CN110875635A - Transmitting coil array control method for improving wireless charging interoperability of electric automobile - Google Patents
Transmitting coil array control method for improving wireless charging interoperability of electric automobile Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
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Abstract
The invention provides a transmitting coil array control method for improving wireless charging interoperability of an electric automobile, and belongs to the technical field of wireless charging of electric automobiles. The method comprises the following steps: establishing a control system corresponding to the control method; step two: initializing a control system; step three: judging the load; step four: processing parameters; step five: and the DC-DC voltage regulating circuit regulates. The control method is applied to the field of wireless charging of electric automobiles, and has the characteristic of realizing interoperability with receiving coils of different types and the like.
Description
Technical Field
The invention relates to a transmitting coil array control method for improving wireless charging interoperability of an electric automobile, and belongs to the technical field of wireless charging of electric automobiles.
Background
In recent years, due to the characteristics of convenience, safety, attractiveness and the like, the wireless charging technology is widely applied to the field of electric automobile charging. The structure and the working process of the wireless charging system of the electric automobile are as follows: the transmitting end-inverter inverts the direct current into high-frequency alternating current through DC-AC conversion, the alternating current output by the inverter is introduced into a transmitting coil arranged on the ground or underground, and a high-frequency electromagnetic field is generated in a charging area; the receiving end, a receiving coil installed on the automobile chassis induces the high-frequency electromagnetic field of the transmitting coil to generate high-frequency voltage, and the high-frequency voltage is converted into direct current through a rectifying circuit to charge the vehicle-mounted battery. When the circuits of the transmitting end and the receiving end are both in a resonance state, the reactive power of the system can be reduced, and the transmission power and the efficiency of the system are improved.
When the coil and the compensation topology of the transmitting end and the receiving end are different, the charging system cannot work normally. Different types of coils and topologies cannot be compatible, products produced by different manufacturers do not have universality, and more importantly, related standards of interoperability are not formulated at home at present, so that the popularization of wireless charging products of electric vehicles is further hindered.
Although a small amount of research is carried out on the problem of wireless charging interoperability of electric automobiles at present, the existing research shows that the mechanical control structure is complex and the corresponding speed is slow, and because alternating current with the frequency of hundreds of kHz and the amplitude of dozens of amperes is generally introduced into a coil, the switching function provided in the method is difficult to realize by applying a proper electronic device or mechanical structure, and the engineering practicability is lacked.
Disclosure of Invention
The invention provides a transmitting coil array control method for improving wireless charging interoperability of an electric automobile, aiming at solving the problems that a charging system corresponding to the control method cannot work normally and different types of coils and topologies cannot be controlled compatibly when coils and compensation topologies of a transmitting end and a receiving end are different in the existing control method, and the technical scheme is as follows:
a transmit coil array control method for improving electric vehicle wireless charging interoperability, the control method comprising:
the method comprises the following steps: establishing a control system corresponding to the control method, wherein the control system comprises two transmitting end circuits and a PID controller; each transmitting end circuit comprises a direct-current power supply, a DC-DC voltage regulating circuit, a full-bridge inverter, a transmitting coil, a compensation network, a voltage sensor and a current sensor;
step two: initializing a control system, and setting PWM signals sent to each full-bridge inverter by a PID controller to be synchronously generated, namely setting a phase angle between two full-bridge inverters to be 0 degrees;
step three: the PID controller acquires the output voltage of the load end in a wireless communication mode, and judges the receiving coil according to the output voltage of the load end: judging whether the type of a receiving coil corresponding to the transmitting coil is a bipolar coil or not, and if the type of the receiving coil is not the bipolar coil, directly entering a parameter processing step; if the receiving coil is a bipolar coil, setting a phase angle between two full-bridge inverters to be 180 degrees, and then entering a parameter calculation processing step;
step four: parameter processing, wherein when the positions of a transmitting coil of a control system and a receiving coil corresponding to the transmitting coil are constantly changed, the PID controller acquires load information in a wireless communication mode, and the voltage sensor sends acquired input voltage to the PID controller; the current sensor sends the acquired transmitting coil current to the PID controller; the PID controller calculates a mutual inductance value between the transmitting coil and the receiving coil by using load information, input voltage acquired by the voltage sensor and transmitting coil current acquired by the current sensor, and determines a satisfying condition between the transmitting coil current and the mutual inductance value; the PID controller obtains a suitable transmitting coil current value under the condition of charging transmission power as a PI (proportional integral) regulation target value of the PID controller according to the satisfying condition between the transmitting coil current and the mutual inductance value;
step five: and the PID controller adjusts the DC-DC voltage regulating circuit according to the PI adjusting target value and controls the current of the transmitting coil by adjusting the DC-DC voltage regulating circuit so as to realize self-adaptive power control when the positions of the transmitting coil and the receiving coil are changed.
