CN114006477B - Wireless power transmission system running in time solitary wave state and control method thereof - Google Patents

Wireless power transmission system running in time solitary wave state and control method thereof Download PDF

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CN114006477B
CN114006477B CN202111261452.1A CN202111261452A CN114006477B CN 114006477 B CN114006477 B CN 114006477B CN 202111261452 A CN202111261452 A CN 202111261452A CN 114006477 B CN114006477 B CN 114006477B
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power transmission
wireless power
solitary wave
nonlinear
magnetic coupling
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CN114006477A (en
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谢帆
陈锦涛
张波
肖文勋
丘东元
陈艳峰
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South China University of Technology SCUT
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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
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transmitters (AREA)

Abstract

The invention discloses a wireless power transmission system running in a time solitary wave state and a control method thereof, wherein the wireless power transmission system comprises a nonlinear power electronic converter, a time solitary wave state controller and a magnetic coupling resonance wireless power transmission structure; the nonlinear power electronic converter consists of a direct-current voltage source and an inverter circuit and is used as a power supply to drive a magnetic coupling resonance wireless power transmission structure; the time solitary wave state controller consists of a sampling circuit, a solitary wave solver and a driving circuit, and the output of the time solitary wave state controller is used for driving the nonlinear power electronic converter. The invention samples primary side current, and controls the converter to generate a nonlinear driving power source in real time through the solitary wave solver so as to balance parameter dispersion of the magnetic coupling resonance wireless power transmission structure, so that the system operates in a high-efficiency wireless power transmission state. The invention eliminates the parameter dispersion phenomenon from the time solitary wave principle so as to achieve the purpose of high-efficiency wireless electric energy transmission.

Description

Wireless power transmission system running in time solitary wave state and control method thereof
Technical Field
The invention relates to the technical field of wireless power transmission or non-contact power transmission, in particular to a wireless power transmission system running in a time solitary wave state and a control method thereof.
Background
The wireless electric energy transmission technology has wide application prospect due to non-contact energy transmission. Among the existing wireless power transmission technologies, the magnetic coupling resonance wireless power transmission technology has the outstanding advantages of flexibility and safety in principle, and can realize wireless power transmission at a proper distance. The mature application of the composite material can be expected to bring great development to various fields such as home furnishing, medical treatment, military and the like.
The main reasons for limiting the further popularization and application of the magnetic coupling wireless power transmission at present are as follows: 1. the system needs to operate at the resonant frequency to realize high-efficiency energy transmission, and the resonant frequency is easily shifted due to load, environmental change or circuit element aging so as to generate a detuning phenomenon; 2. introducing secondary side communication device control system operating frequency to tune can increase circuit cost and control complexity.
Solitary wave (or soliton) is a concept in nonlinear science, and is one of the hot technologies in research in various fields, and research and development of the solitary wave (or soliton) in nonlinear optics enable optical communication technology to be greatly broken through.
The wireless power transmission technology uses electromagnetic waves as energy transmission medium, and light is a special electromagnetic wave. By referring to the solitary wave technology, a novel control theory of the magnetic coupling resonance wireless power transmission system is provided, and the control theory has important significance.
Disclosure of Invention
A first object of the present invention is to overcome the drawbacks and disadvantages of the prior art and to provide a wireless power transmission system operating in a time solitary wave state, which samples primary side current and avoids secondary side communication devices, so as to achieve the purposes of low cost, high efficiency, simple control and stable wireless power transmission.
A second object of the present invention is to provide a control method of a wireless power transmission system operating in a time solitary wave state.
