CN112186908A - Three-dimensional multi-degree-of-freedom accurate angle positioning method for wireless charging coil - Google Patents

Three-dimensional multi-degree-of-freedom accurate angle positioning method for wireless charging coil Download PDF

Info

Publication number
CN112186908A
CN112186908A CN202011034971.XA CN202011034971A CN112186908A CN 112186908 A CN112186908 A CN 112186908A CN 202011034971 A CN202011034971 A CN 202011034971A CN 112186908 A CN112186908 A CN 112186908A
Authority
CN
China
Prior art keywords
coil
angle
error
geomagnetic
degree
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011034971.XA
Other languages
Chinese (zh)
Other versions
CN112186908B (en
Inventor
黄学良
王若隐
谭林林
黄天一
李昊泽
李乘云
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Southeast University
Original Assignee
Southeast University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southeast University filed Critical Southeast University
Priority to CN202011034971.XA priority Critical patent/CN112186908B/en
Publication of CN112186908A publication Critical patent/CN112186908A/en
Application granted granted Critical
Publication of CN112186908B publication Critical patent/CN112186908B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • 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
    • 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
    • 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
    • H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
    • 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
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
    • 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
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

The invention discloses a three-dimensional multi-degree-of-freedom accurate angle positioning method for a wireless charging coil, which relates to the field of wireless power transmission and comprises the steps of determining the offset angle between a transmitting coil and a receiving coil, namely the angle positioning of the coils; respectively calibrating error parameters of geomagnetic-acceleration sensor arrays of the transmitting coil and the receiving coil, acquiring components and errors, and converting the components into vectors; the invention has the tilt angle compensation function, can cope with the situation that two coils are not parallel in the actual working condition and three-dimensional multi-degree of freedom exists, and better meets the actual requirement.

