CN111490604A - Arbitrary constant voltage wireless power transmission compensation network and compensation method based on relay coil - Google Patents

Arbitrary constant voltage wireless power transmission compensation network and compensation method based on relay coil Download PDF

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CN111490604A
CN111490604A CN202010051861.8A CN202010051861A CN111490604A CN 111490604 A CN111490604 A CN 111490604A CN 202010051861 A CN202010051861 A CN 202010051861A CN 111490604 A CN111490604 A CN 111490604A
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coil
compensation
inductance
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CN111490604B (en
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陈庆彬
杨丰钢
陈为
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Fuzhou University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
    • 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
    • H02J50/50—Circuit arrangements or systems for wireless supply or distribution of electric power using additional energy repeaters between transmitting devices and receiving devices

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Abstract

The invention relates to an arbitrary constant-voltage wireless power transmission compensation network and a compensation method based on a relay coil. The random constant-voltage wireless power transmission compensation network with the relay coil comprises a transmitting coil loop, a relay coil loop and a receiving coil loop, wherein the transmitting coil loop comprises a voltage source, a transmitting coil and a transmitting coil loop compensation capacitor which are connected in series, the relay coil loop comprises a relay coil and a relay coil loop compensation capacitor which are connected in series, and the receiving coil loop comprises a receiving coil, a receiving coil loop series compensation capacitor, a receiving coil loop parallel compensation capacitor and a load. The invention adds the parallel compensation capacitor on the basis of keeping the original compensation network structure, and enables the system to obtain the constant voltage output characteristics of different levels and effectively reduces the capacity of the inverter through the design of the compensation parameter, and the detuning problem is not easy to occur compared with the traditional three-coil structure.

Description

基于中继线圈任意恒压无线电能传输补偿网络及补偿方法Arbitrary constant voltage wireless power transmission compensation network and compensation method based on relay coil

技术领域technical field

本发明涉及一种基于中继线圈任意恒压无线电能传输补偿网络及补偿方法。The invention relates to a compensation network and compensation method based on a relay coil for arbitrary constant voltage wireless power transmission.

背景技术Background technique

随着电动汽车产业的快速发展，人们对充电系统的安全性、便捷性提出了更高的要求。因此，电动汽车的非接触式充电系统也得到了越来越广泛的应用。当传输距离增加，无线电能传输系统的传输效率迅速下降。为解决这一问题，在发射线圈与接收线圈中间插入中继线圈是增大无线能量传输距离的简单易行、经济实惠的有效途径。With the rapid development of the electric vehicle industry, people have put forward higher requirements for the safety and convenience of the charging system. Therefore, the non-contact charging system of electric vehicles has also been widely used. When the transmission distance increases, the transmission efficiency of the wireless power transmission system drops rapidly. To solve this problem, inserting a relay coil between the transmitting coil and the receiving coil is a simple, easy, economical and effective way to increase the wireless energy transmission distance.

中继线圈的存在起到能量中转站的作用，但该系统存在多条功率传输路径，使系统的补偿网络设计复杂且难以获得较好的输出特性。The existence of the relay coil acts as an energy transfer station, but the system has multiple power transmission paths, which makes the design of the compensation network of the system complicated and it is difficult to obtain better output characteristics.

目前，现有的补偿方式是控制各线圈自感与补偿电容的谐振频率一致，来提高系统的能量传输能力。但这样的补偿方式，第一，负载的输出特性由整个磁耦合系统决定，且无法完全补偿系统的内电抗，输出稳压特性较差。第二，应用中含中继线圈的磁耦合系统存在三个谐振频率，相比于不含中继线圈的两线圈系统更容易出现补偿网络失谐问题。第三，含中继线圈的磁耦合系统存在交叉耦合问题，现有技术在各线圈谐振补偿网络的基础上，通过添加阻抗匹配网络或串联电抗补偿的方式，来消除交叉耦合效应的影响。但这样的补偿方式需要增加器件数量，并且磁耦合系统一旦给定其输出特性就完全确定，无法通过补偿网络参数的设计来获得不同的输出特性。本发明针对三线圈的无线电能传输系统中交叉耦合与失谐问题，提出一种含中继线圈的三线圈磁耦合系统的补偿网络结构及参数确定方法，该方法在保持原有补偿网络结构的基础上添加并联补偿电容，并通过补偿参数的设计使得系统获得不同等级的恒压输出特性并有效减小了逆变器的容量。该方法中，中继线圈不工作于谐振状态，系统只有两个谐振环节，较传统的三线圈结构不易出现失谐问题。同时该方法综合考虑了交叉耦合的问题，使系统完全补偿，从而获得良好的输出特性。At present, the existing compensation method is to control the self-inductance of each coil to be consistent with the resonant frequency of the compensation capacitor, so as to improve the energy transmission capability of the system. However, in such a compensation method, first, the output characteristics of the load are determined by the entire magnetic coupling system, and the internal reactance of the system cannot be fully compensated, resulting in poor output voltage regulation characteristics. Second, there are three resonance frequencies in the magnetic coupling system with the relay coil in the application, which is more prone to the detuning problem of the compensation network than the two-coil system without the relay coil. Third, the magnetic coupling system with relay coils has the problem of cross coupling. The prior art eliminates the influence of the cross coupling effect by adding an impedance matching network or series reactance compensation on the basis of the resonance compensation network of each coil. However, such a compensation method needs to increase the number of devices, and the magnetic coupling system is completely determined once its output characteristics are given, and different output characteristics cannot be obtained through the design of compensation network parameters. Aiming at the problems of cross-coupling and detuning in a three-coil wireless power transmission system, the present invention proposes a compensation network structure and a parameter determination method for a three-coil magnetic coupling system with a repeater coil. The method is based on maintaining the original compensation network structure. A parallel compensation capacitor is added to the upper part, and through the design of compensation parameters, the system can obtain constant voltage output characteristics of different levels and effectively reduce the capacity of the inverter. In this method, the relay coil does not work in a resonance state, and the system has only two resonance links, which is less prone to detuning than the traditional three-coil structure. At the same time, the method comprehensively considers the problem of cross-coupling, so that the system can be fully compensated, so as to obtain good output characteristics.

现有主要的补偿网络拓扑有如下：The main existing compensation network topologies are as follows:

1、发射、中继、接收线圈串联电容补偿1. Capacitance compensation in series of transmitting, relaying and receiving coils

采用在各线圈串联电容补偿，将各线圈回路谐振角频率控制在相同角频率下，即

Figure BDA0002371416180000011
补偿拓扑如图1所示。其中L1为发射线圈自感，Lr为中继线圈自感，L2为接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，C1为发射线圈回路补偿电容，Cr为中继线圈回路补偿电容，C2为接收线圈回路补偿电容。The resonant angular frequency of each coil loop is controlled at the same angular frequency by using series capacitance compensation in each coil, that is,
Figure BDA0002371416180000011
The compensation topology is shown in Figure 1. Among them, L 1 is the self-inductance of the transmitting coil, L r is the self-inductance of the relay coil, L 2 is the self-inductance of the receiving coil, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the mutual inductance between the relay coil and the receiving coil. , M12 is the mutual inductance between the transmitting coil and the receiving coil, C1 is the compensation capacitance of the transmitting coil loop, Cr is the compensation capacitance of the relay coil loop, and C2 is the compensation capacitance of the receiving coil loop.

