CN114301505B - Parameter optimization method for underwater magnetic coupling resonance wireless power and signal transmission system - Google Patents
Parameter optimization method for underwater magnetic coupling resonance wireless power and signal transmission system Download PDFInfo
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Abstract
The application relates to an underwater magnetic coupling resonance wireless power and signal transmission system parameter optimization method, which comprises the following steps: acquiring a reference circuit model of the system; the influence factors of the water medium to cause the system to generate extra energy loss are equivalent to a resistance model; the influence factors of the water medium to change the system resonant frequency are equivalent to a reactance model; updating the reference circuit model according to the resistance model and the reactance model to obtain an equivalent circuit model; obtaining a design vector according to the equivalent circuit model; setting constraint conditions to enable the wireless power transmission channel and the signal transmission channel to operate at different resonance frequency points respectively; and according to the design vector and the constraint condition, establishing a dual-target optimization model of the system by taking the wireless power transmission efficiency and the wireless signal transmission voltage gain as objective functions, and solving to obtain an optimal solution. The system can obtain high electric energy transmission efficiency and large signal transmission voltage gain, and electric energy transmission and signal transmission do not interfere with each other.
Description
Technical Field
The application relates to the technical field of magnetic coupling resonance wireless power transmission, in particular to a parameter optimization method for an underwater magnetic coupling resonance wireless power and signal transmission system.
Background
In recent years, the magnetic coupling resonance wireless power transmission technology is developed very rapidly, the technology is expected to solve the problems of power supply and signal transmission of underwater operation robots, and the technology has great development potential. The magnetic coupling resonance wireless power and signal transmission system comprises a plurality of coils, a compensation capacitor, a compensation inductor and functional modules, and the key for obtaining high performance of the system is how to optimally design the parameters of the modules.
In the prior art, most parameter optimization methods are directed at a wireless power and signal transmission system in an air environment, and influence of a seawater medium on system performance is not considered, so that the optimal solution effect of the system parameters obtained by the traditional parameter optimization method is not good, and a large deviation exists between the actual response of the system and a design target. In addition, when the parameters of the wireless power and signal transmission system are optimally designed, it is generally desirable that the system simultaneously obtains higher power transmission efficiency and larger signal transmission voltage gain. However, since the power transmission efficiency and the signal transmission voltage gain of the system often conflict with each other, it is difficult to obtain a set of optimal solutions to make both of them reach the maximum value, and the conventional method for optimizing parameters of the wireless power and signal transmission system is usually optimized only for a single target, and cannot solve the problem of conflict between multiple target functions, for example, increasing the power transmission efficiency often leads to reduction of the signal transmission voltage gain.
Therefore, the traditional system parameter optimization method does not consider the influence of seawater media, so that the precision of a parameter optimization result is not high, the system cannot obtain high electric energy transmission efficiency and large signal transmission voltage gain, and the actual application requirements cannot be met.
Disclosure of Invention
Therefore, it is necessary to provide a parameter optimization method for an underwater magnetic coupling resonance wireless power and signal transmission system, which can enable the system to obtain high wireless power transmission efficiency and large wireless signal transmission voltage gain, and the wireless power transmission and the wireless signal transmission are not interfered with each other.
