CN111439142A - Electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for unmanned aerial vehicle - Google Patents

Electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for unmanned aerial vehicle Download PDF

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CN111439142A
CN111439142A CN202010456567.5A CN202010456567A CN111439142A CN 111439142 A CN111439142 A CN 111439142A CN 202010456567 A CN202010456567 A CN 202010456567A CN 111439142 A CN111439142 A CN 111439142A
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coil
wireless charging
transmitting
receiving coil
transmitting coil
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CN111439142B (en
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刘延飞
王杰铃
陈诚
李琪
王艺辉
姚鹏
马世欣
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Rocket Force University of Engineering of PLA
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Rocket Force University of Engineering of PLA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses an electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for an unmanned aerial vehicle, which comprises the following steps: firstly, designing a wireless charging platform of an unmanned aerial vehicle; secondly, establishing an equivalent circuit model of coil wireless charging; thirdly, determining the radius of the transmitting coil; fourthly, determining the number of turns of the transmitting coil; fifthly, optimizing the number of turns of the receiving coil; sixthly, optimizing the radius of the receiving coil; seventhly, optimizing the resonance frequency of the transmitting coil and the receiving coil; eighthly, optimizing the distance between the transmitting coil and the receiving coil; and ninthly, non-coaxial optimization of wireless power transmission efficiency of the transmitting coil and the receiving coil. The radius of the transmitting coil is determined as large as possible under the condition that the anti-interference distance is reserved, the diameter and the number of turns of the receiving coil are optimized according to the coupling relation between the transmitting coil and the receiving coil, the radius of the receiving coil is determined as small as possible under the condition that the magnetic field density is ensured, the resonant frequency, the distance and the non-coaxiality of the two coils are further optimized, and the wireless charging efficiency of the unmanned aerial vehicle is maximized.

Description

Electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for unmanned aerial vehicle
Technical Field
The invention belongs to the technical field of optimization of wireless charging efficiency of unmanned aerial vehicles, and particularly relates to an electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for an unmanned aerial vehicle.
Background
In recent years, with the gradual improvement of artificial intelligence technology, intelligent hardware has begun to advance toward miniaturization, low cost and low power consumption, and the cost of hardware is continuously reduced, so that a good development environment is created for the manufacturing industry of unmanned aerial vehicles.
Due to the characteristics of aviation and large-area inspection of the small unmanned aerial vehicle, higher requirements are provided for the endurance of the unmanned aerial vehicle. The mode of reinforcing unmanned aerial vehicle duration only has two kinds, and the energy storage of reinforcing battery is first, and second carries out many times supply at the flight in-process. However, due to the limitation of the storage battery technology and the traditional power supply technology, the development of the unmanned aerial vehicle in the aspects of cruising ability, flexibility, convenience and the like is limited, and how to flexibly and conveniently supplement electric energy for the unmanned aerial vehicle becomes a problem to be solved urgently in the development process of the unmanned aerial vehicle. Because the capacity of battery is directly proportional with the weight of battery, unmanned aerial vehicle's a great deal of tasks require that unmanned aerial vehicle must satisfy the requirement of flexibility and lightweight, and unmanned aerial vehicle's weight will also influence continuation of journey certainly moreover. Consequently, carry out many times supply through the electric quantity to unmanned aerial vehicle at the flight in-process, guarantee that unmanned aerial vehicle's duration is the preferred scheme, the mode through artificially placing charging pile has high reliability. The traditional direct contact type charging method has extremely high requirement on the position precision of the unmanned aerial vehicle, the charging socket is difficult to independently align, and the method is not suitable for an independent charging system of the unmanned aerial vehicle, and in recent years, a wireless charging technology is rapidly developed.
The existing wireless charging technology mainly comprises a magnetic resonance technology and a magnetic induction technology, wherein the magnetic resonance principle is different from the magnetic induction technology in that the electromagnetic energy is exchanged by utilizing the mutual induction principle, but the energy is efficiently transmitted by utilizing the resonance principle that the charging base and the charging object have the same frequency. When the transmitting end and the receiving end vibrate at the same frequency, the receiving end can receive the electromagnetic field generated by the transmitting end and further receive the transmitted energy. The technology has the advantages of long transmission distance and large transmission power, and is suitable for wireless charging of large-scale equipment. The basic principle of magnetic induction is that a coil is arranged at both a transmitting end and a receiving end, when the coil at the transmitting end is connected with a power supply, current is formed to generate magnetic energy, and the coil at the receiving end induces an electromagnetic signal, so that electric power can be generated to charge a battery through the change of a magnetic field. Most unmanned aerial vehicle wireless charging at present all adopts the mode of magnetic induction, and charge efficiency is generally at 60% -85%.
Disclosure of Invention
The invention aims to solve the technical problem that the defects in the prior art are overcome, and provides an electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for an unmanned aerial vehicle.
