Adjustable reconfigurable wireless power transmitting device and electromagnetic coupling reconfiguration method

Abstract

In order to overcome the disadvantages that the existing underwater wireless charging coupler is only suitable for the electric energy receiving port diameter of a specific model of underwater vehicle, the application provides a wireless electric energy transmitting device and an electromagnetic coupling reconstruction method. The wireless electric energy transmitting device comprises a wireless charging transmitting end circuit, a caliber adjusting unit and a magnetic field-caliber matching model. The wireless charging transmitting end circuit comprises a high-frequency inverter circuit, a transmitting coil module and an electromagnetic field reconstruction unit. The transmitting coil module comprises a coil unit block, and the coil unit block jointly forms a ring-shaped coil structure with a regular polygonal cross section and an adjustable caliber size. The electromagnetic field reconstruction unit is used for reconstructing the electromagnetic field required by different charging power requirements and different receiving coil parameters based on the magnetic field-caliber matching model. The application can adapt to different caliber, different charging power requirements and different receiving coil parameters of the underwater vehicle with a rotary body, and has strong compatibility, adaptability and flexibility.

Description

Technical Field

[0001] This invention relates to the field of circuit devices or systems for wireless power supply. Background Technology

[0002] Underwater vehicles are capable of performing various tasks such as reconnaissance, surveillance, exploration, rescue, and scientific research, and are important tools for exploring and utilizing marine resources. Providing sufficient and timely energy replenishment for underwater vehicles is crucial to ensuring their long-term, efficient mission execution. Traditional energy supply methods involve manual battery replacement or wired charging, which have drawbacks such as long travel times, high energy consumption, and low stealth. A new energy supply method, planned to be implemented in the future, involves building a marine observation network on the seabed and using underwater charging stations to provide wireless energy replenishment to underwater vehicles without human intervention, significantly improving energy supply efficiency and the operational efficiency of underwater vehicles.

[0003] Underwater wireless charging technology transfers energy through the electromagnetic field between the charger and the device, eliminating the need for wires. This reduces the need for underwater sealing and enables rapid, high-power energy transfer, showing significant potential for underwater energy replenishment. However, existing underwater wireless charging couplers often employ rigid geometric matching designs, with coil parameters and magnetic circuit structures only compatible with the power receiving port diameter of specific underwater vehicles. This "one device, one charging station" relationship necessitates the deployment of dedicated underwater charging base stations for different calibers, leading to a surge in charging base station redundancy and increased maintenance costs. Furthermore, if a single regional observation network needs to be compatible with more than three different calibers of underwater vehicles, the density of charging base stations will inevitably increase exponentially, resulting in a decrease in the utilization rate of individual charging base stations and severely hindering the large-scale development of underwater operational systems. Summary of the Invention

[0004] To overcome the drawbacks of existing underwater wireless charging couplers that are only compatible with the power receiving port diameter of specific underwater vehicles, this invention proposes an adjustable and reconfigurable wireless power transmitting device and an electromagnetic coupling reconfiguration method.

[0005] The technical solution of this invention is:

[0006] An adjustable and reconfigurable wireless power transmitter suitable for gyroscopic underwater vehicles; its unique features include: a wireless charging transmitter circuit, an aperture adjustment unit, and a magnetic field-aperture matching model.

[0007] The wireless charging transmitter circuit includes a high-frequency inverter circuit, a transmitting coil module, and an electromagnetic field reconstruction unit;

[0008] The transmitting coil module includes Each coil unit block comprises a support block, a ferrite array, a coil slot, and a non-metallic end cap arranged sequentially. A coil group is located within the coil slot. The coil group consists of coils arranged side-by-side and connected in parallel. Two Composed of coils, each double The coil consists of two The coils are arranged axially and connected in reverse series, with two adjacent double coils... The current in the coils is in opposite directions; the upper end face of the support block is provided with a guide post, and the lower end face is provided with a guide block. The guide post and guide block are used to cooperate with the aperture adjustment unit, so that the support block moves under the drive of the aperture adjustment unit; the ferrite array, coil slot, non-metallic end cap, and coil group are all set on the side wall of the support block for adaptation to the underwater vehicle; the external shape and layout of the support block satisfy the following: the coil groups on all the support blocks together form a positive cross section. A polygonal ring-shaped coil structure;

[0009] ≥3; This equals the number of different calibers of underwater vehicles that need to be adapted;

[0010] The aperture adjustment unit is used to control the movement of the support block to form the annular coil structure with different aperture sizes;

[0011] The magnetic field-aperture matching model includes static optimal configurations corresponding to different underwater vehicle aperture sizes, different charging power requirements, and different receiving coil parameters. These static optimal configurations include optimal dual... The coil combination scheme and the positive loop coil structure formed by the coil group The side length of the polygonal cross-section, the basic operating frequency, and the rated current amplitude;

[0012] The electromagnetic field reconstruction unit is used to select the appropriate static optimal configuration from the magnetic field-aperture matching model based on the aperture size of the underwater vehicle to be charged, the charging power requirements, and the receiving coil parameters, and to control each dual-channel coil in the transmitting coil module. The coil's on / off state, operating frequency, and current magnitude are used to reconstruct an electromagnetic field that matches the charging power requirements and receiving coil parameters. The aperture adjustment unit is also controlled to adapt the aperture size of the ring coil structure to the aperture size of the underwater vehicle to be charged.

[0013] Furthermore, the electromagnetic field reconstruction unit includes a control module, a signal processing algorithm, an adaptive reconstruction algorithm, a switch array controller, and a switch array; the signal processing algorithm and the adaptive reconstruction algorithm are loaded on the control module; the magnetic field-aperture matching model is pre-existing on the control module;

[0014] The signal processing algorithm is used to filter and normalize the vehicle parameters of the input electromagnetic field reconstruction unit in sequence, and output clean vehicle parameters. The vehicle parameters include the underwater vehicle aperture size, charging power requirements and receiving coil parameters. The receiving coil parameters include the inductance and resonant frequency of the receiving coil.

