CN-118560739-B - Low-leakage magnetic flux interference omnidirectional energy transmission unmanned aerial vehicle wireless charging system

CN118560739BCN 118560739 BCN118560739 BCN 118560739BCN-118560739-B

Abstract

The invention relates to the technical field of wireless charging, in particular to a low leakage magnetic flux interference omnibearing energy transfer unmanned aerial vehicle wireless charging system which comprises a transmitting module arranged on a wireless charging platform and a receiving module arranged on an unmanned aerial vehicle, wherein the transmitting module consists of an A-phase solenoid transmitting coil, a B-phase solenoid transmitting coil and a C-phase solenoid transmitting coil, each phase solenoid transmitting coil comprises two arc solenoid coils, 3-phase solenoid transmitting coils are uniformly distributed on the same plane to form a complete circumference, the receiving mechanism comprises two receiving coils which are respectively wound on two supporting legs of an undercarriage of the unmanned aerial vehicle, the transmitting module mainly generates a horizontal magnetic field, almost does not generate a vertical magnetic field to reduce leakage magnetic flux interference, and a rotating magnetic field is generated by exciting currents with 120-degree phase difference in the three-phase solenoid transmitting coils to realize omnibearing wireless energy transfer under any position and any angle offset.

Inventors

FENG TIANXU
PENG YUXIANG
TANG FUQUAN
MENG LIANG
ZHENG SHIWEN
CHEN BINNAN
LIU YU

Assignees

重庆邮电大学

Dates

Publication Date: 20260512
Application Date: 20240520

Claims (5)

1. The omnibearing energy-transfer unmanned aerial vehicle wireless charging system with low leakage magnetic flux interference is characterized by comprising a transmitting module arranged on a wireless charging platform and a receiving module arranged on an unmanned aerial vehicle, wherein the transmitting module consists of an A-phase solenoid transmitting coil, a B-phase solenoid transmitting coil and a C-phase solenoid transmitting coil, each phase solenoid transmitting coil comprises two arc solenoid coils, and three-phase solenoid transmitting coils are uniformly distributed on the same plane to form a complete circumference; The phase A solenoid transmitting coil comprises two A1 arc solenoid coils and A2 arc solenoid coils which are connected in series, the phase B solenoid transmitting coil comprises two B1 arc solenoid coils and B2 arc solenoid coils which are connected in series, and the phase C solenoid transmitting coil comprises two C1 arc solenoid coils and C2 arc solenoid coils which are connected in series; in the transmitting module, 6 arc solenoid coils evenly distributed forms a complete circumference in the same plane, wherein: the left end and the right end of the A1 arc-shaped solenoid coil are respectively adjacent to the right end of the C2 arc-shaped solenoid coil and the left end of the B2 arc-shaped solenoid coil in the direction of outwards circle centers; the left end and the right end of the A2 arc-shaped solenoid coil are respectively adjacent to the right end of the C1 arc-shaped solenoid coil and the left end of the B1 arc-shaped solenoid coil; the right end of the B2 arc solenoid coil is immediately adjacent to the left end of the C1 arc solenoid coil, and the left end of the C2 arc solenoid coil is immediately adjacent to the right end of the B1 arc solenoid coil.
2. The low leakage flux interfering omnidirectional unmanned aerial vehicle wireless charging system of claim 1, wherein each arcuate solenoid coil is 60 ° in arc.
3. The omni-directional energy transfer unmanned aerial vehicle wireless charging system of claim 1, wherein the arc-shaped solenoid coil comprises a circular arc-shaped magnetic core and a coil winding spirally wound on the circular arc-shaped magnetic core.
4. The omni-directional energy transfer unmanned aerial vehicle wireless charging system with low leakage flux interference according to claim 1, wherein in the transmitting module, the exciting current phase difference between the transmitting coils of the three-phase solenoid is 120 °, wherein: when ωt=0, the composite magnetic field inside the transmitting module points to the positive y-axis direction; When ωt=pi/2, the composite magnetic field inside the transmitting module points to the positive direction of the x-axis; When ωt=pi, the composite magnetic field inside the transmitting module points to the negative y-axis direction; when ωt=3pi/2, the composite magnetic field inside the transmitting module points to the negative direction of the x-axis; Where ω represents the angular frequency of the excitation current and t represents time.
5. The omni-directional energy transfer unmanned aerial vehicle wireless charging system with low leakage flux interference according to claim 1, wherein the two receiving coils are connected in series.

Description

Low-leakage magnetic flux interference omnidirectional energy transmission unmanned aerial vehicle wireless charging system Technical Field The invention relates to the technical field of wireless charging, in particular to a low-leakage magnetic flux interference omnidirectional energy-transfer unmanned aerial vehicle wireless charging system. Background The unmanned aerial vehicle is an aircraft which does not need manual driving, has the advantages of flexible, efficient, safe, low-cost and the like in task execution, and has wide application prospects in the fields of military operations, civil aerial photography, electric power inspection, agricultural plant protection, environmental protection, logistics transportation, disaster relief and the like. However, at present, most unmanned aerial vehicles have shorter endurance time, and need to frequently return to a base to be manually charged or replace batteries, and the electric energy supply mode is not suitable for unmanned task demands, so that popularization and application of the unmanned aerial vehicle are greatly limited. The wireless power transfer (wireless power transfer, WPT) technology has the advantages of flexibility, convenience, safety, reliability and the like, and has unique advantages in severe working conditions such as dust, underwater and the like and unattended occasions. The unmanned aerial vehicle adopts a wireless charging mode to realize autonomous electric energy supply, can effectively improve the operation range, meets the unmanned task requirement, and has important significance for further improving the intellectualization of the unmanned aerial vehicle. The electromagnetic coupling mechanism is a key link of the unmanned aerial vehicle wireless charging system, and fig. 1 shows several typical unmanned aerial vehicle wireless charging system coupling mechanisms. Face-to-face circular or rectangular coils are one of the most commonly used coupling mechanisms in unmanned aerial vehicle wireless charging systems, such as the butterfly-shaped coil in fig. 1 (a) and the face-to-face annular coil in fig. 1 (b), and have the advantages of large coupling coefficient, high power efficiency and good anti-rotation offset performance, but at the same time, the coupling mechanisms have poor structural adaptability, occupy additional installation space, shield the view below the unmanned aerial vehicle, increase flying windage and increase leakage flux interference to unmanned aerial vehicle equipment. In order to solve the problem of leakage flux interference, a three-phase close-coupled magnetic coupling mechanism as shown in fig. 1 (c) has been proposed by a learner, and an orthogonal coupling mechanism capable of reducing leakage flux interference and having a light weight as shown in fig. 1 (d) has been proposed by a learner, but the angular offset resistance of both coupling mechanisms is poor. In order to improve the angular offset resistance, a symmetrical magnetic coupling mechanism capable of rotating randomly is proposed, and the structural adaptability is strong. In addition, there has been proposed a transmitting mechanism in which the windings of the inner and outer coils are reversed as shown in fig. 1 (e), and the leakage flux interference can be reduced while improving the angular deviation resistance. On the other hand, in view of the demands of compactness and positional deviation resistance of the coupling mechanism, a learner has proposed a target-shaped transmitting coil and a two-dimensional orthogonal pickup coil capable of generating horizontal and vertical magnetic fields as shown in fig. 1 (f), and has proposed a squirrel-cage receiving mechanism embedded in an undercarriage of an unmanned aerial vehicle, which has a strong structural adaptability. Although the magnetic coupling mechanism mainly uses a magnetic field in the horizontal direction to transmit electric energy, a circular coil exists in the transmitting mechanism, so that a larger magnetic field in the vertical direction is inevitably generated, and the leakage magnetic flux interference is higher. In summary, most of the studied coupling mechanisms are not able to meet both the requirements of high offset fault tolerance and low leakage flux interference. On the other hand, in order to improve the high-offset fault tolerance, the exciting current is usually controlled according to the position and angle of the receiving coil, so that the generated composite magnetic field is directed to the receiving coil in real time, and the omnibearing wireless energy transmission is realized. The learner uses the attitude sensor to detect the position and the angle of the receiving coil, and then uses the communication circuit to send the attitude information of the receiving coil to the transmitting side, thereby controlling the exciting current to generate a targeting magnetic field pointing to the receiving coil, and further realizing omnibearing wireles