CN114142626A - Multi-receiving coil group structure for dynamic wireless charging and passive control algorithm - Google Patents

Multi-receiving coil group structure for dynamic wireless charging and passive control algorithm Download PDF

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CN114142626A
CN114142626A CN202111445530.3A CN202111445530A CN114142626A CN 114142626 A CN114142626 A CN 114142626A CN 202111445530 A CN202111445530 A CN 202111445530A CN 114142626 A CN114142626 A CN 114142626A
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coil
receiving
wireless charging
coils
circuit
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CN114142626B (en
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徐小野
徐赵文
卢山
刘赫
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Shenzhen Polytechnic
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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
    • 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
    • B60L53/122—Circuits or methods for driving the primary coil, e.g. supplying electric power to the coil
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/32—Constructional details of charging stations by charging in short intervals along the itinerary, e.g. during short stops
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • 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
    • H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
    • H02J50/23—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves characterised by the type of transmitting antennas, e.g. directional array antennas or Yagi antennas
    • 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
    • H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
    • H02J50/27—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves characterised by the type of receiving antennas, e.g. rectennas
    • 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
    • H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
    • 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
    • H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
    • H02J50/402—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices the two or more transmitting or the two or more receiving devices being integrated in the same unit, e.g. power mats with several coils or antennas with several sub-antennas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

A multi-receiving coil group structure for dynamic wireless charging and a passive control algorithm are disclosed, wherein a primary side transmitting end coil of a wireless charging system and a secondary side coil of a receiving end on a trolley adopt double rectangular coils, each single coil consists of two small rectangular collars, and three magnetic cores are laid below the coils, and a primary side transmitting end coil is laid on a path through which the trolley passes and one transmitting coil is laid at intervals of the width of one coil; the secondary side coil of the receiving end adopts 2 coils or 4 coils to form a coil group; the passive control constant voltage and constant current charging of the trolley is verified by adopting PLECS software as follows. The invention can meet the requirement that the primary and secondary side coils can always have stable current mutual inductance in the moving process of the trolley. The invention adopts PI combined with a passive control method to control the stability of the front end voltage of the DC-DC circuit and the charging current of the load, obtains specific data through circuit simulation, and simultaneously obtains whether the voltage and the current value for stably controlling the charging of the load meet the standard or not.

Description

Multi-receiving coil group structure for dynamic wireless charging and passive control algorithm
Technical Field
The invention relates to the technical field of wireless charging, in particular to a multi-receiving coil group structure for dynamic wireless charging and a passive control algorithm.
Background
Along with the rapid development of the logistics industry, the demand for intelligent carrying is continuously increased, corresponding working efficiency is greatly improved through the use of the intelligent carrying vehicle, the operation cost is reduced, and corresponding advantages are very obvious. Due to the advantages of the trolley, the user has higher requirements on the cruising ability, the high efficiency and the safety of the charging equipment. Traditional dolly charges through the fixed position plug, changes the battery and adopts the mode of brush board brush piece to charge, and these methods either have the potential safety hazard, or influence work efficiency, and under such background, dolly developments wireless charging technology has obtained vigorous development because safe and reliable just can improve the duration of a journey of dolly.
However, the existing dynamic wireless charging coil structure applied to the trolley hardly ensures the constant mutual inductance value of the primary and secondary side coils in the dynamic charging process, and meanwhile, the stability of the charging current in the movement process of the trolley is hardly ensured, so that the charging efficiency is reduced, the requirement of constant current charging of the lithium battery cannot be met, the charging efficiency is influenced, and the service life of the lithium battery is directly influenced. In summary, it is necessary to provide a structure and a method for ensuring that a lithium battery is charged at a constant voltage and a constant current in a dynamic wireless charging process, compared with other static lithium battery charging methods.