In order to solve the technical problems, the invention adopts the technical scheme that: an electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for an unmanned aerial vehicle is characterized by comprising the following steps:
step one, design unmanned aerial vehicle's wireless platform that charges: the wireless charging platform comprises a wireless charging platform bottom plate and a wireless charging platform top plate which is arranged on the upper side of the wireless charging platform bottom plate through a connecting column and used for landing of the unmanned aerial vehicle, the unmanned aerial vehicle is a four-rotor unmanned aerial vehicle, four supporting legs of the four-rotor unmanned aerial vehicle are located on the same ring, a receiving coil is connected to the center of the body of the unmanned aerial vehicle through a receiving coil mounting frame, and a wireless charging platform control box and a two-axis sliding table driving a transmitting coil matched with the receiving coil to move are arranged on the wireless charging platform bottom plate;
step two, establishing an equivalent circuit model of coil wireless charging: establishing an equivalent circuit model of coil electromagnetic resonance coupling type wireless charging by using a computer;
step three, according to the formula
Figure BDA0002509442380000031
Determining the transmitting coil radius r1Wherein, lambda is the internal diameter of the ring where four landing legs of four rotor unmanned aerial vehicle are located, and delta is anti-interference interval and delta is taken
Figure BDA0002509442380000032
Step four, determining the number of turns of the transmitting coil: estimating the turn range of the transmitting coil, and within the estimated turn range of the transmitting coil, winding a plurality of pieces of different turns with radius r1The receiving coil is wound with a plurality of different numbers of turns and r radius1Optionally selecting a receiving coil and a transmitting coil, coaxially arranging the two coils, fixing the distance between the receiving coil and the transmitting coil, obtaining the transmission efficiency of wireless electric energy of the two coils, and selecting the number of turns of the two coils when the transmission efficiency of the wireless electric energy of the two coils is the maximum as the number of turns of the transmitting coil;
step five, optimizing the number of turns of the receiving coil: according to the number of turns of the determined transmitting coil, keeping parameters of an inductive coil of the transmitting circuit in an equivalent circuit model of the electromagnetic resonance coupling type wireless charging of the coil unchanged, fixing the radius of the receiving coil, fixing the distance between the receiving coil and the transmitting coil, changing the number of turns of the receiving coil to obtain the transmission efficiency of wireless electric energy between the receiving coil and the transmitting coil under the condition that the self-resonance frequency of the transmitting circuit is the same as the self-resonance frequency of the receiving circuit, and selecting the number of turns of the receiving coil when the transmission efficiency of the wireless electric energy is maximum as the number of turns of the receiving coil;
step six, optimizing the radius of the receiving coil: according to the number of turns of the determined transmitting coil, maintaining parameters of an inductive coil of the transmitting circuit in an equivalent circuit model of the electromagnetic resonance coupling type wireless charging of the coil to be unchanged, fixing the number of turns of the receiving coil, fixing the distance between the receiving coil and the transmitting coil, changing the radius of the receiving coil according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, obtaining the transmission efficiency of the wireless energy between the receiving coil and the transmitting coil under the reducing condition of the receiving coil, and selecting the radius when the transmission efficiency of the wireless energy is the maximum as the radius of the receiving;
the radius of the receiving coil is not more than the radius r of the transmitting coil1；
Seventhly, optimizing the resonant frequency of the transmitting coil and the receiving coil: keeping the coil inductance of the transmitting circuit and the coil inductance of the receiving circuit unchanged according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, simultaneously changing the resonant capacitance of the transmitting coil and the resonant capacitance of the receiving coil, fixing the distance between the receiving coil and the transmitting coil, acquiring the transmission efficiency of the wireless energy of the transmitting coil and the receiving coil under different resonant frequencies by adopting the optimized parameters of the transmitting coil and the optimized parameters of the receiving coil, and selecting the resonant frequency of the transmitting coil and the receiving coil when the transmission efficiency of the wireless energy is the maximum;
the transmitting coil parameters comprise the number of transmitting coil turns and the radius of the transmitting coil;
the receiving coil parameters comprise the number of turns of the receiving coil and the radius of the receiving coil;
step eight, optimizing the distance between the transmitting coil and the receiving coil: according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, adopting the optimized transmitting coil parameters and the optimized receiving coil parameters, establishing a three-dimensional coordinate system of the power frequency, the distance between the transmitting coil and the receiving coil and the transmission efficiency of the wireless electric energy in an equivalent circuit model of the electromagnetic resonant coupling type wireless charging of the coil by utilizing Matlab software, and obtaining the power frequency and the distance between the transmitting coil and the receiving coil in the equivalent circuit model of the electromagnetic resonant coupling type wireless charging of the coil when the transmission efficiency of the wireless electric energy is maximum;
step nine, non-coaxial optimization of wireless power transmission efficiency of the transmitting coil and the receiving coil: according to the coordinate that unmanned aerial vehicle fell on wireless charging platform, the work of two slip tables of wireless charging platform control box control, utilize two slip tables to drive the transmitting coil after optimizing and remove in wireless charging platform roof bottom, make transmitting coil's central coordinate and unmanned aerial vehicle align from top to bottom on wireless charging platform's coordinate, realize transmitting coil and the coaxial alignment of receiving coil after optimizing, realize transmitting coil and receiving coil wireless power transmission efficiency non-coaxial optimization.
The electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle is characterized by comprising the following steps: a full-bridge inverter is connected between the transmitting coil and the power voltage, and a phase-locked loop is arranged between the full-bridge inverter and the transmitting coil.
The electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle is characterized by comprising the following steps: the number of turns of the transmitting coil is 3-15.
The electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle is characterized by comprising the following steps: in the fourth to eighth steps, the transmission efficiency of the radio energy
Figure BDA0002509442380000041
Wherein, w is the power angular frequency in the equivalent circuit model of the coil electromagnetic resonance coupling type wireless charging, M is the mutual inductance value of the transmitting coil and the receiving coil which are coaxially arranged, and
Figure BDA0002509442380000042
RLequivalent resistance, Z, of a load in an equivalent circuit model for coil electromagnetic resonant coupling wireless charginginEquivalent input impedance, Z, of a transmitting circuit in an equivalent circuit model for wireless charging of a coil electromagnetic resonant coupling2Impedance of a receiving circuit in an equivalent circuit model for coil electromagnetic resonance coupling type wireless charging; mu.s0Is magnetic permeability in vacuum, N1Number of turns of transmitting coil, N2For receiving the number of turns of the coil, r2D is the spacing between the transmitter coil and the receiver coil, which is the receiver coil radius.
The electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle is characterized by comprising the following steps: and the transmitting coil and the receiving coil are both single-layer spiral circular coils.
The electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle is characterized by comprising the following steps: the ground GPS module that is integrated with controller and communicates with unmanned aerial vehicle machine carries GPS module in the wireless charging platform control box.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, by designing the wireless charging platform of the unmanned aerial vehicle, the receiving coil is installed on the unmanned aerial vehicle, the two-axis sliding table for driving the transmitting coil to move is arranged on the bottom plate of the wireless charging platform, the unmanned aerial vehicle carries the receiving coil to fall on the bottom plate of the wireless charging platform to be matched with the transmitting coil on the bottom plate of the wireless charging platform so as to realize rapid charging, and the two-axis sliding table for driving the transmitting coil to move is arranged on the bottom plate of the wireless charging platform so as to effectively ensure non-coaxial optimization of the transmitting coil and the receiving coil, and is.
2. The radius of the transmitting coil is determined according to the inner diameter of a ring where four supporting legs of the quad-rotor unmanned aerial vehicle are located, the anti-interference interval is reserved, the radius of the transmitting coil is determined as large as possible under the condition that the anti-interference interval is reserved, larger transmitting power is ensured, meanwhile, interference on the unmanned aerial vehicle caused by a magnetic field generated by a receiving coil and the transmitting coil is prevented, and the quad-rotor unmanned aerial vehicle is reliable and stable and has a good using effect; winding a plurality of turns with different numbers of turns and radius r according to the radius of the transmitting coil1And a receiving coilA plurality of coils with different numbers of turns and radius of r1The number of turns of the transmitting coil when the wireless energy transmission efficiency of the two coils is the maximum is selected as the number of turns of the transmitting coil, and a determination basis is set for the transmitting coil.
3. The method disclosed by the invention is simple in steps, the diameter and the number of turns of the receiving coil are optimized according to the parameters of the transmitting coil and the coupling relation between the transmitting coil and the receiving coil, the radius of the receiving coil is determined as small as possible under the condition of ensuring larger magnetic field density, the resonant frequency, the distance and the non-coaxiality of the two coils are further optimized, the wireless charging efficiency of the unmanned aerial vehicle is maximized, and the unmanned aerial vehicle wireless charging method is convenient to popularize and use.
In summary, the invention designs the size of the transmitting coil on the wireless charging platform of the unmanned aerial vehicle according to the size of the unmanned aerial vehicle, determines the radius of the transmitting coil as large as possible under the condition of reserving an anti-interference space, ensures larger transmitting power, optimizes the diameter and the number of turns of the receiving coil according to the coupling relation between the transmitting coil and the receiving coil, determines the radius of the receiving coil as small as possible under the condition of ensuring larger magnetic field density, further optimizes the resonant frequency, the space and the non-coaxiality of the two coils, realizes the maximization of the wireless charging efficiency of the unmanned aerial vehicle, and is convenient for popularization and use.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of a wireless charging platform of the unmanned aerial vehicle of the present invention.
Fig. 2 is a schematic diagram of a position relationship between the two-axis sliding table, the transmitting coil and the wireless charging platform bottom plate according to the present invention.
Fig. 3 is a circuit diagram of an equivalent circuit model of the coil wireless charging according to the present invention.
Fig. 4 is an optimized graph of the number of turns of the receiving coil according to the invention.
Fig. 5 is an optimized graph of the diameter of the receiving coil of the present invention.
Fig. 6 is an optimized graph of the resonant frequencies of the transmitting coil and the receiving coil of the present invention.
Fig. 7 is an optimized graph of the spacing of the transmit coil and the receive coil of the present invention.
FIG. 8 is a block flow diagram of the method of the present invention.
Description of reference numerals:
1-wireless charging platform base plate; 2, connecting a column; 3-wireless charging platform top plate;
4-two-axis sliding table; 5, a wireless charging platform control box;
6, unmanned aerial vehicle; 7-a support leg; 8-receiving coil mounting rack;
9-a receiving coil; 11-transmitting coil.
Detailed Description
As shown in fig. 1 to 8, the electromagnetic resonant coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle of the present invention includes the following steps:
step one, design unmanned aerial vehicle's wireless platform that charges: the wireless charging platform is designed for charging and supplying the unmanned aerial vehicle 6, and comprises a wireless charging platform bottom plate 1 and a wireless charging platform top plate 3 which is arranged on the upper side of the wireless charging platform bottom plate 1 through a connecting column 2 and used for the unmanned aerial vehicle 6 to land, wherein the unmanned aerial vehicle 6 is a four-rotor unmanned aerial vehicle, four support legs 7 of the four-rotor unmanned aerial vehicle are positioned on the same ring, a receiving coil 9 is connected to the central position of the body of the unmanned aerial vehicle 6 through a receiving coil 9 mounting rack 8, and a wireless charging platform control box 5 and a biaxial sliding table 4 for driving a transmitting coil 11 matched with the receiving coil 9 to move are arranged on the wireless charging platform bottom plate 1;
step two, establishing an equivalent circuit model of coil wireless charging: establishing an equivalent circuit model of coil electromagnetic resonance coupling type wireless charging by using a computer;
it should be noted that, as shown in fig. 3, in this embodiment, the equivalent circuit model of the coil electromagnetic resonance coupling type wireless charging includes an inductor L1Inductor L2And is inductor L1Power supply Us, inductor L1Characterizing the inductance value, inductor L, of the transmitting coil 112The inductance value of the receiving coil 9 is represented, Zs is the internal resistance of the power supply, R1Being transmitter coils 11 or the likeEffective resistance, R2An equivalent resistance of the receiving coil 9, a capacitor C1Characterization of the inductance-matching resonance capacitance, capacitance C, of the transmitter coil 112The inductance characterizing the receiving coil 9 matches the resonance capacitance.
Step three, according to the formula
Figure BDA0002509442380000071
Determining the transmitting coil radius r1Wherein, lambda is the internal diameter of the ring where four landing legs 7 of quad-rotor unmanned aerial vehicle are located, and delta is anti-interference interval and delta is taken
Figure BDA0002509442380000072
Step four, determining the number of turns of the transmitting coil: estimating the range of 11 turns of the transmitting coil, and within the estimated range of 11 turns of the transmitting coil, winding a plurality of turns with different turns and radius r1The receiving coil 9 is wound with a plurality of windings with different numbers of turns and radius of r1The two coils are coaxially arranged, the distance between the receiving coil 9 and the transmitting coil 11 is fixed, the transmission efficiency of wireless electric energy of the two coils is obtained, and the number of turns of the transmitting coil 11 is selected as the number of turns when the transmission efficiency of the wireless electric energy of the two coils is the maximum;
step five, optimizing the number of turns of the receiving coil: according to the number of turns of the determined transmitting coil 11, keeping parameters of an inductive coil of a transmitting circuit in an equivalent circuit model of the electromagnetic resonance coupling type wireless charging of the coil unchanged, fixing the radius of the receiving coil 9, fixing the distance between the receiving coil 9 and the transmitting coil 11, changing the number of turns of the receiving coil 9 to obtain the transmission efficiency of wireless electric energy of the transmitting coil 11 under the condition that the self-resonance frequency of the transmitting circuit is the same as the self-resonance frequency of the receiving circuit, and selecting the number of turns of the receiving coil 9 when the transmission efficiency of the wireless electric energy is the maximum;
step six, optimizing the radius of the receiving coil: according to the number of turns of the determined transmitting coil 11, maintaining parameters of an inductive coil of a transmitting circuit in an equivalent circuit model of the electromagnetic resonance coupling type wireless charging of the coil unchanged, fixing the number of turns of the receiving coil 9, fixing the distance between the receiving coil 9 and the transmitting coil 11, changing the radius of the receiving coil 9 according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, obtaining the transmission efficiency of wireless electric energy between the receiving coil 9 and the transmitting coil 11 under the reducing condition of the receiving coil 9, and selecting the radius when the transmission efficiency of the wireless electric energy is the maximum as the radius of the receiving coil;
