CN114578835A - Wireless charging system of underwater vehicle and control method thereof - Google Patents

Wireless charging system of underwater vehicle and control method thereof Download PDF

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CN114578835A
CN114578835A CN202210293717.4A CN202210293717A CN114578835A CN 114578835 A CN114578835 A CN 114578835A CN 202210293717 A CN202210293717 A CN 202210293717A CN 114578835 A CN114578835 A CN 114578835A
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underwater vehicle
electric energy
sonar
axis
coordinate
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王宇晗
夏涛
訾振豪
王逸涵
马家辉
贝静雯
李航
张小亮
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Nanjing Institute of Technology
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Nanjing Institute of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
    • 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
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from 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
    • 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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  • Automation & Control Theory (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention provides an underwater vehicle wireless charging system and a control method thereof, wherein the underwater vehicle wireless charging system comprises a wave power generation platform, a first rectifier, a direct current support capacitor, a full-bridge inverter, a first compensation circuit and an electric energy transmitting coil; the underwater vehicle comprises an electric energy receiving coil, a second compensation circuit, a second rectifier and a battery; when the underwater vehicle is charged, electric energy generated by the wave power generation platform is transmitted to the electric energy transmitting coil; the electric energy receiving coil and the electric energy transmitting coil generate variable current through strong magnetic coupling; changing the current to charge the battery; the underwater vehicle electric energy receiving coil and the base station electric energy transmitting coil are accurately butted, the change of the charging efficiency can be tracked in real time, and the working frequency is adjusted according to the change condition of the efficiency, so that the underwater wireless charging system can keep stable electric energy transmission under the influence of complicated and changeable seabed environment and ocean current movement.

Description

Wireless charging system of underwater vehicle and control method thereof
Technical Field
The invention belongs to the technical field of underwater wireless charging, and particularly relates to an underwater vehicle wireless charging system and a control method thereof.
Background
With the development of deep sea activities, underwater vehicles have wide application in the aspects of ocean safety, ocean economy and science, ocean archaeology, rescue, military affairs and the like. In addition, the underwater vehicle is an intelligent motion platform, and can complete various tasks such as pipeline detection, environment monitoring, underwater search and rescue, marine oil and gas exploration and development and the like in a real marine environment by means of remote control or autonomous safe navigation.
In order to meet the above requirements, an underwater unmanned vehicle (AUV) is required to have a long endurance. Under the condition that the weight of the energy storage device is not increased and the sealing performance of underwater equipment is met, a non-contact wireless charging technology can be adopted. However, during underwater operation, the underwater unmanned vehicle is easily interfered by ocean currents, and the transmitting coil and the receiving coil cannot keep relatively stable positions to obtain the optimal transmission efficiency, so that the problem of low charging speed is caused.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an underwater vehicle wireless charging system and a control method thereof.
In a first aspect, the invention provides an underwater vehicle wireless charging system, which comprises an underwater charging base station and an underwater vehicle;
the underwater charging base station comprises a wave power generation platform, a first rectifier, a direct current supporting capacitor, a full-bridge inverter, a first compensation circuit and an electric energy transmitting coil which are electrically connected in sequence; the underwater vehicle comprises an electric energy receiving coil, a second compensation circuit, a second rectifier and a battery; when the underwater vehicle is charged, electric energy generated by the wave power generation platform is transmitted to the electric energy transmitting coil through the first rectifier, the direct current support capacitor, the full-bridge inverter and the first compensation circuit; the electric energy receiving coil and the electric energy transmitting coil generate variable current through strong magnetic coupling; the variable current is transmitted to the battery end through a second compensation circuit and a second rectifier to charge the battery;
the underwater charging base station also comprises a sonar device; the underwater vehicle also comprises a hydrophone, a positioning controller, an upper computer, a pressure sensor, a motion controller, a propeller and a charging frequency tracker; the hydrophone is used for receiving acoustic signals emitted by the sonar device; the positioning controller is used for providing a positioning method of the underwater vehicle according to the acoustic signal and the induced voltage of the electric energy receiving coil; the pressure sensor is used for acquiring a pressure value of the water depth of the underwater vehicle; the upper computer is used for calculating the position of the underwater vehicle relative to the underwater charging base station according to the positioning method of the underwater vehicle and the pressure value of the water depth of the underwater vehicle; the motion controller is used for controlling the position and the angle of the propeller to be adjusted according to the position of the underwater vehicle relative to the underwater charging base station; the charging frequency tracker is used for detecting the charging frequency when the underwater vehicle is charged.