[0015] The adaptive reconstruction algorithm selects the appropriate static optimal configuration from the magnetic field-aperture matching model based on the aircraft parameters output by the signal processing algorithm, and generates coil on / off commands, coil operating parameter control commands, and aperture matching commands, which are then sent to the switch array controller, high-frequency inverter circuit, and aperture adjustment unit, respectively.

[0016] The switch array controller controls the on / off state of each switch in the switch array according to the coil on / off command, realizing the corresponding dual-switch operation in the transmitting coil module. The coil's current is switched on and off; the high-frequency inverter circuit adjusts the frequency and voltage amplitude of its output AC power according to the coil's operating parameters and control commands, realizing the dual-current control in the transmitting coil module. The operating frequency and current of the coil are controlled; ultimately, an electromagnetic field is formed that is adapted to the charging power requirements and the parameters of the receiving coil.

[0017] The aperture adjustment unit adjusts the aperture size of the annular coil structure according to the aperture matching command to make it compatible with the aperture size of the underwater vehicle to be charged.

[0018] Furthermore, the electromagnetic field reconstruction unit also includes a dynamic adjustment mapping table, which consists of one-to-one correspondences of seawater medium parameters, docking error, high-frequency inverter circuit output frequency adjustment, and high-frequency inverter circuit output current waveform start time adjustment.

[0019] Based on the selected static optimal configuration, the electromagnetic field reconstruction unit can query the required dynamic adjustment amount from the dynamic adjustment amount mapping table according to the seawater medium parameters and / or docking error, generate frequency and / or phase difference control commands, and send them to the high-frequency inverter circuit.

[0020] The high-frequency inverter circuit adjusts its output frequency and / or the start time of the output current waveform according to the frequency and / or phase difference control command to improve the power transmission efficiency and the uniformity of the magnetic field distribution.

[0021] The seawater medium parameters include the conductivity and temperature of the seawater; the dynamic adjustment amount includes the output frequency adjustment amount of the high-frequency inverter circuit and / or the start time adjustment amount of the current waveform.

[0022] Furthermore, the caliber adjustment unit includes a drive mechanism and a support and guide structure; the drive mechanism includes a servo motor and a drive ring; the servo motor is used to drive and control the rotation angle and rotation direction of the drive ring according to the control commands issued by the electromagnetic field reconstruction unit; the drive ring includes an outer ring, connecting rods, and an inner ring connected sequentially from the outside to the inside; the outer ring and the inner ring are concentrically arranged, and the inner diameter of the inner ring is larger than the maximum outer diameter of the rotary underwater vehicle to be adapted; the number of connecting rods is consistent with the number of coil unit blocks; one end of all connecting rods is evenly distributed on the outer wall of the inner ring, and the other end is evenly distributed on the inner wall of the outer ring; all connecting rods are machined with guide grooves, which are used to cooperate with the guide posts on the upper end face of the coil unit block to transmit the movement of the drive ring to the coil unit block through the guide posts to move it and guide it; the support and guide structure is located below the drive ring and the coil unit block, and has a movable groove and a through hole for the underwater vehicle to pass through, the movable groove cooperating with the guide block at the bottom of the coil unit block for guidance.

[0023] Furthermore, the design method of the transmitting coil module is as follows:

[0024] Step 1): The parts that need to be adapted The aperture sizes of these underwater vehicles, ordered from smallest to largest, are denoted as follows: , , ..., ;

[0025] Step 2): Calculate the diameter dimensions respectively. , , ..., The ring coil structure required for underwater vehicles Side length of the polygonal cross section , , ..., ;

[0026] Step 3): Calculate the number of coil units in a single coil unit block used to form a coil group. Two The width of the coil;

[0027] The first double Coil width ;

[0028] The second double Coil width ;

[0029] The 3rd double Coil width ;

[0030] And so on,

[0031] No. Two Coil width ;

[0032] Step 4): Fine-tune the thickness calculated in Step 3) based on the thickness of the non-metallic end caps in the coil unit block. Two The width of the coil allows for the installation of an adapter;

[0033] Step 5): Simulate and determine the electromagnetic simulation software. The static optimal configuration of an underwater vehicle under different charging power requirements and different receiver coil parameters, including the required power supply for the dual... Coil combination scheme, basic operating frequency, and rated current amplitude;

[0034] Step 6): Adjust the double... The spacing between coils and / or the distribution of ferrite ensure that the power transmission efficiency meets the design requirements under each static optimal configuration determined in step 5); the experiments include power transmission efficiency testing experiments, magnetic field distribution and intensity measurement experiments, ferrite distribution optimization experiments, and dynamic environment adaptability experiments.

[0035] Furthermore, the output shaft of the servo motor is connected to the outer ring of the drive ring via a support rod.

[0036] This invention also proposes an electromagnetic coupling reconfiguration method for an adjustable reconfigurable wireless power transmitting device, characterized by the following steps:

[0037] Step 1: Input parameters;

[0038] The electromagnetic field reconstruction unit in the wireless charging transmitter circuit receives the underwater vehicle parameters sent by the underwater vehicle to be charged, including the vehicle's aperture size, charging power requirements, and receiving coil parameters; the receiving coil parameters include the inductance and resonant frequency of the receiving coil.

[0039] Step 2: Parameter preprocessing;

[0040] The electromagnetic field reconstruction unit sequentially filters and normalizes the received aircraft parameters;

[0041] Step 3: Electromagnetic field reconstruction and aperture matching;

[0042] The electromagnetic field reconstruction unit obtains the appropriate static optimal configuration from the magnetic field-aperture matching model based on the preprocessed vehicle parameters, including the optimal dual-field configuration. The coil combination scheme and the positive loop coil structure formed by the coil group The side length of the polygonal cross-section, the basic operating frequency, and the rated current amplitude;

[0043] Based on the obtained static optimal configuration, the optimal double The coil combination scheme, basic operating frequency, and rated current amplitude control each dual coil in the transmitting coil module. The coil's on / off state, operating frequency, and current magnitude are adjusted to reconstruct an electromagnetic field that matches the aircraft's parameters.

