KR20190126227A - Impedance matching and control method thereof - Google Patents

Impedance matching and control method thereof Download PDF

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KR20190126227A
KR20190126227A KR1020180050360A KR20180050360A KR20190126227A KR 20190126227 A KR20190126227 A KR 20190126227A KR 1020180050360 A KR1020180050360 A KR 1020180050360A KR 20180050360 A KR20180050360 A KR 20180050360A KR 20190126227 A KR20190126227 A KR 20190126227A
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South Korea
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transmitter
receiver
high frequency
transmission system
wireless power
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KR1020180050360A
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Korean (ko)
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최규철
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최규철
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F1/00—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties
    • H01F1/01—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of inorganic materials
    • H01F1/03—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of inorganic materials characterised by their coercivity
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F27/00—Details of transformers or inductances, in general
    • H01F27/28—Coils; Windings; Conductive connections
    • H01F27/30—Fastening or clamping coils, windings, or parts thereof together; Fastening or mounting coils or windings on core, casing, or other support
    • H01F27/306—Fastening or mounting coils or windings on core, casing or other support
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F27/00—Details of transformers or inductances, in general
    • H01F27/40—Structural association with built-in electric component, e.g. fuse
    • H01F27/402—Association of measuring or protective means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F38/00—Adaptations of transformers or inductances for specific applications or functions
    • H01F38/14—Inductive couplings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/42—Fork lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/15—Fork lift trucks, Industrial trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y02T90/122—
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)

Abstract

The present invention relates to a wireless power transmission system which transmits power wirelessly by a magnetic induction method when a transport machine with a battery such as an electric vehicle, a forklift truck or a golf car enters a charging area or a parking surface. The present invention relates to an impedance matching method and a control method thereof to correct the position of a transmitter installed on the ground when a transport machine is inaccurately located on a charging area or a parking surface, and to maintain transmission efficiency above a certain level against the load fluctuation of a receiver output stage. The present invention has an effect of providing a wireless power transmission system to maintain transmission efficiency above a certain level against the load change of the output terminal of a receiver or against a case when a transport machine is located on an inaccurate charging area by: changing the position of the transmitter exposed to the ground in front and rear, left and right, and up and down directions; changing the position of a transmitter through the rotary angle control of the transmitter by detecting a phase difference between the output current and output voltage of a power supply device; and correcting the inductance of the changed transmitter.

Description

임피던스 매칭과 그 제어방법{Impedance matching and control method thereof}Impedance matching and control method

본 발명은 배터리를 탑재한 전기자동차, 지게차, 골프 카와 같은 운송기계가 충전영역이나 주차 면에 진입하는 경우, 자기유도방식에 의해 무선으로 전력을 전송하는 무선전력전송시스템에 관한 것으로, 운송기계가 충전영역이나 주차 면에 부정정확에 위치하는 경우 지상에 설치된 송신기의 위치를 보정하고, 수신기 출력단의 부하변동에 대해서 전송효율을 일정 이상으로 유지하기 위한 임피던스 매칭방법과 그 제어방법에 관한 것이다.The present invention relates to a wireless power transmission system for transmitting power wirelessly by a magnetic induction method when a transport machine such as an electric vehicle, a forklift truck, or a golf car equipped with a battery enters a charging area or a parking surface. The present invention relates to an impedance matching method and a control method for correcting the position of a transmitter installed on the ground and maintaining a transmission efficiency higher than a certain level against load fluctuations in a receiver output terminal when located in an incorrect position in a charging area or a parking surface.

무선으로 전력을 전송하는 무선전력전송장치는, 송신기와 수신기와의 거리나 혹은 수신기 출력단의 부하변동 시 송신기의 인덕턴스가 변하게 되며, 이 인덕턴스의 변화는 초기 공진조건으로 설정된 커패시터의 정전용량과의 임피던스 매칭을 벗어나게 함으로써, 전송효율이 저하하게 된다.In a wireless power transmitter that transmits power wirelessly, the inductance of the transmitter changes when the distance between the transmitter and the receiver or the load of the receiver output is changed, and the change of the inductance is the impedance of the capacitance of the capacitor set as the initial resonance condition. By leaving the matching, the transmission efficiency is lowered.

수신기의 위치변경이나 부하변동에 대해 전송효율이 저하하는 문제를 해결하기 위해, 가변커패시터나 혹은 가변리액터를 적용하여 해결하려는 다양한 방법들이 제안되고 있으나, 임피던스 매칭을 위해 또 다른 장치가 추가되어야하고, 그 크기와 중량의 제한을 받는 운송기계에 적용하는데 어려움이 있게 되고, 무선전력전송장치의 제조원가가 상승하는 문제점이 있어 왔다.In order to solve the problem that the transmission efficiency decreases with respect to the position change or the load variation of the receiver, various methods have been proposed to solve by applying a variable capacitor or a variable reactor, but another device has to be added for impedance matching. There is a problem in that it is difficult to apply to a transportation machine that is limited in size and weight, and the manufacturing cost of the wireless power transmission apparatus has been increased.

