CN117477803B - Inversion resonance constant-power wireless charging system and control method - Google Patents
Inversion resonance constant-power wireless charging system and control method Download PDFInfo
- Publication number
- CN117477803B CN117477803B CN202311835181.5A CN202311835181A CN117477803B CN 117477803 B CN117477803 B CN 117477803B CN 202311835181 A CN202311835181 A CN 202311835181A CN 117477803 B CN117477803 B CN 117477803B
- Authority
- CN
- China
- Prior art keywords
- module
- voltage
- power
- current
- bridge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000003990 capacitor Substances 0.000 claims abstract description 52
- 230000001360 synchronised effect Effects 0.000 claims abstract description 35
- 238000005259 measurement Methods 0.000 claims abstract description 34
- 230000008859 change Effects 0.000 claims description 27
- 238000001914 filtration Methods 0.000 claims description 21
- 238000005070 sampling Methods 0.000 claims description 16
- 230000005856 abnormality Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 11
- 230000001276 controlling effect Effects 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000015556 catabolic process Effects 0.000 claims description 2
- 238000004146 energy storage Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000033228 biological regulation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- 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
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
-
- 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
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/50—Charging of capacitors, supercapacitors, ultra-capacitors or double layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Inverter Devices (AREA)
Abstract
The application relates to an inversion resonance constant power wireless charging system and a control method, wherein the system comprises the following components: a transmitting end and a receiving end; the transmitting terminal comprises: the device comprises a transmitting power supply module, a high-frequency full-bridge inverter circuit, an LCC power compensation module, a transmitting coil, a main control module and a bus voltage and current measurement module; the receiving end comprises: the device comprises a receiving coil, a symmetrical LCC power compensation circuit, a rectification module, a synchronous Buck circuit, an overvoltage protection circuit, a super capacitor group, a capacitor voltage measurement module and a charging current and resonance voltage measurement module; the transmitting coil transmits power to the receiving coil by means of magnetically coupled resonance. The system can adjust the impedance of the receiving end in real time by combining the synchronous Buck circuit after accurately matching the reflecting resistance of the receiving end, so that the load end can be charged with high-efficiency constant power under the condition that the output power of the transmitting end is not changed and the impedance of an energy storage device of the receiving end is changed.
Description
Technical Field
The application relates to the technical field of wireless charging, in particular to an inversion resonance constant-power wireless charging system and a control method.
Background
Unmanned delivery dolly, numerous service robots such as delivery take-out meal send at present and adopt infrared positioning's scheme, the charging seat of robot sends infrared signal outward constantly promptly, and the infrared signal receiver of robot judges self position through the quantity and the position of received signal, and the planning route is got back to and is filled electric pile again. The scheme requires that the robot cannot be used under the condition of complex wall or long distance, and the non-hard plug-in wireless charging base has potential safety hazards of large heating value and short circuit for the robot with the charging power of 300-400W. On the transmitting end: under the condition of low power, partial research results adopt PWM wave complementary phase shift control to realize upper and lower limit control of power, but the scheme can not realize power closed loop, and has the risk of overshoot and plate explosion under the condition of high power output, and can not realize higher energy utilization rate under most conditions. For the receiving end: the common scheme is to adopt LC series direct-flushing and LCC power compensation schemes, and if the two schemes want to maintain high receiving efficiency, extremely precise mutual inductance values, impedance values, reflection resistance values and the like are required, and in practical use, these values are difficult to control or measure, so that the robustness of the two schemes is poor in practical application.
The prior art has a complex structure, and a bridge measurement circuit is required to be arranged to measure the mutual inductance value to change the phase difference of the PWM waves at the transmitting end, namely, the constant power of the load end is realized by a method of changing the power of the transmitting end in real time. The scheme has the advantages that the implementation cost is high, the power loss and the temperature rise of the transmitting end are large in a high-power output state, the load impedance is increased, and meanwhile, the transmitting power is required to be larger for keeping the constant power of the receiving end, and the energy utilization rate is low.
Disclosure of Invention
Based on the above, it is necessary to provide an inverter resonant constant power wireless charging system and a control method for the above technical problems.
An inversion resonance constant power wireless charging system and a control method, wherein the system comprises: a transmitting end and a receiving end.
The transmitting end comprises: the device comprises a transmitting power supply module, a high-frequency full-bridge inverter circuit, an LCC power compensation module, a transmitting coil, a main control module and a bus voltage and current measurement module; the power supply module is connected with the input end of the high-frequency full-bridge inverter circuit, the output end of the high-frequency full-bridge inverter circuit is connected with the LCC power compensation module, and the LCC power compensation module is connected with the transmitting coil; the bus voltage and current measurement module is used for measuring bus voltage and current of the emission power supply module and transmitting the bus voltage and current to the main control module;
the receiving end comprises: the device comprises a receiving coil, a symmetrical LCC power compensation circuit, a rectification module, a synchronous Buck circuit, an overvoltage protection circuit, a super capacitor group, a capacitor voltage measurement module and a charging current and resonance voltage measurement module.
The transmitting coil transmits power to the receiving coil in a magnetic coupling resonance mode; the receiving coil is connected with the rectifying module through the symmetrical LCC power compensation circuit, the rectifying module is connected with the input end of the synchronous Buck circuit, and the output end of the synchronous Buck circuit is connected with the super capacitor group through the overvoltage protection circuit; the charging current and resonance voltage measuring module is used for measuring the voltage and current values of signals output by the rectifying module and transmitting the voltage and current values to the main control module; the capacitor voltage measuring module is used for measuring the capacitor voltage of the super capacitor group and transmitting the capacitor voltage to the main control module.
