IPT-CPT hybrid unmanned aerial vehicle wireless electric energy transmission system

Abstract

The invention discloses an IPT-CPT hybrid unmanned aerial vehicle wireless electric energy transmission system, which comprises a lightweight anti-offset hybrid energy transmission coupling mechanism and an IPT-CPT hybrid CC / CV switching strategy based on frequency conversion reconstruction, the coupling mechanism multiplexes a CPT system compensation inductor as an IPT energy transmission coil to improve the power density, and adopts a curved surface receiving structure to be attached to an unmanned aerial vehicle structure. The magnetic coupling mechanism enhances the magnetic field uniformity of an energy transfer region and inhibits the eddy-current loss of a CPT region through a reverse series winding, and has high transmission efficiency and anti-offset capability; the CC / CV switching strategy only needs to be controlled by a single switch, and load-independent output of the CC / CV mode is realized under the LCLC-CL compensation topology by adjusting the resonant frequency and on-off of the switch. The device has efficient and stable energy transmission performance, and effectively solves the contradiction among the power density, the anti-offset capability and the structure compatibility.

Description

Technical Field

[0001] The present invention relates to the field of wireless power transmission technology for unmanned aerial vehicles (UAVs), and specifically to a wireless power transmission system that integrates a lightweight, anti-drift hybrid energy transmission coupling mechanism and an IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction. The system is suitable for contactless energy replenishment scenarios for UAVs, and particularly addresses the technical requirements for improving power density, optimizing anti-drift capability, and designing structural compatibility during charging of UAVs. Background Art

[0002] With the widespread application of drones in military reconnaissance, patrol and mapping, agricultural plant protection, and disaster relief, their limited endurance has become a key factor hindering mission effectiveness. Traditional plug-in charging methods require frequent return flights, significantly reducing operational efficiency. Wireless power transfer (WPT) technology offers a contactless energy recharge solution for drones with extended flight ranges. IPT and CPT technologies have attracted considerable attention due to their complementary nature. IPT offers high power transmission efficiency over short and medium distances, but its performance is highly sensitive to coil misalignment. CPT, which achieves energy transmission through electric field coupling, has a simple structure and is insensitive to metal obstacles, but is limited by the strict spacing between the plates and has a low power density. This complementary nature provides a theoretical basis for the design of hybrid energy transfer systems. However, existing IPT-CPT hybrid solutions still face challenges in drone applications. For example, the independent energy transfer structure, which separates the IPT coil and CPT plates, results in a bulky system, which conflicts with the lightweight requirements of drones. Integrated designs, while space-saving, are also power-limited, and high-frequency operation can lead to electromagnetic compatibility issues. In addition, it is difficult to achieve precise alignment of the UAV during landing, resulting in significant lateral and axial offset problems in the energy transmission mechanism, which puts strict requirements on the anti-offset capability of the wireless power transmission system.

[0003] In terms of energy management, switching between CC and CV modes during charging is key to fast and safe battery charging. Among the current mainstream switching solutions, those based on additional DC-DC converters introduce additional power losses. Frequency regulation methods can easily lead to system detuning during frequency switching. Topology reconstruction-based technologies often require multiple switching devices, increasing system complexity. In particular, in IPT-CPT hybrid systems, traditional switching strategies struggle to simultaneously address the matching characteristics of the two energy transfer modes. Therefore, there is an urgent need to develop a lightweight, highly integrated IPT-CPT hybrid energy transfer system to address the conflict between power density, anti-drift capability, and structural compatibility in UAV applications, and to achieve efficient and stable CC / CV mode switching. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the technical defects of existing UAV wireless power transmission systems, such as the contradiction between lightweight requirements and large size, insufficient anti-drift capability, and low CC / CV mode switching efficiency, the present invention aims to provide a lightweight, highly integrated and anti-drift capable IPT (inductive)-CPT (capacitive) hybrid wireless power transmission system. Through the innovative design of the coupling mechanism and the frequency conversion reconstruction topology, the system can achieve non-contact and efficient energy replenishment for UAVs, thereby improving endurance and operating efficiency.