Furthermore, the acquisition signal output end of the current sensor and the acquisition signal output end of the voltage sensor of each transmitting end circuit are connected with the acquisition signal input end of the PID controller; the control signal output end of the PID controller is respectively connected with the control signal input end of the DC-DC voltage regulating circuit of each transmitting end circuit; and the PWM signal end of the PID controller is respectively connected with the driving ends of the switch tubes of the full-bridge inverter.
Furthermore, the compensation network adopts an LCL topological structure, the rear stage of the full-bridge inverter is connected with the transmitting coil through the LCL topological structure, and relevant parameters in the LCL structure meet the following relations:
wherein f is the system working frequency; l isfaAnd LfbRespectively representing the series inductance in the LCL structure; cfRepresents the parallel capacitance in the LCL structure; cpaAnd CpbRespectively representing the series capacitance in the LCL structure; l ispIndicating the inductance of the transmitting coil L1 or L2.
Further, the transmitting-side coil array includes transmitting coils in two of the transmitting-side circuits; the size, the shape and the number of turns of the two transmitting coils are completely the same; the two transmitting coils are mutually overlapped, and the overlapping area is 1/2 of the area enclosed by one transmitting coil;
if the current phases in the two transmitting coils are the same, the two transmitting coils transmit magnetic fluxes in the vertical direction, and the transmitting coils are used for charging the circular receiving coil;
and if the phases of the currents in the two transmitting coils are different by 180 degrees, the transmitting coils transmit horizontal magnetic fluxes and are used for charging the bipolar receiving coil.
Further, the specific process of the PID controller determining the receiving coil according to the output voltage of the load end in the third step is as follows:
the first step is as follows: the voltage sensor sends the acquired input voltage to the PID controller; the current sensor sends the acquired transmitting coil current to the PID controller;
the second step is that: after the control system issues a charging starting command, weak voltage for testing is added to the full-bridge inverter respectively;
the third step: the PID controller acquires the output voltage of a load end in a wireless communication mode and judges the output voltage of the load end; if the output voltage of the load end is in a normal range, starting a normal charging process;
the fourth step: if the output voltage of the load end is lower than the normal range, the PWM signal generation time of the PID controller is regulated as follows: the PWM signal of one full-bridge inverter occurs with a time lag behind 1/2 periods of the PWM signal of the other full-bridge inverter;
the fifth step: and repeating the processes from the first step to the fourth step until the output voltage of the load end is in a normal range, and stopping the charging process if the output voltage of the load end is always lower than the normal range.
Further, the specific process of parameter processing in the fourth step is as follows:
step 1: when the positions of a transmitting coil of a control system and a receiving coil corresponding to the transmitting coil are constantly changed, the PID controller acquires load information in a wireless communication mode;
step 2: the voltage sensor collects the input voltage after the positions of the transmitting coil and the receiving coil are changed in real time and sends the collected input voltage to the PID controller;
and 3, step 3: the current sensor collects the current of the transmitting coil after the position of the transmitting coil and the position of the receiving coil are changed in real time and sends the collected current of the transmitting coil to the PID controller;
and 4, step 4: the PID controller calculates mutual inductance values between the two transmitting coils and the corresponding receiving coils according to the current of the transmitting coils and the input voltage:
wherein, M1 and M2 respectively represent mutual inductance values between the two transmitting coils and the corresponding receiving coils; u shapep1And Up2Respectively representing two full-bridge inverter input voltages; rLRepresenting a load resistance; ω represents the operating frequency; i isp1And Ip2Respectively expressed as current values in the two transmitting coils;
and 5, step 5: according to the duty ratio of two full-bridge invertersp1And Ip2The following conditions are satisfied:
Us＝jωM1Ip1+jωM2Ip2
wherein, UsRepresenting the induced voltage of the receiving coil;
and 6, step 6: the PID controller calculates the appropriate I under the corresponding transmission power according to the conditions in the step 5p1And Ip2And (4) taking the value as a target value of PI regulation, and controlling the current of the transmitting coil by regulating the DC-DC voltage regulating circuit to realize self-adaptive power control when the position of the coil changes.
