CN118367689A - Wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control - Google Patents
Wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control Download PDFInfo
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Abstract
The invention relates to the technical field of wireless power transmission, and particularly discloses a wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control.
Description
Technical Field
The invention relates to the technical field of wireless power transmission, in particular to a wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control.
Background
WPT technology is a technology that has been pursued throughout the last hundred years and has been involved in many discipline areas of circuity, robotics, medicine, etc. Wireless power technology has successfully achieved electrical isolation between the power source and the load side, which has high safety, high reliability and high flexibility. With the continuous maturation of unmanned aerial vehicle technology, the application of novel unmanned aerial vehicle is emerging constantly, and unmanned aerial vehicle inherent aerial ability obtains further extension, and unmanned aerial vehicle technology's application areas have agriculture, land or infrastructure measurement, photography and emergency action. An important emerging application for unmanned aerial vehicles is the on-demand transportation of goods and services. Unmanned aerial vehicles can provide on-demand, rapid, and convenient access to urban or nearby goods and items, including consumer goods, fast food, pharmaceuticals, groceries, and the like.
On unmanned aerial vehicle inspection, the short duration is always an important factor for the application of the elbow. Since the power supply is often proportional to the weight of the battery, the weight reduction of the fuselage and the enhancement of the endurance time are often not compatible. The wireless power transmission technology is applied to the unmanned aerial vehicle charging technology, a wireless power supply system capable of being used for unmanned aerial vehicle autonomous endurance is researched and designed, the limitation of short unmanned aerial vehicle endurance time is hopeful to be broken through, and a new thought and a new method are provided for the application of the wireless power transmission technology in the unmanned aerial vehicle charging endurance.
However, in practical application, due to the limitation of positioning accuracy of the device, the receiving coil and the transmitting coil often generate position offset, and especially in the landing process of the unmanned aerial vehicle, the receiving coil is also easily affected by ground turbulence, windage yaw and other factors, so that the positioning offset is more serious, and the stability of wireless charging is affected. Therefore, there is a high necessity to design a wireless charging system for an unmanned aerial vehicle with a wide coupling range.
Disclosure of Invention
The invention provides a wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control, which solves the technical problems that: how to realize stable output when the unmanned aerial vehicle deviates.
In order to solve the technical problems, the invention provides a wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control, which comprises a power transmission circuit and a control circuit, wherein the power transmission circuit comprises a direct current power supply U dc, a high-frequency inverter, a magnetic coupling network, a rectifier and an unmanned aerial vehicle battery which are sequentially connected, and is characterized in that:
the control circuit comprises an input voltage switching circuit connected between the input power supply and the high-frequency inverter, a primary side controller connected with the input voltage switching circuit and the input voltage detection circuit, a PWM control circuit connected with the primary side controller and the high-frequency inverter, and a primary side wireless communication module connected with the primary side controller;
the control circuit also comprises an output voltage detection circuit connected with the unmanned aerial vehicle battery, a secondary side controller connected with the output voltage detection circuit and a secondary side wireless communication module connected with the secondary side controller;
The input voltage switching circuit is used for switching the output voltage of the input voltage switching circuit, namely the input voltage U IN of the high-frequency inverter, to be a preset gradient voltage under the control of the primary side controller; the output voltage detection circuit is used for detecting the voltage U L of the battery of the unmanned aerial vehicle, sending the voltage U L to the secondary side controller and sending the voltage U L to the primary side controller through a wireless signal transmission channel formed by the secondary side wireless communication module and the primary side wireless communication module;
The primary side controller is used for performing voltage regulation and phase shift control according to the voltage U IN and the voltage U L, and specifically comprises the following steps: and if the primary side controller judges that the voltage U L does not reach the preset voltage U LS, the PWM control circuit is controlled to adjust the phase shift angle of the high-frequency inverter, if the voltage U L still does not reach the preset voltage U LS, the input voltage switching circuit is controlled to switch the voltage U IN to a higher preset gradient voltage, and then the next round of voltage regulation and phase shift control is carried out.
Preferably, the input voltage switching circuit switches the voltage input to the high-frequency inverter to any preset gradient voltage by dividing the voltage of the dc power supply U dc, where the preset gradient voltage includes a first preset gradient voltage U 1 from low to high to an nth preset gradient voltage U N, and N is greater than or equal to 2.
