CN112895927B - Method, apparatus and storage medium for stabilizing dynamic wireless power supply output power - Google Patents

Method, apparatus and storage medium for stabilizing dynamic wireless power supply output power Download PDF

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CN112895927B
CN112895927B CN202110138816.0A CN202110138816A CN112895927B CN 112895927 B CN112895927 B CN 112895927B CN 202110138816 A CN202110138816 A CN 202110138816A CN 112895927 B CN112895927 B CN 112895927B
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coil
vehicle
magnetic induction
induction intensity
secondary coil
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CN112895927A (en
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马法运
杨鹏
陈敬东
崔扬
李美征
田裕鹏
李东义
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CRRC Qingdao Sifang Rolling Stock Research Institute Co Ltd
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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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F38/00—Adaptations of transformers or inductances for specific applications or functions
    • H01F38/14—Inductive couplings
    • 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
    • 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
    • Y02T90/14—Plug-in electric vehicles

Abstract

The invention relates to a method for stabilizing output power of dynamic wireless power supply, which comprises the following steps: acquiring target magnetic induction intensity at a preset position of the vehicle-mounted secondary coil, and acquiring current magnetic induction intensity at the preset position of the vehicle-mounted secondary coil through detection or prediction; comparing the current magnetic induction intensity with the target magnetic induction intensity to obtain a comparison result; and according to the comparison result, adjusting the exciting current of the ground primary coil and/or the DCDC converter of the vehicle-mounted secondary coil, and stabilizing the output power of the dynamic wireless power supply system. The current magnetic induction intensity and the target magnetic induction intensity of the vehicle-mounted secondary coil are obtained through detection or prediction, and when the output capacity of the dynamic wireless power supply system is changed, the output power of the dynamic wireless power supply system is stabilized through adjusting the exciting current of the ground primary coil or the DCDC converter of the vehicle-mounted secondary coil. The invention also discloses a device and a storage medium for stabilizing the output power of the dynamic wireless power supply.

Description

Method, apparatus and storage medium for stabilizing dynamic wireless power supply output power
Technical Field
The present application relates to the technical field of rail transit trains, and in particular, to a method, an apparatus, and a storage medium for stabilizing dynamic wireless power output.
Background
In a dynamic wireless power supply system of a vehicle, because a road surface does not have the capacity of restricting the position of a vehicle-mounted side coil, when the vehicle-mounted side coil and a ground coil move in the horizontal or vertical direction, the output power fluctuates, so that overvoltage or undervoltage faults frequently occur in the vehicle-mounted side system, and the vehicle-mounted side system cannot work normally in serious conditions.
In the prior art, on the basis of a DD coil (a 8-shaped coil), after an inductor in an LCC topology is replaced by a transmitting coil, the offset resistance of a system is improved by mutual inductance of the matched DD coil, a solenoid coil and a secondary coil and an optimal load of the system.
In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art: when the coil is laterally deviated, namely the main magnetic flux of the solenoid coil is deviated in the vertical direction, the mutual inductance of the solenoid coil and the secondary coil is reduced, so that the output current is reduced, and in addition, because the inductance in the LCC resonance topology participates in power output, when the state of the magnetic core is changed, the system cannot work at a normal resonance point.
Disclosure of Invention
The embodiment of the disclosure provides a method, a device and a storage medium for stabilizing dynamic wireless power supply output power, so as to solve the technical problem of output power fluctuation of a vehicle-mounted side system caused by horizontal or vertical offset of a vehicle-mounted side coil and a ground coil to a certain extent.