배터리가 탑재된 전기자동차, 지게차, 골프 카와 같은 운송기계를 소정의 충전위치에 정확하게 위치시키는데 어려움이 있고, 운송기계 제조사에 따라 운송기계에 탑재되는 수신기의 높낮이와 설치위치가 다르거나 혹은 수신기의 출력부하가 변하는 경우, 전송용량과 수신기의 출력전압과 전송효율이 떨어지게 된다.It is difficult to accurately position a transportation machine such as an electric vehicle equipped with a battery, a forklift truck, or a golf car at a predetermined charging position, and according to the manufacturer of the transportation machine, the height and installation position of the receiver mounted on the transportation machine are different or the output of the receiver When the load changes, the transmission capacity, the output voltage and the transmission efficiency of the receiver are reduced.

본 발명은, 상기와 같은 문제점을 해결하기 위해 창안된 것으로, 운송기계가 충전영역에 부정확하게 위치하거나 수신기 출력단의 부하변동 시, 전송용량과 수신기의 출력전압, 전송효율을 일정 이상으로 유지하기 위한 무선전력전송시스템을 제공하는 것이다.The present invention has been made to solve the above problems, and when the transport machine is incorrectly located in the charging area or the load fluctuation of the receiver output stage, the transmission capacity, the output voltage of the receiver, the transmission efficiency for maintaining It is to provide a wireless power transmission system.

본 발명은 배터리를 탑재한 운송기계가 무선으로 전력을 공급받기 위해 충전영역에 진입하는 경우, 운송기계에 탑재된 수신기의 위치, 충전에 필요한 전압과 전류의 정보를 운송기계로부터 수신하여, 충전영역의 지상에 설치된 송신기의 위치를 변경하고, 지상에 설치된 전력공급장치의 출력전압과 출력전류의 위상차를 검출하여 그 검출된 위상차가 사전에 설정된 범위를 초과하는 경우 송신기를 회전함으로써 상기 과제를 해결하고자 한다.According to the present invention, when a transport machine equipped with a battery enters a charging area to be wirelessly supplied with power, the receiver receives the information on the location of a receiver mounted on the transport machine, voltage and current necessary for charging, from the transport machine. To solve the above problem by changing the position of the transmitter installed on the ground, detecting the phase difference between the output voltage and the output current of the power supply installed on the ground and rotating the transmitter when the detected phase difference exceeds the preset range. do.

바람직하게는 운송기계에 탑재된 수신기의 설치위치, 배터리를 충전하는데 필요한 전압과 전류의 정보를 수신하여, 송신기의 위치변경이나 혹은 회전각을 변경하는 위치조절장치가 설치된다.Preferably, a position adjusting device for receiving the information on the installation position of the receiver mounted on the transport machine, the voltage and current required to charge the battery, and changing the position of the transmitter or the rotation angle is installed.

바람직하게는, 송신기는 위치조절장치와 함께 특정한 충전영역이나 주차 면의 바닥면이나 혹은 측면에 노출하여 설치되고, 운송기계를 소정의 충전위치에 위치시키는 스토퍼와 함께 설치되지만, 송신기와 위치조절장치의 설치위치는 스토퍼의 위치와는 관계없이 충전영역이나 주차 면의 바닥면이나 혹은 측면 어디에나 설치될 수 있다.Preferably, the transmitter is installed with the stopper on the bottom or side of a particular charging area or parking surface, and is installed with a stopper for positioning the transport machine at a predetermined charging position, but the transmitter and the stopper The mounting position of can be installed on the floor or side of the charging area or parking side regardless of the stopper position.

바람직하게는, 운송기계에 탑재되는 수신기는 송신기와 공기를 통해 이격되어 마주보도록 운송기계의 바닥면이나 혹은 측면에 설치된다.Preferably, the receiver mounted on the transport machine is installed on the bottom or side of the transport machine so as to face the transmitter and the air spaced apart.

바람직하게는, 운송기계로부터 수신기의 설치위치정보를 수신하여 송신기의 위치를 변경하도록 명령하는 위치제어장치는 지상에 설치된 무선전력공급장치와 통합된다.Preferably, the position control device which receives the installation position information of the receiver from the transport machine and instructs to change the position of the transmitter is integrated with the ground-based wireless power supply.

바람직하게는, 무선전력전송장치의 출력전압과 출력전류의 위상차를 검출하여 비교하는 검출장치는 위치제어장치나 혹은 무선전력전송장치와 통합된다.Preferably, the detecting device for detecting and comparing the phase difference between the output voltage and the output current of the wireless power transmission device is integrated with the position control device or the wireless power transmission device.

바람직하게는, 커패시터는 송신기에 병렬로 연결되지만 직렬 혹은 직렬과 병렬로 혼합되어 연결될 수 있다.Preferably, the capacitor is connected in parallel to the transmitter but may be connected in series or in series and in parallel with the series.

바람직하게는, 수신기는 커패시터를 포함하지 않지만 직렬이나 병렬 혹은 직렬과 병렬로 혼합되어 설치될 수 있다.Preferably, the receiver does not include a capacitor but can be installed in series, in parallel, or in series and in parallel.