The underwater magnetic coupling resonance wireless power and signal transmission system parameter optimization method comprises the following steps:
the underwater energy receiving and signal transmitting system comprises an underwater preset system and an energy receiving and signal transmitting system; the underwater preset system is connected with the submarine cable; the energy receiving and signal transmitting system is arranged on the underwater robot;
the underwater preset system comprises: the device comprises a transmission interface module, a first electric energy conversion module, a first tuning and impedance matching network, a first coupling coil, a second tuning and impedance matching network and a signal sampling and demodulation module;
the energy receiving and signal transmitting system comprises: the device comprises a signal modulation and transmission module, a third tuning and impedance matching network, a second coupling coil, a fourth tuning and impedance matching network and a second electric energy conversion module;
the first tuning and impedance matching network, the second tuning and impedance matching network, the third tuning and impedance matching network, and the fourth tuning and impedance matching network each comprise: a compensation inductor and two compensation capacitors;
the first coupling coil and the second coupling coil are coupled through a magnetic field to realize the transmission of wireless electric energy and wireless signals;
characterized in that the method comprises:
acquiring a reference circuit model of an underwater magnetic coupling resonance wireless power and signal transmission system; the reference circuit model includes: the output frequency of the first electric energy conversion module, the output frequency of the signal modulation and transmission module, the first coupling coil inductance, the second coupling coil inductance, the compensation inductance and the compensation capacitance;
the influence factors of the water medium to cause the system to generate extra energy loss are equivalent to a resistance model; the influence factors of the water medium to change the system resonant frequency are equivalent to a reactance model; updating the reference circuit model according to the resistance model and the reactance model to obtain an equivalent circuit model;
obtaining a design vector according to the output frequency of the first electric energy conversion module, the output frequency of the signal modulation and transmission module, the design parameters of the first coupling coil inductor, the second coupling coil inductor, the compensation inductor and the compensation capacitor in the equivalent circuit model;
setting constraint conditions to enable the wireless power transmission channel and the wireless signal transmission channel to operate at different resonance frequency points respectively;
establishing a dual-target optimization model of the system by taking the wireless power transmission efficiency and the wireless signal transmission voltage gain as objective functions according to the design vector and the constraint condition;
and solving the dual-target optimization model to obtain an optimal solution.
In one embodiment, the reference circuit model includes: the device comprises an equivalent underwater preset module and an equivalent energy receiving and signal transmitting module;
the equivalent underwater preset module comprises: the system comprises an open-circuit voltage of a first electric energy conversion module, an output impedance of the first electric energy conversion module, an equivalent impedance of a signal sampling and demodulation module, an output frequency of the first electric energy conversion module, a first coupling coil inductor, a first compensation inductor, a first parallel compensation capacitor, a first series compensation capacitor, a second compensation inductor, a second parallel compensation capacitor and a second series compensation capacitor;
the equivalent energy receiving and signal transmitting module comprises: the system comprises an open-circuit voltage of a signal modulation and transmission module, an output impedance of the signal modulation and transmission module, an equivalent impedance of a second electric energy conversion module, an output frequency of the signal modulation and transmission module, a second coupling coil inductor, a third compensation inductor, a third parallel compensation capacitor, a third series compensation capacitor, a fourth compensation inductor, a fourth parallel compensation capacitor and a fourth series compensation capacitor.
In one embodiment, the resistance model includes:
the mapping resistance of the aqueous medium in the first coupling coil and the mapping resistance of the aqueous medium in the second coupling coil.
In one embodiment, the reactance model includes:
the mapping reactance of the aqueous medium in the first coupling coil and the mapping reactance of the aqueous medium in the second coupling coil.
In one embodiment, updating the reference circuit model according to the resistance model and the reactance model to obtain an equivalent circuit model includes:
the mapping resistor in the first coupling coil is connected with the mapping reactance in the first coupling coil in series and then is connected with the second end of the first coupling coil inductor;
and the mapping resistor in the second coupling coil is connected with the mapping reactance in the second coupling coil in series and then is connected with the second end of the second coupling coil inductor.
In one embodiment, the constraints include:
the resonant frequency of the circuit formed by the first coupling coil inductor and the first series compensation capacitor, the resonant frequency of the circuit formed by the second coupling coil inductor and the fourth series compensation capacitor and the output frequency of the first electric energy conversion module are equal;
the resonant frequency of a circuit formed by the first coupling coil inductor and the second series compensation capacitor, the resonant frequency of a circuit formed by the second coupling coil inductor and the third series compensation capacitor and the output frequency of the signal modulation and transmission module are equal;
the ratio of the output frequency of the signal modulation and transmission module to the output frequency of the first electric energy conversion module is greater than or equal to 10.
