Underwater vehicle wireless electric energy transmission system with omnidirectional anti-position offset capability

Abstract

The invention belongs to the field of wireless electric energy transmission, and discloses an underwater vehicle wireless electric energy transmission system with omnidirectional anti-position offset capability, a combined stepped transmitting coil is designed in the wireless electric energy transmission system, the combined stepped transmitting coil comprises a stepped coil and an anti-series coil, the stepped coil is used for enhancing the magnetic field intensity around the transmitting coil, the anti-series coil is used for uniformizing the sunken part of the magnetic field in the middle of the stepped coil, and finally a uniform magnetic field is achieved within a certain height range above the transmitting coil. The step-shaped transmitting coil is arranged on the transmitting end coil, so that the magnetic field intensity of the transmitting end coil on the z-axis in the height direction of the step-shaped transmitting coil is greatly improved, and then the transmitting end coil is combined with the anti-series coil on the inner side of the transmitting coil, so that the coupler can realize a uniform magnetic field at different heights, and the capability of resisting omnidirectional position offset in various directions such as lateral, vertical and inclined directions is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of wireless power transmission, and relates to an underwater wireless power transmission system with omnidirectional anti-position deviation capability. Background Art

[0002] Underwater vehicles have broad application prospects in the exploration, development and utilization of marine resources. Underwater vehicles of various types and structures have emerged with different functions. However, how underwater vehicles can work continuously underwater for a long time has become an important issue restricting their development. Wireless power transmission technology is a new energy transmission method. Its power transmitter and receiver do not require physical connection between circuits, thus ensuring that underwater vehicles can transmit power in an efficient and safe manner, improving the freedom and safety of charging.

[0003] Electromagnetic coupling mechanism is an important part of wireless power transmission system. The performance of coupler determines the key performance indicators of the system, such as power transmission efficiency and transmission distance. Since the marine environment is rich in microorganisms, algae, shells and other marine organisms, after a long period of underwater work, the marine organisms will attach to the bottom of the flat underwater vehicle and the charging base station. In addition, there is the influence of ocean currents, which causes the flat underwater vehicle to deviate in various directions such as lateral, vertical and tilt. This is a factor that needs to be considered in underwater wireless power transmission.

[0004] At present, there are some electromagnetic coupling mechanisms that can resist specific directional deviations. Their characteristics are designed for underwater vehicles with rotating structures, and they have the characteristics of resisting 360° rotation deviation or only resisting lateral deviation. However, planar underwater vehicles also have many usage scenarios in practice, which greatly limits the further development and application of planar underwater vehicles.

[0005] In order to overcome the lateral, vertical, and tilt deviations caused by the attachment of marine microorganisms when a planar underwater vehicle works underwater for a long time, thereby reducing the efficiency of the wireless power transmission system, and to meet the needs of wireless charging of underwater vehicles in the actual charging process, it is necessary to design a wireless charging system suitable for planar underwater vehicles, so that the planar underwater vehicle has good omnidirectional anti-position deviation capability during the wireless charging process. Summary of the invention

[0006] The purpose of the present invention is to provide an underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability. A combined step transmitting coil is designed in the wireless power transmission system. The combined step transmitting coil includes a step coil and an anti-series coil, wherein the step coil is used to enhance the magnetic field strength around the transmitting coil, and the anti-series coil is used to even out the concave part of the magnetic field in the middle of the step coil, and finally a uniform magnetic field is realized within a certain height range above the transmitting coil, thereby realizing stable power transmission of the underwater vehicle under omnidirectional deviation conditions.

[0007] Based on the above purpose, the present invention provides an underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability, the power transmission system comprising a power transmitting end and a power receiving end;

[0008] The electric energy transmitting end includes a DC regulated power supply, a transmitting end inverter, a signal processor, a transmitting end compensation inductor, a first transmitting end compensation capacitor, a second transmitting end compensation capacitor, and a combined stepped transmitting coil;

[0009] The electric energy receiving end comprises a receiving coil, a receiving end compensation capacitor, a receiving end rectification circuit and an electronic load.