바람직하게는, 송신기는 볼트, 너트와 같은 고정장치를 통해 위치조절장치에 고정할 수 있는 고정장치를 포함하여 에폭시, 플라스틱과 같은 고분자화합물로 몰딩하여 방수 및 방진 처리된다.Preferably, the transmitter is waterproof and dustproof by molding with a polymer compound such as epoxy or plastic, including a fastener that can be fastened to the positioning device through fasteners such as bolts and nuts.

바람직하게는, 수신기는 볼트, 너트와 같은 고정장치를 통해 운송기계에 고정할 수 있는 고정장치를 포함하여 에폭시, 플라스틱과 같은 고분자화합물로 몰딩하여 방수 및 방진 처리된다.Preferably, the receiver is waterproof and dustproof by molding with a polymer compound, such as epoxy or plastic, including a fastener that can be fastened to a transport machine through fasteners such as bolts and nuts.

본 발명에 의하면, 지상에 노출된 송신기를 전후방향, 좌우방향, 상하방향으로 위치를 변경하고, 전력공급장치의 출력전압과 출력전류의 위상차를 검출하여 송신기의 회전각 제어를 통해, 송신기의 위치를 변경하고, 변경된 송신기의 인덕턴스를 보정함으로써. 운송기계가 부정확한 충전영역에 위치하거나 혹은 수신기 출력단의 부하변동에 대해 전송효율을 일정 이상으로 유지하는 무선전력전송시스템을 제공하는 효과가 있다.According to the present invention, the position of the transmitter is controlled by changing the position of the transmitter exposed to the ground in the front-back direction, the left-right direction, the vertical direction, detecting the phase difference between the output voltage and the output current of the power supply device and controlling the rotation angle of the transmitter. By changing and correcting the inductance of the changed transmitter. It is effective to provide a wireless power transmission system in which a transport machine is located in an incorrect charging area or maintains a transmission efficiency higher than a certain level against load fluctuations at a receiver output.

도 1은 본 발명의 실시 예에 따른 무선전력전송시스템의 모식도
도 2는 본 발명의 송수신기를 구성하는 회로도
도 3은 송신기와 수신기의 중심이 이격되는 경우 송수신기의 인덕턴스 변화 그래프
도 4는 수신기의 부하변동에 대한 송수신기의 인덕턴스 변화 그래프
도 5는 수신기의 부하변동에 대한 수신기의 전기적 특성 변화 그래프
도 6은 수신기의 부하변동에 대한 송신기의 공진주파수 변화 그래프
도 7은 본 발명의 제1 실시 예의 송신기 및 수신기의 평면도
도 8은 본 발명의 제2 실시 예를 설명하기 위한 이해도1 is a schematic diagram of a wireless power transmission system according to an embodiment of the present invention.
2 is a circuit diagram of a transceiver of the present invention.
3 is a graph of variation in inductance of a transceiver when a center of a transmitter and a receiver is spaced apart from each other
4 is a graph of inductance variation of a transceiver for load variation of a receiver;
5 is a graph of change in electrical characteristics of a receiver against load variation of the receiver;
6 is a graph showing a change in resonant frequency of a transmitter against load variation of a receiver;
7 is a plan view of a transmitter and a receiver in a first embodiment of the present invention;
8 is a view for explaining a second embodiment of the present invention

도 1 내지 도 8을 이용하여, 본 발명에 따른 무선전력전송시스템에 대해 설명한다.1 to 8, a wireless power transmission system according to the present invention will be described.

도 1은 본 발명의 실시 예에 따른 무선전력전송시스템의 모식도이다.1 is a schematic diagram of a wireless power transmission system according to an embodiment of the present invention.

본 발명의 실시 예에 따른 무선전력전송시스템은, 운송기계(500)의 바닥면이나 혹은 측면에 설치된 수신기(200)와, 소정의 충전위치에 운송기계(500)를 위치하도록 충전영역이나 주차 면의 바닥면에 설치된 스토퍼(400)와, 충전영역이나 주차 면의 바닥 면이나 혹은 측면에 설치되는 송신기(100)와, 송신기의 위치를 변경하기 위한 위치조절장치(300)와, 상용전원을 입력받아 고주파수의 교류로 변환하여 송신기(100)에 전력을 공급하는 전력공급장치(600)를 갖는다. 배터리(미도시)를 탑재한 운송기계(500)가 송신기(100)가 설치된 충전영역이나 주차 면에 진입하여 무선으로 전력을 전송받아 배터리를 충전한다.Wireless power transmission system according to an embodiment of the present invention, the receiver 200 installed on the bottom or side of the transport machine 500, and the charging area or the parking surface so as to position the transport machine 500 at a predetermined charging position A stopper 400 installed on the bottom surface of the transmitter, a transmitter 100 installed on the bottom surface or the side of the charging area or the parking surface, a position adjusting device 300 for changing the position of the transmitter, and commercial power input. It has a power supply device 600 for converting into high-frequency alternating current to supply power to the transmitter (100). A transportation machine 500 equipped with a battery (not shown) enters a charging area or a parking surface on which the transmitter 100 is installed and wirelessly receives power to charge the battery.