Description

Three-dimensional multi-degree-of-freedom accurate angle positioning method for wireless charging coil
Technical Field
The invention relates to the field of wireless electric energy transmission, in particular to a three-dimensional multi-degree-of-freedom accurate angle positioning method for a wireless charging coil.
Background
In order to achieve efficient power transfer in a magnetically coupled resonant electric vehicle wireless power transfer system, the transmit coil and the receive coil must be aligned. In practical application scenarios, it is difficult for the driver to align the receiver coil and the transmitter coil completely with the naked eye alone, and the inevitable misalignment between the two coils will cause system coupling variations and damage the wireless charging system. The premise of adjusting the two coils to be completely aligned is to accurately obtain the offset position information of the two coils, and any adjustment without accurate offset angle positioning is meaningless, so that the wireless charging system of the electric automobile cannot be separated from an accurate coil positioning system. Therefore, coil positioning has been established as an important component of a commercial wireless electric vehicle charging system, and accurate coil angular position information can be used as a basis for a driver to adjust the alignment of the two coils of the vehicle.
The possible coil offsets in practical applications fall into two main categories: a translational offset and an angular offset. There have been a number of good solutions for translational misalignment, and no corresponding countermeasures for angular misalignment. In addition, the existing coil positioning scheme is performed on the assumption that two coils are parallel to each other and in the same horizontal plane, and the actual coil may have a three-dimensional multi-freedom working condition, which greatly affects the coil angle positioning result. In addition, the existence of various errors also has great influence on the coil angle positioning precision, so an accurate three-dimensional multi-degree-of-freedom coil angle positioning method is urgently needed, and the wireless charging coil positioning method for the electric automobile is supplemented and perfected.
Disclosure of Invention
In order to solve the defects in the background art, the invention aims to provide a three-dimensional multi-freedom-degree accurate angle positioning method for a wireless charging coil, which uses lower hardware cost to realize three-dimensional multi-freedom-degree accurate angle positioning of the coil.
The purpose of the invention can be realized by the following technical scheme:
a three-dimensional multi-degree-of-freedom accurate angle positioning method for a wireless charging coil comprises the following steps:
adjusting a transmitting coil and a receiving line to be completely aligned, and installing a double geomagnetic-acceleration sensor array in the same direction at the center of the lower part of the transmitting coil and the center of the upper part of the receiving coil;
step two, respectively calibrating error parameters of the geomagnetic-acceleration sensor arrays of the transmitting coil and the receiving coil to obtain error coefficients;
step three, the two DSP controllers respectively acquire geomagnetic components, acceleration components and error coefficients of respective geomagnetic-acceleration sensor arrays of the transmitting coil and the receiving coil, tilt angle compensation and error correction are completed in the DSP controllers, the geomagnetic components of the three-dimensional multi-degree-of-freedom coils are compensated and corrected to a horizontal plane, and finally the geomagnetic components of the transmitting coil and the receiving coil in the horizontal plane are obtained;
step four, the horizontal geomagnetic component information of the transmitting coil is sent to a DSP controller of the receiving coil through a wireless communication module, and is converted into a vector together with the horizontal geomagnetic component of the receiving coil, and a deviation angle value between the two coils is calculated through the point multiplication and cross multiplication of the vector, so that the accurate angle positioning of the three-dimensional multi-degree-of-freedom coil is completed;
and fifthly, sending the angle positioning result to an upper computer through a communication module for real-time display.
Further, in the third step, calibration of error parameters is required before error correction, and the errors include manufacturing errors and magnetic interference errors.
Further, the manufacturing errors include quadrature errors: three-axis and coil coordinate axis X of magnetic sensor0,Y0,Z0Failure to remain parallel, X1,Y1,Z1Representing the actual measured value, in Z1And Z0Coincidence, X1Axis and X0The axes have an included angle a which is,
Figure BDA0002704753980000021
is Y1At X0OY0Projection of a surface and Y0P is Y1And X0OY0The included angle of the face;
sensitivity error: the magnetic field sensor is caused by the fact that the sensitivity of each axis of the magnetic field sensor and the amplification factor of each channel are different. Let X2,Y2,Z2The output of the geomagnetic sensor affected by the sensitivity error is indicated. k is a radical ofx,ky,kzRepresenting the proportionality coefficient of each axis;
zero error: caused by the zero drift of the sensor, define x0,y0,z0Is zero offset.
Further, the manufacturing error is
Figure BDA0002704753980000031
Wherein [ X ]0,Y0,Z0]TFor the measurement value of the sensor without manufacturing error, [ X, Y, Z]TMeasured values when manufacturing errors exist;
Figure BDA0002704753980000032
further, the magnetic interference error is determined by a soft magnetic coefficient CsoftAnd hard magnetic interference HhardTo represent
Ho＝(I+Csoft)He+Hhard
HoIs the projection of the measured magnetic field vector in the horizontal plane in the presence of magnetic interference errors. HeThe true value without magnetic interference error is I, which is an identity matrix;
the magnetic interference error correction formula is
He＝Cxy -1Ho-Hhardxy
Cxy -1Compensation factor for soft magnetic interference, HhardxyAre hard magnetic interference vectors.
Further, in the third step, after the tilt angle compensation and the error correction, horizontal geomagnetic components of the transmitting coil and the receiving coil are obtained respectively, and a vector operation theorem is introduced to perform resolving to obtain an angle offset value in the band direction between the two coils.
Furthermore, the three-dimensional multi-degree of freedom consists of a pitch angle and a roll angle, and the pitch angle and the roll angle respectively accurately identify the angular offset of the coil within the range of-60 degrees to 60 degrees.
The invention has the beneficial effects that:
1. the invention has the tilt angle compensation function, can cope with the situation that two coils are not parallel in the actual working condition and have three-dimensional multi-degree of freedom, and better meets the actual requirement;
2. after the inclination angle compensation and various error corrections are finished, the horizontal geomagnetic components of the transmitting coil and the receiving coil are respectively obtained, and the vector operation theorem is introduced to calculate to obtain the angle deviation value in the belt direction between the two coils. Under the working condition of three-dimensional multi-degree of freedom, the pitch angle and the roll angle are respectively in the range of-60 degrees to 60 degrees, the rotation angle can complete accurate coil angle positioning within the whole range of +/-180 degrees, and the error is less than 1 degree;