In one embodiment, obtaining an optimal solution according to the dual-objective optimization model includes:
solving by adopting a multi-target genetic algorithm according to the dual-target optimization model to obtain a pareto optimal solution set; and obtaining an optimal solution according to the pareto optimal solution set.
In one embodiment, obtaining an optimal solution according to the pareto optimal solution set includes:
drawing a pareto frontier map according to the pareto optimal solution set; and obtaining an optimal solution according to the pareto frontier map and a design target.
In one embodiment, the wireless power transfer efficiency includes:
the ratio of the consumed power of the second power conversion module to the maximum output power of the first power conversion module.
In one embodiment, the wireless signaling voltage gain comprises:
the ratio of the voltage at the two ends of the signal sampling and demodulating module to the open-circuit voltage of the signal modulating and transmitting module.
According to the parameter optimization method for the underwater magnetic coupling resonance wireless power and signal transmission system, the underwater magnetic coupling resonance wireless power and signal transmission system is converted into a reference circuit model, extra energy loss and resonance frequency change of the system are generated by considering a water medium, the reference circuit model is converted into an equivalent circuit model, a design vector is obtained and constraint conditions are set on the basis of the equivalent circuit, a dual-target optimization model of the system is established by taking wireless power transmission efficiency and wireless signal transmission voltage gain as target functions, and an optimal solution is obtained by solving. By using the method, the optimal solution of the system parameters can be obtained, and then the wireless power transmission channel and the wireless signal transmission channel of the system respectively operate under the optimal impedance characteristics, so that the system can keep higher wireless power transmission efficiency and obtain larger wireless signal transmission voltage gain, and the wireless power transmission and the wireless signal transmission are not interfered with each other.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for optimizing parameters of an underwater magnetic coupling resonance wireless power and signal transmission system in one embodiment;
FIG. 2 is a schematic diagram of an underwater magnetic coupling resonant wireless power and signal transmission system in one embodiment;
FIG. 3 is a schematic diagram of an equivalent circuit model of an underwater magnetic coupling resonance wireless power and signal transmission system in an embodiment;
FIG. 4 is a pareto frontier diagram in one embodiment;
fig. 5 is a graph of frequency characteristics of wireless power transfer efficiency in one embodiment;
FIG. 6 is a graph of frequency characteristics of voltage gain of a wireless signal transmission in one embodiment;
FIG. 7 is a graph of voltage waveforms across a second power conversion module in one embodiment;
fig. 8 is a diagram of voltage waveforms across a signal sampling and demodulation module in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
The underwater magnetic coupling resonance wireless power and signal transmission system comprises:
the underwater energy receiving and signal transmitting system comprises an underwater preset system and an energy receiving and signal transmitting system; the underwater preset system is connected with the submarine cable; the energy receiving and signal transmitting system is arranged on the underwater robot;
the underwater preset system comprises: the device comprises a transmission interface module, a first electric energy conversion module, a first tuning and impedance matching network, a first coupling coil, a second tuning and impedance matching network and a signal sampling and demodulation module;
the energy receiving and signal transmitting system comprises: the device comprises a signal modulation and transmission module, a third tuning and impedance matching network, a second coupling coil, a fourth tuning and impedance matching network and a second electric energy conversion module;
the first tuning and impedance matching network, the second tuning and impedance matching network, the third tuning and impedance matching network, and the fourth tuning and impedance matching network each comprise: a compensation inductance and two compensation capacitances;
the first coupling coil and the second coupling coil are coupled through a magnetic field to achieve transmission of wireless electric energy and wireless signals.