일반적으로 운송기계(500)에 무선으로 전력을 공급하는 무선전력전송시스템은, 외부의 전력공급장치(600)가 충전영역이나 주차 면의 외부에 설치되어 고주파수의 교류전력을 송신기(100)에 공급하면 고주파수의 자기장에 의해 수신기(200)에는 소정의 전압이 유기되고, 그 전압을 직류로 변환하여 배터리를 충전할 수 있는 충전장치(미도시)가 운송기계(600)에 탑재된다.In general, the wireless power transmission system for wirelessly supplying power to the transportation machine 500, the external power supply device 600 is installed outside the charging area or the parking surface to supply high-frequency AC power to the transmitter 100. When a predetermined voltage is induced in the receiver 200 by a high frequency magnetic field, a charging device (not shown) capable of converting the voltage into direct current to charge a battery is mounted in the transportation machine 600.

운송기계(500)를 제작하는 제조사에 따라 수신기(200)의 설치위치가 제각각 다를 수가 있고, 운송기계(500)가 충전영역에 부정확하게 위치하는 경우, 운송기계(500)가 충전영역에 진입하면 운송기계(500)로부터 수신기(200)의 설치위치 정보를 받아 송신기(100)의 위치를 변경하는 위치조절장치(300)는 송신기(100)와 함께 충전영역이나 주차 면에 노출되어 설치된다.The installation location of the receiver 200 may be different depending on the manufacturer who manufactures the transportation machine 500. When the transportation machine 500 is incorrectly located in the charging area, the transportation machine 500 enters the charging area. The position adjusting device 300 for changing the position of the transmitter 100 by receiving the installation position information of the receiver 200 from the transport machine 500 is installed to be exposed to the charging area or the parking surface together with the transmitter 100.

운송기계(500)로부터 충전에 필요한 전압과 전류의 정보를 받아 송신기(100)의 위치를 변경하고, 운송기계(500)로부터 소정의 전압이 발생된다는 정보를 받아, 현재 설정된 송신기(100)의 위치를 그대로 확정하고 전력을 공급하라고 명령하는 위치제어장치(미도시)는 전력공급장치(600)와 통합된다.The position of the transmitter 100 is changed by receiving the information of the voltage and current required for charging from the transport machine 500, and receiving the information that a predetermined voltage is generated from the transport machine 500. The position control device (not shown) for confirming and supplying power is integrated with the power supply device 600.

전력공급장치(600)의 출력전압과 출력전류의 위상차를 검출하여 그 검출된 위상차가 사전에 설정된 범위를 초과하는 경우 송신기(100)의 회전각을 변경하도록 명령하는 검출장치(미도시)는, 전력공급장치(600)에 통합될 수 있고, 위치제어장치에 통합될 수 있다.A detection device (not shown) which detects a phase difference between the output voltage and the output current of the power supply device 600 and instructs to change the rotation angle of the transmitter 100 when the detected phase difference exceeds a preset range, It may be integrated into the power supply 600 and may be integrated into the position control device.

송신기(100)에 연결되는 커패시터(미도시)는 전력공급장치(600)에 통합된다.A capacitor (not shown) connected to the transmitter 100 is integrated into the power supply 600.

송신기(100)와 수신기(200)는 각각 페라이트 철심과 그 페라이트 철심 주위에 권선되는 전기코일로 구성된다.The transmitter 100 and the receiver 200 are each composed of a ferrite core and an electric coil wound around the ferrite core.

도 2는 본 발명의 송수신기를 구성하는 회로도이다.2 is a circuit diagram of a transceiver of the present invention.

도 2에서 송신기(100) 코일(B_Tx)은 커패시터(C_Tx)와 병렬로 연결되며, 그 연결된 회로에 전력공급장치(600)로부터 고주파수의 전압(V_driving)을 공급한다. 수신기(200)의 코일(B_Rx)은 배터리와 같은 전기적 부하(R_Load)에 연결된다.In FIG. 2, the coil B_Tx of the transmitter 100 is connected in parallel with the capacitor C_Tx, and supplies a high frequency voltage V_driving from the power supply device 600 to the connected circuit. The coil B_Rx of the receiver 200 is connected to an electrical load R_Load such as a battery.

전송거리, 전송용량, 수신기 출력전압, 공진주파수를 먼저 결정한 다음, 송신기(100) 코일(B_Tx)이 갖는 인덕턴스를 측정하거나 계산하고, 완전공진이 되도록 커패시터(C_Tx)의 정전용량을 산정한다.After determining the transmission distance, transmission capacity, receiver output voltage, and resonance frequency, the inductance of the transmitter 100 coil B_Tx is measured or calculated, and the capacitance of the capacitor C_Tx is calculated to be completely resonant.

도 2와 같이 회로를 구성한 다음, 인덕턴스와 정전용량의 오차를 보정하기 위해 수신기(100) 출력단의 부하(R_Load)를 변화시키면서 완전공진이 발생되는 공진주파수를 찾아 그 공진주파수를 공급하여, 무선으로 전력을 전송한다.After the circuit is configured as shown in FIG. 2, the resonant frequency where full resonance occurs is found while supplying the resonant frequency while varying the load R_Load at the output terminal of the receiver 100 to correct the error between inductance and capacitance. Transmit power.

