Soft switching maintaining method and system of dynamic wireless power supply system considering self-inductance micro-change

Abstract

The invention belongs to the technical field of electronics, and particularly relates to a soft switching maintaining method and system of a dynamic wireless power supply system considering self-inductance micro change. The invention aims to solve the problem that the system is difficult to maintain a stable soft switching state in a full working condition range. The method comprises the following steps: calculating the minimum turn-off current of the wireless dynamic power supply system; the working condition of multiple receiving coils is simulated through simulation modeling, and the peak value of the self-inductance value of the transmitting coil is extracted as the maximum self-inductance value of the transmitting end coil of the wireless power supply system; based on the minimum turn-off current and the self-inductance maximum value, calculating the maximum value of the series compensation capacitor of the transmitting end, and combining a preset value coefficient to calculate the final value of the series compensation capacitor of the transmitting end; and adjusting the inverter in real time according to the final value, and maintaining the turn-off current to be greater than or equal to the minimum turn-off current to realize soft switching. Through the design of the compensation network parameters, the inverter soft switching working characteristics of the dynamic wireless power supply system under various working conditions are realized, and the safe and stable operation of the system is realized.

Description

Background Art

[0002] Due to its safety and convenience features, dynamic wireless power supply technology based on the principle of electromagnetic induction has been widely applied in industrial fields such as electric vehicles, automated guided vehicles, inspection robots, and automated production lines.

[0003] In dynamic and static wireless power supply systems, the inverter operating in the soft-switching state plays an important role in the safe and stable operation of the system. The invention patent CN119382358A, "Wireless Power Transmission System and Its Full-Working Region Soft-Switching Modeling Method", proposed a control strategy for soft-switching in the full-working region through the modeling of the wireless power transmission system. The invention patent CN114899907A, "A Soft-Switching Wireless Charging Circuit", achieved soft-switching of the wireless charging system by adding a second control circuit.

[0004] However, the difference between the dynamic wireless power supply system and the static wireless charging system is that it usually requires a single transmitting coil to supply power to multiple receiving coils; at this time, its self-inductance may change slightly due to the influence of the receiving coils. Although this change is small, its impact on the soft-switching state cannot be ignored.

[0005] Therefore, it is necessary to propose a method and system for maintaining the soft-switching of a dynamic wireless power supply system considering the slight change in self-inductance to maintain the stable operation of the system under various working conditions. Summary of the Invention

[0006] To solve the above problems in the prior art, that is, in a dynamic wireless power supply system, when a single transmitting coil supplies power to multiple receiving coils, the slight change in the self-inductance of the transmitting coil caused by the change in the position and number of receiving coils is not effectively compensated by the existing soft-switching control method, resulting in the system being difficult to maintain a stable soft-switching state within the full range of working conditions. The present invention provides a method and system for maintaining the soft-switching of a dynamic wireless power supply system considering the slight change in self-inductance.

[0007] In the first aspect of the present invention, a method for maintaining the soft-switching of a dynamic wireless power supply system considering the slight change in self-inductance is proposed, which is applied to a dynamic wireless power supply system considering the slight change in self-inductance. The system includes a DC power supply, a high-frequency inverter, a primary compensation inductor, a primary parallel capacitor, a primary series capacitor, a wireless energy transmitting coil, a wireless energy receiving coil, a secondary series capacitor, a rectifier bridge, a filter capacitor, and a load. The soft-switching maintenance method includes:

[0008] Calculating the minimum turn-off current of the wireless dynamic power supply system;

[0009] Through simulation modeling to simulate the multi-receiving coil working conditions, extracting the peak value of the self-inductance value of the transmitting coil as the maximum self-inductance of the transmitting coil of the wireless power supply system;

[0010] Calculate the maximum value of the series compensation capacitor at the transmitting end based on the minimum turn-off current and the maximum value of the self-inductance, and calculate the final value of the series compensation capacitor at the transmitting end in combination with a preset value coefficient;

[0011] Adjust the inverter in real time according to the final value to maintain the turn-off current greater than or equal to the minimum turn-off current to achieve soft switching.

