Underwater non-contact electric energy transmission system based on magnetic induction

Abstract

The invention relates to the technical field of magnetic induction electric energy transmission, in particular to an underwater non-contact electric energy transmission system based on magnetic induction. The method comprises the steps that a magnetic induction enhancement unit designs the geometric position and the number of turns of an electromagnetic coil through a recursive fractal algorithm in combination with a topological optimization algorithm, and synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm; the interference suppression unit is based on a Maxwell equation set and converts the dielectric constant and the magnetic conductivity of an optical control electromagnetic device material, and variational mode decomposition is combined with a self-adaptive threshold value to separate and decouple interference signals. The water flow velocity compensation unit combines a Navier-Stokes equation and a structural dynamics equation to construct and solve a water flow structure control nonlinear coupling model; the magnetic induction control unit is used for controlling the phase and compensation stress of the electromagnetic device. According to the underwater non-contact electric energy transmission system based on magnetic induction, transmission loss of metal particles and a signal interference source is effectively suppressed through a metal signal suppression technology.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic induction power transmission, in particular to an underwater contactless power transmission system based on magnetic induction. Background Art

[0002] The underwater contactless power transmission system based on magnetic induction is designed to improve the efficiency and stability of power transmission. By combining magnetic induction enhancement, metal signal interference suppression mechanism and water flow velocity compensation technology, the phase adjustment and stress compensation of the electromagnetic coil are controlled to achieve efficient and stable contactless power transmission in complex underwater environments.

[0003] Existing underwater power transmission systems usually find it difficult to maintain stable power transmission efficiency in an environment with complex water flow and metal interference. In addition, due to the magnetic adsorption effect of metal substances in the water and the interference of dynamic water flow, the electromagnetic coil phase is misaligned, the signal interference is serious, and the transmission efficiency is reduced. Therefore, an underwater contactless power transmission system based on magnetic induction is designed. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater contactless power transmission system based on magnetic induction to solve the problems raised in the above background technology that the magnetic adsorption effect of metal substances in water and the interference of dynamic water flow will cause phase imbalance of electromagnetic coils, serious signal interference and reduced transmission efficiency.

[0005] To achieve the above object, the present invention aims to provide an underwater contactless power transmission system based on magnetic induction, comprising: A magnetic induction enhancement unit, wherein the magnetic induction enhancement unit designs the geometric position and number of turns of the electromagnetic coil by using a recursive fractal algorithm combined with a topology optimization algorithm, and synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm; It also includes an interference suppression unit, which controls the dielectric constant and magnetic permeability of the electromagnetic device material based on the Maxwell equations and transformation optics, and uses variational mode decomposition combined with adaptive threshold separation to decouple the interference signal to obtain an effective signal; It also includes a water flow velocity compensation unit, which combines the Navier-Stokes equations with the structural dynamics equations to construct and solve a nonlinear coupling model of water flow structure control, and obtains compensation stress to act on the electromagnetic transposition; It also includes a magnetic induction control unit, which is used to control the phase of the electromagnetic device and compensate for the stress.

[0006] The magnetic induction enhancement unit includes a coil design module, a phase adjustment module and an electromagnetic device; The coil design module designs the geometric position and number of turns of the electromagnetic coil by combining a recursive fractal algorithm with a topology optimization algorithm; The phase adjustment module synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm; The electromagnetic device is integrated with an electromagnetic coil.

[0007] As a further improvement of the technical solution, the coil design module designs the geometric position and number of turns of the electromagnetic coil by combining a recursive fractal algorithm with a topology optimization algorithm. The specific method steps are as follows: S1.1.1. Use the recursive fractal algorithm to construct the current distribution optimization objective function of the electromagnetic coil: ; in, Optimizing objective function for current distribution; Represents the nth level of recursion of the recursive fractal algorithm; represents the current distribution function in the nth level recursion; Represents the coil design space; Represents the point in the coil design space; Represents the geometric position coordinates of the electromagnetic coil; is the x-axis coordinate of the geometric position of the electromagnetic coil; is the y-axis coordinate of the geometric position of the electromagnetic coil; is the z-axis coordinate of the geometric position of the electromagnetic coil; is the number of turns of the electromagnetic coil in the nth recursion; S1.1.2. Use the topology optimization algorithm to construct the energy loss optimization objective function of the electromagnetic coil; ; in, Optimize the objective function for energy loss; is the magnetic permeability of the medium; is the magnetic field strength; is the gradient of magnetic field strength; S1.1.3. Maximize the current distribution function in the current distribution optimization objective function, and minimize the magnetic field intensity energy loss in the energy loss optimization objective function, construct a comprehensive optimization objective function, and comprehensively optimize and obtain the optimal geometric position and number of turns of the electromagnetic coil: ; in, To comprehensively optimize the objective function; Optimal geometric position of electromagnetic coil; is the optimal number of turns of the electromagnetic coil.

[0008] As a further improvement of the technical solution, the phase adjustment module synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm. The specific method steps are as follows: S1.2.1. Set the target phase of the electromagnetic coil, obtain the real-time phase of the electromagnetic coil, and calculate the phase deviation of the electromagnetic coil: ; in, For time; is the target phase of the electromagnetic coil at time t; is the real-time phase of the electromagnetic coil at time t; is the phase deviation of the electromagnetic coil at time t; S1.2.2. Use nonlinear control algorithm combined with electromagnetic coil phase deviation Generate electromagnetic coil phase adjustment drive signal to adjust the real-time phase of the electromagnetic coil: ; in, adjusting the drive signal for the electromagnetic coil phase; is the proportional control parameter; is the integral control parameter; is the differential control parameter; S1.2.3. Adjust the phase of the electromagnetic coil to drive the signal , transmitted to the magnetic induction control unit in real time for phase adjustment.

[0009] As a further improvement of the technical solution, the interference suppression unit includes a metal particle suppression module and a signal interference suppression module; The metal particle suppression module controls the dielectric constant and magnetic permeability of the electromagnetic device material based on the Maxwell equations and transformation optics to reduce the interference of metal in water on the electromagnetic device. The specific method steps are as follows: The signal interference suppression module uses variational mode decomposition combined with adaptive threshold separation to decouple interference signals and obtain effective signals.

[0010] As a further improvement of the technical solution, the metal particle suppression module controls the dielectric constant and magnetic permeability of the electromagnetic device material based on the Maxwell equations and transformation optics to reduce the interference of metal in water on the electromagnetic device; S2.1.1. According to Maxwell's equations, construct the propagation equations of electric and magnetic fields: ; ; in, is the electric field strength; is the magnetic field strength; is the vacuum permeability; is the dielectric constant of vacuum; is the current density; is the curl operator; is the time derivative; S2.1.2. Use transformation optics to control the dielectric constant and magnetic permeability of electromagnetic device materials to form a local electromagnetic stealth area: ; ; in, is the dielectric constant of the original material; is the magnetic permeability of the original material; is the dielectric constant of the supplementary material; is the magnetic permeability of the supplementary material; is the effective dielectric constant of the local electromagnetic stealth area; is the effective magnetic permeability of the local electromagnetic stealth area; Position the electromagnetic device.

[0011] As a further improvement of the technical solution, the signal interference suppression module uses variational mode decomposition combined with adaptive threshold separation to decouple the interference signal to obtain an effective signal. The specific method steps are as follows: S2.2.1. Use variational mode decomposition to construct and minimize the modal component frequency optimization function, and divide the original electromagnetic signal into multiple modal components: Modal component frequency optimization function: ; in, is the label of the modal component; is the total number of modal components; For the modal components; For the The weight coefficients of the modal components; For the The time derivative of the modal components; Optimize functions for modal component frequencies; is the electromagnetic original signal; Minimize the modal component frequency optimization function , solve modal components ; ; S2.2.2.Calculate the energy spectrum of each modal component: ; in, For the Energy spectrum of modal components; is an imaginary unit; is the angular frequency; is a complex exponential function; S2.2.3. Set the adaptive threshold to separate and decouple the interference signal: ; in, is the adaptive threshold; is the dynamic adjustment factor; S2.2.4. Based on the adaptive threshold, each modal component is signal separated and decoupled: ; in, After separation and decoupling modal components; S2.2.5. The signal reconstructed based on the separated and decoupled modal components is the effective signal.

[0012] As a further improvement of the technical solution, the water flow velocity compensation unit includes a coupling model building module and a stress compensation module; The coupling model building module combines the Navier-Stokes equations with the structural dynamics equations to build a nonlinear coupling model for flow-structure control; The stress compensation module solves the nonlinear coupling model of water flow structure control to obtain compensation stress.

[0013] As a further improvement of the technical solution, the coupling model building module combines the Navier-Stokes equations and the structural dynamics equations to build a nonlinear coupling model for water flow structure control. The specific method steps are as follows: S3.1.1. In the Navier-Stokes equation, the magnetic force generated by the electromagnetic device is introduced: ; in, is the fluid density; is the fluid velocity field; is the partial derivative of the fluid velocity field with respect to time; is the convection term of the fluid velocity field; is the pressure of the fluid on the electromagnetic device; is the dynamic viscosity coefficient of the fluid; is the Laplace operator of the fluid velocity field; For control; For magnetic force; S3.1.2. Introducing magnetic forces into the structural dynamics equations: ; in, is the mass of the electromagnetic device; is the displacement vector of the electromagnetic device; is the damping coefficient; is the stiffness coefficient; is the external load force; S3.1.3. Introducing compensating stresses into the control forces in the Navier-Stokes equations and the structural dynamics equations In the above, a nonlinear coupling model of flow structure control is constructed: Nonlinear coupling model of flow structure control: ; in, is the feedback gain matrix; is the error term; is the electromagnetic induction force; is the coupling force between water flow and magnetic field; To compensate for stress.

[0014] As a further improvement of the present technical solution, the magnetic induction control unit is used to receive the electromagnetic coil phase adjustment drive signal of the magnetic induction enhancement unit and the compensation stress of the water flow velocity compensation unit, and execute the drive signal and the compensation stress.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In this underwater contactless power transmission system based on magnetic induction, the geometric position and number of turns of the electromagnetic coil are designed based on the geographical weighted regression model, the recursive fractal algorithm and the topology optimization algorithm. The electromagnetic induction effect can be maximized by optimizing the distribution of the electromagnetic field, ensuring stable power transmission in complex underwater environments.

[0016] 2. In this underwater contactless power transmission system based on magnetic induction, metal signal suppression technology is used to effectively suppress metal particles and signal interference sources in the water, reducing signal distortion and power transmission loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall flow chart of the present invention; The meaning of each number in the figure is: 1. Magnetic induction enhancement unit; 11. Coil design module; 12. Phase adjustment module; 13. Electromagnetic device; 2. Interference suppression unit; 21. Metal particle suppression module; 22. Signal interference suppression module; 3. Water flow velocity compensation unit; 31. Coupling model construction module; 32. Stress compensation module; 4. Magnetic induction control unit. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1 As shown, an underwater contactless power transmission system based on magnetic induction is provided, comprising: A magnetic induction enhancement unit 1, wherein the magnetic induction enhancement unit 1 designs the geometric position and number of turns of the electromagnetic coil by a recursive fractal algorithm combined with a topology optimization algorithm, and synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm; In this embodiment, the magnetic induction enhancement unit 1 includes a coil design module 11, a phase adjustment module 12 and an electromagnetic device 13; The coil design module 11 designs the geometric position and number of turns of the electromagnetic coil by combining a recursive fractal algorithm with a topology optimization algorithm; The phase adjustment module 12 synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm; The electromagnetic device 13 is integrated with an electromagnetic coil.

[0020] The coil design module 11 designs the geometric position and number of turns of the electromagnetic coil by combining a recursive fractal algorithm with a topology optimization algorithm. The specific method steps are as follows: S1.1.1. Use the recursive fractal algorithm to construct the current distribution optimization objective function of the electromagnetic coil: ; in, Optimizing objective function for current distribution; Represents the nth level of recursion of the recursive fractal algorithm; represents the current distribution function in the nth level recursion; Represents the coil design space; Represents the point in the coil design space; Represents the geometric position coordinates of the electromagnetic coil; is the x-axis coordinate of the geometric position of the electromagnetic coil; is the y-axis coordinate of the geometric position of the electromagnetic coil; is the z-axis coordinate of the geometric position of the electromagnetic coil; is the number of turns of the electromagnetic coil in the nth recursion; S1.1.2. Use the topology optimization algorithm to construct the energy loss optimization objective function of the electromagnetic coil; ; in, Optimize the objective function for energy loss; is the magnetic permeability of the medium; is the magnetic field strength; is the gradient of magnetic field strength; S1.1.3. Maximize the current distribution function in the current distribution optimization objective function, and minimize the magnetic field intensity energy loss in the energy loss optimization objective function, construct a comprehensive optimization objective function, and comprehensively optimize and obtain the optimal geometric position and number of turns of the electromagnetic coil: ; in, To comprehensively optimize the objective function; Optimal geometric position of electromagnetic coil; is the optimal number of turns of the electromagnetic coil.

[0021] The phase adjustment module 12 synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm. The specific method steps are as follows: S1.2.1. Set the target phase of the electromagnetic coil, obtain the real-time phase of the electromagnetic coil, and calculate the phase deviation of the electromagnetic coil: ; in, For time; is the target phase of the electromagnetic coil at time t; is the real-time phase of the electromagnetic coil at time t; is the phase deviation of the electromagnetic coil at time t; S1.2.2. Use nonlinear control algorithm combined with electromagnetic coil phase deviation Generate electromagnetic coil phase adjustment drive signal to adjust the real-time phase of the electromagnetic coil: ; in, adjusting the drive signal for the electromagnetic coil phase; is the proportional control parameter; is the integral control parameter; is the differential control parameter; S1.2.3. Adjust the phase of the electromagnetic coil to drive the signal , transmitted to the magnetic induction control unit 4 in real time for phase adjustment.

[0022] It also includes an interference suppression unit 2, which controls the dielectric constant and magnetic permeability of the electromagnetic device material based on the Maxwell equations and transformation optics, and uses variational mode decomposition combined with adaptive threshold separation to decouple the interference signal to obtain an effective signal; In this embodiment, the interference suppression unit 2 includes a metal particle suppression module 21 and a signal interference suppression module 22; The metal particle suppression module 21 controls the dielectric constant and magnetic permeability of the electromagnetic device material based on the Maxwell equations and transformation optics to reduce the interference of metal in water on the electromagnetic device 13. The specific method steps are as follows: The signal interference suppression module 22 uses variational mode decomposition combined with adaptive threshold separation to decouple the interference signal to obtain a valid signal.

[0023] The metal particle suppression module 21 controls the dielectric constant and magnetic permeability of the electromagnetic device material based on the Maxwell equations and transformation optics, thereby reducing the interference of metal in the water on the electromagnetic device 13; S2.1.1. According to Maxwell's equations, construct the propagation equations of electric and magnetic fields: ; ; in, is the electric field strength; is the magnetic field strength; is the vacuum permeability; is the dielectric constant of vacuum; is the current density; is the curl operator; is the time derivative; S2.1.2. Use transformation optics to control the dielectric constant and magnetic permeability of electromagnetic device materials to form a local electromagnetic stealth area: ; ; in, is the dielectric constant of the original material; is the magnetic permeability of the original material; is the dielectric constant of the supplementary material; is the magnetic permeability of the supplementary material; is the effective dielectric constant of the local electromagnetic stealth area; is the effective magnetic permeability of the local electromagnetic stealth area; Position the electromagnetic device.

[0024] In this embodiment, the local electromagnetic stealth area depends on and , all The geometry of the area enclosed by the points is the local electromagnetic stealth area; electromagnetic waves will not directly penetrate objects in these areas, but will bypass these areas, making the area invisible; The signal interference suppression module 22 uses variational mode decomposition combined with adaptive threshold separation to decouple the interference signal to obtain an effective signal. The specific method steps are as follows: S2.2.1. Use variational mode decomposition to construct and minimize the modal component frequency optimization function, and divide the original electromagnetic signal into multiple modal components: Modal component frequency optimization function: ; in, is the label of the modal component; is the total number of modal components; For the modal components; For the The weight coefficients of the modal components; For the The time derivative of the modal components; Optimize functions for modal component frequencies; is the original electromagnetic signal; Minimize the modal component frequency optimization function , solve modal components ; ; S2.2.2.Calculate the energy spectrum of each modal component: ; in, For the Energy spectrum of modal components; is an imaginary unit; is the angular frequency; is a complex exponential function; S2.2.3. Set adaptive threshold to separate and decouple interference signals: ; in, is the adaptive threshold; is the dynamic adjustment factor; S2.2.4. Based on the adaptive threshold, each modal component is signal separated and decoupled: ; in, After separation and decoupling modal components; S2.2.5. The signal reconstructed based on the separated and decoupled modal components is the effective signal.

[0025] It also includes a water flow velocity compensation unit 3, which combines the Navier-Stokes equation with the structural dynamics equation to construct and solve a nonlinear coupling model of water flow structure control, and obtains compensation stress acting on the electromagnetic transposition; In this embodiment, the water velocity compensation unit 3 includes a coupling model building module 31 and a stress compensation module 32; The coupling model building module 31 combines the Navier-Stokes equations with the structural dynamics equations to build a nonlinear coupling model for flow structure control; The stress compensation module 32 solves the nonlinear coupling model of water flow structure control to obtain compensation stress.

[0026] The coupling model building module 31 combines the Navier-Stokes equations and the structural dynamics equations to build a nonlinear coupling model for flow structure control. The specific method steps are as follows: S3.1.1. In the Navier-Stokes equation, the magnetic force generated by the electromagnetic device is introduced: ; in, is the fluid density; is the fluid velocity field; is the partial derivative of the fluid velocity field with respect to time; is the convection term of the fluid velocity field; is the pressure of the fluid on the electromagnetic device; is the dynamic viscosity coefficient of the fluid; is the Laplace operator of the fluid velocity field; For control; For magnetic force; S3.1.2. Introducing magnetic forces into the structural dynamics equations: ; in, is the mass of the electromagnetic device; is the displacement vector of the electromagnetic device; is the damping coefficient; is the stiffness coefficient; is the external load force; S3.1.3. Introducing compensating stresses into the control forces in the Navier-Stokes equations and the structural dynamics equations In the above, a nonlinear coupling model of flow structure control is constructed: Nonlinear coupling model of flow structure control: ; in, is the feedback gain matrix; is the error term; is the electromagnetic induction force; is the coupling force between water flow and magnetic field; To compensate for stress.

[0027] It also includes a magnetic induction control unit 4, which is used to control the phase of the electromagnetic device and compensate for the stress; In this embodiment, the magnetic induction control unit 4 is used to receive the electromagnetic coil phase adjustment drive signal of the magnetic induction enhancement unit 1 and the compensation stress of the water flow velocity compensation unit 3, and execute the drive signal and the compensation stress.

[0028] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention, and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An underwater contactless power transmission system based on magnetic induction, characterized in that: include: A magnetic induction enhancement unit (1), wherein the magnetic induction enhancement unit (1) designs the geometric position and number of turns of the electromagnetic coil by using a recursive fractal algorithm combined with a topology optimization algorithm, and synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm; An interference suppression unit (2), wherein the interference suppression unit (2) controls the dielectric constant and magnetic permeability of the electromagnetic device material based on the Maxwell equations and transformation optics, and uses variational mode decomposition combined with adaptive threshold separation to decouple the interference signal to obtain an effective signal; A water flow velocity compensation unit (3), wherein the water flow velocity compensation unit (3) combines the Navier-Stokes equation with the structural dynamics equation to construct and solve a nonlinear coupling model of water flow structure control, and obtains a compensation stress acting on the electromagnetic transposition; A magnetic induction control unit (4), wherein the magnetic induction control unit (4) is used to control the phase of the electromagnetic device and compensate for stress.

2. The underwater contactless power transmission system based on magnetic induction according to claim 1 is characterized in that: The magnetic induction enhancement unit (1) comprises a coil design module (11), a phase adjustment module (12) and an electromagnetic device (13); The coil design module (11) designs the geometric position and number of turns of the electromagnetic coil by combining a recursive fractal algorithm with a topology optimization algorithm; The phase adjustment module (12) synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm; The electromagnetic device (13) is integrated with an electromagnetic coil.

3. The underwater contactless power transmission system based on magnetic induction according to claim 2 is characterized in that: The coil design module (11) designs the geometric position and number of turns of the electromagnetic coil by combining a recursive fractal algorithm with a topology optimization algorithm. The specific method steps are as follows: S1.1.

1. Use the recursive fractal algorithm to construct the current distribution optimization objective function of the electromagnetic coil: ； in, Optimizing objective function for current distribution; Represents the nth level of recursion of the recursive fractal algorithm; represents the current distribution function in the nth level recursion; Represents the coil design space; Represents the point in the coil design space; Represents the geometric position coordinates of the electromagnetic coil; is the x-axis coordinate of the geometric position of the electromagnetic coil; is the y-axis coordinate of the geometric position of the electromagnetic coil; is the z-axis coordinate of the geometric position of the electromagnetic coil; is the number of turns of the electromagnetic coil in the nth level recursion; S1.1.

2. Use the topology optimization algorithm to construct the energy loss optimization objective function of the electromagnetic coil; ； in, Optimize the objective function for energy loss; is the magnetic permeability of the medium; is the magnetic field strength; is the gradient of magnetic field strength; S1.1.

3. Maximize the current distribution function in the current distribution optimization objective function, and minimize the magnetic field intensity energy loss in the energy loss optimization objective function, construct a comprehensive optimization objective function, and comprehensively optimize and obtain the optimal geometric position and number of turns of the electromagnetic coil: ； in, To comprehensively optimize the objective function; Optimal geometric position of electromagnetic coil; is the optimal number of turns of the electromagnetic coil.

4. The underwater contactless power transmission system based on magnetic induction according to claim 3 is characterized in that: The phase adjustment module (12) synchronizes the phase of the electromagnetic coil in real time based on a nonlinear control algorithm. The specific method steps are as follows: S1.2.

1. Set the target phase of the electromagnetic coil, obtain the real-time phase of the electromagnetic coil, and calculate the phase deviation of the electromagnetic coil: ； in, For time; is the target phase of the electromagnetic coil at time t; is the real-time phase of the electromagnetic coil at time t; is the phase deviation of the electromagnetic coil at time t; S1.2.

2. Use nonlinear control algorithm combined with electromagnetic coil phase deviation Generate electromagnetic coil phase adjustment drive signal to adjust the real-time phase of the electromagnetic coil: ； in, adjusting the drive signal for the electromagnetic coil phase; is the proportional control parameter; is the integral control parameter; is the differential control parameter; S1.2.

3. Adjust the phase of the electromagnetic coil to drive the signal , and is transmitted in real time to the magnetic induction control unit (4) for phase adjustment.

5. The underwater contactless power transmission system based on magnetic induction according to claim 4 is characterized in that: The interference suppression unit (2) comprises a metal particle suppression module (21) and a signal interference suppression module (22); The metal particle suppression module (21) controls the dielectric constant and magnetic permeability of the electromagnetic device material based on the Maxwell equations and transformation optics, thereby reducing the interference of metal in water on the electromagnetic device (13); The signal interference suppression module (22) uses variational mode decomposition combined with adaptive threshold separation to decouple the interference signal to obtain an effective signal.

6. The underwater contactless power transmission system based on magnetic induction according to claim 5 is characterized in that: The metal particle suppression module (21) controls the dielectric constant and magnetic permeability of the electromagnetic device material based on the Maxwell equations and transformation optics, thereby reducing the interference of metal in water on the electromagnetic device (13). The specific method steps are as follows: S2.1.

1. According to Maxwell's equations, construct the propagation equations of electric and magnetic fields: ； ； in, is the electric field strength; is the magnetic field strength; is the vacuum permeability; is the dielectric constant of vacuum; is the current density; is the curl operator; is the time derivative; S2.1.

2. Use transformation optics to control the dielectric constant and magnetic permeability of electromagnetic device materials to form a local electromagnetic stealth area: ； ； in, is the dielectric constant of the original material; is the magnetic permeability of the original material; is the dielectric constant of the supplementary material; is the magnetic permeability of the supplementary material; is the effective dielectric constant of the local electromagnetic stealth area; is the effective magnetic permeability of the local electromagnetic stealth area; Position the electromagnetic device.

7. The underwater contactless power transmission system based on magnetic induction according to claim 6 is characterized in that: The signal interference suppression module (22) uses variational mode decomposition combined with adaptive threshold separation to decouple the interference signal to obtain an effective signal. The specific method steps are as follows: S2.2.

1. Use variational mode decomposition to construct and minimize the modal component frequency optimization function, and divide the original electromagnetic signal into multiple modal components: Modal component frequency optimization function: ； in, is the label of the modal component; is the total number of modal components; For the modal components; For the The weight coefficients of the modal components; For the The time derivative of the modal components; Optimize functions for modal component frequencies; is the original electromagnetic signal; Minimize the modal component frequency optimization function , solve modal components ; ； S2.2.2.Calculate the energy spectrum of each modal component: ； in, For the Energy spectrum of modal components; is an imaginary unit; is the angular frequency; is a complex exponential function; S2.2.

3. Set adaptive threshold to separate and decouple interference signals: ； in, is the adaptive threshold; is the dynamic adjustment factor; S2.2.

4. Based on the adaptive threshold, each modal component is signal separated and decoupled: ； in, After separation and decoupling modal components; S2.2.

5. The signal reconstructed based on the separated and decoupled modal components is the effective signal.

8. The underwater contactless power transmission system based on magnetic induction according to claim 7 is characterized in that: The water flow velocity compensation unit (3) comprises a coupling model building module (31) and a stress compensation module (32); The coupling model building module (31) combines the Navier-Stokes equations with the structural dynamics equations to build a nonlinear coupling model for flow structure control; The stress compensation module (32) solves the water flow structure control nonlinear coupling model to obtain compensation stress.

9. The underwater contactless power transmission system based on magnetic induction according to claim 8 is characterized in that: The coupling model building module (31) combines the Navier-Stokes equations and the structural dynamics equations to build a nonlinear coupling model for flow structure control. The specific method steps are as follows: S3.1.

1. In the Navier-Stokes equation, the magnetic force generated by the electromagnetic device is introduced: ； in, is the fluid density; is the fluid velocity field; is the partial derivative of the fluid velocity field with respect to time; is the convection term of the fluid velocity field; is the pressure of the fluid on the electromagnetic device; is the dynamic viscosity coefficient of the fluid; is the Laplace operator of the fluid velocity field; For control; For magnetic force; S3.1.

2. Introducing magnetic forces into the structural dynamics equations: ； in, is the mass of the electromagnetic device; is the displacement vector of the electromagnetic device; is the damping coefficient; is the stiffness coefficient; is the external load force; S3.1.

3. Introducing compensating stresses into the control forces in the Navier-Stokes equations and the structural dynamics equations In the above, a nonlinear coupling model of flow structure control is constructed: Nonlinear coupling model of flow structure control: ； in, is the feedback gain matrix; is the error term; is the electromagnetic induction force; is the coupling force between water flow and magnetic field; To compensate for stress.

10. The underwater contactless power transmission system based on magnetic induction according to claim 9 is characterized in that: The magnetic induction control unit (4) is used to receive the electromagnetic coil phase adjustment drive signal of the magnetic induction enhancement unit (1) and the compensation stress of the water flow velocity compensation unit (3), and execute the drive signal and the compensation stress.

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