Electromagnetic coupling energy induction transmission system

Abstract

The invention discloses an electromagnetic coupling energy induction transmission system, belongs to the technical field of wireless charging, and particularly relates to a wireless charging system for a rotor unmanned aerial vehicle with a lightweight receiving end. The problems that an existing wireless charging system for the unmanned rotorcraft and a magnetic coupling mechanism of the wireless charging system are poor in anti-offset performance, the weight of a receiving end is large, the structure is complex, and the transmission efficiency is low are solved. The system comprises a transmitting end, a receiving end and a magnetic coupling mechanism, and the transmitting end inductor and the receiving end inductor are used for sending the alternating current with the given frequency to the receiving end in an alternating magnetic field mode through electromagnetic induction. The electromagnetic coupling energy induction transmission system is suitable for wireless charging of the rotor unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless charging, in particular to a wireless charging system for a rotor unmanned aerial vehicle with a lightweight receiving end. BACKGROUND

[0002] In recent years, rotor unmanned aerial vehicles have been widely used in photography, line inspection, logistics distribution and other fields due to their simple structure, high safety and low cost. However, due to the limitations of the size of the fuselage, the carrying capacity and the battery endurance, the flight duration of such unmanned aerial vehicles is generally only 20 to 30 minutes. Although increasing the battery capacity can increase the flight distance and time to some extent, it will also adversely affect the load and cost of the unmanned aerial vehicle. Therefore, without increasing the battery capacity, fast charging technology is usually used to improve the work efficiency of the unmanned aerial vehicle within a certain time.

[0003] At present, rotor unmanned aerial vehicles generally use wired charging method (i.e. through wire connection), which has problems in many aspects, such as lack of unified standard of charging interface, susceptible to weather conditions and the need for human intervention, etc. These problems limit the automation and intelligent charging needs of rotor unmanned aerial vehicles.

[0004] Wireless charging technology effectively overcomes the above problems, and its working mechanism is that the energy is wirelessly transmitted in the form of magnetic resonance from the energy transmitting device (transmitting end) to the energy receiving device (receiving end) on the rotor unmanned aerial vehicle, and then the battery in the unmanned aerial vehicle is charged with constant current or constant voltage through energy conversion and power adjustment. The rotor unmanned aerial vehicle applying wireless charging technology realizes automatic charging without human supervision, significantly improving the flexibility, convenience and safety of the unmanned aerial vehicle in actual operation.

[0005] However, as mentioned above, the structure size, load capacity and battery capacity of the rotor unmanned aerial vehicle are limited, and the structure of the current wireless charging system energy receiving device (receiving end) is complex, large in size, heavy in weight and not easy to install, which is difficult to install on the rotor unmanned aerial vehicle.

[0006] In summary, there is an urgent need for a lightweight, small, simple structure and easy to install wireless charging energy receiving device for rotor unmanned aerial vehicles. SUMMARY

[0007] The present application provides an electromagnetic coupling energy induction transmission system, which solves the problems of weak anti-offset performance, heavy weight of the receiving end, complex structure and low transmission efficiency of the existing wireless charging system for rotor unmanned aerial vehicles and the magnetic coupling mechanism thereof.

[0008] The technical scheme of the electromagnetic coupling energy induction transmission system provided by the present application is as follows:

[0009] The system comprises a transmitting end, a receiving end and a magnetic coupling mechanism:

[0010] The transmitting end comprises a DC stabilized power supply and a full-bridge inverter;

[0011] The receiving end comprises a full-bridge rectifier and a filter capacitor;

[0012] The magnetic coupling mechanism is equivalent to a transmitting end inductor, a receiving end inductor and a compensation capacitor in circuit; the compensation capacitor comprises a transmitting end compensation capacitor and a receiving end compensation capacitor; the transmitting end inductor, the receiving end inductor and the compensation capacitor constitute a series-series compensation topology;

[0013] The DC stabilized power supply is used to provide a DC power supply for the full-bridge inverter;

[0014] The full-bridge inverter is used to convert the DC power supply into an alternating current of a given frequency; and is also used to send the alternating current of the given frequency to the transmitting end inductor;

[0015] The transmitting end inductor and the transmitting end inductor are used to send the alternating current of the given frequency to the receiving end in the form of an alternating magnetic field through electromagnetic induction;

[0016] The full-bridge rectifier is used to rectify the alternating current of the given frequency received by the receiving end;

[0017] The filter capacitor is used to filter the rectified alternating current of the given frequency to obtain a charging power supply.