The invention has the beneficial effects that:
compared with the scheme of utilizing a high-frequency switch to realize the switching of the current direction of the transmitting coil, which is proposed by the existing research, the control method provided by the invention has the following advantages:
1. according to the control method, any additional complex mechanical switching structure is not required to be added into the transmitting coil; the change of the emission magnetic field characteristic can be realized only by simple programming of the controller, the control flow and the structure of a control system corresponding to the control method are greatly simplified, compared with the existing mechanical switching structure, no extra power loss exists, and the electric energy transmission efficiency is effectively improved;
2. because the coil is communicated with high-frequency heavy current, a mechanical switch in the scheme proposed by the existing research is generally difficult to realize, is a theoretical solution, inevitably introduces a more complex control structure and has no engineering practice; the control method provided by the invention realizes the control of the strong current side through the control of the weak current side, has a simple structure and has engineering practicality.
3. The control method provided by the invention is used for the self-adaptive phase and power synchronous control of the phased transmitting coil array, is not limited by the type of the receiving coil and the structure of a compensation network, realizes interoperability with different types of receiving coils, has a transmission power self-adaptive stable control function when the position of the receiving coil changes, and has wide application prospect in the actual charging process.
Drawings
FIG. 1 is a flow chart of a control method according to the present invention;
FIG. 2 is a structural diagram of a control system corresponding to the control method of the present invention;
FIG. 3 is a diagram of a transmit coil array configuration in accordance with the present invention;
fig. 4 is a schematic diagram of a topology of the supplementary network according to the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples, but the present invention is not limited to these examples.
Example 1:
a transmit coil array control method for improving wireless charging interoperability of an electric vehicle, as shown in fig. 1, the control method comprising:
the method comprises the following steps: establishing a control system corresponding to the control method, as shown in fig. 2, wherein the control system comprises a first transmitting end circuit, a second transmitting end circuit and a PID controller; wherein the first transmission-side circuit includes: the direct-current power supply 1B1, the DC-DC voltage regulating circuit 1, the full-bridge inverter 1H1, the transmitting coil 1L1, the compensation network 1, the voltage sensor 1V1 and the current sensor 1I1 are sequentially connected; the second transmitting end circuit is composed of: the direct-current power supply 2B2, the DC-DC voltage regulating circuit 2, the full-bridge inverter 2H2, the transmitting coil 2L2, the compensation network 2, the voltage sensor 2V2 and the current sensor 2I2 are sequentially connected; the controller has a wireless communication function;
the acquisition signal output end of the current sensor and the acquisition signal output end of the voltage sensor of each transmitting end circuit are connected with the acquisition signal input end of the PID controller; the control signal output end of the PID controller is respectively connected with the control signal input end of the DC-DC voltage regulating circuit of each transmitting end circuit; and the PWM signal end of the PID controller is respectively connected with the driving ends of the switch tubes of the full-bridge inverter. The full-bridge inverter adopts a buck converter structure.
The transmitting end coil array comprises two transmitting coils in the transmitting end circuit; the size, the shape and the number of turns of the two transmitting coils are completely the same; the two transmitting coils are mutually overlapped, and the overlapping area is 1/2 of the area enclosed by one transmitting coil;
if the current phases in the two transmitting coils are the same, the two transmitting coils transmit magnetic fluxes in the vertical direction, and the transmitting coils are used for charging the circular receiving coil;
and if the phases of the currents in the two transmitting coils are different by 180 degrees, the transmitting coils transmit horizontal magnetic fluxes and are used for charging the bipolar receiving coil.
Compared with the existing circular or bipolar transmitting coil, the transmitting coil array provided by the embodiment has the obvious advantages that: the traditional coil can only emit magnetic flux in one direction, namely horizontal or vertical, so that the circular coil and the bipolar coil cannot be charged simultaneously; by controlling the current phase in the phase control coil, the magnetic flux direction of the transmitting coil is controllable, and the transmitting coil and the receiving coil have interoperability simultaneously;
in the coil array provided by the embodiment, a certain degree of cross coupling phenomenon exists among all transmitting coils, so that the resonance state of a system is influenced; through the offset overlapping placement, the magnetic flux generated by each coil in other coils is counteracted by the magnetic flux of the coil, and mutual inductance is avoided, so that the decoupling between the coils is realized, the reactive power between the coils is eliminated, and the power output capability of the system is improved; compare in single transmitting coil, the coil array that this embodiment provided produces more evenly distributed's transmitting magnetic field after 2 transmitting coil transmitting magnetic field superposes, and magnetic field distribution range is wider, and the system output is more steady when transmitting coil takes place relative skew with receiving coil, and the anti skew ability of system obtains promoting by a wide margin.
The compensation network adopts an LCL topological structure, the rear stage of the full-bridge inverter is connected with the transmitting coil through the LCL topological structure, and relevant parameters in the LCL structure meet the following relations:
wherein f is the system working frequency; l isfaAnd LfbRespectively representing the series inductance in the LCL structure; cfRepresents the parallel capacitance in the LCL structure; cpaAnd CpbRespectively representing the series capacitance in the LCL structure; l ispIndicating the inductance of the transmitting coil L1 or L2.
The topology structure of the compensation network provided by the embodiment solves the problem that the compensation topology commonly used at the transmitting end cannot realize interoperability with the compensation topologies of different receiving ends adopted by different manufacturers at present. The topology structure of the compensation network provided by the embodiment can meet the requirements of loads with different power levels by using the same compensation topology through the design of the compensation topology elements and the structure.
Step two: initializing a control system, and setting PWM signals sent to each full-bridge inverter by a PID controller to be synchronously generated, namely setting a phase angle between two full-bridge inverters to be 0 degrees;
step three: the PID controller acquires the output voltage of the load end in a wireless communication mode, and judges the receiving coil according to the output voltage of the load end: judging whether the type of a receiving coil corresponding to the transmitting coil is a bipolar coil or not, and if the type of the receiving coil is not the bipolar coil, directly entering a parameter processing step; if the receiving coil is a bipolar coil, setting a phase angle between two full-bridge inverters to be 180 degrees, and then entering a parameter calculation processing step; the steps can ensure the realization of interoperability when the types of the receiving coils are different;
step four: parameter processing, wherein when the positions of a transmitting coil of a control system and a receiving coil corresponding to the transmitting coil are constantly changed, the PID controller acquires load information in a wireless communication mode, and the voltage sensor sends acquired input voltage to the PID controller; the current sensor sends the acquired transmitting coil current to the PID controller; the PID controller calculates a mutual inductance value between the transmitting coil and the receiving coil by using load information, input voltage acquired by the voltage sensor and transmitting coil current acquired by the current sensor, and determines a satisfying condition between the transmitting coil current and the mutual inductance value; the PID controller obtains a suitable transmitting coil current value under the condition of charging transmission power as a PI (proportional integral) regulation target value of the PID controller according to the satisfying condition between the transmitting coil current and the mutual inductance value;
step five: and the PID controller adjusts the DC-DC voltage regulating circuit according to the PI adjusting target value and controls the current of the transmitting coil by adjusting the DC-DC voltage regulating circuit so as to realize self-adaptive power control when the positions of the transmitting coil and the receiving coil are changed.
The specific process that the PID controller judges the receiving coil according to the output voltage of the load end in the third step is as follows:
the first step is as follows: the voltage sensor sends the acquired input voltage to the PID controller; the current sensor sends the acquired transmitting coil current to the PID controller;
the second step is that: after the control system issues a charging starting command, weak voltage for testing is added to the full-bridge inverter respectively;
the third step: the PID controller acquires the output voltage of a load end in a wireless communication mode and judges the output voltage of the load end; if the output voltage of the load end is in a normal range, starting a normal charging process;
the fourth step: if the output voltage of the load end is lower than the normal range, the PWM signal generation time of the PID controller is regulated as follows: the PWM signal of one full-bridge inverter occurs with a time lag behind 1/2 periods of the PWM signal of the other full-bridge inverter;
the fifth step: and repeating the processes from the first step to the fourth step until the output voltage of the load end is in a normal range, and stopping the charging process if the output voltage of the load end is always lower than the normal range.
The specific process of parameter processing in the fourth step is as follows:
step 1: when the positions of a transmitting coil of a control system and a receiving coil corresponding to the transmitting coil are constantly changed, the PID controller acquires load information in a wireless communication mode;
step 2: the voltage sensor collects the input voltage after the positions of the transmitting coil and the receiving coil are changed in real time and sends the collected input voltage to the PID controller;
and 3, step 3: the current sensor collects the current of the transmitting coil after the position of the transmitting coil and the position of the receiving coil are changed in real time and sends the collected current of the transmitting coil to the PID controller;
and 4, step 4: the PID controller calculates mutual inductance values between the two transmitting coils and the corresponding receiving coils according to the current of the transmitting coils and the input voltage:
wherein, M1 and M2 respectively represent mutual inductance values between the two transmitting coils and the corresponding receiving coils; u shapep1And Up2Respectively representing two full-bridge inverter input voltages; rLRepresenting a load resistance; ω represents the operating frequency; i isp1And Ip2Respectively expressed as current values in the two transmitting coils;
and 5, step 5: according to the duty ratio of two full-bridge invertersp1And Ip2The following conditions are satisfied:
Us＝jωM1Ip1+jωM2Ip2
wherein, UsRepresenting the induced voltage of the receiving coil;
and 6, step 6: the PID controller calculates the appropriate I under the corresponding transmission power according to the conditions in the step 5p1And Ip2And (4) taking the value as a target value of PI regulation, and controlling the current of the transmitting coil by regulating the DC-DC voltage regulating circuit to realize self-adaptive power control when the position of the coil changes.
According to the control method, any additional complex mechanical switching structure is not required to be added into the transmitting coil; the change of the emission magnetic field characteristic can be realized only by simple programming of the controller, the control flow and the structure of a control system corresponding to the control method are greatly simplified, compared with the existing mechanical switching structure, no extra power loss exists, and the electric energy transmission efficiency is effectively improved;
because the coil is communicated with high-frequency heavy current, a mechanical switch in the scheme proposed by the existing research is generally difficult to realize, is a theoretical solution, inevitably introduces a more complex control structure and has no engineering practice; the control method provided by the embodiment realizes the control of the strong current side through the control of the weak current side, has a simple structure and engineering practicality.
The control method provided by the embodiment is used for the self-adaptive phase and power synchronous control of the phased transmitting coil array, is not limited by the type of the receiving coil and the structure of a compensation network, realizes interoperability with receiving coils of different types, has a transmission power self-adaptive stable control function when the position of the receiving coil changes, and has wide application prospect in the actual charging process.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. A transmission coil array control method for improving wireless charging interoperability of an electric vehicle, the control method comprising:
the method comprises the following steps: establishing a control system corresponding to the control method, wherein the control system comprises two transmitting end circuits and a PID controller; each transmitting end circuit comprises a direct-current power supply, a DC-DC voltage regulating circuit, a full-bridge inverter, a transmitting coil, a compensation network, a voltage sensor and a current sensor;
step two: initializing a control system, and setting PWM signals sent to each full-bridge inverter by a PID controller to be synchronously generated, namely setting a phase angle between two full-bridge inverters to be 0 degrees;
step three: the PID controller acquires the output voltage of the load end in a wireless communication mode, and judges the receiving coil according to the output voltage of the load end: judging whether the type of a receiving coil corresponding to the transmitting coil is a bipolar coil or not, and if the type of the receiving coil is not the bipolar coil, directly entering a parameter processing step; if the receiving coil is a bipolar coil, setting a phase angle between two full-bridge inverters to be 180 degrees, and then entering a parameter calculation processing step;
step four: parameter processing, wherein when the positions of a transmitting coil of a control system and a receiving coil corresponding to the transmitting coil are constantly changed, the PID controller acquires load information in a wireless communication mode, and the voltage sensor sends acquired input voltage to the PID controller; the current sensor sends the acquired transmitting coil current to the PID controller; the PID controller calculates a mutual inductance value between the transmitting coil and the receiving coil by using load information, input voltage acquired by the voltage sensor and transmitting coil current acquired by the current sensor, and determines a satisfying condition between the transmitting coil current and the mutual inductance value; the PID controller obtains a suitable transmitting coil current value under the condition of charging transmission power as a PI (proportional integral) regulation target value of the PID controller according to the satisfying condition between the transmitting coil current and the mutual inductance value;
step five: and the PID controller adjusts the DC-DC voltage regulating circuit according to the PI adjusting target value and controls the current of the transmitting coil by adjusting the DC-DC voltage regulating circuit so as to realize self-adaptive power control when the positions of the transmitting coil and the receiving coil are changed.
2. The transmission coil array control method according to claim 1, wherein the acquisition signal output ends of the current sensor and the voltage sensor of each transmission end circuit are connected with the acquisition signal input end of a PID controller; the control signal output end of the PID controller is respectively connected with the control signal input end of the DC-DC voltage regulating circuit of each transmitting end circuit; and the PWM signal end of the PID controller is respectively connected with the driving ends of the switch tubes of the full-bridge inverter.
3. The method according to claim 1, wherein the compensation network employs an LCL topology, the rear stage of the full-bridge inverter is connected to the transmitting coil via the LCL topology, and the related parameters in the LCL topology satisfy the following relationships:
wherein f is the system working frequency; l isfaAnd LfbRespectively representing the series inductance in the LCL structure; cfRepresents the parallel capacitance in the LCL structure; cpaAnd CpbRespectively representing the series capacitance in the LCL structure; l ispIndicating the inductance of the transmitting coil L1 or L2.
4. The transmission coil array control method according to claim 1, wherein the transmission-side coil array includes transmission coils in two of the transmission-side circuits; the size, the shape and the number of turns of the two transmitting coils are completely the same; the two transmitting coils are mutually overlapped, and the overlapping area is 1/2 of the area enclosed by one transmitting coil;
if the current phases in the two transmitting coils are the same, the two transmitting coils transmit magnetic fluxes in the vertical direction, and the transmitting coils are used for charging the circular receiving coil;
and if the phases of the currents in the two transmitting coils are different by 180 degrees, the transmitting coils transmit horizontal magnetic fluxes and are used for charging the bipolar receiving coil.
5. The transmitting coil array control method according to claim 1, wherein the specific process of the PID controller determining the receiving coil according to the output voltage of the load end in the third step is:
the first step is as follows: the voltage sensor sends the acquired input voltage to the PID controller; the current sensor sends the acquired transmitting coil current to the PID controller;
the second step is that: after the control system issues a charging starting command, weak voltage for testing is added to the full-bridge inverter respectively;
the third step: the PID controller acquires the output voltage of a load end in a wireless communication mode and judges the output voltage of the load end; if the output voltage of the load end is in a normal range, starting a normal charging process;
the fourth step: if the output voltage of the load end is lower than the normal range, the PWM signal generation time of the PID controller is regulated as follows: the PWM signal of one full-bridge inverter occurs with a time lag behind 1/2 periods of the PWM signal of the other full-bridge inverter;
the fifth step: and repeating the processes from the first step to the fourth step until the output voltage of the load end is in a normal range, and stopping the charging process if the output voltage of the load end is always lower than the normal range.
6. The method for controlling the transmitting coil array according to claim 1, wherein the specific process of the parameter processing in the fourth step is as follows:
step 1: when the positions of a transmitting coil of a control system and a receiving coil corresponding to the transmitting coil are constantly changed, the PID controller acquires load information in a wireless communication mode;
step 2: the voltage sensor collects the input voltage after the positions of the transmitting coil and the receiving coil are changed in real time and sends the collected input voltage to the PID controller;
and 3, step 3: the current sensor collects the current of the transmitting coil after the position of the transmitting coil and the position of the receiving coil are changed in real time and sends the collected current of the transmitting coil to the PID controller;
and 4, step 4: the PID controller calculates mutual inductance values between the two transmitting coils and the corresponding receiving coils according to the current of the transmitting coils and the input voltage:
wherein, M1 and M2 respectively represent mutual inductance values between the two transmitting coils and the corresponding receiving coils; u shapep1And Up2Respectively representing two full-bridge inverter input voltages; rLRepresenting a load resistance; ω represents the operating frequency; i isp1And Ip2Respectively expressed as current values in the two transmitting coils;
and 5, step 5: according to the duty ratio of two full-bridge invertersp1And Ip2The following conditions are satisfied:
Us＝jωM1Ip1+jωM2Ip2
wherein, UsRepresenting the induced voltage of the receiving coil;
and 6, step 6: the PID controller calculates the appropriate I under the corresponding transmission power according to the conditions in the step 5p1And Ip2And (4) taking the value as a target value of PI regulation, and controlling the current of the transmitting coil by regulating the DC-DC voltage regulating circuit to realize self-adaptive power control when the position of the coil changes.
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| CN111371192A (en) * | 2020-03-24 | 2020-07-03 | 山东大学 | Method and system for matching robot wireless charging power and protecting open circuit |
| CN111509820A (en) * | 2020-06-12 | 2020-08-07 | 深圳赫兹创新技术有限公司 | Wireless charging control method and device |
| CN113315254A (en) * | 2021-04-30 | 2021-08-27 | 武汉理工大学 | Current gain variable constant current output wireless power transmission system |
| CN117227519A (en) * | 2023-09-01 | 2023-12-15 | 内蒙古科技大学 | High-interoperability wireless charging robot and method for electric automobile |
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