본 발명에서는 커패시터(C_Tx)가 송신기(100)의 코일(B_Tx)과 병렬로 연결되었으나, 직렬 혹은 직렬과 병렬을 혼합하더라도 무선전력전송이 가능하고 본 발명의 목적을 구현할 수 있게 된다.In the present invention, the capacitor C_Tx is connected in parallel with the coil B_Tx of the transmitter 100, but wireless power transmission is possible even in series or mixed in series and parallel, and the object of the present invention can be realized.

본 발명에서는 수신기(100)에는 커패시터가 설치되지 않는 것으로 하였으나, 직렬이나 병렬 혹은 직렬과 병렬을 혼합하더라도 무선전력전송이 가능하고 본 발명의 목적을 구현할 수 있게 된다.In the present invention, a capacitor is not installed in the receiver 100, but wireless power transmission is possible even in series, parallel, or a combination of serial and parallel, and the object of the present invention can be realized.

도 2에는 표시되지 않았지만 송수신기의 각 코일들은, 고주파수의 특성이 우수한 페라이트 철심의 주위에 권선된다. Although not shown in Fig. 2, each of the coils of the transceiver is wound around a ferrite core having excellent high frequency characteristics.

도 3은 송신기와 수신기의 중심이 이격되는 경우 송수신기의 인덕턴스 변화 그래프이다.3 is a graph illustrating changes in inductance of a transceiver when centers of a transmitter and a receiver are spaced apart from each other.

송신기(100)의 중심축과 수신기(200)의 중심축이 일치된 점(그래프상의 “0”)으로부터 좌측 혹은 우측으로 상대적 위치를 이동하는 경우, 수신기(200) 인덕턴스는 횡방향 이격거리(Transverse displacement, TD)가 증가할수록 증가하지만, 송신기(100) 인덕턴스는 거의 변화가 없다. 이는 TD가 증가할수록 수신기(200)의 누설리액턴스가 증가하여 수신기(200)의 출력전압과 출력전류가 감소하나, 송신기(100)의 입력전류는 수신기(200)의 출력전류와 더불어 감소하기 때문에 전송효율은 크게 변하지 않는다. 따라서 수신기(200)와 송신기(100)의 상대적 위치가 횡방향으로 이격되는 경우 전송효율의 변화가 작기 때문에 임피던스 매칭을 필요로 하지 않게 된다.When the relative position of the center axis of the transmitter 100 and the center axis of the receiver 200 is moved relative to the left or the right from the point (“0” on the graph), the inductance of the receiver 200 is transversely separated. Although the displacement (TD) increases with increasing, the transmitter 100 inductance is almost unchanged. This is because, as the TD increases, the leakage reactance of the receiver 200 increases, so that the output voltage and output current of the receiver 200 decrease, but the input current of the transmitter 100 decreases with the output current of the receiver 200. The efficiency does not change significantly. Therefore, when the relative positions of the receiver 200 and the transmitter 100 are spaced apart in the lateral direction, impedance change is not required because the change in transmission efficiency is small.

도 4내지 도 6은 수신기의 부하변동에 대한 송수신기의 인덕턴스, 수신기의 전기적 특성 변화 그래프이다.4 to 6 are graphs showing changes in inductance of a transceiver and electrical characteristics of the receiver with respect to load variation of the receiver.

일반적으로 운송기계(500)에 적용되는 배터리는 2차 전지로, 충전시간을 단축하기 위해 충전용량의 80% 정도까지는 큰 전류로 충전하고, 이후 정전압을 통해 작은 전류로 나머지 20% 정도를 충전하고 있다. In general, the battery applied to the transporting machine 500 is a secondary battery. To shorten the charging time, the battery is charged with a large current up to about 80% of the charge capacity, and then the remaining 20% is charged with a small current through a constant voltage. have.

도 4, 도 5에서, 수신기(200) 출력단의 부하가 감소(임피던스 증가, 전류 감소)할수록 송신기(100) 인덕턴스는 증가하기 때문에 송신기(100)의 임피던스 매칭이 필요하게 되며, 또한 부하가 감소할수록 수신기(200)의 출력전압이 증가하고 효율이 떨어지기 때문에, 부하가 감소할수록 수신기(200)의 출력전압을 보다 낮추어야 하고, 임피던스 매칭을 통해 효율을 개선하여야 한다.4 and 5, the impedance of the transmitter 100 is required because the inductance of the transmitter 100 increases as the load of the receiver 200 output terminal decreases (impedance increase, current decrease). Since the output voltage of the receiver 200 increases and the efficiency decreases, the output voltage of the receiver 200 must be lowered as the load decreases, and the efficiency must be improved through impedance matching.

도 6에서, 부하가 감소할수록 송신기(100)의 공진주파수가 감소하기 때문에, 송신기(100)의 인덕턴스를 감소시킴으로써, 전력공급장치(600)에서 공급하는 주파수와 공진주파수와의 매칭이 가능하게 된다.In FIG. 6, since the resonant frequency of the transmitter 100 decreases as the load decreases, matching of the frequency supplied from the power supply device 600 with the resonant frequency is possible by reducing the inductance of the transmitter 100. .