As shown in fig. 1 to 3, the method for optimizing parameters of an underwater magnetic coupling resonance wireless power and signal transmission system provided by the present application, in one embodiment, includes the following steps:
step 102: acquiring a reference circuit model of an underwater magnetic coupling resonance wireless power and signal transmission system; the reference circuit model includes: the output frequency of the first electric energy conversion module, the output frequency of the signal modulation and transmission module, the first coupling coil inductance, the second coupling coil inductance, the compensation inductance and the compensation capacitance;
step 104: the influence factors of the water medium to cause the system to generate extra energy loss are equivalent to a resistance model; the influence factors of the water medium to change the system resonant frequency are equivalent to a reactance model; updating the reference circuit model according to the resistance model and the reactance model to obtain an equivalent circuit model;
step 106: obtaining a design vector according to the output frequency of a first electric energy conversion module, the output frequency of a signal modulation and transmission module, the design parameters of a first coupling coil inductor, a second coupling coil inductor, a compensation inductor and a compensation capacitor in an equivalent circuit model;
step 108: setting constraint conditions to enable the wireless power transmission channel and the wireless signal transmission channel to operate at different resonance frequency points respectively;
step 110: according to the design vector and the constraint condition, establishing a dual-target optimization model of the system by taking the wireless power transmission efficiency and the wireless signal transmission voltage gain as objective functions;
step 112: and solving the dual-target optimization model to obtain an optimal solution.
In this embodiment, the underwater magnetic coupling resonance wireless power and the signal transmission system are equivalent to a lumped parameter circuit model to obtain a reference circuit model, where the reference circuit model includes: the device comprises an equivalent underwater preset module and an equivalent energy receiving and signal transmitting module;
the equivalent underwater preset module comprises: the system comprises an open-circuit voltage of a first electric energy conversion module, an output impedance of the first electric energy conversion module, an equivalent impedance of a signal sampling and demodulation module, an output frequency of the first electric energy conversion module, a first coupling coil inductance, a first compensation inductance, a first parallel compensation capacitance, a first series compensation capacitance, a second compensation inductance, a second parallel compensation capacitance and a second series compensation capacitance;
the equivalent energy receiving and signal transmitting module comprises: the open-circuit voltage of the signal modulation and transmission module, the output impedance of the signal modulation and transmission module, the equivalent impedance of the second electric energy conversion module, the output frequency of the signal modulation and transmission module, the inductance of the second coupling coil, the third compensation inductance, the third parallel compensation capacitance, the third series compensation capacitance, the fourth compensation inductance, the fourth parallel compensation capacitance and the fourth series compensation capacitance;
specifically, the following are shown:
U p effective value of open circuit voltage, R, representing first power conversion module p Representing the output impedance of the first power conversion module, f p Representing an output frequency of the first power conversion module; r is c Representing the equivalent impedance of the signal sampling and demodulation module; l is a2 Representing the equivalent inductance of the first coupling coil;
U s effective value of open circuit voltage, R, representing signal modulation and transmission module s Representing the output impedance of the signal modulation and transmission module, f s Representing the output frequency of the signal modulation and transmission module; r L Represents the equivalent impedance of the power conversion module 2; l is a radical of an alcohol b2 Representing the equivalent inductance of the second coupling coil;
L a1 representing the first compensation inductance, C a1 Represents a first parallel compensation capacitance, C a2 Represents a first series compensation capacitance; l is f1 Representing a second compensation inductance, C f1 Denotes a second parallel compensation capacitance, C f2 Represents a second series compensation capacitance; l is e1 Represents the third compensation inductance, C e1 Represents a third parallel compensation capacitance, C e2 Represents a third series compensation capacitance; l is b1 Denotes a fourth compensation inductance, C b1 Denotes a fourth parallel compensation capacitance, C b2 Represents a fourth series compensation capacitance;
m represents the mutual inductance between the first and second coupling coils.
Because the magnetic fields generated by the first coupling coil and the second coupling coil are exposed in the seawater medium, the influence of the seawater medium on the whole wireless power and wireless signal transmission system is also required to be considered when the system model is established. The invention simplifies the influence of seawater medium on the system into two aspects: firstly, the seawater medium causes the system to generate extra energy loss (for example, extra energy loss is caused by eddy current effect caused by a coil magnetic field in the seawater medium), and the influence factors can be equivalent to a resistance model in a circuit; and secondly, the seawater medium changes the resonant frequency of the system (for example, the seawater medium changes the distributed capacitance of a coil, and the like), and the influence factors can be equivalent to a reactance model in the circuit.