the radius of the receiving coil 9 is not more than the radius r of the transmitting coil1；
Seventhly, optimizing the resonant frequency of the transmitting coil and the receiving coil: keeping the coil inductance of the transmitting circuit and the coil inductance of the receiving circuit unchanged according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, simultaneously changing the resonant capacitance of the transmitting coil 11 and the resonant capacitance of the receiving coil 9, fixing the distance between the receiving coil 9 and the transmitting coil 11, obtaining the transmission efficiency of the wireless energy under different resonant frequencies of the transmitting coil 11 and the receiving coil 9 by adopting the optimized parameters of the transmitting coil 11 and the optimized parameters of the receiving coil 9, and selecting the resonant frequency of the transmitting coil 11 and the receiving coil 9 when the transmission efficiency of the wireless energy is the maximum;
the parameters of the transmitting coil 11 comprise the number of turns of the transmitting coil 11 and the radius of the transmitting coil 11;
the parameters of the receiving coil 9 comprise the number of turns of the receiving coil 9 and the radius of the receiving coil 9;
step eight, optimizing the distance between the transmitting coil and the receiving coil: according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, adopting the optimized parameters of the transmitting coil 11 and the optimized parameters of the receiving coil 9, and establishing a three-dimensional coordinate system of the power frequency, the distance between the transmitting coil 11 and the receiving coil 9 and the transmission efficiency of the radio energy in an equivalent circuit model of the coil electromagnetic resonance coupling type wireless charging by utilizing Matlab software to obtain the power frequency and the distance between the transmitting coil 11 and the receiving coil 9 in the equivalent circuit model of the coil electromagnetic resonance coupling type wireless charging when the transmission efficiency of the radio energy is maximum;
step nine, non-coaxial optimization of wireless power transmission efficiency of the transmitting coil and the receiving coil: according to the coordinate that unmanned aerial vehicle fell on wireless charging platform, two slip table 4 work of wireless charging platform control box 5 control, utilize two slip table 4 to drive transmitting coil 11 after optimizing and remove in 3 bottoms of wireless charging platform roof, make transmitting coil 11's central coordinate and unmanned aerial vehicle coordinate on wireless charging platform align from top to bottom, realize transmitting coil 11 and the coaxial alignment of receiving coil 9 after optimizing, realize transmitting coil 11 and the non-coaxial optimization of receiving coil 9 wireless power transmission efficiency.
It should be noted that, a wireless charging platform of the unmanned aerial vehicle is designed, a receiving coil 9 is installed on an unmanned aerial vehicle 6, a biaxial sliding table 4 for driving a transmitting coil 11 to move is arranged on a bottom plate 1 of the wireless charging platform, the unmanned aerial vehicle 6 carries the receiving coil 9 to fall on the bottom plate 1 of the wireless charging platform to be matched with the transmitting coil 11 on the bottom plate 1 of the wireless charging platform to realize rapid charging, and the biaxial sliding table 4 for driving the transmitting coil 11 to move arranged on the bottom plate 1 of the wireless charging platform effectively ensures non-coaxial optimization of the transmitting coil 11 and the receiving coil 9; the radius of the transmitting coil is determined according to the inner diameter of a ring where four supporting legs 7 of the quad-rotor unmanned aerial vehicle are located, an anti-interference interval is reserved, the radius of the transmitting coil is determined as large as possible under the condition that the anti-interference interval is reserved, larger transmitting power is ensured, meanwhile, interference on the unmanned aerial vehicle caused by magnetic fields generated by a receiving coil 9 and a transmitting coil 11 is prevented, and the quad-rotor unmanned aerial vehicle is reliable and stable and has a good using effect; winding a plurality of turns with different numbers of turns and radius r according to the radius of the transmitting coil1The receiving coil and the plurality of receiving coils are different in number of turns and have r radii1The number of turns of the two coils with the maximum wireless energy transmission efficiency is selected as the number of turns of the transmitting coil, and a basis is determined for the shaping of the transmitting coil; according to the parameters of the transmitting coil and the coupling relation between the transmitting coil and the receiving coil, the diameter and the number of turns of the receiving coil are optimized, the radius of the receiving coil is determined as small as possible under the condition of ensuring larger magnetic field density, the resonant frequency, the distance and the non-coaxiality of the two coils are further optimized, the wireless charging efficiency of the unmanned aerial vehicle is maximized, and the method is simple in step.