3. the invention has the advantages of less hardware quantity, small volume, simple system structure, strong universality and no limitation on the shape and the spacing of the coil, and the system is composed of an analog circuit and a digital processor and combines the rapidity of the analog circuit and the flexibility of digital operation.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a flow chart of the present invention;
fig. 3 is a schematic diagram of coordinate transformation of geomagnetic components according to the present invention;
FIG. 4 is a graph of angular positioning error results of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.
A three-dimensional multi-degree-of-freedom accurate angle positioning method for a wireless charging coil is shown in figure 1, a geomagnetic-acceleration sensor array 1 is installed at the center of the lower portion of a transmitting coil, a geomagnetic-acceleration sensor array 2 is installed at the center of the upper portion of a receiving coil, and two electronic compasses are placed in the same direction when the two coils are completely aligned. Then, coil angle positioning is carried out, and the method comprises the following steps:
(1) firstly, calibrating error parameters of two geomagnetic-acceleration sensor arrays, namely manufacturing errors and magnetic interference errors, and therefore, determining error correction parameters to lay a foundation for error correction. The manufacturing error includes:
1) quadrature error
Under ideal conditions, if the sensitive axes of the magnetic sensor cannot be orthogonal pairwise, an orthogonal error is generated, namely, the three axes of the magnetic sensor and the coordinate axis X of the coil0,Y0,Z0Failure to remain parallel, X1,Y1,Z1Representing the actual measurement. Suppose Z1And Z0Coincidence, X1Axis and X0The axes have an included angle a which is,
Figure BDA0002704753980000052
is Y1At X0OY0Projection of a surface and Y0P is Y1 and X0OY0The angle of the faces.
2) Error in sensitivity
The magnetic field sensor is caused by the fact that the sensitivity of each axis of the magnetic field sensor and the amplification factor of each channel are different. Let X2,Y2,Z2The output of the geomagnetic sensor affected by the sensitivity error is indicated. k is a radical ofx,ky,kzThe scale factor of each axis is shown.
3) Zero error
Caused by the zero drift of the sensor, define x0,y0,z0Is zero offset.
In summary, the overall manufacturing error is
Figure BDA0002704753980000051
Wherein [ X ]0,Y0,Z0]TFor the measurement value of the sensor without manufacturing error, [ X, Y, Z]TIs a measurement value when there is a manufacturing error.
So that the manufacturing error is corrected by the formula
Figure BDA0002704753980000061
Magnetic interference error, the invention passes through soft magnetic coefficient CsoftAnd hard magnetic interference HhardTo represent
Ho＝(I+Csoft)He+Hhard (3)
HoIs the projection of the measured magnetic field vector in the horizontal plane in the presence of magnetic interference errors. HeFor true values without magnetic interference errors, I is the identity matrix.
So that the magnetic interference error is corrected by the formula
He＝Cxy -1Ho-Hhardxy (4)
Cxy -1Compensation factor for soft magnetic interference, HhardxyAre hard magnetic interference vectors.
In conclusion, the error parameters needed to calibrate the two arrays are sigma,
Figure BDA0002704753980000062
ρ，kx，ky，kz，x0，y0，z0，Cxy -1and Hhardxy。
The invention carries out the parameter solution through the ellipsoid and the ellipse fitting, and the two algorithms are acknowledged, so the invention is not repeated.
(2) And (5) correcting the manufacturing error. Referring to fig. 2, the DSP controller 1 collects magnetic field signals (H) in the array 1x1,Hy1,Hz1) Acceleration component (G)x1,Gy1,Gz1) And the manufacturing error calibration parameter of the array 1, and the DSP controller 2 collects the magnetic field signal (H) in the array 2x2,Hy2,Hz2) Acceleration component (G)x2,Gy2,Gz2) And the manufacturing error calibration parameters of the array 2. The test value (H) after the correction of the manufacturing error is obtained by the formula (2)X1,HY1,HZ1)、(HX2,HY2,HZ2)、(GX1,GY1,GZ1) And (G)X2,GY2,GZ2)。
(3) And (4) tilt angle compensation. Further carrying out three-dimensional multi-degree-of-freedom inclination angle compensation on the coil, wherein the multi-degree-of-freedom is expressed by a pitch angle theta and a roll angle phi according to the formula
Figure BDA0002704753980000071
The tilt angle compensation formula is
Figure BDA0002704753980000072
Will (H)X1,HY1,HZ1) And (H)X2,HY2,HZ2) Substituting the formula (6) to obtain the geomagnetic component (H) after the two coils are subjected to tilt angle compensationxg1,Hyg1,Hzg1) And (H)xg2,Hyg2,Hzg2)。
(4) And correcting magnetic interference errors. In the horizontal plane will (H)xg1,Hyg1) And (H)xg2,Hyg2) H in each case0Obtaining a magnetic interference corrected geomagnetic component (H)Xg1,HYg1) And (H)Xg2,HYg2). Thus, the tilt compensation and error correction of all geomagnetic components are completed.
(5) The angular offset is resolved. The DSP controller 1 will (H) through the wireless communication moduleXg1,HYg1) And sending the signals to the DSP controller 2 for common processing. Will (H)xg1,Hyg1) And (H)xg2,Hyg2) Into a two-dimensional planar coordinate system with all combinations in this two-dimensional plane, see fig. 3. (H)xg1,Hyg1) And (H)xg2,Hyg2) Backup composition vector
Figure BDA0002704753980000073
And
Figure BDA0002704753980000074
the angle between these two vectors is the offset angle psi between the two coils.
1) Calculation of angle magnitude | ψ & ltcalculation of calculation of numerical value of calculation of
Figure BDA0002704753980000075
2) Determining the direction of rotation of an angle between two vectors using cross-multiplication of the vectors, for a vector
Figure BDA0002704753980000076
And
Figure BDA0002704753980000077
Figure BDA0002704753980000078
then
Figure BDA0002704753980000079
In that
Figure BDA00027047539800000710
Counter-clockwise direction of (d);
Figure BDA00027047539800000711
then
Figure BDA00027047539800000712
In that
Figure BDA00027047539800000713
Clockwise direction of (d);
Figure BDA00027047539800000714
then
Figure BDA00027047539800000715
And
Figure BDA00027047539800000716
co-linear.
Will be provided with
Figure BDA00027047539800000717
The above formula is substituted to obtain the direction of the angular deviation of the two coils.
In conclusion, the final coil offset angle in the belt direction is obtained by combining the steps 1) and 2).
(6) Finally, the angular offset test is performed every 5 ° over the full range of ± 180 °, with the error results, see fig. 4, that the maximum error for each rotational position does not exceed 1 °. Meanwhile, the three-dimensional multi-degree-of-freedom angle positioning result of the coil can be sent to an upper computer through a communication module to be displayed in real time.
Therefore, the three-dimensional multi-degree-of-freedom angle accurate positioning of the receiving and transmitting coil in the wireless charging system of the electric automobile is completed, and the maximum error is smaller than 1 degree. The method has the tilt angle compensation function, and can cope with the situations that two coils are not parallel and three-dimensional multi-degree of freedom exists in the actual working condition. And (3) introducing a vector operation theorem through coordinate system transformation to obtain an angle deviation value in the belt direction between the two coils. Under the working condition of three-dimensional multi-degree of freedom, the pitch angle and the roll angle are within the range of minus 60 degrees and 60 degrees respectively, the rotation angle can complete accurate coil angle positioning within the full range of plus or minus 180 degrees, and the error is less than 1 degree. The system is composed of an analog circuit and a digital processor, and combines the rapidity of the analog circuit and the flexibility of digital operation.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims (7)

