Annular runway multi-coil assembly intelligent driving trolley teaching system and use method

Abstract

The invention relates to the technical field of physics teaching demonstration devices, in particular to an annular track multi-coil assembly intelligent driving trolley teaching system and a use method, the annular track multi-coil assembly intelligent driving trolley teaching system comprises a track assembly, a coil assembly assembly, a trolley assembly, a detection analysis module and a control module, the track assembly provides a trolley moving track and provides a space structure for fixing coil assemblies; the coil assembly is fixed on the track assembly and provides an adjustable magnetic field; the trolley assembly moves on the annular closed track according to the motion planning information; the detection and analysis module obtains motion information of the trolley body and current information of each coil group; predicting a motion track and a motion state of the trolley, and determining a target coil group magnetic field; the control module generates a driving control signal to control the motion state of the trolley body and generates a magnetic field control signal to control the current in the coil; according to the invention, stable energy transmission and accurate motion control can be maintained under complex motion working conditions, and the reliability and practicability of the device are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of physics teaching demonstration devices, and in particular to a teaching system for a circular track multi-coil group intelligently driven trolley and a use method thereof. Background Art

[0002] Since its birth, wireless energy transmission technology has shown great application potential in many fields and has a rich history of application. In the early days, the concept of wireless energy transmission first emerged in Nikola Tesla's experiments and ideas. He tried to build a global wireless energy transmission system through the atmospheric ionosphere. Although it was not fully realized due to the limitations of the technical conditions at the time, it laid a theoretical foundation for the subsequent development of wireless energy transmission technology. In modern times, wireless energy transmission technology has been first applied in some special scenarios. For example, in the medical field, wirelessly powered implantable medical devices (such as pacemakers) avoid the risk of regular surgical replacement of traditional battery power supply, significantly improving the quality of life of patients; in the field of industrial automation, wireless energy transmission provides a convenient power supply solution for some rotating parts or mobile devices, reducing the wear and entanglement caused by cable connections, and improving the reliability and flexibility of equipment.

[0003] With the continuous advancement of science and technology, the application of wireless energy transmission technology in the field of teaching has gradually attracted attention. However, there are many shortcomings in the existing wireless intelligent car teaching devices. Traditional devices are mostly limited to simple electromagnetic induction or resonant wireless energy transmission demonstrations, lacking in-depth exploration and effective use of the complex electromagnetic environment of multi-coil groups. In terms of car motion control, the control accuracy is low, it is difficult to achieve accurate and flexible adjustment of the car's motion state, and it cannot meet the needs of complex teaching experiments and innovative practices. In addition, these devices often fail to deeply integrate and systematically display multidisciplinary knowledge such as electromagnetism, automatic control, and mechatronics, which makes it difficult for students to build a complete knowledge system in the learning process and cannot deeply understand the collaborative working principles and design methods of complex engineering systems. Therefore, it is of great research significance and value to develop a circular runway multi-coil group intelligent drive car teaching device with high integration, innovation and teaching adaptability. The present invention aims to fill the shortcomings of existing teaching devices and provide more in-depth and broad teaching tools for electrical engineering and automation teaching through innovative technical solutions and design concepts. Summary of the invention

[0004] The purpose of the present invention is to provide a teaching system for a circular track multi-coil group intelligently driven car and a method of use, which can solve the problems that traditional devices are mostly limited to simple electromagnetic induction or resonant wireless energy transmission demonstrations, have low control accuracy, lack of in-depth exploration and effective utilization of the complex electromagnetic environment of the multi-coil group, and are difficult to achieve accurate and flexible adjustment of the car's motion state, and cannot meet the needs of complex teaching experiments and innovative practices.

[0005] To this end, the present invention provides an intelligent driving cart teaching system for a multi-coil group on a circular track and a usage method. The intelligent driving cart teaching system for a multi-coil group on a circular track includes:

[0006] A track assembly, which is a circular closed track, used to provide a moving track for the cart and provide a spatial structure for fixing the coil groups.

[0007] A coil group assembly, including several circular coil groups, each coil group is fixed on the track assembly, used to provide an adjustable magnetic field.

[0008] A cart assembly, which includes a cart body and a receiving coil group, used to move on the circular closed track according to the motion planning information and obtain electric energy from the magnetic field of the circular track as the driving energy.

[0009] A detection and analysis module, which is respectively connected to the track assembly, the coil group assembly and the cart assembly, used to obtain the motion information of the cart body and the current information of each coil group; predict the motion trajectory and motion state of the cart within a preset time according to the motion information, and determine the target coil group magnetic field that meets the energy requirements of the cart according to the prediction result.

[0010] A control module, which is respectively connected to the track assembly, the coil group assembly, the cart assembly and the detection and analysis module, used to generate a driving control signal according to the motion planning information of the cart combined with the motion information of the cart body to control the motion state of the cart body, and generate a magnetic field control signal according to the target coil group magnetic field.

[0011] Wherein, the motion information includes the cart position information and the cart speed information, and the current information includes the current magnitude, frequency and phase.

[0012] As a preferred technical solution of the intelligent driving cart teaching system for a multi-coil group on a circular track, the coil group assembly includes:

[0013] An energy emission coil group, which includes two circular coil groups, used to enhance the magnetic field intensity and improve the coupling efficiency.

[0014] A magnetic conduction coil group, which includes all the circular coil groups except the two circular coil groups in the energy emission coil group, used to provide a stable magnetic field.

[0015] Several driving circuits, used to adjust the current information input into the coil group according to the magnetic field control signal.

[0016] Several current detection units, which are used to detect and transmit the current information of each circular coil group.

[0017] As a preferred technical solution of the intelligent driving trolley teaching system with a multi-coil group on a circular track, the trolley assembly includes:

[0018] A trolley body;

[0019] A receiving coil group, which is fixed on the trolley body and is used to obtain electric energy from the coil group assembly,

[0020] An energy unit, which is connected to the receiving coil group and includes an on-vehicle energy conversion device and a storage device. The on-vehicle energy conversion device is used to convert AC electric energy into DC electric energy;

[0021] A sensor group, which is fixed on the trolley body and is used to obtain the position information and speed information of the trolley in real time;

[0022] A driving motor, which is connected to the trolley wheels at the bottom of the trolley body and is used to provide power for the movement of the trolley body on the circular closed track.

[0023] As a preferred technical solution of the intelligent driving trolley teaching system with a multi-coil group on a circular track, the detection and analysis module receives the movement information of the trolley detected by the sensor group in real time through a wireless communication link;

[0024] The detection and analysis module obtains the current information of each coil detected by each current detection unit in real time through a wireless communication link.

[0025] As a preferred technical solution of the intelligent driving trolley teaching system with a multi-coil group on a circular track, the detection and analysis module determines the real-time position and acceleration of the trolley on the circular track according to the movement information of the trolley body;

[0026] The detection and analysis module predicts the movement trajectory and movement state of the trolley within a preset time according to the geometric parameters of the circular closed track.

[0027] As a preferred technical solution of the intelligent driving trolley teaching system with a multi-coil group on a circular track, the detection and analysis module determines the target coil group magnetic field that meets the energy requirements of the trolley according to the prediction result;

[0028] The target coil magnetic field determined by the detection and analysis module includes magnetic field strength, magnetic field direction and magnetic field distribution change.

[0029] As a preferred technical solution of the intelligent driving trolley teaching system with a multi-coil group on a circular track, the control module generates a drive control signal according to the movement planning information of the trolley combined with the movement information of the trolley body;

[0030] The control module sends the drive control signal to the driving motor to control the rotation speed and torque of the motor.

[0031] As an optimal technical solution of the intelligent driving trolley teaching system with a multi-coil group on a circular track, the control module generates a magnetic field control signal according to the magnetic field of the target coil group;

[0032] The control module sends corresponding coil adjustment signals to each of the drive circuits according to the magnetic field control signal.

[0033] The present invention also provides a method for using the intelligent driving trolley teaching system with a multi-coil group on a circular track, and the method includes:

[0034] Step S1, uniformly install the coil group components on a circular closed track, and connect the drive circuits and current detection units of each circular coil group;

[0035] Step S2, assemble the trolley body, and install a receiving coil, an energy unit, a sensor group, and a drive motor;

[0036] Step S3, establish a wireless communication connection between the control center, the coil group components, and the trolley components, and perform testing and optimization of the communication link;

[0037] Step S4, set the motion planning information of the trolley and start the trolley;

[0038] Step S5, the control center starts to collect the trolley motion information and current information in real time, predicts the motion trajectory and motion state of the trolley within a preset time according to the collected data, and determines the target coil group magnetic field that meets the energy requirements of the trolley;

[0039] Step S6, the control center generates a drive control signal according to the motion planning information, the prediction results of the trolley motion trajectory and motion state, and sends it to the drive motor, and generates a magnetic field control signal according to the target coil group magnetic field and sends it to each of the circular coil groups.

[0040] The beneficial effects of the present invention are as follows: The teaching device of the present invention organically integrates multi-disciplinary knowledge such as electromagnetism, automatic control, and mechatronics on an experimental platform, and can deeply understand the application of the electromagnetic induction principle in wireless energy transmission, the implementation of modern control theory in trolley motion control, and the collaborative working mechanism of the mechatronic system through actual operation and observation. During the experiment, the influence of the change in the multi-coil magnetic field distribution on the trolley motion and the differences in the trolley motion performance under different control algorithms can be intuitively obtained, so as to deepen the understanding and mastery of abstract theoretical knowledge.

[0041] In addition, the device provides a rich variety of experimental projects and teaching scenarios, such as experiments on the speed control of a trolley, position tracking experiments, multi-trolley collaborative motion experiments, etc. Teachers can flexibly set the experimental content and difficulty according to the teaching progress and the students' level, cultivating the students' practical hands-on ability, innovative thinking ability, and teamwork spirit. Meanwhile, through the software interface of the control center, teachers can monitor the students' experimental operation processes and results in real time, conduct online guidance and teaching evaluation, and improve the teaching effect and quality.

[0042] The multi-coil intelligent drive and magnetic field dynamic modulation technology achieve high-precision and highly flexible control of the trolley's movement. The present invention can maintain stable energy transmission and precise motion control under more complex motion conditions (such as high-speed driving, frequent acceleration and deceleration, sharp turns, etc.), effectively improving the reliability and practicality of the device. For example, through precise magnetic field focusing and switching technology, the energy reception efficiency fluctuation of the trolley at different positions on the circular track is less than 20%, the speed control accuracy can reach ±5 cm / s, and the position control accuracy can reach ±10 mm.

[0043] The present invention also realizes high-speed and stable data transmission between the control center and the trolley. The data transmission delay is less than 20 milliseconds, ensuring the timely response of control commands and the real-time feedback of sensor data, providing a strong guarantee for the intelligent control of the trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a device diagram of the multi-coil group intelligent drive trolley on the circular track in the embodiment of the present invention;

[0045] Figure 2 It is a device diagram of the trolley assembly in the embodiment of the present invention;

[0046] Figure 3 It is a flow chart of the usage method of the multi-coil group intelligent drive trolley on the circular track in the embodiment of the present invention;

[0047] In the figure: 1, power supply; 2, current detection unit; 3, transmitter controller; 4, first drive circuit; 5, first MOS switch tube; 6, left transmitter coil; 7, second drive circuit; 8, second MOS switch tube; 9, right transmitter coil; 10, push-pull toroidal coil group; 11, receiving coil; 12, rectifying circuit; 13, adaptive impedance transformation circuit; 14, receiving end parameter acquisition unit; 15, motor drive unit; 16, motor; 17, encoding sensor; 18, receiving end communication unit; 19, trolley motion state monitoring unit; 20, trolley; 21, track; 22, receiving end controller; 23, power supply plug; 24, host computer; 25, host computer power supply; 26, position detection unit; 27, transmitter end communication unit. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0050] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as a limitation of the present invention.

[0051] Please refer to Figure 1 as shown, its Figure 1 is a device diagram of the intelligent driving trolley with multiple coil groups on a circular track in the embodiment of the present invention. The present invention provides an intelligent driving trolley with multiple coil groups on a circular track, including:

[0052] A track assembly, which is a circular closed track, used to provide a moving track for the trolley and a spatial structure for fixing the coil groups;

[0053] A coil group assembly, including several circular coil groups, each coil group is fixed on the track assembly, used to provide an adjustable magnetic field;

[0054] A trolley assembly, which includes a trolley body and a receiving coil group, used to move on the circular closed track according to the motion planning information and obtain electrical energy from the magnetic field of the circular track as the driving energy;

[0055] A detection and analysis module, which is respectively connected to the track assembly, the coil group assembly and the trolley assembly, used to obtain the motion information of the trolley body and the current information of each coil group; predict the motion trajectory and motion state of the trolley within a preset time according to the motion information, and determine the target coil group magnetic field that meets the energy requirements of the trolley according to the prediction result;

[0056] A control module, which is respectively connected to the track assembly, the coil group assembly, the trolley assembly and the detection and analysis module, is used to generate a drive control signal according to the motion planning information of the trolley combined with the motion information of the trolley body to control the motion state of the trolley body, and generate a magnetic field control signal according to the target coil group magnetic field.

[0057] Among them, the motion information includes trolley position information and trolley speed information, and the current information includes current magnitude, frequency and phase.

[0058] In implementation, the annular closed track is made of high-strength and low-magnetic-resistance silicon steel sheets, and its diameter is larger than the width of the trolley, providing a stable running track for the trolley.

[0059] The present invention does not limit the specific structures of the detection and analysis module, the control module and the local control unit inside the trolley, and they can be composed of logic components, and the logic components include field programmable processors, computers and microprocessors in the computers.

[0060] Specifically, the coil group assembly includes:

[0061] An energy emission coil group, which includes two circular coil groups, is used to enhance the magnetic field strength and improve the coupling efficiency;

[0062] A magnetic conduction coil group, which includes all circular coil groups except the two circular coil groups in the energy emission coil group, is used to provide a stable magnetic field;

[0063] A number of drive circuits, which are used to adjust the current information flowing into the coil group according to the magnetic field control signal;

[0064] A number of current detection units, which are used to detect and transmit the current information of each circular coil group.

[0065] In implementation, the number of coils in the circular coil group is 15, which are arranged equidistantly and in the same fixed manner along the periphery of the annular closed track, and the annular closed track passes through the inside of the coil group, and the inner edge of the coil group is fixed at the lower part of the annular closed track.

[0066] The diameter of each coil is 20 cm. In practical applications, two coils placed opposite each other on both sides of the track in the coil group assembly are used as energy emission sources, which are respectively denoted as the left emission coil and the right emission coil, and current is supplied to the coils through a power supply box transmitter, and the rest are magnetic conduction coils, denoted as a push-pull annular coil group. The emission coils use nanocrystalline alloy magnetic cores and copper enameled wires to enhance the magnetic field strength and coupling efficiency; the magnetic conduction coil group uses silicon steel sheet magnetic conduction materials to guide and optimize the magnetic field distribution, ensuring the uniformity and continuity of the magnetic field in the entire annular runway area, so that the trolley can stably receive electric energy during operation.

[0067] Each transmitting coil is provided with a drive circuit and a current detection unit. The drive circuit can accurately adjust the magnitude, frequency, and phase of the current flowing through the coil according to the control signal. The current detection unit monitors the coil current in real time, provides feedback data for the subsequent control algorithm, and realizes precise control of the magnetic field intensity and distribution.

[0068] Please refer to Figure 2 as shown, which is the device diagram of the trolley assembly in the embodiment of the present invention. The trolley assembly includes:

[0069] The trolley body;

[0070] A receiving coil group, which is fixed on the trolley body and is used to obtain electric energy from the coil group assembly.

[0071] An energy unit, which is connected to the receiving coil group and includes an on-vehicle energy conversion device and a storage device. The on-vehicle energy conversion device is used to convert AC electric energy into DC electric energy.

[0072] A sensor group, which is fixed on the trolley body and is used to obtain the position information and speed information of the trolley in real time.

[0073] A drive motor, which is connected to the trolley wheels at the bottom of the trolley body and is used to provide power for the movement of the trolley body on the annular closed track.

[0074] In implementation, the trolley body is designed with lightweight and fiberglass-reinforced plastic materials to reduce the movement inertia and ensure the structural stability.

[0075] According to the principle of electromagnetic induction, the receiving coil obtains electric energy from the magnetic field of the annular runway, and converts the magnetic field energy into direct current through a rectifier circuit and an adaptive impedance transformation circuit, and stores it in the storage device to provide power for the drive motor and other electronic devices of the trolley. The storage device is a rechargeable battery.

[0076] The sensor group includes high-precision position sensors (such as optical encoders) and speed sensors (such as Hall sensors). The position sensor can real-time feedback the accurate position information of the trolley on the annular runway, and the speed sensor can accurately measure the movement speed of the trolley.

[0077] The sensor data is sent to the control center through wireless transmission, and at the same time, it also provides feedback signals for the local control unit of the trolley itself to realize real-time monitoring and closed-loop control of the movement state of the trolley.

[0078] The drive motor adopts a high-efficiency DC motor, which is connected to the trolley wheels through a transmission mechanism. The transmission mechanism has a suitable transmission ratio to realize the effective conversion of the motor torque and speed, and meet the requirements of different movement conditions of the trolley on the annular closed track.

[0079] Specifically, the detection and analysis module receives in real time the motion information of the trolley detected by the sensor group through a wireless communication link;

[0080] The detection and analysis module obtains in real time the current information of each coil detected by each current detection unit through a wireless communication link.

[0081] The detection and analysis module receives in real time the data information fed back by the position sensor, speed sensor and each coil current detection unit on the trolley through a wireless communication link. Perform preprocessing operations such as filtering, noise reduction, and validity verification on the collected data, remove interference signals and outliers in the data, ensure the accuracy and reliability of the data, and provide high-quality input data for subsequent control algorithms.

[0082] This embodiment provides a device for an intelligent drive trolley with a multi-coil group on a circular track. The transmitting drive part is located at the front end of the system. Among them, the power supply (1) supplies power to the transmitting end controller (3), the first drive circuit (4) and the second drive circuit (7). The controller controls the first MOS switch tube (5) and the second MOS switch tube (8) respectively through the drive circuit, drives the left transmitting coil (6) and the right transmitting coil (9) to generate an alternating magnetic field. The parameters are detected by the current detection unit (2). The push-pull circular coil group (10) surrounds the two-side transmitting coils to enhance magnetic field coupling; the position detection unit (26) is close to the transmitting coil, and monitors in real time the position of the receiving-end trolley (20) on the track (21), and transmits the data to the controller through the transmitting-end communication unit (27). In the receiving motion control part, the receiving coil (11) is installed corresponding to the transmitting coil, converts the magnetic field energy into direct current through the rectifying circuit (12) and the adaptive impedance transformation circuit (13), and drives the motor (16) to drive the trolley to move along the track; the receiving-end controller (22) obtains real-time data through the coding sensor (17) and the trolley motion state monitoring unit (19), and interacts with the transmitting end and the upper computer (24) through the receiving-end communication unit (18) to achieve closed-loop control. The upper computer (24) and the upper computer power supply (25) are independently set, monitor the state of the whole system through two communication units, and the power supply plug (23) provides supplementary power for the receiving-end controller and auxiliary circuits. In the overall structure, the energy and data flow form a two-way connection, the transmitting end and the receiving end cooperate through the magnetic field and communication units, and the upper computer acts as the monitoring core to achieve global regulation.

[0083] Specifically, the detection and analysis module determines the real-time position and acceleration of the trolley on the circular track according to the motion information of the trolley body;

[0084] The detection and analysis module predicts the motion trajectory and motion state of the trolley within a preset time according to the geometric parameters of the circular closed track.

[0085] In implementation, based on the preprocessed position and velocity data, multi-sensor fusion algorithms such as Kalman filtering are used to accurately estimate the current motion state of the trolley; combined with the dynamic model of the trolley and the geometric parameters of the circular runway, recurrent neural network (RNN) and long short-term memory network (LSTM) algorithms are adopted. In each control cycle, data is autonomously updated, and the control inputs (such as motor speed, steering) are adjusted and optimized to ensure that the trolley operates with multiple objectives such as the predetermined speed, position, and energy consumption in the motion planning information. This is the prior art and will not be elaborated here.

[0086] In this implementation, real-time correction is performed through the Extended Kalman Filter (EKF):

[0087] Inputs: position sensor (±1mm error), velocity sensor (±0.05m / s error), coil current phase data (±5° error);

[0088] Outputs: fused position accuracy of ±0.3mm, velocity accuracy of ±0.01m / s, current phase error of ±2°;

[0089] The state equation and the observation equation are combined with the geometric constraint of the circular orbit (radius R):

[0090] x k+1 = x k + v k * cosθ k * Δt + w k

[0091] y k+1 = y k + v k * sinθ k * Δt + w k

[0092] θ k+1 = θ k + v k / R * Δt + w k

[0093] where (x, y) are the coordinates of the trolley, θ is the heading angle, Δt is the sampling period, and w k is the process noise;

[0094] Based on the LSTM neural network for dynamic prediction:

[0095] Inputs: historical 10-frame EKF correction data (including position, velocity, coil current phase), radius of curvature R of the track;

[0096] Outputs: predicted trajectory x^(t), velocity v^(t), and acceleration a^(t) of the trolley within the next 3 seconds;

[0097] Model training: Generate a training dataset based on the track parameters (diameter 2m, coil spacing 15cm) and the dynamics characteristics of the trolley (mass 0.5kg, motor torque 0.1N·m);

[0098] Energy coupling prediction: Combine the predicted trajectory with the coil magnetic field distribution model to calculate the energy capture efficiency η(t) of the receiving coil:

[0099] η(t) = k * B target (t) * cosφ(t) / d(t) 2

[0100] Wherein, Btarget is the target coil magnetic field intensity, cosφ is the included angle between the magnetic field direction and the receiving coil, d is the distance between the trolley and the target coil, and k is the coupling coefficient.

[0101] Specifically, the detection and analysis module determines the magnetic field of the target coil group that meets the energy requirements of the trolley according to the prediction result;

[0102] The target coil magnetic field determined by the detection and analysis module includes the magnetic field intensity, magnetic field direction and magnetic field distribution change.

[0103] In implementation, the detection and analysis module uses the multi-coil magnetic field dynamic modulation algorithm according to the determined target coil magnetic field including the magnetic field intensity, magnetic field direction and magnetic field distribution change to obtain the adjustment amounts of the current magnitude, frequency and phase of each transmitting coil.

[0104] In this implementation, according to the prediction result, a collaborative optimization algorithm based on energy requirements and magnetic field response is used to determine the magnetic field of the target coil group, including:

[0105] Dynamic energy requirement modeling:

[0106] E req (t) = 1 / 2ma^(t) 2 +C f *v^(t) 2 +P elec *Δt

[0107] Wherein, m = 0.5kg is the mass of the trolley, C f = 0.02 is the friction coefficient, P elec = 0.5W is the power consumption of the sensor and communication module; 1 / 2ma^(t) 2 represents the change in the kinetic energy of the trolley, C f *v^(t) 2 represents the friction loss of the trolley, P elec *Δt represents the on-vehicle circuit loss;

[0108] Magnetic field parameter optimization: Aiming to minimize the energy transfer deviation, solve:

[0109] Min B,f, φ|E rec (t)-Ereq(t)|+λ1||B||+λ2||f - f0||,

[0110] where, E rec =η(t)*P emit , P emit is the power of the transmitting coil, f0 = 80 kHz is the reference frequency, and λ1, λ2 are weight coefficients.

[0111] When the trolley enters a curve (the radius of curvature of the track changes), the current phase (φ) of the magnetic conduction coil is preferentially adjusted to make the magnetic field direction match the movement direction of the trolley; when the trolley accelerates, the frequency (f) of the transmitting coil is increased to 85 kHz, and the current amplitude (B) is increased by 10%.

[0112] Specifically, the control module generates a drive control signal according to the motion planning information of the trolley combined with the motion information of the trolley body;

[0113] The control module sends the drive control signal to the drive motor to control the speed and torque of the motor.

[0114] In implementation, the motion planning information includes running according to a predetermined speed curve, stopping at a specified position, etc.; the control module uses an intelligent control algorithm (such as PID control combined with fuzzy logic control) to generate a control signal for the drive motor, and sends it to the local control unit on the drive motor through a wireless communication link. After receiving the control signal, the local control unit adjusts the input voltage and current of the motor through the drive motor drive circuit to control the speed and torque of the motor, thereby achieving precise control of the movement speed and direction of the trolley.

[0115] Specifically, the control module generates a magnetic field control signal according to the magnetic field of the target coil group;

[0116] The control module sends corresponding coil adjustment signals to each of the drive circuits according to the magnetic field control signal.

[0117] In implementation, according to the adjustment amounts of the current magnitude, frequency, and phase of each transmitting coil determined, control signals corresponding to each coil drive circuit are generated to precisely adjust the current magnitude, frequency, and phase of the transmitting coil, as well as the working state of the magnetic conduction coil (such as whether it is connected to the magnetic field circuit), so as to achieve dynamic switching and optimized distribution of the magnetic field on the circular track. For example, when the trolley accelerates, increase the current frequency and intensity of the transmitting coil to enhance the magnetic field energy density, enabling the trolley to receive more electrical energy; when the trolley turns, by adjusting the connection mode of the magnetic conduction coil in a specific area, change the magnetic field direction to guide the trolley to turn smoothly.

[0118] In this embodiment, the control module generates a drive signal using the fuzzy adaptive PID control algorithm based on the predicted trajectory and the magnetic field optimization result, and collaborates with the coil group component to achieve closed-loop control:

[0119] Fuzzy PID parameter adjustment:

[0120] Input: speed error e = v target -v actual , acceleration error change rate ec = de / dt;

[0121] Output: PID parameters K p , K i , K d Dynamic adjustment, the rule base switches according to the track type (straight track / curved track): If it is in the straight track mode, focus on stability, K p is reduced by 20%, K d is increased by 15%; if it is in the curved track mode, focus on response speed, K p is increased by 30%, K i is reduced by 10%;

[0122] Drive and magnetic field collaborative control:

[0123] When an energy gap (E req > E rec ) is detected, the control module synchronously increases the drive motor torque (through the PID output) and the target coil current (through the magnetic field control signal) to achieve a "power - energy" double closed-loop; the control period is synchronized with the wireless communication link to ensure that the instruction delay < 10ms.

[0124] Example 1: Curve energy matching and trajectory correction

[0125] Scenario: The trolley enters a curve with a radius of 0.5m at a speed of 1.5m / s, and the on-vehicle sensor detects a lateral offset trend.

[0126] Algorithm execution:

[0127] EKF Calibration: Fuse position (error ±1 mm refined to ±0.3 mm), speed (error ±0.05 m / s → ±0.01 m / s), coil current phase (error ±5° → ±2°);

[0128] LSTM Prediction: Output the lateral offset Δs = 12 cm within the next 2 seconds, and the speed drops to 1.2 m / s;

[0129] Energy Demand Calculation:

[0130] E req = 1 / 2 * 0.5 * (-0.3) 2 + 0.02 * 1.2 2 + 0.5 * 2 = 1.05 J

[0131] Magnetic Field Optimization:

[0132] Adjust the phase φ = 45° and frequency f = 82 kHz of the target coil (numbered 6 - 8) to make E rec = 1.02 J (matching rate 97%);

[0133] Control Output:

[0134] Switch the fuzzy PID to the curve mode, K p = 2.5, K i = 0.08, K d = 1.2;

[0135] Increase the motor torque by 15%, and correct the lateral offset to Δs = 3 cm.

[0136] Technical Effects:

[0137] The curve energy transmission efficiency is increased from 75% to 92%;

[0138] The trajectory offset is reduced by 75%, and the speed fluctuation < ±2%.

[0139] Please refer to Figure 3 As shown, it is a flowchart of the usage method of the intelligent driving cart with multiple coil groups on the annular runway in the embodiment of the present invention. The present invention also provides a usage method of a teaching system for the intelligent driving cart with multiple coil groups on the annular runway, including:

[0140] Step S1, install the coil group components evenly on the annular closed track, and connect the drive circuits and current detection units of each circular coil group;

[0141] Step S2, assemble the cart body, and install the receiving coil, energy unit, sensor group, and drive motor;

[0142] Step S3, establish a wireless communication connection between the control center, the coil group assembly, and the trolley assembly, and conduct tests and optimizations on the communication link;

[0143] Step S4, set the motion planning information of the trolley and start the trolley;

[0144] Step S5, the control center starts to collect the trolley motion information and current information in real time, predicts the motion trajectory and motion state of the trolley within a preset time according to the collected data, and determines the target coil group magnetic field that meets the energy requirements of the trolley;

[0145] Step S6, the control center generates a drive control signal according to the motion planning information, the predicted results of the trolley motion trajectory and motion state, and sends it to the drive motor, and generates a magnetic field control signal according to the target coil group magnetic field and sends it to each circular coil group.

[0146] In implementation, according to the design requirements, precisely machine the structural parts of the circular runway, evenly install 15 groups of coils on the circular runway, and connect the drive circuits and current detection units of each coil to ensure correct and firm wiring without potential faults such as short circuits and open circuits. Conduct preliminary debugging on the coil assembly, pass a small current through the drive circuit, use a magnetic field measuring instrument to detect the magnetic field intensity and distribution generated by each coil, and adjust the installation position and parameters of the coils to meet the design standards.

[0147] Assemble the trolley body and install components such as receiving coils, drive motors, transmission mechanisms, position sensors, speed sensors, and local control units. Debug the mechanical transmission part of the trolley, check the rotational flexibility of the wheels, the accuracy of the transmission ratio, and the tightness of each mechanical connection part. Conduct a power-on test on the on-vehicle electronic equipment, including the energy conversion and storage module of the receiving coil, the sensor signal acquisition and transmission module, and the control signal output module of the local control unit, etc., to ensure that each electronic component works normally and the signal transmission is accurate and error-free.

[0148] Build a control center, install an industrial control computer or a dedicated controller, configure a wireless communication module, install control software and perform initialization settings. Establish a wireless communication connection between the control center, the multi-coil assembly of the circular runway, and the trolley, conduct tests and optimizations on the communication link to ensure the stability and reliability of data transmission. Input the relevant parameters of the circular runway and the trolley (such as runway diameter, coil parameters, trolley mass, motor characteristics, etc.) into the control software to provide basic data for subsequent control algorithm operations.

[0149] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of devices, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than that noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based device that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0150] Obviously, the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. An intelligent driving cart teaching system for a multi-coil group on a circular track, characterized in that Comprising: An orbital assembly, which is an annular closed orbit for providing a moving orbit for the trolley and a spatial structure for fixing the coil group; A coil group assembly, including a number of circular coil groups, each coil group being fixed on the orbital assembly for providing an adjustable magnetic field; A trolley assembly, which includes a trolley body and a receiving coil group, for moving on the annular closed orbit according to the motion planning information and obtaining electrical energy from the magnetic field of the annular runway as the driving energy; A detection and analysis module, which is respectively connected to the orbital assembly, the coil group assembly and the trolley assembly, for obtaining the motion information of the trolley body and the current information of each coil group; predicting the motion trajectory and motion state of the trolley within a preset time according to the motion information, and determining the target coil group magnetic field that meets the energy requirements of the trolley according to the prediction result; A control module, which is respectively connected to the orbital assembly, the coil group assembly, the trolley assembly and the detection and analysis module, for generating a drive control signal according to the motion planning information of the trolley combined with the motion information of the trolley body to control the motion state of the trolley body, and generating a magnetic field control signal according to the target coil group magnetic field. Wherein, the motion information includes the trolley position information and the trolley speed information, and the current information includes the current magnitude, frequency and phase.

2. The intelligent driving cart teaching system for a multi-coil group on a circular track according to claim 1, characterized in that, The coil group assembly includes: An energy emission coil group, which includes two circular coil groups made of nanocrystalline alloy magnetic cores for enhancing the magnetic field strength and improving the coupling efficiency; A magnetic conduction coil group, which includes all the circular coil groups except the two circular coil groups in the energy emission coil group, and is made of silicon steel sheet magnetic conduction material for providing a stable magnetic field; A number of drive circuits for adjusting the current information input into the coil group according to the magnetic field control signal; A number of current detection units for detecting and transmitting the current information of each circular coil group.

3. The intelligent driving trolley teaching system with multiple coil groups on a circular runway according to claim 2, characterized in that, The trolley assembly includes: A trolley body; A receiving coil group, which is fixed on the trolley body for obtaining electrical energy from the coil group assembly, An energy unit, which is connected to the receiving coil group and includes an on-vehicle energy conversion device and a storage device, and the on-vehicle energy conversion device is used for converting AC electrical energy into DC electrical energy; A sensor group, which is fixed on the trolley body for real-time obtaining of the trolley position information and the trolley speed information; A drive motor, which is connected to the trolley wheels at the bottom of the trolley body for providing power for the trolley body to move on the annular closed orbit.

4. The intelligent driving cart teaching system for a multi-coil group on a circular track according to claim 3, characterized in that, The detection and analysis module receives the motion information of the trolley detected by the sensor group in real time through a wireless communication link; The detection and analysis module obtains the current information of each coil detected by each current detection unit in real time through a wireless communication link.

5. The intelligent driving cart teaching system with a multi-coil group on a circular track according to claim 4, characterized in that, The detection and analysis module determines the real-time position and acceleration of the trolley on the annular runway according to the motion information of the trolley body; The detection and analysis module predicts the motion trajectory and motion state of the trolley within a preset time according to the geometric parameters of the annular closed orbit.

6. The intelligent driving trolley teaching system for a multi-coil group on a circular track according to claim 5, characterized in that, The detection and analysis module determines the target coil group magnetic field that meets the energy requirements of the trolley according to the prediction result; The target coil magnetic field determined by the detection and analysis module includes magnetic field strength, magnetic field direction, and changes in magnetic field distribution.

7. The intelligent driving trolley teaching system with a multi-coil group on a circular runway according to claim 6, characterized in that, The control module generates a drive control signal based on the motion planning information of the trolley in combination with the motion information of the trolley body; The control module sends the drive control signal to the drive motor to control the speed and torque of the motor.

8. The intelligent driving cart teaching system with a multi-coil group on a circular track according to claim 7, characterized in that, The control module generates a magnetic field control signal based on the magnetic field of the target coil group; The control module sends corresponding coil adjustment signals to each drive circuit according to the magnetic field control signal.

9. A method of using an intelligent driving trolley teaching system for a multi-coil group on a circular track according to any one of claims 1-8, characterized in that The method includes: Step S1, installing the coil group components evenly on the annular closed track, and connecting the drive circuits and current detection units of each circular coil group; Step S2, assembling the trolley body, and installing the receiving coil, energy unit, sensor group, and drive motor; Step S3, establishing a wireless communication connection between the control center and the coil group components and the trolley components, and testing and optimizing the communication link; Step S4, setting the motion planning information of the trolley and starting the trolley; Step S5, the control center starts to collect the motion information and current information of the trolley in real time, predicts the motion trajectory and motion state of the trolley within a preset time according to the collected data, and determines the target coil group magnetic field that meets the energy requirements of the trolley; Step S6, the control center generates a drive control signal based on the motion planning information, the predicted results of the motion trajectory and motion state of the trolley, and sends it to the drive motor, and generates a magnetic field control signal based on the target coil group magnetic field and sends it to each circular coil group.

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