In this embodiment, a full-bridge inverter is connected between the transmitting coil 11 and the power supply voltage, and a phase-locked loop is disposed between the full-bridge inverter and the transmitting coil 11.
In this embodiment, the number of turns of the transmitting coil 11 is 3-15.
In this embodiment, in the fourth to eighth steps, the transmission efficiency of the radio energy
Figure BDA0002509442380000091
Wherein, w is the power angular frequency in the equivalent circuit model of the coil electromagnetic resonance coupling type wireless charging, M is the mutual inductance value of the transmitting coil 11 and the receiving coil 9 which are coaxially arranged, and
Figure BDA0002509442380000101
RLequivalent resistance, Z, of a load in an equivalent circuit model for coil electromagnetic resonant coupling wireless charginginEquivalent input impedance, Z, of a transmitting circuit in an equivalent circuit model for wireless charging of a coil electromagnetic resonant coupling2Impedance of a receiving circuit in an equivalent circuit model for coil electromagnetic resonance coupling type wireless charging; mu.s0Is magnetic permeability in vacuum, N1For transmitting 11 turns of coil, N2For receiving 9 turns of coil, r2D is the spacing of the transmitter coil 11 and the receiver coil 9, which is the radius of the receiver coil 9.
In this embodiment, the transmitting coil 11 and the receiving coil 9 are both single-layer spiral circular coils.
In this embodiment, integrated controller and the ground GPS module with unmanned aerial vehicle machine carries GPS module communication in the wireless platform control box of charging 5.
When the invention is implemented, taking a quadrotor unmanned aerial vehicle with the inner diameter of 290mm of a circular ring where four supporting legs 7 are positioned as an example, the anti-interference distance of 50mm is reserved, so the radius r of a transmitting coil1Is 95 mm; the number of turns of the transmitting coil 11 is estimated within a range of 11 turns of the transmitting coil, the number of turns of the transmitting coil 11 cannot be too large, internal resistance of the transmitting coil 11 is increased due to the fact that the internal resistance is too large, the Q value of the resonant circuit is reduced, meanwhile, the number of turns of the coil affects coupling coefficients, the larger the number of turns of the coil is, the larger the coupling coefficient is, the preferable number of turns of the transmitting coil 11 is 3-15, within the estimated range of 11 turns of the transmitting coil, 8 turns of the coil1The receiving coil 9 is wound by 8 turns with different numbers of turns and the radius is r1The transmitting coil 11 is coaxially arranged, the distance between the receiving coil 9 and the transmitting coil 11 is fixed, the transmission efficiency of wireless energy of the two coils is obtained, the number of turns of the transmitting coil 11 when the transmission efficiency of the wireless energy of the two coils is the maximum is selected, the number of turns of the transmitting coil 11 in the embodiment is 5, the parameters of an inductive coil of a transmitting circuit in an equivalent circuit model of the electromagnetic resonance coupling type wireless charging of the coils are kept unchanged according to the determined number of turns of the transmitting coil 11, the radius of the receiving coil 9 is fixed to be 190mm, the wire diameters of wires are both 2.12mm, the distance between the transmitting coil 11 and the receiving coil 9 is kept to be 5cm, the inductance of the transmitting coil 11 is matched with a resonance capacitor 11nF, the voltage of a power supply Us is 36V, the number of turns of the receiving coil 9 is changed to obtain the transmission efficiency of the wireless energy of the transmitting coil 11 under the number of turns of the receiving coil 9, the number of turns, the number of turns determination process of the receiving coil 9 is shown in table 1 and fig. 4;
TABLE 1
Figure BDA0002509442380000111
As shown in fig. 4, the curve of the number of turns of the receiving coil is parabolic with the opening downward, and the number of turns of 8 turns at which the transmission efficiency of the radio energy is selected to be the maximum is 9 turns of the receiving coil.
According to the number of turns of the determined transmitting coil 11, maintaining parameters of an inductive coil of a transmitting circuit in an equivalent circuit model of the electromagnetic resonance coupling type wireless charging of the coil unchanged, fixing the number of turns of the receiving coil 9, and fixing the distance between the receiving coil 9 and the transmitting coil 11 by 5cm, according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, changing the radius of the receiving coil 9 to obtain the transmission efficiency of the wireless energy of the receiving coil 9 and the transmitting coil 11 under the variable diameter condition, selecting the radius when the transmission efficiency of the wireless energy is the maximum as the radius of the receiving coil 9, and determining the diameter of the receiving coil 9 in the process shown in table 2;
TABLE 2
Figure BDA0002509442380000112
Figure BDA0002509442380000121
As shown in fig. 5, the curve of the diameter of the receiving coil is parabolic with the opening downward, and the diameter 90mm at which the transmission efficiency of the radio energy is the maximum is selected as the diameter of the receiving coil 9.