In a second aspect, the present invention provides a control method for an underwater vehicle wireless charging system, where the control method is applied to the underwater vehicle wireless charging system in the first aspect, and the control method includes:
establishing a three-dimensional coordinate system; the origin of the three-dimensional coordinate system is positioned in the middle of the electric energy transmitting coil, the x axis is vertical to the y axis, the plane where the x axis, the y axis and the origin are positioned is parallel to the water surface, and the z axis is vertical to the plane where the x axis, the y axis and the origin are positioned;
respectively placing a first sonar, a second sonar and a third sonar in the sonar device on an origin, an x-axis and a y-axis of a three-dimensional coordinate system; the sonar device emits a unique and identifiable sound signal;
and calculating the distance between the first sonar, the second sonar and the third sonar and the underwater vehicle according to the following formulas:
Figure BDA0003562449380000021
wherein, d1The distance between the first sonar and the underwater vehicle; d is a radical of2The distance between the second sonar and the underwater vehicle; d3The distance between the third sonar and the underwater vehicle; v is the underwater acoustic velocity, a known quantity; t is tf1Transmitting an acoustic signal for the first sonar until the hydrophone receives the time of transmitting the acoustic signal of the first sonar; t is tf2Transmitting an acoustic signal for the second sonar to the time when the hydrophone receives the transmitted acoustic signal of the second sonar; t is tf3Transmitting an acoustic signal for the third sonar until the hydrophone receives the time of transmitting the acoustic signal of the third sonar;
the coordinates of the underwater vehicle are calculated according to the following formula:
Figure BDA0003562449380000022
wherein x is the coordinate of the underwater vehicle on the x axis in the three-dimensional coordinate system; y is the coordinate of the underwater vehicle on the y axis in a three-dimensional coordinate system; z is a coordinate of the underwater vehicle on a z axis in a three-dimensional coordinate system, and the pressure sensor acquires a pressure value of the water depth of the underwater vehicle to obtain the coordinate of the underwater vehicle on the z axis in the three-dimensional coordinate system; x is the number of2The coordinate of the second sonar on the x axis in the three-dimensional coordinate system; y is3The coordinate of the third sonar on the y axis in the three-dimensional coordinate system;
obtaining:
Figure BDA0003562449380000023
the motion controller controls the position and angle of adjustment of the mover according to the following constraints:
Figure BDA0003562449380000024
wherein, Δ x is a horizontal threshold preset on the x axis in the three-dimensional coordinate system; the delta y is a horizontal threshold value preset on the y axis in the three-dimensional coordinate system; and deltaz is a preset depth threshold value on the z axis in the three-dimensional coordinate system.
Further, the control method further includes:
fixedly connecting a plurality of induction coils to one side of the electric energy receiving coil, wherein the axis of each induction coil is vertical to the axis of the electric energy receiving coil;
the induced voltage of each induction coil is calculated according to the following formula:
Vsense＝-jωM1I；
wherein, VsenseIs the induced voltage of a single coil; j is an imaginary unit; omega is the voltage frequency of the electric energy transmitting coil; m is a group of1The mutual inductance coefficient between the electric energy transmitting coil and the single induction coil; i is the current of the electric energy transmitting coil;
respectively selecting a plurality of points on three coordinate axes of a three-dimensional coordinate system to form a plurality of coordinates, sequentially arranging electric energy receiving coils on the plurality of coordinates, and obtaining the induction voltage of each induction coil on each coordinate through simulation; converting the induction voltage characteristic into a position characteristic according to the induction voltage characteristic of the known position, and positioning according to the position characteristic;
coordinate prediction is carried out according to the XGBOOST model, firstly, coordinate samples xi are selected, and each coordinate sample xi corresponds to a feature set V { V }1,V2,...,VnAnd then establishing a regression tree structure according to the coordinate samples, determining the screening condition of each regression tree, and simultaneously setting leaf nodes according to the regression tree structure, wherein each leaf node has a leaf weight sigma, and each leaf node is associated with a sample coordinate set D on the assumption that delta leaf nodes are provided in totalmCorrespondingly:
Dm＝{i∣q(ξi)＝m}；
where m denotes the leaf node number, q (ξ)i) Representing a mapping between a set of nodes and a set of coordinate samplesA relationship;
according to the XGBOOST model, the predicted value of the coordinate sample is defined as
Figure BDA0003562449380000031
In the regression tree, the leaf nodes corresponding to the sample coordinates are embodied in the form of leaf weights, so that the final coordinate prediction value
Figure BDA0003562449380000032
The leaf weight sigma of the corresponding leaf node is obtained;
Figure BDA0003562449380000033
for the accumulation of regression trees:
Figure BDA0003562449380000034
wherein p issIs a single regression tree; xiiIs a coordinate sample; i is the coordinate sample number; s is the total iteration times, and S is the iteration times;
establishing an objective function to obtain prediction of an optimized coordinate sample, and reducing errors, wherein the initial objective function of the underwater vehicle coordinate prediction is as follows:
Figure BDA0003562449380000041
Figure BDA0003562449380000042
Ω(ps)＝γδ+1/2λ||σ||2；
wherein l is the true value alpha of the position measured by the loss functioniPredicted value from position
Figure BDA0003562449380000043
The error between; omega is a regularization function for measuring the complexity of the regression tree and is used for reducing the fitting risk(ii) a N is the total number of samples; gamma is a leaf tree punishment regular term; λ is a leaf weight penalty regularization term; delta is a regression tree psThe number of leaf nodes in;
according to the second order Taylor expansion, the first derivative g of the loss function is calculatediAnd second derivative hiSubstituting the target function;
the objective function of the accumulated t regression trees is optimized as follows:
Figure BDA0003562449380000044
Figure BDA0003562449380000045
Figure BDA0003562449380000046
wherein C is a constant, giAnd hiFirst and second derivatives of the loss function, respectively;
the coordinate samples all being contained in a set D of samples corresponding to leaf nodesmThe formula is simplified to obtain:
Figure BDA0003562449380000047
processing a characteristic leaf q (xi)i) When passing through to sigmamAnd (3) obtaining an optimal value of the leaf weight and an extreme value of an objective function by derivation:
Figure BDA0003562449380000048
Figure BDA0003562449380000049
o is the final predicted position.
Further, the control method further includes:
constructing an equivalent circuit when the underwater vehicle is charged;
calculating the power transmission efficiency according to the following formula:
ηtra＝RL/(R2+RL+R1IPri/ISec 2)；
Figure BDA0003562449380000051
RL＝Rl(dc)×8/π2；
wherein R isLIs an alternating output resistor; r1And R2Primary side and secondary side coil resistance values, C, of the equivalent circuit respectivelysecA secondary side compensator capacitor; l issecSecondary side self-inductance; omegasTo the operating frequency, IPriAnd ISecPrimary side current and secondary side current in the equivalent circuit respectively; rl(dc)Is a secondary side load; k is a coupling coefficient;
when IPri/ISecWhen | is the minimum, the efficiency reaches the maximum, resulting in:
Figure BDA0003562449380000052
wherein M is2Refers to the mutual inductance between the power transmitter coil and the receiver coil:
Figure BDA0003562449380000053
LPriis the self-inductance of the primary side in the equivalent circuit; l is a radical of an alcoholSecIs the secondary side self-inductance in the equivalent circuit;
the frequency is differentiated and solved to obtain the proposed operating frequency, namely:
Figure BDA0003562449380000054
the optimal frequency value is obtained by the following steps:
Figure BDA0003562449380000055
further, the control method further comprises:
initialization frequency f ═ f0And efficiency η ═ η0(ii) a Setting a step length delta f;
after the frequency change, the efficiency is monitored, if the efficiency is increased compared to the previous step and f is satisfiedoptAnd | ηn+1-ηnI > epsilon; wherein ε refers to the tolerance;
the change in frequency is fn+1＝fn+Δf；
When etan+1-ηnIf | < epsilon, the working frequency at this time is the optimal frequency, the frequency stops increasing, and if the working frequency does not meet the requirement of eta in the frequency increasing processn+1-ηnIf > 0, that is, the transmission efficiency is lower than that of the previous step, let step Δ f be Δ f/2, and the algorithm change is:
fn+1＝fn-Δf；
and the step length of each step is reduced to half of the step length of the previous step, and iteration is continuously carried out until the above conditions are met, wherein the working frequency is the optimal frequency.
The invention provides an underwater vehicle wireless charging system and a control method thereof, wherein the underwater vehicle wireless charging system comprises an underwater charging base station and an underwater vehicle;
the underwater charging base station comprises a wave power generation platform, a first rectifier, a direct current supporting capacitor, a full-bridge inverter, a first compensation circuit and an electric energy transmitting coil which are electrically connected in sequence; the underwater vehicle comprises an electric energy receiving coil, a second compensation circuit, a second rectifier and a battery; when the underwater vehicle is charged, electric energy generated by the wave power generation platform is transmitted to the electric energy transmitting coil through the first rectifier, the direct current support capacitor, the full-bridge inverter and the first compensation circuit; the electric energy receiving coil and the electric energy transmitting coil generate variable current through strong magnetic coupling; the variable current is transmitted to the battery end through the second compensation circuit and the second rectifier to charge the battery;
the underwater charging base station also comprises a sonar device; the underwater vehicle also comprises a hydrophone, a positioning controller, an upper computer, a pressure sensor, a motion controller, a propeller and a charging frequency tracker; the hydrophone is used for receiving acoustic signals emitted by the sonar device; the positioning controller is used for providing a positioning method of the underwater vehicle according to the acoustic signal and the induced voltage of the electric energy receiving coil; the pressure sensor is used for acquiring a pressure value of the water depth of the underwater vehicle; the upper computer is used for calculating the position of the underwater vehicle relative to the underwater charging base station according to the positioning method of the underwater vehicle and the pressure value of the water depth of the underwater vehicle; the motion controller is used for controlling the position and the angle of the propeller to be adjusted according to the position of the underwater vehicle relative to the underwater charging base station; the charging frequency tracker is used for detecting the charging frequency when the underwater vehicle is charged.
The underwater vehicle electric energy receiving coil and the base station electric energy transmitting coil can be accurately butted, the change of the charging efficiency can be tracked in real time, and the working frequency can be adjusted according to the change condition of the efficiency, so that the underwater wireless charging system can still keep efficient and stable electric energy transmission under the influence of complicated and changeable seabed environment and ocean current movement.
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In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an underwater vehicle wireless charging system provided in an embodiment of the present invention;
FIG. 2 is a schematic illustration of an underwater vehicle configuration provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a three-dimensional coordinate system provided by an embodiment of the present invention;
fig. 4 is a diagram illustrating a positional relationship between a power transmitting coil and a power receiving coil according to an embodiment of the present invention;
fig. 5 is an equivalent circuit diagram of an underwater vehicle during charging according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and fig. 2, an embodiment of the present invention provides, in part, an underwater vehicle wireless charging system, including an underwater charging base station and an underwater vehicle;
the underwater charging base station comprises a wave power generation platform, a first rectifier, a direct current supporting capacitor, a full-bridge inverter, a first compensation circuit and an electric energy transmitting coil which are electrically connected in sequence; the underwater vehicle comprises an electric energy receiving coil, a second compensation circuit, a second rectifier and a battery; when the underwater vehicle is charged, electric energy generated by the wave power generation platform is transmitted to the electric energy transmitting coil through the first rectifier, the direct current support capacitor, the full-bridge inverter and the first compensation circuit; the electric energy receiving coil and the electric energy transmitting coil generate variable current through strong magnetic coupling; the variable current is transmitted to the battery end through the second compensation circuit and the second rectifier to charge the battery.
The underwater charging base station also comprises a sonar device; the underwater vehicle also comprises a hydrophone, a positioning controller, an upper computer, a pressure sensor, a motion controller, a propeller and a charging frequency tracker; the hydrophone is used for receiving acoustic signals emitted by the sonar device; the positioning controller is used for providing a positioning method of the underwater vehicle according to the acoustic signal and the induced voltage of the electric energy receiving coil; the pressure sensor is used for acquiring a pressure value of the water depth of the underwater vehicle; the upper computer is used for calculating the position of the underwater vehicle relative to the underwater charging base station according to the positioning method of the underwater vehicle and the pressure value of the water depth of the underwater vehicle; the motion controller is used for controlling the position and the angle of the propeller to be adjusted according to the position of the underwater vehicle relative to the underwater charging base station; the charging frequency tracker is used for detecting the charging frequency when the underwater vehicle is charged.
The embodiment of the invention also provides a control method of the wireless charging system of the underwater vehicle, which is applied to the wireless charging system of the underwater vehicle, and the control method comprises the following steps:
as shown in fig. 3, a three-dimensional coordinate system is established; the origin of the three-dimensional coordinate system is positioned in the middle of the electric energy transmitting coil, the x axis is vertical to the y axis, the plane where the x axis, the y axis and the origin are positioned is parallel to the water surface, and the z axis is vertical to the plane where the x axis, the y axis and the origin are positioned;
respectively placing a first sonar, a second sonar and a third sonar in the sonar device on an origin, an x-axis and a y-axis of a three-dimensional coordinate system; the sonar device emits a unique and identifiable sound signal; three sonar mounted position is as follows, and one is laid in basic station source coil department, and two sonars stretch out through the arm in addition, and two arms are the right angle form, keep being parallel with the sea, and two arms correspond coordinate system x axle, y axle respectively. The coordinates corresponding to the three sonars in the three-dimensional coordinate system are (0,0,0) and (0, x)2,0)、(0,0,y3)。
And calculating the distance between the first sonar, the second sonar and the third sonar and the underwater vehicle according to the following formulas:
Figure BDA0003562449380000081
wherein d is1The distance between the first sonar and the underwater vehicle; d2The distance between the second sonar and the underwater vehicle; d3The distance between the third sonar and the underwater vehicle; v is the underwater velocity of sound, isKnown quantity, 1481m/s can be taken, and the calibration is carried out according to different underwater conditions; t is tf1Transmitting an acoustic signal for the first sonar until the hydrophone receives the time of transmitting the acoustic signal of the first sonar; t is tf2Transmitting an acoustic signal for the second sonar to the time when the hydrophone receives the transmitted acoustic signal of the second sonar; t is tf3Transmitting an acoustic signal for the third sonar to the time when the hydrophone receives the transmitted acoustic signal of the third sonar;
the coordinates of the underwater vehicle are calculated according to the following formula:
Figure BDA0003562449380000082
wherein x is the coordinate of the underwater vehicle on the x axis in the three-dimensional coordinate system; y is the coordinate of the underwater vehicle on the y axis in the three-dimensional coordinate system; z is a coordinate of the underwater vehicle on a z axis in a three-dimensional coordinate system, and a pressure sensor acquires a pressure value of the water depth of the underwater vehicle to obtain the coordinate of the underwater vehicle on the z axis in the three-dimensional coordinate system; x is the number of2The coordinate of the second sonar on the x axis in the three-dimensional coordinate system; y is3The coordinate of the third sonar on the y axis in the three-dimensional coordinate system;
obtaining:
Figure BDA0003562449380000083
the motion controller controls the position and angle of adjustment of the mover according to the following constraints:
Figure BDA0003562449380000084
wherein, Δ x is a horizontal threshold preset on the x axis in the three-dimensional coordinate system; the delta y is a horizontal threshold value preset on the y axis in the three-dimensional coordinate system; delta z is a preset depth threshold value on a z axis in a three-dimensional coordinate system; alternatively, Δ x, Δ y, and Δ z are set to 500mm, and 250mm, respectively.
As shown in fig. 4, the control method further includes:
fixedly connecting a plurality of induction coils to one side of the electric energy receiving coil, wherein the axis of each induction coil is vertical to the axis of the electric energy receiving coil;
the induced voltage of each induction coil is calculated according to the following formula:
Vsense＝-jωM1I；
wherein, VsenseIs the induced voltage of a single coil; j is an imaginary unit; omega is the voltage frequency of the electric energy transmitting coil; m1The mutual inductance coefficient between the electric energy transmitting coil and the single induction coil; i is the current of the electric energy transmitting coil;
respectively selecting a plurality of points on three coordinate axes of a three-dimensional coordinate system to form a plurality of coordinates, sequentially arranging electric energy receiving coils on the plurality of coordinates, and obtaining the induction voltage of each induction coil on each coordinate through simulation; converting the induction voltage characteristic into a position characteristic according to the induction voltage characteristic of the known position, and positioning according to the position characteristic;
coordinate prediction is carried out according to the XGBOOST model, firstly, coordinate samples xi are selected, and each coordinate sample xi corresponds to a feature set V { V }1,V2,...,VnAnd then establishing a regression tree structure according to the coordinate samples, determining the screening condition of each regression tree, and simultaneously setting leaf nodes according to the regression tree structure, wherein each leaf node has a leaf weight sigma, and each leaf node is associated with a sample coordinate set D on the assumption that delta leaf nodes are provided in totalmCorrespondingly:
Dm＝{i∣q(ξi)＝m}；
where m denotes the leaf node sequence number, q ([ xi ])i) Representing the mapping relation between the node set and the coordinate sample set;
according to the XGBOOST model, the predicted value of the coordinate sample is defined as
Figure BDA0003562449380000091
In the regression tree, leaf nodes corresponding to the sample coordinates are reflected in the form of leaf weights, so that the final coordinate prediction value
Figure BDA0003562449380000092
The leaf weight sigma of the corresponding leaf node is obtained;
Figure BDA0003562449380000093
for the accumulation of regression trees:
Figure BDA0003562449380000094
wherein p issIs a single regression tree; xiiIs a coordinate sample; i is the coordinate sample number; s is the total iteration times, and S is the iteration times;
establishing an objective function to obtain prediction of an optimized coordinate sample, and reducing errors, wherein the initial objective function of the underwater vehicle coordinate prediction is as follows:
Figure BDA0003562449380000101
Figure BDA0003562449380000102
Ω(ps)＝γδ+1/2λ||σ||2；
wherein l is the true value alpha of the position measured by the loss functioniPredicted value from position
Figure BDA0003562449380000103
The error between; omega is a regularization function for measuring the complexity of the regression tree and is used for reducing the fitting risk; n is the total number of samples; gamma is a leaf tree punishment regular term; λ is a leaf weight penalty regularization term; delta is a regression tree psThe number of leaf nodes in;
according to the second order Taylor expansion, the first derivative g of the loss function is calculatediAnd second derivative hiSubstituting the target function;
the objective function of the accumulated t regression trees is optimized as follows:
Figure BDA0003562449380000104
Figure BDA0003562449380000105
Figure BDA0003562449380000106
wherein C is a constant, giAnd hiFirst and second derivatives of the loss function, respectively;
the coordinate samples all being contained in a set D of samples corresponding to leaf nodesmThe formula is simplified to obtain:
Figure BDA0003562449380000107
processing a characteristic leaf q ([ xi ])i) While passing through to σmAnd (3) obtaining an optimal value of the leaf weight and an extreme value of an objective function by derivation:
Figure BDA0003562449380000108
Figure BDA0003562449380000109
and O is optimized for the final predicted position.
As shown in fig. 5, the control method further includes:
constructing an equivalent circuit when the underwater vehicle is charged;
calculating the power transmission efficiency according to the following formula:
ηtra＝RL/(R2+RL+R1IPri/ISec 2)；
Figure BDA0003562449380000111
RL＝Rl(dc)×8/π2；
wherein R isLAn output resistor of the alternating current equivalent circuit; r1And R2Primary side and secondary side coil resistance values, C, of the equivalent circuit respectivelysecA secondary side compensator capacitor; l isSecSecondary side self-inductance; omegasTo the operating frequency, IPriAnd ISecPrimary side current and secondary side current in the equivalent circuit respectively; rl(dc)Is a secondary side load; k is a coupling coefficient;
when | IPri/ISecWhen | is the minimum, the efficiency reaches the maximum, resulting in:
Figure BDA0003562449380000112
wherein M is2Refers to the mutual inductance between the power transmitter coil and the receiver coil:
Figure BDA0003562449380000113
LPriis the primary side self-inductance in the equivalent circuit; l isSecIs the secondary side self-inductance in the equivalent circuit;
the frequency is differentiated and solved to obtain the proposed operating frequency, namely:
Figure BDA0003562449380000114
the optimal frequency value is obtained by the following steps:
Figure BDA0003562449380000115
the control method further comprises the following steps:
initialization frequency f ═ f0And efficiency η ═ η0(ii) a Setting a step length delta f;
after the frequency change, the efficiency is monitored, if the efficiency is increased compared to the previous step and f is satisfiedoptAnd | ηn+1-ηnI > epsilon; wherein ε refers to the tolerance;
the change in frequency is fn+1＝fn+Δf；
When etan+1-ηnWhen | < epsilon, the working frequency at this time is the optimal frequency, the frequency stops increasing, if in the process of increasing the frequency, eta is not satisfiedn+1-ηnIf > 0, that is, the transmission efficiency is lower than that of the previous step, let step Δ f be Δ f/2, and the algorithm change is:
fn+1＝fn-Δf；
and the step length of each step is reduced to half of the step length of the previous step, and iteration is continuously carried out until the above conditions are met, wherein the working frequency is the optimal frequency.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the invention. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.

Claims (5)

1. The wireless charging system of the underwater vehicle is characterized by comprising an underwater charging base station and the underwater vehicle;
the underwater charging base station comprises a wave power generation platform, a first rectifier, a direct current support capacitor, a full-bridge inverter, a first compensation circuit and an electric energy transmitting coil which are electrically connected in sequence; the underwater vehicle comprises an electric energy receiving coil, a second compensation circuit, a second rectifier and a battery; when the underwater vehicle is charged, electric energy generated by the wave power generation platform is transmitted to the electric energy transmitting coil through the first rectifier, the direct current support capacitor, the full-bridge inverter and the first compensation circuit; the electric energy receiving coil and the electric energy transmitting coil generate variable current through strong magnetic coupling; the variable current is transmitted to the battery end through the second compensation circuit and the second rectifier to charge the battery;
the underwater charging base station also comprises a sonar device; the underwater vehicle also comprises a hydrophone, a positioning controller, an upper computer, a pressure sensor, a motion controller, a propeller and a charging frequency tracker; the hydrophone is used for receiving acoustic signals emitted by the sonar device; the positioning controller is used for providing a positioning method of the underwater vehicle according to the acoustic signal and the induced voltage of the electric energy receiving coil; the pressure sensor is used for acquiring a pressure value of the water depth of the underwater vehicle; the upper computer is used for calculating the position of the underwater vehicle relative to the underwater charging base station according to the positioning method of the underwater vehicle and the pressure value of the water depth of the underwater vehicle; the motion controller is used for controlling the position and the angle of the propeller to be adjusted according to the position of the underwater vehicle relative to the underwater charging base station; the charging frequency tracker is used for detecting the charging frequency when the underwater vehicle is charged.
2. A control method for an underwater vehicle wireless charging system, characterized in that the control method is applied to the underwater vehicle wireless charging system of claim 1, and comprises the following steps:
establishing a three-dimensional coordinate system; the origin of the three-dimensional coordinate system is positioned in the middle of the electric energy transmitting coil, the x axis is vertical to the y axis, the plane where the x axis, the y axis and the origin are positioned is parallel to the water surface, and the z axis is vertical to the plane where the x axis, the y axis and the origin are positioned;
respectively placing a first sonar, a second sonar and a third sonar in the sonar device on an origin, an x-axis and a y-axis of a three-dimensional coordinate system; the sonar device emits a unique and identifiable sound signal;
and calculating the distance between the first sonar, the second sonar and the third sonar and the underwater vehicle according to the following formulas:
Figure FDA0003562449370000011
wherein d is1The distance between the first sonar and the underwater vehicle; d2The distance between the second sonar and the underwater vehicle; d3The distance between the third sonar and the underwater vehicle; v is the underwater acoustic velocity, a known quantity; t is tf1Transmitting an acoustic signal for the first sonar until the hydrophone receives the time of transmitting the acoustic signal of the first sonar; t is tf2Transmitting an acoustic signal for the second sonar until the hydrophone receives the time of transmitting the acoustic signal of the second sonar; t is tf3Transmitting an acoustic signal for the third sonar to the time when the hydrophone receives the transmitted acoustic signal of the third sonar;
the coordinates of the underwater vehicle are calculated according to the following formula:
Figure FDA0003562449370000021
wherein x is the coordinate of the underwater vehicle on the x axis in the three-dimensional coordinate system; y is the coordinate of the underwater vehicle on the y axis in a three-dimensional coordinate system; z is a coordinate of the underwater vehicle on a z axis in a three-dimensional coordinate system, and a pressure sensor acquires a pressure value of the water depth of the underwater vehicle to obtain the coordinate of the underwater vehicle on the z axis in the three-dimensional coordinate system; x is the number of2The coordinate of the second sonar on the x axis in the three-dimensional coordinate system; y is3The coordinate of the third sonar on the y axis in the three-dimensional coordinate system;
obtaining:
Figure FDA0003562449370000022
the motion controller controls the position and angle of the propeller adjustment according to the following constraints:
Figure FDA0003562449370000023
wherein, Δ x is a horizontal threshold preset on the x axis in the three-dimensional coordinate system; the delta y is a horizontal threshold value preset on the y axis in the three-dimensional coordinate system; and deltaz is a preset depth threshold value on the z axis in the three-dimensional coordinate system.
3. The method of controlling an underwater vehicle wireless charging system as recited in claim 2, further comprising:
fixedly connecting a plurality of induction coils to one side of the electric energy receiving coil, wherein the axis of each induction coil is vertical to the axis of the electric energy receiving coil;
the induced voltage of each induction coil is calculated according to the following formula:
Vsense＝-jωM1I；
wherein, VsenseIs the induced voltage of the single coil; j is an imaginary unit; omega is the voltage frequency of the electric energy transmitting coil; m is a group of1The mutual inductance coefficient between the electric energy transmitting coil and the single induction coil; i is the current of the electric energy transmitting coil;
respectively selecting a plurality of points on three coordinate axes of a three-dimensional coordinate system to form a plurality of coordinates, sequentially arranging electric energy receiving coils on the plurality of coordinates, and obtaining the induction voltage of each induction coil at each coordinate through simulation; converting the induction voltage characteristic into a position characteristic according to the induction voltage characteristic of the known position, and positioning according to the position characteristic;
coordinate prediction is carried out according to the XGBOOST model, firstly, coordinate samples xi are selected, and each coordinate sample xi corresponds to a feature set V { V }1,V2,…,VnAnd then establishing a regression tree structure according to the coordinate samples, determining the screening condition of each regression tree, and simultaneously setting leaf nodes according to the regression tree structure, wherein each leaf node has a leaf weight sigma, and each leaf node is associated with a sample coordinate set D on the assumption that delta leaf nodes are provided in totalmCorrespondingly:
Dm＝{i∣q(ξi)＝m}；
where m denotes the leaf node sequence number, q ([ xi ])i) Representing the mapping relation between the node set and the coordinate sample set;
according to the XGBOOST model, the predicted value of the coordinate sample is defined as
Figure FDA0003562449370000031
In the regression tree, leaf nodes corresponding to the sample coordinates are reflected in the form of leaf weights, so that the final coordinate prediction value
Figure FDA0003562449370000032
The leaf weight sigma of the corresponding leaf node is obtained;
Figure FDA0003562449370000033
for the accumulation of regression trees:
Figure FDA0003562449370000034
wherein p issIs a single regression tree; xiiIs a coordinate sample; i is the coordinate sample number; s is the total iteration times, and S is the iteration times;
establishing an objective function to obtain prediction of an optimized coordinate sample, and reducing errors, wherein the initial objective function of the underwater vehicle coordinate prediction is as follows:
Figure FDA0003562449370000035
Figure FDA0003562449370000036
Ω(ps)＝γδ+1/2λ||σ||2；
wherein l is the true value of the position measured by the loss functionαiPredicted value from position
Figure FDA0003562449370000037
The error between; omega is a regularization function for measuring the complexity of the regression tree and is used for reducing the fitting risk; n is the total number of samples; gamma is a leaf tree punishment regular term; λ is a leaf weight penalty regularization term; delta is a regression tree psThe number of leaf nodes in;
according to the second order Taylor expansion, the first derivative g of the loss function is calculatediAnd second derivative hiSubstituting the target function;
the objective function of the accumulated t regression trees is optimized as follows:
Figure FDA0003562449370000038
Figure FDA0003562449370000039
Figure FDA0003562449370000041
wherein C is a constant, giAnd hiFirst and second derivatives of the loss function, respectively;
the coordinate samples all being contained in a set D of samples corresponding to leaf nodesmThe formula is simplified to obtain:
Figure FDA0003562449370000042
processing a characteristic leaf q ([ xi ])i) While passing through to σmAnd (3) obtaining an optimal value of the leaf weight and an extreme value of an objective function by derivation:
Figure FDA0003562449370000043
Figure FDA0003562449370000044
o is the final predicted position.
4. The method of controlling an underwater vehicle wireless charging system of claim 2, further comprising:
constructing an equivalent circuit when the underwater vehicle is charged;
calculating the power transmission efficiency according to the following formula:
ηtra＝RL/(R2+RL+R1|IPri/ISec|2)；
Figure FDA0003562449370000045
RL＝Rl(dc)×8/π2；
wherein R isLAn output resistor for the AC equivalent circuit; r1And R2Primary side and secondary side coil resistances, C, of the equivalent circuit, respectivelysecA secondary side compensator capacitor; l isSecIs a secondary side self-inductance; omegasTo the operating frequency, IPriAnd ISecPrimary side current and secondary side current in the equivalent circuit respectively; r isl(dc)Is a secondary side load; k is a coupling coefficient;
when | IPri/ISecWhen | is the minimum, the efficiency reaches the maximum, resulting in:
Figure FDA0003562449370000046
wherein, M2Refers to the space between the electric energy transmitting coil and the receiving coilMutual inductance of (2):
Figure FDA0003562449370000051
LPriis the primary side self-inductance in the equivalent circuit; l isSecIs the secondary side self-inductance in the equivalent circuit;
and solving after derivation of the frequency to obtain the suggested working frequency, namely:
Figure FDA0003562449370000052
the optimal frequency value is obtained by the following steps:
Figure FDA0003562449370000053
5. the method of controlling an underwater vehicle wireless charging system as recited in claim 4, further comprising:
initialization frequency f ═ f0And efficiency η ═ η0(ii) a Setting a step length delta f;
after the frequency change, the efficiency is monitored, if the efficiency is increased compared to the previous step and f is satisfiedoptAnd | ηn+1-ηnI > epsilon; where ε refers to the tolerance;
the change in frequency is fn+1＝fn+Δf；
When eta isn+1-ηnWhen | < epsilon, the working frequency at this time is the optimal frequency, the frequency stops increasing, if in the process of increasing the frequency, eta is not satisfiedn+1-ηnIf > 0, i.e. the transmission efficiency is reduced compared to the previous step, let Δ f equal to Δ f/2, the algorithm change to:
fn+1＝fn-Δf；
and the step length of each step is reduced to half of the step length of the previous step, and iteration is continuously carried out until the above conditions are met, wherein the working frequency is the optimal frequency.
CN202210293717.4A 2022-03-24 2022-03-24 Wireless charging system of underwater vehicle and control method thereof Pending CN114578835A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11699923B2 (en) * 2020-11-30 2023-07-11 Panasonic Holdings Corporation Power receiver apparatus, power transmission voltage control method, and underwater power supply system
CN117856474A (en) * 2024-03-08 2024-04-09 广州国曜科技有限公司 Control method and device of wireless power transmission system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11699923B2 (en) * 2020-11-30 2023-07-11 Panasonic Holdings Corporation Power receiver apparatus, power transmission voltage control method, and underwater power supply system
CN117856474A (en) * 2024-03-08 2024-04-09 广州国曜科技有限公司 Control method and device of wireless power transmission system
CN117856474B (en) * 2024-03-08 2024-05-14 广州国曜科技有限公司 Control method and device of wireless power transmission system

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