the comparator so as to be synchronous with control signals, and the FPGA (2-4) generates output signals of the MOSFET driving circuit (2-5) according to output results of the zero-crossing detection circuit (2-3).
3. The inspection unmanned aerial vehicle high-voltage cable wireless charging device according to claim 1 or 2, wherein: high-voltage line energy taking unit (1) and emission unit (2) direct mount are connected with power supply (2-1) on the power transmission line through getting energy storage battery unit (1-5), maintain emission unit's lasting stable power supply, but high-voltage line energy taking unit (1) and emission unit (2) electrified installation and maintenance to get on the spot and get the electricity for unmanned aerial vehicle energy supply, realize that unmanned aerial vehicle hovers and charges.
4. The inspection unmanned aerial vehicle high-voltage cable wireless charging device according to claim 1 or 2, wherein: the transmitting unit (2) adopts a push-pull high-frequency inverter circuit (2-2), the output end of the transmitting unit is connected with a phase control inductance branch circuit (2-6), the phase control inductance branch circuit (2-6) is composed of two MOSFETs which are reversely connected in parallel and a fixed inductor, and the constant-frequency operation of the system is realized through constant-frequency control based on dynamic tuning under the condition that the posture adjustment of a load unmanned aerial vehicle causes the mutual inductance of coils and the change of the load.
5. The inspection unmanned aerial vehicle high-voltage cable wireless charging device according to claim 1 or 2, wherein: a voltage comparison circuit (4-3) in the pick-up unit (4) compares a reference voltage signal with a sampling signal, and an FPGA (2-4) adjusts the duty ratio of the MOSFET according to a comparison result to maintain the stability of output voltage.
6. The inspection unmanned aerial vehicle high-voltage cable wireless charging device according to claim 1 or 2, wherein: the transmitting coil (3-1), the transmitting end resonance coil (3-2), the receiving end resonance coil (3-3) and the receiving coil (3-4) are wound by litz wires.
7. The inspection unmanned aerial vehicle high-voltage cable wireless charging device of claim 6, wherein: the transmitting end resonance coil (3-2) of the transmitting coil (3-1) is arranged on a charging device on the high-voltage cable, and the receiving end resonance coil (3-3) and the receiving coil (3-4) are arranged below the unmanned aerial vehicle equipment.
8. The inspection unmanned aerial vehicle high-voltage cable wireless charging device according to claim 1 or 2, wherein: a transmitting coil (3-1) of the coupling unit (3) is compensated in a series capacitance mode, a receiving coil (3-4) is also connected in series by a compensation capacitor, and capacitance parameters are matched with parameters of the transmitting unit (2) and the coupling unit (3) through optimization so as to improve transmission power under a weak coupling condition.
9. The charging method of the polling unmanned aerial vehicle high-voltage cable wireless charging device is characterized by comprising the following steps: the side part of the charging station comprises a high-voltage line energy taking unit (1), a power transmitting unit (2) and a coupling unit (3), and comprises a transmitting coil (3-1) and a transmitting end resonance coil (3-2); 1.2 unmanned aerial vehicle lateral part: the unmanned aerial vehicle high-voltage cable wireless charging device comprises a receiving end resonance coil (3-3) of a coupling unit (3), a receiving coil (3-4) and an unmanned aerial vehicle side electric energy pickup unit (4), wherein the power transmission unit (2) realizes system constant-frequency work through constant-frequency control based on dynamic tuning under the condition that the posture of a loaded unmanned aerial vehicle is adjusted to cause coil mutual inductance and load change, an FPGA controller 2-4 is adopted as a primary control chip of the unmanned aerial vehicle high-voltage cable wireless charging device, a constant-frequency working mode based on phase control inductance dynamic tuning is adopted by the FPGA controller 2-4 to guarantee the power transmission capability of the coupling unit, a zero-crossing detection circuit (2-3) samples alternating-current resonance voltage, and the signals are subjected to advanced correction before being sent to a comparator so as.