[0018] Further, a preferred embodiment is provided, wherein the transmitting end is used to be placed on the ground; and the receiving end is used to be installed on a rotor unmanned aerial vehicle.

[0019] Further, a preferred embodiment is provided, wherein the magnetic coupling mechanism comprises a square ferrite magnetic core, a transmitting unit and a receiving unit;

[0020] The square ferrite magnetic core, the transmitting unit and the receiving unit are sequentially aligned from bottom to top;

[0021] The transmitting unit comprises one large transmitting coil and a plurality of small transmitting coils;

[0022] The receiving unit comprises one receiving coil;

[0023] The transmitting unit is equivalent to the transmitting end inductor and the transmitting end compensation capacitor;

[0024] The receiving unit is equivalent to the transmitting end inductor and the receiving end compensation capacitor.

[0025] Furthermore, in a preferred embodiment, the system further includes a constant current and constant voltage control device:

[0026] The constant current and constant voltage control device includes an adjustable reactor, a power sensor, a wireless communication module, and a microprocessor;

[0027] The adjustable reactor is connected in series between the full-bridge inverter and the transmitter inductor;

[0028] The power sensor is used to collect the numerical signal of the charging power supply at the receiving end; it is also used to send the numerical signal of the charging power supply to the microprocessor through the wireless communication module.

[0029] The microprocessor is used to send control signals with different duty cycles to the adjustable reactor through a PI algorithm to adjust the resistance of the adjustable reactor, thereby adjusting the value of the charging power supply to achieve constant power charging.

[0030] Furthermore, a preferred embodiment is provided, wherein the adjustable reactor comprises two MOSFETs, three capacitors, and one reactor;

[0031] The two MOSFETs are MOSFET 1 and MOSFET 2.

[0032] The three capacitors are capacitor 1, capacitor 2, and capacitor 3;

[0033] One end of the reactor is electrically connected to one end of each of the three capacitors;

[0034] The other end of capacitor No. 1 is electrically connected to the drain of MOSFET No. 1.

[0035] The source of MOSFET No. 1 is electrically connected to the drain of MOSFET No. 2 and the other end of capacitor No. 3.

[0036] The source of the No. 2 MOS transistor is electrically connected to the other end of the No. 2 capacitor;

[0037] Furthermore, a preferred embodiment is provided in which the duty cycle of the control signal ranges from 0 to 0.5.

[0038] Furthermore, a preferred embodiment is provided, wherein capacitor 1, capacitor 2 and capacitor 3 constitute a soft-switching controllable capacitor;

[0039] The adjustment range of the equivalent capacitance of the soft-switching controllable capacitor is C. q ~(C q +C q1 +C q2 );

[0040] Among them, C q1 Capacitor #1; C q2C1 is a capacitor No. 2; C q C3 is a capacitor No. 3.

[0041] The present application has the following beneficial effects:

[0042] 1. The electromagnetic coupling energy induction transmission system has the advantages that the structure of the magnetic coupling mechanism is deeply optimized and designed, the size of the receiving coil is smaller than that of the transmitting coil, a plurality of small transmitting coils are used to assist and enhance the large transmitting coil, the number of turns of the receiving coil is smaller than that of the transmitting coil, and the coupling performance is ensured while using fewer ferrite cores, so that the receiving end is lightened and simplified; and the magnetic coupling mechanism and the receiving end are easy to install on the rotor unmanned aerial vehicle.