根据补偿拓扑，列出三个回路的KVL方程，如下式：According to the compensation topology, the KVL equations of the three loops are listed as follows:

Figure BDA0002371416180000021
Figure BDA0002371416180000021

其输出特性为：Its output characteristics are:

Figure 1
Figure 1

从其输出特性表达式中，不难发现负载的输出电压难以控制，还与耦合参数有关，交叉耦合影响并未消除。而在发射、中继、接收线圈串联电容谐振补偿的基础上，添加阻抗匹配网络或串联电抗补偿，如图2-5所示，都是为了消除交叉耦合的影响，减少无功功率。From the expression of its output characteristics, it is not difficult to find that the output voltage of the load is difficult to control, and it is also related to the coupling parameters, and the effect of cross-coupling has not been eliminated. On the basis of the series capacitor resonance compensation of the transmitting, relaying and receiving coils, adding impedance matching network or series reactance compensation, as shown in Figure 2-5, is to eliminate the influence of cross-coupling and reduce reactive power.

综上可知，现有的补偿方式是控制各线圈自感与补偿电容的谐振频率一致，来提高系统的能量传输能力。但这样的补偿方式，第一，负载的输出特性由整个磁耦合系统决定，且无法完全补偿系统的内电抗，输出稳压特性较差。第二，应用中含中继线圈的磁耦合系统存在三个谐振频率，相比于不含中继线圈的两线圈系统更容易出现补偿网络失谐问题。第三，含中继线圈的磁耦合系统存在交叉耦合问题，现有技术在各线圈谐振补偿网络的基础上，通过添加阻抗匹配网络或串联电抗补偿的方式，来消除交叉耦合效应的影响。但这样的补偿方式需要增加器件数量，并且磁耦合系统一旦给定其输出特性就完全确定，无法通过补偿网络参数的设计来获得不同的输出特性。To sum up, the existing compensation method is to control the self-inductance of each coil to be consistent with the resonant frequency of the compensation capacitor, so as to improve the energy transmission capability of the system. However, in such a compensation method, first, the output characteristics of the load are determined by the entire magnetic coupling system, and the internal reactance of the system cannot be fully compensated, resulting in poor output voltage regulation characteristics. Second, there are three resonant frequencies in the magnetic coupling system with the relay coil in the application, and the detuning problem of the compensation network is more likely to occur than the two-coil system without the relay coil. Third, the magnetic coupling system with relay coils has the problem of cross-coupling. The prior art eliminates the influence of the cross-coupling effect by adding an impedance matching network or series reactance compensation on the basis of the resonance compensation network of each coil. However, such a compensation method needs to increase the number of devices, and the magnetic coupling system is completely determined once its output characteristics are given, and different output characteristics cannot be obtained through the design of compensation network parameters.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于提供一种基于中继线圈任意恒压无线电能传输补偿网络及补偿参数确定方法，实现中继线圈不工作于谐振状态，系统只有两个谐振环节，较传统的三线圈结构不易出现失谐问题，通过补偿参数的设计使得系统获得不同等级的恒流输出特性并有效减小了逆变器的容量。The purpose of the present invention is to provide an arbitrary constant voltage wireless power transmission compensation network and compensation parameter determination method based on the relay coil, so that the relay coil does not work in the resonance state, the system has only two resonance links, and is less prone to loss than the traditional three-coil structure. To solve the harmonic problem, through the design of compensation parameters, the system can obtain different levels of constant current output characteristics and effectively reduce the capacity of the inverter.

为实现上述目的，本发明的技术方案是：一种基于中继线圈任意恒压无线电能传输补偿方法，在原有补偿网络基础上，通过参数确定方法获得不同等级的输出恒压特性，具体如下：In order to achieve the above purpose, the technical scheme of the present invention is: a compensation method based on an arbitrary constant voltage wireless power transmission of a relay coil, and on the basis of the original compensation network, the output constant voltage characteristics of different levels are obtained by a parameter determination method, and the details are as follows:

步骤A1：将三线圈互感模型等效为变压器T模型，三线圈互感模型包括发射线圈回路、中继线圈回路、接收线圈回路；Step A1: The three-coil mutual inductance model is equivalent to a transformer T model, and the three-coil mutual inductance model includes a transmitting coil loop, a relay coil loop, and a receiving coil loop;

步骤A2：发射线圈回路补偿电容Cs1与变压器T模型里原边的等效漏感Lpk串联谐振，发射线圈回路的电压源Uin通过变压器放大n倍，施加在变压器T模型副边，n为变压器T模型的等效变比，该变比不同于变压器的物理匝比，理论上可以是任意值，包括实数和复数；Step A2: The compensation capacitor C s1 of the transmitting coil loop is resonated in series with the equivalent leakage inductance L pk of the primary side of the transformer T model, and the voltage source U in of the transmitting coil loop is amplified by n times through the transformer and applied to the secondary side of the transformer T model, n is the equivalent transformation ratio of the transformer T model, which is different from the physical turns ratio of the transformer, and can theoretically be any value, including real numbers and complex numbers;

步骤A3：接收线圈回路补偿电容Cs2与变压器T模型里副边的等效漏感Lsk串联谐振，nUin施加在位于接收线圈回路的负载上，实现恒压输出，参数确定如下：Step A3: The compensation capacitor C s2 of the receiving coil loop is resonated in series with the equivalent leakage inductance L sk of the secondary side in the transformer T model, and nU in is applied to the load located in the receiving coil loop to achieve constant voltage output. The parameters are determined as follows:

Figure BDA0002371416180000031
Figure BDA0002371416180000031

其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率；Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system;

步骤A4：根据输出电流URL大小，即确定n的值，进一步确定所需的电容值，实现所需的电压增益并且不受负载变化而变化；Step A4: Determine the value of n according to the size of the output current U RL , and further determine the required capacitance value, so as to achieve the required voltage gain and not be changed by the load change;

当Cs1为无穷大时，即

Figure BDA0002371416180000032
此时Cs1电容可以用短路线替代；When C s1 is infinite, i.e.
Figure BDA0002371416180000032
At this time, the C s1 capacitor can be replaced by a short circuit;

当Cs2为无穷大时，即

Figure BDA0002371416180000033
此时Cs2电容可以用短路线替代。When C s2 is infinite, i.e.
Figure BDA0002371416180000033
At this time, the C s2 capacitor can be replaced with a short circuit.