The FPGA (2-4) generates output signals of the MOSFET drive (2-5) according to the output result of the zero-crossing detection circuit (2-3), and the current stage natural resonant frequency (2:)f p) And rated operating frequency of system (f 0) At different times, i.e.f p ≠ f 0When the phase control circuit is used, the output duty ratio of the MOSFET driving circuit (2-5) is adjusted through the FPGA (2-4), and the equivalent inductance value (2-6) of the phase control inductor is adjustedL teq) Bringing the primary natural resonant frequency (f pAlways with the rated working frequency of the systemf 0Keep equal and avoid detuning of the resonance network of the transmitting coil, in particular, when the system is operating at a frequencyf 0< f pWhile increasing the phase control inductance equivalent value (L teq) I.e. increasing the phase-controlled inductance conduction angle (α) To achieve the reduction of the primary natural frequency (f p) (ii) a When the system operating frequencyf 0> f pWhile reducing the phase control inductance equivalent value (L teq) I.e. reducing the phase-controlled inductance conduction angle (α) Increasing the natural frequency of the primary stage (f p) (ii) a When the system operating frequencyf 0= f pWhile maintaining the phase-controlled inductance conduction angleα)And (5) outputting the output quantity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811510643.5A CN110649685A (en) | 2018-12-11 | 2018-12-11 | Wireless charging device and method for high-voltage cable of inspection unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811510643.5A CN110649685A (en) | 2018-12-11 | 2018-12-11 | Wireless charging device and method for high-voltage cable of inspection unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110649685A true CN110649685A (en) | 2020-01-03 |
Family
ID=69009201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811510643.5A Pending CN110649685A (en) | 2018-12-11 | 2018-12-11 | Wireless charging device and method for high-voltage cable of inspection unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110649685A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111564909A (en) * | 2020-06-10 | 2020-08-21 | 广东电科院能源技术有限责任公司 | Power supply device for high-voltage transmission line |
| CN111769656A (en) * | 2020-07-22 | 2020-10-13 | 太原理工大学 | Charging system of belt conveyor inspection robot and using method thereof |
| CN111890960A (en) * | 2020-07-28 | 2020-11-06 | 国家电网有限公司 | Wireless charging system of distribution network inspection equipment |
| CN112924476A (en) * | 2021-01-29 | 2021-06-08 | 上海科技大学 | X-ray imaging and online electricity taking system of overhead cable |
| CN112994268A (en) * | 2021-04-01 | 2021-06-18 | 国网江西省电力有限公司电力科学研究院 | Receiving end, transmitting end, unmanned aerial vehicle wireless charging system and method |
| CN113014303A (en) * | 2021-02-22 | 2021-06-22 | 深圳市皓华网络通讯股份有限公司 | 5G relay device and emergency vehicle |
| CN113619412A (en) * | 2021-10-14 | 2021-11-09 | 中国科学院空天信息创新研究院 | Energy transmitting device for unmanned aerial vehicle wireless charging platform |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103683455A (en) * | 2013-11-22 | 2014-03-26 | 南京信息工程大学 | Supercapacitor based inductive energy-extracting power supply device of high-voltage measurement system |
| CN107707035A (en) * | 2017-10-31 | 2018-02-16 | 成都意町工业产品设计有限公司 | A kind of ground wire patrol checking robot electric power system and method for supplying power to |
| CN110293859A (en) * | 2019-07-29 | 2019-10-01 | 广东电网有限责任公司 | A kind of tour unmanned plane charges device for supplying and method online |
-
2018
- 2018-12-11 CN CN201811510643.5A patent/CN110649685A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103683455A (en) * | 2013-11-22 | 2014-03-26 | 南京信息工程大学 | Supercapacitor based inductive energy-extracting power supply device of high-voltage measurement system |
| CN107707035A (en) * | 2017-10-31 | 2018-02-16 | 成都意町工业产品设计有限公司 | A kind of ground wire patrol checking robot electric power system and method for supplying power to |