The main control module determines real-time charging power according to the charging current and the resonance voltage measured by the charging current and resonance voltage measuring module, outputs a first PWM signal to the high-frequency full-bridge inverter circuit to adjust transmitting power according to the real-time charging power and preset constant power, and simultaneously outputs a second PWM signal to the synchronous Buck circuit to adjust the charging power, so that constant-power wireless charging is completed.
In one embodiment, the master control module comprises a domestic singlechip of Risc-v architecture.
In one embodiment, the high-frequency full-bridge inverter circuit includes: two high frequency half-bridge gate drivers and a high frequency full-bridge inverter.
The input ends of the two high-frequency half-bridge grid drivers are connected with the main control module, the two output ends of the first high-frequency half-bridge grid driver are respectively connected with the grids of the two MOS tubes of the first half-bridge of the high-frequency full-bridge inverter, the two output ends of the second high-frequency half-bridge grid driver are respectively connected with the grids of the two MOS tubes of the second half-bridge of the high-frequency full-bridge inverter, and the output ends of the first half-bridge and the second half-bridge of the high-frequency full-bridge inverter are respectively connected with the two input ends of the LCC power compensation module.
In one embodiment, the synchronous Buck circuit includes: half-bridge drive module, MOS half-bridge, filtering module.
The two input ends of the half-bridge driving module are connected with the main control module, the two output ends of the half-bridge driving module are respectively connected with the grid electrodes of the MOS tubes of the upper bridge arm and the lower bridge arm of the MOS half-bridge, the source electrode of the MOS of the upper bridge arm of the MOS half-bridge is connected with the drain electrode of the MOS of the lower bridge arm of the MOS half-bridge, the source electrode of the MOS of the lower bridge arm of the MOS half-bridge is connected with one input end of the filtering module, the drain electrode of the MOS of the lower bridge arm of the MOS half-bridge is connected with the other input end of the filtering module, and the output end of the filtering module is connected with the overvoltage protection circuit.
In one embodiment, at the transmitting end, the main control module is further configured to determine whether the state of the transmitting power module is normal according to the bus current and the bus voltage of the transmitting power module measured by the bus voltage and current measurement module, and if the state is normal, output a first PWM signal to the high-frequency full-bridge inverter circuit by adopting a step power control manner, so as to control the high-frequency full-bridge inverter circuit; the step power control mode is as follows: and linearly regulating and controlling 50% -100% of target power at 0.0s-1.0s, and linearly regulating and controlling 100% of target power at 1.0 s.
In one embodiment, the main control module is further configured to perform emission overcurrent protection on the emission end; the emission overcurrent protection means that: and reading the bus current value measured by the bus voltage and current measurement module according to a preset frequency to obtain a current sampling value, storing the current sampling value in a preset buffer area array, filtering the current sampling value by adopting a Butterworth low-pass filter, counting a preset number of current data in the preset buffer area array, counting linear correlation coefficients and peak differences of all the current data within 1 second, setting a weighting coefficient of the linear correlation coefficients and the peak differences, and if the weighted sum of the linear correlation coefficients and the peak differences exceeds a preset threshold value, stopping outputting a first PWM signal by the main control module to turn off a MOS tube of the high-frequency full-bridge inverter circuit.
In one embodiment, the main control module is further configured to receive over-current protection for the receiving end; the receiving overcurrent protection means that: when the voltage difference between two sides of the receiving coil is smaller than a preset voltage difference threshold value, setting the charge and discharge current as a preset value; when the voltage difference between two sides of the receiving coil is larger than a preset voltage difference threshold value, limiting charge and discharge currents, wherein a current calculation formula is as follows:
；
wherein,for the maximum charge current allowed by the present capacitor, < >>For capacitor voltage (measured in real time), +.>For the input voltage (after rectification), +.>Maximum current allowed to pass for MOS.
In one embodiment, the main control module is further used for performing hardware self-checking on the receiving end circuit and performing fault detection on the transmitting end and the receiving end during operation; wherein the runtime fault detection comprises: over-voltage and under-voltage abnormality, current overcurrent and charge and discharge abnormality.
The process of performing hardware self-checking on the receiving end circuit comprises the following steps: detecting voltage and current of a receiving end in a preset time period from the beginning of emission, respectively storing the voltage and the current in a preset buffer array, filtering white noise through low-pass filtering, linearly changing the duty ratio of an upper MOS tube and a lower MOS tube, calculating the voltage change rate, the duty ratio change rate and the current change rate according to voltage and current data, judging that the MOS tube is damaged if the voltage change rate is smaller than the duty ratio change rate, and judging that the inductor is damaged if the ratio of the voltage change rate to the duty ratio change rate is larger than the upper threshold limit and the current change rate is smaller than the lower threshold limit;
the method for judging the charge-discharge abnormality comprises the following steps: if the difference between the DC-DC set power and the actual calculated power is larger than a preset value for a long time, the charge and discharge abnormality occurs.
The method for judging the charge-discharge abnormality comprises the following steps: and if the difference between the DC-DC set power and the actual calculated power is larger than a preset value for a long time, the charge-discharge abnormality is considered to occur.
In one embodiment, the master control module is further configured to adjust an output voltage of the synchronous Buck circuit according to the collected capacitor voltage of the supercapacitor group measured by the capacitor voltage measurement module, so that the supercapacitor in the supercapacitor group is charged with constant power under the condition that the supercapacitor is not broken down.