In one embodiment, the resistance model includes: the mapping resistance of the aqueous medium in the first coupling coil and the mapping resistance of the aqueous medium in the second coupling coil. The reactance model includes: the mapping reactance of the aqueous medium in the first coupling coil and the mapping reactance of the aqueous medium in the second coupling coil.
Specifically, the following are shown: r wa Representing the mapped resistance, X, of the aqueous medium in the first coupling coil wa Representing the mapping reactance of the aqueous medium in the first coupling coil; r wb Representing the mapped resistance, X, of the aqueous medium in the second coupling coil wb Representing the mapped reactance of the aqueous medium in the second coupling coil.
In one embodiment, updating the reference circuit model according to the resistance model and the reactance model to obtain an equivalent circuit model includes: the mapping resistor in the first coupling coil is connected with the mapping reactance in the first coupling coil in series and then is connected with the second end of the first coupling coil inductor; and the mapping resistor in the second coupling coil is connected with the mapping reactance in the second coupling coil in series and then is connected with the second end of the second coupling coil inductor. The relevant connection relationship is shown in the circuit of fig. 3.
According to the connection relationship of the circuit, the current I can be obtained 1 、I 2 、I 3 、I 4 、I 5 、I 6 、I 7 、I 8 The voltage equation of the loop is as follows:
solving the equation to obtain the current I 1 ～I 8 And then, the power consumed by the second electric energy conversion module can be calculated as follows:
P L ＝|I 6 | 2 R L (2)
the maximum output power of the first power conversion module may be expressed as:
power P consumed by the second electric energy conversion module L Maximum output power P of the first electric energy conversion module in The ratio is defined as the wireless power transmission efficiency, and can be obtained as follows:
the voltage across the signal sampling and demodulation module can be calculated as:
U c ＝|I 4 |R c (5)
voltage U at two ends of signal sampling and demodulating module c Open circuit voltage U of signal modulation and transmission module s The ratio is defined as the wireless signal transmission voltage gain, and can be obtained as follows:
in the equivalent circuit model, the open-circuit voltage U of the first power conversion module p Output impedance R p Open circuit voltage U of signal modulation and transmission module s Output impedance R s Equivalent impedance R of the second power conversion module L Equivalent impedance R of signal sampling and demodulation module c Typically a known defined parameter. The mutual inductance M between the first coupling coil and the second coupling coil is related to the relative position of the coils, can be obtained through methods such as experimental measurement and the like, and is regarded as a known determined parameter. In addition, the mapping resistance R of the seawater medium in the first coupling coil wa Mapping reactance X wa Mapping resistance R in the second coupling coil wb Mapping reactance X wb The influence of the seawater medium on the system can be obtained by methods such as experimental measurement, and therefore the seawater medium is also regarded as known determined parameters.
In addition to the above-mentioned known parameters, the output frequency f of the first power conversion module p Output frequency f of signal modulation and transmission module s First coupling coil inductance L a2 Second coupling coil inductance L b2 Compensating inductance L a1 、L b1 、L e1 、L f1 Compensating capacitor C a1 、C a2 、C b1 、C b2 、C e1 、C e2 、C f1 、C f2 The method is a parameter which needs to be optimally designed, and the method designs the parameter according to the following steps:
step one, determining a design vector:
recording the design vector of the underwater wireless power and signal transmission system as follows:
q＝[f p ,f s ,L a1 ,L a2 ,L b1 ,L b2 ,L e1 ,L f1 ,C a1 ,C a2 ,C b1 ,C b2 ,C e1 ,C e2 ,C f1 ,C f2 ] (7)
considering the realizability of the design values of the output frequency, the capacitance and the inductance, the design vector q needs to be valued in a certain range and is recorded as:
q∈Q＝[q min ,q max ] (8)
wherein q is min 、q max Respectively, the upper and lower bounds of the design vector q.
Step two, determining an optimization objective function:
in order to enable the system to obtain both higher wireless power transmission efficiency and higher wireless signal transmission voltage gain, an objective function is determined as follows:
the optimal solution for the design vector q is found by minimizing the objective functions F1, F2.