The first object of the invention is achieved by the following technical scheme: a wireless power transmission system operating in a time solitary wave state comprises a nonlinear power electronic converter, a time solitary wave state controller and a magnetic coupling resonance wireless power transmission circuit; the nonlinear power electronic converter generates high-frequency square wave alternating current according to the input of the time solitary wave state controller and is used as a power supply to drive the magnetic coupling resonance wireless power transmission structure to operate; the time solitary wave state controller consists of a sampling circuit, a solitary wave solver and a driving circuit, wherein the sampling circuit is respectively connected with the primary side of the magnetic coupling resonance wireless power transmission structure and the solitary wave solver, the solitary wave solver is connected with the driving circuit, and the driving circuit is connected with an inverter circuit of the nonlinear power electronic converter and is used for driving the nonlinear power electronic converter; the solitary wave state controller samples primary side current of the magnetic coupling wireless power transmission structure, and generates driving signals with corresponding frequencies in real time after solving according to dispersion rules of resonant frequency on each parameter of the structure by the solitary wave solver, so that nonlinear effects of the nonlinear power electronic converter are balanced with the dispersion rules of the resonant frequency.
Preferably, the solitary wave solver is a comparator, the sampling circuit samples primary side current of the magnetic coupling resonance wireless power transmission structure and inputs the primary side current of the comparator into a "+" input end of the comparator, an "-" input end of the comparator is grounded, the output of the comparator is amplified by the driving circuit and drives an inverter circuit of the nonlinear power electronic converter, the nonlinear power electronic converter is composed of a direct-current voltage source and an inverter circuit composed of a first switching tube, a second switching tube, a third switching tube and a fourth switching tube, the positive electrode of the direct-current voltage source is respectively connected with the first switching tube and the third switching tube, the negative electrode of the direct-current voltage source is respectively connected with the second switching tube and the fourth switching tube, the first switching tube is connected with the second switching tube, the third switching tube is connected with the fourth switching tube, driving currents of the first switching tube and the fourth switching tube are in phase, and driving currents of the second switching tube and the third switching tube are in phase.
Preferably, the magnetic coupling resonance wireless power transmission structure is composed of a primary compensation capacitor, a primary coil, a primary inherent resistor, a secondary compensation capacitor, a secondary coil, a secondary inherent resistor and a load, wherein the primary compensation capacitor, the primary inherent resistor and the primary coil are connected in series and then are connected with two output ends of the nonlinear power electronic converter, the secondary compensation capacitor, the secondary coil, the secondary inherent resistor and the load are connected in series, and the primary coil and the secondary coil are coupled and transmit energy through circuit resonance; the primary and secondary side coils and the primary and secondary side compensation capacitors of the magnetic coupling resonance wireless power transmission structure respectively form a series resonance circuit, which meets the requirements ofWherein L is 1 、L 2 Is the self-inductance value of the primary coil and the secondary coil, C 1 、C 2 Compensating for primary and secondary sidesThe capacitance value of the capacitor, ω, is the system angular frequency.
The second object of the invention is achieved by the following technical scheme: a method of controlling a wireless power transmission system operating in a time orphan state, comprising the steps of:
1) According to the solitary wave theory, the conditions for setting the system to operate in the solitary wave state are as follows:
first term on left of equal signAs the dispersion effect of the resonance frequency, alpha refers to various parameters of the magnetic coupling resonance wireless power transmission structure, which is an inherent effect of the magnetic coupling resonance wireless power transmission structure; the second term is a nonlinear effect, Δn refers to the nonlinear effect of the nonlinear power electronic converter;
2) For the magnetic coupling resonance wireless power transmission structure, the output of the nonlinear power electronic converter is set as u in Resonance capacitance c=c 1 ＝C 2 Coil inductance l=l 1 ＝L 2 Mutual inductance between coils is M, and load is R L The loop resistance is R 1 、R 2 The inherent resistance of the primary side and the secondary side; the resonant frequency expression is obtained according to kirchhoff's voltage law and mechanical vibration theory:
the expression is the dispersion effect of the resonant frequency of the magnetic coupling resonant wireless power transmission structure, wherein the natural frequency of the circuitCoil coupling coefficient->
3) Sampling primary loop current of a magnetic coupling resonance wireless power transmission structure, and controlling a nonlinear power electronic converter in real time through a time solitary wave state controller to generate corresponding delta n omega so as to balance dispersion effect of resonance frequency, so that a system can keep a solitary wave state of high-efficiency operation; the configured solitary wave solver is based on the dispersion rule of the resonant frequency of the magnetic coupling resonant wireless power transmission structure.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the method maintains the solitary wave state of high-efficiency operation in a certain transmission range, overcomes the defect of insufficient transmission distance of the induction type wireless power transmission technology, and overcomes the defect of fixed transmission distance of the magnetic coupling resonance type wireless power transmission technology.
2. The auxiliary side communication equipment is not needed, the cost and the complexity of the system are reduced, and the reliability of the system is improved.
3. Compared with a microwave type wireless power transmission mode, the invention can achieve higher transmission power based on the magnetic coupling wireless power transmission principle.
4. The structure of the invention is an improvement based on a common magnetic coupling wireless power transmission structure, and has strong applicability and simple structure.
5. The energy transmission of the invention is based on the resonance principle, and can reduce the magnetic interference of non-resonance bodies (such as human bodies) between the transmission coils.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a schematic diagram of a time solitary wave state controller.
Fig. 3 is a schematic diagram of a magnetic coupling resonance wireless power transmission structure.
FIG. 4 is a schematic circuit diagram of the system of the present invention.
FIG. 5 is a diagram of simulation results of the system of the present invention.
Fig. 6 is a diagram of FFT analysis of simulation results of the system of the present invention.
FIG. 7 is a graph of the results of a system simulation of an unglazed time solitary wave state controller.
Detailed Description
The invention will be further illustrated with reference to specific examples.
As shown in fig. 1 and 2, the present embodiment provides a wireless power transmission system operating in a time solitary wave state, including a nonlinear power electronic converter, a time solitary wave state controller, and a magnetically coupled resonant wireless power transmission structure; the nonlinear power electronic converter is composed of a direct-current voltage source E and a first switch tube S 1 Second switch tube S 2 Third switch tube S 3 And a fourth switching tube S 4 The positive pole of the direct current voltage source E is respectively connected with the first switching tube S 1 And a third switching tube S 3 The negative electrode of the direct-current voltage source E is connected with the second switch tube S respectively 2 And a fourth switching tube S 4 Is connected with the first switch tube S 1 And a second switching tube S 2 Is connected with the third switch tube S 3 And a fourth switching tube S 4 Connecting; the magnetic coupling resonance wireless power transmission structure consists of a primary compensation capacitor, a primary coil, a primary inherent resistor, a secondary compensation capacitor, a secondary coil, a secondary inherent resistor and a load, wherein the primary compensation capacitor, the primary inherent resistor and the primary coil are connected in series and then are connected with two output ends of the nonlinear power electronic converter, the secondary compensation capacitor, the secondary coil, the secondary inherent resistor and the load are connected in series, and the primary coil and the secondary coil are coupled and transmit energy through circuit resonance; the nonlinear power electronic converter generates high-frequency square wave alternating current according to the input of the time solitary wave state controller and is used as a power supply to drive the magnetic coupling resonance wireless power transmission structure to operate; the time solitary wave state controller consists of a sampling circuit, a solitary wave solver and a driving circuit, wherein the sampling circuit is respectively connected with the primary side of the magnetic coupling resonance wireless power transmission structure and the solitary wave solver, the solitary wave solver is connected with the driving circuit, and the driving circuit is connected with an inverter circuit of the nonlinear power electronic converter and is used for driving the nonlinear power electronic converter; the solitary wave state controller is not provided with sampling magnetic couplingThe primary current of the linear power transmission structure is solved by an solitary wave solver according to the dispersion rule of the resonant frequency on each parameter of the structure, and then a driving signal with corresponding frequency is generated in real time, so that the nonlinear effect of the nonlinear power electronic converter is balanced with the dispersion rule of the resonant frequency.
Preferably, in this embodiment, the solitary wave solver is a comparator, the sampling circuit samples the primary current of the magnetic coupling resonance wireless power transmission structure and inputs the primary current to a "+" input end of the comparator, the "-" input end is grounded, and the comparator output is amplified by the driving circuit and drives the inverter circuit of the nonlinear power electronic converter, wherein the first switching tube S 1 And a fourth switching tube S 4 Is in phase with the drive current of the second switching tube S 2 And a third switching tube S 3 Is in phase with the drive current of (a).
The primary and secondary side coils and the primary and secondary side compensation capacitors of the magnetic coupling resonance wireless power transmission structure respectively form a series resonance circuit, which meets the requirements ofWherein L is 1 、L 2 Is the self-inductance value of the primary coil and the secondary coil, C 1 、C 2 The capacitance values of the primary and secondary compensation capacitors are obtained, and omega is the angular frequency of the system.
In nonlinear optics, the waveform is widened by the dispersion effect of light when the light is transmitted in the optical fiber, but the waveform is compressed by nonlinear effects such as self-phase modulation, and when the nonlinear effects completely compensate the dispersion effect of the light, the waveform of the light pulse can be kept unchanged in the time domain, so that a time soliton is formed. The dynamics of the optical soliton in the optical fiber is generally described by a nonlinear schrodinger equation, and for a one-dimensional situation, the dimensionless nonlinear schrodinger equation after normalized transformation is shown as follows:
in the equation, q represents the light amplitude, t and x refer to time and space parameters respectively, i is a quantization coefficient, the second term on the left is a dispersion effect, the third term deltan refers to a nonlinear effect, and when the two effects are balanced, the two effects are as follows:
then there are:
that is, light does not change with time during propagation, and an optical soliton is generated.
Similarly, in a magnetically coupled resonant wireless power transfer structure, it may be configured that:
where p is the radio energy transmission power and α refers to various parameters of the magnetically coupled resonant radio energy transmission structure. Since the transmission power is also related to a number of spatial variables, we have as a balance target that the circuit operates at the resonant frequency for simplicity of analysis. The conditions under which the circuit operates in the solitary wave state are:
likewise, the first term to the left of the above equation is the dispersive effect of the resonant frequency, which is an inherent effect of the magnetically coupled resonant wireless power transfer structure. The second term is nonlinear effect, and the nonlinear power electronic converter is controlled in real time by solving through an solitary wave solver, so that the corresponding nonlinear effect is generated to balance the dispersion effect of the resonance frequency, and the circuit can be operated in a high-efficiency solitary wave state. To reduce cost, the input to the solitary wave solver may sample the primary side current.
First, the inherent dispersion effect of the magnetic coupling resonance wireless power transmission structure is solved. As shown in FIG. 3, subscripts 1, 2 are respectively listedA primary loop (i.e., a transmit loop) and a secondary loop (i.e., a receive loop) of a magnetically-coupled resonant wireless power transfer structure are shown. R is R 1 、R 2 Representing loop resistance, i.e. intrinsic resistance of primary and secondary sides, R L Represents the load resistance, L 1 、L 1、2 Representing coil inductance, C 1 、C 2 Represents resonance capacitance, M represents mutual inductance between two coils, u 1 、u 2 Representing the voltage across the capacitor, u in Representing the input voltage of the magnetically coupled resonant wireless power transfer structure. The system is modeled using a circuit model. Based on kirchhoff voltage circuits, the model can be expressed as:
three matrices are defined, respectively:
substitution can be obtained:
wherein the method comprises the steps of
The above equation is in the form of a standard differential equation for a two degree of freedom vibration system. When a two-degree-of-freedom vibration mechanical system is forced to vibrate, two undamped free vibration frequencies exist, and when the frequency of the driving external force is equal to the frequency, the amplitude of the forced vibration reaches the maximum value. And this natural frequency is an inherent characteristic of the vibrating system and does not vary with the system response. This may be manifested in a circuit as maximizing the system response when the frequency of the applied voltage is the same as the natural frequency of the system, at which point the system reaches a resonant state.
According to the theory of vibration, the natural frequency, i.e., the resonant frequency, is expressed as:
the expression is the dispersion effect of the resonant frequency of the magnetic coupling resonant wireless power transmission structure, wherein the natural frequency of the circuitCoil coupling coefficient->
The corresponding time solitary wave state controller is then constructed. Note that the resonant frequency expression and the oscillation frequency of the primary currentSimilarly, the use of a zero-crossing comparator based on the transmit loop current as an solitary wave solver produces a nonlinear effect that has a certain balance effect on the dispersive effects of the resonant frequency.
The model was simulated in PSIM as shown in fig. 4, with the system parameters shown in table 1. Simulating the situation that the aging capacity of the capacitor is reduced, and sequentially enabling the resonant capacitor C in experiments 1 、C 2 From C a Becomes C b Then become C c . The simulation result is shown in fig. 5, and fig. 6 is an FFT analysis chart corresponding to the result, which shows that when the resonant capacitance parameter is changed, the oscillation frequency of the current of the transmitting loop is changed, the frequency of the driving circuit generated by the solitary wave solver is also changed, a nonlinear effect is generated, the working frequency of the circuit is changed along with the dispersion rule of the resonant frequency, and the dispersion effect is balanced. Comparing the simulation results of the system without the time solitary wave state controller shown in fig. 7 under the same condition, it can be known that the nonlinear effect has a certain balance effect on the dispersion effect of the resonant frequency, so that the circuit keeps running with high efficiency.
Table 1: simulation system parameters
V DC /V L 1,2 /μH M/μF R 1,2 /Ω R L /Ω C a /pF C b /pF C c /pF
20 60 5.65 1 27 790 395 197.5
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, so variations in shape and principles of the present invention should be covered.

Claims (3)

1. A wireless power transmission system operating in a time solitary wave state, characterized by: the wireless power transmission system comprises a nonlinear power electronic converter, a time solitary wave state controller and a magnetic coupling resonance wireless power transmission structure; the nonlinear power electronic converter generates high-frequency square wave alternating current according to the input of the time solitary wave state controller and is used as a power supply to drive the magnetic coupling resonance wireless power transmission structure to operate; the time solitary wave state controller consists of a sampling circuit, a solitary wave solver and a driving circuit, wherein the sampling circuit is respectively connected with the primary side of the magnetic coupling resonance wireless power transmission structure and the solitary wave solver, the solitary wave solver is connected with the driving circuit, and the driving circuit is connected with an inverter circuit of the nonlinear power electronic converter and is used for driving the nonlinear power electronic converter; the solitary wave state controller samples primary side current of the magnetic coupling wireless power transmission structure, and generates driving signals with corresponding frequencies in real time after solving according to dispersion rules of resonant frequency on each parameter of the structure by the solitary wave solver, so that nonlinear effects of the nonlinear power electronic converter are balanced with the dispersion rules of the resonant frequency;
the control method of the wireless power transmission system comprises the following steps:
1) According to the solitary wave theory, the conditions for setting the system to operate in the solitary wave state are as follows:
first term on left of equal signAs the dispersion effect of the resonance frequency, alpha refers to various parameters of the magnetic coupling resonance wireless power transmission structure, which is an inherent effect of the magnetic coupling resonance wireless power transmission structure; the second term is a nonlinear effect, Δn refers to the nonlinear effect of the nonlinear power electronic converter; omega is the angular frequency of the system;
2) For magnetic fieldsCoupled resonance wireless power transmission structure with output of nonlinear power electronic converter as u in Resonance capacitance c=c 1 ＝C 2 ，C 1 、C 2 The capacitance value of the capacitor is compensated for the primary side and the secondary side, and the coil inductance L=L 1 ＝L 2 ，L 1 、L 2 The self inductance value of the primary coil and the secondary coil is M, the mutual inductance between the coils is R L The loop resistance is R 1 、R 2 The inherent resistance of the primary side and the secondary side; the resonant frequency expression is obtained according to kirchhoff's voltage law and mechanical vibration theory:
the expression is the dispersion effect of the resonant frequency of the magnetic coupling resonant wireless power transmission structure, wherein the natural frequency of the circuitCoil coupling coefficient->
3) Sampling primary loop current of a magnetic coupling resonance wireless power transmission structure, and controlling a nonlinear power electronic converter in real time through a time solitary wave state controller to generate corresponding delta n omega so as to balance dispersion effect of resonance frequency, so that a system can keep a solitary wave state of high-efficiency operation; the configured solitary wave solver is based on the dispersion rule of the resonant frequency of the magnetic coupling resonant wireless power transmission structure.
2. A wireless power transmission system operating in a time orphan regime as claimed in claim 1, wherein: the solitary wave solver is a comparator, the sampling circuit samples primary side current of the magnetic coupling resonance wireless power transmission structure and inputs the primary side current into a "+" input end of the comparator, the "-" input end is grounded, and the output of the comparator is amplified by the driving circuitInverter circuit for driving a nonlinear power electronic converter which is driven by a DC voltage source (E) and by a first switching tube (S 1 ) Second switch tube (S) 2 ) Third switch tube (S) 3 ) And a fourth switching tube (S) 4 ) The positive pole of the DC voltage source (E) is respectively connected with the first switch tube (S 1 ) And a third switching tube (S) 3 ) Is connected with the negative pole of the direct-current voltage source (E) and the second switch tube (S 2 ) And a fourth switching tube (S) 4 ) Is connected to the first switching tube (S 1 ) And a second switch tube (S) 2 ) Is connected to the third switching tube (S 3 ) And fourth switch tube (S) 4 ) Is connected, wherein the first switching tube (S 1 ) And a fourth switching tube (S) 4 ) Is in phase with the drive current of the second switching tube (S 2 ) And a third switching tube (S) 3 ) Is in phase with the drive current of (a).
3. A wireless power transmission system operating in a time orphan regime as claimed in claim 1, wherein: the magnetic coupling resonance wireless power transmission structure consists of a primary compensation capacitor, a primary coil, a primary inherent resistor, a secondary compensation capacitor, a secondary coil, a secondary inherent resistor and a load, wherein the primary compensation capacitor, the primary inherent resistor and the primary coil are connected in series and then are connected with two output ends of the nonlinear power electronic converter, the secondary compensation capacitor, the secondary coil, the secondary inherent resistor and the load are connected in series, and the primary coil and the secondary coil are coupled and transmit energy through circuit resonance; the primary and secondary side coils and the primary and secondary side compensation capacitors of the magnetic coupling resonance wireless power transmission structure respectively form a series resonance circuit, which meets the requirements of
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014139287A1 (en) * 2013-03-12 2014-09-18 海尔集团公司 Wireless power transmission system adapted for multiload dynamic switching
WO2014176875A1 (en) * 2013-04-28 2014-11-06 海尔集团技术研发中心 Method and system fro wireless electric energy transmission
CN109436197A (en) * 2018-10-31 2019-03-08 中国海洋大学 Interior estimates act on coupled motions and the dynamometry experimental system for simulating of lower ocean floating structure

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014139287A1 (en) * 2013-03-12 2014-09-18 海尔集团公司 Wireless power transmission system adapted for multiload dynamic switching
WO2014176875A1 (en) * 2013-04-28 2014-11-06 海尔集团技术研发中心 Method and system fro wireless electric energy transmission
CN109436197A (en) * 2018-10-31 2019-03-08 中国海洋大学 Interior estimates act on coupled motions and the dynamometry experimental system for simulating of lower ocean floating structure

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