The method is applied to any one of the inversion resonance constant-power wireless charging systems to realize constant-power wireless charging; the method comprises the following steps:
the main control module receives the bus voltage and the bus current value of the transmitting power supply measured by the bus voltage and current measuring module, and determines whether the transmitting power supply can normally supply electric energy or not according to the bus voltage and the bus current value.
Under the condition that the transmitting power supply can normally supply electric energy:
the main control module determines real-time charging power according to the received charging current and resonance voltage measured by the current and resonance voltage measuring module, and outputs a first PWM signal to the high-frequency full-bridge inverter circuit to adjust transmitting power according to the real-time charging power and preset constant power.
Under the condition that the transmitting power supply can normally supply electric energy:
the main control module determines real-time charging power according to the received charging current and the charging current and resonant voltage measured by the resonant voltage measuring module, and outputs a first PWM signal to the high-frequency full-bridge inverter circuit to adjust transmitting power according to the real-time charging power and preset constant power.
When the main control module receives the capacitance voltage value of the super capacitor group measured by the capacitance voltage measuring module, a second PWM signal is output to the synchronous Buck circuit to adjust the charging power, and constant-power wireless charging is completed.
The inversion resonance constant power wireless charging system and the control method thereof, wherein the system comprises the following components: a transmitting end and a receiving end; the transmitting terminal comprises: the device comprises a transmitting power supply module, a high-frequency full-bridge inverter circuit, an LCC power compensation module, a transmitting coil, a main control module and a bus voltage and current measurement module; the receiving end comprises: the device comprises a receiving coil, a symmetrical LCC power compensation circuit, a rectification module, a synchronous Buck circuit, an overvoltage protection circuit, a super capacitor group, a capacitor voltage measurement module and a charging current and resonance voltage measurement module; the transmitting coil transmits power to the receiving coil in a magnetic coupling resonance mode; the main control module determines real-time charging power according to the charging current and the resonance voltage measured by the resonance voltage measuring module, outputs a first PWM signal to the high-frequency full-bridge inverter circuit to adjust transmitting power according to the real-time charging power and preset constant power, and simultaneously outputs a second PWM signal to the synchronous Buck circuit to adjust the charging power according to the voltage value of the super capacitor group measured by the capacitance voltage measuring module, so that constant-power wireless charging is completed. The system can adjust the impedance of the receiving end in real time by combining the synchronous Buck circuit after accurately matching the reflecting resistance of the receiving end, so that the load end can be charged with high-efficiency constant power under the condition that the output power of the transmitting end is not changed and the impedance of an energy storage device of the receiving end is changed.
Drawings
FIG. 1 is a topology of an LCC power compensation scheme in one embodiment;
FIG. 2 is a block diagram of an inverted resonant constant power wireless charging system in one embodiment;
FIG. 3 is a schematic diagram of a transmit power module in one embodiment;
FIG. 4 is a schematic diagram of a high frequency full bridge inverter circuit in another embodiment;
fig. 5 is a schematic diagram of a synchronous Buck circuit in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The transmitting end of the system adopts full-bridge phase shifting, and the topology structure of the LCC power compensation scheme is shown in figure 1. The full-bridge driving scheme enables the voltage range of the power supply to be wider, LCC power compensation can reduce power variation caused by load variation, and slow start protection and power closed loop control ensure that a transmitting end cannot be damaged due to overshoot under a high-power condition. The domestic Risc-v architecture is adopted, the price is low, and an on-board external PWM input interface and a bus current and voltage detection interface are adopted, so that external expansion equipment is allowed to be used for monitoring power or directly controlling output. For the receiving end, the system adopts the synchronous Buck to adjust the impedance of the receiving end in real time, and the constant power of the receiving end can be realized only by receiving the coil vibration, and the working state of the transmitting end is not influenced.
In one embodiment, as shown in fig. 2, an inverted resonant constant power wireless charging system is provided, the system comprising: a transmitting end 10 and a receiving end 20.
The transmitting terminal 10 includes: the device comprises a transmitting power supply module 101, a high-frequency full-bridge inverter circuit 102, an LCC power compensation module 103, a transmitting coil 104, a main control module 105 and a bus voltage and current measurement module 106; the transmitting power supply module 101 is connected with the input end of the high-frequency full-bridge inverter circuit 102, the output end of the high-frequency full-bridge inverter circuit 102 is connected with the LCC power compensation module 103, and the LCC power compensation module 103 is connected with the transmitting coil 104; the bus voltage and current measurement module 106 is used for measuring the bus voltage and current of the transmitting power module 101, and transmitting the bus voltage and current to the main control module 105.
The receiving end 20 includes: the device comprises a receiving coil 201, a symmetrical LCC power compensation circuit 202, a rectifying module 203, a synchronous Buck circuit 204, an overvoltage protection circuit 205, a super capacitor bank 206, a capacitor voltage measurement module 207 and a charging current and resonance voltage measurement module 208.
The transmitting coil 104 transmits power to the receiving coil 201 by means of magnetic coupling resonance; the receiving coil 201 is connected with the rectifying module 203 through the symmetrical LCC power compensation circuit 202, the rectifying module 203 is connected with the input end of the synchronous Buck circuit 204, and the output end of the synchronous Buck circuit 204 is connected with the super capacitor bank 206 through the overvoltage protection circuit 205; the charging current and resonance voltage measurement module 208 is used for measuring the voltage and current values of the signal output by the rectification module 203 and transmitting the voltage and current values to the main control module 105; the capacitor voltage measurement module 207 is configured to measure the capacitor voltage of the super capacitor bank 206, and transmit the capacitor voltage to the main control module 105.