[0043] 2. The electromagnetic coupling energy induction transmission system has the advantages that the structure of the magnetic coupling mechanism is deeply optimized and designed, the size of the receiving coil is smaller than that of the transmitting coil, a plurality of small transmitting coils are used to assist and enhance the large transmitting coil, the mutual inductance value fluctuation in the horizontal direction (x and y axes) is small, and the anti-deviation performance is good.

[0044] 3. The electromagnetic coupling energy induction transmission system has the advantages that a plurality of small transmitting coils are used to assist and enhance the large transmitting coil in the magnetic coupling mechanism, and the transmission efficiency is high.

[0045] 4. The electromagnetic coupling energy induction transmission system has the advantages that the battery charging control strategy of the transmitting end impedance adjustment compensation (i.e., the adjustable reactor) ensures the efficient charging of the rotor unmanned aerial vehicle wireless charging system and the most simplified receiving end circuit structure.

[0046] 5. The electromagnetic coupling energy induction transmission system has the advantages that the battery charging control strategy of the transmitting end impedance adjustment compensation (i.e., the adjustable reactor) realizes the constant current / constant voltage charging of the battery.

[0047] The electromagnetic coupling energy induction transmission system is suitable for the wireless charging of the rotor unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0049] Figure 1 In an embodiment of the present application, a structure diagram of an electromagnetic coupling energy induction transmission system is shown.

[0050] Figure 2 For an embodiment of the present application, the schematic diagram of the relationship between the duty cycle and the equivalent capacitance value;

[0051] Figure 3 For an embodiment of the present application, the schematic diagram of the structure and simulation results of the magnetic coupling mechanism; wherein, Figure 3 (a) is a schematic diagram of the structure of the magnetic coupling mechanism; Figure 3 (b) is a schematic diagram of the simulation results of the magnetic coupling mechanism;

[0052] Figure 4 For an embodiment of the present application, the schematic diagram of the circuit simulation results of the electromagnetic coupling energy induction transmission system; wherein, Figure 4 (a) is a schematic diagram of the circuit simulation results of the constant current charging; Figure 3 (b) is a schematic diagram of the circuit simulation results of the constant voltage charging

[0053] Reference signs:

[0054] 1, large transmitting coil; 2, small transmitting coil; 3, receiving coil; 4, square ferrite core. DETAILED DESCRIPTION

[0055] In order to make the technical solutions and advantages of the present application clearer, the specific embodiments of the present application will be further described in detail and completely below in combination with the drawings. The various embodiments described below are only some preferred solutions of the present application, rather than all the embodiments. The various embodiments described below are intended to explain the present application, and cannot be understood as limiting the present application. The reasonable combinations of the technical features defined in the various embodiments of the present application, and all other embodiments obtained by the ordinary skilled in the art without making creative efforts based on the embodiments of the present application, all belong to the scope of protection of the present application.

[0056] In an embodiment, an electromagnetic coupling energy induction transmission system is provided, which comprises a transmitting end, a receiving end and a magnetic coupling mechanism:

[0057] The transmitting end comprises a direct current stabilized power supply and a full-bridge inverter;

[0058] The receiving end comprises a full-bridge rectifier and a filter capacitor;

[0059] The magnetic coupling mechanism is equivalent to a transmitting end inductance, a receiving end inductance and a compensation capacitor in circuit; the compensation capacitor comprises a transmitting end compensation capacitor and a receiving end compensation capacitor; the transmitting end inductance, the receiving end inductance and the compensation capacitor constitute a series-series compensation topology;

[0060] The direct current stabilized power supply is used to provide a direct current power supply for the full-bridge inverter;

[0061] The full-bridge inverter is used to convert the direct current power into alternating current power of a given frequency; and is also used to send the alternating current power of the given frequency to the transmitting end inductor;

[0062] The transmitting end inductor and the receiving end inductor are used to send the alternating current power of the given frequency to the receiving end in the form of alternating magnetic field through electromagnetic induction;

[0063] The full-bridge rectifier is used to rectify the alternating current power of the given frequency received by the receiving end;

[0064] The filter capacitor is used to filter the rectified alternating current power of the given frequency to obtain a charging power supply.

[0065] In the embodiment, the electromagnetic coupling energy induction transmission system is a wireless charging system for a rotor unmanned aerial vehicle with a light receiving end.

[0066] In addition, in an embodiment, the transmitting end is used to be placed on the ground; and the receiving end is used to be installed on the rotor unmanned aerial vehicle.

[0067] In the embodiment, the charging power supply is used to charge the battery of the rotor unmanned aerial vehicle.

[0068] In the embodiment, the charging power supply is a charging current or a charging voltage.

[0069] In the embodiment, as shown in the following formula: Figure 1

[0070] The direct current stabilized power supply is represented by U bus ; the adjustable reactor is represented by Z d ; the transmitting end inductor is represented by L p ; the receiving end inductor is represented by L s ; the receiving end compensation capacitor is represented by C s ; the filter capacitor is represented by C o ; the alternating current power of the given frequency is represented by U p ; the equivalent output of the full-bridge rectifier is represented by R o .

[0071] The transmitting end compensation capacitor is represented by C p , Figure 1 which is not drawn.

[0072] In the embodiment, the working principle of the system is as follows:

[0073] The direct current stabilized power supply is directly connected to the full-bridge inverter to convert the direct current power into 85 kHz (this frequency can be appropriately adjusted according to different system parameter requirements) alternating current power;

[0074] ​After the series-series compensation topology (magnetic coupling mechanism), the transmitting end energy is transmitted to the receiving end in the alternating magnetic field mode.

[0075] After the 85 kHz alternating current obtained by electromagnetic induction is rectified and filtered, the battery of the rotor unmanned aerial vehicle is charged.

[0076] In addition, in an embodiment, the magnetic coupling mechanism comprises a square ferrite magnetic core, a transmitting unit and a receiving unit.

[0077] The square ferrite magnetic core, the transmitting unit and the receiving unit are arranged in alignment from bottom to top.

[0078] The transmitting unit comprises one large transmitting coil and a plurality of small transmitting coils.

[0079] The receiving unit comprises one receiving coil.

[0080] The transmitting unit is equivalent to a transmitting end inductance and a transmitting end compensation capacitor.

[0081] The receiving unit is equivalent to a transmitting end inductance and a receiving end compensation capacitor.

[0082] In the embodiment, the large transmitting coil, the small transmitting coil and the receiving coil are all circular rings.

[0083] In the embodiment, the outer edge of the circular ring of the large transmitting coil is aligned with the outer edges of the four sides of the square ferrite magnetic core. The diameter of the outer edge of the circular ring of the large transmitting coil is equal to the length of the side of the square ferrite magnetic core.

[0084] In the embodiment, the diameter of the small transmitting coil is smaller than the diameter of the large transmitting coil.

[0085] In the embodiment, the diameter of the receiving coil is smaller than the diameter of the large transmitting coil.

[0086] In the embodiment, the plurality of small transmitting coils are uniformly arranged along the circumferential direction of the large transmitting coil. The outer edge of the circular ring of the plurality of small transmitting coils is aligned with the outer edge of the circular ring of the large transmitting coil.

[0087] In the embodiment, the specific number of the small transmitting coils can be optimized according to system parameters, for example, it can be 8.

[0088] In the embodiment, the structure of the magnetic coupling mechanism is deeply optimized and designed, which fully ensures the performance of the receiving end and makes it more suitable for application in the wireless charging system of the rotor unmanned aerial vehicle.

[0089] In the embodiment, the magnetic coupling mechanism is a multi-transmitting coil auxiliary enhancement type magnetic coupling mechanism.

[0090] In the embodiment, the sizes of the transmitting coil and the receiving coil of the magnetic coupling mechanism are asymmetric, so it can be called an asymmetric DD magnetic coupling mechanism.

[0091] In the embodiment, in practical application, the specific size of the magnetic coupling mechanism can be designed according to the structure size of different rotor unmanned aerial vehicles.

[0092] In the embodiment, compared with the traditional magnetic coupling mechanism, the magnetic coupling mechanism has fewer turns of the receiving coil while ensuring the light weight and simplicity of the receiving end.

[0093] In the embodiment, compared with the traditional magnetic coupling mechanism, the magnetic coupling mechanism uses fewer ferrite cores while ensuring the coupling performance.

[0094] In the embodiment, it can be seen from (b) that the mutual inductance value of the magnetic coupling mechanism in the horizontal direction (x and y axes) fluctuates less, which indicates that it has good anti-offset performance. Figure 3

[0095] In addition, in an embodiment, the system further comprises a constant current and constant voltage control device.

[0096] The constant current and constant voltage control device comprises an adjustable reactor, a power supply sensor, a wireless communication module, and a microprocessor.

[0097] The adjustable reactor is connected in series between the full-bridge inverter and the transmitting end inductor.

[0098] The power supply sensor is used to collect the numerical signal of the charging power supply of the receiving end, and also used to send the numerical signal of the charging power supply to the microprocessor through the wireless communication module.

[0099] The microprocessor is used to send control signals with different duty cycles to the adjustable reactor through the PI algorithm to adjust the resistance value of the adjustable reactor, and then adjust the numerical value of the charging power supply, so as to realize constant numerical value power charging.

[0100] In the embodiment, the power supply sensor is a current or voltage sensor.

[0101] When the charging power supply is charging current:

[0102] The power supply sensor is a current sensor.

[0103] The numerical signal of the charging power supply is a current value signal.

[0104] The constant numerical value power charging is constant current (constant current) charging.

[0105] When the charging power supply is charging voltage: the power supply sensor is a voltage sensor.​

[0106] The numerical signal of the charging power supply is a voltage value signal.

[0107] The constant numerical value of the power supply charging is constant voltage (constant voltage) charging.

[0108] In this embodiment, the constant current and constant voltage control device can assist in improving the system anti-offset performance.

[0109] In this embodiment, by adjusting the adjustable reactor Z d , the theoretical derivation of the charging power supply (i.e. charging current I o or charging voltage U o ) is as follows:

[0110] When the system works in the resonant state, the expression of the receiving end impedance Zs is formula (1); wherein, R o is the equivalent output of the full-bridge rectifier; R e is the input resistance of the full-bridge rectifier:

[0111]

[0112] The expression of the feedback impedance Z r is:

[0113]

[0114] The expression of the transmitting end impedance Z p is:

[0115]

[0116] The expression of the transmitting coil current effective value I p is:

[0117]

[0118] The expression of the transmitting coil current effective value I s is:

[0119]

[0120] The expression of the charging current I o and the charging voltage U o is:

[0121]

[0122] Obviously, by controlling the adjustable reactor Z d , the charging current I o or the charging voltage U o

[0123] In addition, in an embodiment, the adjustable reactor comprises two MOS transistors, three capacitors and one reactor.

[0124] The two MOS transistors are a first MOS transistor and a second MOS transistor.

[0125] The three capacitors are a first capacitor, a second capacitor and a third capacitor.

[0126] One end of the reactor is electrically connected to one end of the three capacitors.

[0127] The other end of the first capacitor is electrically connected to a drain of the first MOS transistor.

[0128] A source of the first MOS transistor is electrically connected to a drain of the second MOS transistor and the other end of the third capacitor.

[0129] A source of the second MOS transistor is electrically connected to the other end of the second capacitor.

[0130] In the embodiment, as shown in the figure: Figure 1

[0131] The first MOS transistor is denoted as Q1; the second MOS transistor is denoted as Q2; the first capacitor is denoted as C1; the second capacitor is denoted as C2; the third capacitor is denoted as C3; and the reactor is denoted as L. q1 q2 q q .

[0132] In the embodiment, as shown in the figure: Figure 1

[0133] The source of the first MOS transistor, the drain of the second MOS transistor and the other end of the third capacitor are connected to each other at one end, which is an external connection end of the adjustable reactor, i.e. an A end in the figure. Figure 1

[0134] The other end of the reactor is an external connection end of the adjustable reactor, i.e. a B end in the figure. Figure 1

[0135] In addition, in an embodiment, a duty cycle of the control signal ranges from 0 to 0.5.

[0136] In addition, in an embodiment, the first capacitor, the second capacitor and the third capacitor form a soft-switching controllable capacitor.

[0137] An equivalent capacitance of the soft-switching controllable capacitor ranges from C1 to (C1+C2+C3). q q q1 q2 .​​​​​​​​​​

[0138] wherein C q1 is the first capacitor; C q2 is the second capacitor; and C q is the third capacitor.

[0139] In the embodiment, the theoretical derivation of the value range of the duty cycle of the control signal and the adjustment range of the equivalent capacitance of the soft-switching controllable capacitor is as follows:

[0140] Let the duty cycle of the control signal be D, and the equivalent capacitance of the soft-switching controllable capacitor be C eq .

[0141] The expression of the equivalent capacitance C eq is as follows:

[0142]

[0143] It can be known from equation (7) that the effective adjustment interval of D is 0-0.5, and the adjustment range of C eq is C q -(C q +C q1 +C q2 .

[0144] Let the proportional coefficient be γ, and γ=C q / C q1 ; and the normalized equivalent capacitance value be C eq / C q .

[0145] When C q1 and C q2 are both 220 nF, and the value range of the proportional coefficient γ is 2.1-3.1, the simulation result of the normalized equivalent capacitance value is shown in FIG. 3. Figure 2

[0146] Obviously, adjusting D realizes the monotonous and continuous adjustment of C eq .

[0147] On this basis, the expression after the equivalent capacitance C eq is connected in series with the reactor L q is as follows:

[0148]

[0149] Obviously, adjusting D can realize the continuous adjustment of the adjustable reactor, so as to regulate and control I o and U o .

[0150] In addition, in an embodiment, in order to further illustrate the electromagnetic coupling energy induction transmission system, a specific embodiment is provided as follows:​

[0151] The electromagnetic coupling energy induction transmission system is used as a lightweight wireless charging system for a quad-rotor unmanned aerial vehicle.

[0152] The lightweight wireless charging system for the quad-rotor unmanned aerial vehicle is shown in Table 1.

[0153] Table 1 Parameters of the lightweight wireless charging system for the quad-rotor unmanned aerial vehicle

[0154] Symbol Name Index U bus ]]> DC regulated power supply voltage 48V f System operating frequency 85 kHz d Nominal transmission distance 7 mm M ]]> Mutual inductance of the magnetic coupling mechanism 13.5 μH Io Charging current variation interval 0 A to 5 A Uo Charging voltage variation interval 18 V to 24 V

[0155] A PLECS simulation model is built in combination with the parameters in Table 1, and a duty cycle adjustment mode of the transmitting end Buck converter is used to realize constant current / constant voltage charging, and the circuit simulation results are shown in Figure 4 .

[0156] As known from Figure 4 (a), in the constant current charging state, when the equivalent load resistance changes from 4.5 Ω to 6 Ω, increasing the duty cycle maintains the charging current at 4 A.

[0157] As known from Figure 4 (b), in the constant voltage charging state, when the equivalent load resistance changes from 10 Ω to 40 Ω, reducing the duty cycle maintains the charging voltage at 24 V. Obviously, the simulation results verify the feasibility of using the transmitting end control circuit to realize constant current / constant voltage charging.

[0158] In summary, starting from the point of view of reducing the load of the rotor unmanned aerial vehicle, the above embodiment designs a wireless charging system for the rotor unmanned aerial vehicle with a lightweight receiving end from the perspective of the magnetic coupling mechanism and the control circuit, and meets the demand for long-term maneuvering endurance of the rotor unmanned aerial vehicle.

[0159] The above further describes the technical solutions provided by the present application through several specific embodiments, in order to highlight the advantages and benefits of the technical solutions provided by the present application. However, the above several specific embodiments are not used as a limitation on the present application, and any reasonable changes and improvements to the present application, reasonable combinations and equivalent replacements of the embodiments, etc. based on the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An electromagnetic coupled energy inductive transfer system, characterized by, The system comprises a transmitting end, a receiving end and a magnetic coupling mechanism: The transmitting end comprises a DC stabilized power supply and a full-bridge inverter; The receiving end comprises a full-bridge rectifier and a filter capacitor; The magnetic coupling mechanism is equivalent to a transmitting end inductor, a receiving end inductor and a compensation capacitor in circuit; the compensation capacitor comprises a transmitting end compensation capacitor and a receiving end compensation capacitor; the transmitting end inductor, the receiving end inductor and the compensation capacitor constitute a series-series compensation topology; The DC stabilized power supply is used to provide a DC power supply for the full-bridge inverter; The full-bridge inverter is used to convert the DC power supply into an alternating current of a given frequency; it is also used to send the alternating current of the given frequency to the transmitting end inductor; The transmitting end inductor and the transmitting end inductor are used to send the alternating current of the given frequency to the receiving end in the form of an alternating magnetic field through electromagnetic induction; The full-bridge rectifier is used to rectify the alternating current of the given frequency received by the receiving end; The filter capacitor is used to filter the rectified alternating current of the given frequency to obtain a charging power supply.

2. An electromagnetic coupled energy inductive transmission system according to claim 1, wherein, The transmitting end is used to be placed on the ground; the receiving end is used to be installed on a rotor unmanned aerial vehicle.

3. An electromagnetic coupled energy inductive transmission system according to claim 1, wherein, The magnetic coupling mechanism comprises a square ferrite magnetic core, a transmitting unit and a receiving unit; The square ferrite magnetic core, the transmitting unit and the receiving unit are arranged in alignment from bottom to top; The transmitting unit comprises one large transmitting coil and a plurality of small transmitting coils; The receiving unit comprises one receiving coil; The transmitting unit is equivalent to the transmitting end inductor and the transmitting end compensation capacitor; The receiving unit is equivalent to the transmitting end inductor and the receiving end compensation capacitor.

4. An electromagnetic coupled energy inductive transmission system according to claim 1, wherein, The system further comprises a constant current and constant voltage control device: The constant current and constant voltage control device comprises an adjustable reactor, a power supply sensor, a wireless communication module and a microprocessor; The adjustable reactor is connected in series between the full-bridge inverter and the transmitting end inductor; The power supply sensor is used to collect a numerical signal of the charging power supply of the receiving end; it is also used to send the numerical signal of the charging power supply to the microprocessor through the wireless communication module; The microprocessor is used to send control signals of different duty cycles to the adjustable reactor through a PI algorithm to adjust the resistance value of the adjustable reactor, thereby adjusting the numerical value of the charging power supply, and realizing constant numerical value power charging.

5. An electromagnetic coupled energy inductive transfer system according to claim 4, wherein, The adjustable reactor comprises two MOS tubes, three capacitors and one reactor; The two MOS tubes are No. 1 MOS tube and No. 2 MOS tube; The three capacitors are No. 1 capacitor, No. 2 capacitor and No. 3 capacitor; One end of the reactor is electrically connected to one end of the three capacitors; The other end of the No. 1 capacitor is electrically connected to the drain of the No. 1 MOS tube; The source of the No. 1 MOS tube is electrically connected to the drain of the No. 2 MOS tube and the other end of the No. 3 capacitor; The source of the No. 2 MOS tube is electrically connected to the other end of the No. 2 capacitor.

6. An electromagnetic coupled energy inductive transmission system according to claim 5, wherein, The duty cycle of the control signal ranges from 0 to 0.

5.

7. An electromagnetic coupled energy inductive transmission system according to claim 5, wherein, The No. 1 capacitor, the No. 2 capacitor and the No. 3 capacitor constitute a soft-switching controllable capacitor; The adjustment range of the equivalent capacitance of the soft-switching controllable capacitor is C q ~ (C q + C q1 + C q2 ); Wherein, C q1 is the 1st capacitor; C q2 is the 2nd capacitor; C q is the 3rd capacitor.

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