Keeping the coil inductances of the transmitting circuit and the receiving circuit unchanged according to the condition that the self-resonant frequency of the transmitting circuit and the self-resonant frequency of the receiving circuit are the same, changing the resonant capacitances of the transmitting coil 11 and the receiving coil 9, fixing the distance between the receiving coil 9 and the transmitting coil 11, obtaining the transmission efficiency of the wireless energy of the transmitting coil 11 and the receiving coil 9 under different resonant frequencies by adopting the optimized parameters of the transmitting coil 11 and the optimized parameters of the receiving coil 9, and selecting the resonant frequency of the transmitting coil 11 and the receiving coil 9 when the transmission efficiency of the wireless energy is the maximum, wherein the resonant frequency determining process is shown in table 3 and fig. 6;
TABLE 3
Figure BDA0002509442380000122
As shown in fig. 6, the curve of the resonance frequency is parabolic with the opening downward, and the resonance frequency at which the transmission efficiency of the selected radio energy is maximum is 600kHz, which is the resonance frequency of two coils.
According to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, the optimized parameters of the transmitting coil 11 and the optimized parameters of the receiving coil 9 are adopted, a three-dimensional coordinate system of the power frequency, the distance between the transmitting coil 11 and the receiving coil 9 and the transmission efficiency of the radio energy in an equivalent circuit model of the coil electromagnetic resonance coupling type wireless charging is established by Matlab software, the power frequency and the distance between the transmitting coil 11 and the receiving coil 9 in the equivalent circuit model of the coil electromagnetic resonance coupling type wireless charging when the transmission efficiency of the radio energy is maximum are obtained, the distance determining process of the transmitting coil and the receiving coil is shown in FIG. 7, the distance between the transmitting coil and the receiving coil is 5.9 cm-6.1 cm, and the final charging efficiency can reach 91.33% -92.47%.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (6)

1. An electromagnetic resonance coupling type wireless charging efficiency optimization method suitable for an unmanned aerial vehicle is characterized by comprising the following steps:
step one, design unmanned aerial vehicle's wireless platform that charges: the wireless charging platform is designed for charging and supplying the unmanned aerial vehicle (6), the wireless charging platform comprises a wireless charging platform bottom plate (1) and a wireless charging platform top plate (3) which is arranged on the upper side of the wireless charging platform bottom plate (1) through a connecting column (2) and is used for landing the unmanned aerial vehicle (6), the unmanned aerial vehicle (6) is a four-rotor unmanned aerial vehicle, four support legs (7) of the four-rotor unmanned aerial vehicle are positioned on the same ring, a receiving coil (9) is connected to the central position of the body of the unmanned aerial vehicle (6) through a receiving coil (9) and a mounting frame (8), and a wireless charging platform control box (5) and a biaxial sliding table (4) which drives a transmitting coil (11) matched with the receiving coil (9) to move are arranged on the wireless charging platform bottom plate (1);
step two, establishing an equivalent circuit model of coil wireless charging: establishing an equivalent circuit model of coil electromagnetic resonance coupling type wireless charging by using a computer;
step three, according to the formula
Figure FDA0002509442370000011
Determining the transmitting coil radius r1Wherein, lambda is the internal diameter of the ring where four landing legs (7) of the quad-rotor unmanned aerial vehicle are located, and delta is the anti-interference interval and is delta-derived
Figure FDA0002509442370000012
Step four, determining the number of turns of the transmitting coil: the estimated turn range of the transmitting coil (11) is that a plurality of windings with different turns and radius r are wound in the estimated turn range of the transmitting coil (11)1The receiving coil (9) is wound with a plurality of different numbers of turns and r radii1The two coils are coaxially arranged, the distance between the receiving coil (9) and the transmitting coil (11) is fixed, the transmission efficiency of wireless electric energy of the two coils is obtained, and the number of turns when the transmission efficiency of the wireless electric energy of the two coils is the maximum is selected as the number of turns of the transmitting coil (11);
step five, optimizing the number of turns of the receiving coil: according to the number of turns of the determined transmitting coil (11), maintaining parameters of an inductive coil of a transmitting circuit in an equivalent circuit model of electromagnetic resonance coupling type wireless charging of the coil to be constant, fixing the radius of the receiving coil (9), fixing the distance between the receiving coil (9) and the transmitting coil (11), changing the number of turns of the receiving coil (9) to obtain the transmission efficiency of wireless energy of the transmitting coil (11) under the variable number of turns of the receiving coil (9) according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, and selecting the number of turns when the transmission efficiency of the wireless energy is maximum as the number of turns of the receiving coil (9);
step six, optimizing the radius of the receiving coil: according to the number of turns of the determined transmitting coil (11), maintaining parameters of an inductive coil of a transmitting circuit in an equivalent circuit model of electromagnetic resonance coupling type wireless charging of the coil to be constant, fixing the number of turns of the receiving coil (9), fixing the distance between the receiving coil (9) and the transmitting coil (11), changing the radius of the receiving coil (9) to obtain the transmission efficiency of wireless energy between the receiving coil (9) and the transmitting coil (11) under the reducing diameter according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, and selecting the radius when the transmission efficiency of the wireless energy is maximum as the radius of the receiving coil (9);
the radius of the receiving coil (9) is not more than the radius r of the transmitting coil1；
Seventhly, optimizing the resonant frequency of the transmitting coil and the receiving coil: according to the condition that the self-resonant frequency of the transmitting circuit is the same as the self-resonant frequency of the receiving circuit, keeping the coil inductance of the transmitting circuit and the coil inductance of the receiving circuit unchanged, changing the resonant capacitance of the transmitting coil (11) and the resonant capacitance of the receiving coil (9), fixing the distance between the receiving coil (9) and the transmitting coil (11), obtaining the transmission efficiency of the wireless energy under different resonant frequencies of the transmitting coil (11) and the receiving coil (9) by adopting the optimized parameters of the transmitting coil (11) and the optimized parameters of the receiving coil (9), and selecting the resonant frequency of the transmitting coil (11) and the receiving coil (9) when the transmission efficiency of the wireless energy is maximum;
the parameters of the transmitting coil (11) comprise the number of turns of the transmitting coil (11) and the radius of the transmitting coil (11);
the parameters of the receiving coil (9) comprise the number of turns of the receiving coil (9) and the radius of the receiving coil (9);
step eight, optimizing the distance between the transmitting coil and the receiving coil: according to the condition that the self-resonant frequency of a transmitting circuit is the same as the self-resonant frequency of a receiving circuit, adopting the optimized parameters of a transmitting coil (11) and the optimized parameters of a receiving coil (9), establishing a three-dimensional coordinate system of the power frequency, the distance between the transmitting coil (11) and the receiving coil (9) and the transmission efficiency of the radio energy in an equivalent circuit model of the electromagnetic resonance coupling type wireless charging of the coil by utilizing Matlab software, and obtaining the power frequency and the distance between the transmitting coil (11) and the receiving coil (9) in the equivalent circuit model of the electromagnetic resonance coupling type wireless charging of the coil when the transmission efficiency of the radio energy is maximum;
step nine, non-coaxial optimization of wireless power transmission efficiency of the transmitting coil and the receiving coil: according to the coordinate that unmanned aerial vehicle fell on wireless charging platform, two slip table (4) work of wireless charging platform control box (5) control, utilize two slip table (4) to drive transmitting coil (11) after optimizing and remove in wireless charging platform roof (3) bottom, align from top to bottom with unmanned aerial vehicle coordinate on wireless charging platform the center coordinate of messenger transmitting coil (11), realize the coaxial alignment of transmitting coil (11) and receiving coil (9) after optimizing, realize transmitting coil (11) and receiving coil (9) wireless power transmission efficiency non-coaxial optimization.
2. The electromagnetic resonant coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle according to claim 1, characterized in that: a full-bridge inverter is connected between the transmitting coil (11) and a power supply voltage, and a phase-locked loop is arranged between the full-bridge inverter and the transmitting coil (11).
3. The electromagnetic resonant coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle according to claim 1, characterized in that: the number of turns of the transmitting coil (11) is 3-15.
4. The electromagnetic resonant coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle according to claim 1, characterized in that: in the fourth to eighth steps, the transmission efficiency of the radio energy
Figure FDA0002509442370000031
Wherein, w is the power angular frequency in the equivalent circuit model of the coil electromagnetic resonance coupling type wireless charging, M is the mutual inductance value of the transmitting coil (11) and the receiving coil (9) which are coaxially arranged, and
Figure FDA0002509442370000032
RLequivalent resistance, Z, of a load in an equivalent circuit model for coil electromagnetic resonant coupling wireless charginginEquivalent input impedance, Z, of a transmitting circuit in an equivalent circuit model for wireless charging of a coil electromagnetic resonant coupling2Impedance of a receiving circuit in an equivalent circuit model for coil electromagnetic resonance coupling type wireless charging; mu.s0Is magnetic permeability in vacuum, N1Is the number of turns of the transmitting coil (11), N2For receiving the number of turns of the coil (9), r2Is the radius of the receiving coil (9), and D is the distance between the transmitting coil (11) and the receiving coil (9).
5. The electromagnetic resonant coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle according to claim 1, characterized in that: the transmitting coil (11) and the receiving coil (9) are both single-layer spiral circular coils.
6. The electromagnetic resonant coupling type wireless charging efficiency optimization method suitable for the unmanned aerial vehicle according to claim 1, characterized in that: the ground GPS module that is integrated with the controller in wireless charging platform control box (5) and communicates with unmanned aerial vehicle machine carries GPS module.
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