The main control module 105 determines real-time charging power according to the charging current and resonance voltage measured by the charging current and resonance voltage measuring module 208, and outputs a first PWM signal to the high-frequency full-bridge inverter circuit 102 to adjust the transmitting power according to the real-time charging power and preset constant power, and simultaneously outputs a second PWM signal to the synchronous Buck circuit 204 to adjust the charging power, thereby completing constant-power wireless charging.
Specifically, the transmitting power module 101 and the like have over-temperature, over-current, over-voltage and other hard protection, and meanwhile, the main control module can realize over-current, over-voltage, battery low-voltage and other soft protection, so that the safety is high. The transmitting end is in a constant power working state, the working state of components is more stable, and the service life of the whole plate is longer.
The transmitting power supply module 101 is configured to output a transmitting voltage to the full-bridge inverter circuit 102, and further configured to supply power to the receiving end; the schematic diagram of the transmitting power module 101 is shown in fig. 3, where U1 in fig. 3 is an SP1N28STER buck converter.
The high-frequency full-bridge inverter circuit 102 is configured to convert the received dc signal into an ac transmission signal, and transmit the ac transmission signal to the LCC power compensation module 103.
The LCC power compensation module 103 is configured to perform power compensation on the ac transmission signal, and send the obtained transmission power to the transmission coil.
A transmitting coil 104 for transmitting the transmitting power to the receiving coil 201 by a magnetic coupling resonance mode;
the bus voltage and current measurement module is used for measuring the bus voltage and current of the transmitting power module 101 and transmitting the measured values to the main control module 105 for connection.
The receiving coil is used for receiving the transmitting power and transmitting the transmitting power to the rectifying module 203.
The rectifying module 203 is configured to rectify the received transmission power and transmit the rectified transmission power to the synchronous Buck circuit 204.
The synchronous Buck circuit is used for adjusting the power for charging the super capacitor group and realizing constant-power charging of the capacitor.
And the overvoltage protection circuit is used for carrying out overvoltage protection on the output end.
And the super capacitor group is used for storing electric energy charged with constant power.
The inversion resonance constant power wireless charging system comprises the receiving end and the inverting resonance constant power wireless charging system; the transmitting terminal comprises: the device comprises a transmitting power supply module, a high-frequency full-bridge inverter circuit, an LCC power compensation module, a transmitting coil, a main control module and a bus voltage and current measurement module; the receiving end comprises: the device comprises a receiving coil, a symmetrical LCC power compensation circuit, a rectification module, a synchronous Buck circuit, an overvoltage protection circuit, a super capacitor group, a capacitor voltage measurement module and a charging current and resonance voltage measurement module; the transmitting coil transmits power to the receiving coil in a magnetic coupling resonance mode; the main control module determines real-time charging power according to the charging current and the resonance voltage measured by the resonance voltage measuring module, outputs a first PWM signal to the high-frequency full-bridge inverter circuit to adjust transmitting power according to the real-time charging power and preset constant power, and simultaneously outputs a second PWM signal to the synchronous Buck circuit to adjust the charging power according to the voltage value of the super capacitor group measured by the capacitance voltage measuring module, so that constant-power wireless charging is completed. The system can adjust the impedance of the receiving end in real time by combining the synchronous Buck circuit after accurately matching the reflecting resistance of the receiving end, so that the load end can be charged with high-efficiency constant power under the condition that the output power of the transmitting end is not changed and the impedance of an energy storage device of the receiving end is changed.
The system can realize high-power wireless power transmission with low cost, the maximum transmitting power of the MOS tube with the same type can reach 1200W, and the MOS tube with the same type can reach higher power after being replaced, which is far beyond the charging power of the service type robot on the market at present. And this scheme can realize the electric energy transmission of longer distance, and charging equipment is small.
In one embodiment, the master control module comprises a domestic single-chip microcomputer of Risc-v architecture.
As the optimization, a singlechip chip with a domestic Risc-v architecture is adopted, the price is low, and the goods source is stable.
In one embodiment, a high frequency full bridge inverter circuit includes: two high frequency half-bridge gate drivers and a high frequency full-bridge inverter.
The input ends of the two high-frequency half-bridge grid drivers are connected with the main control module, the two output ends of the first high-frequency half-bridge grid driver are respectively connected with the grid electrodes of the two MOS tubes of the first half-bridge of the high-frequency full-bridge inverter, the two output ends of the second high-frequency half-bridge grid driver are respectively connected with the grid electrodes of the two MOS tubes of the second half-bridge of the high-frequency full-bridge inverter, and the output ends of the first half-bridge and the second half-bridge of the high-frequency full-bridge inverter are respectively connected with the two input ends of the LCC power compensation module.
As shown in fig. 4, Q5, Q6 and Q7 are N-channel field effect transistors HYG180N10LS1P, and U5 and U6 are high-frequency half-bridge gate drivers DGD0506A.
In one embodiment, the synchronous Buck circuit includes: half-bridge drive module, MOS half-bridge, filtering module.
The two input ends of the half-bridge driving module are connected with the main control module, the two output ends of the half-bridge driving module are respectively connected with the grid electrodes of the MOS tubes of the upper bridge arm and the lower bridge arm of the MOS half-bridge, the source electrode of the MOS of the upper bridge arm of the MOS half-bridge is connected with the drain electrode of the MOS of the lower bridge arm of the MOS half-bridge, the source electrode of the MOS of the lower bridge arm of the MOS half-bridge is connected with one input end of the filtering module, the drain electrode of the MOS of the lower bridge arm of the MOS half-bridge is connected with the other input end of the filtering module, and the output end of the filtering module is connected with the overvoltage protection circuit.
The schematic diagram of the synchronous Buck circuit is shown in FIG. 5, U2 is a half-bridge driving chip EG2104, U2 is an intelligent diode controller LM74610QDGKTQ1, Q1 and Q3 are N-channel enhancement type MOS tubes IRLR3410TRPBF, and Q2 is an N-channel enhancement type MOS tube TPH1R403NL.
In one embodiment, at the transmitting end, the main control module is further configured to determine whether the transmitting power module is in a normal state according to the bus current and the bus voltage of the transmitting power module measured by the bus voltage and current measuring module, and if the transmitting power module is in a normal state, output a first PWM signal to the high-frequency full-bridge inverter circuit by adopting a step power control mode, so as to control the high-frequency full-bridge inverter circuit; the step power control mode is as follows: and linearly regulating and controlling 50% -100% of target power at 0.0s-1.0s, and linearly regulating and controlling 100% of target power at 1.0 s.
Specifically, the transmitting end adopts step power control mainly because the current sampling signal has a charging effect, and distortion overshoot can be caused because the current sampling output is lower than the real power at first, so the current sampling output is divided into three step control, 0.0s-1.0s is linearly regulated and controlled to 50% -100% of target power, and 1.0s is 100% of target power later. The power control section allows for normal regulation below the target power but severely limits exceeding the target power, thus attenuating regulation in the range-5W-10W, and severely regulates down the phase shift in the range exceeding the target power 5W, which may result in some oscillations but may avoid long overshoot due to hysteresis.
In one embodiment, the main control module is further configured to perform emission overcurrent protection on the emission end; emission overcurrent protection refers to: and reading bus current values measured by a bus voltage and current measuring module according to a preset frequency (preferably, the preset frequency is 100 Hz), obtaining current sampling values, storing the current sampling values in a preset buffer area array (preferably, the preset buffer area array is a buffer area array with the length of 20 and the data type of floating point type), filtering the current sampling values by using a Butterworth low-pass filter, counting all current data (namely 20 current data) in the preset buffer area array, counting linear correlation coefficients and peak differences of the current data within 1 second, setting weighting coefficients of the linear correlation coefficients and the peak differences, and if the weighted sum of the linear correlation coefficients and the peak differences exceeds a preset threshold value, if the current system has an overcurrent possibility, stopping outputting a first PWM signal by a main control module to turn off a MOS tube of the high-frequency full-bridge inverter circuit.
Specifically, the overcurrent detection thinking is that bus current values are read according to the frequency of 100Hz and stored in a buffer area array with the length of 20 and the data type of floating point, a plurality of low-frequency interferences can occur to current sampling values due to errors of sampling effects, a Butterworth band-stop filter is designed, the filter order is 2, the upper stop band cut-off frequency of a digital filter is 15 Hz, the lower stop band cut-off frequency is 10 Hz, and the sampling frequency is 100 Hz.
Normalized butterworth low pass filter form:
；
calculation ofAnd->In->Substitutes->；
；
；
；
；
；
；
；
The method comprises the steps of counting 20 pieces of current data in a buffer area array, counting linear correlation coefficients and peak differences of the current data within 1s, setting weighting coefficients alpha and beta of the linear correlation coefficients and the peak differences, and considering that the current system is diverging and has possibility of overcurrent if the weighted sum of the linear correlation coefficients and the peak differences exceeds a set threshold value. At this time, the singlechip stops outputting PWM waves to turn off the MOS tube.
In one embodiment, the main control module is further configured to receive over-current protection for the receiving end; receiving the over-current protection refers to: when the voltage difference between two sides of the receiving coil is smaller than a preset voltage difference threshold value, setting the charge and discharge current to a preset value (higher value); when the voltage difference between two sides of the receiving coil is larger than a preset voltage difference threshold value, limiting charge and discharge currents, wherein a current calculation formula is as follows:
；
wherein,for the maximum charge current allowed by the present capacitor, < >>For capacitor voltage (measured in real time), +.>For the input voltage (after rectification), +.>Maximum current allowed to pass for MOS.
Specifically, the current on both sides of the receiving coil is satisfied with the following conditions:in order to prevent MOS overcurrent caused by overlarge voltage difference on two sides of a receiving coil, a dynamic current threshold algorithm is provided. When the voltage difference is small, the charge-discharge current may be set at a high value, and when the voltage difference is large, the charge-discharge current should be limited in order to avoid the capacitive MOS from flowing excessively. The calculation formula is as follows: />。
In one embodiment, the main control module is further used for performing hardware self-checking on the receiving end circuit and performing fault detection on the transmitting end and the receiving end during operation; wherein the runtime fault detection comprises: abnormal overvoltage and undervoltage, overcurrent and abnormal charge and discharge; the process of performing hardware self-checking on the receiving end circuit comprises the following steps: detecting the voltage and the current of a receiving end within a preset time period (0-0.1 s as the preset time period), respectively storing the voltage and the current in a preset buffer array (preferably, the preset buffer data is a buffer array with the type of flow length of 20), filtering white noise through low-pass filtering, linearly changing the duty ratio of an upper MOS tube and a lower MOS tube, calculating the voltage change rate, the duty ratio change rate and the current change rate according to the voltage and the current data, judging that the MOS tube is damaged if the voltage change rate is smaller than the duty ratio change rate, and judging that the inductance is damaged if the ratio of the voltage change rate to the duty ratio change rate is larger than the upper threshold limit (the upper threshold limit is preferably 1.0+/-0.1) and the current change rate is smaller than the lower threshold limit of the current change rate (the lower threshold limit of the current change rate is preferably 0.5 x 0.8/24 (A/s)) of the set maximum power; the method for judging the charge-discharge abnormality comprises the following steps: if the difference between the DC-DC set power and the actual calculated power is larger than a preset value for a long time, abnormal charge and discharge occurs
Specifically, the thought transmitting end and the receiving end of the fault detection in the running process are universal. The fault detection can timely find out faults and turn off the output during operation, so that further damage is avoided. During operation, fault detection is divided into over-voltage and under-voltage abnormality, current overflow and charge and discharge abnormality. The specific judgment method is that if the difference between the set power of the DC-DC and the actual calculated power is too large for a long time, the charge-discharge abnormality is considered to occur.