[0010] Wherein, the DC regulated power supply provides a constant voltage input to the entire system;

[0011] The inverter is used to invert the DC power supply into high-frequency AC power;

[0012] The signal processor is used to adjust the operating frequency of the inverter;

[0013] The transmitting end compensation inductor, the first transmitting end compensation capacitor, and the second transmitting end compensation capacitor together constitute an LCC compensation circuit to provide compensation for the resonant network;

[0014] Combined stepped transmitting coils are used to transmit energy;

[0015] The receiving coil at the receiving end is used to receive electric energy in a resonant state;

[0016] The receiving end compensation capacitor forms a series compensation circuit to provide compensation for the resonant network;

[0017] The rectifier circuit is used to rectify high-frequency alternating current into direct current to provide energy for the load;

[0018] The electronic load is used to simulate load usage.

[0019] The combined step-type transmitting coil comprises a step-shaped transmitting coil and a combined anti-series coil;

[0020] Wherein, the step-shaped transmitting coil is composed of a plurality of step-shaped transmitting coil units;

[0021] The step-shaped transmitting coil unit is in a rectangular step-shaped shape, including a horizontal platform and a vertical platform;

[0022] Furthermore, the rectangular stepped coil unit comprises n horizontal platforms and m vertical platforms, wherein n=2m+1, and the value of m is a positive integer greater than 0;

[0023] Furthermore, the rectangular stepped vertical platforms are of equal height;

[0024] Furthermore, the rectangular stepped lower horizontal platform is connected end to end with the upper horizontal platform via a vertical platform;

[0025] In some other embodiments, the step-shaped transmitting coil is composed of at least four step-shaped transmitting coil units;

[0026] The at least four stepped transmitting coil units form a closed stepped transmitting coil, so that the stepped transmitting coil forms a closed loop;

[0027] Furthermore, the overall lengths of the at least four stepped transmitting coils are the same;

[0028] Furthermore, the number of turns of the stepped transmitting coil is N1;

[0029] In some other embodiments, the combined anti-series coil is composed of multiple groups of first coil units connected in series;

[0030] The first coil unit of the combined anti-series coil is a polygonal structure, and the number of sides of the first coil unit is the same as the number of the stepped transmitting coil unit;

[0031] Furthermore, the combined anti-series coil is in a closed loop space formed by the stepped transmitting coil;

[0032] Furthermore, the combined anti-series coil is aligned with the center of the stepped transmitting coil, and one side of the first coil unit is parallel to the stepped transmitting coil unit;

[0033] Preferably, the stepped transmitting coil is composed of four stepped transmitting coil units;

[0034] The first coil unit of the combined anti-series coil is a quadrilateral structure;

[0035] Preferably, the first coil unit of the combined anti-series coil is a square structure;

[0036] More preferably, the combined anti-series coil is composed of three groups of first coils with square structures;

[0037] Furthermore, the number of turns of each of the three groups of first coil groups of the square structure is N2, N3, and N4 respectively.

[0038] In another embodiment, the receiving coil is a rectangular coil tightly wound along the edge of the bottom plate of the underwater vehicle.

[0039] The compensation topology of the coupler of the underwater vehicle wireless power transmission system is LCC-S type, and the transmitting end compensation network includes a transmitting end compensation inductor, a first transmitting end compensation capacitor, and a second transmitting end compensation capacitor;

[0040] Wherein, the transmitting end compensation inductor, the first transmitting end compensation capacitor, the second transmitting end compensation capacitor and the combined stepped transmitting coil form an LCC resonant network;

[0041] In another embodiment, the receiving end compensation network includes a receiving end compensation capacitor;

[0042] The receiving end compensation capacitor and the receiving coil form a series resonant network.

[0043] Preferably, the stepped transmitting coil can increase the magnetic field height on the z-axis in the height direction of the stepped transmitting coil in the coupler through a smaller protrusion height, and can resist a certain tilt angle deviation.

[0044] Preferably, the internal combined anti-series coil can even out the magnetic field concave area generated by the stepped coil in the middle, so that the coupler can resist lateral and sideways displacement.

[0045] Preferably, the receiving coil is a densely wound rectangular coil to maximize the use of the bottom space of the underwater vehicle and achieve the best charging effect.

[0046] The beneficial effect of the present invention is that the stepped coil greatly improves the magnetic field strength of the transmitting end coil on the z-axis in the height direction of the stepped transmitting coil by raising the coil to a smaller height, and then combined with the anti-series coil inside the transmitting coil, the coupler can achieve a uniform magnetic field at different heights, thereby achieving the ability to resist omnidirectional position deviation in various directions such as lateral, vertical, and tilt. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of an underwater vehicle charging base station constructed according to an embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of the structure of a coupler of a combined stepped coil according to an embodiment of the present invention;

[0049] Figure 3is a schematic diagram of coupler offset according to an embodiment of the present invention;

[0050] Figure 4 is an equivalent model diagram of a combined stepped coil circuit according to an embodiment of the present invention;

[0051] Figure 5 is a waveform diagram of input, output voltage and current of a wireless power transmission system under different transmission distances according to an embodiment of the present invention;

[0052] Figure 6 is a curve diagram showing the variation of the output power and transmission efficiency of the wireless power transmission system according to an embodiment of the present invention with the transmission distance and the lateral offset;

[0053] Figure 7 1 is a graph showing the variation of the output power and transmission efficiency of the wireless power transmission system according to an embodiment of the present invention with the deviation of the tilt angle. DETAILED DESCRIPTION

[0054] In order to describe the present invention more specifically, the technical solution of the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0055] In order to verify the feasibility and effectiveness of the underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability provided by the present invention, this example built an experimental prototype with a rated output power of 400W. Figure 1 The combined stepped coil and the anti-series coil of the present invention are used as the power transmitting end, and the rectangular coil is used as the power receiving end, and the present invention is explained in detail based on the experimental results.

[0056] like Figure 1 The figure shows a schematic diagram of an underwater vehicle charging base station constructed in this embodiment, wherein the wireless power transmission system of the combined stepped coil includes a DC power supply, an inverter circuit, a primary compensation network, a combined stepped and anti-series transmitting coil, a secondary receiving coil, a secondary compensation circuit, a rectifier circuit and an electronic load.

[0057] Furthermore, a DC power supply provides a constant voltage input; an inverter can invert DC power into high-frequency AC power; a signal processor adjusts the operating frequency of the inverter; a transmitting end compensation inductor, a first transmitting end compensation capacitor, and a second transmitting end compensation capacitor constitute an LCC compensation circuit; a combined step-type transmitting coil is used to transmit energy; a receiving coil is used to receive electrical energy in a resonant state; a receiving end compensation capacitor constitutes a series compensation circuit; a rectifier circuit is used to rectify high-frequency AC power into DC power to provide energy for a load; and an electronic load is used to simulate load usage.

[0058] like Figure 2As shown, a schematic diagram of the coupler structure of the combined stepped coil is shown, wherein the plane of the anti-series coil is used as the XY plane, and the height direction of the stepped transmitting coil is used as the z-axis to establish an XYZ coordinate system, which has an x-direction offset of Δx, a y-direction offset of Δy, and an angle offset of θ.

[0059] like Figure 3 Shown is a schematic diagram of coupler offset. In a specific embodiment, the combined stepped transmitting coil includes a stepped transmitting coil and a combined anti-series coil;

[0060] Among them, the stepped transmitting coil is composed of 4 stepped transmitting coil units; the stepped transmitting coil unit is rectangular stepped, including a horizontal platform and a vertical platform; the stepped transmitting coil unit for building an underwater vehicle charging base station in this embodiment is designed to have 4 vertical platforms, and the number of horizontal platforms is 9;

[0061] The rectangular stepped vertical platforms are of equal height;

[0062] The next horizontal platform in a rectangular step shape is connected end to end with the previous horizontal platform through a vertical platform;

[0063] Among them, the four step-shaped transmitting coil units form a closed step-shaped transmitting coil, so that the step-shaped transmitting coil forms a closed loop; the number of turns of the step-shaped transmitting coil is N1;

[0064] In addition, in this embodiment, the first coil unit is a square structure; the combined anti-series coil is composed of three groups of first coil units connected in series, and the three groups of first coil units are anti-series connected; the first group of the three square-structured first coil groups has a first coil turn number N2, the second group has a first coil turn number N3, and the third group has a first coil turn number N4;

[0065] Specifically, the sizes of the stepped transmitting coil and the combined anti-series coil are as follows:

[0066]

[0067] Among them, the compensation network of the power sending end includes the sending end compensation inductor L 11 , a first transmitting end compensation capacitor C1, a second transmitting end compensation capacitor C2;

[0068] The power receiving end includes a receiving end compensation capacitor C3;

[0069] Furthermore, the circuit parameters of the combined stepped transmitting coil are shown in Table 2:

[0070]

[0071] When the transmission distance varies from 10mm to 60mm, the maximum value of the coupling coefficient of the coupler varies from 0.53 to 0.42, and the minimum value varies from 0.32 to 0.26.

[0072] When the transmission distance is constant, the lateral offset of the receiving coil has a greater impact on the coupling coefficient than the tilt angle offset.

[0073] Specifically, the equivalent model diagram of the combined stepped coil circuit is as follows: Figure 4 As shown;

[0074] In the most extreme offset case, when the receiving coil has a maximum transmission distance of 60 mm, a maximum lateral offset distance of 50% of the receiving coil size, and a tilt angle offset of 20°, the coupling coefficient is reduced by 30.2%, which is an acceptable result.

[0075] Figure 5 The input, output voltage and current waveforms of the wireless power transmission system under different transmission distances are given. Figure 5 It can be seen from the waveform diagram of input voltage U1, input current I2, output voltage U2, and output current I3 of the wireless power transmission system under different transmission distances, where: Figure 5 Figures (a), (b), (c), (d), (e), and (f) correspond to transmission distances of 10 mm, 20 mm, 30 mm, 40 mm, 50 mm, and 60 mm, respectively. As can be seen from the figure, the coupler is in a resonant state, and even if the transmission distance increases from 10 mm to 60 mm, the voltage and current on the primary and secondary sides can achieve good zero phase angle characteristics (zero phase angle, ZPA).

[0076] Figure 6 The output power and transmission efficiency of the wireless power transmission system are shown in the curve diagram as the transmission distance and lateral offset change. Figure 6 It can be seen that when the transmission distance increases from 10mm to 60mm and the lateral offset increases from 0 to 50% of the coupler size, the maximum change rate of the wireless power transmission system output power is 16.75%, and the maximum decrease in power transmission efficiency is 9.3%. Taking the transmission distance of 10mm as an example, when the lateral offset increases from 0 to 50% of the coupler size, the power transmission efficiency decreases from 91.1% to 83.94%, and the decrease is only 7.16%.

[0077] It should be noted that due to the coupling coil structure in the horizontal and lateral directions ( Figure 2 The wireless power transmission system has symmetry in the X-axis direction and the Y-axis direction. Therefore, the change pattern of the output power and transmission efficiency characteristics of the wireless power transmission system when a lateral offset (offset in the Y-axis direction) occurs is similar to that when a lateral offset (offset in the X-axis direction) occurs.

[0078] Figure 7 The output power and transmission efficiency of the wireless power transmission system vary with the tilt angle deviation. Figure 7 It can be seen that when the tilt angle increases from 5° to 20°, the output power fluctuation of the wireless power transmission system is always within 3.41%, and the maximum change in power transmission efficiency is 4.39%.

[0079] In summary, the combined stepped transmitting coil proposed in the present invention can greatly increase the magnetic field on the z-axis by increasing the height of the smaller coil, thereby increasing the transmission distance of the coupler, and the inner anti-series coil can evenly distribute the magnetic field inside the stepped coil, so that the coupler has good anti-lateral deviation capability. Finally, an underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability is realized.

[0080] The above description of the embodiments is to facilitate the understanding and application of the present invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to the above embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made to the present invention by those skilled in the art based on the disclosure of the present invention should be within the scope of protection of the present invention.

Claims

1. A wireless power transmission system for underwater vehicles with omnidirectional anti-position deviation capability, the power transmission system comprising a power transmitting end and a power receiving end, characterized in that: The electric energy transmitting end includes a DC regulated power supply, a transmitting end inverter, a signal processor, a transmitting end compensation inductor, a first transmitting end compensation capacitor, a second transmitting end compensation capacitor, and a combined stepped transmitting coil; The electric energy receiving end comprises a receiving coil, a receiving end compensation capacitor, a receiving end rectifier circuit, and an electronic load; The combined step-type transmitting coil includes a step-shaped transmitting coil and a combined anti-series coil.

2. The underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability as claimed in claim 1, characterized in that: in, The DC regulated power supply provides a constant voltage input to the entire system; The inverter is used to invert the DC power supply into high-frequency AC power; The signal processor is used to adjust the operating frequency of the inverter.

3. The underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability as claimed in claim 2, characterized in that: The transmitting end compensation inductor, the first transmitting end compensation capacitor and the second transmitting end compensation capacitor together constitute an LCC compensation circuit to provide compensation for the resonant network.

4. The underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability as claimed in claim 3, characterized in that: Combined stepped transmitting coils are used to transmit energy; The receiving coil at the receiving end is used to receive electric energy in a resonant state.

5. The underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability as claimed in claim 4, characterized in that: The receiving end compensation capacitor forms a series compensation circuit to provide compensation for the resonant network.

6. The underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability according to any one of claims 1 to 5, characterized in that: in, The step-shaped transmitting coil is composed of a plurality of step-shaped transmitting coil units; The step-shaped transmitting coil unit is in a rectangular step-shaped shape, including a horizontal platform and a vertical platform; The step-shaped transmitting coil unit comprises n horizontal platforms and m vertical platforms, wherein n=2m+1, and the value of m is a positive integer greater than 0; The rectangular stepped vertical platforms have equal heights.

7. The underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability as claimed in claim 6, characterized in that: The rectangular stepped lower horizontal platform is connected end to end with the upper horizontal platform via a vertical platform.

8. The underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability as claimed in claim 7, characterized in that: The step-shaped transmitting coil is composed of at least four step-shaped transmitting coil units; At least four stepped transmitting coil units form a closed stepped transmitting coil, so that the stepped transmitting coil forms a closed loop.

9. The underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability as claimed in claim 6, characterized in that: The combined anti-series coil is composed of multiple groups of first coil units connected in series; The first coil unit of the combined anti-series coil is a polygonal structure, and the number of sides of the first coil unit is the same as the number of the stepped transmitting coil units. The combined anti-series coil is in a closed loop space formed by the stepped transmitting coil; The combined anti-series coil is aligned with the center of the stepped transmitting coil, and one side of the first coil unit is parallel to the stepped transmitting coil unit.

10. The underwater vehicle wireless power transmission system with omnidirectional anti-position deviation capability as claimed in claim 9, characterized in that: The step-shaped transmitting coil is composed of four step-shaped transmitting coil units; The first coil unit of the combined anti-series coil is a square structure; The combined anti-series coil is composed of three groups of first coils with square structures.

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