[0044] Based on the obtained static optimal configuration, the loop coil structure formed by the coil group is positive The side length of the polygonal cross section controls the operation of the aperture adjustment unit, so that the aperture size of the ring coil structure formed by the coil group is adapted to the aperture size of the underwater vehicle.

[0045] Furthermore, the above-mentioned electromagnetic coupling reconstruction method also includes:

[0046] Step 4: Dynamic adjustment;

[0047] Based on the current static optimal configuration, the output frequency and / or the start time of the output current waveform of the high-frequency inverter circuit in the wireless charging transmitter circuit are dynamically adjusted according to the seawater medium parameters and / or docking error, so as to improve the power transmission efficiency and the uniformity of the magnetic field distribution.

[0048] The beneficial effects of this invention are:

[0049] 1. This invention has an adjustable aperture size function, which can adapt to rotating underwater vehicles with different aperture sizes, and improves the compatibility, adaptability and flexibility of the wireless power transmission device.

[0050] 2. This invention has a magnetic field reconstruction function, which can selectively connect several pairs of coils in the coil group according to the different charging power requirements and receiving coil parameters of the underwater vehicle. The coil controls the operating frequency and current to ensure efficient wireless charging on underwater vehicles with different diameters, charging power requirements, and receiving coil parameters.

[0051] 3. This invention features dynamic adjustment capabilities: 1) When docking errors are large, the high-frequency inverter circuit is dynamically phase-shifted by adjusting the start time of its output current waveform, thereby adjusting the current phase of each coil unit block and controlling the current phase difference between them. By controlling the current phase difference between each coil unit block, the spatial magnetic field distribution is actively reshaped using the principle of electromagnetic field interference, thus improving the uniformity of the magnetic field distribution, suppressing edge leakage magnetic field, and effectively compensating for the adverse effects of inaccurate docking of underwater vehicles on charging performance, thereby improving power transmission efficiency and reliability. 2) When significant changes in seawater medium parameters cause the wireless charging transmitter circuit and the wireless charging receiver circuit to be in a detuned state, the output frequency of the high-frequency inverter circuit is dynamically adjusted to bring them into a resonant state, ensuring power transmission efficiency and improving the robustness of the wireless power transmission device.

[0052] 4. This invention reduces the need for redundant charging base stations in the observation network, greatly improves the utilization rate of a single charging base station, and reduces maintenance workload and costs. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the aperture adjustment unit in an embodiment of the present invention.

[0054] Figure 2 This is a schematic diagram of the structure of the coil unit block in an embodiment of the present invention.

[0055] Figure 3 This is a schematic diagram of the coil assembly in an embodiment of the present invention.

[0056] Figure 4 This is a schematic diagram of the supporting guide structure in an embodiment of the present invention.

[0057] Figure 5 These are schematic diagrams showing the positional states of the aperture adjustment unit and coil unit block corresponding to the three operating modes of this invention. (a) is adapted to an underwater vehicle with a aperture of 650mm, (b) is adapted to an underwater vehicle with a aperture of 533mm, and (c) is adapted to an underwater vehicle with a aperture of 324mm.

[0058] Figure 6 This is the optimal dual operation mode corresponding to the three working modes in the embodiments of the present invention. Schematic diagram of coil assembly scheme. Among them, (a) is the scheme adapted to an underwater vehicle with a diameter of 650mm, (b) is the scheme adapted to an underwater vehicle with a diameter of 533mm, and (c) is the scheme adapted to an underwater vehicle with a diameter of 324mm.

[0059] Figure 7This is a circuit diagram of a wireless charging system consisting of a wireless charging transmitter circuit and an underwater vehicle-side wireless charging receiver circuit, as described in this embodiment of the invention.

[0060] Figure 8 This is a schematic diagram of the electromagnetic field reconstruction unit in an embodiment of the present invention.

[0061] Figure label:

[0062] 1-Drive ring; 11-Outer ring; 12-Connecting rod; 121-Guide groove; 13-Inner ring;

[0063] 2-Coil unit block; 21-Support block; 211-Guide post; 212-Guide block; 22-Ferrite array; 23-Coil slot; 24-Coil group; 25-Non-metallic end cap;

[0064] 3-Supporting and guiding structure; 31-Moving groove. Detailed Implementation

[0065] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0066] The adjustable and reconfigurable wireless power transmitting device provided by the present invention is suitable for gyroscopic underwater vehicles and is embedded in the recovery cage of a recovery cage-type charging base station suitable for gyroscopic underwater vehicles.

[0067] like Figure 1-8 As shown, the adjustable and reconfigurable wireless power transmitting device in this embodiment includes a wireless charging transmitter circuit, an aperture adjustment unit, and a magnetic field-aperture matching model.

[0068] 1. Wireless charging transmitter circuit;

[0069] like Figure 7 As shown, the wireless charging transmitter circuit in this embodiment includes a high-frequency inverter circuit, Compensation circuit, transmitting coil module (equivalent inductance is The wireless charging receiver circuit on the underwater vehicle side includes a receiving coil (equivalent inductance is...) and an electromagnetic field reconstruction unit. ), Compensation circuit and rectifier circuit.

[0070] The high-frequency inverter circuit is used to convert the DC voltage output by the charging base station. It is converted into high-frequency alternating current.

[0071] The compensation circuit is used to bring the wireless charging transmitter circuit to a resonant state, in conjunction with the wireless charging receiver circuit. Compensation circuit configuration Compensation circuit.

[0072] Transmitting coil module and The compensation circuit is connected via a cable. A high-frequency alternating current passes through the transmitting coil module, generating an alternating magnetic field. This alternating magnetic field is then fed by the receiving coil (equivalent inductance is...) of the wireless charging receiver circuit. After being captured, an AC voltage is induced, which is ultimately converted into DC voltage by a rectifier circuit and supplied to the load. (Underwater vehicle battery).