In one embodiment, the master control module is further configured to adjust an output voltage of the synchronous Buck circuit according to the capacitor voltage of the supercapacitor group measured by the collected capacitor voltage measurement module, so that the supercapacitor in the supercapacitor group is charged with constant power under the condition that the supercapacitor is not broken down.
Specifically, because the capacitance impedance changes due to the capacitance voltage, the capacitance energyThe main control module detects the voltage of the capacitor in real time through the ADC sampling interface, and adjusts the output voltage of the synchronous Buck circuit, so that the constant power charging of the capacitor under the condition of no breakdown can be ensured.
In one embodiment, an inversion resonance constant-power wireless charging system is provided, a transmitting end main power control circuit of the system adopts a high-frequency full-bridge inversion circuit, supports wide voltage input and has a plurality of safety functions such as slow start, overcurrent protection, overvoltage protection, low-voltage protection, overtemperature protection and the like. The whole working efficiency is high, the temperature rise is low, the capacitor group filled with 1440 joule energy is continuously in the working state of 400W, and the temperature rise is less than 10 ℃; after external active heat dissipation is added, the working state of 600W is measured to be four times of capacitor group filled with 1440J energy, and the temperature rise is less than 10 ℃. The actual measurement receiving efficiency of the receiving end part can be stabilized at about 80%, the charging is continuously carried out four times under the condition of increasing active heat dissipation, and the overall temperature rise is less than 10 ℃. The scheme has the advantages of high reliability, simple circuit topology structure and low cost.
In one embodiment, an inversion resonance constant power wireless charging control method is provided, and the method is applied to any inversion resonance constant power wireless charging system to realize constant power wireless charging; the method comprises the following steps:
step 100: the main control module receives the bus voltage and the bus current value of the transmitting power supply measured by the bus voltage and current measuring module, and determines whether the transmitting power supply can normally supply electric energy or not according to the bus voltage and the bus current value.
Step 102: under the condition that the transmitting power supply can normally supply electric energy:
the main control module determines real-time charging power according to the received charging current and the charging current and resonant voltage measured by the resonant voltage measuring module, and outputs a first PWM signal to the high-frequency full-bridge inverter circuit to adjust transmitting power according to the real-time charging power and preset constant power;
step 104: when the main control module receives the capacitance voltage value of the super capacitor group measured by the capacitance voltage measuring module, a second PWM signal is output to the synchronous Buck circuit to adjust the charging power, and constant-power wireless charging is completed.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. An inverted resonant constant power wireless charging system, the system comprising: a transmitting end and a receiving end;
the transmitting end comprises: the device comprises a transmitting power supply module, a high-frequency full-bridge inverter circuit, an LCC power compensation module, a transmitting coil, a main control module and a bus voltage and current measurement module; the power supply module is connected with the input end of the high-frequency full-bridge inverter circuit, the output end of the high-frequency full-bridge inverter circuit is connected with the LCC power compensation module, and the LCC power compensation module is connected with the transmitting coil; the bus voltage and current measurement module is used for measuring bus voltage and current of the emission power supply module and transmitting the bus voltage and current to the main control module;
the receiving end comprises: the device comprises a receiving coil, a symmetrical LCC power compensation circuit, a rectification module, a synchronous Buck circuit, an overvoltage protection circuit, a super capacitor group, a capacitor voltage measurement module and a charging current and resonance voltage measurement module;
the transmitting coil transmits power to the receiving coil in a magnetic coupling resonance mode; the receiving coil is connected with the rectifying module through the symmetrical LCC power compensation circuit, the rectifying module is connected with the input end of the synchronous Buck circuit, and the output end of the synchronous Buck circuit is connected with the super capacitor group through the overvoltage protection circuit; the charging current and resonance voltage measuring module is used for measuring the voltage and current values of signals output by the rectifying module and transmitting the voltage and current values to the main control module; the capacitor voltage measurement module is used for measuring the capacitor voltage of the super capacitor group and transmitting the capacitor voltage to the main control module;
the main control module determines real-time charging power according to the charging current and resonance voltage measured by the charging current and resonance voltage measuring module, outputs a first PWM signal to the high-frequency full-bridge inverter circuit to adjust transmitting power according to the real-time charging power and preset constant power, and simultaneously outputs a second PWM signal to the synchronous Buck circuit to adjust charging power according to the voltage value of the super capacitor group measured by the capacitor voltage measuring module, so that constant-power wireless charging is completed.
2. The system of claim 1, wherein the master control module comprises a domestic single-chip microcomputer of Risc-v architecture.