In a first aspect, a method for stabilizing a dynamic wireless power supply output power is provided, the method comprising: acquiring target magnetic induction intensity at a preset position of a vehicle-mounted secondary coil, and acquiring current magnetic induction intensity at the preset position of the vehicle-mounted secondary coil through detection or prediction; comparing the current magnetic induction intensity with the target magnetic induction intensity to obtain a comparison result; and adjusting the exciting current of the ground primary coil and/or the DCDC converter of the vehicle-mounted secondary coil according to the comparison result, and stabilizing the output power of the dynamic wireless power supply system.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the obtaining, by prediction, a current magnetic induction intensity at a preset position of a vehicle-mounted secondary coil includes: and acquiring the relative position of the preset position of the vehicle-mounted secondary coil relative to the preset position of the ground primary coil and the previous-time excitation current value of the ground primary coil, and predicting the current magnetic induction intensity according to the relative position and the previous-time excitation current value.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, a relative position of the preset position of the vehicle-mounted secondary winding with respect to the preset position of the ground primary winding is obtained by establishing a position model.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the current magnetic induction intensity is obtained through calculation by using the following formula
Figure BDA0002928047890000021
Figure BDA0002928047890000022
The current value of the excitation current of the ground primary coil at the last moment is I, the number of turns of the ground primary coil is N, the number of turns of a first rectangular coil in the vehicle-mounted secondary coil is N, the number of turns of a second rectangular coil in the vehicle-mounted secondary coil is I, and half of the width of the nth coil is anHalf the length of the nth turn coil is bnHalf of the width of the ith turn of coil is aiHalf the length of the ith turn of coil is biThe distance between the preset position of the vehicle-mounted secondary coil and the preset position of the ground primary coil is d, the line diameter width of the vehicle-mounted secondary coil is w, the turn interval of the vehicle-mounted secondary coil is s, and the vacuum magnetic conductivity is mu0。
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the obtaining a target magnetic induction intensity at a preset position of the vehicle-mounted secondary coil includes: obtaining the output voltage requirement of the vehicle-mounted secondary coil according to the target output power of the vehicle-mounted secondary coil; and obtaining the target magnetic induction intensity at the preset position of the vehicle-mounted secondary coil according to a Faraday electromagnetic induction law and the output voltage requirement.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the target magnetic induction B of the vehicle-mounted secondary coil is obtained through calculation by using the following formula,
Figure BDA0002928047890000031
wherein the lowest output voltage is Vsecondary_minThe number of turns of the coil is n, the equivalent area of the coil is A, and the power factor is beta.
With reference to the first aspect, in a sixth possible implementation manner of the first aspect, the DCDC converter that adjusts an excitation current of the ground primary coil and/or the vehicle-mounted secondary coil according to the comparison result includes: the output power of the dynamic wireless power supply system is a certain value, and when the current magnetic induction intensity is smaller than the target magnetic induction intensity, the exciting current of the ground primary coil is increased and/or the equivalent load regulated by the DCDC converter is reduced; and when the current magnetic induction intensity is greater than the target magnetic induction intensity, reducing the exciting current of the ground primary coil and/or increasing the equivalent load regulated by the DCDC converter.
With reference to the sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the excitation current of the ground primary coil is increased or decreased, or the equivalent load R regulated by the DCDC converter is increased or decreased by the following formulaeqStabilizing the output power P of the dynamic wireless power supply systemdemand
Figure BDA0002928047890000032
Wherein the lowest output voltage is Vsecondary_minThe mutual inductance of primary and secondary side coils is M, and the primary side current is I1The angular frequency is ω ═ 2 pi f, and the system operating frequency is f.
In a second aspect, an apparatus for stabilizing a dynamic wireless power supply output power is provided, comprising: the preprocessing module is used for acquiring target magnetic induction intensity at a preset position of the vehicle-mounted secondary coil and acquiring current magnetic induction intensity at the preset position of the vehicle-mounted secondary coil through detection or prediction; the calculation module is used for comparing the current magnetic induction intensity with the target magnetic induction intensity to obtain a comparison result; and the adjusting module is used for adjusting the exciting current of the ground primary coil and/or the DCDC converter of the vehicle-mounted secondary coil according to the comparison result so as to stabilize the output power of the dynamic wireless power supply system.
In a third aspect, a storage medium is provided, the storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to carry out the aforementioned method for stabilizing a dynamic wireless power supply output power.