[0012] Furthermore, the method for calculating the maximum value of the self-inductance is as follows:

[0013] Simulate the multi-receiver coil working conditions of the dynamic wireless power supply system;

[0014] Simulate the electromagnetic parameters of a single-segment transmitting coil under different spatial distribution states when carrying 0 to N receiver coils, collect the self-inductance values of the transmitting coil corresponding to each working condition, and select the maximum value among them as the maximum value of the self-inductance.

[0015] Furthermore, use a finite element simulation tool to simulate the multi-receiver coil working conditions of the dynamic wireless power supply system.

[0016] Furthermore, the maximum value of the series compensation capacitor at the transmitting end is determined based on a preset functional relationship among the DC input voltage, the system operating angular frequency, the maximum value of the self-inductance of the transmitting end coil, the impedance of the primary compensation inductor, and the minimum turn-off current of the inverter switching device.

[0017] Furthermore, the preset functional relationship is specifically:

[0018]

[0019] where C p_max is the maximum value of the series compensation capacitor at the transmitting end; U d is the DC input voltage, ω is the system operating angular frequency; L p_max is the maximum value of the self-inductance of the transmitting end coil; X p is the impedance of the primary compensation inductor; I off_min is the minimum turn-off current of the inverter switching device.

[0020] Furthermore, the final value C p of the series compensation capacitor at the transmitting end is calculated as follows:

[0021] C p = αC p_max ;

[0022] where α is the value coefficient of C p .

[0023] Furthermore, the value range of α is [0.8, 1].

[0024] Further, the minimum turn-off current of the wireless dynamic power supply system is calculated based on the DC input voltage, the drain-source junction capacitance of the inverter switching tube, and the dead time of the inverter.

[0025] Further, the inverter is adjusted in real time according to the final value, specifically: the switching frequency or duty cycle of the inverter is adjusted in real time.

[0026] In the second aspect of the present invention, a soft-switching holding system for a dynamic wireless power supply system considering micro-variation of self-inductance is proposed, based on a soft-switching holding method for a dynamic wireless power supply system considering micro-variation of self-inductance. The system includes:

[0027] A minimum turn-off current calculation module configured to calculate the minimum turn-off current of the wireless dynamic power supply system;

[0028] A maximum self-inductance calculation module configured to simulate the working conditions of multiple receiving coils through simulation modeling and extract the peak value of the self-inductance value of the transmitting coil as the maximum self-inductance of the transmitting-end coil of the wireless power supply system;

[0029] A compensation capacitor final value calculation module configured to calculate the maximum value of the series compensation capacitor at the transmitting end based on the minimum turn-off current and the maximum self-inductance, and calculate the final value of the series compensation capacitor at the transmitting end in combination with a preset value coefficient;

[0030] A real-time adjustment module configured to adjust the inverter in real time according to the final value to maintain the turn-off current greater than or equal to the minimum turn-off current to achieve soft switching.

[0031] Advantages of the present invention:

[0032] Full operating condition parameter coverage: By establishing a quantitative relationship between the maximum self-inductance of the transmitting-end coil and the dynamic operating conditions of multiple receiving coils, and combining the calculation of the extreme values of the compensation capacitor, the design of the compensation network parameters can cover the extreme operating conditions of the change in the number and position of the receiving coils, eliminating the cumulative impact of micro-variation of self-inductance on the resonance condition;

[0033] Dynamic adaptive ability: Based on the maximum value of the compensation capacitor, the switching parameters of the inverter are adjusted in real time, and during the dynamic change of the load, the turn-off current is actively maintained not less than the minimum threshold, breaking through the response lag limitation of the traditional fixed compensation network;

[0034] Improved control accuracy: By establishing a coupled calculation model of the extreme values of the self-inductance parameter, the turn-off current threshold, and the compensation capacitor parameter, a closed-loop parameter design is formed, avoiding the problem of inaccurate soft-switching state caused by simply relying on circuit topology adjustment;

[0035] Enhanced system compatibility: The method does not rely on additional control circuits, and only through the synergistic effect of optimizing the compensation network parameters and dynamically adjusting the switching parameters, it adapts to the coupling scenario of multiple receiving coils and reduces the system transformation cost. Description of the Drawings

[0036] Other features, objects, and advantages of the present application will become more apparent by reading the following detailed description of non - limiting embodiments with reference to the accompanying drawings:

[0037] Figure 1 is a flowchart of a soft - switch maintaining method for a dynamic wireless power supply system considering micro - variation of self - inductance according to the present invention;

[0038] Figure 2 is a circuit diagram of a dynamic wireless power supply system considering micro - variation of self - inductance;

[0039] Figure 3 is a schematic diagram of comparing turn - off currents when the series compensation capacitor C at the transmitting end takes different values in a soft - switch maintaining method for a dynamic wireless power supply system considering micro - variation of self - inductance according to the present invention p ;

[0040] Figure 4 is a waveform diagram of the output voltage and current of the inverter when the series compensation capacitor C at the transmitting end takes different values in a soft - switch maintaining method for a dynamic wireless power supply system considering micro - variation of self - inductance according to the present invention p ; Detailed Embodiments

[0041] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Additionally, it should be noted that for the convenience of description, only parts related to the relevant invention are shown in the drawings.

[0042] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0043] The present invention provides a soft - switch maintaining method for a dynamic wireless power supply system considering micro - variation of self - inductance, which is applied to a dynamic wireless power supply system considering micro - variation of self - inductance. Specifically, it is an LCC / S compensated dynamic wireless power supply system. The system includes a DC power supply, a high - frequency inverter, a primary compensation inductor, a primary parallel capacitor, a primary series capacitor, a wireless energy transmitting coil, a wireless energy receiving coil, a secondary series capacitor, a rectifier bridge, a filter capacitor, and a load. Specifically, as Figure 2 shown Figure 2 is a circuit diagram of a wireless charging system applying the present invention, where U d is the DC input voltage, C d is the DC filter capacitor, G1 - G4 are inverter switching tubes, L f is the inverter output inductor, Cf With C p is the primary side compensation capacitor, L p is the primary side coil, R p is the internal resistance of the primary side coil, L s is the secondary side coil, R s is the internal resistance of the secondary side coil, C s is the secondary side compensation capacitor, D1 - D4 are the rectifier bridge power diodes, C L is the rectifier bridge output filter capacitor, R L is the system load.

[0044] The output terminal of the DC input power supply U d is connected to the input terminal of the DC filter capacitor C d The output terminal of the DC filter capacitor C d is connected to the input terminal of the inverters G1 - G4. The output terminals of the inverters G1 - G4 are connected to the input terminal of the inverter output inductor L f The output terminal of the inverter output inductor L f is connected to the input terminals of the primary side compensation capacitors C f 、C p The output terminal of the primary side series capacitor C p is connected to the primary side coil L p The output terminal of the primary side parallel capacitor C f is connected to the primary side coil L p and the output terminals of the inverters G1 - G4. The primary side coil L p is magnetically coupled to the secondary side coil L s The output terminal of the secondary side coil L s is connected to the input terminal of the secondary side series capacitor C s The output terminal of the secondary side series capacitor C s is connected to the input terminals of the rectifier bridge D1 - D4. The output terminals of the rectifier bridge D1 - D4 are connected to the input terminal of the rectifier bridge output filter capacitor C L The output terminal of the rectifier bridge output filter capacitor C L is connected to the input terminal of the load R L is connected.

[0045] This embodiment is based on Figure 2 the wireless charging system shown, and calculates the equivalent input impedance of the rectifier bridge when working in the discontinuous mode. The specific steps are as follows:

[0046] Step S10, calculate the minimum turn - off current of the wireless dynamic power supply system;

[0047] Step S20, simulate the multi - receiver coil working conditions through simulation modeling, and extract the peak value of the self - inductance value of the transmitting coil as the maximum self - inductance of the transmitting - end coil of the wireless power supply system;

[0048] Step S30: Calculate the maximum value of the series compensation capacitor at the transmitting end based on the minimum turn-off current and the maximum self-inductance value, and calculate the final value of the series compensation capacitor at the transmitting end in combination with a preset value coefficient.

[0049] Step S40: Adjust the inverter in real time according to the final value to maintain the turn-off current greater than or equal to the minimum turn-off current to achieve soft switching.

[0050] To more clearly illustrate the soft-switching maintenance method of a dynamic wireless power supply system considering micro-variation of self-inductance in the present invention, the following combines Figure 1 Expand and detail each step in the embodiments of the present invention.

[0051] A soft-switching maintenance method of a dynamic wireless power supply system considering micro-variation of self-inductance in the first embodiment of the present invention includes steps S10 - S40, and each step is described in detail as follows:

[0052] Step S10: Calculate the minimum turn-off current of the wireless dynamic power supply system, which is calculated based on the DC input voltage, the drain-source junction capacitance of the inverter switching tube, and the dead time of the inverter:

[0053]

[0054] where, U d is the DC input voltage, C oss is the drain-source junction capacitance of the inverter switching tube, and t d is the dead time of the inverter.

[0055] Step S20: Simulate the multi-receiver coil working conditions through simulation modeling, and extract the peak value of the self-inductance value of the transmitting coil as the maximum self-inductance value of the transmitting end coil of the wireless power supply system;

[0056] In this embodiment, a finite element simulation tool is used to simulate the multi-receiver coil working conditions of the dynamic wireless power supply system. The finite element simulation tool includes but is not limited to ANSYS. Using any finite element simulation tool is within the protection scope of the present invention.

[0057] The maximum self-inductance value, and its specific calculation method is:

[0058] Simulate the multi-receiver coil working conditions of the dynamic wireless power supply system;

[0059] Simulate the electromagnetic parameters of the single-segment transmitting coil under different spatial distribution states when carrying 0 to N receiver coils, collect the self-inductance values of the transmitting coil corresponding to each working condition, and select the maximum value among them as the maximum self-inductance value.

[0060] More specifically, assume that the maximum number of receiving coils that a single - segment transmitting coil can carry is N. By simulation, the self - inductance values of the transmitting coil are obtained respectively when the number of receiving coils varies from 0 to N and the receiving coils are in different positions, and the obtained self - inductance values are compared to obtain the maximum value.

[0061] In this embodiment, by simulating the change process of the number of receiving coils from zero to the maximum value and different spatial distribution states, it is ensured that the calculation of self - inductance parameters covers the full working scenarios of the dynamic power supply system, avoiding parameter design blind spots;

[0062] Based on the most unfavorable working conditions, the maximum value of the self - inductance is selected, so that the parameter design of the compensation network has anti - interference redundancy, improving the stability of the system under extreme coupling conditions;

[0063] Using finite - element simulation to replace the trial - and - error of physical prototypes, accurately locate the critical working conditions corresponding to the self - inductance peak, reducing the cost of experimental verification;

[0064] By quantifying the mapping relationship between the coupling effect of multiple receiving coils and the change of self - inductance, it provides a theoretical basis for the subsequent dynamic adjustment of compensation parameters, ensuring the continuous maintenance of the soft - switching state.

[0065] Step S30: Calculate the maximum value of the series compensation capacitor at the transmitting end based on the minimum turn - off current and the maximum value of the self - inductance, and calculate the final value of the series compensation capacitor at the transmitting end in combination with a preset value coefficient;

[0066] The maximum value of the series compensation capacitor at the transmitting end is determined based on a preset functional relationship among the DC input voltage, the system operating angular frequency, the maximum value of the self - inductance of the transmitting - end coil, the impedance of the primary - side compensation inductor, and the minimum turn - off current of the inverter switching device.

[0067] The preset functional relationship is specifically:

[0068]

[0069] where C p_max is the maximum value of the series compensation capacitor at the transmitting end; U d is the DC input voltage, ω is the system operating angular frequency; L p_max is the maximum value of the self - inductance of the transmitting - end coil; X p is the impedance of the primary - side compensation inductor; I off_min is the minimum turn - off current of the inverter switching device.

[0070] The final value C p of the series compensation capacitor at the transmitting end is calculated as follows:

[0071] C p =αC p_max ;

[0072] where α is the value coefficient of C p and the value range of α is [0.8, 1].

[0073] Step S40: Adjust the inverter in real time according to the final value to maintain the turn-off current greater than or equal to the minimum turn-off current to achieve soft switching

[0074] In this embodiment, adjusting the inverter in real time according to the final value specifically means: adjusting the switching frequency or duty cycle of the inverter in real time.

[0075] Specifically, assume that the DC input voltage of the dynamic wireless power supply system is 400V, the operating frequency is 100kHz, the variation range of the self-inductance of the transmitting coil is 80 - 100 μH, the self-inductance of the receiving coil is 51 μH, the mutual inductance between the transmitting and receiving coils is 44.5 μH, and the minimum turn-off current is 2A. Calculate that the maximum value of the series compensation capacitor on the primary side is 67.2 nF. Respectively take the value coefficient α of C p as 0.8, 1, 1.2, and obtain the turn-off current of the inverter switching device through simulation, as Figure 3 shown. It can be seen from the figure that when α < 1, the turn-off current is greater than the minimum turn-off current, meeting the design requirements. When α is 0.8 and 1.2 respectively, the waveforms of the output voltage and current of the inverter are as Figure 4 shown. It can be seen from the figure that when α < 1, the turn-off current is greater than the minimum turn-off current, meeting the design requirements.

[0076] Although the above embodiments describe each step in the above sequential order, those skilled in the art can understand that in order to achieve the effects of this embodiment, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in a reversed order, and these simple changes are all within the protection scope of the present invention.

[0077] A soft-switching holding system for a dynamic wireless power supply system considering micro-variation of self-inductance according to the second embodiment of the present invention is based on a soft-switching holding method for a dynamic wireless power supply system considering micro-variation of self-inductance. The system includes:

[0078] A minimum turn-off current calculation module configured to calculate the minimum turn-off current of the wireless dynamic power supply system;

[0079] A maximum self-inductance calculation module configured to simulate the working conditions of multiple receiving coils through simulation modeling and extract the peak value of the self-inductance value of the transmitting coil as the maximum self-inductance of the transmitting end coil of the wireless power supply system;

[0080] A final value calculation module for compensation capacitor configured to calculate the maximum value of the series compensation capacitor at the transmitting end based on the minimum turn-off current and the maximum self-inductance, and calculate the final value of the series compensation capacitor at the transmitting end in combination with a preset value coefficient;

[0081] A real-time adjustment module configured to adjust an inverter in real time according to the final value to maintain the turn-off current greater than or equal to the minimum turn-off current to achieve soft switching. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working process and related explanations of the above-described system can refer to the corresponding process in the foregoing method embodiments and will not be elaborated herein.

[0082] It should be noted that the soft-switching holding system of the dynamic wireless power supply system considering the micro-variation of self-inductance provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules according to needs, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiments can be combined into one module or further split into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing each module or step and are not regarded as an improper limitation of the present invention.

[0083] An electronic device according to a third embodiment of the present invention includes:

[0084] At least one processor; and

[0085] A memory communicatively connected to at least one of the processors; wherein,

[0086] The memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to implement the above-mentioned method for maintaining soft switching of a dynamic wireless power supply system considering micro-variation of self-inductance.

[0087] A computer-readable storage medium according to a fourth embodiment of the present invention, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to implement the above-mentioned method for maintaining soft switching of a dynamic wireless power supply system considering micro-variation of self-inductance.

[0088] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working process and related explanations of the above-described storage device and processing device can refer to the corresponding process in the foregoing method embodiments and will not be elaborated herein.

[0089] Those skilled in the art should be able to realize that the modules and method steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. The programs corresponding to the software modules and method steps can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the technical field. To clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in the form of electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0090] The terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or represent a specific order or sequence.

[0091] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, so that a process, method, article, or device / equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent in these processes, methods, articles, or devices / equipment.

[0092] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A soft switch holding method for a dynamic wireless power supply system considering slight changes in self-inductance, applied to a dynamic wireless power supply system considering slight changes in self-inductance, the system comprising a DC power supply, a high-frequency inverter, a primary compensation inductor, a primary parallel capacitor, a primary series capacitor, a wireless energy transmitting coil, a wireless energy receiving coil, a secondary series capacitor, a rectifier bridge, a filter capacitor and a load, characterized in that: The soft switch holding method comprises: Calculate the minimum shutdown current of the wireless dynamic power supply system; Through simulation modeling, the working conditions of multiple receiving coils are simulated, and the peak value of the self-inductance of the transmitting coil is extracted as the maximum self-inductance of the transmitting coil of the wireless power supply system; The maximum value of the transmitter-end series compensation capacitor is calculated based on the minimum shutdown current and the maximum value of the self-inductance, and the final value of the transmitter-end series compensation capacitor is calculated in combination with a preset value coefficient; The inverter is adjusted in real time according to the final value to maintain the off current greater than or equal to the minimum off current to achieve soft switching.

2. According to claim 1, a soft switch holding method for a dynamic wireless power supply system considering slight changes in self-inductance is characterized in that: The specific calculation method of the maximum self-inductance is: Simulate the working conditions of multiple receiving coils in a dynamic wireless power supply system; The electromagnetic parameters under different spatial distribution states when a single-segment transmitting coil carries 0 to N receiving coils are simulated, the self-inductance values ​​of the transmitting coil corresponding to each working condition are collected, and the maximum value is selected as the maximum self-inductance value.

3. The soft switch holding method of a dynamic wireless power supply system considering slight changes in self-inductance according to claim 2 is characterized in that: Finite element simulation tools are used to simulate the working conditions of multiple receiving coils in the dynamic wireless power supply system.

4. The soft switch holding method of a dynamic wireless power supply system considering slight changes in self-inductance according to claim 1 is characterized in that: The maximum value of the transmitter series compensation capacitor is determined based on a preset functional relationship among the DC input voltage, the system operating angular frequency, the maximum value of the transmitter coil self-inductance, the primary side compensation inductor impedance and the minimum turn-off current of the inverter switching device.

5. The soft switch holding method of a dynamic wireless power supply system considering slight changes in self-inductance according to claim 4 is characterized in that: The preset function relationship is as follows: Among them, C p_max is the maximum value of the compensation capacitor in series at the transmitter; U d is the DC input voltage, ω is the system operating angular frequency; L p_max is the maximum self-inductance of the transmitting coil; X p The impedance of the primary compensation inductor; I off_min is the minimum off-state current of the inverter switching device.

6. The soft switch holding method of a dynamic wireless power supply system considering slight changes in self-inductance according to claim 5 is characterized in that: The final value of the transmitter series compensation capacitor C p , which is calculated as: C p =αC p_max ; Where α is C p The value coefficient of .

7. The soft switch holding method of a dynamic wireless power supply system considering slight changes in self-inductance according to claim 6 is characterized in that: The value range of α is [0.8, 1].

8. The soft switch holding method of a dynamic wireless power supply system considering slight changes in self-inductance according to claim 1 is characterized in that: The minimum shutdown current of the wireless dynamic power supply system is calculated based on the DC input voltage, the drain-source junction capacitance of the inverter switch tube and the inverter dead time.

9. The soft switch holding method of a dynamic wireless power supply system considering slight changes in self-inductance according to claim 1, characterized in that: The inverter is adjusted in real time according to the final value, specifically: the switching frequency or duty cycle of the inverter is adjusted in real time.

10. A soft switch holding system for a dynamic wireless power supply system considering slight changes in self-inductance, based on a soft switch holding method for a dynamic wireless power supply system considering slight changes in self-inductance according to any one of claims 1 to 9, characterized in that: The system includes: A minimum shutdown current calculation module, configured to calculate a minimum shutdown current of the wireless dynamic power supply system; A self-inductance maximum value calculation module is configured to simulate the working conditions of multiple receiving coils through simulation modeling, and extract the peak value of the self-inductance value of the transmitting coil as the self-inductance maximum value of the transmitting coil of the wireless power supply system; A compensation capacitor final value calculation module, configured to calculate the maximum value of the transmitter end series compensation capacitor based on the minimum shutdown current and the maximum value of the self-inductance, and calculate the final value of the transmitter end series compensation capacitor in combination with a preset value coefficient; The real-time adjustment module is configured to adjust the inverter in real time according to the final value to maintain the shutdown current greater than or equal to the minimum shutdown current to achieve soft switching.

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