CN-115912680-B - Composite anti-rotation offset method for underwater vehicle wireless power transmission system

CN115912680BCN 115912680 BCN115912680 BCN 115912680BCN-115912680-B

Abstract

The invention discloses a compound anti-rotation offset method for an underwater vehicle wireless power transmission system, which comprises an anti-rotation offset coupling mechanism and an anti-rotation offset power stabilization control strategy, wherein the anti-rotation offset coupling mechanism comprises two transmitting coil groups and one receiving coil group, the receiving coil groups are of annular structures and are formed by connecting six segmented coils in series, the winding directions of adjacent coils are opposite, a first transmitting coil group and a second transmitting coil group are respectively formed by two coils connected in series, the winding directions of two transmitting coils of the same group are the same, and the anti-rotation offset power stabilization control strategy realizes output power stabilization control by acquiring output power in real time, calculating the change rate of the output power and adjusting the phase angles of the two inverters, wherein a first inverter drives the first transmitting coil group, and a second inverter drives the second transmitting coil group. The invention improves the tolerance of the rotation offset of the system and realizes the stable transmission of the output power under different rotation offset angles.

Inventors

YAN ZHENGCHAO
ZHAO CHENXU
WANG LAILI
HU QIANYU
WU MIN
ZHU LEI

Assignees

西安交通大学

Dates

Publication Date: 20260505
Application Date: 20221125

Claims (7)

1. The composite anti-rotation offset method for the underwater vehicle wireless power transmission system is characterized by being realized by an anti-rotation offset coupling mechanism and an anti-rotation offset power stability control unit of the underwater vehicle; The anti-rotation offset coupling mechanism comprises two transmitting coil groups and one receiving coil group, wherein the receiving coil group is of an annular structure and is formed by connecting six segmented coils in series, the winding directions of adjacent coils are opposite, the first transmitting coil group and the second transmitting coil group are respectively formed by two coils connected in series, and the winding directions of the two transmitting coils of the same group are the same; The anti-rotation offset power stabilization control unit comprises a primary circuit, the primary circuit is composed of a direct current power supply, a primary controller, a first inverter, a second inverter, a first transmitting coil group, a second transmitting coil group and a compensation network, and a secondary circuit is composed of a secondary coil group, a secondary controller, a passive full-bridge rectifier and a load, wherein the first inverter drives the first transmitting coil group, the second inverter drives the second transmitting coil group, and the primary controller adjusts the output voltage phase angles of the first inverter and the second inverter to realize closed-loop control of secondary output power; The secondary side output power closed loop control specifically comprises the steps that an initial phase angle is set to 90 degrees by a primary side controller, the secondary side controller collects output power in real time and feeds the output power back to the primary side controller through a communication module, the primary side controller compares an output power collection value P o (k) with expected output power P o_ref to obtain an output power change rate delta (k), if delta (k) is lower than delta ref , ending, if delta (k) is higher than delta ref , the phase angle of a first inverter and a second inverter controlling a next control period is reduced by delta theta, the output power P o (k+1) is collected and the power change rate delta (k+1) is calculated, if the output power error delta (k+1) of the next control period is smaller than the output power error delta (k) of a previous control period, the phase angle is continuously reduced until the power change rate is lower than delta ref , if the output power error delta (k) of the next control period is lower than delta ref , the phase angle delta (k) is controlled to be larger than the output power error delta (k) of the previous control period, if the phase angle delta (k) is lower than delta (k) of the first inverter controlling the next control period is controlled, the phase angle of the first inverter and the phase angle of the second inverter is controlled to be reduced by delta theta, the output power change rate delta (k) is calculated to be lower than 35+1), and the output power change rate is calculated to be lower than the phase angle delta (k) is increased until the phase angle of the next control period is lower than the phase error is lower than the output than 35 plus than the output error (k) is calculated, and is lower than the control period.
2. The method of claim 1, wherein the two transmit coil sets are solenoid coils incorporating a magnetic core.
3. The method of claim 1, wherein the receiver coil assembly is a solenoid coil incorporating a magnetic core.
4. The method of claim 1, wherein six segmented coils in the receive coil set are the same size.
5. The method of claim 1, wherein the four coils of the transmit coil set are the same size.
6. The method of claim 1, wherein the magnetic fields generated by the two transmit coil sets are orthogonal to each other and decoupled from each other.
7. The method of claim 1, wherein the mutual inductances of the receiver coil assembly and the two transmitter coil assemblies compensate each other to suppress an equivalent total mutual inductance change of the coupling mechanism.

Description

Composite anti-rotation offset method for underwater vehicle wireless power transmission system Technical Field The invention belongs to the technical field of wireless charging, and particularly relates to a compound anti-rotation migration method for an underwater vehicle wireless power transmission system. Background Underwater vehicles are an effective tool for human development and utilization of the ocean, and are currently the focus of research in countries around the world. The energy source plays a decisive role in the ability of the underwater vehicle to continuously operate and perform remote tasks for a long period of time. The wide application of wireless charging technology provides an effective solution to the problem of electric energy supply of underwater vehicles. The underwater vehicle performs wireless power supply in the ocean, and due to ocean current impact, deflection is inevitably generated, so that the mutual inductance between the transmitting coil and the receiving coil is changed drastically, and stable transmission of power is affected. Therefore, in order to improve the anti-offset performance of the transmitting end and the receiving end in the wireless charging process of the underwater vehicle, various methods can improve the offset tolerance of the system. The first method is to improve the anti-rotation offset performance of the system under the condition that the convergence of the magnetic field of the system is ensured by the design of a magnetic coupling mechanism, the second method is to improve the tolerance of the system to offset under different working conditions by the design of a hybrid compensation topology, and the third method is to adjust certain key parameters of the system in real time by a system control method, reduce the fluctuation of output and improve the error tolerance of the system. However, using a single method to combat the drift of underwater vehicles in wireless power transfer is limited. Disclosure of Invention The invention aims to provide a compound anti-rotation migration method for an underwater vehicle wireless power transmission system, a receiving coil in the system can be conveniently embedded into an underwater vehicle shell, and the coil structure can save the internal space of the underwater vehicle. The invention improves the tolerance of the rotation offset of the system and realizes the stable transmission of the output power under different rotation offset angles. In order to achieve the above purpose, the present invention is implemented by adopting the following technical scheme: a composite anti-rotational misalignment method for an underwater vehicle wireless power transfer system, the composite anti-rotational misalignment method comprising an anti-rotational misalignment coupling mechanism and an anti-rotational misalignment power stabilization control strategy for the underwater vehicle; The anti-rotation offset coupling mechanism comprises two transmitting coil groups and one receiving coil group, wherein the receiving coil group is of an annular structure and is formed by connecting six segmented coils in series, the winding directions of adjacent coils are opposite, the first transmitting coil group and the second transmitting coil group are respectively formed by two coils connected in series, and the winding directions of the two transmitting coils of the same group are the same; The anti-rotation offset power stabilization control strategy comprises a primary circuit, the primary circuit is composed of a direct current power supply, a primary controller, a first inverter, a second inverter, a first transmitting coil group, a second transmitting coil group and a compensation network, a secondary circuit is composed of a secondary coil group, a secondary controller, a passive full-bridge rectifier and a load, wherein the first inverter drives the first transmitting coil group, the second inverter drives the second transmitting coil group, and the primary controller adjusts the output voltage phase angles of the first inverter and the second inverter to realize closed-loop control of secondary output power. A further improvement of the invention is that both transmit coil sets are solenoid coils incorporating magnetic cores. A further improvement of the invention is that the receiver coil assembly is a solenoid coil incorporating a magnetic core. A further improvement of the invention is that the six segmented coils in the receive coil set are the same size. A further improvement of the invention is that the four coils of the transmit coil assembly are the same size. A further development of the invention consists in that the magnetic fields generated by the two transmit coil sets are mutually orthogonal and decoupled from each other. The invention is further improved in that the mutual inductances of the receiving coil set and the two transmitting coil sets compensate each other to suppress an equivalent total mutu