Preferably, the primary side controller determines that if the voltage still does not reach the preset voltage, the input voltage switching circuit is controlled to switch to a preset gradient voltage higher than the input voltage of the high-frequency inverter, specifically:
the primary side controller calculates DeltaU of U L and U LS at the moment, and judges:
If the delta U is smaller than the first preset voltage difference value, the input voltage switching circuit is controlled to switch to a preset gradient voltage which is one level higher than the input voltage of the current high-frequency inverter, and the phase shift angle delta output by the PWM control circuit is controlled to be pi;
If the delta U is between the first preset voltage difference value and the second preset voltage difference value, controlling the input voltage switching circuit to switch to a preset gradient voltage which is two stages higher than the input voltage of the current high-frequency inverter, and controlling the phase shift angle delta output by the PWM control circuit to be pi/2;
If the delta U is larger than the second preset voltage difference value, the circuit connection is disconnected, and the electric energy emission to the secondary side is stopped.
Preferably, the setting rules of the first preset gradient voltage U 1 to the nth preset gradient voltage U N are:
The first preset gradient voltage U 1 is a standard voltage of the output preset voltage U LS when the coupling mechanism is not shifted;
The nth preset gradient voltage U N is a minimum voltage value that can output the preset voltage U LS through the adjustment of the PWM control circuit when the coupling mechanism generates the allowable maximum offset.
Preferably, the N value is determined according to the following formula:
Representing an upward rounding.
Preferably, an nth preset gradient voltage U n between the first preset gradient voltage U 1 and the nth preset gradient voltage U N is set according to the following formula:
Preferably, the control circuit further comprises an ac output voltage and current detection circuit connected to the output end of the high-frequency inverter and the primary side controller, and the ac output voltage and current detection circuit is used for detecting the output voltage U in and the output current i T of the high-frequency inverter and sending the detected output voltage U in and the output current i T to the primary side controller;
The control circuit further comprises an output current detection circuit connected with the unmanned aerial vehicle battery, wherein the output current detection circuit is used for detecting the current i L of the unmanned aerial vehicle battery and sending the current i L to the secondary side controller, and the secondary side controller further sends the current i L to the primary side controller;
The primary side controller uploads U dc、ULS and the voltage U IN、Uin、iL、Uout、δ、iT at each sampling time to an upper computer.
Preferably, the primary side controller outputs high and low level to control the switching of the input voltage switching circuit by controlling the switching output pin; the control switch output pins are provided with N, and the input voltage switching circuit is provided with: when the ith control switch output pin outputs a low level or a low level, the input voltage switching circuit outputs a preset gradient voltage of the ith order, i=1, …, N.
Preferably, the input voltage switching circuit includes a voltage dividing circuit composed of a voltage stabilizing tube and a resistor, and an isolation circuit connected between the voltage dividing circuit and the primary side controller, where the voltage dividing circuit is used to divide the dc power supply U dc according to a first preset gradient voltage U 1 to an nth preset gradient voltage U N; the isolation circuit is used for isolating the voltage division circuit from M control switching output pins of the primary side controller, when the ith control switching output pin outputs a low level, the optocoupler connected with the pin is not conducted, and when the ith control switching output pin outputs a high level, the optocoupler connected with the pin is conducted.
Preferably, the primary side controller is further configured to control the input voltage switching circuit to switch to a preset gradient voltage with a lower first order if the detected voltage U L has an overshoot voltage or an overshoot current when the input voltage switching circuit outputs the preset gradient voltage, and the PWM control circuit readjust the phase shift angle of the high frequency inverter to stabilize U L at the preset voltage U LS, and control the input voltage switching circuit to switch to the preset gradient voltage with the lower first order if the voltage U L has the overshoot voltage or the overshoot current, so as to cycle until the voltage U L has no overshoot voltage or no overshoot current.
According to the wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control, the input voltage switching circuit, the PWM control circuit and the primary side controller are arranged, the input voltage switching circuit increases or decreases the direct-current voltage input to the high-frequency inverter under the control of the primary side controller, the PWM control circuit controls the phase shift angle of the high-frequency inverter to control the voltage of the unmanned aerial vehicle battery to be stabilized at the preset voltage U LS under the output voltage of the current input voltage switching circuit, when the system is deviated, the voltage of the unmanned aerial vehicle battery is detected, if the voltage of the unmanned aerial vehicle battery can not reach the preset voltage U LS all the time under the control of the PWM control circuit, the input voltage switching circuit is controlled to switch to the preset gradient voltage with higher voltage, and therefore the system can still stably perform power transmission under a certain deviation degree.