Disclosure of Invention
In order to overcome the defects that the dynamic wireless charging efficiency of the existing trolley is not high in the moving process and the constant-current constant-voltage charging requirement of the lithium battery cannot be met, the invention provides a structure that a plurality of receiving end coils (secondary sides) are adopted to simultaneously receive energy (primary sides), the stable current mutual inductance of the primary side coil and the secondary side coil can be always met in the moving process of the trolley, and whether the voltage and the current value for stably controlling the load charging meet the standard or not is obtained by combining a passive control algorithm and the like based on PI (proportional integral) and the like, so that a powerful technical support is provided for the constant-voltage constant-current charging of the lithium battery on the trolley.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a multi-receiving coil group structure for dynamic wireless charging and a passive control algorithm are characterized in that a primary side transmitting end coil of a wireless charging system and a secondary side coil of a receiving end on a trolley adopt double rectangular coils, each single coil consists of two small rectangular collars, and three magnetic cores are laid below the coils, and a transmitting coil is laid on a path through which the trolley passes and every other coil width in a primary side transmitting end coil laying mode; the secondary coil of the receiving end adopts 2 coils or 4 coils to form a coil group, the coil group can ensure the stability of the mutual inductance value of the primary coil and the secondary coil, and meanwhile, the grade of the receiving power can be increased under the same circuit parameters; the passive control constant-voltage constant-current charging of the trolley is verified by adopting PLECS software through the following steps: firstly, building models of all modules of the system in a PLECS, and then connecting all the models to form a simulation system, wherein the specific operation is to build a simulation model of a receiving coil in the PLECS, wherein dynamic primary and secondary coil data are obtained by simulating an AHSYS coil; b: verifying and controlling front-stage voltages of the DC-DC circuits at the primary side and the secondary side to improve the output power, wherein in the specific verification, the outer ring of the control coil adopts a PI (proportional integral) control load current, and the inner ring of the coil adopts a passive control method to control the front-stage voltage value of the DC-DC circuit; c: describing the state average value of the dynamic wireless charging DC-DC circuit under the condition of verifying and neglecting parasitic parameters; d: verifying the DC-DC input voltage control of the outer loop by using a PI control algorithm; and E, in the current control of the inner ring, a PWM waveform of the IGBT of the DCD-C circuit is given by using a passive control algorithm.
Further, the verification A-E process respectively performs dynamic wireless charging simulation on 1 receiving coil, 2 receiving coil groups and 4 receiving coil groups of the secondary side coil of the receiving terminal.
Further, in the process a, when four receiving coils are used, the simulation circuit diagram is shown, in which the components matched and selected by the primary transmitting end coil include a resonant inductor, a resonant capacitor, a compensation capacitor, and a DC-DC circuit inductor, and the selected components matched and selected by the secondary receiving end coil include a resonant inductor, a resonant capacitor, a compensation capacitor, and a DC-DC circuit filter capacitor.
Further, the formula adopted by the process C is as follows:
Figure BDA0003384772560000031
where Cd1, Cd2 and L represent input capacitance, output capacitance and inductance, respectively, uCd1、uCd2、iLAnd iinRepresenting the input capacitor voltage, the output capacitor voltage, the inductor current and the input current, respectively, R being the output load resistance value of the circuit.
Further, the process D employs the following formula,
Figure BDA0003384772560000032
Figure BDA0003384772560000033
wherein KpAnd KiGreater than 0, is a proportional integral parameter of PI control, iLIs the current required for passive control, IMIs the output of proportional-integral control limiting the maximum value of the required current
Figure BDA0003384772560000034
As an input for passive control.
Further, the process E employs the following formula,
Figure BDA0003384772560000035
where d is the duty cycle of the IGBT of the DC-DC circuit and r is the virtual impedance of the circuit.