The method, the device and the storage medium for stabilizing the dynamic wireless power supply output power provided by the embodiment of the disclosure can realize the following technical effects:
the current magnetic induction and the target magnetic induction of the vehicle-mounted secondary coil are obtained through detection or prediction, the output capacity of the dynamic wireless power supply system can be accurately judged, and when the output capacity of the dynamic wireless power supply system is changed, the output power of the dynamic wireless power supply system is stabilized by adjusting the exciting current of the ground primary coil, or the DCDC converter of the vehicle-mounted secondary coil, or simultaneously adjusting the exciting current of the ground primary coil and the DCDC converter of the vehicle-mounted secondary coil.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures, and not by way of limitation, in which elements having the same reference numeral designations are shown as similar elements and not to scale, and in which:
fig. 1 is a schematic diagram of a dynamic wireless power supply system provided by an embodiment of the present disclosure;
fig. 2 is a schematic flow diagram of a method for stabilizing output power of the dynamic wireless power supply system shown in fig. 1 provided by an embodiment of the present disclosure;
FIG. 3 is a simplified schematic diagram of a rectangular coil model provided by embodiments of the present disclosure;
fig. 4 is a schematic diagram of a three-dimensional model of a coupling coil of the dynamic wireless power supply system shown in fig. 1 provided by an embodiment of the present disclosure;
fig. 5 is a schematic diagram illustrating coupling coil modeling of the dynamic wireless power supply system shown in fig. 1 according to an embodiment of the disclosure;
fig. 6 is another flow chart diagram of a method for stabilizing the dynamic wireless power output power shown in fig. 1 provided by an embodiment of the present disclosure;
fig. 7 is another flowchart of a method for stabilizing the dynamic wireless power output power shown in fig. 1 according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For dynamic wireless power supply, some researchers have proposed some methods for power transmission, specifically as follows:
the first method is that a compensation capacitor which can be controlled in a grading way is matched with a subsection transmitting guide rail coil on the ground side, and the fluctuation of a receiving coil is ensured to be small when the receiving coil passes through the middle position of two primary coils by controlling a change-over switch;
the second method proposes a multi-stage compensation circuit for ground-side resonance topology;
in the third method, an adjustable resonance capacitor is adopted to carry out frequency modulation on a system, and the output power is stabilized through a BUCK circuit;
and the fourth method is based on voltage doubling rectification, so that the output voltage of the system is in direct proportion to the maximum value of the mutual inductance of the primary side coil and the secondary side coil, and the problem of power fluctuation caused by the mutual inductance fluctuation of the primary side coil and the secondary side coil in the moving direction of the dynamic wireless power supply system is solved.
In the process of implementing the embodiment of the disclosure, it is found that the disadvantage that the dynamic wireless power supply is exposed in the application is that the transmitting coil and the receiving coil need to be accurately aligned, if the coils are laterally offset, the ground system does not control the exciting current, which directly results in the reduction of the induced voltage of the coupling mechanism and the overcurrent of the vehicle-mounted side system; in addition, the variation of the spacing between the coils leads to frequent false alarm of over-voltage or under-voltage faults in practical applications, leading to frequent restart of the system, resulting in loss of dynamic energy pick-up.
Fig. 1 is a schematic diagram of a dynamic wireless power supply system provided by an embodiment of the present disclosure. As shown in fig. 1, the ground side of the dynamic wireless power supply system adopts an LCC resonance topology, the vehicle-mounted side coil adopts SS series resonance to pick up electric energy, a primary coil track laid by a vehicle provides electric energy in the moving process, and the vehicle-mounted side secondary coil acquires electric energy through electromagnetic induction and then supplies power to the vehicle. For rail vehicles, the obtained electric energy can be used for supplying power for vehicle traction assistance, vehicle-mounted equipment and the like. The induction voltage that on-vehicle side secondary coil obtained through electromagnetic induction, through rectifier module after input DCDC module then input to traction converter and supplementary inverter, wherein, DCDC module includes, a plurality of Power supply Unit (PU for short), and a plurality of PU are connected with a plurality of rectifier module respectively for receive the electric energy of a plurality of on-vehicle secondary coil induction, PU1, the parallelly connected output of PU2 … … PUn. Therefore, the ground side coil adopts an LCC resonance topology, so that the exciting current of the primary side coil is constant and is not influenced by the size of the load. When the dynamic wireless power supply system provided by the embodiment of the disclosure is applied to the energy storage type rail transit vehicle traction power supply system, the power level is high, the vehicle-mounted secondary side system can adopt distributed resonance, and the voltage pressure of devices can be reduced.