[0073] The electromagnetic field reconstruction unit is used to control each dual-channel component in the transmitting coil module according to the aperture size of the underwater vehicle to be charged, the charging power requirements, and the receiving coil parameters. The coil's on / off state, operating frequency, and current magnitude are adjusted to reconstruct a suitable electromagnetic field, and the aperture adjustment unit is controlled to adapt the aperture size of the wireless power transmitter to the aperture size of the underwater vehicle.

[0074] Considering seawater medium parameters (conductivity) and temperature Significant changes in the frequency of the high-frequency inverter circuit and / or large docking offsets can affect power transmission efficiency and the uniformity of the magnetic field distribution. In this embodiment, the electromagnetic field reconstruction unit can dynamically adjust the output frequency and / or the start time (i.e., phase) of the output current waveform of the high-frequency inverter circuit to improve power transmission efficiency and the uniformity of the magnetic field distribution. In this case, a dynamic adjustment mapping table needs to be established beforehand through simulation and water tank experiments and pre-stored in the control module of the electromagnetic field reconstruction unit. The dynamic adjustment mapping table consists of a one-to-one correspondence of seawater medium parameters, docking error, high-frequency inverter circuit output frequency adjustment, and high-frequency inverter circuit output current waveform start time adjustment (i.e., phase adjustment). The required dynamic adjustment amounts, including high-frequency inverter circuit output frequency adjustment and current waveform start time adjustment (i.e., phase adjustment), can be queried from the dynamic adjustment mapping table using the seawater medium parameters and / or docking error. In other embodiments, such as those with high docking accuracy and small changes in seawater medium parameters, dynamic adjustment may not be necessary.

[0075] The core content and improvements of the wireless charging transmitter circuit of the present invention will be described in detail below with reference to the embodiments and accompanying drawings.

[0076] 1) Transmitting coil module;

[0077] like Figure 1 As shown, unlike traditional transmitter coil modules with fixed geometric shapes, the transmitter coil module in this invention includes... Two coil unit blocks; such as Figure 2As shown, each coil unit block 2 includes a support block 21, a ferrite array 22, a coil slot 23, and a non-metallic end cap 25 arranged sequentially. A coil group 24 is provided in the coil slot 23, and the coil group 24 is connected to the coil unit block 24 via a cable. The compensation circuit is connected. The upper end face of the support block 21 is provided with a guide post 211, and the lower end face is provided with a guide block 212. The guide post 211 and guide block 212 are used to cooperate with the aperture adjustment unit, so that the support block 21, along with its ferrite array 22, coil slot 23, non-metallic end cap 25, and coil assembly 24, move together under the drive of the aperture adjustment unit. The ferrite array 22, coil slot 23, non-metallic end cap 25, and coil assembly 24 are all located on the side wall of the support block 21 for adaptation to the underwater vehicle. The external shape and arrangement of the support block 21 satisfy the following condition: all the coil assemblies 24 on the side wall of the support block 21 together form a positive cross-section. A polygonal ring-shaped coil structure.

[0078] In this invention ≥3, The larger the diameter, the more positive the ring coil structure formed by all coil groups 24. The more sides a polygonal cross-section has, the closer the cross-section of the annular coil structure is to a circle, and the higher its fit with a rotating underwater vehicle; however, the more... Increasing the number of sides in a polygonal cross-section increases the difficulty of mechanical adjustment and manufacturing costs; therefore, the number of coil unit blocks 2... The appropriate option can be selected based on actual needs. In this embodiment... =6.

[0079] like Figure 3 As shown, the coil group 24 in this invention consists of coils arranged side by side and connected in parallel. Two The coils are numbered sequentially as double coil number 1. Coil No. 8, No. 2 double Coil No. 9, No. 3 double Coil 10, ..., Even numbers coil; This equals the number of different calibers of rotating underwater vehicles that need to be adapted, as described in this embodiment. =3, compatible with current 324~650 Three commonly used calibers within the range (324) 533 and 650 A rotating underwater vehicle. Each dual-body... The coil consists of two The coils are arranged axially and connected in reverse series to form a closed magnetic circuit, enhancing the directionality of the magnetic field and coupling efficiency. Two adjacent double... The current in the coils is in the opposite direction, as in this embodiment, double coil 1. Coil 8 and No. 2 double The current in coil 9 flows in the opposite direction, while the current in coil 2 flows in the opposite direction. Coil 9 and No. 3 double The current in coil 10 is reversed, thus achieving a single double... coil, two double coil and three double The coils all have efficient electromagnetic coupling, good directionality, stable operating conditions, and can effectively control electromagnetic interference.

[0080] Taking the transmitting coil module of this embodiment as an example, the design method of the transmitting coil module in this invention is as follows:

[0081] Based on the caliber of commonly used rotary-body underwater vehicles (324) 533 and 650 ), calculate different aperture sizes respectively The side length of the regular hexagonal cross-section of the required loop coil structure The side length of a regular hexagon That is, the diameter size The width of the coil assembly 24 required for the underwater vehicle is such that the magnetic field coverage formed by the coil assembly 24 is consistent with the aperture size. The receiving coil on the underwater vehicle is size-matched.

[0082] First, use the above method to determine the minimum diameter (324) of the rotating underwater vehicle that needs to be adapted. The required width of coil group 24 At this time, coil group 24 consists of 1 double... Coil No. 1 double The coil consists of 8 coils, such as Figure 6 As shown in Figure (c), the calculated width of coil group 24 is... That is, number 1 (double) Width of coil 8 ;

[0083] Then, using the above method, the median value of the aperture size (533) of the rotating underwater vehicle that needs to be adapted is determined. The required width of coil group 24 At this time, coil group 24 consists of 2 double... Coil No. 1 double Coil 1, No. 8 and No. 2 double The coil consists of 9 coils, as follows: Figure 6 As shown in Figure (b), the calculated width of coil group 24 is... That is, number 1 (double) Coil 8 and No. 2 double The width of coil 9, and the result of this, give us double coil number 2. Width of coil 9 ;

[0084] Finally, using the above method, the maximum aperture size (650) of the rotating underwater vehicle that needs to be adapted was determined. The required width of coil group 24 At this time, coil group 24 consists of 3 double... Coil No. 1 double Coil No. 8, No. 2 double Coil 9 and No. 3 double The coil 10 is composed of, for example Figure 6 As shown in Figure (a), the calculated width of coil group 24 is... That is, number 1 (double) Coil 8, No. 2 double D coil, and No. 9 and No. 3 double D coil The width of coil 10, and the result of this, we can obtain coil number 3. Width of coil 10 .

[0085] Thus, a design was created that can accommodate three different aperture sizes (324). 533 and 650 The three double-ended coils required for forming the coil group in a single coil unit block for a rotary underwater vehicle. The width of the coil, based on this, is adaptively fine-tuned according to the thickness of the non-metallic end cap in coil unit block 2. The coil width can be adjusted to fit the installation.

[0086] Then, electromagnetic simulation software was used to simulate the dual-channel power required for various caliber underwater vehicles under different charging power demands and different receiver coil parameters. The coil combination scheme, basic operating frequency, rated current amplitude, and magnetic field distribution are selected based on the criteria of ensuring the magnetic field strength meets the charging power requirements and the magnetic field distribution uniformity meets the requirements for efficient coupling of the receiving coil on the underwater vehicle side. This includes selecting the static optimal configuration corresponding to different charging power requirements and different receiving coil parameters, including the optimal dual-coil configuration required for power supply. The coil combination scheme, basic operating frequency, and rated current amplitude are used to ensure the magnetic field strength and its uniformity. This is based on three commonly used diameter sizes (324...). 533 and 650 Taking a rotary underwater vehicle as an example, under normal circumstances, the maximum diameter (650) The underwater vehicle requires the largest magnetic field coverage and charging power, corresponding to three dual-channel systems. A combination where all coils are energized; in special cases, if the maximum diameter (650) The underwater vehicle has low charging power requirements, or its receiving coil size is similar to that of two dual-channel underwater vehicles. The magnetic field coverage of the coils is well matched; in this case, it may only be necessary to activate two dual coils. Coil, such as activating double coil #1 Coil 8 and No. 2 double Coil 9.

[0087] Finally, adjust the double [device] according to the experiment. The spacing between coils and / or the ferrite distribution ensure that the power transfer efficiency under different static optimal configurations determined in the previous step meets the design requirements. The experiments here include power transfer efficiency testing experiments, magnetic field distribution and intensity measurement experiments, ferrite distribution optimization experiments, and dynamic environment adaptability experiments. These experiments are all existing experimental methods, well known to those skilled in the art, and will not be described in detail in this invention.

[0088] 2) Electromagnetic field reconstruction unit;

[0089] The electromagnetic field reconstruction unit includes a control module, a signal processing algorithm, an adaptive reconstruction algorithm, a switch array controller, and a switch array. The signal processing algorithm and the adaptive reconstruction algorithm are mounted on the control module. The control module and its signal processing and adaptive reconstruction algorithms can be configured independently or integrated into the control system of the charging base station.

[0090] The signal processing algorithm sequentially filters and normalizes both the vehicle parameters and seawater medium parameters from the input electromagnetic field reconstruction unit, outputting clean vehicle and seawater medium parameters. The vehicle parameters include the underwater vehicle's aperture size. Charging power requirements The parameters of the receiving coil (inductance and resonant frequency of the receiving coil), and the vehicle parameters are transmitted by the underwater vehicle to be charged and transmitted to the control module through the existing near-field communication module between the charging base station and the underwater vehicle; the seawater medium parameters include the conductivity of seawater. and temperature The parameters are collected by the charging base station and sent to the control module; filtering is to remove environmental noise and communication interference from the vehicle parameters and seawater medium parameters; normalization is to convert the filtered vehicle parameters and seawater medium parameters into a unified dimension or standardized format to facilitate subsequent adaptive reconstruction algorithm processing.

[0091] The adaptive reconstruction algorithm generates coil on / off commands, coil operating parameter control commands, aperture matching commands, and frequency and / or phase difference control commands based on the vehicle parameters and seawater medium parameters output by the signal processing algorithm. The coil on / off commands are sent to the switch array controller, the coil operating parameter control commands and the frequency and / or phase difference control commands are sent to the high-frequency inverter circuit, and the aperture matching commands are sent to the aperture adjustment unit (specifically to the servo motor; the aperture adjustment unit will be described in detail later) to perform electromagnetic coupling reconstruction and aperture matching adjustment.

[0092] The specific processing flow of the adaptive reconstruction algorithm is as follows:

[0093] First, based on the aircraft parameters, a suitable static optimal configuration is selected from the magnetic field-aperture matching model, including the optimal dual-aperture configuration. The coil combination scheme, the side length of the regular n-gon cross-section of the annular coil structure formed by coil group 24, the basic operating frequency, and the rated current amplitude are used to generate coil on / off commands, coil operating parameter control commands, and aperture matching commands. The coil on / off commands are sent to the switch array controller through the control module to achieve corresponding dual-channel operation. The switching of the coil current is controlled by the control module, which sends coil operating parameter control commands to the high-frequency inverter circuit to achieve dual-current switching. The control module sends a diameter matching command to the servo motor of the diameter adjustment unit to adjust the diameter so that the diameter of the formed ring coil structure is adapted to the diameter of the underwater vehicle.

[0094] Then, based on the received seawater medium parameters and / or docking error (the docking error can be detected by existing mature units and is a known quantity), and on the basis of the selected static optimal configuration, the dynamic adjustment quantity is queried from the pre-stored dynamic adjustment quantity mapping table, including the frequency and / or phase difference parameter values ​​that need to be adjusted, generating a frequency and / or phase difference control command, and sending it to the high-frequency inverter circuit to perform frequency and / or phase difference adjustment. The target of frequency adjustment is the operating frequency of the wireless charging transmitter circuit, which is determined by the output frequency of the high-frequency inverter circuit; therefore, frequency adjustment refers to adjusting the output frequency of the high-frequency inverter circuit. Frequency adjustment can bring the wireless charging transmitter circuit and the wireless charging receiver circuit on the underwater vehicle into a resonant state, improving power transmission efficiency. Frequency adjustment only changes the operating state (resonance / detuning) of the wireless charging transmitter circuit and does not change the equivalent inductance of the transmitting coil module. The target of phase difference adjustment is the adjacent dual phase difference in the transmitting coil module. The phase difference of the coil current is achieved by phase shift control of the high-frequency inverter circuit, that is, by adjusting the start time (i.e., phase) of the output current waveform of the high-frequency inverter circuit; the phase difference is adjusted to make adjacent coils... The current phase difference of the coil is 180°, which can suppress edge leakage magnetic field and expand the magnetic field coverage range to compensate for the adverse effects of environmental interference or misalignment between the transmitter and receiver, and ensure the uniformity of electromagnetic field distribution.

[0095] Switch arrays can be made from Solid-state switches (such as) or It can be composed of a relay or a control unit, respectively. Two The current in the coil is switched on and off. The switch array controller receives coil on / off commands from the control module and controls the on / off state of each solid-state switch or relay in the switch array according to the coil on / off commands, thereby realizing the corresponding dual-channel operation in the transmitting coil module. The current in the coil is switched on and off.

[0096] Both the switch array and the switch array controller are existing, mature units.

[0097] 2. Caliber adjustment unit;

[0098] The caliber adjustment unit includes a drive mechanism and a support and guide structure 3.

[0099] The drive mechanism includes a servo motor (not shown in the figure) and a drive ring 1. The output shaft of the servo motor is connected to any position on the outer ring of the drive ring 1 via a support rod, and is used to drive and control the rotation angle and rotation direction of the drive ring 1 according to the aperture matching command issued by the control module of the electromagnetic field reconstruction unit in the wireless charging transmitter circuit.

[0100] Reference Figure 1 The drive ring 1 includes an outer ring 11, a connecting rod 12, and an inner ring 13 connected sequentially from the outside to the inside. The outer ring 11 and the inner ring 13 are concentrically arranged. The inner diameter of the inner ring 13 is larger than the maximum outer diameter of the gyroscopic underwater vehicle that needs to be adapted, so that the underwater vehicle with the maximum outer diameter can pass through the inner ring 13. The number of connecting rods 12 is the same as the number of coil unit blocks 2, because the connecting rods 12 serve to connect the outer ring 11 and the inner ring 13 on the one hand, and also serve to guide the motion of the coil unit blocks 2 on the other hand. In this embodiment, there are 6 coil unit blocks 2, and therefore 6 connecting rods 12. One end of each of the 6 connecting rods 12 is evenly distributed on the outer wall of the inner ring 13, and the other end of each of the 6 connecting rods 12 is evenly distributed on the inner wall of the outer ring 13. Each of the 6 connecting rods is machined with a guide groove 121, which is used to cooperate with the guide post 211 on the upper surface of the support block 21 of the coil unit block 2. This not only transmits the movement of the drive ring 1 to the coil unit block 2 through the guide post 211 to make it move, but also guides the coil unit block 2 when it moves.

[0101] like Figure 1 , 4As shown, the support and guide structure 3 is located below the drive ring 1 and the coil unit block 2. On the one hand, it supports the coil unit block 2 and the drive mechanism, and on the other hand, it provides a movable groove 31 for the guide block 212 on the lower end face of the support block 21 of each coil unit block 2, so that each coil unit block 2 can move smoothly. A through hole for underwater vehicles to pass through is also provided in the middle of the support and guide structure 3.

[0102] 3. Magnetic field-aperture matching model;

[0103] The magnetic field-aperture matching model consists of static optimal configurations corresponding to different underwater vehicle aperture sizes, different charging power requirements, and different receiving coil parameters, including optimal dual-aperture matching. The coil combination scheme and the positive loop coil structure formed by the coil group The side length of the polygonal cross-section, the basic operating frequency, and the rated current amplitude are all considered. The static optimal configuration corresponding to different underwater vehicle apertures, charging power requirements, and receiving coil parameters can be simulated using electromagnetic simulation software. The magnetic field-aperture matching model can be pre-stored in the control module of the wireless charging transmitter circuit, facilitating the adaptive reconfiguration algorithm to select the static optimal configuration suitable for the underwater vehicle to be charged, reducing real-time computation and improving the real-time performance of the adaptive reconfiguration algorithm.

[0104] The above content describes in detail the specific composition of the present invention and the relationship between the components. Finally, for the present 324 ~650 Three commonly used calibers within the range (324) 533 and 650 Taking the charging of a rotating underwater vehicle as an example, the working principle and process of this invention are explained:

[0105] When the underwater vehicle approaches the charging base station, it communicates with the control module of the electromagnetic field reconstruction unit in the wireless charging transmitter circuit, transmitting its vehicle parameters, including charging power requirements, receiving coil parameters, and aperture size. The control module generates aperture matching commands, coil on / off commands, and coil operating parameter control commands based on the received information and sends them to the servo motor, switch array controller, and high-frequency inverter circuit of the aperture adjustment unit, respectively. The servo motor executes the aperture matching commands to drive and control the rotation of the drive ring 1. The drive ring 1 drives six coil unit blocks 2 to move synchronously along the guide groove 121. After the six coil unit blocks 2 move, the coil groups 24 on their sidewalls will form three different sizes of ring-shaped coil structures with a regular hexagonal cross-section, such as... Figure 5 As shown, Figure 5 Figures (a), (b), and (c) are adapted to a caliber of 650 mm. 533 and 324 A rotating underwater vehicle.