| CN110293859A (en) * | 2019-07-29 | 2019-10-01 | 广东电网有限责任公司 | A kind of tour unmanned plane charges device for supplying and method online |
Non-Patent Citations (1)
| Title |
|---|
| 赵昕: "基于无线电能传输模式的无人机悬停无线充电技术研究", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111564909A (en) * | 2020-06-10 | 2020-08-21 | 广东电科院能源技术有限责任公司 | Power supply device for high-voltage transmission line |
| CN111769656A (en) * | 2020-07-22 | 2020-10-13 | 太原理工大学 | Charging system of belt conveyor inspection robot and using method thereof |
| CN111890960A (en) * | 2020-07-28 | 2020-11-06 | 国家电网有限公司 | Wireless charging system of distribution network inspection equipment |
| CN111890960B (en) * | 2020-07-28 | 2022-10-28 | 国家电网有限公司 | Wireless charging system of distribution network inspection equipment |
| CN112924476A (en) * | 2021-01-29 | 2021-06-08 | 上海科技大学 | X-ray imaging and online electricity taking system of overhead cable |
| CN113014303A (en) * | 2021-02-22 | 2021-06-22 | 深圳市皓华网络通讯股份有限公司 | 5G relay device and emergency vehicle |
| CN112994268A (en) * | 2021-04-01 | 2021-06-18 | 国网江西省电力有限公司电力科学研究院 | Receiving end, transmitting end, unmanned aerial vehicle wireless charging system and method |
| CN112994268B (en) * | 2021-04-01 | 2023-03-28 | 国网江西省电力有限公司电力科学研究院 | Receiving end, transmitting end, unmanned aerial vehicle wireless charging system and method |
| CN113619412A (en) * | 2021-10-14 | 2021-11-09 | 中国科学院空天信息创新研究院 | Energy transmitting device for unmanned aerial vehicle wireless charging platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110649685A (en) | Wireless charging device and method for high-voltage cable of inspection unmanned aerial vehicle | |
| CN107425610B (en) | Wireless power transmission system for load compensation of parallel energy system and control method | |
| CN107222039B (en) | Wireless power transmission system | |
| JP5135204B2 (en) | Non-contact power transmission system and load device in the non-contact power transmission system | |
| JP5853889B2 (en) | Power receiving device and power transmission system | |
| CN107618388B (en) | Wireless charging system of electric automobile | |
| US11677332B2 (en) | Inverter current equalization method and apparatus, inverter system, and wireless charging system | |
| Ishihara et al. | A voltage ratio-based efficiency control method for 3 kW wireless power transmission | |
| EP2899847A1 (en) | Power receiving device and contactless power transmission device | |
| US11427095B2 (en) | Wireless charging system | |
| EP3799254B1 (en) | Wireless charging control method, wireless charging transmitter and system | |
| EP2985868B1 (en) | Power supply apparatus and non-contact power supply system | |
| US11005298B2 (en) | Wireless power maximum efficiency tracking by system control | |
| CN110544975A (en) | single-tube constant-current constant-voltage wireless charging device and control method thereof | |
| WO2014045873A1 (en) | Power receiving device and contactless power transmitting equipment | |
| CN111478456B (en) | Magnetic resonance wireless charging system and method | |
| CN110126648B (en) | Self-optimizing tuning control method for tracking maximum current of wireless charging of electric automobile | |
| CN102291077A (en) | High-voltage excitation constant-current power supply system | |
| CN108879982A (en) | Bistable state primary side constant current magnetic induction couples wireless charging device and its application method | |
| CN210041444U (en) | Intelligent wireless charging device for mobile terminal | |
| CN208623397U (en) | Wireless charging device | |
| CN208849553U (en) | A kind of SS offset-type constant current wireless charging power supply of transmitting terminal Buck control | |
| CN208782738U (en) | It is a kind of based on magnetic switch control distributed electrical source device, charging pile, charger, protection circuit device | |
| CN208849525U (en) | A kind of SP offset-type constant current wireless charging power supply of transmitting terminal Buck control | |
| CN108063500B (en) | Magnetic resonance non-contact power supply system and method for on-line monitoring wireless sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200103 |