A test bench and test method for a rotary wireless power supply system

Abstract

The present invention relates to a test bench and test method for a rotary wireless power supply system. The test bench includes a vibration table, a data acquisition and control device, a rotary equipment fixing frame, a four-degree-of-freedom motion platform, a motion platform fixing frame, a rotary equipment system, and a wireless power supply system; the rotary equipment system includes a bearing seat, a rotating shaft, a slip ring, a coupling, and a rotary equipment servo motor; the wireless power supply system includes a receiving end, a transmitting end, a transmitting coil, and a receiving coil; the four-degree-of-freedom motion platform includes a longitudinal servo motor, a first longitudinal guide rail, a first longitudinal slide, a transverse servo motor, a transverse guide rail, a bidirectional slide, a vertical servo motor, a vertical guide rail, a rotary servo motor, a rotary platform, a fixture, a second longitudinal slide, and a second longitudinal guide rail. The present invention plays an important role in evaluating the performance, reliability, and safety of wireless power supply systems and accelerating product development cycles.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless power supply, and in particular to a test bench and a test method for a rotary wireless power supply system. Background Art

[0002] Wireless power transmission is a technology that transmits electrical energy from a power source to a power consumer without wires. In wireless power transmission, coupling coils are crucial components for energy conversion and contactless transmission. The transmitting coil generates an alternating magnetic field through high-frequency alternating current, which induces an electromotive force in the receiving coil, powering the device. Bench testing is a critical step in verifying product performance, reliability, and design optimization. By simulating actual operating environments, it ensures product quality and proactively identifies potential issues. Currently, during testing on a wireless power system test bench, the transmitting and receiving coils are kept in a static state, meaning there is no relative motion between them. This makes it impossible to test dynamic wireless power systems for rotating equipment. This method measures the system's transmission performance under various offset conditions by adjusting the relative position of the transmitting and receiving coils. However, this method only statically simulates interference caused by inter-coil positional offset and cannot effectively simulate the dynamic, high-frequency vibration interference that can occur in real-world environments. Consequently, test results fail to fully and accurately reflect the actual performance of wireless power systems in complex environments. For example, Chinese invention patent application CN201910635876.6 discloses a test bench for a wireless power supply test system. This test bench is only suitable for planar wireless power supply tests, but not for rotational wireless power supply tests. It can only simulate large position offsets, but cannot simulate small-amplitude dynamic vibrations under actual working conditions. It does not include variable impact interference to test system stability. It does not consider the impact of input voltage and output load on system stability. Summary of the Invention

[0003] In order to evaluate the stability and reliability of wireless power supply systems more closely in actual application scenarios and improve the comprehensiveness and accuracy of tests, the purpose of the present invention is to provide a test bench and test method for a rotary wireless power supply system, which plays an important role in evaluating the performance, reliability, and safety of wireless power supply systems and accelerating product development cycles.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A test bench for a rotary wireless power supply system includes a vibration table 1, a data acquisition and control device 2, a rotating equipment fixing frame 3, a four-degree-of-freedom motion platform 13, a motion platform fixing frame 29, a rotating equipment system and a wireless power supply system; the motion platform fixing frame 29 is fixed to the ground; the rotating equipment fixing frame 3 is fixed to the vibration table 1 and is located inside the motion platform fixing frame 29; the four-degree-of-freedom motion platform 13 is installed on the top of the motion platform fixing frame 29; and the rotating equipment system is installed on the top of the rotating equipment fixing frame 3.

[0006] The rotating equipment system includes a bearing seat 4, a rotating shaft 5, a slip ring 6, a coupling 11 and a rotating equipment servo motor 12; the wireless power supply system includes a receiving end 7, a transmitting end 8, a transmitting coil 9 and a receiving coil 10.

[0007] The four-degree-of-freedom motion platform 13 includes a longitudinal servo motor 14, a first longitudinal guide rail 15, a first longitudinal slide 16, a transverse servo motor 17, a transverse guide rail 18, a bidirectional slide 19, a vertical servo motor 20, a vertical guide rail 21, a rotary servo motor 22, a rotary platform 23, a clamp 24, a second longitudinal slide 25 and a second longitudinal guide rail 26.

[0008] The first longitudinal guide rail 15 and the second longitudinal guide rail 26 are fixedly connected in parallel to the two longitudinal beams of the motion platform fixing frame 29; the first longitudinal slide 16 and the second longitudinal slide 25 are installed on the first longitudinal guide rail 15 and the second longitudinal guide rail 26; the longitudinal servo motor 14 is connected to the first longitudinal guide rail 15 to drive the first longitudinal slide 16 to move longitudinally on the first longitudinal guide rail 15; the two ends of the transverse guide rail 18 are fixed on the first longitudinal slide 16 and the second longitudinal slide 25; the bidirectional slide 19 is installed on the transverse guide rail 18; the transverse servo motor 17 is connected to the transverse guide rail 18 is connected to drive the bidirectional slide 19 to move laterally on the transverse guide rail 18; the vertical guide rail 21 is installed on the bidirectional slide 19; the vertical servo motor 20 is connected to the vertical guide rail 21 to drive the vertical guide rail 21 to move up and down in the vertical direction; the rotating platform 23 is installed at the bottom of the vertical guide rail 21; the rotating servo motor 22 is fixed to the vertical guide rail 21 and connected to the rotating platform 23 to drive the rotating platform 23 to rotate; the clamp 24 is fixed to the bottom of the rotating platform 23 for fixing the transmitting coil 9; the transmitting end 8 is installed at the lower part of the vertical guide rail 21.

[0009] The rotating shaft 5 passes through the transmitting coil 9 and is longitudinally mounted on the fixed beam in the middle of the rotating device fixed frame 3 through the bearing seat 4; the rotating device servo motor 12 is fixedly connected to the rotating device fixed frame 3, and the power output shaft of the rotating device servo motor 12 is connected to the right end of the rotating shaft 5 through the coupling 11; the slip ring 6, the receiving end 7 and the receiving coil 10 are fixedly connected to the rotating shaft 5 in sequence from left to right; among them, the receiving end 7 and the receiving coil 10 correspond to the transmitting end 8 and the transmitting coil 9, and the slip ring 6 is used to transmit electrical energy on the receiving end 7.

[0010] The data acquisition and control device 2 is used to collect the relative position information of the transmitting coil 9 and the receiving coil 10, and control the vibration table 1, the rotating equipment servo motor 12, the longitudinal servo motor 14, the lateral servo motor 17, the vertical servo motor 20 and the rotary servo motor 22 to perform performance tests on the wireless power supply system under different test conditions.

[0011] The vibration table 1 realizes vibration in three directions with different frequencies, amplitudes and accelerations.

[0012] A counterweight is provided on the rotating shaft 5 .

[0013] The data acquisition and control device 2 includes a controller and a distance sensor 27 and an angle sensor 28 for measuring the relative position of the transmitting coil 9 and the receiving coil 10; a distance sensor 27 is provided at one end of the first longitudinal guide rail 15, the transverse guide rail 18 and the vertical guide rail 21; an angle sensor 28 is provided at the connection between the rotating platform 23 and the rotating servo motor 22, and at the connection between the bearing seat 4 and the rotating shaft 5; the controller is respectively connected to the distance sensor 27, the angle sensor 28, the vibration table 1, the slip ring 6, the transmitting end 8, the rotating equipment servo motor 12, the longitudinal servo motor 14, the transverse servo motor 17, the vertical servo motor 20 and the rotating servo motor 22.

[0014] The test conditions include one or a combination of the following test conditions:

[0015] a. Adjust the frequency and acceleration of the vibration table 1 to make the wireless power supply system vibrate at different levels;

[0016] b. By controlling the longitudinal servo motor 14, the transverse servo motor 17, the vertical servo motor 20 and the rotational servo motor 22, the transmitting coil 9 and the receiving coil 10 are placed in different relative positions;

[0017] c. By controlling the rotating device servo motor 12, the rotating shaft 5 rotates at different speeds;

[0018] d. By controlling the input voltage and output load of the wireless power supply system, the wireless power supply system generates input voltage disturbance and output load change.

[0019] A method for testing a rotary wireless power supply system using the test bench for the rotary wireless power supply system is characterized in that the testing method comprises the following steps:

[0020] S1. The controller collects the relative position information of the transmitting coil 9 and the receiving coil 10 of the wireless power supply system through the distance sensor 27 and the angle sensor 28, controls the longitudinal servo motor 14, the lateral servo motor 17, the vertical servo motor 20, and the rotation servo motor 22 of the four-degree-of-freedom motion platform 13 so that the transmitting coil 9 and the receiving coil 10 are located in the same plane, and the receiving coil 10 is located at the center of the transmitting coil 9; and controls the rotating device servo motor 12 to rotate the rotating shaft 5 at a certain speed;

[0021] S2. The controller controls the vibration table 1, the rotating device servo motor 12, the longitudinal servo motor 14, the transverse servo motor 17, the vertical servo motor 20, and the rotating servo motor 22 to perform a performance test on the wireless power supply system under one or more of the following test conditions:

[0022] a. Adjust the frequency and acceleration of the vibration table 1 to make the wireless power supply system vibrate at different levels;

[0023] b. By controlling the longitudinal servo motor 14, the transverse servo motor 17, the vertical servo motor 20 and the rotational servo motor 22, the transmitting coil 9 and the receiving coil 10 are placed in different relative positions;

[0024] c. By controlling the rotating device servo motor 12, the rotating shaft 5 rotates at different speeds;

[0025] d. By controlling the input voltage and output load of the wireless power supply system, the wireless power supply system generates input voltage disturbance and output load change;

[0026] S3. The controller calculates the coupling coefficient between the transmitting coil 9 and the receiving coil 10 using Formula 1 and Formula 2, and calculates the transmission efficiency between the transmitting end 8 and the receiving end 7 using Formula 3 based on the parameters of the wireless power supply system collected during the test. The parameters of the wireless power supply system include input voltage, input current, output voltage, output current, and impedance of the transmitting coil 9.

[0027]

[0028]

[0029] In formula 1 and formula 2, k is the coupling coefficient; M is the mutual inductance between the transmitting coil 9 and the receiving coil 10, in H; L1 is the self-inductance of the transmitting coil 9, in H; L2 is the self-inductance of the receiving coil 10, in H; R1 is the resistance of the transmitting coil 9, in Ω; R2 is the resistance of the receiving coil 10, in Ω; j represents the imaginary part of the complex number; w is the angular frequency of the alternating current, in rad / s, w = 2πf, f is the frequency of the alternating current, in Hz; Z in is the impedance of the transmitting coil 9, in Ω;

[0030]

[0031] In formula 3, η is the transmission efficiency between the transmitting end 8 and the receiving end 7; P out is the output power of the receiving end 7, in W, P out =V out I out ; V out is the output voltage of the receiving end 7, in V; I out is the output current of the receiving end 7, in A; P in is the input power of the transmitter 8, in W, P in =V in I in , V in is the input voltage of the transmitter 8, in V; I in The input current of the transmitter 8, in A;

[0032] S4. Comprehensively evaluate the performance of the wireless power supply system based on the parameters of the wireless power supply system and the coupling coefficient and transmission efficiency obtained in step S3.

[0033] The transmitting coil 9 and the receiving coil 10 can be selected from coils of different shapes and numbers according to test requirements.

[0034] In the process of performing the performance test on the wireless power supply system in step S2, each test condition is performed in order from low to high:

[0035] In test condition a, the vibration table 1 is gradually increased from no vibration to the preset maximum vibration amplitude;

[0036] In test condition b, the relative position of the transmitting coil 9 and the receiving coil 10 is gradually increased from zero offset to the maximum allowable range;

[0037] In test condition c, the rotating shaft 5 is gradually increased from a low speed to the designed maximum speed;

[0038] In test condition d, the wireless power supply system is gradually increased from low power to full load.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention provides a test bench and test method for a rotary wireless power supply system, which is used for dynamic wireless power supply system testing of rotating equipment. It can dynamically adjust the relative position of the transmitting coil and the receiving coil in the wireless power supply system during the test process to simulate large-amplitude impacts under actual working conditions. It can also subject the entire system to small-amplitude vibration shocks to simulate vibrations under actual working conditions, while introducing input voltage disturbances and output load changes to simulate various electrical shocks and interferences under actual working conditions. In addition, it can meet the rotation requirements of rotating equipment and wireless power supply systems at different speeds, and can also achieve speed changes during the test process, thereby comprehensively evaluating the performance and reliability of the system in a complex dynamic environment. At the same time, the device has a simple structure and is easy to operate, and can effectively evaluate the stability and reliability of the wireless power supply system, thereby significantly improving the comprehensiveness and accuracy of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 1 is a schematic structural diagram of a test bench for a rotary wireless power supply system according to an embodiment of the present invention;

[0042] Figure 2 1 is a structural diagram of a four-degree-of-freedom motion platform 13 .

[0043] The accompanying drawings are as follows:

[0044] 1. Vibration table 2. Data acquisition and control device

[0045] 3. Rotating equipment fixing frame 4. Bearing seat

[0046] 5. Rotating shaft 6. Slip ring

[0047] 7. Receiver 8. Transmitter

[0048] 9. Transmitting coil 10. Receiving coil

[0049] 11. Coupling 12. Rotating equipment servo motor

[0050] 13. Four-degree-of-freedom motion platform 14. Longitudinal servo motor

[0051] 15. First longitudinal guide rail 16. First longitudinal slide

[0052] 17. Horizontal servo motor 18. Horizontal guide rail

[0053] 19. Bidirectional slide 20. Vertical servo motor

[0054] 21. Vertical guide rail 22. Rotary servo motor

[0055] 23. Rotating platform 24. Fixture

[0056] 25. Second longitudinal slide 26. Second longitudinal guide rail

[0057] 27. Distance sensor 28. Angle sensor

[0058] 29. Motion platform fixing bracket DETAILED DESCRIPTION

[0059] The present invention will be further described below with reference to the accompanying drawings and examples.

[0060] like Figure 1 As shown, a test bench for a rotary wireless power supply system includes a vibration table 1, a data acquisition and control device 2, a rotating device fixture 3, a four-degree-of-freedom motion platform 13, a motion platform fixture 29, a rotating device system, and a wireless power supply system. The motion platform fixture 29 is fixed to the ground; the rotating device fixture 3 is fixed to the vibration table 1 and located inside the motion platform fixture 29; the four-degree-of-freedom motion platform 13 is mounted on top of the motion platform fixture 29; and the rotating device system is mounted on top of the rotating device fixture 3.

[0061] The rotating equipment system includes a bearing seat 4, a rotating shaft 5, a slip ring 6, a coupling 11 and a rotating equipment servo motor 12; the wireless power supply system includes a receiving end 7, a transmitting end 8, a transmitting coil 9 and a receiving coil 10.

[0062] like Figure 2 As shown, the four-degree-of-freedom motion platform 13 includes a longitudinal servo motor 14, a first longitudinal guide rail 15, a first longitudinal slide 16, a transverse servo motor 17, a transverse guide rail 18, a bidirectional slide 19, a vertical servo motor 20, a vertical guide rail 21, a rotary servo motor 22, a rotary platform 23, a fixture 24, a second longitudinal slide 25 and a second longitudinal guide rail 26;

[0063] The first longitudinal guide rail 15 and the second longitudinal guide rail 26 are fixedly connected in parallel to the two longitudinal beams of the motion platform fixing frame 29; the first longitudinal slide 16 and the second longitudinal slide 25 are installed on the first longitudinal guide rail 15 and the second longitudinal guide rail 26; the longitudinal servo motor 14 is connected to the first longitudinal guide rail 15 to drive the first longitudinal slide 16 to move longitudinally on the first longitudinal guide rail 15; the two ends of the transverse guide rail 18 are fixed on the first longitudinal slide 16 and the second longitudinal slide 25; the bidirectional slide 19 is installed on the transverse guide rail 18; the transverse servo motor 17 is connected to the transverse guide rail 18 is connected to drive the bidirectional slide 19 to move laterally on the transverse guide rail 18; the vertical guide rail 21 is mounted on the bidirectional slide 19; the vertical servo motor 20 is connected to the vertical guide rail 21 to drive the vertical guide rail 21 to move up and down in the vertical direction; the rotating platform 23 is mounted at the bottom of the vertical guide rail 21; the rotary servo motor 22 is fixed to the vertical guide rail 21 and connected to the rotating platform 23 to drive the rotating platform 23 to rotate; the clamp 24 is fixed to the bottom of the rotating platform 23 and is used to fix the transmitting coil 9; the transmitting end 8 is mounted at the bottom of the vertical guide rail 21;

[0064] The rotating shaft 5 passes through the transmitting coil 9 and is longitudinally mounted on the fixed beam in the middle of the rotating device fixed frame 3 through the bearing seat 4; the rotating device servo motor 12 is fixed to the fixed frame 3, and the power output shaft of the rotating device servo motor 12 is connected to the right end of the rotating shaft 5 through the coupling 11; the slip ring 6, the receiving end 7 and the receiving coil 10 are fixed to the rotating shaft 5 in sequence from left to right; among them, the receiving end 7 and the receiving coil 10 correspond to the transmitting end 8 and the transmitting coil 9, and the slip ring 6 is used to transmit electrical energy on the receiving end 7.

[0065] The relative position of the transmitting coil 9 and receiving coil 10 is adjusted using a four-degree-of-freedom motion platform 13 to test the performance of the wireless power supply system under different installation conditions. Furthermore, the vibration table 1 can achieve three-dimensional vibration at different frequencies, amplitudes, and accelerations, simulating the relative position changes of the transmitting coil 9 and receiving coil 10 caused by vibration during actual operation, thereby evaluating the wireless power supply system's anti-interference capabilities. Furthermore, by rotating the equipment system, the performance of the wireless power supply system can be tested at different speeds.

[0066] Preferably, a counterweight is provided on the rotating shaft 5 to achieve a balanced rotation effect and ensure stable operation of the receiving end 7 on the rotating shaft 5 .

[0067] The data acquisition and control device 2 includes a controller, a distance sensor 27, and an angle sensor 28 for measuring the relative position of the transmitting coil 9 and the receiving coil 10. A distance sensor 27 is provided at one end of each of the first longitudinal guide rail 15, the transverse guide rail 18, and the vertical guide rail 21. An angle sensor 28 is provided at the connection between the rotating platform 23 and the rotary servo motor 22, as well as at the connection between the bearing seat 4 and the rotating shaft 5. The controller is respectively connected to the distance sensor 27, the angle sensor 28, the vibration table 1, the slip ring 6, the transmitting end 8, the rotating equipment servo motor 12, the longitudinal servo motor 14, the transverse servo motor 17, the vertical servo motor 20, and the rotary servo motor 22.

[0068] The present invention provides a testing method for a rotary wireless power supply system, comprising the following steps:

[0069] S1. The controller collects the relative position information of the transmitting coil 9 and the receiving coil 10 of the wireless power supply system through the distance sensor 27 and the angle sensor 28, controls the longitudinal servo motor 14, the lateral servo motor 17, the vertical servo motor 20, and the rotation servo motor 22 of the four-degree-of-freedom motion platform 13 so that the transmitting coil 9 and the receiving coil 10 are located in the same plane, and the receiving coil 10 is located at the center of the transmitting coil 9; and controls the rotating device servo motor 12 to rotate the rotating shaft 5 at a certain speed;

[0070] The transmitting coil 9 and the receiving coil 10 may be coils of different shapes and numbers according to test requirements.

[0071] S2. The controller controls the vibration table 1, the rotating device servo motor 12, the longitudinal servo motor 14, the transverse servo motor 17, the vertical servo motor 20, and the rotating servo motor 22 to perform a performance test on the wireless power supply system under one or more of the following test conditions:

[0072] a. Adjust the frequency and acceleration of the vibration table 1 to make the wireless power supply system vibrate at different levels;

[0073] b. By controlling the longitudinal servo motor 14, the transverse servo motor 17, the vertical servo motor 20 and the rotational servo motor 22, the transmitting coil 9 and the receiving coil 10 are placed in different relative positions;

[0074] c. By controlling the rotating device servo motor 12, the rotating shaft 5 rotates at different speeds;

[0075] d. By controlling the input voltage and output load of the wireless power supply system, the wireless power supply system generates input voltage disturbance and output load change;

[0076] In the process of performing the performance test on the wireless power supply system in step S2, each test condition is performed in order from low to high:

[0077] In test condition a, the vibration table 1 is gradually increased from no vibration to the preset maximum vibration amplitude;

[0078] In test condition b, the relative position of the transmitting coil 9 and the receiving coil 10 is gradually increased from zero offset to the maximum allowable range;

[0079] In test condition c, the rotating shaft 5 is gradually increased from a low speed to the designed maximum speed;

[0080] In test condition d, the wireless power supply system is gradually increased from low power to full load.

[0081] S3. The controller calculates the coupling coefficient between the transmitting coil 9 and the receiving coil 10 using Formula 1 and Formula 2, and calculates the transmission efficiency between the transmitting end 8 and the receiving end 7 using Formula 3 based on the parameters of the wireless power supply system collected during the test. The parameters of the wireless power supply system include input voltage, input current, output voltage, output current, and impedance of the transmitting coil 9.

[0082]

[0083] In formula 1 and formula 2, k is the coupling coefficient; M is the mutual inductance between the transmitting coil 9 and the receiving coil 10, in H; L1 is the self-inductance of the transmitting coil 9, in H; L2 is the self-inductance of the receiving coil 10, in H; R1 is the resistance of the transmitting coil 9, in Ω; R2 is the resistance of the receiving coil 10, in Ω; j represents the imaginary part of the complex number; w is the angular frequency of the alternating current, in rad / s, w = 2πf, f is the frequency of the alternating current, in Hz; Z in is the impedance of the transmitting coil 9, in Ω;

[0084]

[0085] In formula 3, η is the transmission efficiency between the transmitting end 8 and the receiving end 7; P out is the output power of the receiving end 7, in W, P out =V out I out ; V out is the output voltage of the receiving end 7, in V; I out is the output current of the receiving end 7, in A; P in is the input power of the transmitter 8, in W, P in =V in I in , V inis the input voltage of the transmitter 8, in V; I in The input current of the transmitter 8, in A;

[0086] S4. Comprehensively evaluate the performance of the wireless power supply system based on the parameters of the wireless power supply system and the coupling coefficient and transmission efficiency obtained in step S3.

[0087] When evaluating the performance of the coupling coil, the coupling coefficient k can be measured under different operating frequencies and coil geometry parameters to analyze the magnetic coupling performance of the power supply module, providing a basis for optimizing the transmitter circuit and magnetic circuit design. When the coupling coefficient k is greater than 0.6, the system has good magnetic coupling capability, which is conducive to efficient energy transmission. However, when the coupling coefficient k is less than 0.2, it indicates a significant increase in energy loss. In this case, it is necessary to optimize the magnetic circuit design (such as adjusting the coil position, shape, or number of turns) to increase the coupling strength and improve system performance.

[0088] When evaluating transmission efficiency, it is necessary to comprehensively collect input power P in and output power P out Data, calculate the transmission efficiency η to clarify the system energy loss distribution, thus providing a basis for design improvement. A measure of the energy conversion loss from the transmitter to the receiver. Efficient transmission requires a transmission efficiency η > 80%. A value lower than this may be due to impedance mismatch or excessive power electronic device losses.

[0089] Output voltage fluctuation and current load capacity stability are important supplementary indicators of system performance, which are usually obtained in the following ways: Output voltage fluctuation can be obtained by measuring the maximum and minimum output voltage of the receiving end and using the formula ΔV out =V max -V min The stability of the current load capacity requires testing the system's current variation under different load conditions (such as light load, rated load, and overload) to ensure that the current is within the design range and the output can meet the load requirements. To ensure reliable system operation, in addition to monitoring the magnitude of output voltage fluctuations, it is also necessary to consider the current trend, especially during dynamic load changes, to determine whether it will cause output instability or load malfunction. This comprehensive consideration can fully reflect the system's power supply capacity and stability.

[0090] In general, a high-performance wireless power supply system must have a high coupling coefficient, high transmission efficiency, stable output voltage and current, and strong load adaptability to jointly meet the power supply needs in different application scenarios.

Claims

1. A test bench for a rotary wireless power supply system, characterized in that: The test bench comprises a vibration table (1), a data acquisition control device (2), a rotating equipment fixing frame (3), a four-degree-of-freedom motion platform (13), a motion platform fixing frame (29), a rotating equipment system and a wireless power supply system; the motion platform fixing frame (29) is fixed on the ground; the rotating equipment fixing frame (3) is fixed on the vibration table (1) and is located inside the motion platform fixing frame (29); the four-degree-of-freedom motion platform (13) is installed on the top of the motion platform fixing frame (29); the rotating equipment system is installed on the top of the rotating equipment fixing frame (3); The rotating equipment system includes a bearing seat (4), a rotating shaft (5), a slip ring (6), a coupling (11) and a rotating equipment servo motor (12); the wireless power supply system includes a receiving end (7), a transmitting end (8), a transmitting coil (9) and a receiving coil (10); The four-degree-of-freedom motion platform (13) comprises a longitudinal servo motor (14), a first longitudinal guide rail (15), a first longitudinal slide (16), a transverse servo motor (17), a transverse guide rail (18), a bidirectional slide (19), a vertical servo motor (20), a vertical guide rail (21), a rotary servo motor (22), a rotary platform (23), a fixture (24), a second longitudinal slide (25) and a second longitudinal guide rail (26); The first longitudinal guide rail (15) and the second longitudinal guide rail (26) are fixedly connected in parallel to the two longitudinal beams of the motion platform fixing frame (29); the first longitudinal slide (16) and the second longitudinal slide (25) are installed on the first longitudinal guide rail (15) and the second longitudinal guide rail (26); the longitudinal servo motor (14) is connected to the first longitudinal guide rail (15) to drive the first longitudinal slide (16) to move longitudinally on the first longitudinal guide rail (15); the two ends of the transverse guide rail (18) are fixed on the first longitudinal slide (16) and the second longitudinal slide (25); the bidirectional slide (19) is installed on the transverse guide rail (18); the transverse servo motor (17) is connected to the transverse guide rail (18) 8) is connected to drive the bidirectional slide (19) to move laterally on the transverse guide rail (18); the vertical guide rail (21) is installed on the bidirectional slide (19); the vertical servo motor (20) is connected to the vertical guide rail (21) to drive the vertical guide rail (21) to move up and down in the vertical direction; the rotating platform (23) is installed at the bottom of the vertical guide rail (21); the rotating servo motor (22) is fixed to the vertical guide rail (21) and connected to the rotating platform (23) to drive the rotating platform (23) to rotate; the clamp (24) is fixed to the bottom of the rotating platform (23) and is used to fix the transmitting coil (9); the transmitting end (8) is installed at the lower part of the vertical guide rail (21); The rotating shaft (5) passes through the transmitting coil (9) and is longitudinally mounted on a fixed beam in the middle of the rotating device fixed frame (3) through a bearing seat (4); the rotating device servo motor (12) is fixed to the rotating device fixed frame (3), and the power output shaft of the rotating device servo motor (12) is connected to the right end of the rotating shaft (5) through a coupling (11); the slip ring (6), the receiving end (7) and the receiving coil (10) are fixed to the rotating shaft (5) in sequence from left to right; wherein, the receiving end (7) and the receiving coil (10) correspond to the transmitting end (8) and the transmitting coil (9), and the slip ring (6) is used to transmit electric energy on the receiving end (7); The data acquisition control device (2) is used to acquire relative position information of the transmitting coil (9) and the receiving coil (10), and to control the vibration table (1), the rotating device servo motor (12), the longitudinal servo motor (14), the transverse servo motor (17), the vertical servo motor (20), and the rotary servo motor (22) to perform performance tests on the wireless power supply system under different test conditions.

2. The test bench of the rotary wireless power supply system according to claim 1, characterized in that: The vibration table (1) realizes vibration in three directions with different frequencies, amplitudes and accelerations.

3. The test bench of the rotary wireless power supply system according to claim 1, characterized in that: A counterweight is provided on the rotating shaft (5).

4. The test bench for the rotary wireless power supply system according to claim 1, characterized in that: The data acquisition control device (2) comprises a controller and a distance sensor (27) and an angle sensor (28) for measuring the relative position of the transmitting coil (9) and the receiving coil (10); one end of each of the first longitudinal guide rail (15), the transverse guide rail (18) and the vertical guide rail (21) is provided with a distance sensor (27); the connection between the rotating platform (23) and the rotating servo motor (22) and the connection between the bearing seat (4) and the rotating shaft (5) are provided with an angle sensor (28); the controller is respectively connected to the distance sensor (27), the angle sensor (28), the vibration table (1), the slip ring (6), the transmitting end (8), the rotating equipment servo motor (12), the longitudinal servo motor (14), the transverse servo motor (17), the vertical servo motor (20) and the rotating servo motor (22).

5. The test bench for the rotary wireless power supply system according to claim 1, characterized in that: The test conditions include one or a combination of the following test conditions: a. Adjusting the frequency and acceleration of the vibration table (1) to subject the wireless power supply system to different vibration levels; b. by controlling the longitudinal servo motor (14), the transverse servo motor (17), the vertical servo motor (20) and the rotation servo motor (22), the transmitting coil (9) and the receiving coil (10) are placed in different relative positions; c. controlling the servo motor (12) of the rotating device to rotate the rotating shaft (5) at different speeds; d. By controlling the input voltage and output load of the wireless power supply system, the wireless power supply system generates input voltage disturbance and output load change.

6. A method for testing a rotary wireless power supply system using the test bench for the rotary wireless power supply system according to any one of claims 1 to 5, characterized in that: The testing method includes the following steps: S1, the controller collects relative position information of the transmitting coil (9) and the receiving coil (10) of the wireless power supply system through the distance sensor (27) and the angle sensor (28), controls the longitudinal servo motor (14), the lateral servo motor (17), the vertical servo motor (20) and the rotation servo motor (22) of the four-degree-of-freedom motion platform (13) so that the transmitting coil (9) and the receiving coil (10) are located in the same plane, and the receiving coil (10) is located at the center of the transmitting coil (9); and controls the rotating device servo motor (12) to rotate the rotating shaft (5) at a certain speed; S2. The controller controls the vibration table (1), the rotating device servo motor (12), the longitudinal servo motor (14), the transverse servo motor (17), the vertical servo motor (20), and the rotating servo motor (22) to perform a performance test on the wireless power supply system under one or more of the following test conditions: a. Adjusting the frequency and acceleration of the vibration table (1) to subject the wireless power supply system to different vibration levels; b. by controlling the longitudinal servo motor (14), the transverse servo motor (17), the vertical servo motor (20) and the rotation servo motor (22), the transmitting coil (9) and the receiving coil (10) are placed in different relative positions; c. controlling the servo motor (12) of the rotating device to rotate the rotating shaft (5) at different speeds; d. By controlling the input voltage and output load of the wireless power supply system, the wireless power supply system generates input voltage disturbance and output load change; S3, the controller calculates the coupling coefficient between the transmitting coil (9) and the receiving coil (10) using Formula 1 and Formula 2 based on the parameters of the wireless power supply system collected during the test, and calculates the transmission efficiency between the transmitting end (8) and the receiving end (7) using Formula 3; the parameters of the wireless power supply system include input voltage, input current, output voltage, output current, and impedance of the transmitting coil (9); In formula 1 and formula 2, k is the coupling coefficient; M is the mutual inductance between the transmitting coil (9) and the receiving coil (10), the unit is H; L1 is the self-inductance of the transmitting coil (9), the unit is H; L2 is the self-inductance of the receiving coil (10), the unit is H; R1 is the resistance of the transmitting coil (9), the unit is Ω; R2 is the resistance of the receiving coil (10), the unit is Ω; j represents the imaginary part of the complex number; w is the angular frequency of the alternating current, the unit is rad / s, w=2πf, f is the frequency of the alternating current, the unit is Hz; Z in is the impedance of the transmitting coil (9), in Ω; In formula 3, η is the transmission efficiency between the transmitter (8) and the receiver (7); P out is the output power of the receiving end (7), in W, P out =V out I out ; V out is the output voltage of the receiving end (7), in V; I out is the output current of the receiving end (7), in A; P in is the input power of the transmitter (8), in W, P in =V in I in , V in is the input voltage of the transmitter (8), in V; I in is the input current of the transmitter (8), in A; S4. Comprehensively evaluate the performance of the wireless power supply system based on the parameters of the wireless power supply system and the coupling coefficient and transmission efficiency obtained in step S3.

7. The test method of the rotary wireless power supply system of the test bench according to claim 6, characterized in that: The transmitting coil (9) and the receiving coil (10) are selected to have different shapes and numbers according to test requirements.

8. The test method of the rotary wireless power supply system of the test bench according to claim 6, characterized in that: In the process of performing the performance test on the wireless power supply system in step S2, each test condition is performed in order from low to high: In test condition a, the vibration table (1) is gradually increased from no vibration to a preset maximum vibration amplitude; In test condition b, the relative position of the transmitting coil (9) and the receiving coil (10) is gradually increased from zero offset to the maximum allowable range; In test condition c, the rotating shaft (5) is gradually increased from a low speed to the designed maximum speed; In test condition d, the wireless power supply system is gradually increased from low power to full load.

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