Static wireless charging system power regulation method and system

Abstract

The application relates to the technical field of wireless power transmission, and particularly discloses a static wireless charging system power regulation method and system. A buck circuit is designed for system output voltage fluctuation. The system output voltage is detected in real time, and is further compared with a reference output voltage. The duty cycle of a MOS tube in the buck circuit is dynamically controlled in cooperation with a voltage loop, so that dynamic constant voltage regulation of the system output voltage is realized, and the system output power is stabilized. In addition, based on the fluctuation of the transmitting end inverter voltage, the high-frequency inverter output voltage and current are detected in real time to perform voltage loop and current loop control, the stable output of the transmitting end inverter voltage is realized, and the further stabilization of the system output power is facilitated. The comparison result shows that the static wireless charging system power regulation method and system can quickly stabilize the output power of the static wireless charging system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless power transmission, in particular to a static wireless charging system power regulation method and system. BACKGROUND

[0002] When the electric vehicle is actually charging, the charging pile is buried underground or encapsulated on the ground, and it is difficult to directly maintain the charging pile after encapsulation. Inevitable aging of the underground part caused by time factors, environmental factors, etc. may cause the high-frequency waveform to change, and when energy transmission is performed, the receiving end receiving the energy of the transmitting end may also cause oscillation. After rectification by the rectification bridge, the load may have a voltage imbalance problem, affecting the battery life.

[0003] For the receiving end, due to the surrounding coils being charged at the same time, the coils arranged close to each other will inevitably have mutual inductance fluctuations. At the same time, due to the influence of environmental factors, the receiving end voltage will also fluctuate, causing the final power to be unbalanced.

[0004] Currently, there is a feedforward control method based on a small signal model, which analyzes the influence of mutual inductance fluctuations on power, and establishes a feedforward loop and a PI controller for CC / CV mode (constant current / constant voltage) to solve the influence of mutual inductance fluctuations.

[0005] For the power imbalance caused by the change of the equivalent load of the receiving end of the wireless charging system (DWC), some documents propose a three-transmitting coil, i.e. a multi-transmitting and single-picking structure, to improve the electromagnetic coverage range, and a double-sided LCC compensation circuit is used. To improve the constant current (CC) charging power transmission efficiency, the circuit structure is optimized, and a combination of optimal impedance tracking power control efficiency algorithm is proposed.

[0006] Currently, the power balance mainly focuses on the final power regulation, or directly uses topology compensation, coil, etc. to regulate, which is easy to cause power instability due to changes in load end voltage and environmental factors. SUMMARY

[0007] The present application provides a static wireless charging system power regulation method and system, which solves the technical problem of how to stabilize the system power.

[0008] To solve the above technical problems, the present application provides a static wireless charging system power regulation method, which includes an alternating current source, an alternating current to direct current module, a full-bridge inverter, a primary side resonance network, a coupling mechanism, a secondary side resonance network, a full-bridge rectifier and a load resistor. The key is that the power regulation method comprises:

[0009] A buck circuit is connected between the full-bridge rectifier and the load resistor;

[0010] Real-time detection of the actual output voltage of the buck circuit, and feedback adjustment of the PWM signal of the buck circuit according to the difference between the actual output voltage and the reference output voltage until the actual output voltage of the buck circuit is equal to the reference output voltage.

[0011] Further, the buck circuit includes a capacitor C d1 , a MOS tube Q1, a diode D1, an inductor L, a capacitor C d2 , a capacitor C d1 Two ends of the full-bridge rectifier are connected to the two output ends of the full-bridge rectifier, the drain of the MOS tube Q1 is connected to one end of the capacitor C d1 , the source of the MOS tube Q1 is connected to one end of the inductor L and the negative end of the diode D1, the positive end of the diode D1 is connected to the other end of the capacitor C d1 and one end of the capacitor C d2 , the other end of the inductor L is connected to the other end of the capacitor C d2 , and the load resistor is connected in parallel with the capacitor C d2 .

[0012] Further, the voltage regulation process of the buck circuit is specifically:

[0013] Obtain the vehicle speed v, the coil size l, and the frequency w, and determine the initial phase of the voltage change caused by the vehicle motion;

[0014] Establish three basic parameters γ1, γ2, and γ3 for adjusting voltage changes, environmental changes, and receiving end voltage changes, respectively;

[0015] Based on the basic parameters γ1, γ2, and γ3, establish three time states Ψ1, Ψ2, and Ψ3, and the i-th time state is established as: Ψ i = γi*Ψ i ′ + A*(Ψ i ′ - K*Verror), where Ψ i ′ represents the previous state of the state Ψi (the initial state is set to the initial value), Verror represents the difference between the actual output voltage and the reference output voltage, K represents the gain coefficient of Verror, and A represents the gain coefficient of Ψ i ′ - K*Verror;

[0016] Average each time state to obtain the total state number Ψ;

[0017] Then obtain the new duty ratio θ, which can be expressed by the formula: θ = (Ψ - K*Verror) / 100;

[0018] Adjust θ to stabilize the final voltage.

[0019] Further, the power regulation method further comprises: adding a power quality filter for filtering spurs before the full-bridge inverter.

[0020] Further, the power regulation method further comprises: detecting the output voltage and the output current of the full-bridge inverter in real time, and adopting PI control to constitute a current loop and a voltage loop to regulate the output voltage and the output current of the inverter to be constant.

[0021] Further, the power regulation method further comprises: synchronizing the phases of the transmitting coil and the receiving coil.

[0022] The application further provides a static wireless charging system power regulation system applied to the static wireless charging system power regulation method, and the key lies in that the static wireless charging system power regulation system comprises a buck circuit and a secondary side controller, the buck circuit is connected between the full-bridge rectifier and the load resistor, and the secondary side controller is used for detecting the actual output voltage of the buck circuit in real time, feeding back and adjusting the PWM signal of the buck circuit according to the difference between the actual output voltage and a reference output voltage, and stopping until the actual output voltage of the buck circuit is equal to the reference output voltage.

[0023] Preferably, the buck circuit comprises a capacitor C d1 , a MOS tube Q1, a diode D1, an inductor L, a capacitor C d2 , and a capacitor C d1 , two ends of the capacitor C d1 are connected to two output ends of the full-bridge rectifier, one end of the capacitor C d1 is connected to the drain of the MOS tube Q1, one end of the inductor L and the negative electrode of the diode D1 are connected to the source of the MOS tube Q1, the positive electrode of the diode D1 is connected to the other end of the capacitor C d2 and one end of the capacitor C d2 , the other end of the inductor L is connected to the other end of the capacitor C d2 .

[0024] Preferably, the voltage regulation process of the secondary side controller for the buck circuit is as follows:

[0025] acquiring the automobile speed v, the coil size l and the frequency w, determining the initial phase of the voltage change caused by the movement of the vehicle;

[0026] establishing three basic parameters γ1, γ2 and γ3 for adjusting the voltage change, the environmental change and the voltage change of the receiving end respectively;

[0027] establishing three time states Ψ1, Ψ2 and Ψ3 based on the basic parameters γ1, γ2 and γ3, and the i-th time state is established as: Ψ i = γi*Ψi Ψ i Ψ i Ψ i Ψ i Ψ

[0028] Ψ

[0029] Ψ

[0030] Ψ

[0031] Ψ

[0032] Ψ BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is the schematic diagram of the static wireless charging system power regulation method and system provided by the embodiment of the present application;

[0034] Figure 2 is the flow chart of the static wireless charging system power regulation method provided by the embodiment of the present application;

[0035] Figure 3 is the flow chart of the regulation of the secondary side output voltage provided by the embodiment of the present application;

[0036] Figure 4is a flow chart for adjusting primary side inverter output voltage and current provided by the embodiment of the present application;

[0037] Figure 5 is a comparison result chart provided by the embodiment of the present application. DETAILED DESCRIPTION

[0038] The embodiments of the present application are specifically illustrated below with reference to the accompanying drawings, the embodiments are only for illustrative purposes and cannot be understood as limiting the present application, the accompanying drawings are only for reference and illustration and do not constitute a limitation on the patent protection scope of the present application, because many changes can be made to the present application without departing from the spirit and scope of the present application.

[0039] The static wireless charging system power regulation method provided by the embodiment of the present application is as shown in the figure Figure 1 The static wireless charging system includes an AC source, an AC-to-DC module, a full-bridge inverter, a primary side resonance network, a coupling mechanism, a secondary side resonance network, a full-bridge rectifier and a load resistor R L The power regulation method includes:

[0040] A buck circuit is connected between the full-bridge rectifier and the load resistor;

[0041] The actual output voltage of the buck circuit is detected in real time, and the PWM signal of the buck circuit is adjusted according to the difference between the actual output voltage and the reference output voltage until the actual output voltage of the buck circuit is equal to the reference output voltage.

[0042] As shown in the figure Figure 1 The buck circuit includes a capacitor C d1 , a MOS tube Q1, a diode D1, an inductor L, a capacitor C d2 , one end of the capacitor C d1 is connected to two output ends of the full-bridge rectifier, the drain of the MOS tube Q1 is connected to one end of the capacitor C d1 , the source of the MOS tube Q1 is connected to one end of the inductor L and the negative electrode of the diode D1, the positive electrode of the diode D1 is connected to the other end of the capacitor C d1 and one end of the capacitor C d2 , the other end of the inductor L is connected to the other end of the capacitor C d2 , and the load resistor is connected in parallel with the capacitor C d2 .

[0043] The duty cycle of MOS tube Q1 is adjusted by PWM signal to finally control the stability of output voltage. When using open-loop control, the final waveform will bring related disturbance, which is not conducive to the power smooth design of wireless charging system. To solve this problem, a high-efficiency PI controller is designed in this example, which adjusts the output voltage of the receiving end through the voltage loop, and adjusts the output voltage of the buck circuit (chopper circuit) through the control of duty cycle, so as to realize the final power smooth.

[0044] The differential equation of the buck circuit can be expressed as:

[0045]

[0046] Where, i L is the total current of the load, u cd1 is the voltage of C d1 (chopped voltage), u cd2 is the voltage of C d2 (chopped voltage, i.e. the voltage of the load), d is the integral form, which represents the time state integral.

[0047] The WPT system of this example takes LC-S compensation topology as an example, as shown in Figure 1 , that is, the primary side resonance network includes a compensation inductance L f connected in series with the transmitting coil and a compensation capacitor C p1 connected in parallel with the transmitting coil. The primary side resonance network includes a compensation capacitor C s connected in series with the receiving coil. The full-bridge inverter is composed of four MOS tubes, and the full-bridge rectifier is composed of four diodes.

[0048] For the output of the WPT system, the relationship between the input voltage U P of the inverter part and the output voltage U S of the topology part can be expressed as:

[0049]

[0050] Where, U P represents the fundamental voltage effective value of u P , U in represents the input voltage of the full-bridge inverter, U s represents the fundamental voltage effective value of the rectifier input voltage u s , and U buck represents the input voltage of the buck circuit, i.e. the output voltage of the full-bridge rectifier.

[0051] The final voltage V o (system output voltage, i.e. u cd2 ) can be directly adjusted by controlling the duty cycle θ of MOS tube Q1, so the voltage of the load can be represented as:

[0052]

[0053] M represents the mutual inductance between the transmitting coil L p and the receiving coil L s .

[0054] The fluctuation of the system final power can be seen as three parts superimposed, that is, the voltage fluctuation of the transmitting end caused by environmental and period life factors, the voltage fluctuation of the receiving end caused by motion factors and mutual inductance changes, and the third part mainly caused by environmental factors, such as weather influence, humidity influence, signal influence and other possible noise. According to the voltage change of the receiving end, it can be expressed as grid factors, environmental factors and motion factors.

[0055] The voltage change of the system caused by the above three factors is modeled as:

[0056]

[0057] U s1 is the part of the voltage before rectification at the load end disturbed by the disturbance, which is caused by grid factors or environmental factors or motion factors; U bian is the type of specific voltage change, which can be seen as a superimposed sinusoidal function cumulative expression form (the initial phase is different, the phase angle is different, and the amplitude is different, which is a superimposed state as a whole); U is a basic quantity representing voltage, for example, 5V is the fluctuation around 5V, w is the phase representing the frequency of the waveform, are the initial phase angles of the 3rd and 5th harmonics respectively, and a3 and a5 are the corresponding amplitude influence factors.

[0058] The specific regulation process of the voltage loop is:

[0059] First, according to the reference voltage, the voltage error is obtained by subtracting the reference voltage from the detected final voltage value, and the voltage error is taken as the reference of 0 as the regulation function. The vehicle speed will cause the amplitude and the final voltage frequency to change, and in this process, the phase, frequency and amplitude are unknown, so a phase parameter can be set as a reference to have a basic value in the initial condition.

[0060] If the final power of the chopping part is P, the power P out of the load end R can be expressed as:

[0061] P out = u cd2 *i out (5)

[0062] then for P, there is:

[0063] P=P out +P huanerr +P Verr (6)

[0064] Wherein, P Verr Can be expressed as the power change caused by the voltage range change, which can be decomposed into Fourier function expression form according to the disturbance change, since the current is proportional to the voltage, so the disturbance change can be equivalent to the change square. Set the equivalent load parameter as alpha, set the normal AC voltage (input voltage of the rectifier) as V in , and the abnormal AC voltage as V F , then the disturbance power change can be expressed as:

[0065]

[0066] P huanerr Can be expressed as the load end power unsmooth factor caused by environmental factors, including the inevitable shock factor caused by voltage mutation when the coil switches, the random environmental shock factor caused by power loss caused by inductance and capacitance energy storage, etc. Set the power change rate caused by inevitable shock factor as P fix , and the power change caused by random environmental shock factor as P ev . Since the two groups of changes are difficult to quantify and decompose, they can be regarded as random fuzzy quantities here.

[0067] For the power stability design of the high-power dynamic wireless charging system, the voltage stability and the current stability are finally required. In the adjustment process, in addition to compensating the voltage u d1 across the capacitor C cd1 , the system input voltage will directly affect the stability of the power. Since the system input mainly causes the AC end voltage change to cause voltage offset in the DC conversion process, the input end adjustment mainly adopts AC filtering processing method, as shown in Fig. Figure 1 , an electric energy quality filter is added before the full-bridge inverter to filter out some noise.

[0068] In addition, the output voltage and the output current of the full-bridge inverter are also detected in real time, and PI control is adopted to constitute a current loop and a voltage loop to adjust the output voltage and the output current of the inverter, so that the initial inverter process is rapidly stabilized.

[0069] In addition, the electric energy quality regulator is also designed to synchronize the phases of the transmitting coil and the receiving coil.

[0070] So far, the power adjustment of the application mainly includes three groups of adjustment methods, one is the input end harmonic stability adjustment (through the power quality filter / power filter), the second part is the primary and secondary coil phase synchronization adjustment (power quality regulator), and the third part is the PI controller adjustment. For the PI controller, there are three loops, namely the transmitting end closed loop adjustment of the inverter output current (through the PI controller), the closed loop adjustment of the inverter output voltage (through the PI controller), and the closed loop adjustment of the output voltage of the receiving end (through the PI controller).

[0071] As shown in the flowchart of Figure 2 , the power adjustment process of the application (the running process of the static wireless charging system) is as follows:

[0072] The AC source (power grid) directly supplies power, and some noise may be generated in this process. The power filter is used to filter the noise, and at this time the current part may still have the harmonic of the power grid part, and the voltage may be reduced. At this time, the voltage is adjusted to the required rated 800V voltage, and the 800V DC is adjusted to high frequency AC through the full-bridge inverter. At this time, the high frequency AC may have the voltage problem of the power grid, so the voltage loop and current loop adjustment are performed here to maintain the output stability. Then the energy is transmitted through the coil. In this process, fluctuations may still be caused by relative motion environment factors, etc. Here, the chopper circuit and PI controller are used for voltage dynamic adjustment to unknown changes, and finally the power is kept stable.

[0073] For the voltage adjustment of the receiving end, the specific process is shown in Figure 3 , which includes:

[0074] The vehicle speed v, the coil size l, and the frequency w are obtained, and the initial phase of the voltage change caused by the vehicle motion is determined;

[0075] After the initial phase of the change is obtained, the output voltage of the buck circuit is directly related to the input voltage, the duty cycle, and the compensation inductance L. The input voltage can be regarded as an unchanged state after being adjusted by the voltage loop and current loop of the transmitting end power quality regulator. The compensation inductance L is also regarded as an unchanged state. At this time, the key influencing factor is the duty cycle;

[0076] Three basic parameters γ1, γ2, and γ3 are established for adjusting the voltage change, environmental change, and receiving end voltage change, respectively;

[0077] Based on the basic parameters γ1, γ2, and γ3, three time states Ψ1, Ψ2, and Ψ3 are established. The i-th time state is established as: Ψ i = γi*Ψ i ′ + A*(Ψ i ′ - K*Verror), Ψ i ′ represents the state Ψi the previous state (initial state is set as an initial value), Verror represents a difference between the actual output voltage and the reference output voltage, K represents a gain coefficient of Verror, A represents a gain coefficient of Ψ i ′-K*Verror;

[0078] The total state number Ψ is obtained by averaging each time state;

[0079] Then a new duty ratio θ is obtained, which can be expressed by a formula: θ=(Ψ-K*Verror) / 100;

[0080] The θ is adjusted so that the final voltage is stable.

[0081] For the voltage loop and current loop adjustment of the transmitting end, as shown in the flowchart of Figure 4 , which includes:

[0082] When starting to run, the primary side circuit is initialized and adjusted, the relative motion speed is obtained, the vehicle and the bottom coil size are fixed, an initial phase angle that is adjusted according to the relative change is generated, after the energy is transmitted, the rectified DC voltage is obtained, and the error part is obtained according to the built-in voltage sensor. The environmental part is most complex due to environmental changes, and the environmental part is dynamically adjusted. The voltage and the receiving end are statically adjusted, which can be similar to a PI regulator for dynamic adjustment. The duty ratio is adjusted through three control objects to finally keep the final power stable.

[0083] The embodiment of the present application also provides a static wireless charging system power regulation system based on the static wireless charging system power regulation method, which comprises a buck circuit and a secondary side controller. The buck circuit is connected between the full-bridge rectifier and the load resistor. The secondary side controller is used for detecting the actual output voltage of the buck circuit in real time, feeding back and adjusting the PWM signal of the buck circuit according to the difference between the actual output voltage and the reference output voltage, and stopping until the actual output voltage of the buck circuit is equal to the reference output voltage. The system also comprises a power quality filter connected before the full-bridge inverter for filtering out noise. The system also comprises a primary side controller. The primary side controller is used for detecting the output voltage and the output current of the full-bridge inverter in real time, and adopting PI control to constitute a current loop and a voltage loop, so as to adjust the output voltage and the output current of the inverter to be constant.

[0084] The final result is compared, for example Figure 5As shown, wherein LC-S is the system output voltage response curve without any control, PI is the system output voltage response curve when only PI control is added to the inverter output and system output (without the addition of the buck circuit), and EQPI is the system output voltage response curve obtained by applying the present application. Figure 5 It can be seen that, in the face of unknown effects of voltage application and environmental changes on the overall circuit, the controller designed in the present application has a significant voltage regulation effect. In the initial voltage boosting phase, although the flicker voltage causes a substantial increase in the overall grid voltage, the controller has a very obvious inhibitory effect on the voltage, keeping the overall voltage stable. Although there is a large disturbance in the stabilization process, the charging state can be entered only 0.002s, which proves the effective anti-power quality disturbance capability of the controller. When the circuit tends to be stable, there are still disturbances in the subsequent circuit, but the power remains stable, which reflects the inhibitory ability and voltage stabilization performance of the designed controller in the face of large voltage.

[0085] In summary, the static wireless charging system power regulation method and system provided in the embodiments of the present application, in the face of system output voltage fluctuations, designs a buck circuit, detects the system output voltage in real time, further compares it with the reference output voltage, and cooperates with the voltage loop to dynamically control the duty cycle of the MOS tube in the buck circuit, to realize dynamic constant voltage regulation of the system output voltage, so that the system output power is stable. In addition, based on the fluctuations of the transmitting end inverter voltage, the high-frequency inverter output voltage and current are detected in real time to perform voltage loop and current loop control, to realize stable output of the transmitting end inverter voltage, which is conducive to further stabilization of the system output power. The comparison results show that the static wireless charging system power regulation method and system provided in the present application can quickly stabilize the output power of the static wireless charging system.

[0086] The above embodiments are preferred embodiments of the present application, but the embodiments of the present application are not limited by the above embodiments, and any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present application should be equivalent replacement methods, and are all included in the protection scope of the present application.

Claims

1. A power regulation method for a static wireless charging system, the static wireless charging system comprising an AC source, an AC-to-DC module, a full-bridge inverter, a primary-side resonant network, a coupling mechanism, a secondary-side resonant network, a full-bridge rectifier, and a load resistor, characterized in that, The power regulation method includes: A buck circuit is connected between the full-bridge rectifier and the load resistor; The actual output voltage of the buck circuit is detected in real time, and the PWM signal of the buck circuit is adjusted according to the difference between the actual output voltage and the reference output voltage until the actual output voltage of the buck circuit is equal to the reference output voltage. The buck circuit includes capacitor C. d1 MOSFET Q1, diode D1, inductor L, capacitor C d2 Capacitor C d1 The two ends of the MOSFET Q1 are connected to the two output terminals of the full-bridge rectifier, and the drain of the MOSFET Q1 is connected to the capacitor C. d1 At one end, the source of MOSFET Q1 is connected to one end of inductor L and the negative terminal of diode D1, and the positive terminal of diode D1 is connected to capacitor C. d1 The other end and capacitor C d2 One end of the inductor L is connected to the other end of the capacitor C. d2 At the other end, the load resistor is connected in parallel to the capacitor C. d2 ; The voltage regulation process of the buck circuit is as follows: By acquiring the vehicle speed v, coil size l, and frequency w, the initial phase causing voltage changes when the vehicle moves is determined. Establish three basic parameters , , These are used to adjust for voltage changes, environmental changes, and receiving-end voltage changes, respectively. Based on basic parameters , , Establish three time states , and The i-th time state is established as follows: , Representing state The previous state, K represents the difference between the actual output voltage and the reference output voltage. The gain coefficient, A represents the gain coefficient of the product. Gain coefficient; The total number of states is obtained by averaging the states at each time point. ; Then the new duty cycle is obtained. Expressed as a formula: ; adjust This ensures that the final voltage is stable.

2. The power adjustment method for a static wireless charging system according to claim 1, characterized in that, The power regulation method also includes adding a power quality filter before the full-bridge inverter to filter out noise.

3. The power adjustment method for a static wireless charging system according to claim 2, characterized in that, The power regulation method also includes: real-time detection of the output voltage and output current of the full-bridge inverter, and the use of PI control to form a current loop and a voltage loop to regulate the output voltage and current of the inverter to be constant.

4. The power adjustment method for a static wireless charging system according to claim 3, characterized in that, The power regulation method also includes synchronizing the phases of the transmitting coil and the receiving coil.

5. A power regulation system for a static wireless charging system, applied to the power regulation method for a static wireless charging system as described in any one of claims 1 to 4, characterized in that: The device includes a buck circuit and a secondary-side controller. The buck circuit is connected between the full-bridge rectifier and the load resistor. The secondary-side controller is used to detect the actual output voltage of the buck circuit in real time and adjust the PWM signal of the buck circuit based on the difference between the actual output voltage and the reference output voltage until the actual output voltage of the buck circuit is equal to the reference output voltage.

6. The power adjustment system for a static wireless charging system according to claim 5, characterized in that: The buck circuit includes capacitor C. d1 MOSFET Q1, diode D1, inductor L, capacitor C d2 Capacitor C d1 The two ends of the MOSFET Q1 are connected to the two output terminals of the full-bridge rectifier, and the drain of the MOSFET Q1 is connected to the capacitor C. d1 At one end, the source of MOSFET Q1 is connected to one end of inductor L and the negative terminal of diode D1, and the positive terminal of diode D1 is connected to capacitor C. d1 The other end and capacitor C d2 One end of the inductor L is connected to the other end of the capacitor C. d2 At the other end, the load resistor is connected in parallel to the capacitor C. d2 .

7. The power adjustment system for a static wireless charging system according to claim 6, characterized in that, The voltage regulation process of the buck circuit by the secondary-side controller is specifically as follows: By acquiring the vehicle speed v, coil size l, and frequency w, the initial phase causing voltage changes when the vehicle moves is determined. Establish three basic parameters , , These are used to adjust for voltage changes, environmental changes, and receiving-end voltage changes, respectively. Based on basic parameters , , Establish three time states , and The i-th time state is established as follows: , Representing state The previous state, K represents the difference between the actual output voltage and the reference output voltage. The gain coefficient, A represents the gain coefficient of the product. Gain coefficient; The total number of states is obtained by averaging the states at each time point. ; Then the new duty cycle is obtained. Expressed as a formula: ; adjust This ensures that the final voltage is stable.

8. The power regulation system for a static wireless charging system according to claim 7, characterized in that: The system also includes a power quality filter connected before the full-bridge inverter for filtering out noise; the system also includes a primary-side controller for real-time detection of the output voltage and output current of the full-bridge inverter, and uses PI control to form a current loop and a voltage loop to regulate the output voltage and current of the inverter to be constant.

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