[0005] Technical solution: To achieve the above purpose, the technical solution adopted by the present invention is:

[0006] An IPT-CPT hybrid unmanned aerial vehicle (UAV) wireless power transmission system comprises a lightweight, anti-offset hybrid power transmission coupling mechanism and an IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction. The lightweight, anti-offset hybrid power transmission coupling mechanism improves power density by reusing the CPT system compensation inductance as the IPT power transmission coil. A curved receiving structure is used to fit the UAV structure, and the area of ​​the emitter plate is larger than the receiving plate to cover offset scenarios. The magnetic coupling mechanism enhances the magnetic field uniformity in the energy transmission area and suppresses eddy current losses in the CPT area through reverse series windings, thereby achieving both high transmission efficiency and anti-offset capability. The IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction requires only a single switch control. By adjusting the resonant frequency and the on-off of the switch, load-independent output in the CC / CV mode is achieved under the LCLC-CL compensation topology.

[0007] Preferably: the LCLC-CL compensation topology reuses the compensation inductors (L1, L2) as coupling coils to simultaneously realize IPT and CPT hybrid energy transfer; two auxiliary tuning capacitors (C ext1 、C ext2 ) is used to increase the equivalent coupling capacitance value to facilitate circuit tuning.

[0008] Preferably, in the lightweight anti-drift hybrid energy transmission coupling mechanism, the CPT plate adopts a square emitter plate and a cylindrical sleeve type receiving plate, and the receiving plate is nested on the outside of the UAV landing gear.

[0009] Preferably, in the lightweight anti-offset hybrid energy transfer coupling mechanism, the IPT coil adopts a rectangular reverse series winding structure, the transmitting end enhances the magnetic field uniformity by superimposing reverse currents of the inner and outer windings, and the receiving end is 4 curved rectangular coils tightly wound in series.

[0010] Preferably, the area of ​​the emitter plate is larger than that of the receiver plate.

[0011] Preferred: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in CV mode, the switch is closed and the system operates at a frequency of f CV, load-independent constant voltage output is achieved through the LCLC-CL compensation network, and the output voltage expression is:

[0012]

[0013] Among them, U R Indicates the voltage across the load, I3 indicates the output current at the load in CV mode, C B is the CPT equivalent coupling capacitance, ω CV represents the operating angular frequency of the system in CV mode, M is the mutual inductance of the IPT coupling mechanism, C f1 is the transmitter compensation capacitor, U in is the input voltage.

[0014] Preferred: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in CC mode, the switch is disconnected and the system operating frequency is f CC , load-independent constant current output is achieved through an equivalent LC-CL compensation network, and the output current expression is:

[0015]

[0016] Among them, I2 ' Indicates the output current of the load end in CC mode, ω CC Indicates the operating angular frequency of the system in CC mode, where j is an imaginary unit.

[0017] Preferred: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, the system equivalent circuit model in CV and CC modes is π-type equivalent:

[0018]

[0019] in, 、 and Indicates the equivalent capacitance value after π-type conversion, 、 、 、 、 and Indicates the 6 coupling capacitance values ​​generated by the four plates;

[0020] Combine the two tuning capacitors and perform T-type equivalent of the circuit according to the following formula;

[0021]

[0022] Among them, C in1 =C1+C ext1 、C in2 =C2+Cext2 , 、 and Indicates the three equivalent capacitance values ​​after T-type conversion, Indicates the equivalent capacitance value after adding the tuning capacitor to the primary side of the circuit. Indicates the equivalent capacitance value after adding the tuning capacitor to the secondary side of the circuit, C ext1 、C ext2 Indicates the two added tuning capacitor values.

[0023] Preferred: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in the system equivalent circuit under CV mode, the coil self-inductance L1 and L2 are theoretically split into L 1a , L 1b and L 2a , L 2b , the input and output currents of the system satisfy:

[0024]

[0025] in, Indicates the primary compensation inductance value, Indicates the primary compensation capacitor value, Indicates the load resistance value, 、 and Indicates the current values ​​of the three branches in CV mode.

[0026] Preferred: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in the system equivalent circuit under CC mode, the coil self-inductance L1 and L2 are set to L 1a '、L 1b ' and L 2a '、L 2b ', the circuit's input and output satisfy:

[0027]

[0028] in, 、 Indicates the current values ​​of the two branches in CC mode.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. This invention reuses the CPT system compensation inductor as the IPT energy transmission coil, reducing the number of independent components and improving the system power density. This resolves the conflict between the bulky independent energy transmission structure in existing solutions and the lightweight requirements of UAVs.

[0031] 2. In this invention, the CPT plate maintains a constant energy transfer coupling capacitance within a specified offset range. The IPT magnetic coupling mechanism also exhibits minimal fluctuation in mutual inductance within the same offset range, effectively addressing system stability issues caused by positional offset during drone charging.

[0032] 3. The hybrid energy transmission system of the present invention has an output power of 267W in CC mode and a transmission efficiency of 91.87%; in CV mode, the output power is 232W and the transmission efficiency is 92.83%. The system is stable and has high transmission efficiency.

[0033] 4. The CC / CV switching strategy in this invention requires only a single switch control. By adjusting the resonant frequency and the switch on / off, load-independent output in CC / CV mode can be achieved. This avoids the additional power loss of solutions based on additional DC-DC converters and the increased system complexity caused by the need for multiple switching devices based on topology reconstruction technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic structural diagram of the present invention;

[0035] Figure 2 Schematic diagram of the equivalent 6-capacitance model of the quadrupole plate of the CPT portion of the present invention;

[0036] Figure 3 is a graph showing the variation trend of the coupling capacitance of the receiving end of the CPT coupling mechanism in the present invention under offset conditions, (a) the variation curve of the equivalent 6 coupling capacitance when offset along the x-axis, and (b) the variation curve of the main energy transfer capacitance C when offset along the xy plane. 13 changing trends;

[0037] Figure 4 This is a graph showing the trend of the mutual inductance of the receiving coil of the IPT coupling mechanism of the present invention when the receiving coil is offset in the xy plane;

[0038] Figure 5 This is the IPT-CPT hybrid variable frequency reconfiguration CC / CV switching topology diagram in the present invention;

[0039] In the figure, S is the control compensation capacitor C f1 The control switch for switching, L1 is the IPT transmitting coil, L2 is the receiving coil, P1, P2, P3, P4 are the four coupling plates of CPT, C ext1 、C ext2 is the added tuning capacitance;

[0040] Figure 6 shows the system equivalent circuit diagrams of the variable frequency reconfigurable CC / CV switching topology in CC and CV modes, respectively, (a) the system equivalent circuit diagram in CV mode, and (b) the system equivalent circuit diagram in CC mode. DETAILED DESCRIPTION

[0041] The present invention is further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, modifications of various equivalent forms of the present invention made by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0042] Example

[0043] An IPT-CPT hybrid UAV wireless power transmission system includes a lightweight anti-offset hybrid energy transmission coupling mechanism and an IPT-CPT hybrid CC / CV switching strategy based on frequency conversion reconstruction. The lightweight anti-offset hybrid energy transmission coupling mechanism improves power density by reusing the CPT system compensation inductance as the IPT energy transmission coil, and adopts a curved receiving structure to fit the UAV structure. The emitter plate area is larger than the receiving plate to cover the offset scenario. The magnetic coupling mechanism enhances the magnetic field uniformity in the energy transmission area and suppresses eddy current loss in the CPT area through reverse series winding, and has both high transmission efficiency and anti-offset capability. In the hybrid energy transmission coupling mechanism of the present invention, the CPT part adopts a 200mm×200mm×3mm square aluminum emitter plate installed on the ground charging platform, and the receiving end is a cylindrical sleeve-shaped aluminum plate (diameter 15mm, length 150mm, thickness 2mm) nested on the outside of the UAV landing gear. Figure 2 The figure shows the physical model of energy transmission of CPT coupling mechanism. P1 and P2 represent two square emitting plates, and P3 and P4 are two cylindrical sleeve receiving plates. The discussion of energy transmission is based on Figure 1 Analysis of the 6-capacitor equivalent model on the right.

[0044] The IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction only requires a single switch control. By adjusting the resonant frequency and switch on and off, load-independent output in CC / CV mode is achieved under the LCLC-CL compensation topology.

[0045] The LCLC-CL compensation topology reuses the compensation inductors (L1, L2) as coupling coils to achieve IPT and CPT hybrid energy transmission; two auxiliary tuning capacitors (C ext1 、C ext2 ) is used to increase the equivalent coupling capacitance value to facilitate circuit tuning.

[0046] In the lightweight, anti-drift hybrid energy transmission coupling mechanism, the CPT plate uses a square emitter plate and a cylindrical sleeve-shaped receiver plate. The emitter plate is larger than the receiver plate. The receiver plate is nested outside the drone landing gear and is made of aluminum. The structural parameters of the CPT plate include: the emitter plate length / width is 200mm, and the thickness is 3mm. The receiving plate cylindrical diameter is 15mm, the length is 150mm, and the thickness is 2mm. The transmission distance is 2mm, and the air breakdown field strength safety threshold (<3×10 6 V / m).

