LCC-S single-input double-receiving orthogonal magnetic coupling mechanism and orthogonal driving method

Abstract

The invention provides an LCC-S single-input double-receiving orthogonal magnetic coupling mechanism and an orthogonal driving method, and belongs to the technical field of wireless power transmission. The invention aims to solve the problem that an orthogonal and constant-amplitude voltage waveform meeting strict requirements of an ultrasonic motor is difficult to directly obtain at a receiving end under a single-source input condition in electric energy transmission of the wireless driving ultrasonic motor. The mechanism comprises a transmitting side and a receiving side, and the transmitting side adopts an LCC compensation structure and is used for transmitting high-frequency alternating current energy to the receiving side; the receiving side comprises an A-phase receiving circuit and a B-phase receiving circuit. The method comprises the following steps: S1, performing direct current compensation through an LCC compensation network; s2, designing a receiving end topology and phase shift principle, and constructing a resonance condition, so that the internal impedance of a receiving coil is completely counteracted; and S3, realizing characteristic impedance matching and orthogonal output through parameter configuration of the B-phase receiving circuit.

Description

Technical Field

[0001] This invention relates to an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism and orthogonal driving method, belonging to the field of wireless power transmission technology. Background Technology

[0002] Ultrasonic motors (USMs) are widely used in precision drive applications due to their advantages such as high torque density, fast response, and absence of electromagnetic interference. Normal operation of an ultrasonic motor typically requires two sinusoidal AC voltages (denoted as the Sine phase and Cosine phase) with equal amplitude and a 90° phase difference for driving.

[0003] In the field of motor drives, wireless drive technology has seen significant development, effectively avoiding problems related to metal connections and wire wear, enabling motors to operate stably in harsh or humid environments. Common wireless power transmission system structures for ultrasonic motors do not require a high-frequency rectifier circuit on the secondary side; they can directly output a high-frequency AC voltage.

[0004] In traditional wireless drive ultrasonic motor solutions, two completely independent "single-transmitter-single-receiver" systems are typically used to obtain two orthogonal drive voltages. While this approach has simple control logic, it results in a large system size, high component redundancy, high cost, and hinders system miniaturization and integration.

[0005] While existing wireless power transfer (WPT) technologies can achieve power transfer through multiple outputs, under single-source input conditions, it is difficult to directly obtain orthogonal (90° phase difference) and equal-amplitude voltage waveforms at the receiving end that meet the stringent requirements of ultrasonic motors. Therefore, designing a circuit topology that can automatically achieve orthogonal and amplitude-balanced output voltages at the receiving end using a single inverter input is of great significance for solving the aforementioned redundancy problem. Summary of the Invention

[0006] To address the problem that it is difficult to obtain orthogonal and equal-amplitude voltage waveforms that meet the stringent requirements of ultrasonic motors at the receiving end during power transmission of wirelessly driven ultrasonic motors under single-source input conditions, this invention proposes an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism and an orthogonal driving method.

[0007] The technical solution adopted by the present invention to solve the above problems is as follows: The present invention proposes an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism, comprising: The transmitting and receiving sides are equipped with an LCC compensation structure to transfer high-frequency AC energy to the receiving side; the receiving side includes an A-phase receiving circuit and a B-phase receiving circuit; the transmitting and receiving sides are electromagnetically coupled through coils.

[0008] Furthermore, the transmitting side includes a DC power supply, a single inverter, and an LCC compensation structure; Both the positive and negative terminals of the DC power supply are connected to the input terminals of the single inverter; the single inverter includes switching transistors. Q 1. Switching transistor Q 2. Switching transistor Q 3 and switching transistors Q 4; Switching transistor Q The source of 1 is connected to the positive terminal of the DC power supply and the switching transistor. Q The source and drain of 3 are connected to the switching transistor. Q 2. Source and LCC compensation structure; switching transistor Q The drain of 2 is connected to the switching transistor. Q The drain of 4 and the negative terminal of the DC power supply; the switching transistor Q The drain of 3 is connected to the switching transistor. Q 4 source and LCC compensation structure; LCC compensation structure includes filter inductor L f Compensation capacitor C p Compensation capacitor C p1 And the transmitting coil; the filter inductor L f Compensation capacitor C p1 And the series connection between the transmitting coils, and the compensation capacitor. C p It is connected in parallel across the two ends of the transmitting coil.