本发明还提供了一种基于中继线圈任意恒压无线电能传输补偿网络，包括发射线圈回路、中继线圈回路、接收线圈回路，所述发射线圈回路包括串联连接的电压源、发射线圈、发射线圈回路补偿电容，所述中继线圈回路包括串联连接的中继线圈、中继线圈回路补偿电容，所述接收线圈回路包括接收线圈、接收线圈回路串联补偿电容、接收线圈回路并联补偿电容、负载，所述接收线圈的一端经接收线圈回路串联补偿电容与接收线圈回路并联补偿电容的一端、负载的一端连接，接收线圈的另一端与接收线圈回路并联补偿电容的另一端、负载的另一端连接。The present invention also provides an arbitrary constant voltage wireless power transmission compensation network based on a relay coil, including a transmitter coil loop, a relay coil loop, and a receiver coil loop, wherein the transmitter coil loop includes a series-connected voltage source, a transmitter coil, and a transmitter coil loop Compensation capacitor, the relay coil loop includes a series-connected relay coil, a relay coil loop compensation capacitor, the receiving coil loop includes a receiving coil, a series compensation capacitor for a receiving coil loop, a parallel compensation capacitor for a receiving coil loop, and a load, the receiving coil One end of the receiving coil is connected to one end of the parallel compensation capacitor of the receiving coil circuit and one end of the load through the series compensation capacitor of the receiving coil circuit, and the other end of the receiving coil is connected to the other end of the parallel compensation capacitor of the receiving coil circuit and the other end of the load.

本发明还提供了一种基于中继线圈任意恒压无线电能传输补偿方法，基于上述基于中继线圈任意恒压无线电能传输补偿网络基础上，通过参数确定方法获得不同等级的输出恒压特性，具体如下：The present invention also provides a compensation method for wireless power transmission based on an arbitrary constant voltage of a relay coil. Based on the above-mentioned compensation network for wireless power transmission based on an arbitrary constant voltage of a relay coil, the output constant voltage characteristics of different levels are obtained through a parameter determination method, and the details are as follows :

步骤B1：将三线圈互感模型等效为变压器T模型；Step B1: Equivalent the three-coil mutual inductance model to the transformer T model;

步骤B2：发射线圈回路补偿电容Cs1与变压器T模型里原边的等效漏感Lpk串联谐振，电压源Uin通过变压器放大n倍，施加在变压器T模型副边，n为变压器T模型的等效变比，该变比不同于变压器的物理匝比，理论上可以是任意值，包括实数和复数；Step B2: The compensation capacitor C s1 of the transmitting coil loop resonates in series with the equivalent leakage inductance L pk of the primary side of the transformer T model, the voltage source U in is amplified by the transformer n times, and applied to the secondary side of the transformer T model, where n is the transformer T model The equivalent transformation ratio, which is different from the physical turns ratio of the transformer, can theoretically be any value, including real numbers and complex numbers;

步骤B3：接收线圈回路串联补偿电容Cs2与变压器T模型里副边的等效漏感Lsk串联谐振，接收线圈回路并联补偿电容Cp与变压器T模型的等效激磁电感Lm并联谐振减少无功功率，nUin施加在负载上，实现恒压输出，参数确定如下：Step B3: The series compensation capacitor C s2 of the receiving coil loop and the equivalent leakage inductance L sk of the secondary side in the transformer T model resonate in series, and the parallel compensation capacitor C p of the receiving coil loop and the equivalent excitation inductance L m of the transformer T model reduce the parallel resonance Reactive power, nU in is applied to the load to achieve constant voltage output. The parameters are determined as follows:

Figure BDA0002371416180000041
Figure BDA0002371416180000041

其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率；Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system;

步骤B4：根据输出电流URL大小，即确定n的值，进一步确定所需的电容值，实现所需的电压增益并且不受负载变化而变化；Step B4: Determine the value of n according to the size of the output current U RL , and further determine the required capacitance value, so as to achieve the required voltage gain and not be changed by the load change;

当Cs1为无穷大时，即

Figure BDA0002371416180000042
此时Cs1电容可以用短路线替代；When C s1 is infinite, i.e.
Figure BDA0002371416180000042
At this time, the C s1 capacitor can be replaced by a short circuit;

当Cs2为无穷大时，即

Figure BDA0002371416180000043
此时Cs2电容可以用短路线替代。When C s2 is infinite, i.e.
Figure BDA0002371416180000043
At this time, the C s2 capacitor can be replaced with a short circuit.

本发明还提供了另外一种基于中继线圈任意恒压无线电能传输补偿网络，包括发射线圈回路、中继线圈回路、接收线圈回路，所述发射线圈回路包括并联连接的电流源、发射线圈补偿电容、发射线圈，所述中继线圈回路包括串联连接的中继线圈、中继线圈回路补偿电容，所述接收线圈回路包括串联连接的接收线圈、接收线圈回路串联补偿电容、负载。The present invention also provides another arbitrary constant voltage wireless power transmission compensation network based on the relay coil, including a transmitter coil loop, a relay coil loop, and a receiver coil loop, wherein the transmitter coil loop includes a parallel-connected current source, a transmitter coil compensation capacitor, A transmitting coil, the relay coil loop includes a series-connected relay coil, a relay coil loop compensation capacitor, and the receiving coil loop includes a series-connected receiving coil, a series-connected compensation capacitor for the receiving coil loop, and a load.

本发明还提供了一种基于中继线圈任意恒压无线电能传输补偿方法，基于上述一种基于中继线圈任意恒压无线电能传输补偿方法，其特征在于，在权利要求2的基于中继线圈任意恒压无线电能传输补偿网络基础上，通过参数确定方法获得不同等级的输出恒压特性，具体如下：The present invention also provides a compensation method for wireless power transmission based on an arbitrary constant voltage of a relay coil, and based on the above-mentioned compensation method for an arbitrary constant voltage wireless power transmission based on a relay coil, it is characterized in that in claim 2 based on the arbitrary constant voltage of the relay coil Based on the wireless power transmission compensation network, the output constant voltage characteristics of different levels are obtained through the parameter determination method, as follows:

步骤C1：将三线圈互感模型等效为变压器T模型；Step C1: Equivalent the three-coil mutual inductance model to the transformer T model;

步骤C2：通过等效源变换，将电流源等效为电压源

Figure BDA0002371416180000051
发射线圈补偿电容Cp与变压器T模型里原边的等效漏感Lpk串联谐振，等效后电压源
Figure BDA0002371416180000052
通过变压器放大n倍，施加在变压器T模型副边上，Lpk与Lsk分别为变压器T模型里原边和副边的等效漏感，n为变压器T模型的等效变比，该变比不同于变压器的物理匝比，理论上可以是任意值，包括实数和复数；Step C2: Convert the current source to a voltage source through equivalent source transformation
Figure BDA0002371416180000051
The compensation capacitor C p of the transmitting coil resonates in series with the equivalent leakage inductance L pk of the primary side in the transformer T model, and the equivalent voltage source
Figure BDA0002371416180000052
The transformer is amplified by n times and applied to the secondary side of the transformer T model. L pk and L sk are the equivalent leakage inductances of the primary and secondary sides of the transformer T model, respectively, and n is the equivalent transformation ratio of the transformer T model. The ratio is different from the physical turns ratio of the transformer, and can theoretically be any value, including real and complex numbers;

