CN-122001044-A - Unmanned aerial vehicle autonomous wireless charging system

CN122001044ACN 122001044 ACN122001044 ACN 122001044ACN-122001044-A

Abstract

The invention relates to an unmanned aerial vehicle autonomous wireless charging system which comprises a primary side circuit and a secondary side circuit, wherein the primary side circuit comprises an inverter, an energy transmitting unit and a centralized controller, the energy transmitting unit comprises a first gating switch piece, a transmitting end compensation piece, a transmitting coil and a second gating switch piece which are sequentially connected in series between a first output end and a second output end of the inverter, the first gating switch piece and the second gating switch piece of the energy transmitting unit are controlled by the centralized controller, and the secondary side circuit is used for being installed on an unmanned aerial vehicle. The invention manages the connection and disconnection of all the energy transmitting units by sharing the centralized controller, and thoroughly abandons the traditional mode of configuring an independent controller for each energy transmitting unit. The manufacturing cost of the centralized controller is directly reduced, the wiring of control lines is simplified, and the use amount of cables is reduced.

Inventors

WANG WEIKANG
LIAO JUNZUO
CHEN HAOHUA
ZENG ZHAOSONG
HONG JIE
WANG WENTAO
YAO CHUAN
SHI LIN
WANG LEI
ZHU AO
SONG YUJIN
WU ZHIXI
WAN LI
LIU BIN

Assignees

武汉华海通用电气有限公司

Dates

Publication Date: 20260508
Application Date: 20260410

Claims (7)

1. An unmanned aerial vehicle autonomous wireless charging system, comprising: The primary side circuit (10) comprises an inverter (11), an energy transmitting unit (12) and a centralized controller (13), wherein a first input end and a second input end of the inverter (11) are used for being connected with a direct-current power supply, the number of the energy transmitting units (12) is multiple, the energy transmitting unit (12) comprises a first gating switch piece, a transmitting end compensation piece, a transmitting coil and a second gating switch piece which are sequentially connected in series between a first output end and a second output end of the inverter (11), the first gating switch piece and the second gating switch piece of all the energy transmitting units (12) are controlled by the centralized controller (13), the centralized controller (13) can drive on-off of the first gating switch piece and the second gating switch piece of at least one energy transmitting unit (12), the centralized controller (13) is used for continuously sampling primary side input voltage and primary side input current for multiple times in each switching period of the inverter (11) to obtain a voltage array and a current array, multiplying each element in the voltage array and the current array with sine fundamental wave and cosine fundamental wave respectively, calculating to obtain voltage amplitude and voltage phase of the primary side input voltage, current amplitude and current phase of the primary side input current, calculating a phase difference according to the voltage phase and the current phase, calculating a switching frequency through a PID control algorithm, and transmitting the switching frequency to the inverter (11), dynamically tracking a system resonant frequency with a switching frequency of the inverter (11); the secondary side circuit (20) is used for being installed on the unmanned aerial vehicle, and the secondary side circuit (20) and the primary side circuit (10) are matched together to charge the unmanned aerial vehicle.
2. The unmanned aerial vehicle autonomous wireless charging system according to claim 1, wherein a first output end of the inverter (11) is used as a first voltage sampling point a, a second output end of the inverter (11) is used as a second voltage sampling point b, a current sampling point c is arranged between the first output end of the inverter (11) and the first gating switch element, the centralized controller (13) is provided with a first voltage sampling end, a second voltage sampling end and a current sampling end, the first voltage sampling end, the second voltage sampling end and the current sampling end are electrically connected with the first voltage sampling point a, the first voltage sampling point b and the current sampling point c in a one-to-one correspondence manner, the inverter (11) is controlled by the centralized controller (13), and the centralized controller (13) can adjust the switching frequency of the inverter (11).
3. The unmanned aerial vehicle autonomous wireless charging system according to claim 1, wherein said sampling the primary input voltage and primary input current a plurality of times in each switching cycle of said inverter (11) is continuous, comprising, before deriving the voltage array and the current array: when the unmanned aerial vehicle needs to start charging, the inverter (11) is controlled to stop working; controlling the first and second gating switch members of the corresponding energy emitting unit (12) to be closed; After the gating switch state is stable, the inverter (11) is restarted and a soft start procedure is performed.
4. The unmanned aerial vehicle autonomous wireless charging system of claim 3, wherein the soft start procedure is: Setting the switching frequency of the inverter (11) to be higher than the maximum switching frequency of the preset system resonance frequency for a preset period of time, and restarting the frequency tracking control.
5. The unmanned aerial vehicle autonomous wireless charging system of claim 1, wherein the first gating switch and the second gating switch are relays or switches.
6. The unmanned aerial vehicle autonomous wireless charging system of claim 1, wherein the transmitting-end compensator is a capacitor.
7. The unmanned aerial vehicle autonomous wireless charging system according to claim 1, wherein the inverter (11) is a full bridge inverter.

Description

Unmanned aerial vehicle autonomous wireless charging system Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle autonomous wireless charging system. Background Along with popularization of unmanned aerial vehicles in large-scale application scenes such as logistics distribution, inspection and monitoring, agricultural plant protection and the like, unmanned aerial vehicle clusters provide urgent demands for efficient, automatic and sustainable energy supply systems. The wireless charging technology gradually becomes one of key technologies for supporting continuous operation of the unmanned aerial vehicle due to the advantages of no physical contact, high automation degree, strong environmental adaptability and the like. Currently, common unmanned aerial vehicle wireless charging schemes are generally focused on improving adaptability and universality of single-point charging. For example, in the prior art, an architecture that an inverter and a distance tracking control circuit are configured for each charging unit independently is often adopted to implement compensation for pose offset of the unmanned aerial vehicle and wide-range impedance matching. Although the scheme improves the compatibility and fault tolerance of single-point charging to a certain extent, the following problems are exposed when unmanned aerial vehicle clusters are deployed for large scale, same model or similar receiving parameters: 1. each charging unit is required to be provided with a complete frequency conversion unit (such as an inverter) and a control unit, so that the total cost of the system is linearly increased along with the number of charging points, and the large-scale commercial popularization is not facilitated. 2. The large number of distributed power electronic devices not only increases the wiring complexity of the system, but also brings heat dissipation design difficulties, and improves the engineering implementation and later maintenance cost of the system. 3. Under the distributed control architecture, each charging unit works independently, so that energy scheduling optimization and unified management of a cluster level are difficult to realize, and the overall energy efficiency and the intelligent level of the system are limited. 4. In order to avoid the influence of electromagnetic interference generated by the transmitting coil on the adjacent control and frequency conversion unit, a shielding layer is generally required to be additionally arranged for the transmitting coil, so that the material cost is increased, additional energy loss is introduced, and the overall efficiency of the system is reduced. Disclosure of Invention Based on the expression, the invention provides an unmanned aerial vehicle autonomous wireless charging system, which aims to solve the problems of high total cost and complex engineering structure caused by independently configuring a frequency conversion unit and a control unit for each charging unit in the prior art. The technical scheme for solving the technical problems is as follows: an unmanned aerial vehicle autonomous wireless charging system, comprising: The primary side circuit comprises an inverter, an energy transmitting unit and a centralized controller, wherein a first input end and a second input end of the inverter are used for being connected with a direct-current power supply, the number of the energy transmitting units is multiple, the energy transmitting unit comprises a first gating switch piece, a transmitting end compensation piece, a transmitting coil and a second gating switch piece which are sequentially connected in series between the first output end and the second output end of the inverter, the first gating switch piece and the second gating switch piece of all the energy transmitting units are controlled by the centralized controller, the centralized controller can drive the first gating switch piece and the second gating switch piece of at least one energy transmitting unit to be switched on and off, the centralized controller is used for continuously sampling primary side input voltage and primary side input current for many times in each switching period of the inverter to obtain a voltage array and a current array, multiplying each element in the voltage array and the current array with a sine fundamental wave and a cosine fundamental wave respectively, calculating to obtain a voltage amplitude and a voltage phase of the primary side input voltage, a current amplitude and a current phase of the primary side input current, calculating a phase difference according to the voltage phase and the current phase, calculating a switching frequency through a PID control algorithm, and transmitting the switching frequency to the inverter so as to dynamically track the switching frequency of the inverter to the resonant frequency of the system; The secondary side circuit is used f