도 7은 본 발명의 제1 실시 예의 송신기 및 수신기의 평면도이다.7 is a plan view of a transmitter and a receiver in a first embodiment of the present invention.

수신기(200) 상면에서 지면을 바라본 것으로, 수신기(200)의 중심축과 송신기(100)의 중심축이 일치된 상태에서 무선으로 전력을 전송하고 있는 중, 수신기(200) 출력단의 부하가 변동하는 경우 전력공급장치(600)의 출력전압과 출력전류와의 사이에 위상의 변화가 생기게 되며, 그 변화폭이 사전에 설정한 값을 초과하는 경우 송신기(100)를 회전하여 송신기(100)의 인덕턴스를 감소시켜, 전력공급장치(600)에서 공급되는 주파수와 공진주파수를 매칭시킴으로써 전송효율을 높일 수 있게 되며, 더불어 수신기(200)의 출력전압을 낮출 수 있게 된다.Looking at the ground from the top of the receiver 200, while transmitting the power wirelessly in the state that the center axis of the receiver 200 and the center axis of the transmitter 100, the load of the output terminal of the receiver 200 changes In this case, a phase change occurs between the output voltage and the output current of the power supply device 600. When the change width exceeds a preset value, the transmitter 100 is rotated to reduce the inductance of the transmitter 100. By reducing, by matching the resonant frequency and the frequency supplied from the power supply device 600 can increase the transmission efficiency, it is possible to lower the output voltage of the receiver 200.

송신기(100)와 수신기(200)의 중심축이 일치하는 경우, 즉 회전각이 0도일 때 수신기(200)의 출력전압과 송신기(100)의 인덕턴스는 최대가 되고, 회전각이 90도일 때 최소가 되기 때문에, 송신기(100)를 시계방향이든 반시계방향이든 0도에서부터 90까지 제어하게 되면 본 발명의 목적을 구현할 수 있게 된다.When the center axes of the transmitter 100 and the receiver 200 coincide, that is, when the rotation angle is 0 degrees, the output voltage of the receiver 200 and the inductance of the transmitter 100 become maximum, and the minimum when the rotation angle is 90 degrees. Therefore, if the transmitter 100 is controlled from 0 degrees to 90 degrees in the clockwise or counterclockwise direction, the object of the present invention can be realized.

또한 수신기(200) 출력단의 부하가 변동하는 경우 전력공급장치(600)의 출력전압을 일정 값으로 조절한 다음 수신기(200)의 회전각을 조절하더라도 임피던스 매칭이 가능하며, 송신기(100)를 상하방향으로 위치를 조절한 다음 수신기(200)의 회전각을 조절하더라도 임피던스 매칭이 가능하게 된다.In addition, when the load of the output terminal of the receiver 200 changes, impedance matching is possible even if the output voltage of the power supply device 600 is adjusted to a predetermined value and then the rotation angle of the receiver 200 is adjusted, and the transmitter 100 is moved up and down. After adjusting the position in the direction, even if the rotation angle of the receiver 200, impedance matching is possible.

따라서 본 발명은, 임피던스 매칭을 위해 별도의 가변커패시터나 혹은 가변리액터를 추가하지 않더라도 송신기(100)의 회전각을 제어함으로써 임피던스 매칭이 가능하게 된다.Accordingly, the present invention enables impedance matching by controlling the rotation angle of the transmitter 100 even without adding a variable capacitor or a variable reactor for impedance matching.

도 8은 본 발명의 제2 실시 예를 설명하기 위한 이해도이다.8 is an understanding diagram for describing a second embodiment of the present invention.

충전영역이나 주차 면에 설치된 송신기(100)와, 위치조절장치(300)와, 운송기계(500)를 소정의 충전위치에 위치하기 위한 스토퍼(400)를 도시한 것으로, 위치조절장치(300)는 회전각의 제어뿐만 아니라 전후방향, 좌우방향, 상하방향으로 송신기(100)의 위치를 변경하게 된다.The transmitter 100, the position adjusting device 300, and the stopper 400 for positioning the transporting machine 500 at a predetermined charging position are shown in the charging area or the parking surface, and the position adjusting device 300 is shown. In addition to the control of the rotation angle is to change the position of the transmitter 100 in the front, rear, left, and right directions.

본 발명은 무선으로 전력을 전송하는 무선전력전송시스템에 적용할 수 있다.The present invention can be applied to a wireless power transmission system for transmitting power wirelessly.

100 : 송신기
200 : 수신기
300 : 위치조절장치
400 : 스토퍼
500 : 운송기계
600 : 전력공급장치100: transmitter
200: receiver
300: position adjusting device
400: stopper
500: Transport machine
600: power supply device

Claims (9)

배터리를 탑재한 운송기계가 충전영역이나 주차 면에 진입하는 경우, 무선으로 전력을 전송받아 배터리를 충전하기 위한 무선전력전송시스템에 있어서,

지상에 설치되며 고주파수 교류전력을 발생하는 전력공급장치와;

상기 전력공급장치로부터 고주파수의 교류전력을 공급받아 고주파수의 자기장을 발생하며, 페라이트 철심과 그 철심 주위에 감겨진 전기코일로 구성되고, 지상에 노출되는 송신기와;