Step three, setting constraint conditions:
in order to ensure that wireless power transmission and wireless signal transmission do not interfere with each other, the wireless power transmission channel and the wireless signal transmission channel are respectively operated at different resonance frequency points. For this purpose, the following constraints are set:
the resonant frequency of the circuit formed by the first coupling coil inductor and the first series compensation capacitor, the resonant frequency of the circuit formed by the second coupling coil inductor and the fourth series compensation capacitor and the output frequency of the first electric energy conversion module are equal; the resonant frequency of a circuit formed by the first coupling coil inductor and the second series compensation capacitor, the resonant frequency of a circuit formed by the second coupling coil inductor and the third series compensation capacitor and the output frequency of the signal modulation and transmission module are equal; the ratio of the output frequency of the signal modulation and transmission module to the output frequency of the first electric energy conversion module is greater than or equal to 10.
The concrete expression is as follows:
step four, establishing a dual-target optimization model corresponding to the dual-target optimization problem:
according to the first step, the second step and the third step, a double-target optimization model corresponding to a double-target optimization problem of the underwater wireless power and signal transmission system can be established as follows:
and solving the dual-target optimization model to obtain an optimal solution.
According to the parameter optimization method for the underwater magnetic coupling resonance wireless power and signal transmission system, the underwater magnetic coupling resonance wireless power and signal transmission system is converted into a reference circuit model, extra energy loss and resonance frequency change of the system are generated by considering a water medium, the reference circuit model is converted into an equivalent circuit model, a design vector is obtained and constraint conditions are set on the basis of an equivalent circuit, a dual-target optimization model of the system is established and an optimal solution is obtained by taking wireless power transmission efficiency and wireless signal transmission voltage gain as objective functions. By using the method, the optimal solution of the system parameters can be obtained, and then the wireless power transmission channel and the wireless signal transmission channel of the system respectively operate under the optimal impedance characteristics, so that the system can keep higher wireless power transmission efficiency and obtain larger wireless signal transmission voltage gain, and the wireless power transmission and the wireless signal transmission are not interfered with each other.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, obtaining an optimal solution according to the dual-objective optimization model includes: solving by adopting a multi-target genetic algorithm according to the dual-target optimization model to obtain a pareto optimal solution set; drawing a pareto frontier map according to the pareto optimal solution set; and obtaining an optimal solution according to the pareto frontier map and a design target.
Because the established underwater wireless power and signal transmission model is complex and high in order, the optimization problem solved by the gradient-based optimization algorithm is low in efficiency and easy to converge to a local optimal solution, and therefore the dual-target optimization problem is solved by the multi-target genetic algorithm. Since the two objective functions F1, F2 conflict with each other, it is impossible to do soAnd solving the unique optimal solution to ensure that the target functions F1 and F2 obtain the minimum value at the same time, and obtain a pareto optimal solution set of the design vector q. In order to select the optimal solution of the design vector of the wireless electric energy and the signal transmission system, a pareto frontier graph (namely an objective function graph corresponding to a pareto optimal solution set) is drawn, comprehensive balance is carried out according to a design objective, and finally the optimal solution of the system design vector is selected from the pareto optimal solution set and is marked as q opt 。
In a specific embodiment, a pareto optimal solution set of the design vector q is obtained, and a pareto frontier is plotted as shown in fig. 4.
Carrying out weighing according to the information of the objective functions F1 and F2 in the pareto frontier chart: for example, the solution corresponding to the point A (-0.93, -0.4) closest to the origin is selected as the optimal solution q of the design vector opt Both the objective functions F1 and F2 can be made close to the minimum value.
q opt The corresponding system specific parameter values are as follows:
q is to be opt And substituting the system model into the established system model, and calculating the wireless electric energy transmission efficiency eta and the wireless signal transmission voltage gain G of the system according to a formula (4) and a formula (6) respectively.