The invention has the beneficial effects that: the invention adopts a structure that a plurality of receiving end coils (secondary sides) receive energy (primary sides) simultaneously, and can meet the requirement that the primary and secondary side coils can always have stable current mutual inductance in the moving process of the trolley. The invention respectively adopts dynamic wireless charging simulation of 1 receiving coil, 2 receiving coil groups and 4 receiving coil groups, the control circuit adopts PI combined with a passive control method to control the stability of the front end voltage and the load charging current of the DC-DC circuit, specific data is obtained through circuit simulation, and meanwhile, the voltage and the current value for stably controlling the load charging are obtained on the basis of PI combined with a passive control algorithm and the like to judge whether the voltage and the current value meet the standard or not, thereby playing a powerful technical support for the constant-voltage constant-current charging of the lithium battery on the trolley. Based on the above, the invention has good application prospect.
Drawings
Fig. 1 is a schematic structural diagram of a dynamic wireless charging system constructed according to the invention.
Fig. 2 is a schematic diagram of a dynamic wireless charging receiving coil with two coils as a set according to the present invention.
Fig. 3 is a schematic diagram of a dynamic wireless charging receiving coil with four coils as a group according to the present invention.
FIG. 4 is a circuit simulation model diagram of a receiving coil according to the present invention.
FIG. 5 is a circuit simulation model diagram of four receiving coils according to the present invention.
Fig. 6 is a diagram of a receiving end DC-DC circuit of the present invention.
Fig. 7 is a schematic diagram of dynamic wireless charging load currents of different numbers of receiving coils.
Fig. 8 is a diagram of dynamic wireless charging DC-DC voltages for different numbers of receive coils.
Detailed Description
As shown in fig. 1, a multi-receiving coil set structure for dynamic wireless charging and a passive control algorithm are designed according to the size of a trolley body, a primary side transmitting end coil of a wireless charging system and a secondary side coil of a receiving end on the trolley both adopt double rectangular coils, each single coil consists of two small rectangular collars, and three magnetic cores are laid below the coils, and a primary side transmitting end coil is laid on a path through which the trolley passes and a transmitting coil is laid every other coil width; the secondary coil of the receiving end adopts 2 coils or 4 coils to form a coil group, as shown in fig. 2 and 3, the coil group designed by the method can ensure the stability of the mutual inductance value of the primary coil and the secondary coil, and can increase the grade of the receiving power under the same circuit parameters (the size of a single coil is shown in table 1). By adopting the coil structure, when the receiving end respectively adopts the coil group consisting of 1 coil, 2 coils and the coil group consisting of 4 coils, through ANSYS electromagnetic simulation experiment, the mutual induction result is shown in table 2, the coil group consisting of 2 coils and 4 coils can be obtained from the experiment result, so that the stability of the mutual induction value of the primary and secondary coils can be maintained, and the mutual induction value can be improved.
TABLE 1 dimension table for single coil
Name (R) Size of
Coil plate length 500 mm
Width of coil plate 250 mm
Length of single magnetic sheet 420 mm
Width of single magnetic sheet 40 mm
Spacing of magnetic sheets 30 mm
Number of turns of coil winding 15
TABLE 2 electromagnetic simulation mutual inductance result of original secondary coil ANSYS
Figure BDA0003384772560000051
Figure BDA0003384772560000061
As shown in fig. 1, the present invention adopts the PLECS software to verify the passive control constant voltage and constant current charging of the cart as follows. Because the dynamic wireless charging simulation model is complex, each module of the system is firstly modeled in the PLECS, and then each model is connected to form the simulation system. As shown in fig. 4, the simulation model is a simulation model of a receiving coil built in the PLECS, wherein the dynamic primary and secondary coil data is obtained by simulation of an AHSYS coil. FIG. 5 is a circuit diagram of a simulation when four receive coils are used, with selected component parameters as shown in Table 3:
TABLE 3 parameter table for dynamic wireless charging primary and secondary components
Figure BDA0003384772560000062
Figure BDA0003384772560000071
As shown in fig. 1, in actual conditions, even if a plurality of receiving coils are used, the coupling of the primary and secondary coils is relatively stable in the simulation process, but in actual conditions, the primary side fluctuates to increase the output power, and in order to increase the output power, the primary side must be controlled to increase the output power according to the voltage of the front section of the secondary DC-DC circuit, and the principle of the DC-DC circuit is shown in fig. 4. The control method adopted by the invention is to adopt PI to control the load current at the outer ring of the control coil, and adopt a passive control method to control the front-stage voltage value of the DC-DC circuit in the inner ring control of the coil. Neglecting parasitic parameters, a differential equation model describing a dynamic wireless charging DC-DC circuit state average model is shown in formula 1-1:
Figure BDA0003384772560000072
where Cd1, Cd2 and L represent input capacitance, output capacitance and inductance, respectively, uCd1、uCd2、iLAnd iinRepresenting the input capacitor voltage, the output capacitor voltage, the inductor current and the input current, respectively, R being the output load resistance value of the circuit. As shown in fig. 4, the DCDC input voltage control of the outer loop utilizes a PI control algorithm, as shown in equations 1-2 and 1-3,
Figure BDA0003384772560000073
Figure BDA0003384772560000074
wherein KpAnd KiGreater than 0, is a proportional integral parameter of PI control,
Figure BDA0003384772560000075
is the current required for passive control, IMIs the output of proportional-integral control limiting the maximum value of the required current
Figure BDA0003384772560000076
As an input for passive control. The current control of the inner loop uses a passive control algorithm to give the PWM waveform of the DC-DC circuit IGBT as shown in equations 1-4.
Figure BDA0003384772560000081
Where D is the duty cycle of the D-CDC circuit IGBT (power amplifier circuit) and r is the virtual impedance of the circuit.
The invention has made the wireless charging simulation of the trends of 1 receiving coil, 2 receiving coil groups and 4 receiving coil groups separately, the control circuit adopts PI to combine the passive control method to control the stability of voltage and load charging current of DC-DC circuit front end, find out through the circuit simulation, PI of the invention combines the passive control method to play the role of stabilizing voltage and current in the wireless charging course of trends, and verified that adopting the method of multiple receiving coils can make the load obtain stable charging voltage and current, thus meet the requirement for constant-current charging of the battery in the wireless charging course of trends, the concrete simulation result is shown in figure 7 and 8. Fig. 7 shows the dynamic current values of the dynamic wireless charging simulation load resistors of 1 receiving coil, 2 receiving coil groups and 4 receiving coil groups, and it can be seen from the figure that three curves are all steadily changed, verifying the effectiveness of the DCDC control method; when the receiving coils are from 1, 2 to 4, it is clear that the current of the load tends to be more and more stable, the effectiveness of adopting a plurality of receiving coils in the dynamic wireless charging process is verified, and the charging power of the load is improved. Fig. 8 shows dynamic graphs of the front-end voltage of the DC-DC circuit in the dynamic wireless charging simulation of 1 receiving coil, 2 receiving coil groups, and 4 receiving coil groups, respectively, where the simulation-given DC-DC front-end voltage value is 180 volts, and it can be seen from the graphs that the three curve changes are within the control requirement range, verifying the effectiveness of the DC-DC control method; when the receiving coils are from 1, 2 to 4, the forward end voltage of the DC-DC circuit is more and more stable, and when the 4 receiving coil groups are adopted, the forward end voltage is well stabilized around 180 volts, the deviation is very small, and the effectiveness of adopting a plurality of receiving coils in the dynamic wireless charging process is verified.
As shown in fig. 1, the scheme of using multiple receiving coil sets in the dynamic wireless charging process provided by the invention effectively improves the numerical value of the mutual inductance of the primary and secondary side coils and the stability of the change, and can also be seen from the circuit simulation result, thereby improving the stability of the DC-DC front end voltage and the load current and increasing the charging power and the constant current charging requirements in the dynamic motion process of the battery. The dynamic wireless charging PI combines the passive control algorithm, plays a role in stabilizing voltage and current changes in the dynamic wireless charging process, enables the charging voltage and current to change stably, ensures the stability of the battery in the charging process, and further plays a powerful technical support for constant-voltage and constant-current charging of the lithium battery on the trolley. The dynamic wireless charging multi-receiving coil structure and the PI and passive control algorithm developed based on the invention can also be expanded to be used on dynamic wireless charging systems with other power levels, and corresponding schemes close to the application are all within the protection scope of the invention.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, the embodiments do not include only one independent technical solution, and such description is only for clarity, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims (6)

1. A multi-receiving coil group structure for dynamic wireless charging and a passive control algorithm are characterized in that a primary side transmitting end coil of a wireless charging system and a secondary side coil of a receiving end on a trolley adopt double rectangular coils, each single coil consists of two small rectangular collars, and three magnetic cores are laid below the coils, and a transmitting coil is laid on a path through which the trolley passes and every other coil width in a primary side transmitting end coil laying mode; the secondary coil of the receiving end adopts 2 coils or 4 coils to form a coil group, the coil group can ensure the stability of the mutual inductance value of the primary coil and the secondary coil, and meanwhile, the grade of the receiving power can be increased under the same circuit parameters; the passive control constant-voltage constant-current charging of the trolley is verified by adopting PLECS software through the following steps: firstly, building models of all modules of the system in a PLECS, and then connecting all the models to form a simulation system, wherein the specific operation is to build a simulation model of a receiving coil in the PLECS, wherein dynamic primary and secondary coil data are obtained by simulating an AHSYS coil; b: verifying and controlling front-stage voltages of the DC-DC circuits at the primary side and the secondary side to improve the output power, wherein in the specific verification, the outer ring of the control coil adopts a PI (proportional integral) control load current, and the inner ring of the coil adopts a passive control method to control the front-stage voltage value of the DC-DC circuit; c: describing the state average value of the dynamic wireless charging DC-DC circuit under the condition of verifying and neglecting parasitic parameters; d: verifying the DC-DC input voltage control of the outer loop by using a PI control algorithm; e: in the current control of the inner loop, a PWM waveform of the IGBT of the DCD-C circuit is given by utilizing a passive control algorithm.
2. The structure of multiple receiving coil groups and the passive control algorithm for dynamic wireless charging according to claim 1, wherein a verification A-E process performs dynamic wireless charging simulation on 1 receiving coil, 2 receiving coil groups and 4 receiving coil groups of the secondary side coil of the receiving terminal respectively.
3. The multi-receiving-coil set structure and passive control algorithm for dynamic wireless charging according to claim 1, wherein in process a, when four receiving coils are used, a simulation circuit diagram is shown, wherein selected components matched with the primary side transmitting-end coil comprise a resonant inductor, a resonant capacitor, a compensation capacitor and a DC-DC circuit inductor, and selected components matched with the secondary side receiving-end coil comprise a resonant inductor, a resonant capacitor, a compensation capacitor and a DC-DC circuit filter capacitor.
4. The multi-receiver coil set structure and passive control algorithm for dynamic wireless charging according to claim 1, wherein the formula adopted by process C is as follows:
Figure FDA0003384772550000021
where Cd1, Cd2 and L represent input capacitance, output capacitance and inductance, respectively, uCd1、uCd2、iLAnd iinRepresenting the input capacitor voltage, the output capacitor voltage, the inductor current and the input current, respectively, R being the output load resistance value of the circuit.
5. The multi-receiver coil set structure and passive control algorithm for dynamic wireless charging as claimed in claim 1, wherein the formula adopted by process D is as follows,
Figure FDA0003384772550000022
Figure FDA0003384772550000023
wherein KpAnd KiGreater than 0, is a proportional integral parameter of PI control,
Figure FDA0003384772550000024
is the current required for passive control, IMIs the output of proportional-integral control limiting the maximum value of the required current
Figure FDA0003384772550000025
As an input for passive control.
6. The multi-receiving coil set structure and passive control algorithm for dynamic wireless charging according to claim 1, wherein the formula adopted by process E is as follows,
Figure FDA0003384772550000026
where d is the duty cycle of the IGBT of the DC-DC circuit and r is the virtual impedance of the circuit.
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