1. A three-dimensional multi-degree-of-freedom accurate angle positioning method for a wireless charging coil is characterized by comprising the following steps:
adjusting a transmitting coil and a receiving line to be completely aligned, and installing a double geomagnetic-acceleration sensor array in the same direction at the center of the lower part of the transmitting coil and the center of the upper part of the receiving coil;
step two, respectively calibrating error parameters of the geomagnetic-acceleration sensor arrays of the transmitting coil and the receiving coil to obtain error coefficients;
step three, the two DSP controllers respectively acquire geomagnetic components, acceleration components and error coefficients of respective geomagnetic-acceleration sensor arrays of the transmitting coil and the receiving coil, tilt angle compensation and error correction are completed in the DSP controllers, the geomagnetic components of the three-dimensional multi-degree-of-freedom coils are compensated and corrected to a horizontal plane, and finally the geomagnetic components of the transmitting coil and the receiving coil in the horizontal plane are obtained;
step four, the horizontal geomagnetic component information of the transmitting coil is sent to a DSP controller of the receiving coil through a wireless communication module, and is converted into a vector together with the horizontal geomagnetic component of the receiving coil, and a deviation angle value between the two coils is calculated through the point multiplication and cross multiplication of the vector, so that the accurate angle positioning of the three-dimensional multi-degree-of-freedom coil is completed;
and fifthly, sending the angle positioning result to an upper computer through a communication module for real-time display.
2. The method for three-dimensional multi-degree-of-freedom precise angle positioning of the wireless charging coil according to claim 1, wherein in the third step, calibration of error parameters is required before error correction, and the errors include manufacturing errors and magnetic interference errors.
3. The method according to claim 2, wherein the manufacturing errors comprise quadrature errors: three-axis and coil coordinate axis X of magnetic sensor0,Y0,Z0Failure to remain parallel, X1,Y1,Z1Representing the actual measured value, in Z1And Z0Coincidence, X1Axis and X0The axes having an included angle sigma, theta being Y1At X0OY0Projection of a surface and Y0Angle of (p)Is Y1And X0OY0The included angle of the face;
sensitivity error: the magnetic field sensor is caused by the fact that the sensitivity of each axis of the magnetic field sensor and the amplification factor of each channel are different. Let X2,Y2,Z2The output of the geomagnetic sensor affected by the sensitivity error is indicated. k is a radical ofx,ky,kzRepresenting the proportionality coefficient of each axis;
zero error: caused by the zero drift of the sensor, define x0,y0,z0Is zero offset.
4. The method according to claim 3, wherein the manufacturing error is that
Figure FDA0002704753970000021
Wherein [ X ]0,Y0,Z0]TFor the measurement value of the sensor without manufacturing error, [ X, Y, Z]TMeasured values when manufacturing errors exist;
Figure FDA0002704753970000022
5. the method according to claim 2, wherein the magnetic interference error is determined by soft magnetic coefficient CsoftAnd hard magnetic interference HhardTo represent
Ho＝(I+Csoft)He+Hhard
HoIs the projection of the measured magnetic field vector in the horizontal plane in the presence of magnetic interference errors. HeThe true value without magnetic interference error is I, which is an identity matrix;
the magnetic interference error correction formula is
He＝Cxy -1Ho-Hhardxy
Cxy -1Compensation factor for soft magnetic interference, HhardxyAre hard magnetic interference vectors.
6. The method according to claim 1, wherein in step three, after the tilt compensation and the error correction, horizontal geomagnetic components of the transmitting coil and the receiving coil are obtained respectively, and a vector operation theorem is introduced to solve the horizontal geomagnetic components to obtain an angle offset value between the two coils in the band direction.
7. The method for three-dimensional multi-degree-of-freedom precise angle positioning of the wireless charging coil according to claim 1, wherein the three-dimensional multi-degree-of-freedom is composed of a pitch angle and a roll angle, and the pitch angle and the roll angle respectively precisely identify the angle offset of the coil within a range of-60 degrees to 60 degrees.
CN202011034971.XA 2020-09-27 2020-09-27 Three-dimensional multi-degree-of-freedom accurate angle positioning method for wireless charging coil Active CN112186908B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011034971.XA CN112186908B (en) 2020-09-27 2020-09-27 Three-dimensional multi-degree-of-freedom accurate angle positioning method for wireless charging coil

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011034971.XA CN112186908B (en) 2020-09-27 2020-09-27 Three-dimensional multi-degree-of-freedom accurate angle positioning method for wireless charging coil

Publications (2)

Publication Number Publication Date
CN112186908A true CN112186908A (en) 2021-01-05
CN112186908B CN112186908B (en) 2022-06-14

Family

ID=73943754

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011034971.XA Active CN112186908B (en) 2020-09-27 2020-09-27 Three-dimensional multi-degree-of-freedom accurate angle positioning method for wireless charging coil

Country Status (1)

Country Link
CN (1) CN112186908B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112556637A (en) * 2021-03-01 2021-03-26 江苏方天电力技术有限公司 Wireless charging coil angle deviation positioning system and method based on electronic compass
CN112810488A (en) * 2021-04-21 2021-05-18 北京有感科技有限责任公司 Wireless charging system alignment method and wireless charging system alignment device
CN112977140A (en) * 2021-04-21 2021-06-18 北京有感科技有限责任公司 Wireless charging system alignment device
CN113752883A (en) * 2021-08-11 2021-12-07 镇江默勒电器有限公司 AGV material distribution car positioning system based on high-speed information communication
CN113916207A (en) * 2021-08-27 2022-01-11 嘉兴市纳杰微电子技术有限公司 High-precision electronic compass calibration method with inclination angle compensation
CN117214298A (en) * 2023-10-18 2023-12-12 西南石油大学 Ultrasonic transmission detection method for rotary rubber core of blowout preventer

Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120161533A1 (en) * 2010-12-28 2012-06-28 Tdk Corporation Wireless power feeder, wireless power receiver, and wireless power transmission system
CN104913777A (en) * 2015-05-15 2015-09-16 上海集成电路研发中心有限公司 Error compensation algorithm of geomagnetic sensor application system
US20170282732A1 (en) * 2016-04-05 2017-10-05 Hyundai America Technical Center, Inc EV Wireless Charging Adjustable Flux Angle Charger
CN107757397A (en) * 2017-09-19 2018-03-06 深圳大学 A kind of control device and method for correcting automobile wireless charging bit errors
CN107817472A (en) * 2017-09-20 2018-03-20 华南理工大学 The method that three-dimensional localization error correction determines with misalignment angle in VLC rooms based on ACO
KR20180051256A (en) * 2016-11-08 2018-05-16 한국전자통신연구원 Apparatus for charging power wirelessly and method thereof
CN207670226U (en) * 2017-12-14 2018-07-31 伽行科技（北京）有限公司 A kind of automobile intelligent wireless charging system
US20180241258A1 (en) * 2017-02-17 2018-08-23 Hyundai Motor Company Method and apparatus for position alignment using low-frequency antennas in wireless power transfer system
CN109606176A (en) * 2018-12-12 2019-04-12 南京师范大学 Electric car wireless charging positioning system based on two dimension disymmetry loop constructions
CN110050203A (en) * 2016-12-13 2019-07-23 宝马股份公司 For determining for by the method for the position of the charging station on electric energy wireless transmission to vehicle
CN110336386A (en) * 2019-07-26 2019-10-15 郑州轻工业学院 A method of magnet coupled resonant type wireless electric energy transmission system efficiency when optimization coil offset
CN110509792A (en) * 2019-08-29 2019-11-29 安洁无线科技（苏州）有限公司 Wireless charging alignment methods, computer readable storage medium and system based on automatic parking
CN110774928A (en) * 2019-10-29 2020-02-11 三峡大学 Electric vehicle wireless charging method and charging device based on equivalent inductance positioning
CN111064239A (en) * 2019-11-01 2020-04-24 东南大学 Load positioning and power constant control method for three-dimensional wireless charging system
CN111293789A (en) * 2020-02-19 2020-06-16 华为技术有限公司 Detection device and method, wireless power transmitting device and wireless power receiving device
CN111313570A (en) * 2020-01-21 2020-06-19 江苏大学 Method for calculating deflection angle corresponding to maximum coil mutual inductance on spatial scale

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120161533A1 (en) * 2010-12-28 2012-06-28 Tdk Corporation Wireless power feeder, wireless power receiver, and wireless power transmission system
CN104913777A (en) * 2015-05-15 2015-09-16 上海集成电路研发中心有限公司 Error compensation algorithm of geomagnetic sensor application system
US20170282732A1 (en) * 2016-04-05 2017-10-05 Hyundai America Technical Center, Inc EV Wireless Charging Adjustable Flux Angle Charger
KR20180051256A (en) * 2016-11-08 2018-05-16 한국전자통신연구원 Apparatus for charging power wirelessly and method thereof
CN110050203A (en) * 2016-12-13 2019-07-23 宝马股份公司 For determining for by the method for the position of the charging station on electric energy wireless transmission to vehicle
US20180241258A1 (en) * 2017-02-17 2018-08-23 Hyundai Motor Company Method and apparatus for position alignment using low-frequency antennas in wireless power transfer system
CN107757397A (en) * 2017-09-19 2018-03-06 深圳大学 A kind of control device and method for correcting automobile wireless charging bit errors
CN107817472A (en) * 2017-09-20 2018-03-20 华南理工大学 The method that three-dimensional localization error correction determines with misalignment angle in VLC rooms based on ACO
CN207670226U (en) * 2017-12-14 2018-07-31 伽行科技（北京）有限公司 A kind of automobile intelligent wireless charging system
CN109606176A (en) * 2018-12-12 2019-04-12 南京师范大学 Electric car wireless charging positioning system based on two dimension disymmetry loop constructions
CN110336386A (en) * 2019-07-26 2019-10-15 郑州轻工业学院 A method of magnet coupled resonant type wireless electric energy transmission system efficiency when optimization coil offset
CN110509792A (en) * 2019-08-29 2019-11-29 安洁无线科技（苏州）有限公司 Wireless charging alignment methods, computer readable storage medium and system based on automatic parking
CN110774928A (en) * 2019-10-29 2020-02-11 三峡大学 Electric vehicle wireless charging method and charging device based on equivalent inductance positioning
CN111064239A (en) * 2019-11-01 2020-04-24 东南大学 Load positioning and power constant control method for three-dimensional wireless charging system
CN111313570A (en) * 2020-01-21 2020-06-19 江苏大学 Method for calculating deflection angle corresponding to maximum coil mutual inductance on spatial scale
CN111293789A (en) * 2020-02-19 2020-06-16 华为技术有限公司 Detection device and method, wireless power transmitting device and wireless power receiving device

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
ZHENG ZHANG ET AL.: "Omnidirectional and Efficient Wireless Power Transfer System for Logistic Robots", 《IEEE》 *
薛天格 等: "基于串并补偿的无线充电***的线圈偏移研究", 《电子测量技术》 *
黄学良 等: "磁耦合谐振式无线电能传输***串并式模型研究", 《电工技术学报》 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112556637A (en) * 2021-03-01 2021-03-26 江苏方天电力技术有限公司 Wireless charging coil angle deviation positioning system and method based on electronic compass
CN112810488A (en) * 2021-04-21 2021-05-18 北京有感科技有限责任公司 Wireless charging system alignment method and wireless charging system alignment device
CN112977140A (en) * 2021-04-21 2021-06-18 北京有感科技有限责任公司 Wireless charging system alignment device
CN112810488B (en) * 2021-04-21 2021-07-02 北京有感科技有限责任公司 Wireless charging system alignment method and wireless charging system alignment device
CN113752883A (en) * 2021-08-11 2021-12-07 镇江默勒电器有限公司 AGV material distribution car positioning system based on high-speed information communication
CN113916207A (en) * 2021-08-27 2022-01-11 嘉兴市纳杰微电子技术有限公司 High-precision electronic compass calibration method with inclination angle compensation
CN117214298A (en) * 2023-10-18 2023-12-12 西南石油大学 Ultrasonic transmission detection method for rotary rubber core of blowout preventer
CN117214298B (en) * 2023-10-18 2024-03-19 西南石油大学 Ultrasonic transmission detection method for rotary rubber core of blowout preventer

Also Published As

Publication number Publication date
CN112186908B (en) 2022-06-14

Similar Documents

Publication Publication Date Title
CN112186908B (en) Three-dimensional multi-degree-of-freedom accurate angle positioning method for wireless charging coil
CN108037374B (en) Array antenna near field calibration method
US20060066295A1 (en) Control method of controlling magnetic-field sensor, control device, and mobile terminal device
US20030079358A1 (en) Method of an apparatus for correction of coordinate measurement errors due to vibrations in coordinate measuring machines (cmms)
KR20110132527A (en) Method and device for calibrating a three-axis magnetic field sensor
CN110618408A (en) System calibration method for antenna phase center of precision distance measurement system
CN111780786A (en) Online calibration method for three-axis TMR sensor
CN109975840B (en) Positioning correction method for zero-setting antenna satellite navigation receiver
CN107967700B (en) On-orbit geometric correction and precision verification method for large-view-field wide-working-distance binocular camera
CN105911576B (en) Determine the method and device of the location information of secondary subsystem in distributed collaboration system
CN110275139B (en) Ultra-short baseline positioning system and method based on rotary primitive multiplexing
CN102207380B (en) High-precision horizontal axis tilt error compensation method
CN102692183B (en) Measurement method of initial positions and poses of multiple cameras
CN109374015A (en) A kind of Magnetic Sensor on-line calibration method
JPH0820268B2 (en) Compass direction calibration method
CN115856744A (en) Correction method for linear misalignment error of triaxial fluxgate sensor array
CN113567902B (en) Steering difference correction method for vector magnetic gradiometer
CN113866688B (en) Error calibration method for three-axis magnetic sensor under condition of small attitude angle
CN112240957B (en) Method for correcting amplitude-phase characteristics of antenna in satellite navigation interference direction finding
CN109990801B (en) Level gauge assembly error calibration method based on plumb line
CN110068313A (en) A kind of digital zenith instrument orientation method based on projective transformation
CN113375693A (en) Geomagnetic course error correction method
CN109975620B (en) Rotation simulation calibration system and method for full-space phase control array antenna to be tested
JP2003042766A (en) Azimuth measuring instrument
CN112135042A (en) Adjusting and calibrating method for camera carried by ground mobile robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant