Hovering wireless charging system based on magnetic coupling resonance

Abstract

The invention relates to the technical field of wireless power transmission, in particular to a hovering wireless charging system based on magnetic coupling resonance. The transmitting end comprises at least two transmitting coil modules, a power supply module, a high-frequency inversion module and a first second-order resonance topology module; the receiving end comprises at least two receiving coil modules, at least two loads, at least two rectification filtering modules and a second second-order resonance topology module; the first second-order resonant topology module comprises a first LCC-LCC compensation circuit module and a first S-S compensation circuit module; the second second-order resonant topology module comprises a second LCC-LCC compensation circuit module and a second S-S compensation circuit module; the power supply module provides electric energy for the transmitting coil module, and input direct current is converted into high-frequency alternating current through the high-frequency inversion module. According to the invention, the dual transmitting / receiving coil module and the dual second-order resonant topological structure (LCC-LCC + S-S) are adopted, and independent and stable constant-voltage / constant-current power supply can be provided for a plurality of loads at the same time.

Description

Technical Field

[0001] This invention relates to the field of wireless power transmission technology, and more specifically, to a hovering wireless charging system based on magnetic coupling resonance. Background Technology

[0002] With the widespread application of aerial or mobile intelligent equipment such as drones and inspection robots in fields such as power line inspection, logistics transportation, emergency rescue, and military reconnaissance, their endurance has become a key bottleneck restricting mission continuity and operational efficiency. Traditional contact charging methods rely on physical plugging and unplugging, which presents problems such as operational difficulties, significant safety hazards, and high maintenance costs in high-altitude, confined, harsh, or automated scenarios. Existing wireless charging technologies are mostly designed for static or ground-based applications and are difficult to adapt to complex conditions such as three-dimensional spatial offset, coil attitude changes, and dynamic deformation between the transmitter and receiver in hovering states. Especially during drone hovering recharging, the relative positions between coils are prone to horizontal / vertical offset or even slight twisting, leading to drastic fluctuations in the magnetic coupling coefficient and resonant frequency drift, which in turn causes impedance mismatch, a sharp drop in transmission efficiency, or even system instability. In addition, traditional fixed-parameter LCC or SS compensation topologies lack the ability to sense and adaptively adjust to changes in coil geometry, and cannot maintain efficient and stable energy transmission. Therefore, a hovering wireless charging system based on magnetic coupling resonance is designed. Summary of the Invention

[0003] The purpose of this invention is to provide a hovering wireless charging system based on magnetic coupling resonance, so as to solve the problems of resonant frequency drift, impedance mismatch and unstable transmission efficiency caused by coil offset and deformation in the hovering state mentioned in the background art.

[0004] To achieve the above objectives, the present invention aims to provide a hovering wireless charging system based on magnetic coupling resonance, comprising: The transmitter includes at least two transmitting coil modules, a power supply module, a high-frequency inverter module, and a first- or second-order resonant topology module; The receiving end includes at least two receiving coil modules, at least two loads, at least two rectifier and filter modules, and a second-order resonant topology module; The first second-order resonant topology module includes a first LCC-LCC compensation circuit module and a first SS compensation circuit module; the first SS compensation circuit module is provided with an anti-hover offset unit, which is used to maintain the resonant stability of the first SS compensation circuit module; the second second-order resonant topology module includes a second LCC-LCC compensation circuit module and a second SS compensation circuit module; the second LCC-LCC compensation circuit module is provided with a magnetic coupling signal conditioning unit with feedback, which is used to amplify and adjust the magnetic coupling signal of the receiving coil module. The power module provides power to the transmitting coil module. The high-frequency inverter module converts the input DC power into high-frequency AC power. The first LCC-LCC compensation circuit module and the first SS compensation circuit module perform initial resonance compensation to achieve initial stable power transmission. In order to address the problem of resonance point drift caused by coil shape and size deviation under hovering operation, a shape compensation tuning mechanism based on magnetic field profile feedback is introduced to output control quantity. After initial resonance compensation, the high-frequency AC power from the transmitting end undergoes dynamic adjustment by the anti-hover offset unit. Finally, through the electromagnetic conversion of the transmitting coil module and the receiving coil module, it is converted into high-frequency AC power and received by the receiving end. After amplification by the conditioning unit, it undergoes secondary resonance compensation through the second LCC-LCC compensation circuit module and the second SS compensation circuit module. Simultaneously, the control quantity output by the shape compensation tuning mechanism based on the magnetic field profile feedback dynamically adjusts the compensation circuit parameters to further stabilize power transmission. The rectifier and filter module performs AC-DC rectification on the high-frequency AC power to form DC power, which is then transmitted to the load to charge it.

[0005] As a further improvement to this technical solution, the power supply module is powered by a DC power supply. constitute.

[0006] As a further improvement to this technical solution, the high-frequency inverter module includes a full-bridge switching transistor. , , , And the controller, The controller provides DC power to the full bridge, with its positive and negative terminals connected to the upper and lower power inputs of the full bridge, respectively. The controller also provides drive signals to the four full-bridge switches to alternately conduct, enabling... , and , Alternating conduction generates high-frequency square wave AC power; the full-bridge output is directly connected to the compensation circuit of the transmitter to provide high-frequency AC power to the transmitting coil module.

[0007] As a further improvement to this technical solution, the first LCC-LCC compensation circuit module includes a compensation inductor. and series capacitor Compensation capacitor The first SS compensation circuit module includes: a compensation capacitor. .

[0008] As a further improvement to this technical solution, the second LCC-LCC compensation circuit module includes: a compensation inductor. and series capacitor Compensation capacitor The second SS compensation circuit module includes: a compensation capacitor. .

[0009] As a further improvement to this technical solution, the anti-hovering offset unit includes a fuse Fs1, a transient voltage suppression diode Dwj, a current limiting resistor Rlim, a current limiting resistor Rlim-s, an adjustable capacitor Cadj-s, a filter capacitor Ce, a chip ADC, a digital signal processor DSP, a buffer operational amplifier Uop-s, a capacitor Cdw, and a voltage divider sampling unit. Fuse Fs1 is connected in series at the output of the high-frequency inverter module, along with the compensation inductor. Series connection; current-limiting resistors Rlim and Rlim-s are connected in parallel, with one end connected to fuse Fs1 and the other end connected to compensation capacitor. The connection limits the peak current of the first SS compensation circuit module; the filter capacitor Ce and the adjustable capacitor Cadj-s are connected in series, with one end connected to the fuse Fs1 and the other end connected to the compensation capacitor. The adjustable capacitor Cadj-s is connected and its value is adjusted by a digital signal processor (DSP); the transient voltage suppression diode Dwj is connected to the compensation capacitor. Connected in parallel to absorb voltage spikes from the first SS compensation circuit module; The voltage divider sampling unit consists of voltage divider resistors Rsa1, Rsa2, Rsa3, and Rsa4 connected in series. These series resistors are connected in parallel across capacitor Cdw to acquire the voltage across Cdw. The two ends of capacitor Cdw are connected to the non-inverting and inverting inputs of the buffer operational amplifier Uop-s, respectively. The output of buffer operational amplifier Uop-s is connected to the differential input pin of the chip's ADC. Buffer operational amplifier Uop-s enhances the driving capability of the sampled signal, transmitting the acquired voltage signal to the chip's ADC. The chip's ADC is connected to the digital signal processor (DSP). A compensation capacitor is also included. It is connected to both the ADC chip and the DSP chip. The ADC chip converts the voltage collected by the voltage divider sampling unit into a digital signal. The DSP chip outputs a control quantity to adjust the capacitance value of the adjustable capacitor Cadj-s based on the voltage signal and magnetic field feedback data.

[0010] As a further improvement to this technical solution, the conditioning unit includes a primary inductor Lp, a secondary inductor Ls, a mutual inductance M, an equivalent resistance Re, a secondary resistance Rd, a feedback resistor Rfb, an operational amplifier G, and a bypass capacitor Cb. The primary inductor Lp is connected in parallel with the equivalent resistance Re, and also in parallel with the bypass capacitor Cb, before being connected to the input terminal of the operational amplifier G. The secondary inductor Ls is connected in series with the secondary resistance Rd, with one end connected to the feedback resistor Rfb and the other end connected to the output terminal of the operational amplifier G. The feedback resistor Rfb is connected across the secondary inductor Ls and the input terminal of the operational amplifier G, forming a feedback loop. The output terminal of the operational amplifier G is connected to the compensation capacitor of the subsequent second LCC-LCC compensation circuit module. The other end of the secondary resistor Rd is connected in series with the series capacitor of the second LCC-LCC compensation circuit module. connect.

[0011] As a further improvement to this technical solution, the rectifier and filter module includes: a full-bridge rectifier diode. , and filter capacitor , The AC power is rectified into unidirectional pulsating DC power by a full-bridge rectifier diode, and then smoothed by a filter capacitor to form a DC voltage output to the load. , .

[0012] As a further improvement to this technical solution, the transmitting coil module receives high-frequency alternating current and generates a high-frequency pulse width modulation signal through the controller module to control the power device module to turn on and off at high speed, thereby generating a high-frequency alternating magnetic field in space.

[0013] As a further improvement to this technical solution, the receiving coil module captures the high-frequency alternating magnetic field generated by the transmitting coil through a magnetic coupling resonance mechanism and converts the high-frequency alternating magnetic field into an alternating current signal.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention relates to a hovering wireless charging system based on magnetic coupling resonance, employing a dual-transmitter / receiver coil module and a dual second-order resonant topology (LCC-LCC+SS) to simultaneously provide independent and stable constant voltage / constant current power to multiple loads (such as drone controllers and batteries). Combining SiC MOSFET high-frequency inverter, spatial omnidirectional uniform magnetic field design, and closed-loop phase verification mechanism, this system not only possesses strong anti-offset capability but also achieves efficient, safe, and contactless clustered wireless charging in complex operating conditions such as multi-drone hovering and takeoff and landing in harsh environments. This solves the pain points of traditional contact charging being infeasible or high-risk in high-altitude, explosion-proof, and automated scenarios.

[0015] 2. This invention relates to a hovering wireless charging system based on magnetic coupling resonance. By introducing a shape compensation tuning mechanism based on magnetic field profile feedback, the system can sense in real time the changes in equivalent inductance of the transmitting / receiving coils caused by hovering offset, deformation, or dimensional deviations, and dynamically adjust the adjustable capacitors, inductors, or multi-branch structures in the LCC-LCC or SS compensation topology to keep the resonant frequency locked near the design operating point. This mechanism effectively overcomes the resonance mismatch problem caused by the unstable relative position of the coils in dynamic scenarios such as drone hovering in traditional systems, thereby maintaining a constant high-frequency magnetic field strength and good impedance matching, which is significantly better than traditional planar or fixed resonant systems. Attached Figure Description

[0016] Figure 1 This is an overall flowchart of the present invention; Figure 2 This is the overall circuit diagram of the present invention; Figure 3 This is a circuit diagram of the anti-hover offset unit of the present invention; The meanings of the labels in the diagram are as follows: 1. Power supply module; 2. High-frequency inverter module; 3. First second-order resonant topology module; 31. First LCC-LCC compensation circuit module; 32. First SS compensation circuit module; 4. Second second-order resonant topology module; 41. Second LCC-LCC compensation circuit module; 42. Second SS compensation circuit module; 5. Rectifier and filter module; 6. Transmitting coil module; 7. Receiving coil module. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Example: Please refer to Figure 1 As shown, a hovering wireless charging system based on magnetic coupling resonance is provided, comprising: The transmitter includes at least two transmitting coil modules 6, a power supply module 1, a high-frequency inverter module 2, and a first second-order resonant topology module 3; The receiving end includes at least two receiving coil modules 7, at least two loads, at least two rectifier and filter modules 5, and a second-order resonant topology module 4; The first second-order resonant topology module 3 includes a first LCC-LCC compensation circuit module 31 and a first SS compensation circuit module 32; the first SS compensation circuit module 32 is provided with an anti-hover offset unit, which is used to maintain the resonant stability of the first SS compensation circuit module 32; the second second-order resonant topology module 4 includes a second LCC-LCC compensation circuit module 41 and a second SS compensation circuit module 42; the second LCC-LCC compensation circuit module 41 is provided with a magnetic coupling signal conditioning unit with feedback, which is used to amplify and adjust the magnetic coupling signal of the receiving coil module 7. Power module 1 provides power to transmitting coil module 6. The input DC power is converted into high-frequency AC power by high-frequency inverter module 2. The first LCC-LCC compensation circuit module 31 and the first SS compensation circuit module 32 perform initial resonance compensation to achieve initial stable power transmission. In order to address the problem of resonance point drift caused by coil shape and size deviation under hovering operation, a shape compensation tuning mechanism based on magnetic field profile feedback is introduced to output control quantity. After initial resonance compensation, the high-frequency AC power from the transmitting end is dynamically adjusted by the anti-hover offset unit. Finally, it is converted into high-frequency AC power by the electromagnetic conversion of the transmitting coil module 6 and the receiving coil module 7 and received by the receiving end. After amplification by the conditioning unit, it undergoes secondary resonance compensation through the second LCC-LCC compensation circuit module 41 and the second SS compensation circuit module 42. At the same time, the control quantity output by the shape compensation tuning mechanism based on the magnetic field profile feedback dynamically adjusts the compensation circuit parameters to further stabilize the power transmission. The rectifier and filter module 5 performs AC-DC rectification on the high-frequency AC power to form DC power, which is then transmitted to the load to charge the load. like Figure 2 As shown, in this embodiment, the power supply module 1 is powered by a DC power supply. constitute; High-frequency inverter module 2 includes full-bridge switching transistors , , , And the controller, The controller provides DC power to the full bridge, with its positive and negative terminals connected to the upper and lower power inputs of the full bridge, respectively. The controller also provides drive signals to the four full-bridge switches to alternately conduct, enabling... , and , Alternating conduction generates high-frequency square wave AC power; the full-bridge output is directly connected to the LCC-LCC or SS compensation circuit at the transmitter end to provide stable high-frequency AC power to the transmitter coil module 6, realizing the DC to high-frequency AC inverter function; In this embodiment, the high-frequency inverter module 2 filters and regulates the input DC power through an EMI filter to suppress input-side ripple and interference. A half-bridge or full-bridge inverter topology is constructed based on the power device module (i.e., silicon carbide metal-oxide-semiconductor field-effect transistor (SiC MOSFET)). A high-frequency pulse width modulation (PWM) or resonant drive signal is generated through the controller module (a digital signal controller). The gate drive circuit controls each switching device module (i.e., the power semiconductor switching unit in the inverter bridge that actually performs high-speed turn-on and turn-off, and the SiC MOSFET or IGBT that performs turn-on / turn-off) to perform high-speed alternating turn-on and turn-off at a set frequency. High-frequency AC power is then generated through the inverter bridge output.

[0019] The first LCC-LCC compensation circuit module 31 includes: a compensation inductor. and series capacitor Compensation capacitor ; The first SS compensation circuit module 32 includes: a compensation capacitor. ; Two transmitting coil modules 6 and their respective series-connected compensating inductors and series capacitor And compensation capacitors connected in parallel across the two ends of the transmitting coil module 6. , The series inductance and series capacitor of each transmitting coil module 6 form a series resonant branch, and the parallel capacitors at both ends of the transmitting coil module 6 form a parallel resonant branch. The AC power output from the high-frequency inverter module 2 is input into the series resonant branch. Through the transmitting coil module 6 and the parallel capacitor, the initial resonance compensation is performed, so that the transmitting coil module 6 is resistive at the design operating frequency, ensuring the inverter operates efficiently. At the same time, a stable high-frequency AC power is provided to the transmitting coil module 6 to generate a strong and stable high-frequency magnetic field for wireless power transmission.

[0020] like Figure 3 As shown, the anti-hovering offset unit includes a fuse Fs1, a transient voltage suppression diode Dwj, a current-limiting resistor Rlim, a current-limiting resistor Rlim-s, an adjustable capacitor Cadj-s, a filter capacitor Ce, an ADC chip, a digital signal processor DSP, a buffer operational amplifier Uop-s, a capacitor Cdw, and a voltage divider sampling unit. The fuse Fs1 is connected in series at the output of the high-frequency inverter module 2, and is connected to the compensation inductor... In series, the current-limiting resistors Fs1 and Rlim-s are connected in parallel, with one end connected to the fuse Fs1 and the other end connected to the compensation capacitor. The connection limits the peak current of the first SS compensation circuit module 32 to prevent excessive current from damaging the capacitor or coil during resonance; the filter capacitor Ce and the adjustable capacitor Cadj-s are connected in series, with one end connected to the fuse Fs1 and the other end connected to the compensation capacitor. The adjustable capacitor Cadj-s is connected and its value is adjusted by a digital signal processor (DSP) to compensate for the resonant point drift caused by coil misalignment; the transient voltage suppression diode Dwj and the compensation capacitor... The parallel connection is used to absorb voltage spikes in the first SS compensation circuit module 32 and prevent the compensation capacitor from being connected in parallel. The voltage divider sampling unit is broken down by overvoltage. It consists of series-connected voltage divider resistors Rsa1, Rsa2, Rsa3, and Rsa4. These series-connected resistors are connected in parallel across capacitor Cdw to acquire the voltage across Cdw. The two ends of capacitor Cdw are connected to the non-inverting and inverting inputs of the buffer operational amplifier Uop-s, respectively. The output of buffer operational amplifier Uop-s is connected to the differential input pin of the chip's ADC. Buffer operational amplifier Uop-s enhances the driving capability of the sampling signal and transmits the acquired voltage signal to the chip's ADC. The chip's ADC is connected to the digital signal processor (DSP). A compensation capacitor is also present. It is connected to both the ADC chip and the DSP chip. The ADC chip converts the voltage collected by the voltage divider sampling unit into a digital signal. The DSP chip outputs a control quantity to adjust the capacitance value of the adjustable capacitor Cadj-s based on the voltage signal and magnetic field feedback data, thereby realizing closed-loop control of the resonant state.

[0021] The fuse Fs1, current-limiting resistor, and transient voltage suppression diode Dwj of the anti-hover offset unit constitute the three-level protection of the first SS compensation circuit module 32. At the same time, the resonant parameters are dynamically adjusted through "adjustable capacitor + voltage sampling unit + digital signal processor DSP", which not only ensures the safety of the branch, but also adapts to the coil offset condition in the hovering scenario.

[0022] The second LCC-LCC compensation circuit module 41 includes: a compensation inductor and series capacitor Compensation capacitor ; The second SS compensation circuit module (42) includes: compensation capacitors ; The receiving coil module 7 and its respective series-connected compensating inductors Series capacitor And compensation capacitors connected in parallel across the receiving coil module 7. , In this circuit, the series inductance and series capacitor of each receiving coil module 7 form a series resonant branch; the parallel capacitors at both ends of the receiving coil module 7 form a parallel resonant branch. The AC power output from the high-frequency inverter module 2 is input to the transmitting coil module 6 through a series resonant branch, so that the circuit reaches a series resonant state at the designed operating frequency, thereby reducing the circuit impedance, increasing the current and generating a strong and stable high-frequency magnetic field, providing an efficient transmitting source for wireless power transmission at the receiving end.

[0023] The transmitting coil module 6 receives high-frequency alternating current and generates high-frequency pulse width modulation (PWM) or resonant drive signals through the controller module (a digital signal controller) to control the power device module (i.e., silicon carbide metal oxide semiconductor field-effect transistor (SiC MOSFET)) to turn on and off at high speed, thereby generating a stable high-frequency alternating magnetic field in space.

[0024] The receiving coil module 7 captures the high-frequency alternating magnetic field generated by the transmitting coil through a magnetic coupling resonance mechanism and converts the high-frequency alternating magnetic field into an alternating current signal (the receiving coil module is located within the range of the transmitting coil's magnetic field, and the coil windings form a closed loop to induce the high-frequency alternating magnetic flux generated by the transmitting coil under magnetic coupling).

[0025] The high-frequency AC magnetic field generated by the transmitter is induced by the receiving coil module 7 and then input to the second LCC-LCC compensation circuit module 41, so that the receiving coil module 7 is resistive at the design operating frequency and performs secondary resonance compensation, optimizing the receiver impedance and stabilizing the output AC current, providing efficient and stable energy input for subsequent SS compensation and rectification filtering.

[0026] The conditioning unit includes a primary inductor Lp, a secondary inductor Ls, a mutual inductance M, an equivalent resistance Re, a secondary resistance Rd, a feedback resistor Rfb, an operational amplifier G, and a bypass capacitor Cb. The primary inductor Lp is connected in parallel with the equivalent resistance Re, and also in parallel with the bypass capacitor Cb, before being connected to the input terminal of the operational amplifier G. The secondary inductor Ls is connected in series with the secondary resistance Rd, one end of which is connected to the feedback resistor Rfb, and the other end is connected to the output terminal of the operational amplifier G. The feedback resistor Rfb is connected across the secondary inductor Ls and the input terminal of the operational amplifier G, forming a feedback loop. The output terminal of the operational amplifier G is connected to the compensation capacitor of the subsequent second LCC-LCC compensation circuit module 41. The other end of the secondary resistor Rd is connected in series with the series capacitor of the second LCC-LCC compensation circuit module 41. connect.

[0027] The high-frequency alternating magnetic field received by the receiving coil module 7 is coupled to the primary inductor Lp through the mutual inductance M, converting the magnetic field signal into an electrical signal. This electrical signal is amplified by the operational amplifier G, and then fed back to the secondary inductor Ls circuit through the feedback resistor Rfb. The amplified signal is superimposed on the original received signal, dynamically adjusting the equivalent gain of the conditioning unit to ensure the stability of the output signal, suppress signal fluctuations, improve circuit linearity, and avoid signal distortion caused by magnetic coupling shift due to factors such as changes in hovering position, thus preventing the inability to maintain efficient and stable energy transmission.

[0028] The high-frequency AC magnetic field generated by the transmitter is induced by the receiving coil module 7 and input to the series resonant circuit, so that the receiving coil module 7 reaches the series resonant state at the designed operating frequency, thereby reducing the circuit impedance, increasing the AC current, and providing a stable and efficient energy input for the subsequent rectifier and filter circuit, realizing constant voltage or constant current power supply to the load.

[0029] The rectifier and filter module includes: full-bridge rectifier diodes. , and filter capacitor , Each receiving channel has a receiving coil module. , The high-frequency AC power output from the second SS compensation circuit module 42 is input into the corresponding full-bridge rectifier circuits. The AC power is rectified into unidirectional pulsating DC power by the full-bridge rectifier diodes, and then smoothed by the filter capacitors to form a stable DC voltage output to the load. , This enables efficient charging and constant voltage / constant current power supply to their respective loads.

[0030] In this embodiment, to address the resonant point drift problem caused by coil shape and size deviations during hovering operation, a shape compensation tuning mechanism based on magnetic field profile feedback is introduced, involving the following specific steps: The amplitude distribution of the magnetic field of the transmitting coil module 6 at the operating frequency is acquired by a magnetic field profile sensing array (a magnetic field profile sensing array consisting of multiple Hall elements or miniature induction coils is arranged on the outer edge or below the transmitting coil module 6). By comparing the amplitude distribution acquired by the magnetic field profile sensing array with the reference magnetic field distribution obtained through calibration experiments under normal coil configuration, the change in equivalent inductance caused by coil shape and size deviations can be obtained. ; The change in equivalent inductance caused by the deviation in coil shape and size is obtained. The specific steps involved are as follows: Real-time acquisition of magnetic field amplitudes from multiple spatial sampling points (At the operating frequency of the transmitting coil module, by arranging a magnetic field profile sensing array composed of multiple Hall sensors or miniature induction coils on the outer edge or below the transmitting coil, synchronous sampling is performed at different spatial positions, and the magnetic field amplitude of each sampling point is measured in real time), and the magnetic field amplitude distribution matrix of the current coil state is constructed according to the array arrangement order. When the transmitting coil module 6 is in its normal state, without deformation or offset, the magnetic field amplitude is pre-collected at the same array position through a calibration experiment. A reference magnetic field distribution matrix is ​​generated to characterize the nominal geometric state of the coil. The magnetic field difference distribution is obtained by performing point-by-point difference calculation between the real-time magnetic field distribution and the reference magnetic field distribution. Furthermore, key features related to the geometric changes of the coil are extracted to form a magnetic field difference feature vector, including: average magnetic field offset (calculated as the average of all sampling points as the overall average magnetic field offset): ; Edge magnetic field attenuation variation (the edge magnetic field attenuation variation is obtained by calculating the average deviation of sampling points at the edge of the coil): Field strength center position offset (the center position is calculated based on the weighted coordinates of the magnetic field strength and compared with the reference position to obtain the center position offset): ; Based on electromagnetic simulation, establish the characteristic vector of magnetic field difference and the change in equivalent inductance. Mapping function between (In the formula, The nominal inductance (H) of the coil under design conditions is used as a reference value and has been normalized. As a weight for the overall average magnetic field offset, As a weight for the change in the attenuation of the edge magnetic field, As a weight for the offset of the magnetic field center in the X direction, As a weight for the offset of the magnetic field center in the Y direction, , The value ranges from 0.1 to 10H / T (Henry / Tesla). , The value ranges from 0.01 to 1H / m (Henry / meter), and is determined through expert experience. The magnetic field difference feature vector is input into the mapping function in real time to obtain the corresponding equivalent inductance change. ; Change in equivalent inductance The input is sent to the adaptive tuning controller, which calculates the adjustment amount in the compensation network: automatically adjusts the equivalent capacitance of the adjustable capacitor unit; or adjusts the core position / winding connection method of the variable inductor unit; or switches different compensation branches in the multi-branch compensation topology to change the overall equivalent compensation parameters. Through the above adjustments, the equivalent inductance and capacitance of the compensation network meet the resonance condition again, ensuring that the resonant frequency returns to near the set operating frequency. After parameter adjustment, the system monitors the voltage, current phase, and equivalent impedance changes of the resonant network in real time and performs closed-loop verification with the compensation decision results. If the deviation still exists, the compensation unit is fine-tuned to keep the system stably locked at the target resonant point. Through this shape compensation tuning mechanism, parameter disturbances caused by coil shape offset can be dynamically offset in the hovering state, thereby significantly improving the stability of the resonant point and the consistency of impedance matching.

[0031] In this embodiment, after introducing a shape compensation tuning mechanism based on magnetic field profile feedback, its final output is not electrical energy, but a control quantity used to adjust the parameters of the compensation network. The control quantity is mainly used to adjust the adjustable components (series / parallel capacitors, inductors, or multi-branch switching) in the transmitter compensation topology module (first second-order resonant topology module 3) to counteract the resonant point drift caused by the shape or size offset of the transmitter coil, ensuring that the high-frequency AC output of the transmitter is stable at the design operating frequency, thereby generating a strong and stable high-frequency magnetic field. If the receiver coil also has an offset, the control quantity can also be applied to the adjustable components in the receiver compensation topology module (second second-order resonant topology module 4) to ensure that the high-frequency AC received by the receiver maintains resistive matching and improves the stability of the DC output after rectification and filtering. In hovering wireless charging systems, shape and size shifts in the coil during operation cause deviations in the original design resonant frequency, affecting the system's power transmission efficiency. Control quantities (including adjustments to the adjustable capacitor and inductor, or multi-branch compensation topology switching commands) output from a shape compensation tuning mechanism based on magnetic field profile feedback are sent to the compensation topology module at the transmitter or receiver. This dynamically adjusts the parameters of each compensation element in the LCC-LCC or SS compensation circuit, ensuring that the equivalent inductance and capacitance of the compensation circuit re-meet the resonant conditions of the design operating frequency. Specifically, the control quantities can change the capacitance of the series or parallel capacitors, adjust the core position or winding connection method of the variable inductor, or switch different compensation branches to compensate for the resonant point drift caused by coil offset, achieving a return of the resonant frequency to the target value. Furthermore, by real-time monitoring of voltage, current phase, and network equivalent impedance, closed-loop verification and fine-tuning of the compensation network parameters ensure that the system maintains a stable high-frequency magnetic field, stable power transmission, and efficient impedance matching in the hovering state.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A hovering wireless charging system based on magnetic coupling resonance, characterized in that, include: Transmitter and receiver; The transmitter includes at least two transmitting coil modules (6), a power supply module (1), a high-frequency inverter module (2), and a first second-order resonant topology module (3). The receiving end includes at least two receiving coil modules (7), at least two loads, at least two rectifier and filter modules (5), and a second-order resonant topology module (4). The first second-order resonant topology module (3) includes a first LCC-LCC compensation circuit module (31) and a first SS compensation circuit module (32); the first SS compensation circuit module (32) is provided with an anti-hover offset unit, which is used to maintain the resonant stability of the first SS compensation circuit module (32); the second second-order resonant topology module (4) includes a second LCC-LCC compensation circuit module (41) and a second SS compensation circuit module (42); the second LCC-LCC compensation circuit module (41) is provided with a magnetic coupling signal conditioning unit with feedback, which is used to amplify and adjust the magnetic coupling signal of the receiving coil module (7); The power supply module (1) provides power to the transmitting coil module (6). The input DC power is converted into high-frequency AC power by the high-frequency inverter module (2), and the first LCC-LCC compensation circuit module (31) and the first SS compensation circuit module (32) perform initial resonance compensation to achieve initial stable power transmission. In order to address the problem of resonance point drift caused by the shape and size deviation of the coil under hovering operation, a shape compensation tuning mechanism based on magnetic field profile feedback is introduced to output control quantity. After the high-frequency AC power at the transmitting end undergoes initial resonance compensation, it is then dynamically adjusted by the anti-hover offset unit. Finally, through the electromagnetic conversion of the transmitting coil module (6) and the receiving coil module (7), it forms high-frequency AC power that is received by the receiving end. After being amplified by the conditioning unit, it undergoes secondary resonance compensation through the second LCC-LCC compensation circuit module (41) and the second SS compensation circuit module (42). At the same time, the control quantity output by the shape compensation tuning mechanism based on the magnetic field profile feedback dynamically adjusts the compensation circuit parameters to further stabilize the power transmission. The rectifier and filter module (5) performs AC-DC rectification on the high-frequency AC power to form DC power that is transmitted to the load to charge the load.

2. The hovering wireless charging system based on magnetic coupling resonance according to claim 1, characterized in that: The power module (1) consists of a DC power supply. constitute.

3. The hovering wireless charging system based on magnetic coupling resonance according to claim 1, characterized in that: The high-frequency inverter module (2) includes a full-bridge switch. , , , And the controller, The controller provides DC power to the full bridge, with its positive and negative terminals connected to the upper and lower power inputs of the full bridge, respectively. The controller also provides drive signals to the four full-bridge switches to alternately conduct, enabling... , and , Alternating conduction forms high-frequency square wave AC power; the full-bridge output is directly connected to the compensation circuit of the transmitter to provide high-frequency AC power for the transmitter coil module (6).

4. The hovering wireless charging system based on magnetic coupling resonance according to claim 1, characterized in that: The first LCC-LCC compensation circuit module (31) includes a compensation inductor. and series capacitor Compensation capacitor ; The first SS compensation circuit module (32) includes: a compensation capacitor. .

5. The hovering wireless charging system based on magnetic coupling resonance according to claim 1, characterized in that: The second LCC-LCC compensation circuit module (41) includes: a compensation inductor and series capacitor Compensation capacitor The second SS compensation circuit module (42) includes: a compensation capacitor. .

6. The hovering wireless charging system based on magnetic coupling resonance according to claim 1, characterized in that: The anti-hover offset unit includes a fuse Fs1, a transient voltage suppression diode Dwj, a current limiting resistor Rlim, a current limiting resistor Rlim-s, an adjustable capacitor Cadj-s, a filter capacitor Ce, a chip ADC, a digital signal processor DSP, a buffer operational amplifier Uop-s, a capacitor Cdw, and a voltage divider sampling unit. Fuse Fs1 is connected in series at the output terminal of the high-frequency inverter module (2), and is connected to the compensation inductor. Series connection; current-limiting resistors Rlim and Rlim-s are connected in parallel, with one end connected to fuse Fs1 and the other end connected to compensation capacitor. The connection limits the peak current of the first SS compensation circuit module (32); the filter capacitor Ce and the adjustable capacitor Cadj-s are connected in series, one end of which is connected to the fuse Fs1, and the other end is connected to the compensation capacitor. The adjustable capacitor Cadj-s is connected and its value is adjusted by a digital signal processor (DSP); the transient voltage suppression diode Dwj is connected to the compensation capacitor. Connected in parallel to absorb voltage spikes in the first SS compensation circuit module (32); The voltage divider sampling unit consists of voltage divider resistors Rsa1, Rsa2, Rsa3, and Rsa4 connected in series. The series voltage divider resistors are connected in parallel across capacitor Cdw to acquire the voltage across capacitor Cdw. The two ends of capacitor Cdw are connected to the non-inverting input and inverting input of buffer operational amplifier Uop-s, respectively. The output of buffer operational amplifier Uop-s is connected to the differential input pin of the chip ADC. Buffer operational amplifier Uop-s is used to enhance the driving capability of the sampling signal and transmit the acquired voltage signal to the chip ADC. The chip ADC is connected to the digital signal processor DSP. Compensation capacitor It is connected to both the ADC chip and the DSP chip. The ADC chip converts the voltage collected by the voltage divider sampling unit into a digital signal. The DSP chip outputs a control quantity to adjust the capacitance value of the adjustable capacitor Cadj-s based on the voltage signal and magnetic field feedback data.

7. The hovering wireless charging system based on magnetic coupling resonance according to claim 1, characterized in that: The conditioning unit includes a primary inductor Lp, a secondary inductor Ls, a mutual inductance M, an equivalent resistance Re, a secondary resistance Rd, a feedback resistor Rfb, an operational amplifier G, and a bypass capacitor Cb. The primary inductor Lp is connected in parallel with the equivalent resistance Re, and also in parallel with the bypass capacitor Cb, before being connected to the input terminal of the operational amplifier G. The secondary inductor Ls is connected in series with the secondary resistance Rd, with one end connected to the feedback resistor Rfb and the other end connected to the output terminal of the operational amplifier G. The feedback resistor Rfb is connected across the secondary inductor Ls and the input terminal of the operational amplifier G to form a feedback loop. The output terminal of the operational amplifier G is connected to the compensation capacitor of the subsequent second LCC-LCC compensation circuit module (41). The other end of the secondary resistor Rd is connected in series with the series capacitor of the second LCC-LCC compensation circuit module (41). connect.

8. The hovering wireless charging system based on magnetic coupling resonance according to claim 1, characterized in that: The rectifier and filter module (5) includes: a full-bridge rectifier diode. , and filter capacitor , The AC power is rectified into unidirectional pulsating DC power by a full-bridge rectifier diode, and then smoothed by a filter capacitor to form a DC voltage output to the load. , .

9. The hovering wireless charging system based on magnetic coupling resonance according to claim 1, characterized in that: The transmitting coil module (6) receives high-frequency alternating current and generates a high-frequency pulse width modulation signal through the controller module to control the power device module to turn on and off at high speed, thereby generating a high-frequency alternating magnetic field in space.

10. The hovering wireless charging system based on magnetic coupling resonance according to claim 1, characterized in that: The receiving coil module (7) captures the high-frequency alternating magnetic field generated by the transmitting coil through a magnetic coupling resonance mechanism and converts the high-frequency alternating magnetic field into an alternating current signal.

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