[0047] In this lightweight, anti-offset hybrid energy transfer coupling mechanism, the IPT coil utilizes a rectangular reverse-series winding structure. The transmitting end enhances magnetic field uniformity by superimposing reverse currents in the inner and outer windings. The receiving end comprises four closely wound curved rectangular coils in series. Structural parameters of the IPT coil include: 5 outer turns and 4 inner turns at the transmitting end; a 15mm curvature diameter and 25mm coil length at the receiving end; and a transmission distance of 2mm. Optimized magnetic field distribution suppresses eddy current losses in the CPT plate region.

[0048] This embodiment integrates a lightweight, anti-offset hybrid energy transmission coupling mechanism with an IPT-CPT hybrid CC (constant current) / CV (constant voltage) switching strategy based on variable frequency reconstruction. The coupling mechanism improves system power density by reusing compensation inductors, adopts a curved receiving structure that fits the drone structure, and has a larger emitter plate area than the receiver plate to cover offset scenarios. The magnetic coupling mechanism enhances the magnetic field uniformity in the energy transmission area and suppresses eddy current losses in the CPT area through reverse series windings, achieving both high transmission efficiency and anti-offset capability. The switching strategy only requires a single switch control, and by adjusting the resonant frequency and the on-off of the switch, a load-independent output in CC / CV mode is achieved under the LCLC-CL compensation topology.

[0049] In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in CV mode, the switch is closed and the system operates at a frequency of f CV =713kHz, and the load-independent constant voltage output is achieved through the LCLC-CL compensation network. The output voltage expression is:

[0050]

[0051] Among them, U R Indicates the voltage across the load, I3 indicates the output current at the load in CV mode, C B is the CPT equivalent coupling capacitance, ω CV Indicates the operating angular frequency of the system in CV mode, represented by ω CV =2πf CV Calculated, M is the mutual inductance of the IPT coupling mechanism, C f1is the transmitter compensation capacitor, U in is the input voltage.

[0052] In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in CC mode, the switch is disconnected and the system operating frequency is f CC =692kHz, and load-independent constant current output is achieved through an equivalent LC-CL compensation network. The output current expression is:

[0053]

[0054] Among them, I2 ' Indicates the output current of the load end in CC mode, ω CC Indicates the operating angular frequency of the system in CC mode, represented by ω CC =2πf CC It is calculated that j is an imaginary unit.

[0055] Figure 3 shows the change of equivalent coupling capacitance of the CPT receiving mechanism in this embodiment under the condition of offset. Figure 3(a) shows that during the offset process, the key capacitance (C 13 、C 24 ) remain constant and equal within the effective coverage of the emitter plate. Meanwhile, the remaining coupling capacitance values ​​remain low throughout the entire offset process, indicating that the cross-coupling between the plates has little impact on the main energy transfer path. To further quantify its spatial offset robustness, the receiver is offset along the xy plane and C 13 The data show that C 13 It remains basically unchanged within the range of the y-axis [-100mm, 100mm] and the x-axis [-25mm, 25mm], verifying the strong anti-deviability of the CPT coupling mechanism in this invention within this range.

[0056] Figure 4 The figure shows the change in mutual inductance of the IPT receiving mechanism under offset conditions in this embodiment. The IPT transmitter coil in this invention utilizes a rectangular reverse-series winding structure, with four inner turns and five outer turns, wound using 2.8mm diameter Litz wire with a 3mm turn spacing. By superimposing reverse currents, the average magnetic induction intensity in the energy transfer area on both sides reaches 454.46μT (RMS error 61.88), while simultaneously suppressing the magnetic field in the CPT plate area to 57.62μT. The receiver consists of four curved rectangular coils connected in series (15mm curvature diameter, 25mm single coil length) to conform to the drone's fuselage structure. Figure 4 The results show that the mutual inductance M of the IPT coupling mechanism remains highly stable when it is offset in the y-axis direction, and the M value changes relatively slowly when it is offset in the x-axis direction, verifying the good anti-offset characteristics of the structure within the set offset range.

[0057] Figure 5 This is the IPT-CPT hybrid frequency conversion reconstructed CC / CV switching topology in the present invention. The IPT part is represented by self-inductance (L1, L2) and mutual inductance (M) in the circuit; the CPT part is represented by P1-P4 in the circuit. The present invention realizes IPT-CPT hybrid energy transfer by reusing the compensation inductance of the LCLC-CL topology as the IPT energy transfer channel and increasing the tuning capacitor C ext1 with C ext2 Optimize the equivalent coupling capacitance value. In this embodiment, the CC / CV mode switching is controlled by the on-off control of the single switch S to compensate the capacitor C. f1 The switching and adjustment of system operating frequency are realized.

[0058] Figure 6 shows the system equivalent circuit model of the variable frequency reconfiguration CC / CV switching topology in CV and CC modes. In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconfiguration, the 6-capacitor model is first π-equivalent according to the following formula:

[0059]

[0060] in, 、 and Indicates the equivalent capacitance value after π-type conversion, 、 、 、 、 and Indicates the 6 coupling capacitance values ​​generated by the four plates;

[0061] Furthermore, the two tuning capacitors are combined to perform T-type equivalent circuit according to the following formula to facilitate the formulation of resonance conditions and calculation of related parameters:

[0062]

[0063] Among them, C in1 =C1+C ext1 、C in2 =C2+C ext2 , 、 and Indicates the three equivalent capacitance values ​​after T-type conversion, Indicates the equivalent capacitance value after adding the tuning capacitor to the primary side of the circuit. Indicates the equivalent capacitance value after adding the tuning capacitor to the secondary side of the circuit, C ext1 、C ext2 Indicates the two added tuning capacitor values.

[0064] Figure 6 (a) is a schematic diagram of the system equivalent circuit in CV mode. In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in the system equivalent circuit in CV mode, the coil self-inductance L1 and L2 are theoretically split into L 1a , L 1b and L 2a , L 2b , to resonate and match the corresponding capacitors. According to Kirchhoff's law, the input and output currents of the system satisfy:

[0065]

[0066] in, Indicates the primary compensation inductance value, Indicates the primary compensation capacitor value, Indicates the load resistance value, 、 and Indicates the current values ​​of the three branches in CV mode.

[0067] The output current I3 can be calculated from the above equation and the circuit resonance relationship, and the output voltage in CV mode can be further obtained:

[0068]

[0069] Figure 6 (b) is a schematic diagram of the system equivalent circuit in CC mode of the present invention. In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in the system equivalent circuit in CC mode, due to the change of resonant frequency and resonant conditions, the theoretical splitting of L1 and L2 values ​​here is different from that in CV mode. The coil self-inductance L1 and L2 are set to L 1a '、L 1b ' and L 2a '、L 2b ', the circuit's input and output satisfy:

[0070]

[0071] in, 、 Indicates the current values ​​of the two branches in CC mode.

[0072] The constant current value in CC mode can be solved:

[0073]

[0074] In this embodiment, the system operates at a frequency of 713kHz, using an LCLC-CL topology to output a load-independent constant voltage, achieving an output power of 232W and a transmission efficiency of 92.83%. In CC mode, the system switches to 692kHz, using an equivalent LC-CL topology to output a load-independent constant current, achieving an output power of 267W and a system transmission efficiency of 91.87%. Furthermore, the present invention maintains a substantially constant output current before and after switching between CC and CV modes, minimizing the impact of the switching operation on the load.

[0075] The present invention improves power density through structural integration and reuse of circuit resonant elements. The curved receiving structure fits the drone body, and the magnetically coupled reverse series windings enhance magnetic field uniformity and suppress eddy current losses, achieving both efficient transmission and anti-offset capabilities. The CC / CV switching strategy based on variable frequency reconstruction only requires a single switch control to achieve load-independent output, with a system transmission efficiency exceeding 90%, effectively resolving the contradiction between power density, anti-offset and structural compatibility.

[0076] The IPT coupling structure exhibits a high average magnetic flux density of 454.46 μT in the primary energy transfer region (on both sides of the CPT plates), with uniform magnetic field strength and a root mean square error of 61.88. The average magnetic flux density in the CPT energy transfer region is low, at 57.62 μT. The CPT's quadrupole plate structure maintains constant energy transfer coupling capacitance within an offset range of ±25 mm (x-axis) by ±100 mm (y-axis). The IPT magnetic coupling mechanism exhibits minimal fluctuation in mutual inductance within the same offset range, demonstrating significant anti-offset capability.

[0077] The output power in CC mode is 267W, with a system transmission efficiency of 91.87%; the output power in CV mode is 232W, with a system transmission efficiency of 92.83%. This system offers efficient and stable energy transmission performance, effectively resolving the contradiction between power density, anti-drift capability, and structural compatibility.

[0078] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An IPT-CPT hybrid UAV wireless power transmission system, characterized in that: It includes a lightweight anti-offset hybrid energy transmission coupling mechanism and an IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction. The lightweight anti-offset hybrid energy transmission coupling mechanism improves the power density by reusing the CPT system compensation inductance as the IPT energy transmission coil, and adopts a curved receiving structure to fit the drone structure. The magnetic coupling mechanism enhances the magnetic field uniformity in the energy transmission area and suppresses the eddy current loss in the CPT area through reverse series windings, thereby achieving both high transmission efficiency and anti-offset capability. The IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction only requires a single switch control. By adjusting the resonant frequency and the on-off of the switch, the load-independent output of the CC / CV mode is achieved under the LCLC-CL compensation topology.

2. The IPT-CPT hybrid UAV wireless power transmission system according to claim 1 is characterized by: The LCLC-CL compensation topology reuses the compensation inductors (L1, L2) as coupling coils to achieve IPT and CPT hybrid energy transmission; two auxiliary tuning capacitors (C ext1 、C ext2 ) is used to increase the equivalent coupling capacitance value to facilitate circuit tuning.

3. The IPT-CPT hybrid UAV wireless power transmission system according to claim 2, characterized in that: In the lightweight anti-offset hybrid energy transmission coupling mechanism, the CPT plate adopts a square emitter plate and a cylindrical sleeve type receiving plate, and the receiving plate is nested on the outside of the UAV landing gear.

4. The IPT-CPT hybrid UAV wireless power transmission system according to claim 3 is characterized by: In the lightweight anti-offset hybrid energy transfer coupling mechanism, the IPT coil adopts a rectangular reverse series winding structure. The transmitting end enhances the uniformity of the magnetic field by superimposing reverse currents of the inner and outer windings. The receiving end is four curved rectangular coils tightly wound in series.

5. The IPT-CPT hybrid UAV wireless power transmission system according to claim 4 is characterized by: The area of ​​the emitter plate is larger than that of the receiver plate.

6. The IPT-CPT hybrid UAV wireless power transmission system according to claim 5, characterized in that: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in CV mode, the switch is closed and the system operates at a frequency of f CV , load-independent constant voltage output is achieved through the LCLC-CL compensation network, and the output voltage expression is: Among them, U R Indicates the voltage across the load, C B is the CPT equivalent coupling capacitance, ω CV represents the operating angular frequency of the system in CV mode, M is the mutual inductance of the IPT coupling mechanism, C f1 is the transmitter compensation capacitor, U in is the input voltage.

7. The IPT-CPT hybrid UAV wireless power transmission system according to claim 6, characterized in that: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in CC mode, the switch is disconnected and the system operating frequency is f CC , load-independent constant current output is achieved through an equivalent LC-CL compensation network, and the output current expression is: Among them, I2 ' Indicates the output current of the load end in CC mode, ω CC Indicates the operating angular frequency of the system in CC mode, where j is an imaginary unit.

8. The IPT-CPT hybrid UAV wireless power transmission system according to claim 7, characterized in that: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, the system equivalent circuit models in CV and CC modes are π-type equivalent: in, 、 and Indicates the equivalent capacitance value after π-type conversion, 、 、 、 、 and Indicates the 6 coupling capacitance values ​​generated by the four plates; Combine the two tuning capacitors and perform T-type equivalent of the circuit according to the following formula; Among them, C in1 =C1+C ext1 、C in2 =C2+C ext2 , 、 and Indicates the three equivalent capacitance values ​​after T-type conversion, Indicates the equivalent capacitance value after adding the tuning capacitor to the primary side of the circuit. Indicates the equivalent capacitance value after adding the tuning capacitor to the secondary side of the circuit, C ext1 、C ext2 Indicates the two added tuning capacitor values.

9. The IPT-CPT hybrid UAV wireless power transmission system according to claim 8, characterized in that: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in the system equivalent circuit under CV mode, the coil self-inductance L1 and L2 are theoretically split into L 1a , L 1b and L 2a , L 2b , the input and output currents of the system satisfy: in, Indicates the primary compensation inductance value, Indicates the primary compensation capacitor value, Indicates the load resistance value, 、 and Indicates the current values ​​of the three branches in CV mode.

10. The IPT-CPT hybrid UAV wireless power transmission system according to claim 9, characterized in that: In the IPT-CPT hybrid CC / CV switching strategy based on variable frequency reconstruction, in the system equivalent circuit under CC mode, the coil self-inductance L1 and L2 are set to L 1a '、L 1b ' and L 2a '、L 2b ', the circuit's input and output satisfy: in, 、 Indicates the current values ​​of the two branches in CC mode.

Images