Fig. 2 is a flowchart illustrating a method for stabilizing output power of the dynamic wireless power supply system shown in fig. 1 according to an embodiment of the present disclosure. As shown in fig. 2, an embodiment of the present disclosure provides a method for stabilizing output power of a dynamic wireless power supply, including: step S13: acquiring target magnetic induction intensity at a preset position of the vehicle-mounted secondary coil, and acquiring current magnetic induction intensity at the preset position of the vehicle-mounted secondary coil through detection or prediction; step S14: comparing the current magnetic induction intensity with the target magnetic induction intensity to obtain a comparison result; step S15: and adjusting the exciting current of the ground primary coil and/or the DCDC converter of the vehicle-mounted secondary coil according to the comparison result, and stabilizing the output power of the dynamic wireless power supply system.
The method for stabilizing the dynamic wireless power supply output power provided by the embodiment of the disclosure can achieve the following technical effects: the method comprises the steps of obtaining target magnetic induction intensity at a preset position of a vehicle-mounted secondary coil, detecting the obtained current magnetic induction intensity or the relative displacement variation of the vehicle-mounted secondary coil, estimating the magnetic induction intensity of the displaced system primary coil and the system secondary coil according to coordinate information of relative positions when the system primary coil and the system secondary coil are displaced, obtaining the power output capacity of the system, and stabilizing the output power of a dynamic wireless power supply system by adjusting the exciting current of a ground primary coil, or a DCDC converter of the vehicle-mounted secondary coil, or adjusting the exciting current of the ground primary coil and the DCDC converter of the vehicle-mounted secondary coil by colleagues.
In some embodiments, obtaining the current magnetic induction at the preset position of the vehicle-mounted secondary coil comprises: and obtaining the current magnetic induction intensity at the preset position of the vehicle-mounted secondary coil through detection. Through setting up the sensor, detect the current magnetic induction that the position was preset to on-vehicle secondary side coil, can acquire the magnetic induction that the position was preset to on-vehicle secondary side coil more accurately.
In some embodiments, obtaining the current magnetic induction at the preset position of the vehicle-mounted secondary coil comprises: and acquiring the relative position of the preset position of the vehicle-mounted secondary coil relative to the preset position of the ground primary coil and the previous-moment excitation current value of the ground primary coil, and obtaining the current magnetic induction intensity according to the relative position and the previous-moment excitation current value. The relative position is obtained through position modeling, and the technical effect equivalent to the accuracy of magnetic induction intensity detection of the sensor can be achieved.
In some embodiments, the relative position of the preset position of the vehicle-mounted secondary coil with respect to the preset position of the ground primary coil is obtained by establishing a position model. Specifically, the method comprises the steps of establishing a rectangular coil model; and carrying out modeling analysis on a coupling mechanism of the dynamic wireless power supply system. Fig. 3 is a simplified schematic diagram of a rectangular coil model provided by an embodiment of the present disclosure. As shown in fig. 3-1, in the rectangular coil, the wire diameter width of the coil is w, and if the wire has a circular cross section, w is the wire diameter; the turn pitch of the coil is s, and the corresponding length of the outermost side of the rectangular coil is 2anThe corresponding width of the outermost side of the rectangular coil is 2bnThe rectangular coil in fig. 3-1 is simplified to obtain a simplified rectangular coil as shown in fig. 3-2, wherein the rectangular coil includes n turns, and n is 1,2,3, …. The length of the n-th turn coil is 2 (a- (n-1) x (w + s)), and the width of the n-th turn coil is 2 (b- (n-1) x (w + s)).
In the embodiment of the disclosure, a coupling mechanism of a dynamic wireless power supply system is modeled and analyzed. The vehicle-mounted secondary coil adopts a DD (direct-drive) coil, and in the modeling analysis process, the DD coil has symmetry, so that the magnetic induction intensity generated by the single D coil under the action of the ground primary coil track is analyzed and calculated. Fig. 4 is a schematic diagram of a three-dimensional model of a coupling coil of the dynamic wireless power supply system shown in fig. 1 according to an embodiment of the present disclosure. Fig. 5 is a schematic diagram for modeling a coupling coil of the dynamic wireless power supply system shown in fig. 1 according to an embodiment of the present disclosure. As shown in fig. 4, the ground-side transmitting coil is 41, and the vehicle-mounted side coil is 42.