[0106] like Figure 5 , 6 As shown in Figure (a), when a caliber of 650 is required... When the underwater vehicle is charging, the control module of the electromagnetic field reconstruction unit in the wireless charging transmitter circuit controls the servo mechanism to move the six coil unit blocks 2 to form a 650mm diameter. Corresponding to the matching ring coil structure, and to the three double coils within the coil group 24 in each coil unit block 2. Energizing the coils brings them all to the required operating state, increasing the required magnetic field strength to achieve the desired effect with a 650mm diameter. The wireless power receiver on the underwater vehicle is adapted, and the magnetic field coverage is maximized.

[0107] like Figure 5 , 6 As shown in Figure (b), when a caliber of 533 is required... When the underwater vehicle is charging, the control module of the electromagnetic field reconstruction unit in the wireless charging transmitter circuit controls the servo mechanism to move the six coil unit blocks 2 to form a diameter of 533. The corresponding matching loop coil structure, and only the first double coil in coil group 24 within each coil unit block 2. Coil 8 and No. 2 double Energizing coil 9 puts them into the required operating state, and coil 3 (double) Coil 10 is not energized and is in a non-connected state.

[0108] like Figure 5 , 6 As shown in Figure (c), when a caliber of 324 is required... When the underwater vehicle is charging, the control module of the electromagnetic field reconstruction unit in the wireless charging transmitter circuit controls the servo mechanism to move the six coil unit blocks 2 to form a diameter of 324. The corresponding matching loop coil structure, and only the first double coil in coil group 24 within each coil unit block 2. Coil 8 is energized to bring it into the required operating state, while coil 2... Coil 9 and No. 3 double Coil 10 is not energized and is in a non-connected state.

[0109] The above process enables the adjustment of the aperture size of the wireless power transmitter and the reconstruction of electromagnetic coupling based on the aircraft parameters.

[0110] Based on this, considering the three double coils in coil group 24 The inconsistent size of the coils may lead to uneven magnetic field distribution in the coil group corresponding to a single side of the regular hexagonal cross-section. Therefore, when the coil group 24 forms a ring coil structure with a regular hexagonal cross-section, preferably, the largest double-sided coil can be made more uniform. Coil with minimum size double The coils are adjacent, which can compensate for the difference between each pair. Uneven magnetic field distribution may occur due to coils of different sizes.

Claims

1. An adjustable and reconfigurable wireless power transmitter suitable for rotary underwater vehicles; characterized in that: This includes the wireless charging transmitter circuit, aperture adjustment unit, and magnetic field-aperture matching model; The wireless charging transmitter circuit includes a high-frequency inverter circuit, a transmitting coil module, and an electromagnetic field reconstruction unit; The transmitting coil module includes Each coil unit block comprises a support block, a ferrite array, a coil slot, and a non-metallic end cap arranged sequentially. A coil group is located within the coil slot. The coil group consists of coils arranged side-by-side and connected in parallel. Two Composed of coils, each double The coil consists of two The coils are arranged axially and connected in reverse series, with two adjacent double coils forming a single coil. The current in the coils is in opposite directions; the upper end face of the support block is provided with a guide post, and the lower end face is provided with a guide block. The guide post and guide block are used to cooperate with the aperture adjustment unit, so that the support block moves under the drive of the aperture adjustment unit; the ferrite array, coil slot, non-metallic end cap, and coil group are all set on the side wall of the support block for adaptation to the underwater vehicle; the external shape and layout of the support block satisfy the following: the coil groups on all the support blocks together form a positive cross section. A polygonal ring-shaped coil structure; ≥3; This equals the number of different calibers of underwater vehicles that need to be adapted; The aperture adjustment unit is used to control the movement of the support block to form the annular coil structure with different aperture sizes; The magnetic field-aperture matching model includes static optimal configurations corresponding to different underwater vehicle aperture sizes, different charging power requirements, and different receiving coil parameters. These static optimal configurations include optimal dual... The coil combination scheme and the positive loop coil structure formed by the coil group The side length of the polygonal cross-section, the basic operating frequency, and the rated current amplitude; The electromagnetic field reconstruction unit is used to select the appropriate static optimal configuration from the magnetic field-aperture matching model based on the aperture size of the underwater vehicle to be charged, the charging power requirements, and the receiving coil parameters, and to control each dual-channel coil in the transmitting coil module. The coil's on / off state, operating frequency, and current magnitude are used to reconstruct an electromagnetic field that matches the charging power requirements and receiving coil parameters. The aperture adjustment unit is also controlled to adapt the aperture size of the ring coil structure to the aperture size of the underwater vehicle to be charged.

2. The adjustable and reconfigurable wireless power transmitting device according to claim 1, characterized in that: The electromagnetic field reconstruction unit includes a control module, a signal processing algorithm, an adaptive reconstruction algorithm, a switch array controller, and a switch array; the signal processing algorithm and the adaptive reconstruction algorithm are loaded onto the control module; the magnetic field-aperture matching model is pre-existing on the control module. The signal processing algorithm is used to filter and normalize the vehicle parameters of the input electromagnetic field reconstruction unit in sequence, and output clean vehicle parameters. The vehicle parameters include the underwater vehicle aperture size, charging power requirements and receiving coil parameters. The receiving coil parameters include the inductance and resonant frequency of the receiving coil. The adaptive reconstruction algorithm selects the appropriate static optimal configuration from the magnetic field-aperture matching model based on the aircraft parameters output by the signal processing algorithm, and generates coil on / off commands, coil operating parameter control commands, and aperture matching commands, which are then sent to the switch array controller, high-frequency inverter circuit, and aperture adjustment unit, respectively. The switch array controller controls the on / off state of each switch in the switch array according to the coil on / off command, realizing the corresponding dual-switch operation in the transmitting coil module. The coil's current is switched on and off; the high-frequency inverter circuit adjusts the frequency and voltage amplitude of its output AC power according to the coil's operating parameters and control commands, realizing the dual-current control in the transmitting coil module. The operating frequency and current of the coil are controlled; ultimately, an electromagnetic field is formed that is adapted to the charging power requirements and the parameters of the receiving coil. The aperture adjustment unit adjusts the aperture size of the annular coil structure according to the aperture matching command to make it compatible with the aperture size of the underwater vehicle to be charged.

3. The adjustable and reconfigurable wireless power transmitting device according to claim 2, characterized in that: The electromagnetic field reconstruction unit also includes a dynamic adjustment mapping table, which consists of seawater medium parameters, docking error, high-frequency inverter circuit output frequency adjustment, and high-frequency inverter circuit output current waveform start time adjustment. Based on the selected static optimal configuration, the electromagnetic field reconstruction unit can query the required dynamic adjustment amount from the dynamic adjustment amount mapping table according to the seawater medium parameters and / or docking error, generate frequency and / or phase difference control commands, and send them to the high-frequency inverter circuit. The high-frequency inverter circuit adjusts its output frequency and / or the start time of the output current waveform according to the frequency and / or phase difference control command to improve the power transmission efficiency and the uniformity of the magnetic field distribution. The seawater medium parameters include the conductivity and temperature of the seawater; the dynamic adjustment amount includes the output frequency adjustment amount of the high-frequency inverter circuit and / or the start time adjustment amount of the current waveform.

4. The adjustable reconfigurable wireless power transmitting device according to any one of claims 1-3, characterized in that: The caliber adjustment unit includes a drive mechanism and a support and guide structure. The drive mechanism includes a servo motor and a drive ring. The servo motor drives and controls the rotation angle and direction of the drive ring according to the control commands issued by the electromagnetic field reconstruction unit. The drive ring includes an outer ring, connecting rods, and an inner ring connected sequentially from the outside to the inside. The outer ring and the inner ring are concentrically arranged, and the inner diameter of the inner ring is larger than the maximum outer diameter of the rotary underwater vehicle to be adapted. The number of connecting rods is the same as the number of coil unit blocks. One end of all connecting rods is evenly distributed on the outer wall of the inner ring, and the other end is evenly distributed on the inner wall of the outer ring. All connecting rods are machined with guide grooves, which are used to cooperate with the guide posts on the upper end face of the coil unit block to transmit the movement of the drive ring to the coil unit block through the guide posts to move it and guide it. The support and guide structure is located below the drive ring and the coil unit block, and it is provided with a movable groove and a through hole for the underwater vehicle to pass through. The movable groove cooperates with the guide block at the bottom of the coil unit block to guide it.

5. The adjustable and reconfigurable wireless power transmitting device according to claim 4, characterized in that: The design method for the transmitting coil module is as follows: Step 1): The parts that need to be adapted The aperture sizes of these underwater vehicles, ordered from smallest to largest, are denoted as follows: , , ..., ; Step 2): Calculate the diameter dimensions respectively. , , ..., The ring coil structure required for underwater vehicles Side length of the polygonal cross section , , ..., ; Step 3): Calculate the number of coil units in a single coil unit block used to form a coil group. Two The width of the coil; The first double Coil width ; The second double Coil width ; The 3rd double Coil width ; And so on, No. Two Coil width ; Step 4): Fine-tune the thickness calculated in Step 3) based on the thickness of the non-metallic end caps in the coil unit block. Two The width of the coil allows for the installation of an adapter; Step 5): Simulate and determine the electromagnetic simulation software. The static optimal configuration of an underwater vehicle under different charging power requirements and different receiver coil parameters, including the required power supply for the dual... Coil combination scheme, basic operating frequency, and rated current amplitude; Step 6): Adjust the double... The spacing between coils and / or the ferrite distribution ensure that the power transmission efficiency meets the design requirements under each static optimal configuration determined in step 5); the experiments include power transmission efficiency testing experiments, magnetic field distribution and intensity measurement experiments, ferrite distribution optimization experiments, and dynamic environment adaptability experiments.

6. The adjustable and reconfigurable wireless power transmitting device according to claim 5, characterized in that: The output shaft of the servo motor is connected to the outer ring of the drive ring via a support rod.

7. The electromagnetic coupling reconfiguration method for the adjustable reconfigurable wireless power transmitting device according to any one of claims 3-6, characterized in that, Includes the following steps: Step 1: Input parameters; The electromagnetic field reconstruction unit in the wireless charging transmitter circuit receives the underwater vehicle parameters sent by the underwater vehicle to be charged, including the vehicle's aperture size, charging power requirements, and receiving coil parameters; the receiving coil parameters include the inductance and resonant frequency of the receiving coil. Step 2: Parameter preprocessing; The electromagnetic field reconstruction unit sequentially filters and normalizes the received aircraft parameters; Step 3: Electromagnetic field reconstruction and aperture matching; The electromagnetic field reconstruction unit obtains the appropriate static optimal configuration from the magnetic field-aperture matching model based on the preprocessed vehicle parameters, including the optimal dual-field configuration. The coil combination scheme and the positive loop coil structure formed by the coil group The side length of the polygonal cross-section, the basic operating frequency, and the rated current amplitude; Based on the obtained static optimal configuration, the optimal dual The coil combination scheme, basic operating frequency, and rated current amplitude control each dual coil in the transmitting coil module. The coil's on / off state, operating frequency, and current magnitude are adjusted to reconstruct an electromagnetic field that matches the aircraft's parameters. Based on the obtained static optimal configuration, the loop coil structure formed by the coil group is positive The side length of the polygonal cross section controls the operation of the aperture adjustment unit, so that the aperture size of the ring coil structure formed by the coil group is adapted to the aperture size of the underwater vehicle.

8. The electromagnetic coupling reconfiguration method according to claim 7, characterized in that, Also includes: Step 4: Dynamic adjustment; Based on the current static optimal configuration, the output frequency and / or the start time of the output current waveform of the high-frequency inverter circuit in the wireless charging transmitter circuit are dynamically adjusted according to the seawater medium parameters and / or docking error, so as to improve the power transmission efficiency and the uniformity of the magnetic field distribution.

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