3. The system of claim 1, wherein the high frequency full-bridge inverter circuit comprises: two high frequency half-bridge gate drivers and a high frequency full-bridge inverter;
the input ends of the two high-frequency half-bridge grid drivers are connected with the main control module, the two output ends of the first high-frequency half-bridge grid driver are respectively connected with the grids of the two MOS tubes of the first half-bridge of the high-frequency full-bridge inverter, the two output ends of the second high-frequency half-bridge grid driver are respectively connected with the grids of the two MOS tubes of the second half-bridge of the high-frequency full-bridge inverter, and the output ends of the first half-bridge and the second half-bridge of the high-frequency full-bridge inverter are respectively connected with the two input ends of the LCC power compensation module.
4. The system of claim 1, wherein the synchronous Buck circuit includes: the MOS half-bridge filter comprises a half-bridge driving module, an MOS half-bridge and a filtering module;
the two input ends of the half-bridge driving module are connected with the main control module, the two output ends of the half-bridge driving module are respectively connected with the grid electrodes of the MOS tubes of the upper bridge arm and the lower bridge arm of the MOS half-bridge, the source electrode of the MOS of the upper bridge arm of the MOS half-bridge is connected with the drain electrode of the MOS of the lower bridge arm of the MOS half-bridge, the source electrode of the MOS of the lower bridge arm of the MOS half-bridge is connected with one input end of the filtering module, the drain electrode of the MOS of the lower bridge arm of the MOS half-bridge is connected with the other input end of the filtering module, and the output end of the filtering module is connected with the overvoltage protection circuit.
5. The system of claim 1, wherein at the transmitting end, the main control module is further configured to determine whether the transmitting power module is in a normal state according to the bus current and the bus voltage of the transmitting power module measured by the bus voltage and current measurement module, and if the transmitting power module is in a normal state, output a first PWM signal to the high-frequency full-bridge inverter circuit by adopting a step power control manner, so as to control the high-frequency full-bridge inverter circuit;
wherein, the ladder power control mode is: and linearly regulating and controlling 50% -100% of target power at 0.0s-1.0s, and linearly regulating and controlling 100% of target power at 1.0 s.
6. The system of claim 1, wherein the master control module is further configured to perform transmit over-current protection on a transmitting end; the emission overcurrent protection means that: and reading the bus current value measured by the bus voltage and current measurement module according to a preset frequency to obtain a current sampling value, storing the current sampling value in a preset buffer area array, filtering the current sampling value by adopting a Butterworth low-pass filter, counting all current data in the preset buffer area array, counting linear correlation coefficients and peak differences of the current data within 1 second, setting weighting coefficients of the linear correlation coefficients and the peak differences, and if the weighted sum of the linear correlation coefficients and the peak differences exceeds a preset threshold value, enabling the current system to have overcurrent, wherein the main control module stops outputting a first PWM signal to turn off a MOS tube of the high-frequency full-bridge inverter circuit.
7. The system of claim 1, wherein the master control module is further configured to receive over-current protection for the receiving end; the receiving overcurrent protection means that: when the voltage difference between two sides of the receiving coil is smaller than a preset voltage difference threshold value, the charge and discharge current is set to be a preset value; when the voltage difference between two sides of the receiving coil is larger than a preset voltage difference threshold value, limiting charge and discharge currents, wherein a current calculation formula is as follows:
；
wherein,for the maximum charge current allowed by the present capacitor, < >>For the capacitance voltage measured in real time, < >>For the rectified input voltage, +.>Maximum current allowed to pass for MOS.
8. The system of claim 1, wherein the master control module is further configured to perform hardware self-test on the receiver circuit and perform fault detection on the transmitter and the receiver during operation; wherein the runtime fault detection comprises: abnormal overvoltage and undervoltage, overcurrent and abnormal charge and discharge;
the process of performing hardware self-checking on the receiving end circuit comprises the following steps: detecting voltage and current of a receiving end in a preset time period from the beginning of emission, respectively storing the voltage and the current in a preset buffer array, filtering white noise through low-pass filtering, linearly changing the duty ratio of an upper MOS tube and a lower MOS tube, calculating the voltage change rate, the duty ratio change rate and the current change rate according to voltage and current data, judging that the MOS tube is damaged if the voltage change rate is smaller than the duty ratio change rate, and judging that the inductor is damaged if the ratio of the voltage change rate to the duty ratio change rate is larger than the upper threshold limit and the current change rate is smaller than the lower threshold limit;
the method for judging the charge-discharge abnormality comprises the following steps: if the difference between the DC-DC set power and the actual calculated power is larger than a preset value for a long time, the charge and discharge abnormality occurs.
9. The system of claim 1, wherein the master control module is further configured to adjust an output voltage of the synchronous Buck circuit according to the collected capacitor voltage of the supercapacitor group measured by the capacitor voltage measurement module, so that the supercapacitor in the supercapacitor group is charged with constant power without breakdown.