Fig. 5 shows a frequency characteristic curve of the radio power transmission efficiency η, and fig. 6 shows a frequency characteristic curve of the radio signal transmission voltage gain G. As can be seen from fig. 5 and 6, the system parameter optimization design method provided by the present invention can make the system obtain higher wireless power transmission efficiency (frequency f of power output wave from the first power conversion module) p When the frequency is not less than 300kHz, the wireless power transmission efficiency η is not less than 0.93), and a large wireless signal transmission voltage gain (the frequency f of the signal output by the signal modulation and transmission module) can be obtained s Wireless signal transmission voltage gain G = 0.4) when =3 MHz.
The system simultaneously performs wireless power transmission and wireless communicationWhen transmitting signals, the first electric energy conversion module outputs frequency f p Electric energy wave of =300kHz, signal modulation and emission module output frequency f s A signal wave of =3MHz, a voltage waveform across the second power conversion module is calculated and plotted as shown in fig. 7, and a voltage waveform across the signal sampling and demodulation module is plotted as shown in fig. 8. As can be seen from fig. 7, the voltage wave at both ends of the second power conversion module is mainly output by the first power conversion module p F of electrical energy wave excitation of =300kHz and signal modulation and emission module output s The signal wave of =3MHz does not cause significant interference to the voltage waveforms across the second power conversion module. As can be seen from FIG. 8, the voltage wave at both ends of the signal sampling and demodulation module is mainly output by the signal modulation and transmission module s F of signal wave excitation of =3MHz and output of first electric energy conversion module p The electric energy wave of =300kHz does not cause significant interference to the voltage waveform across the signal sampling and demodulation module. Therefore, the system parameter optimization method provided by the invention can ensure that the wireless power transmission and the wireless signal transmission of the system are not interfered with each other.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The underwater magnetic coupling resonance wireless power and signal transmission system parameter optimization method comprises the following steps:
the underwater energy receiving and signal transmitting system comprises an underwater preset system and an energy receiving and signal transmitting system; the underwater preset system is connected with the submarine cable; the energy receiving and signal transmitting system is arranged on the underwater robot;
the underwater preset system comprises: the device comprises a transmission interface module, a first electric energy conversion module, a first tuning and impedance matching network, a first coupling coil, a second tuning and impedance matching network and a signal sampling and demodulation module;
the energy receiving and signal transmitting system comprises: the device comprises a signal modulation and transmission module, a third tuning and impedance matching network, a second coupling coil, a fourth tuning and impedance matching network and a second electric energy conversion module;
the first tuning and impedance matching network, the second tuning and impedance matching network, the third tuning and impedance matching network, and the fourth tuning and impedance matching network each comprise: a compensation inductance and two compensation capacitances;
the first coupling coil and the second coupling coil are coupled through a magnetic field to realize the transmission of wireless electric energy and wireless signals;
characterized in that the method comprises:
acquiring a reference circuit model of an underwater magnetic coupling resonance wireless power and signal transmission system; the reference circuit model includes: the output frequency of the first electric energy conversion module, the output frequency of the signal modulation and transmission module, the first coupling coil inductance, the second coupling coil inductance, the compensation inductance and the compensation capacitance;
the influence factors of the water medium to cause the system to generate extra energy loss are equivalent to a resistance model; the influence factor of the change of the system resonant frequency caused by the water medium is equivalent to a reactance model; updating the reference circuit model according to the resistance model and the reactance model to obtain an equivalent circuit model;
obtaining a design vector according to the output frequency of the first electric energy conversion module, the output frequency of the signal modulation and transmission module, the design parameters of the first coupling coil inductor, the second coupling coil inductor, the compensation inductor and the compensation capacitor in the equivalent circuit model;
setting a constraint condition: the resonant frequency of a circuit formed by the first coupling coil inductor and the first series compensation capacitor, the resonant frequency of a circuit formed by the second coupling coil inductor and the fourth series compensation capacitor and the output frequency of the first electric energy conversion module are equal; the resonant frequency of a circuit formed by the first coupling coil inductor and the second series compensation capacitor, the resonant frequency of a circuit formed by the second coupling coil inductor and the third series compensation capacitor and the output frequency of the signal modulation and transmission module are equal; the ratio of the output frequency of the signal modulation and transmission module to the output frequency of the first power conversion module is greater than or equal to 10, so that the wireless power transmission channel and the wireless signal transmission channel respectively operate at different resonance frequency points;
establishing a dual-target optimization model of the system by taking the wireless power transmission efficiency and the wireless signal transmission voltage gain as objective functions according to the design vector and the constraint condition;
and solving the dual-target optimization model to obtain an optimal solution.
2. The method of claim 1, wherein the reference circuit model comprises: the device comprises an equivalent underwater preset module and an equivalent energy receiving and signal transmitting module;
the equivalent underwater preset module comprises: the system comprises an open-circuit voltage of a first electric energy conversion module, an output impedance of the first electric energy conversion module, an equivalent impedance of a signal sampling and demodulation module, an output frequency of the first electric energy conversion module, a first coupling coil inductance, a first compensation inductance, a first parallel compensation capacitance, a first series compensation capacitance, a second compensation inductance, a second parallel compensation capacitance and a second series compensation capacitance;
the equivalent energy receiving and signal transmitting module comprises: the system comprises an open-circuit voltage of a signal modulation and transmission module, an output impedance of the signal modulation and transmission module, an equivalent impedance of a second electric energy conversion module, an output frequency of the signal modulation and transmission module, a second coupling coil inductor, a third compensation inductor, a third parallel compensation capacitor, a third series compensation capacitor, a fourth compensation inductor, a fourth parallel compensation capacitor and a fourth series compensation capacitor.
3. The method of claim 2, wherein the resistance model comprises:
the mapping resistance of the aqueous medium in the first coupling coil and the mapping resistance of the aqueous medium in the second coupling coil.
4. The method of claim 3, wherein the reactance model comprises:
the mapping reactance of the aqueous medium in the first coupling coil and the mapping reactance of the aqueous medium in the second coupling coil.
5. The method of claim 4, wherein updating the reference circuit model based on the resistance model and the reactance model to obtain an equivalent circuit model comprises:
the mapping resistor in the first coupling coil is connected with the mapping reactance in the first coupling coil in series and then is connected with the second end of the first coupling coil inductor;
and the mapping resistor in the second coupling coil is connected with the mapping reactance in the second coupling coil in series and then is connected with the second end of the second coupling coil inductor.
6. The method according to any one of claims 2 to 5, wherein the constraint condition comprises:
the resonant frequency of the circuit formed by the first coupling coil inductor and the first series compensation capacitor, the resonant frequency of the circuit formed by the second coupling coil inductor and the fourth series compensation capacitor and the output frequency of the first electric energy conversion module are equal;
the resonant frequency of a circuit formed by the first coupling coil inductor and the second series compensation capacitor, the resonant frequency of a circuit formed by the second coupling coil inductor and the third series compensation capacitor and the output frequency of the signal modulation and transmission module are equal;
and the ratio of the output frequency of the signal modulation and transmission module to the output frequency of the first electric energy conversion module is more than or equal to 10.
7. The method of any of claims 1 to 5, wherein obtaining an optimal solution according to the dual objective optimization model comprises:
solving by adopting a multi-target genetic algorithm according to the dual-target optimization model to obtain a pareto optimal solution set; and obtaining an optimal solution according to the pareto optimal solution set.
8. The method of claim 7, wherein deriving an optimal solution from the pareto optimal solution set comprises:
drawing a pareto frontier map according to the pareto optimal solution set; and obtaining an optimal solution according to the pareto frontier map and a design target.
9. The method of any of claims 1 to 5, wherein the wireless power transfer efficiency comprises:
the ratio of the consumed power of the second power conversion module to the maximum output power of the first power conversion module.
10. The method of any of claims 1 to 5, wherein the wireless signaling voltage gain comprises:
the ratio of the voltage at the two ends of the signal sampling and demodulating module to the open-circuit voltage of the signal modulating and transmitting module.
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