Drawings
Fig. 1 is a schematic diagram of a wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control according to an embodiment of the present invention;
FIG. 2 is a flow chart of voltage regulation and phase shift control provided by an embodiment of the present invention;
Fig. 3 is a flowchart of PI control of a conduction angle of a high-frequency inverter according to an embodiment of the present invention;
Fig. 4 is a topology diagram of a power transmission circuit according to an embodiment of the present invention;
FIG. 5 is an exemplary diagram of an input voltage switching circuit provided by an embodiment of the present invention;
FIG. 6 is a simulated waveform diagram of an input voltage of 80V with no offset according to an embodiment of the present invention;
FIG. 7 is a simulated waveform diagram of an embodiment of the present invention with an input voltage of 80V and an offset;
FIG. 8 is a simulated waveform diagram of an embodiment of the present invention with an input voltage of 130V and an offset;
FIG. 9 is a simulated waveform diagram of an input voltage of 130V without offset according to an embodiment of the present invention.
Detailed Description
The following examples are given for the purpose of illustration only and are not to be construed as limiting the invention, including the drawings for reference and description only, and are not to be construed as limiting the scope of the invention as many variations thereof are possible without departing from the spirit and scope of the invention.
The wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control provided by the embodiment of the invention, as shown in fig. 1, comprises a power transmission circuit and a control circuit, wherein the power transmission circuit comprises a direct current power supply U dc, a high-frequency inverter, a magnetic coupling network, a rectifier and an unmanned aerial vehicle battery which are sequentially connected.
In the power transmission circuit, alternating current of 50Hz and 220V is input from commercial power, the alternating current is filtered to obtain direct current (the former part can be equivalent to a direct current power supply U dc), and then the direct current is inverted into high-frequency alternating current with frequency f (100 kHz is taken as an example in the embodiment) by a high-frequency inverter, and the high-frequency alternating current is picked up by a secondary side after passing through a resonant network and a transmitting coil. The secondary coil picks up electric energy, and the electric energy is changed into direct current after passing through a compensation network and an uncontrolled rectifying circuit to charge the unmanned aerial vehicle battery load.
As shown in fig. 1, the control circuit includes an input voltage switching circuit connected between an input power source and a high-frequency inverter, a primary side controller (using STM32 singlechip) connected to the input voltage switching circuit and the input voltage detection circuit, a PWM control circuit connected to the primary side controller and the high-frequency inverter, and a primary side wireless communication module connected to the primary side controller.
The control circuit also comprises an output voltage detection circuit connected with the unmanned aerial vehicle battery, a secondary side controller connected with the output voltage detection circuit and a secondary side wireless communication module connected with the secondary side controller.
The input voltage switching circuit is used for switching the output voltage of the input voltage switching circuit, namely the input voltage U IN of the high-frequency inverter, to be a preset gradient voltage under the control of the primary side controller.
The output voltage detection circuit is used for detecting the voltage U L of the unmanned aerial vehicle battery, sending the voltage U L to the secondary side controller and sending the voltage U L to the primary side controller through a wireless signal transmission channel formed by the secondary side wireless communication module and the primary side wireless communication module.
As shown in the flowchart of fig. 2, the primary side controller is configured to perform voltage regulation and phase shift control according to the voltage U IN and the voltage U L, specifically: the primary side controller judges that if U L does not reach the preset voltage U LS, the PWM control circuit is controlled to adjust the phase shift angle of the high-frequency inverter, if U L still does not reach the preset voltage U LS, the input voltage switching circuit is controlled to switch U IN to a higher preset gradient voltage, and then the next round of voltage regulation and phase shift control is carried out. In this process, the initial input voltage switching circuit outputs at the first preset gradient voltage U 1, and the phase shift angle of the PWM control circuit is 180 ° (at this time, the inverter is fully on, and the output is maximum).
First, it is necessary to set the gradient of the input voltage, and the input voltage switching circuit selects the input voltage. Let the input voltage be set from small to large to U 1、U2、U3, etc. If the input voltage is too large, large current and voltage shocks are likely to occur when performing PI control regulation, and thus the minimum value U 1 is set as default in the beginning. After initializing the input voltage, then initializing a phase shift angle delta, wherein the initial phase shift angle delta 0 is 180, namely the upper bridge arm and the lower bridge arm of the main circuit inverter are just reversed. The phase shift angle delta is then adjusted based on the difference between the actual value of the output voltage and the set value of the output voltage, which is adjusted using a PI controller. And after the PI controller adjusts the phase shift angle delta, if the output voltage still does not reach the set value far enough, the input voltage is too small at the moment, and the input voltage needs to be increased. The information is transmitted back to the STM32 singlechip, the singlechip judges and then switches the input voltage, so that the input voltage is increased by one level upwards, the phase shift angle delta adjustment is performed again, and the process is repeated until the output voltage is near the set value. If the output voltage still does not reach the set value at the maximum input voltage, the fact that the primary and secondary coils of the system deviate beyond the limit at the moment is indicated, the secondary coils can be considered to be separated at the moment, and the system stops working.
A schematic diagram of the PI controller adjusting the phase shift angle delta to further adjust the output voltage is shown in fig. 3.
The system main circuit adopts LCC-S compensation topology, and the topology is shown in figure 4.
According to fig. 4, the relationship between the input dc voltage U IN and the inverter output voltage U IN is:
Wherein M is the mutual inductance between the primary and secondary coils, and L T is the primary resonance compensation inductance. When the unmanned aerial vehicle wireless power transmission system is offset, the change of the mutual inductance M is more severe, so that the change of the self inductance of the primary side and the secondary side is ignored, namely L T is kept unchanged, and the output voltage U L caused by the change of the mutual inductance M can be compensated by adjusting the direct current voltage U IN and the phase shift angle delta. This is the basic principle of the voltage regulation and phase shift control strategy.
In the voltage regulation and phase shift control, the primary side controller judges that if the voltage still does not reach the preset voltage, the input voltage switching circuit is controlled to switch to the preset gradient voltage higher than the input voltage of the current high-frequency inverter, specifically:
The primary side controller calculates Δu between U L (i.e., the maximum voltage that can be output after PMW control) and U LS at this time, and determines that:
If the delta U is smaller than the first preset voltage difference value, the input voltage switching circuit is controlled to switch to a preset gradient voltage which is one level higher than the input voltage of the current high-frequency inverter, and the phase shift angle delta output by the PWM control circuit is controlled to be pi;
If the delta U is between the first preset voltage difference value and the second preset voltage difference value, the input voltage switching circuit is controlled to switch to a preset gradient voltage which is two stages higher than the input voltage of the current high-frequency inverter, and the phase shift angle delta output by the PWM control circuit is controlled to be pi/2;
If the delta U is larger than the second preset voltage difference value, the circuit connection is disconnected, and the electric energy emission to the secondary side is stopped.
When DeltaU is smaller, the first-stage preset gradient voltage is directly jumped, and the preset voltage U LS can be output rapidly. When DeltaU is larger, the deviation is larger than a second preset voltage difference value calibrated in advance, the deviation is indicated to be too large, the output preset voltage U LS can not be achieved through switching to the highest preset gradient voltage, the circuit connection is directly disconnected, power supply is stopped, the unmanned aerial vehicle is reminded of adjusting the position, useless regulation and control can be avoided, and circuit resources are saved. When Δu is in between, it indicates that the one-stage preset gradient voltage can be skipped directly, and the output of the preset voltage U LS can be achieved more quickly, and it should be noted that in this case, if less than two-stage preset gradient voltages remain in total to be switchable, the one-stage preset gradient voltage is skipped.
The input voltage switching circuit is used for realizing switching of the voltage input to the high-frequency inverter into any preset gradient voltage by dividing the direct-current power supply U dc, wherein the preset gradient voltage comprises a first preset gradient voltage U 1 from low to high to an N preset gradient voltage U N, and N is more than or equal to 2.
In this embodiment, the setting rules of the first preset gradient voltage U 1 to the nth preset gradient voltage U N are:
The first preset gradient voltage U 1 is a standard voltage of the output preset voltage U LS when the coupling mechanism is not shifted;
The nth preset gradient voltage U N is a minimum voltage value that can output the preset voltage U LS through adjustment of the PWM control circuit when the coupling mechanism generates an allowable maximum offset.
When the intermediate preset gradient voltage is set, the size of N needs to be determined first.
And the value of N is determined according to the following formula:
Representing an upward rounding.
For example, if U N is 200V, U 1 is 80V, and U LS is 30V, then n= (200-80)/30=4, and voltages U 1 to U 4 of 4 gradients need to be set.
When N is determined, an nth preset gradient voltage U n between the first preset gradient voltage U 1 and the nth preset gradient voltage U N is set according to the following formula:
In the above example, U 1 is 80V, U N is 200V, and U 2＝80+(2-1)(120/3)＝120V,U3 =80+ (3-1) (120/3) =160v.
Therefore, the magnitudes of the first preset gradient voltage U 1 to the N preset gradient voltage U N can be adaptively set according to the difference between the U N and the U 1 and the magnitude of the U LS, so that when the primary side controller performs voltage regulation and phase shifting control, the U L can reach the preset voltage U LS by reasonably preset gradient voltage because of gradual up-level switching, voltage overshoot and current overshoot caused by overhigh preset gradient voltage are avoided, circuit performance is destroyed, too many gradients (namely, N is too large) are also avoided from being set for the first preset gradient voltage U 1 to the N preset gradient voltage U N, and circuit control is too complex.
The control circuit further comprises an alternating current output voltage and current detection circuit connected with the output end of the high-frequency inverter and the primary side controller, wherein the alternating current output voltage and current detection circuit is used for detecting the output voltage U in and the output current i T of the high-frequency inverter and sending the output voltage U in and the output current i T to the primary side controller;
The control circuit further comprises an output current detection circuit connected with the unmanned aerial vehicle battery, wherein the output current detection circuit is used for detecting the current i L of the unmanned aerial vehicle battery and sending the current i L to the secondary side controller, and the secondary side controller further sends the current i L to the primary side controller;
And the primary side controller uploads the U dc、ULS and the voltage U IN、Uin、iL、Uout、δ、iT at each sampling moment to an upper computer for human-computer interaction.
The primary side controller outputs high and low level through a control switching output pin to control the switching of the input voltage switching circuit; the control switch output pins are provided with N, and the input voltage switching circuit is set as: when the ith control switch output pin outputs a low level or a low level, the input voltage switching circuit outputs a preset gradient voltage of the ith order, i=1, …, N.
The input voltage switching circuit comprises a voltage dividing circuit consisting of a voltage stabilizing tube and a resistor and an isolation circuit connected between the voltage dividing circuit and the primary side controller, and the voltage dividing circuit is used for dividing the direct current power supply U dc according to a first preset gradient voltage U 1 to an Nth preset gradient voltage U N; the isolation circuit is used for isolating the voltage division circuit from M control switching output pins of the primary side controller, when the ith control switching output pin outputs a low level, the optocoupler connected with the pin is not conducted, and when the ith control switching output pin outputs a high level, the optocoupler connected with the pin is conducted. This is just one implementation and in implementations other circuits may be employed for the purpose of simplifying the circuit.
For example, when n=2, the input voltage switching circuit may be set to be 80V for U 1, 130V for U 2, and 30V for U LS as shown in fig. 5. The input voltage switching circuit divides the 130V switching voltage source to realize switching control of 130V and 80V input voltage, and the function of the optocoupler is to isolate the main circuit from the control circuit to prevent the main circuit from damaging the control circuit. When the pin of the STM32 singlechip outputs a low level, the optocoupler is not conducted, and the input voltage U in is 80V according to the voltage division; similarly, when the pin of the STM32 singlechip outputs high level, the optocoupler is conducted, and the input voltage U in is 130V according to the voltage division, so that the aim of switching the input voltage is fulfilled.
To verify the above analysis, the simulation unmanned aerial vehicle wireless power transmission system wound the primary secondary coil, and obtained the self inductance of the primary secondary coil and the mutual inductance at a coupling distance of 1cm, and the data thereof are shown in table 1.
TABLE 1
And (4) building a system simulation model by using the Simulink platform and comparing with FIG. 4. The main parameters of the system are shown in table 2.
TABLE 2
When the input voltage U IN is 80V, the output voltage and output current of the system are shown in fig. 6.
As can be seen from fig. 6, when U IN is 80V and there is no offset, the output voltage of the system is stabilized at about 30V, and the output current is stabilized at about 6A, which indicates that the system is operating normally at this time.
In practice, after the primary and secondary coils of the system are offset, the value of the primary and secondary mutual inductance M of the system is mainly affected. The primary-secondary mutual inductance M is reduced to 2.75 muh here to simulate the offset that occurs in practical applications of the system. After the primary and secondary coils of the system are deviated, the simulation waveforms of the output current and the voltage of the system are shown in fig. 7.
As can be seen from fig. 7, when the inverting input voltage U IN is 80V but the primary coil and the secondary coil are offset, the output voltage of the system is far less than 30V, and the output current is also smaller, which means that the offset effect of the system is larger at this time, and the system cannot work normally. After the primary side judges this, the input voltage switching circuit is rapidly controlled to increase the input voltage by one stage, here set to 130V. In the case where the input voltage U IN is 130V and there is an offset, the output voltage and output current waveforms of the system are shown in fig. 8.
As can be seen from fig. 8, after the inverting input voltage U IN is cut to 130V, the output voltage of the system is stabilized again at about 30V, the output current is stabilized again at about 6A, and the output of the system is regulated to be normal.
However, when the system offset disappears, i.e. the input voltage is 130V and there is an offset, the output waveform of the system is as shown in fig. 9.
As is clear from fig. 9, when the input voltage is 130V, the output voltage of the system can be stabilized at about 30V after the offset is corrected, but a large overshoot voltage and overshoot current occur, which should be avoided as much as possible in practical applications. After the STM32 singlechip captures the information, the input voltage is quickly switched back to 80V through the input voltage switching circuit, and the system can normally operate.
In summary, in the wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control provided by the embodiment of the invention, mainly through setting the input voltage switching circuit, the PWM control circuit and the primary side controller, the input voltage switching circuit increases or decreases the direct current voltage input to the high-frequency inverter under the control of the primary side controller, the PWM control circuit controls the phase shift angle of the high-frequency inverter to control the voltage of the unmanned aerial vehicle battery to be stabilized at the preset voltage U LS under the output voltage of the current input voltage switching circuit, when the system is deviated, the voltage of the unmanned aerial vehicle battery is detected, if the voltage of the unmanned aerial vehicle battery can not reach the preset voltage U LS all the time under the control of the PWM control circuit, the input voltage switching circuit is controlled to switch to the preset gradient voltage with higher voltage, so that the system can still stably perform power transmission under a certain deviation degree. Through simulation analysis, the method fully proves that the control strategy based on voltage regulation and phase shift is feasible in realizing the unmanned aerial vehicle wireless power transmission system with a wide coupling range, and greatly improves the offset resistance of the unmanned aerial vehicle wireless power transmission system.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a wireless electric energy transmission system of wide coupling unmanned aerial vehicle based on pressure regulating and phase shift control, includes electric energy transmission circuit and control circuit, electric energy transmission circuit includes DC power supply U dc, high frequency inverter, magnetic coupling network, rectifier and unmanned aerial vehicle battery that connect in proper order, its characterized in that:
the control circuit comprises an input voltage switching circuit connected between the input power supply and the high-frequency inverter, a primary side controller connected with the input voltage switching circuit and the input voltage detection circuit, a PWM control circuit connected with the primary side controller and the high-frequency inverter, and a primary side wireless communication module connected with the primary side controller;
the control circuit also comprises an output voltage detection circuit connected with the unmanned aerial vehicle battery, a secondary side controller connected with the output voltage detection circuit and a secondary side wireless communication module connected with the secondary side controller;
The input voltage switching circuit is used for switching the output voltage of the input voltage switching circuit, namely the input voltage U IN of the high-frequency inverter, to be a preset gradient voltage under the control of the primary side controller; the output voltage detection circuit is used for detecting the voltage U L of the battery of the unmanned aerial vehicle, sending the voltage U L to the secondary side controller and sending the voltage U L to the primary side controller through a wireless signal transmission channel formed by the secondary side wireless communication module and the primary side wireless communication module;
The primary side controller is used for performing voltage regulation and phase shift control according to the voltage U IN and the voltage U L, and specifically comprises the following steps: and if the primary side controller judges that the voltage U L does not reach the preset voltage U LS, the PWM control circuit is controlled to adjust the phase shift angle of the high-frequency inverter, if the voltage U L still does not reach the preset voltage U LS, the input voltage switching circuit is controlled to switch the voltage U IN to a higher preset gradient voltage, and then the next round of voltage regulation and phase shift control is carried out.
2. The wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control of claim 1, wherein: the input voltage switching circuit is used for realizing switching of the voltage input to the high-frequency inverter into any preset gradient voltage by dividing the direct-current power supply U dc, wherein the preset gradient voltage comprises a first preset gradient voltage U 1 from low to high to an N preset gradient voltage U N, and N is more than or equal to 2.
3. The wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control of claim 2, wherein the primary side controller determines that if the voltage still does not reach the preset voltage, the input voltage switching circuit is controlled to switch to a preset gradient voltage higher than the input voltage of the high-frequency inverter at present, specifically:
the primary side controller calculates DeltaU of U L and U LS at the moment, and judges:
If the delta U is smaller than the first preset voltage difference value, the input voltage switching circuit is controlled to switch to a preset gradient voltage which is one level higher than the input voltage of the current high-frequency inverter, and the phase shift angle delta output by the PWM control circuit is controlled to be pi;
If the delta U is between the first preset voltage difference value and the second preset voltage difference value, controlling the input voltage switching circuit to switch to a preset gradient voltage which is two stages higher than the input voltage of the current high-frequency inverter, and controlling the phase shift angle delta output by the PWM control circuit to be pi/2;
If the delta U is larger than the second preset voltage difference value, the circuit connection is disconnected, and the electric energy emission to the secondary side is stopped.
4. The wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control of claim 3, wherein the setting rules of the first preset gradient voltage U 1 to the nth preset gradient voltage U N are:
The first preset gradient voltage U 1 is a standard voltage of the output preset voltage U LS when the coupling mechanism is not shifted;
The nth preset gradient voltage U N is a minimum voltage value that can output the preset voltage U LS through the adjustment of the PWM control circuit when the coupling mechanism generates the allowable maximum offset.
5. The wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control of claim 4, wherein the value of N is determined according to the following equation:
Representing an upward rounding.
6. The wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control of claim 5, wherein an nth preset gradient voltage U n between the first preset gradient voltage U 1 and the nth preset gradient voltage U N is set according to the following formula:
7. the wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control of claim 6, wherein:
The control circuit further comprises an alternating current output voltage and current detection circuit connected with the output end of the high-frequency inverter and the primary side controller, and the alternating current output voltage and current detection circuit is used for detecting the output voltage U in and the output current i T of the high-frequency inverter and sending the output voltage U in and the output current i T to the primary side controller;
The control circuit further comprises an output current detection circuit connected with the unmanned aerial vehicle battery, wherein the output current detection circuit is used for detecting the current i L of the unmanned aerial vehicle battery and sending the current i L to the secondary side controller, and the secondary side controller further sends the current i L to the primary side controller;
The primary side controller uploads U dc、ULS and the voltage U IN、Uin、iL、Uout、δ、iT at each sampling time to an upper computer.
8. The wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control of claim 7, wherein: the primary side controller outputs high and low level control input voltage switching circuit switching through a control switching output pin; the control switch output pins are provided with N, and the input voltage switching circuit is provided with: when the ith control switch output pin outputs a low level or a low level, the input voltage switching circuit outputs a preset gradient voltage of the ith order, i=1, …, N.
9. The wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control of claim 8, wherein: the input voltage switching circuit comprises a voltage dividing circuit formed by a voltage stabilizing tube and a resistor and an isolation circuit connected between the voltage dividing circuit and the primary side controller, and the voltage dividing circuit is used for dividing the direct current power supply U dc according to a first preset gradient voltage U 1 to an N preset gradient voltage U N; the isolation circuit is used for isolating the voltage division circuit from M control switching output pins of the primary side controller, when the ith control switching output pin outputs a low level, the optocoupler connected with the pin is not conducted, and when the ith control switching output pin outputs a high level, the optocoupler connected with the pin is conducted.
10. The wide-coupling unmanned aerial vehicle wireless power transmission system based on voltage regulation and phase shift control according to any one of claims 1 to 9, wherein: the primary side controller is further configured to control the input voltage switching circuit to switch to a preset gradient voltage of a lower first order if the detected voltage U L has an overshoot voltage or an overshoot current when the input voltage switching circuit outputs the preset gradient voltage, and the PWM control circuit readjust the phase shift angle of the high frequency inverter to stabilize U L at the preset voltage U LS, and control the input voltage switching circuit to switch to the preset gradient voltage of the lower first order if the voltage U L has the overshoot voltage or the overshoot current, and so on until the voltage U L has no overshoot voltage or no overshoot current.
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