10. An inversion resonance constant power wireless charging control method, which is characterized in that the method is applied to the inversion resonance constant power wireless charging system according to any one of claims 1-9 to realize constant power wireless charging; the method comprises the following steps:
the main control module receives the bus voltage and the bus current value of the emission power supply measured by the bus voltage and current measuring module, and determines whether the emission power supply can normally supply electric energy or not according to the bus voltage and the bus current value;
under the condition that the transmitting power supply can normally supply electric energy:
the main control module determines real-time charging power according to the received charging current and the charging current and resonant voltage measured by the resonant voltage measuring module, and outputs a first PWM signal to the high-frequency full-bridge inverter circuit to adjust transmitting power according to the real-time charging power and preset constant power;
when the main control module receives the capacitance voltage value of the super capacitor group measured by the capacitance voltage measuring module, a second PWM signal is output to the synchronous Buck circuit to adjust the charging power, and constant-power wireless charging is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311835181.5A CN117477803B (en) | 2023-12-28 | 2023-12-28 | Inversion resonance constant-power wireless charging system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311835181.5A CN117477803B (en) | 2023-12-28 | 2023-12-28 | Inversion resonance constant-power wireless charging system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117477803A CN117477803A (en) | 2024-01-30 |
| CN117477803B true CN117477803B (en) | 2024-03-15 |
Family
ID=89638334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311835181.5A Active CN117477803B (en) | 2023-12-28 | 2023-12-28 | Inversion resonance constant-power wireless charging system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117477803B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117977831B (en) * | 2024-03-27 | 2024-07-02 | 广东工业大学 | Constant power control method of wireless power transmission system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012176943A1 (en) * | 2011-06-22 | 2012-12-27 | 한국과학기술원 | Power supply system and method |
| KR20130110699A (en) * | 2012-03-30 | 2013-10-10 | 한국전기연구원 | Magnetic resonance transmitting/receiving system for energy harvesting |
| CN107425610A (en) * | 2017-05-10 | 2017-12-01 | 北京交通大学长三角研究院 | Radio energy transmission system and control method based on energy resource system load compensation in parallel |
| CN110571941A (en) * | 2019-09-27 | 2019-12-13 | 东南大学 | Wireless power transmission system and load identification and positioning method thereof |
| CN111817448A (en) * | 2020-06-08 | 2020-10-23 | 华为技术有限公司 | Wireless charging receiving end and method and electronic equipment |
| CN114784996A (en) * | 2022-04-28 | 2022-07-22 | 中国科学院电工研究所 | Low-voltage high-current wireless charging system and cooperative control method thereof |
| CN116317032A (en) * | 2023-05-17 | 2023-06-23 | 中国人民解放军国防科技大学 | Faraday capacitor electric energy constant power storage and release control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10498160B2 (en) * | 2015-08-03 | 2019-12-03 | Massachusetts Institute Of Technology | Efficiency maximization for device-to-device wireless charging |
-
2023
- 2023-12-28 CN CN202311835181.5A patent/CN117477803B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012176943A1 (en) * | 2011-06-22 | 2012-12-27 | 한국과학기술원 | Power supply system and method |
| KR20130110699A (en) * | 2012-03-30 | 2013-10-10 | 한국전기연구원 | Magnetic resonance transmitting/receiving system for energy harvesting |
| CN107425610A (en) * | 2017-05-10 | 2017-12-01 | 北京交通大学长三角研究院 | Radio energy transmission system and control method based on energy resource system load compensation in parallel |
| CN110571941A (en) * | 2019-09-27 | 2019-12-13 | 东南大学 | Wireless power transmission system and load identification and positioning method thereof |
| CN111817448A (en) * | 2020-06-08 | 2020-10-23 | 华为技术有限公司 | Wireless charging receiving end and method and electronic equipment |
| CN114784996A (en) * | 2022-04-28 | 2022-07-22 | 中国科学院电工研究所 | Low-voltage high-current wireless charging system and cooperative control method thereof |
| CN116317032A (en) * | 2023-05-17 | 2023-06-23 | 中国人民解放军国防科技大学 | Faraday capacitor electric energy constant power storage and release control method |
Non-Patent Citations (2)
| Title |
|---|
| 无线能量传输系统能源管理技术研究;李向阳;石德乐;李振宇;董昊;;空间电子技术;20130925(03);全文 * |
| 超级电容无线恒功率充电系统中充电电路的设计;沈承舒;陈小江;;电子世界;20200830(16);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117477803A (en) | 2024-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11870357B2 (en) | Dc-dc converter, on-board charger, and electric vehicle | |
| CN109130903B (en) | Low-voltage high-power wireless charging system with bilateral LCCL-T topology | |
| CN117477803B (en) | Inversion resonance constant-power wireless charging system and control method | |
| CN102195506B (en) | The system and method for inactive matrix converter | |
| CN102468768B (en) | Compensating device and method for electrical converter nonlinearities | |
| US9077194B2 (en) | Power demand management in inductive power transfer systems | |
| CN107618388B (en) | Wireless charging system of electric automobile | |
| CN203423529U (en) | Intelligent car-mounted charger for new energy automobile lithium battery | |
| CN108462396B (en) | Controllable high-voltage direct-current power supply of 35kV oscillatory wave system | |
| CN104901429A (en) | Magnetic coupling resonant wireless energy transmission receiving circuit | |
| CN104158400A (en) | Modularized high-pressure power supply circuit | |
| KR102136564B1 (en) | Power supply apparatus and driving method thereof | |
| CN102421218A (en) | Large power LED high efficiency driving power supply | |
| WO2023226162A1 (en) | Sustainable wireless power supply system for online monitoring device of high-voltage transmission line | |
| CN209169943U (en) | Circuit of synchronous rectification, synchronous rectification protective device and charger | |
| CN116094192B (en) | Multipath wireless power transmission system for realizing constant current output | |
| CN208257661U (en) | The controllable high-voltage DC power supply of 35kV oscillatory wave system | |
| CN201656537U (en) | Accumulator charger | |
| CN113659843B (en) | DCDC converter with low switching loss | |
| US20210132121A1 (en) | Current Sense Apparatus and Method | |
| CN104600808A (en) | Lithium battery charging device and method thereof | |
| CN221328647U (en) | Transformer module, charging circuit and charger | |
| CN220254349U (en) | High-frequency switching power supply and fuel cell power generation system | |
| US20240333026A1 (en) | Power converter and control method therefor, uninterruptible power supply, and power supply system | |
| CN220475617U (en) | Power supply circuit, power supply system and power converter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |