Wireless charging three-dimensional position deviation correction system and method

Abstract

The invention discloses a wireless charging three-dimensional position deviation correction system and method. The wireless charging system comprises a wireless charging receiving end induction device which is used for performing charging induction with a transmitting coil of a transmitting end at each charging position; the sensor is used for collecting charging induced voltage information at each charging position; the processor is used for predicting a three-dimensional position according to the charging induction voltage information at each charging position, and performing deviation correction planning on the wireless charging receiving end induction device according to the predicted three-dimensional position; and the actuator is used for adjusting the state of the wireless charging receiving end sensing device according to the deviation correction plan. According to the invention, position rectification can be realized based on LCC-S compensation topology and stable and constant voltage output of the system can be ensured.

Description

Technical Field

[0001] The present invention relates to a wireless charging position deviation correction system and method in the field of wireless power transmission technology, and particularly to a three-dimensional position deviation correction system and method for wireless charging. Background Art

[0002] With the popularization of wireless charging functions for smartphones, earphones, and other electronic devices, a convenient and flexible charging method is provided for electronic devices. However, there is a problem of position alignment in wireless charging technology. The position deviation between the charging device and the wireless charging device will cause a sharp drop in charging efficiency, a significant reduction in energy transmission efficiency, and may even cause overheating problems, affecting battery life and safety. Therefore, it is necessary to propose a wireless charging position deviation correction method to ensure the precise alignment between the charging device and the wireless charging device and improve the wireless charging efficiency and user experience. Summary of the Invention

[0003] To solve the current problem of low charging efficiency caused by the three-dimensional position deviation between the charging device and the wireless charging device, the present invention aims to construct a three-dimensional position deviation correction system and method for wireless charging, enabling the wireless charging system to have the ability of self-correction. The method of the present invention realizes position correction and steady voltage output based on the LCC-S compensation topology, avoiding the addition of other extra power control circuits and simplifying the complexity of system control. The method of the present invention realizes the multiplexing of the functions of power transmission and mutual inductance detection of the receiving coil without additional auxiliary means of primary communication. The position coordinate information is output through the LightGBM model using the detected mutual inductance information, and the position deviation is corrected based on the coordinate deviation to achieve steady voltage output.

[0004] The technical solution of the present invention is as follows:

[0005] I. A three-dimensional position deviation correction system for wireless charging

[0006] A wireless charging receiving end induction device for performing charging induction with the transmitting coil of the transmitting end at each charging position;

[0007] A sensor for collecting charging induction voltage information at each charging position;

[0008] A processor for predicting the three-dimensional position based on the charging induction voltage information at each charging position, and then planning the deviation correction for the wireless charging receiving end induction device according to the predicted three-dimensional position;

[0009] An actuator for adjusting the state of the wireless charging receiving end induction device according to the deviation correction planning result.

[0010] The wireless charging receiver induction device includes a receiving coil, and the receiving coil includes at least 3 sub-coils; the structural type of the receiving coil includes one of TCSP type, DDQ type, and TP type.

[0011] When the receiving coil is of TCSP type, the receiving coil includes an inner receiving coil and an outer receiving coil. The outer receiving coil includes a first sub-coil, a second sub-coil, a third sub-coil, and a fourth sub-coil. The first sub-coil, the second sub-coil, the third sub-coil, and the fourth sub-coil are arranged on the inner receiving coil and surround the inner receiving coil. The first sub-coil, the second sub-coil, the third sub-coil, and the fourth sub-coil are symmetrically arranged in a plane; the number of turns and dimensions of the four sub-coils are the same; the winding directions of the first sub-coil and the third sub-coil are opposite to those of the second sub-coil and the fourth sub-coil.

[0012] When the receiving coil is of DDQ type or TP type, the receiving coil is composed of 3 sub-coils.

[0013] Each coil in the receiving coil is connected in series with a corresponding compensation capacitor to form an independent resonance network, and the charging induction voltage information at each charging position is composed of the voltages corresponding to 3 independent resonance networks.

[0014] The coil position prediction model is stored in the processor. After preprocessing the charging induction voltage information at each charging position, it is input into the coil position prediction model, and the model outputs the three-dimensional coordinates of the receiving coil; the processor then calculates the three-dimensional coordinate deviation according to the three-dimensional coordinates of the receiving coil, and then performs deviation correction planning according to the three-dimensional coordinate deviation.

[0015] The deviation correction planning includes plane position path planning and vertical height lifting planning.

[0016] The coil position prediction model includes a lightweight gradient boosting model.

[0017] II. A Three-dimensional Position Deviation Correction Method for Wireless Charging

[0018] S1: The receiving coil of the wireless charging receiver induction device induces with the transmitting coil. After acquiring and preprocessing the charging induction voltage information at each charging position, voltage amplitude information is obtained.

[0019] S2: Input the voltage amplitude information into the coil position prediction model, and the model outputs the three-dimensional coordinates of the receiving coil; calculate the three-dimensional coordinate deviation according to the three-dimensional coordinates of the receiving coil.

[0020] S3: Perform deviation correction judgment according to the three-dimensional coordinate deviation, and judge whether it exceeds the system preset deviation threshold. If it exceeds the system preset deviation threshold, plan and execute the deviation correction plan of the receiving end to the transmitting end.

[0021] S4: Repeat S1 - S3 until the three - dimensional coordinate deviation does not exceed the system - preset deviation threshold, and complete the deviation correction of the three - dimensional position of wireless charging.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] A method for correcting the three - dimensional position deviation of wireless charging provided by the present invention realizes the multiplexing of the power transmission and mutual - inductance detection functions of the receiving - end coil without adding the primary - side communication means, saves the hardware cost, reduces the occupation of system resources, and makes the overall performance of the wireless charging system more excellent.

[0024] The present invention uses the LightGBM model to intelligently process the mutual - inductance information, can accurately output the three - dimensional coordinate deviation information, and provides reliable data support for coordinate correction. This intelligent processing method improves the sensitivity and response speed of the system to coordinate deviation, enabling the wireless charging system to quickly self - adjust when facing three - dimensional coordinate deviation. Brief Description of the Drawings

[0025] Figure 1 is a three - dimensional diagram of the coil of the wireless charging system provided by an embodiment of the present invention.

[0026] Figure 2 is a circuit topology structure diagram of the wireless charging system provided by an embodiment of the present invention.

[0027] Figure 3 is a block diagram of the control system for correcting the three - dimensional position deviation of wireless charging provided by an embodiment of the present invention.

[0028] Figure 4 is a flow chart for correcting the three - dimensional position deviation of wireless charging provided by an embodiment of the present invention.

[0029] Figure 5 is a comparison diagram of the LightGBM predicted value and the true value provided by an embodiment of the present invention.

[0030] In the figure: 1. Transmitting coil, 2. Receiving coil, 3. Inner receiving coil, 4.1. First sub - coil, 4.2. Second sub - coil, 4.3. Third sub - coil, 4.4. Fourth sub - coil. Detailed Embodiments

[0031] The present invention will be described in detail below with reference to the accompanying drawings.

[0032] As Figure 3 shown, a system for correcting the three - dimensional position deviation of wireless charging proposed by the present invention specifically includes:

[0033] A wireless charging receiving - end induction device, which is used to perform charging induction with the transmitting coil 1 of the transmitting end at each charging position;

[0034] As Figure 1 shown, the wireless charging receiver induction device includes a receiving coil 2. The receiving coil 2 is of the TCSP type, which includes an inner receiving coil 3 and an outer receiving coil 4. The outer receiving coil 4 includes a first sub-coil 4.1, a second sub-coil 4.2, a third sub-coil 4.3, and a fourth sub-coil 4.4. The first sub-coil 4.1, the second sub-coil 4.2, the third sub-coil 4.3, and the fourth sub-coil 4.4 are arranged inside the inner receiving coil 3 and surround the inner receiving coil 3. The first sub-coil 4.1, the second sub-coil 4.2, the third sub-coil 4.3, and the fourth sub-coil 4.4 are symmetrically arranged in a plane. The number of turns and the size of the four sub-coils are the same. The winding directions of the first sub-coil 4.1 and the third sub-coil 4.3 are opposite to those of the second sub-coil 4.2 and the fourth sub-coil 4.4. In this embodiment, the first sub-coil 4.1 and the third sub-coil 4.3 are wound in a clockwise direction, and the second sub-coil 4.2 and the fourth sub-coil 4.4 are wound in a counterclockwise direction. In this embodiment, the number of turns of the transmitting coil 1 is 20, the number of turns of the inner receiving coil 3 is 8, and the number of turns of the four sub-coils of the outer receiving coil 4 is 10. The inner receiving coil 3 is a square planar coil with an outermost side length of 133 mm. The transmitting coil 1 is a square planar coil with an outermost side length of 300 mm.

[0035] As Figure 2 shown, the transmitting end where the transmitting coil 1 is located adopts an LCC compensation topology network, and the receiving end where the receiving coil 2 is located adopts an S-type compensation topology network.

[0036] The inner receiving coil 3 of the TCSP type receiving coil 2 is compensated by a single capacitor C M , that is, the inner receiving coil 3 is connected in series with the capacitor C M to form a main resonance network 3.C. The sub-coils 4.1, 4.2, 4.3, and 4.4 of the outer receiving coil 4 of the receiving coil 2 are respectively compensated by 4 independent capacitors C1, C2, C3, and C4 for the individual compensation of the 4 sub-coils. That is, the first sub-coil 4.1 is connected in series with the capacitor C1 to form a first resonance network 4.1C, the second sub-coil 4.2 is connected in series with the capacitor C2 to form a second resonance network 4.2C, the third sub-coil 4.3 is connected in series with the capacitor C3 to form a third resonance network 4.3C, and the fourth sub-coil 4.4 is connected in series with the capacitor C4 to form a fourth resonance network 4.4C.

[0037] According to Kirchhoff's voltage law, it can be obtained that:

[0038]

[0039] In the formula, U IN is the fundamental voltage component after the voltage source is inverted, C F and C Tis the compensation capacitor on the LCC compensation topology at the transmitting end, L F is the compensation inductor at the transmitting end, L T is the inductance of the transmitting coil, L M is the inductance of the inner receiving coil, L1, L2, L3, L4 are the inductances of the four sub - coils, M 12 、M 13 、M 14 、M 23 、M 24 and M 34 are the mutual inductances between the sub - coils, M 1M 、M 2M 、M 3M 、M 4M are the mutual inductances between the sub - coils of the inner receiving coil and the outer receiving coil, R EM and R EE are the resistances when the load is equivalently transformed to the inner receiving coil and the outer receiving coil respectively. is the current on the inductor L F ; is the current on the inductor L T ; is the current on the inductor L M ; is the current in the four sub - coils;

[0040] The resonance condition of the system is:

[0041]

[0042] The fourth - term parameter in the above formula satisfies:

[0043]

[0044] The voltage formulas for the main resonance network 3.C and the four resonance networks are as follows:

[0045]

[0046]

[0047] Among them, U IN is the fundamental voltage component after the voltage source is inverted, L F is the inductor adopted in the LCC compensation topology network at the transmitting end, M TM 、M T1 、M T2 、M T3 、M T4 are the mutual inductances between the transmitting coil 1 and the four sub - coils of the inner receiving coil 3 and the outer receiving coil 4 respectively; represents the AC voltage output by the inverter; represents the voltage on the main resonance network 3.C; and respectively represent the voltages on the first, second, third, and fourth resonant networks; when the parameters of the LCC-S compensation topology network are determined, the voltages on the main resonant network 3.C and the four resonant networks can directly reflect the mutual inductance values between the transmitting coil 1 and the inner receiving coils 3 and 4 sub-coils.

[0048] Based on the electromagnetic induction theory, when a high-frequency oscillating magnetic field is generated by the energization of the primary coil, the secondary coil will sense this magnetic field and generate a current to achieve energy transfer. If the secondary coil is displaced, it will cause a change in the magnetic flux passing through it, thereby affecting the mutual inductance M. The change in mutual inductance will be reflected in the current or voltage induced in the secondary coil. By detecting the changes in these parameters, the displacement situation can be judged.

[0049] According to the Neumann formula, assuming that the center of a single-turn square transmitting coil with both length and width of 2l is located at the origin, and the center point of a single-turn square receiving coil with both length and width of 2m is located at (X, Y, Z), then the mutual inductance M between the two coils can be expressed as:

[0050]

[0051] In the formula, M ij represents the mutual inductance between the i-th side of the transmitting coil and the j-th side of the receiving coil. Taking as the 1st side of the transmitting coil, the other sides are numbered counterclockwise. Similarly, taking as the 1st side of the receiving coil, the other sides are numbered counterclockwise. M ij can be expressed as follows:

[0052]

[0053]

[0054] Among them, μ0 is the magnetic permeability of vacuum.

[0055] According to the Neumann formula, the mutual inductance value of the coils is related to the coil position coordinates. From the above mutual inductance formula, it can be deduced that the mutual inductance values of three coils can be used to solve the three values of X, Y, and Z. Among the five resonant networks, any three are selected for combination. Taking the selection of M TM , M T2 , M T4 as an example, the mapping of the receiving coil coordinates can be achieved through the following formula:

[0056] (X, Y, Z) = f1(M TM , M T2 , M T4 )

[0057] In the formula, f1() is the mutual inductance and coordinate mapping relationship function;

[0058] The mutual inductance is determined by the voltage of the independent resonant network, so the voltage of the independent resonant network can be used to map the coordinates of the receiving coil:

[0059] (X, Y, Z) = f2(U 3.C , U 4.2C , U 4.4C 4

[0060] where f2() is the function of the mapping relationship between the voltage of the independent resonant network and the coordinates;

[0061] The charging induction voltage information at each charging position is specifically the voltage corresponding to any 3 resonant networks selected from the main resonant network 3.C and the first to fourth resonant networks. The present invention is applicable to a receiving coil with a multi-coil structure at the receiving end. Each coil of the receiving coil is separately compensated to form an independent resonant network and multiplexed as a detection coil. Detecting the voltages of 3 independent resonant networks can realize the prediction of the three-dimensional position coordinates (X, Y, Z) of the receiving coil.

[0062] In this embodiment, the circuit parameters of the wireless charging system adopted are as follows:

[0063] The inductance L of the transmitting coil 1 T = 293.5 μH, the inductance L of the inner receiving coil 3 M = 130.7 μH, the inductances of the 4 sub-coils are all 30.0 μH, the compensation inductance L F = 35 μH, the compensation capacitor C at the transmitting end F = 100.2 nF, C T = 13.6 nF, the compensation capacitor C at the receiving end M = 139.8 nF, C4 = C3 = C2 = C1 = 107.2 nF, the input voltage V IN = 100 v.

[0064] A sensor for collecting the charging induction voltage information at each charging position;

[0065] A processor for predicting the three-dimensional position according to the charging induction voltage information at each charging position, and then correcting and planning the deviation of the wireless charging receiving end induction device according to the predicted three-dimensional position;

[0066] The processor stores a coil position prediction model. After preprocessing the charging induction voltage information at each charging position and then inputting it into the coil position prediction model, the preprocessing is to convert the voltage of each resonant network into voltage amplitude information, such as U 3.C , U 4.2C , U 4.4C; the three-dimensional coordinates of the model output receiving coil 2; the processor then calculates the three-dimensional coordinate deviation based on the three-dimensional coordinates of the receiving coil 2, and then performs deviation correction planning according to the three-dimensional coordinate deviation.

[0067] Deviation correction planning refers to converting the three-dimensional position deviation (ΔX, ΔY, ΔZ) into the action parameters of the X, Y, and Z-axis motors. The action parameters include parameters such as the pulse numbers and direction levels of the X, Y, and Z-axis motors; the pulse quantity N is linearly corresponding to the target displacement amount, and the calculation formula is:

[0068]

[0069] where, ΔS is the displacement amount, L is the lead screw pitch, and θ is the displacement amount per pulse corresponding to the motor step angle;

[0070] The direction level is used to control the forward and reverse rotation of the motor;

[0071] Deviation correction planning includes planar position path planning and vertical height lifting planning; planar position path planning refers to the setting of the movement path of the horizontal coordinate X and the longitudinal coordinate Y of the receiving coil 2; vertical height lifting planning refers to the setting of the lifting scale of the height coordinate Z of the receiving coil 2.

[0072] The coil position prediction model includes a LightGBM (Light Gradient Boosting Machine) model. Taking M TM 、M T2 、M T4 as an example, the voltages of the primary resonance network, the second resonance network, and the fourth resonance network are obtained and preprocessed. The training data set is constructed by using the voltage amplitude signals obtained after preprocessing and the corresponding three-dimensional coordinates. After training the LightGBM (Light Gradient Boosting Machine) model with the training data set, the coil position prediction model is obtained. The parameter configuration of the LightGBM regression prediction model is as follows: colsample_bytree: 0.739, learning_rate: 0.042, max_depth: 6.0, min_child_samples: 5, n_estimators: 950, num_leaves: 100, reg_alpha: 0.0216, reg_lambda: 6.891, subsample: 0.539.

[0073] The actuator is used to adjust the state of the wireless charging receiving end induction device according to the deviation correction planning result.

[0074] The actuator is connected to the processor. The actuator is used to perform position correction actions. The actuator includes:

[0075] a) A motor set, including an X-axis horizontal translation motor, a Y-axis horizontal translation motor, and a Z-axis vertical lifting motor, which respectively perform three-dimensional position adjustment of the receiving coil;

[0076] b) A PWM signal generator, which receives the action parameters output by the processor and generates three independent controlled PWM drive signals; the drive signals include pulse frequency, pulse number, direction level signal, and PWM duty cycle signal;

[0077] c) A motor drive module, connected to the PWM signal generator, including an X / Y-axis stepper motor driver and a Z-axis H-bridge drive circuit. The X / Y-axis stepper motor driver converts the pulse signal into a two-phase four-wire winding current; the Z-axis H-bridge drive circuit converts the PWM duty cycle signal into a bidirectional drive current through MOSFET switching tubes.

[0078] As Figure 4 shown, the present invention proposes a three-dimensional position deviation correction method for wireless charging, and the method includes the following steps:

[0079] S1: The receiving coil 2 of the induction device at the wireless charging receiving end induces with the transmitting coil 1. After obtaining the charging induction voltage information at each charging position and preprocessing it, the voltage amplitude information is obtained;

[0080] S2: Input the voltage amplitude information into the coil position prediction model. The model outputs the three-dimensional coordinates of the receiving coil 2, and the positions include the horizontal coordinate X, the longitudinal coordinate Y, and the height coordinate Z; calculate the three-dimensional coordinate deviation according to the three-dimensional coordinates of the receiving coil 2. The three-dimensional coordinate deviation includes the horizontal coordinate deviation ΔX, the longitudinal coordinate deviation ΔY, and the height coordinate deviation ΔZ;

[0081] S3: Perform deviation correction judgment according to the three-dimensional coordinate deviation, and judge whether it exceeds the system preset deviation threshold. If it exceeds the system preset deviation threshold, plan and execute the deviation correction plan from the receiving end to the transmitting end; otherwise, no deviation correction operation is required;

[0082] S4: Repeat S1 - S3 until the three-dimensional coordinate deviation does not exceed the system preset deviation threshold, and complete the deviation correction of the three-dimensional position of wireless charging.

[0083] As Figure 5 in (a), Figure 5 in (b), and Figure 5 in (c) are respectively the comparison charts of the LightGBM predicted values and the true values corresponding to the X, Y, and Z coordinates. The mean absolute error (MAE) of predicting the (X, Y, Z) coordinate information using the LightGBM model in the embodiments of the present invention is 0.07152, 0.06678, and 0.03081 respectively, and the mean square error values are all small, indicating strong accuracy of the model prediction. At the same time, the coefficient of determination (R 2They are 0.99977, 0.99979, and 0.99941 respectively. The coefficient of determination value being close to 1 further indicates that the LightGBM model adopted in the present invention has a high goodness of fit for predicting data.

[0084] The present invention is not limited to this embodiment only. Any equivalent conceptions, modifications, or simplifications within the technical scope mentioned in the present invention are included within the protection scope of the present invention.

Claims

1. A three-dimensional position deviation correction system for wireless charging, characterized in that Comprising: A wireless charging receiving end induction device for performing charging induction with the transmitting coil (1) of the transmitting end at each charging position; A sensor for collecting the charging induction voltage information at each charging position; A processor for predicting the three-dimensional position according to the charging induction voltage information at each charging position, and then performing deviation correction planning on the wireless charging receiving end induction device according to the predicted three-dimensional position; An actuator for adjusting the state of the wireless charging receiving end induction device according to the deviation correction planning result.

2. The three-dimensional position deviation correction system for wireless charging according to claim 1, wherein The wireless charging receiving end induction device includes a receiving coil (2), and the receiving coil (2) includes at least 3 sub-coils; the structural type of the receiving coil (2) includes one of the TCSP type, DDQ type, and TP type.

3. A three-dimensional position deviation correction system for wireless charging according to claim 2, characterized in that When the receiving coil (2) is of the TCSP type, the receiving coil (2) includes an inner receiving coil (3) and an outer receiving coil (4), and the outer receiving coil (4) includes a first sub-coil (4.1), a second sub-coil (4.2), a third sub-coil (4.3), and a fourth sub-coil (4.4). The first sub-coil (4.1), the second sub-coil (4.2), the third sub-coil (4.3), and the fourth sub-coil (4.4) are arranged inside the inner receiving coil (3) and surround the inner receiving coil (3). The first sub-coil (4.1), the second sub-coil (4.2), the third sub-coil (4.3), and the fourth sub-coil (4.4) are symmetrically arranged in a plane; the number of turns and dimensions of the four sub-coils are the same; the winding directions of the first sub-coil (4.1) and the third sub-coil (4.3) are opposite to the winding directions of the second sub-coil (4.2) and the fourth sub-coil (4.4).

4. A three-dimensional position deviation correction system for wireless charging according to claim 2, characterized in that, When the receiving coil (2) is of the DDQ type or TP type, the receiving coil (2) is composed of 3 sub-coils.

5. A three-dimensional position deviation correction system for wireless charging according to claim 2, characterized in that, Each coil in the receiving coil (2) is connected in series with a corresponding compensation capacitor to form an independent resonance network, and the charging induction voltage information at each charging position is composed of the voltages corresponding to 3 independent resonance networks.

6. The three-dimensional position deviation correction system for wireless charging according to claim 1, wherein The coil position prediction model is stored in the processor. After preprocessing the charging induction voltage information at each charging position, it is input into the coil position prediction model, and the three-dimensional coordinates of the receiving coil (2) are output by the model; the processor then calculates the three-dimensional coordinate deviation according to the three-dimensional coordinates of the receiving coil (2), and then performs deviation correction planning according to the three-dimensional coordinate deviation.

7. A three-dimensional position deviation correction system for wireless charging according to claim 6, characterized in that The deviation correction planning includes planar position path planning and vertical height lifting planning.

8. A three-dimensional position deviation correction system for wireless charging according to claim 6, characterized in that, The coil position prediction model includes a lightweight gradient boosting model.

9. A three-dimensional position deviation correction method for wireless charging, characterized in that, The method includes the following steps: S1: The receiving coil (2) of the wireless charging receiving end induction device induces with the transmitting coil (1), and after obtaining the charging induction voltage information at each charging position and preprocessing it, voltage amplitude information is obtained; S2: Input the voltage amplitude information into the coil position prediction model, and the three-dimensional coordinates of the receiving coil (2) are output by the model; the three-dimensional coordinate deviation is calculated according to the three-dimensional coordinates of the receiving coil (2); S3: Perform deviation correction judgment based on the three-dimensional coordinate deviation to determine whether it exceeds the system preset deviation threshold. If it exceeds the system preset deviation threshold, then plan and execute the deviation correction plan from the receiving end to the transmitting end. S4: Repeat S1 - S3 until the three-dimensional coordinate deviation does not exceed the system preset deviation threshold, and complete the deviation correction of the three-dimensional position of wireless charging.

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