步骤C3：接收线圈回路串联补偿电容Cs与变压器T模型里副边的等效漏感Lsk串联谐振，等效源

Figure BDA0002371416180000053
施加在负载上，实现恒压输出，参数确定如下：Step C3: The series compensation capacitor C s of the receiving coil loop and the equivalent leakage inductance L sk of the secondary side in the transformer T model resonate in series, and the equivalent source
Figure BDA0002371416180000053
Applied to the load to achieve constant voltage output, the parameters are determined as follows:

Figure BDA0002371416180000054
Figure BDA0002371416180000054

其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率；Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system;

步骤C4：根据输出电流URL大小，即确定n的值，进一步确定所需的电容值，实现所需的电压增益并且不受负载变化而变化；Step C4: Determine the value of n according to the size of the output current U RL , and further determine the required capacitance value, so as to achieve the required voltage gain and not be changed by the load change;

当Cs为无穷大时，即

Figure BDA0002371416180000055
此时Cs电容可以用短路线替代。When C s is infinite, i.e.
Figure BDA0002371416180000055
At this time, the Cs capacitor can be replaced with a short circuit.

在本发明一实施例中，若计算得到所需的电容值出现负值时，则用电感补偿，补偿电感值与负的补偿电容值的关系如下式所示：In an embodiment of the present invention, if the required capacitance value is negative after calculation, inductance compensation is used, and the relationship between the compensation inductance value and the negative compensation capacitance value is shown in the following formula:

Figure BDA0002371416180000061
Figure BDA0002371416180000061

相较于现有技术，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:

1、本发明中继线圈不工作于谐振状态，系统只有两个谐振环节，较传统的三线圈结构不易出现失谐问题；1. The relay coil of the present invention does not work in a resonance state, and the system has only two resonance links, which is less prone to detuning than the traditional three-coil structure;

2、本发明综合考虑了交叉耦合的问题，使系统完全补偿，从而获得良好的输出特性；2. The present invention comprehensively considers the problem of cross-coupling, so that the system can be fully compensated, so as to obtain good output characteristics;

3、本发明通过补偿参数的设计使得系统获得不同等级的恒压输出特性并有效减小了逆变器的容量。3. Through the design of compensation parameters, the present invention enables the system to obtain constant voltage output characteristics of different levels and effectively reduces the capacity of the inverter.

附图说明Description of drawings

图1是各线圈串联电容谐振的补偿拓扑。Figure 1 is a compensation topology for the resonance of the series capacitance of each coil.

图2是添加串联电抗的补偿拓扑。Figure 2 is a compensation topology with added series reactance.

图3是添加′I型阻抗匹配网络的补偿拓扑。Figure 3 is a compensation topology with the addition of a 'I-type impedance matching network.

图4是添加π型阻抗匹配网络的补偿拓扑。Figure 4 is a compensation topology with the addition of a π-type impedance matching network.

图5是添加T型阻抗匹配网络的补偿拓扑。Figure 5 is a compensation topology with the addition of a T-type impedance matching network.

图6是三线圈互感模型。Figure 6 is a three-coil mutual inductance model.

图7是变压器T模型。Figure 7 is the transformer T model.

图8是现有SSS补偿网络结构。Fig. 8 is the structure of the existing SSS compensation network.

图9是本发明SS补偿网络结构1。Fig. 9 is the structure 1 of the SS compensation network of the present invention.

图10是本发明SS补偿网络结构2。Fig. 10 is the SS compensation network structure 2 of the present invention.

图11是本发明SSSP补偿网络结构。Fig. 11 is the structure of the SSSP compensation network of the present invention.

图12是本发明SSP补偿网络结构1。FIG. 12 is the SSP compensation network structure 1 of the present invention.

图13是本发明SSP补偿网络结构2。Fig. 13 is the SSP compensation network structure 2 of the present invention.

图14是本发明PSS补偿网络结构。Figure 14 is the structure of the PSS compensation network of the present invention.

图15是本发明PS补偿网络结构。Fig. 15 is the structure of the PS compensation network of the present invention.

图16是本发明实施例仿真结果一。FIG. 16 is the first simulation result of the embodiment of the present invention.

图17是本发明实施例仿真结果二。FIG. 17 is the second simulation result of the embodiment of the present invention.

图18是本发明实施例仿真结果三。FIG. 18 is the third simulation result of the embodiment of the present invention.

图19是本发明方法流程图。Figure 19 is a flow chart of the method of the present invention.

具体实施方式Detailed ways

下面结合附图，对本发明的技术方案进行具体说明。The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings.

如图11所示，本发明提供了一种基于中继线圈任意恒压无线电能传输补偿网络，在保持原有补偿网络结构的基础上添加并联补偿电容，使得系统获得不同等级的恒压输出特性并减小逆变器的容量；具体的，包括发射线圈回路、中继线圈回路、接收线圈回路，所述发射线圈回路包括串联连接的电压源、发射线圈、发射线圈回路补偿电容，所述中继线圈回路包括串联连接的中继线圈、中继线圈回路补偿电容，所述接收线圈回路包括接收线圈、接收线圈回路串联补偿电容、接收线圈回路并联补偿电容、负载，所述接收线圈的一端经接收线圈回路串联补偿电容与接收线圈回路并联补偿电容的一端、负载的一端连接，接收线圈的另一端与接收线圈回路并联补偿电容的另一端、负载的另一端连接。As shown in FIG. 11 , the present invention provides a compensation network for arbitrary constant voltage wireless power transmission based on relay coils. On the basis of maintaining the original compensation network structure, parallel compensation capacitors are added, so that the system can obtain different levels of constant voltage output characteristics and Reduce the capacity of the inverter; specifically, it includes a transmitting coil loop, a repeating coil loop, and a receiving coil loop, the transmitting coil loop includes a voltage source, a transmitting coil, and a transmitting coil loop compensation capacitor connected in series, and the repeating coil loop It includes a relay coil connected in series, a relay coil loop compensation capacitor, the receiving coil loop includes a receiving coil, a receiving coil loop series compensation capacitor, a receiving coil loop parallel compensation capacitor, and a load, and one end of the receiving coil is compensated in series by the receiving coil loop The capacitor is connected to one end of the parallel compensation capacitor of the receiving coil loop and one end of the load, and the other end of the receiving coil is connected to the other end of the parallel compensation capacitor of the receiving coil loop and the other end of the load.

如图14所示，本发明提供了一种基于中继线圈任意恒压无线电能传输补偿网络，包括发射线圈回路、中继线圈回路、接收线圈回路，所述发射线圈回路包括并联连接的电流源、发射线圈补偿电容、发射线圈，所述中继线圈回路包括串联连接的中继线圈、中继线圈回路补偿电容，所述接收线圈回路包括串联连接的接收线圈、接收线圈回路补偿电容、负载。As shown in FIG. 14 , the present invention provides an arbitrary constant voltage wireless power transmission compensation network based on a relay coil, including a transmitter coil loop, a relay coil loop, and a receiver coil loop. The transmitter coil loop includes a parallel-connected current source, a transmitter A coil compensation capacitor and a transmitting coil, the relay coil loop includes a series-connected relay coil, a relay coil loop compensation capacitor, and the receiving coil loop includes a series-connected receiving coil, a receiving coil loop compensation capacitor, and a load.

在本实施例中，基于二端口特性，将原有三线圈多级、复杂的互感模型等效为简单明了的变压器T模型，其等效电路模型如图7所示。等效后的变压器T模型，将作为中转站的中继线圈“消除”，并将各线圈的耦合关系融入到变压器T模型中的Lpk，Lsk，Lm，n中。In this embodiment, based on the two-port characteristic, the original three-coil multi-level and complex mutual inductance model is equivalent to a simple and clear transformer T model, and its equivalent circuit model is shown in FIG. 7 . The equivalent transformer T model "eliminates" the relay coil as a transfer station, and integrates the coupling relationship of each coil into Lpk, Lsk, Lm, n in the transformer T model.

根据KVL，列出各回路电压方程：According to KVL, list the voltage equations of each loop:

Figure BDA0002371416180000071
Figure BDA0002371416180000071

Figure BDA0002371416180000072
Figure BDA0002371416180000072

其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率，不同于ω0。Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system, which is different from ω 0 .

同样得出矩阵表达式：The matrix expression is also obtained:

Figure BDA0002371416180000081
Figure BDA0002371416180000081

Lpk与Lsk分别为变压器T模型里原边和副边的等效漏感，n为变压器T模型的等效变比，该变比不同于变压器的物理匝比，理论上它可以是任意值(包括实数和复数)，Lm为变压器T 模型的等效激磁电感。L pk and L sk are the equivalent leakage inductances of the primary and secondary sides of the transformer T model, respectively, and n is the equivalent transformation ratio of the transformer T model, which is different from the physical turns ratio of the transformer. In theory, it can be any value (including real and complex numbers), L m is the equivalent magnetizing inductance of the transformer T model.

为保证二端口特性相同，可得出变压器T模型中各参数与互感模型中各参数的关系如下所示：In order to ensure the same characteristics of the two ports, the relationship between the parameters in the transformer T model and the parameters in the mutual inductance model can be obtained as follows:

Figure BDA0002371416180000082
Figure BDA0002371416180000082

L1，L2，Lr，M1r，Mr2，M12均可通过实际测量获得，而中继线圈补偿电容Cr选择不等于

Figure BDA0002371416180000083
(ω0表示固有的谐振角频率)，即中继线圈处于失谐条件下。从表达式可知，随着无线电能传输系统的磁耦合结构以及补偿电容Cr值的固定，Lm，Lpk，Lsk都可由不同的n来确定。将等效后的变压器T模型置于无线电能传输系统中去。等效的变压器T模型是基于中继线圈失谐条件下的一个等效方法，它不仅将交叉耦合融入到等效模型中，实现了对中继线圈的解耦，还提供了消除交叉耦合的新途径。L 1 , L 2 , L r , M 1r , M r2 , and M 12 can all be obtained by actual measurement, but the selection of the compensation capacitor C r of the relay coil is not equal to
Figure BDA0002371416180000083
(ω 0 represents the inherent resonant angular frequency), that is, the relay coil is in a detuned condition. It can be seen from the expression that with the magnetic coupling structure of the wireless power transfer system and the fixed value of the compensation capacitor C r , L m , L pk , and L sk can all be determined by different n. The equivalent transformer T model is placed in the wireless power transfer system. The equivalent transformer T model is an equivalent method based on the detuning condition of the relay coil. It not only integrates the cross-coupling into the equivalent model, realizes the decoupling of the relay coil, but also provides a new way to eliminate the cross-coupling. .

在本发明实施例中，如图8所示的基于原有三线圈磁耦合系统的补偿网络结构，其参数确定方法，包括以下步骤：In the embodiment of the present invention, as shown in FIG. 8 based on the compensation network structure of the original three-coil magnetic coupling system, the parameter determination method thereof includes the following steps:

步骤A1：将三线圈互感模型等效为变压器T模型；Step A1: Equivalent the three-coil mutual inductance model to the transformer T model;

步骤A2：Cs1与Lpk串联谐振，电压源Uin通过变压器放大n倍，施加在副边，Lpk与Lsk分别为变压器T模型里原边和副边的等效漏感，n为变压器T模型的等效变比(该变比不同于变压器的物理匝比，理论上可以是任意值，包括实数和复数)；Step A2: C s1 and L pk resonate in series, the voltage source U in is amplified by the transformer n times and applied to the secondary side, L pk and L sk are the equivalent leakage inductances of the primary and secondary sides in the transformer T model, respectively, and n is The equivalent transformation ratio of the transformer T model (this transformation ratio is different from the physical turns ratio of the transformer, and can theoretically be any value, including real numbers and complex numbers);

步骤A3：Cs2与Lsk串联谐振，nUin施加在输出负载上，实现恒压输出，参数确定如下：Step A3: C s2 resonates with L sk in series, and nU in is applied to the output load to achieve constant voltage output. The parameters are determined as follows:

Figure BDA0002371416180000091
Figure BDA0002371416180000091

其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率；Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system;

步骤A4：根据输出电流URL大小，即确定n的值，进一步确定所需的电容值，实现所需的电压增益并且不受负载变化而变化；Step A4: Determine the value of n according to the size of the output current U RL , and further determine the required capacitance value, so as to achieve the required voltage gain and not be changed by the load change;

当Cs1为无穷大时，即

Figure BDA0002371416180000092
此时Cs1电容可以用短路线替代，如图9所示；When C s1 is infinite, i.e.
Figure BDA0002371416180000092
At this time, the C s1 capacitor can be replaced by a short circuit, as shown in Figure 9;

当Cs2为无穷大时，即

Figure BDA0002371416180000093
此时Cs2电容可以用短路线替代，如图10所示。When C s2 is infinite, i.e.
Figure BDA0002371416180000093
At this time, the C s2 capacitor can be replaced with a short circuit, as shown in Figure 10.

在本发明实施例中，如图11所示的基于三线圈磁耦合系统的补偿网络结构，其参数确定方法，包括以下步骤：In the embodiment of the present invention, the compensation network structure based on the three-coil magnetic coupling system as shown in FIG. 11 , the parameter determination method thereof includes the following steps:

步骤B1：将三线圈互感模型等效为变压器T模型；Step B1: Equivalent the three-coil mutual inductance model to the transformer T model;

步骤B2：Cs1与Lpk串联谐振，电压源Uin通过变压器放大n倍，施加在副边，Lpk与Lsk分别为变压器T模型里原边和副边的等效漏感，Lm为变压器T模型的等效激磁电感，n为变压器T模型的等效变比(该变比不同于变压器的物理匝比，理论上可以是任意值，包括实数和复数)；Step B2: C s1 and L pk resonate in series, the voltage source U in is amplified by the transformer n times and applied to the secondary side, L pk and L sk are the equivalent leakage inductances of the primary and secondary sides in the transformer T model, L m is the equivalent magnetizing inductance of the transformer T model, and n is the equivalent transformation ratio of the transformer T model (this transformation ratio is different from the physical turns ratio of the transformer, and can theoretically be any value, including real numbers and complex numbers);

步骤B3：Cs2与Lsk串联谐振，Cp与Lm并联谐振减少无功功率，nUin施加在输出负载上，实现恒压输出，参数确定如下：Step B3: C s2 and L sk resonate in series, C p and L m resonate in parallel to reduce reactive power, nU in is applied to the output load to achieve constant voltage output, and the parameters are determined as follows:

Figure BDA0002371416180000101
Figure BDA0002371416180000101

其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率；Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system;

步骤B4：根据输出电流URL大小，即确定n的值，进一步确定所需的电容值，实现所需的电压增益并且不受负载变化而变化；Step B4: Determine the value of n according to the size of the output current U RL , and further determine the required capacitance value, so as to achieve the required voltage gain and not be changed by the load change;

当Cs1为无穷大时，即

Figure BDA0002371416180000102
此时Cs1电容可以用短路线替代，如图12所示；When C s1 is infinite, i.e.
Figure BDA0002371416180000102
At this time, the C s1 capacitor can be replaced by a short circuit, as shown in Figure 12;

当Cs2为无穷大时，即

Figure BDA0002371416180000103
此时Cs2电容可以用短路线替代，如图13所示。When C s2 is infinite, i.e.
Figure BDA0002371416180000103
At this time, the C s2 capacitor can be replaced with a short circuit, as shown in Figure 13.

在本发明实施例中，如图14所示的基于三线圈磁耦合系统的补偿网络结构，其参数确定方法，包括以下步骤：In the embodiment of the present invention, the compensation network structure based on the three-coil magnetic coupling system as shown in FIG. 14, the parameter determination method thereof includes the following steps:

步骤C1：将三线圈互感模型等效为变压器T模型；Step C1: Equivalent the three-coil mutual inductance model to the transformer T model;

步骤C2：通过等效源变换，将电流源等效为电压源

Figure BDA0002371416180000104
Cp与Lpk串联谐振，等效后电压源
Figure BDA0002371416180000105
通过变压器放大n倍，施加在副边上，Lpk与Lsk分别为变压器T模型里原边和副边的等效漏感，n为变压器T模型的等效变比(该变比不同于变压器的物理匝比，理论上可以是任意值，包括实数和复数)；Step C2: Convert the current source to a voltage source through equivalent source transformation
Figure BDA0002371416180000104
C p resonates with L pk in series, equivalent back voltage source
Figure BDA0002371416180000105
The transformer is amplified by n times and applied to the secondary side. L pk and L sk are the equivalent leakage inductances of the primary and secondary sides of the transformer T model, respectively, and n is the equivalent transformation ratio of the transformer T model (this transformation ratio is different from that of the transformer T model). The physical turns ratio of the transformer, which can theoretically be any value, including real and complex numbers);

步骤C3：Cs与Lsk串联谐振，等效源

Figure BDA0002371416180000111
施加在输出负载上，实现恒压输出，参数确定如下：Step C3: Cs resonates in series with Lsk , equivalent source
Figure BDA0002371416180000111
Applied to the output load to achieve constant voltage output, the parameters are determined as follows:

Figure BDA0002371416180000112
Figure BDA0002371416180000112

其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率；Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system;

步骤C4：根据输出电流URL大小，即确定n的值，进一步确定所需的电容值，实现所需的电压增益并且不受负载变化而变化；Step C4: Determine the value of n according to the size of the output current U RL , and further determine the required capacitance value, so as to achieve the required voltage gain and not be changed by the load change;

当Cs为无穷大时，即

Figure BDA0002371416180000113
此时Cs电容可以用短路线替代，如图15所示。When C s is infinite, i.e.
Figure BDA0002371416180000113
At this time, the C s capacitor can be replaced with a short circuit, as shown in Figure 15.

在本实施例中，若计算得到所需的电容值出现负值时，则用电感补偿，补偿电感值与负的补偿电容值的关系如下式所示：In this embodiment, if the required capacitance value is negative after calculation, use inductance compensation, and the relationship between the compensation inductance value and the negative compensation capacitance value is shown in the following formula:

Figure BDA0002371416180000114
Figure BDA0002371416180000114

参照图8，本发明实施例：8, an embodiment of the present invention:

对于工作在100kHz频率下的三线圈无线电能传输系统，其磁耦合结构发射线圈自感为 240uH，中继线圈自感为200uH，拾取线圈自感为100uH，K1r＝0.11，Kr2＝0.285，K12＝0.053，中继线圈谐振电容Cr选取

Figure BDA0002371416180000115
来表征中继线圈的失谐条件，发射线圈连接的逆变输入源幅值为100V，补偿方式如下：For a three-coil wireless power transmission system operating at a frequency of 100kHz, the self-inductance of the magnetic coupling structure of the transmitter coil is 240uH, the self-inductance of the relay coil is 200uH, and the self-inductance of the pickup coil is 100uH, K 1r = 0.11, K r2 = 0.285, K 12 = 0.053, the resonant capacitor C r of the relay coil is selected
Figure BDA0002371416180000115
To characterize the detuning condition of the relay coil, the amplitude of the inverter input source connected to the transmitting coil is 100V, and the compensation method is as follows:

当所需输出幅值为100V时，即变比n＝1，利用公式计算出Cs1和Cs2，此时Cs1＝11.82nF，Cs2＝20.9nF，此时输出侧即可达到恒压输出100V的效果，仿真结果如图16所示；When the required output amplitude is 100V, that is, the transformation ratio n=1, C s1 and C s2 are calculated by the formula. At this time, C s1 =11.82nF, C s2 =20.9nF, and the output side can reach constant voltage at this time The effect of outputting 100V, the simulation results are shown in Figure 16;

当所需输出幅值为150V时，即变比n＝1.5，利用公式计算出Cs1和Cs2，此时Cs1＝10.94nF， Cs2＝26.6nF，此时输出侧即可达到恒压输出150V的效果，仿真结果如图17所示；When the required output amplitude is 150V, that is, the transformation ratio n=1.5, use the formula to calculate C s1 and C s2 , at this time C s1 =10.94nF, C s2 =26.6nF, at this time, the output side can reach constant voltage The effect of outputting 150V, the simulation results are shown in Figure 17;

当所需输出幅值为400V时，即变比n＝4，利用公式计算出Cs1和Cs2，此时Cs1＝10.0nF， Cs2＝-72.99nF为负值，应用公式，选用电感Ls2＝34.70uH代替Cs2，此时输出侧即可达到恒压输出400V的效果，仿真结果如图18所示。When the required output amplitude is 400V, that is, the transformation ratio n=4, use the formula to calculate C s1 and C s2 , at this time C s1 =10.0nF, C s2 =-72.99nF are negative values, apply the formula, select the inductor L s2 =34.70uH instead of C s2 , at this time, the output side can achieve the effect of constant voltage output of 400V. The simulation results are shown in Figure 18.

图19是本发明方法整体流程图。Figure 19 is an overall flow chart of the method of the present invention.

以上是本发明的较佳实施例，凡依本发明技术方案所作的改变，所产生的功能作用未超出本发明技术方案的范围时，均属于本发明的保护范围。The above are the preferred embodiments of the present invention, all changes made according to the technical solutions of the present invention, when the resulting functional effects do not exceed the scope of the technical solutions of the present invention, belong to the protection scope of the present invention.

Claims (6)

1.一种基于中继线圈任意恒压无线电能传输补偿网络，其特征在于，包括发射线圈回路、中继线圈回路、接收线圈回路，所述发射线圈回路包括串联连接的电压源、发射线圈、发射线圈回路补偿电容，所述中继线圈回路包括串联连接的中继线圈、中继线圈回路补偿电容，所述接收线圈回路包括接收线圈、接收线圈回路串联补偿电容、接收线圈回路并联补偿电容、负载，所述接收线圈的一端经接收线圈回路串联补偿电容与接收线圈回路并联补偿电容的一端、负载的一端连接，接收线圈的另一端与接收线圈回路并联补偿电容的另一端、负载的另一端连接。1. an arbitrary constant voltage wireless power transmission compensation network based on a relay coil, is characterized in that, comprises a transmitting coil loop, a relay coil loop, a receiving coil loop, and the transmitting coil loop comprises a series-connected voltage source, a transmitting coil, a transmitting coil A loop compensation capacitor, the relay coil loop includes a series-connected relay coil and a relay coil loop compensation capacitor, the receiving coil loop includes a receiving coil, a series compensation capacitor for a receiving coil loop, a parallel compensation capacitor for a receiving coil loop, and a load, the receiving coil loop includes One end of the coil is connected to one end of the parallel compensation capacitor of the receiving coil circuit and one end of the load through the series compensation capacitor of the receiving coil circuit, and the other end of the receiving coil is connected to the other end of the parallel compensation capacitor of the receiving coil circuit and the other end of the load. 2.一种基于中继线圈任意恒压无线电能传输补偿网络，其特征在于，包括发射线圈回路、中继线圈回路、接收线圈回路，所述发射线圈回路包括并联连接的电流源、发射线圈补偿电容、发射线圈，所述中继线圈回路包括串联连接的中继线圈、中继线圈回路补偿电容，所述接收线圈回路包括串联连接的接收线圈、接收线圈回路串联补偿电容、负载。2. An arbitrary constant voltage wireless power transmission compensation network based on a relay coil, characterized in that it comprises a transmitter coil loop, a relay coil loop, and a receiver coil loop, and the transmitter coil loop comprises a parallel-connected current source, a transmitter coil compensation capacitor, A transmitting coil, the relay coil loop includes a series-connected relay coil, a relay coil loop compensation capacitor, and the receiving coil loop includes a series-connected receiving coil, a series-connected compensation capacitor for the receiving coil loop, and a load. 3.一种基于中继线圈任意恒压无线电能传输补偿方法，其特征在于，在权利要求2的补偿网络基础上，通过参数确定方法获得不同等级的输出恒压特性，具体如下：3. an arbitrary constant voltage wireless power transmission compensation method based on a relay coil, is characterized in that, on the basis of the compensation network of claim 2, obtains the output constant voltage characteristic of different grades by parameter determination method, is specifically as follows: 步骤A1：将三线圈互感模型等效为变压器T模型，三线圈互感模型包括发射线圈回路、中继线圈回路、接收线圈回路；Step A1: The three-coil mutual inductance model is equivalent to a transformer T model, and the three-coil mutual inductance model includes a transmitting coil loop, a relay coil loop, and a receiving coil loop; 步骤A2：发射线圈回路补偿电容Cs1与变压器T模型里原边的等效漏感Lpk串联谐振，发射线圈回路的电压源Uin通过变压器放大n倍，施加在变压器T模型副边，n为变压器T模型的等效变比，该变比不同于变压器的物理匝比，理论上可以是任意值，包括实数和复数；Step A2: The compensation capacitor C s1 of the transmitting coil loop is resonated in series with the equivalent leakage inductance L pk of the primary side of the transformer T model, and the voltage source U in of the transmitting coil loop is amplified by n times through the transformer and applied to the secondary side of the transformer T model, n is the equivalent transformation ratio of the transformer T model, which is different from the physical turns ratio of the transformer, and can theoretically be any value, including real numbers and complex numbers; 步骤A3：接收线圈回路补偿电容Cs2与变压器T模型里副边的等效漏感Lsk串联谐振，nUin施加在位于接收线圈回路的负载上，实现恒压输出，参数确定如下：Step A3: The compensation capacitor C s2 of the receiving coil loop is resonated in series with the equivalent leakage inductance L sk of the secondary side in the transformer T model, and nU in is applied to the load located in the receiving coil loop to achieve constant voltage output. The parameters are determined as follows:
Figure FDA0002371416170000011
Figure FDA0002371416170000011
 其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率；Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system; 步骤A4：根据输出电流URL大小，即确定n的值，进一步确定所需的电容值，实现所需的电压增益并且不受负载变化而变化；Step A4: Determine the value of n according to the size of the output current U RL , and further determine the required capacitance value, so as to achieve the required voltage gain and not be changed by the load change; 当Cs1为无穷大时，即
Figure FDA0002371416170000021
此时Cs1电容可以用短路线替代；When C s1 is infinite, i.e.
Figure FDA0002371416170000021
At this time, the C s1 capacitor can be replaced by a short circuit; 当Cs2为无穷大时，即
Figure FDA0002371416170000022
此时Cs2电容可以用短路线替代。When C s2 is infinite, i.e.
Figure FDA0002371416170000022
At this time, the C s2 capacitor can be replaced with a short circuit. 4.一种基于中继线圈任意恒压无线电能传输补偿方法，其特征在于，在权利要求1的基于中继线圈任意恒压无线电能传输补偿网络基础上，通过参数确定方法获得不同等级的输出恒压特性，具体如下：4. An arbitrary constant voltage wireless power transmission compensation method based on a relay coil is characterized in that, on the basis of the arbitrary constant voltage wireless power transmission compensation network based on the relay coil of claim 1, the output constant voltage of different levels is obtained by a parameter determination method Features, as follows: 步骤B1：将三线圈互感模型等效为变压器T模型；Step B1: Equivalent the three-coil mutual inductance model to the transformer T model; 步骤B2：发射线圈回路补偿电容Cs1与变压器T模型里原边的等效漏感Lpk串联谐振，电压源Uin通过变压器放大n倍，施加在变压器T模型副边，n为变压器T模型的等效变比，该变比不同于变压器的物理匝比，理论上可以是任意值，包括实数和复数；Step B2: The compensation capacitor C s1 of the transmitting coil loop resonates in series with the equivalent leakage inductance L pk of the primary side of the transformer T model, the voltage source U in is amplified by the transformer n times, and applied to the secondary side of the transformer T model, where n is the transformer T model The equivalent transformation ratio, which is different from the physical turns ratio of the transformer, can theoretically be any value, including real numbers and complex numbers; 步骤B3：接收线圈回路串联补偿电容Cs2与变压器T模型里副边的等效漏感Lsk串联谐振，接收线圈回路并联补偿电容Cp与变压器T模型的等效激磁电感Lm并联谐振减少无功功率，nUin施加在负载上，实现恒压输出，参数确定如下：Step B3: The series compensation capacitor C s2 of the receiving coil loop and the equivalent leakage inductance L sk of the secondary side in the transformer T model resonate in series, and the parallel compensation capacitor C p of the receiving coil loop and the equivalent excitation inductance L m of the transformer T model reduce the parallel resonance Reactive power, nU in is applied to the load to achieve constant voltage output. The parameters are determined as follows:
Figure FDA0002371416170000023
Figure FDA0002371416170000023
 其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率；Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system; 步骤B4：根据输出电流URL大小，即确定n的值，进一步确定所需的电容值，实现所需的电压增益并且不受负载变化而变化；Step B4: Determine the value of n according to the size of the output current U RL , and further determine the required capacitance value, so as to achieve the required voltage gain and not be changed by the load change; 当Cs1为无穷大时，即
Figure FDA0002371416170000031
此时Cs1电容可以用短路线替代；When C s1 is infinite, i.e.
Figure FDA0002371416170000031
At this time, the C s1 capacitor can be replaced by a short circuit; 当Cs2为无穷大时，即
Figure FDA0002371416170000032
此时Cs2电容可以用短路线替代。When C s2 is infinite, i.e.
Figure FDA0002371416170000032
At this time, the C s2 capacitor can be replaced with a short circuit. 5.一种基于中继线圈任意恒压无线电能传输补偿方法，其特征在于，在权利要求2的基于中继线圈任意恒压无线电能传输补偿网络基础上，通过参数确定方法获得不同等级的输出恒压特性，具体如下：5. An arbitrary constant voltage wireless power transmission compensation method based on a relay coil is characterized in that, on the basis of the arbitrary constant voltage wireless power transmission compensation network based on the relay coil of claim 2, the output constant voltage of different levels is obtained by a parameter determination method Features, as follows: 步骤C1：将三线圈互感模型等效为变压器T模型；Step C1: Equivalent the three-coil mutual inductance model to the transformer T model; 步骤C2：通过等效源变换，将电流源等效为电压源
Figure FDA0002371416170000033
发射线圈补偿电容Cp与变压器T模型里原边的等效漏感Lpk串联谐振，等效后电压源
Figure FDA0002371416170000034
通过变压器放大n倍，施加在变压器T模型副边上，Lpk与Lsk分别为变压器T模型里原边和副边的等效漏感，n为变压器T模型的等效变比，该变比不同于变压器的物理匝比，理论上可以是任意值，包括实数和复数；Step C2: Convert the current source to a voltage source through equivalent source transformation
Figure FDA0002371416170000033
The compensation capacitor C p of the transmitting coil resonates in series with the equivalent leakage inductance L pk of the primary side in the transformer T model, and the equivalent voltage source
Figure FDA0002371416170000034
The transformer is amplified by n times and applied to the secondary side of the transformer T model. L pk and L sk are the equivalent leakage inductances of the primary and secondary sides of the transformer T model, respectively, and n is the equivalent transformation ratio of the transformer T model. The ratio is different from the physical turns ratio of the transformer, and can theoretically be any value, including real and complex numbers; 步骤C3：接收线圈回路串联补偿电容Cs与变压器T模型里副边的等效漏感Lsk串联谐振，等效源
Figure FDA0002371416170000035
施加在负载上，实现恒压输出，参数确定如下：Step C3: The series compensation capacitor C s of the receiving coil loop and the equivalent leakage inductance L sk of the secondary side in the transformer T model resonate in series, and the equivalent source
Figure FDA0002371416170000035
Applied to the load to achieve constant voltage output, the parameters are determined as follows:
Figure FDA0002371416170000036
Figure FDA0002371416170000036
 其中L1，Lr，L2分别为发射线圈自感、中继线圈自感与接收线圈自感，M1r为发射线圈与中继线圈之间的互感，Mr2为中继线圈与接收线圈之间的互感，M12为发射线圈与接收线圈之间的互感，Cr为中继线圈回路补偿电容，ω为系统工作角频率；Among them, L 1 , L r and L 2 are the self-inductance of the transmitting coil, the self-inductance of the relay coil and the self-inductance of the receiving coil, respectively, M 1r is the mutual inductance between the transmitting coil and the relay coil, and M r2 is the inductance between the relay coil and the receiving coil. Mutual inductance, M 12 is the mutual inductance between the transmitting coil and the receiving coil, C r is the compensation capacitance of the relay coil loop, ω is the operating angular frequency of the system; 步骤C4：根据输出电流URL大小，即确定n的值，进一步确定所需的电容值，实现所需的电压增益并且不受负载变化而变化；Step C4: Determine the value of n according to the size of the output current U RL , and further determine the required capacitance value, so as to achieve the required voltage gain and not be changed by the load change; 当Cs为无穷大时，即
Figure FDA0002371416170000041
此时Cs电容可以用短路线替代。When C s is infinite, i.e.
Figure FDA0002371416170000041
At this time, the Cs capacitor can be replaced with a short circuit. 6.根据权利要求3-5任一所述基于三线圈磁耦合系统的补偿网络结构的参数确定方法，其特征在于：若计算得到所需的电容值出现负值时，则用电感补偿，补偿电感值与负的补偿电容值的关系如下式所示：6. The method for determining the parameters of the compensation network structure based on the three-coil magnetic coupling system according to any one of claims 3-5, characterized in that: if the required capacitance value is negative after calculation, then use inductance compensation, The relationship between the compensation inductance value and the negative compensation capacitance value is as follows:
Figure FDA0002371416170000042
Figure FDA0002371416170000042
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