상기 송신기의 회전각을 변경하는 위치조절장치와;

상기 송수신기에 연결되는 커패시터와;

상기 송신기로부터 공급된 고주파수의 자기장과 결합하며, 페라이트 철심과 그 철심 주위에 감겨진 전기코일로 구성되는 수신기로;

구성하여, 상기 전력공급장치의 출력전압과 출력전류의 위상차를 검출하여, 그 검출된 위상차가 사전에 설정된 범위를 초과하는 경우 상기 송신기의 회전각을 제어함으로써, 상기 수신기 출력단의 부하변동에 대해 전송효율을 일정 이상으로 유지하는 무선전력전송시스템
In a wireless power transmission system for charging a battery by wirelessly receiving power when a transport machine equipped with a battery enters a charging area or a parking surface,

A power supply device installed on the ground and generating high frequency AC power;

A transmitter configured to receive a high frequency AC power from the power supply and generate a high frequency magnetic field, comprising a ferrite core and an electric coil wound around the core and exposed to the ground;

A position adjusting device for changing a rotation angle of the transmitter;

A capacitor coupled to the transceiver;

A receiver coupled to a high frequency magnetic field supplied from the transmitter, the receiver comprising a ferrite core and an electric coil wound around the core;

And detects a phase difference between an output voltage and an output current of the power supply device, and controls the rotation angle of the transmitter when the detected phase difference exceeds a preset range, thereby transmitting the load variation of the receiver output stage. Wireless power transmission system that maintains efficiency above a certain level
청구항 1에 있어서,

상기 위치조절장치는 회전각의 조절뿐만 아니라 전후방향, 좌우반향, 상하방향의 3개 중, 적어도 하나 이상의 방향으로 상기 수신기의 위치를 변경하는 무선전력전송시스템

The method according to claim 1,

The position control device is a wireless power transmission system for changing the position of the receiver in at least one of the three directions of the front, rear, left and right, up and down direction as well as adjusting the rotation angle.

배터리를 탑재한 운송기계가 충전영역이나 주차 면에 진입하는 경우, 무선으로 전력을 전송받아 배터리를 충전하기 위한 무선전력전송시스템에 있어서,

지상에 설치되며 고주파수 교류전력을 발생하는 전력공급장치와;

상기 전력공급장치로부터 고주파수의 교류전력을 공급받아 고주파수의 자기장을 발생하며, 페라이트 철심과 그 철심 주위에 감겨진 전기코일로 구성되고, 지상에 노출되는 송신기와;

상기 송신기의 회전각을 변경하는 위치조절장치와;

상기 송수신기에 연결되는 커패시터와;

상기 송신기로부터 공급된 고주파수의 자기장과 결합하며, 페라이트 철심과 그 철심 주위에 감겨진 전기코일로 구성되는 수신기로;

구성하여, 상기 전력공급장치의 출력전압을 일정 값으로 조절한 다음, 출력전압과 출력전류의 위상차를 검출하여 그 검출된 위상차가 사전에 설정된 범위를 초과하는 경우 상기 송신기의 회전각을 제어함으로써, 상기 수신기 출력단의 부하변동에 대해 전송효율을 일정 이상으로 유지하는 무선전력전송시스템
In a wireless power transmission system for charging a battery by wirelessly receiving power when a transport machine equipped with a battery enters a charging area or a parking surface,

A power supply device installed on the ground and generating high frequency AC power;

A transmitter configured to receive a high frequency AC power from the power supply and generate a high frequency magnetic field, comprising a ferrite core and an electric coil wound around the core and exposed to the ground;

A position adjusting device for changing a rotation angle of the transmitter;

A capacitor coupled to the transceiver;

A receiver coupled to a high frequency magnetic field supplied from the transmitter, the receiver comprising a ferrite core and an electric coil wound around the core;

And adjusting the output voltage of the power supply device to a predetermined value, and then detecting a phase difference between the output voltage and the output current and controlling the rotation angle of the transmitter when the detected phase difference exceeds a preset range, Wireless power transmission system that maintains the transmission efficiency above a certain level against the load fluctuation of the receiver output stage
청구항 3에 있어서,

상기 위치조절장치는 회전각의 조절뿐만 아니라 전후방향, 좌우반향, 상하방향의 3개 중, 적어도 하나 이상의 방향으로 상기 수신기의 위치를 변경하는 무선전력전송시스템
The method according to claim 3,

The position control device is a wireless power transmission system for changing the position of the receiver in at least one of the three directions of the front, rear, left and right, up and down direction as well as adjusting the rotation angle.
배터리를 탑재한 운송기계가 충전영역이나 주차 면에 진입하는 경우, 무선으로 전력을 전송받아 배터리를 충전하기 위한 무선전력전송시스템에 있어서,

지상에 설치되며 고주파수 교류전력을 발생하는 전력공급장치와;

상기 전력공급장치로부터 고주파수의 교류전력을 공급받아 고주파수의 자기장을 발생하며, 페라이트 철심과 그 철심 주위에 감겨진 전기코일로 구성되고, 지상에 노출되는 송신기와;

상기 송신기의 위치를 상하방향으로 변경하고 회전각을 제어하는 위치조절장치와;

상기 송수신기에 연결되는 커패시터와;

상기 송신기로부터 공급된 고주파수의 자기장과 결합하며, 페라이트 철심과 그 철심 주위에 감겨진 전기코일로 구성되는 수신기로;

구성하여, 상기 송신기를 상하방향으로 위치를 조정한 다음, 출력전압과 출력전류의 위상차를 검출하여 그 검출된 위상차가 사전에 설정된 범위를 초과하는 경우 상기 송신기의 회전각을 제어함으로써, 상기 수신기 출력단의 부하변동에 대해 전송효율을 일정 이상으로 유지하는 무선전력전송시스템
In a wireless power transmission system for charging a battery by wirelessly receiving power when a transport machine equipped with a battery enters a charging area or a parking surface,

A power supply device installed on the ground and generating high frequency AC power;

A transmitter configured to receive a high frequency AC power from the power supply and generate a high frequency magnetic field, comprising a ferrite core and an electric coil wound around the core and exposed to the ground;

A position adjusting device for changing a position of the transmitter in a vertical direction and controlling a rotation angle;

A capacitor coupled to the transceiver;

A receiver coupled to a high frequency magnetic field supplied from the transmitter, the receiver comprising a ferrite core and an electric coil wound around the core;

And adjust the position of the transmitter in the up and down direction, and then detect the phase difference between the output voltage and the output current and control the rotation angle of the transmitter when the detected phase difference exceeds a preset range. Wireless power transmission system that maintains the transmission efficiency above a certain level against load change
청구항 5에 있어서,

상기 위치조절장치는 상하방향의 위치조절과 회전각을 제어하는 것뿐만 아니라 전후방향, 좌우방향 중, 적어도 하나 이상의 방향으로 상기 수신기의 위치를 변경하는 무선전력전송시스템
The method according to claim 5,

The position adjusting device not only controls the position adjustment and the rotation angle in the vertical direction, but also changes the position of the receiver in at least one of the front, rear, left and right directions, the wireless power transmission system.
배터리를 탑재한 운송기계가 충전영역이나 주차 면에 진입하는 경우, 무선으로 전력을 전송받아 배터리를 충전하기 위한 무선전력전송시스템에 있어서,

지상에 설치되며 고주파수 교류전력을 발생하는 전력공급장치와;

상기 전력공급장치로부터 고주파수의 교류전력을 공급받아 고주파수의 자기장을 발생하며, 페라이트 철심과 그 철심 주위에 감겨진 전기코일로 구성되고, 지상에 노출되는 송신기와;

상기 송신기의 위치를 상하방향으로 변경하는 위치조절장치와;

상기 송수신기에 연결되는 커패시터와;

상기 송신기로부터 공급된 고주파수의 자기장과 결합하며, 페라이트 철심과 그 철심 주위에 감겨진 전기코일로 구성되는 수신기로;

구성하여, 배터리를 탑재한 운송기계가 충전영역에 진입하면 운송기계로부터 상기 수신기의 설치위치정보를 받아, 상기 위치조절장치로 상기 송신기의 위치를 변경하는 무선전력전송시스템
In a wireless power transmission system for charging a battery by wirelessly receiving power when a transport machine equipped with a battery enters a charging area or a parking surface,

A power supply device installed on the ground and generating high frequency AC power;

A transmitter configured to receive a high frequency AC power from the power supply and generate a high frequency magnetic field, comprising a ferrite core and an electric coil wound around the core and exposed to the ground;

Position adjusting device for changing the position of the transmitter in the vertical direction;

A capacitor coupled to the transceiver;

A receiver coupled to a high frequency magnetic field supplied from the transmitter, the receiver comprising a ferrite core and an electric coil wound around the core;

The wireless power transmission system configured to receive the installation position information of the receiver from the transport machine when the transport machine equipped with the battery enters the charging area and change the position of the transmitter to the position control device.
청구항 7에 있어서,

운송기계로부터 상기 수신기의 설치위치정보뿐만 아니라 충전에 필요한 전압과 전류의 정보를 더 받아 상기 전력공급장치의 전압을 상승하거나 혹은 상기 송신기를 상하방향으로 이동하여, 운송기계로부터 받은 전압과 전류의 정보에 대응하는 전압을 상기 수신기가 출력하는 무선전력전송시스템
The method according to claim 7,

In addition to the installation position information of the receiver as well as the information of the voltage and current required for charging from the transport machine to increase the voltage of the power supply or move the transmitter in the up and down direction, the information of the voltage and current received from the transport machine The wireless power transmission system outputs a voltage corresponding to
청구항 7에 있어서,

상기 위치조절장치는 상하방향의 위치조절뿐만 아니라 회전각, 전후방향, 좌우방향 중, 적어도 하나 이상의 방향으로 상기 수신기의 위치를 변경하는 무선전력전송시스템The method according to claim 7,

The position adjustment device is a wireless power transmission system for changing the position of the receiver in at least one of the rotation angle, front and rear, left and right direction as well as the vertical position adjustment.
KR1020180050360A 2018-05-01 2018-05-01 Impedance matching and control method thereof KR20190126227A (en)

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