As shown in fig. 5, in some embodiments, the Coil _1 is a double rectangular Coil and is a transmitting Coil, and the Coil _2 is a first rectangular Coil in a receiving Coil. The magnetic induction intensity of Coil _1 at any point P (x, y, z) in the receiving Coil _2 is mainly influenced by each section of conducting wire in Coil _1, and the magnetic induction intensity generated at point P passes through
Figure BDA0002928047890000081
And
Figure BDA0002928047890000082
and (4) performing representation. The magnetic induction intensity of a certain point in the Coil _2 is mainly influenced by the Coil ABCD opposite to the Coil, and in addition, at the same time, the EH section of the lead has an enhancement effect on the magnetic induction intensity of a certain point in the area enclosed by the Coil _2, and the EF, FG and GH sections of the leads have a reduction effect on the magnetic induction intensity of a certain point in the area enclosed by the Coil _ 2. In practical application, if the upper and lower coils are in a coaxial opposite state, the influence of three-segment conductors of EF, FG and GH on Coil _2 is weak and can be ignored. It is possible to obtain:
Figure BDA0002928047890000083
Figure BDA0002928047890000084
Figure BDA0002928047890000085
Figure BDA0002928047890000091
Figure BDA0002928047890000092
wherein the primary side current is I, and the vacuum magnetic conductivity is mu0. When the first rectangular Coil is shifted in the y-axis direction, the weakening influence of the EF, FG and GH three-segment conductors on the magnetic induction intensity in the area surrounded by the Coil _2 is increased, thereby causing the reduction of the output power capability. Therefore, the influence of the wires at the EF, FG and GH positions cannot be ignored, which is a crucial factor when considering the offset capability of the system in the design process, and the main purpose of the disclosed embodiments is toA method for stabilizing dynamic wireless power supply output power is provided that does not specifically address the anti-migration design of the coupling mechanism.
In some embodiments, the magnetic induction in the coil area of each wire of the second rectangular coil in the receiver coil can be obtained by substituting the coordinates of points E, F, G and H into equations (1) to (5).
In the embodiment of the present disclosure, taking the center point M (0, 0, d) of the first rectangular coil in the secondary receiving coil as an example for analysis, the flux density components parallel to the Z axis can be obtained as
Figure BDA0002928047890000093
Figure BDA0002928047890000094
And
Figure BDA0002928047890000095
the vector sum of the magnetic flux densities of the sections of the wire at the point M is
Figure BDA0002928047890000096
It is possible to obtain:
Figure BDA0002928047890000097
Figure BDA0002928047890000098
Figure BDA0002928047890000099
Figure BDA00029280478900000910
Figure BDA00029280478900000911
Figure BDA00029280478900000912
the current magnetic induction intensity can be obtained by calculating through the following formula
Figure BDA00029280478900000913
Figure BDA0002928047890000101
The last moment excitation current value of the ground primary coil is I, the number of turns of the ground primary coil is N, the number of turns of a first rectangular coil in the vehicle-mounted secondary coil is N, the number of turns of a second rectangular coil in the vehicle-mounted secondary coil is I, and half of the width of the nth coil is anHalf the length of the nth turn coil is bnHalf of the width of the ith turn of coil is aiHalf the length of the ith turn of coil is biThe distance between the preset position of the vehicle-mounted secondary coil and the preset position of the ground primary coil is d, the wire diameter width of the vehicle-mounted secondary coil is w, the turn interval of the vehicle-mounted secondary coil is s, and the vacuum permeability is mu0。
Similarly, it can be obtained that, when the second rectangular coil in the vehicle-mounted secondary coil is over against the primary coil EFGH, the coordinates of E, F, G and H are substituted into the formulas (6) to (12), and a calculation formula of the magnetic induction intensity in the vehicle-mounted secondary coil can be obtained. The vehicle-mounted secondary coil adopts a DD coil and has symmetry, and the analysis of the magnetic induction intensity of the first rectangular coil on the ground primary coil track is also suitable for the second rectangular coil.
When the vehicle-mounted secondary coil generates offset, the magnetic induction intensity of the first rectangular coil and the magnetic induction intensity of the second rectangular coil are reduced in different degrees, and the variation of the magnetic induction intensity can be obtained
Figure BDA0002928047890000103
Figure BDA0002928047890000102
Wherein, Δ x, Δ y, Δ z represent the offset of the vehicle-mounted secondary coil relative to the ground primary coil, and Δ I is the exciting current. The position sensor can be arranged at the preset position of the ground primary coil, so that when the vehicle-mounted secondary coil deviates or the distance changes, the excitation current is adjusted through the ground side equipment of the dynamic wireless power supply system, and the stable work of the vehicle-mounted side equipment can be ensured.
By the method for stabilizing the dynamic wireless power supply output power, provided by the embodiment of the disclosure, the offset degree of the vehicle-mounted coil can be detected, the predicted magnetic induction intensity at the preset position of the vehicle-mounted secondary coil is obtained through calculation, or the magnetic induction intensity at the preset position of the vehicle-mounted secondary coil is directly detected, and the DCDC at the vehicle-mounted side or the exciting current of the ground side coil is adjusted according to the formulas (12) and (13), so that the vehicle-mounted side system can ensure the stability of the output power. Therefore, the current magnetic induction intensity of the vehicle-mounted secondary coil can be obtained in a detection or prediction mode, the output capacity of the dynamic wireless power supply system can be accurately judged by combining the target magnetic induction intensity, and when the output capacity of the system is changed due to the position offset of the vehicle-mounted secondary coil relative to the ground primary coil in the dynamic wireless power supply system, the output power of the dynamic wireless power supply system is stabilized by adjusting the exciting current of the ground primary coil or the DCDC converter of the vehicle-mounted secondary coil.
Fig. 6 is another schematic flow diagram of a method for stabilizing the output power of the dynamic wireless power supply shown in fig. 1 according to an embodiment of the present disclosure. As shown in fig. 6, in some embodiments, acquiring the target magnetic induction at the preset position of the vehicle-mounted secondary coil includes: step S11: obtaining the output voltage requirement of the vehicle-mounted secondary coil according to the target output power of the vehicle-mounted secondary coil; step S12: obtaining the preset position of the vehicle-mounted secondary coil according to the Faraday's law of electromagnetic induction and the output voltage requirementThe magnetic induction of the target. In this way, a target magnetic induction in combination with power output at a certain air gap can be obtained. The method specifically comprises the following steps: calculating the induction voltage V of the vehicle-mounted secondary coil under the condition of current limit according to the target output power, the current maximum value, the efficiency and the power factorsecondary_minAccording to Faraday's law of electromagnetic induction, the induced electromotive force epsilon can be obtained,
Figure BDA0002928047890000111
wherein the number of turns of the induction coil is n, and the target magnetic induction intensity of the vehicle-mounted secondary coil is BaimThe power factor is β, and a after differentiation represents an area.
In some embodiments, the target magnetic induction B of the vehicle-mounted secondary coil is calculated by the following formulaaim，
Figure BDA0002928047890000112
Wherein, the equivalent area of the coil is A. The magnetic induction intensity of the ground primary coil at a certain point in the area of the vehicle-mounted secondary coil under the excitation of a certain current value can be calculated through the Biao-Safael law. By means of a formula for calculating the target magnetic induction intensity, the magnetic induction intensity required by the vehicle-mounted secondary coil to maintain stable work can be obtained.
In some embodiments, the DCDC converter for adjusting the excitation current of the ground primary coil and/or the vehicle-mounted secondary coil according to the comparison result includes: when the current magnetic induction intensity is smaller than the target magnetic induction intensity, increasing the exciting current of a primary coil on the ground and/or reducing the equivalent load regulated by the DCDC converter; the output power of the dynamic wireless power supply system is a certain value, and when the current magnetic induction intensity is greater than the target magnetic induction intensity, the exciting current of the ground primary coil is reduced and/or the equivalent load regulated by the DCDC converter is increased.
In some embodiments, byIncreasing or decreasing the exciting current of the primary coil on the ground, or increasing or decreasing the equivalent load R regulated by the DCDC convertereqStabilizing the output power P of the dynamic wireless power supply systemdemand
Figure BDA0002928047890000121
Wherein the lowest output voltage is Vsecondary_minThe mutual inductance of primary and secondary side coils is M, and the primary side current is I1The angular frequency is ω ═ 2 pi f, and the system operating frequency is f. Vsecondary_minThe mutual inductance of the primary coil and the secondary coil of the system, namely the relative position of the coils and the target power of the system are mainly determined. I is1Constant current output is provided in the topology LCC resonance compensation topology used in the disclosed embodiments. According to the formula (16), when the relative position of the primary coil and the secondary coil is changed, the equivalent load R of the system can be changed by adjusting the DCDCeqTo satisfy the output power P of the systemdemandWhen the mutual inductance is too large or too small, the power output cannot be stabilized by singly adjusting the DCDC duty ratio failure power, and at the moment, the primary current needs to be adjusted to correspondingly increase or reduce the output voltage V of the secondary coilsecondary_minAnd the output power is stabilized. Primary side current I1The method for obtaining the current magnetic induction intensity of the vehicle-mounted secondary coil through detection and prediction of the embodiment of the disclosure can be used for realizing closed-loop regulation, so that the stability of the output power of the system is realized.
Fig. 7 is another flowchart of a method for stabilizing the dynamic wireless power output power shown in fig. 1 according to an embodiment of the present disclosure. As shown in fig. 7, in some embodiments, step S21 includes: according to the formula (12), calculating to obtain the target exciting current value of the coil on the ground side, or inputting the target magnetic induction B required by the work at the preset position M on the vehicle side on the ground sideaim(ii) a Step S22, including: the initial target exciting current value of the dynamic wireless power supply system is the exciting current I (t) when the system is started0) Starting the system; step S23, including: after the system starts to work, the vehicle is detectedThe relative positions delta x, delta y and delta z of the side preset position and the ground side preset position calculate the magnetic induction B at the vehicle-mounted side preset position at the time t according to the relative positions and the excitation current value I (t-1) at the previous timeM(t)Updating the coordinates of the preset position on the vehicle side and the magnetic induction B at the preset position on the vehicle sideM(t)(ii) a Or, the magnetic induction B at the preset position on the vehicle-mounted side is obtained through detectionM(t)(ii) a Step S24, including: comparison BaimAnd BM(t)When the size of (B)M(t)＜BaimCalculating the excitation current value I (t +1) according to the formulas (12) and (13), and updating the excitation current value; when B is presentM(t)≥BaimThen, the process proceeds to step S23.
The disclosed embodiment also provides a device for stabilizing the output power of dynamic wireless power supply, which includes: the preprocessing module is used for acquiring target magnetic induction at a preset position of the vehicle-mounted secondary coil and acquiring current magnetic induction at the preset position of the vehicle-mounted secondary coil through detection or prediction; the calculation module is used for comparing the current magnetic induction intensity with the target magnetic induction intensity to obtain a comparison result; and the adjusting module is used for adjusting the exciting current of the ground primary coil and/or the DCDC converter of the vehicle-mounted secondary coil according to the comparison result so as to stabilize the output power of the dynamic wireless power supply system.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
The disclosed embodiment also provides a device for stabilizing the output power of dynamic wireless power supply, which includes: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the aforementioned method for stabilizing dynamic wireless power supply output power.
The disclosed embodiments also provide a storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the aforementioned method for stabilizing dynamic wireless power supply output power.
According to the method, the device and the storage medium for stabilizing the output power of the dynamic wireless power supply, the magnetic induction intensity in the inductive coupling process of the vehicle-mounted side coil is used as an index, the magnetic induction intensity detection value in the moving process of the coil is updated through direct magnetic field detection or relative position detection of the coil, and finally the excitation current of the vehicle-mounted side DCDC converter or the ground side primary side coil is controlled, so that a new technical scheme is provided for stabilizing the power output of the dynamic wireless power supply system, the magnetic induction intensity in the working process of the vehicle-mounted side coil directly determines the key index output by the system, and the output capacity of the system can be accurately judged through detection or prediction of the magnetic induction intensity of the coil.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in other forms, so that those skilled in the art may apply the above-described modifications and variations to the present invention without departing from the spirit of the present invention.

Claims (7)

1. A method for stabilizing dynamic wireless power supply output power, comprising:
acquiring target magnetic induction intensity at a preset position of the vehicle-mounted secondary coil, and acquiring current magnetic induction intensity at the preset position of the vehicle-mounted secondary coil through detection or prediction;
comparing the current magnetic induction intensity with the target magnetic induction intensity to obtain a comparison result;
according to the comparison result, adjusting the exciting current of the ground primary coil and/or the DCDC converter of the vehicle-mounted secondary coil, and stabilizing the output power of the dynamic wireless power supply system;
the method for obtaining the current magnetic induction intensity at the preset position of the vehicle-mounted secondary coil through prediction comprises the following steps:
acquiring a relative position of a preset position of the vehicle-mounted secondary side coil relative to a preset position of a ground primary side coil and a last-moment excitation current value of the ground primary side coil, and predicting the current magnetic induction intensity according to the relative position and the last-moment excitation current value;
acquiring the relative position of the preset position of the vehicle-mounted secondary side coil relative to the preset position of the ground primary side coil by establishing a position model;
calculating the predicted current magnetic induction intensity by the following formula
Figure FDA0003574619960000011
Figure FDA0003574619960000012
The current value of the excitation current of the ground primary coil at the last moment is I, the number of turns of the ground primary coil is N, the number of turns of a first rectangular coil in the vehicle-mounted secondary coil is N, the number of turns of a second rectangular coil in the vehicle-mounted secondary coil is I, and half of the width of the nth coil is anHalf the length of the nth turn coil is bnHalf of the width of the ith turn of coil is aiHalf the length of the ith turn of coil is biThe distance between the preset position of the vehicle-mounted secondary coil and the preset position of the ground primary coil is d, the line diameter width of the vehicle-mounted secondary coil is w, the turn interval of the vehicle-mounted secondary coil is s, and the vacuum magnetic conductivity is mu0。
2. The method of claim 1, wherein obtaining the target magnetic induction at the preset position of the vehicle-mounted secondary coil comprises:
obtaining the output voltage requirement of the vehicle-mounted secondary coil according to the target output power of the vehicle-mounted secondary coil;
and obtaining the target magnetic induction intensity at the preset position of the vehicle-mounted secondary coil according to a Faraday electromagnetic induction law and the output voltage requirement.
3. The method according to claim 2, characterized in that the target magnetic induction B of the on-vehicle secondary coil is calculated by the following formula,
Figure FDA0003574619960000021
wherein the lowest output voltage is Vsecondary_minThe number of turns of the coil is n, the equivalent area of the coil is A, and the power factor is beta.
4. The method of claim 1, wherein adjusting the excitation current of the ground primary winding and/or the DCDC converter of the vehicle secondary winding according to the comparison result comprises:
the output power of the dynamic wireless power supply system is a certain value, and when the current magnetic induction intensity is smaller than the target magnetic induction intensity, the exciting current of the ground primary coil is increased and/or the equivalent load regulated by the DCDC converter is reduced;
and when the current magnetic induction intensity is greater than the target magnetic induction intensity, reducing the exciting current of the ground primary coil and/or increasing the equivalent load regulated by the DCDC converter.
5. The method of claim 4, wherein the exciting current of the ground primary coil is increased or decreased, or the equivalent load R regulated by the DCDC converter is increased or decreased by the following formulaeqStabilizing the output power P of the dynamic wireless power supply systemdemand
Figure FDA0003574619960000031
Wherein the lowest output voltage is Vsecondary_minThe mutual inductance of primary and secondary side coils is M, and the primary side current is I1The angular frequency is ω ═ 2 pi f, and the system operating frequency is f.
6. An apparatus for stabilizing a dynamic wireless power supply output power, operable to perform the method for stabilizing a dynamic wireless power supply output power of any one of claims 1 to 5, comprising:
the preprocessing module is used for acquiring target magnetic induction at a preset position of the vehicle-mounted secondary coil and acquiring current magnetic induction at the preset position of the vehicle-mounted secondary coil through detection or prediction;
the calculation module is used for comparing the current magnetic induction intensity with the target magnetic induction intensity to obtain a comparison result;
and the adjusting module is used for adjusting the exciting current of the ground primary coil and/or the DCDC converter of the vehicle-mounted secondary coil according to the comparison result so as to stabilize the output power of the dynamic wireless power supply system.
7. A storage medium, characterized in that the storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to carry out the method for stabilizing dynamic wireless power supply output power according to any one of claims 1 to 5.
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