[0009] Furthermore, the A-phase receiving circuit includes a receiving coil. L A Compensation capacitor C SA and load R L ; receiving coil L A Compensation capacitor C SA and load R L They are connected in series.

[0010] Furthermore, the B-phase receiving circuit includes a receiving coil. L B ,capacitance C SB L-shaped network and load R L L-type networks include phase-shifting inductors. L X and phase-shifting capacitor C X; receiving coil L B ,capacitance C SB Phase-shifting inductor L X and load R L Series connection; phase-shifting capacitor C X Parallel connection at load R L Both ends.

[0011] An orthogonal driving method for an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism includes: Step 1: The DC power supply on the transmitting side is converted into high-frequency AC power by a single inverter and then connected to the LCC compensation network. The high-frequency AC power is compensated by the LCC compensation network, generating a constant high-frequency AC power in the transmitting coil. Step 2: Through the two output circuits on the transmitting side, a constant high-frequency AC current is transmitted to the A-phase receiving circuit and the B-phase receiving circuit respectively. The receiving coil A and the receiving coil B induce a first induced electromotive force and a second induced electromotive force respectively based on the constant high-frequency current. Step 3: The A-phase receiving circuit on the receiving side obtains the first AC voltage based on the first induced electromotive force; Step 4: The B-phase receiving circuit on the receiving side obtains a second AC voltage that lags 90° in phase and has the same amplitude as the first AC voltage by processing the second induced electromotive force through a series compensation network and an L-type phase shifting network in sequence.

[0012] Furthermore, based on the first induced electromotive force, through a series compensation capacitor... C SA The compensation function directly outputs a reference voltage of 0° and serves as a phase reference.

[0013] Furthermore, through the receiving coil in the B-phase receiving circuit L B Infectious resistance With compensation capacitor C SB Capacitive ,in, This refers to the operating frequency of the ultrasonic motor system. The imaginary unit is used; a series compensation capacitor is configured. Make the compensation capacitor Operating frequency The receiving coil in the lower phase B receiving circuit L B inductance Series resonance occurs, causing the receiving coil to... LA and receiving coil L B The internal impedances are completely canceled out by the compensation capacitor. C SB The voltage value is equal to the second induced electromotive force. ; According to load R L resistance, phase-shifting capacitor C X Capacitive reactance and phase-shifting inductance L X The inductive reactance value is obtained from the transfer function; Define the impedance matching relationship of the L-type network, i.e., the phase-shifting inductor. L X Inductive reactance, phase-shifting capacitance C X Capacitive reactance and load R L With equal resistance values, the transfer function is optimized based on the set impedance matching relationship to obtain the condition that the output voltage of the B-phase receiving circuit is 90° phase-shifted compared to the output voltage of the A-phase receiving circuit. Furthermore, the voltage gain is 1, enabling orthogonal control of the ultrasonic motor system.

[0014] The beneficial effects of this invention are: 1. This invention, through circuit topology design, introduces a specific impedance matching and phase shifting network in phase B of the receiver. Under single DC voltage source input conditions, through a hybrid compensation strategy at the receiver, it can accurately achieve a 90° phase difference and equal amplitude between the two output voltages without increasing the control complexity at the transmitter. This fully meets the stringent driving requirements of ultrasonic motors and fills the gap in existing WPT technology in this scenario.

[0015] 2. This invention achieves the A and B phase orthogonal drive required for ultrasonic motors by simply adjusting the parameters of passive components at the receiving end, without increasing the control complexity at the transmitting end. It eliminates the need for complex active control algorithms, reduces debugging difficulty and operational failure rate, and makes it easier to scale up production and apply in practice.

[0016] 3. The LCC compensation structure on the transmitting side of the present invention keeps the primary current constant under dual-load conditions, the transmitting coil voltage conforms to the law of energy conservation, and the capacitor withstand voltage is within a safe range; the S compensation in the B-phase receiving circuit realizes complete cancellation of the coil internal impedance, and with the characteristic impedance matching design, achieves constant voltage lossless transmission, improving energy transmission efficiency and system operation stability. Attached Figure Description

[0017] Figure 1 This is a circuit diagram of an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism; Figure 2 This is a waveform diagram of the output voltage of an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism; Figure 3 This is a flowchart illustrating an orthogonal driving method for an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism. Detailed Implementation

[0018] like Figure 1 As shown, the structure of the LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism described in this embodiment includes: Transmitter and receiver sides. Transmitter side (Tx): Employs an LCC compensation structure, connected to a single inverter, providing high-frequency AC power with constant current source characteristics to the system. Receiver side includes two output circuits, corresponding to phase A (Sine phase) and phase B (Cosine phase) of the ultrasonic motor, respectively. Receiver side (Rx): Contains two independent receiving circuits, corresponding to phase A and phase B of the ultrasonic motor, respectively.

[0019] The transmitting side includes a DC power supply, a single inverter, and an LCC compensation structure; Both the positive and negative terminals of the DC power supply are connected to the input terminals of the single inverter; the single inverter includes switching transistors. Q 1. Switching transistor Q 2. Switching transistor Q 3 and switching transistors Q 4; Switching transistor Q The source of 1 is connected to the positive terminal of the DC power supply and the switching transistor. Q The source and drain of 3 are connected to the switching transistor. Q 2. Source and LCC compensation structure; switching transistor Q The drain of 2 is connected to the switching transistor. Q The drain of 4 and the negative terminal of the DC power supply; the switching transistor Q The drain of 3 is connected to the switching transistor. Q The source of 4 and the LCC compensation structure; the LCC compensation structure includes a filter inductor. L f Compensation capacitor C p Compensation capacitor C p1 And the transmitting coil; the filter inductor L f Compensation capacitor C p1 And the series connection between the transmitting coils, and the compensation capacitor. C p It is connected in parallel across the two ends of the transmitting coil.

[0020] Phase A receiving circuit includes a receiving coil. L A Compensation capacitor CSA and load R L ; receiving coil L A Compensation capacitor C SA and load R L The phase B receiving circuit is connected in series. The phase B receiving circuit includes a receiving coil. L B ,capacitance C SB L-shaped network and load R L L-type networks include phase-shifting inductors. L X and phase-shifting capacitor C X ; receiving coil L B ,capacitance C SB Phase-shifting inductor L X and load R L Series connection; phase-shifting capacitor C X Parallel connection at load R L Both ends.

[0021] Furthermore, this embodiment also proposes an orthogonal driving method for an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism, such as... Figure 3 As shown, it includes: S1: DC compensation is performed through the LCC compensation network; The DC power supply on the transmitting side is converted into high-frequency AC power by a single inverter and then connected to an LCC compensation network. The high-frequency AC power is compensated by the LCC compensation network, generating a constant high-frequency AC power in the transmitting coil.

[0022] S2: Design the receiver topology and phase-shifting principle to construct the resonance condition so that the internal impedance of the receiving coil is completely canceled out; The A-phase receiving circuit (Sine phase) maintains the S (series) compensated topology. The receiving coil... L A With compensation capacitor C SA Connected in series, it directly outputs a reference voltage of 0°. This circuit serves as a phase reference.

[0023] The B-phase receiving circuit (Cosine phase) employs an S-compensation + L-type low-pass filter network (i.e., S-LCL structure). This structure comprises a two-stage design. The first stage (i.e., series compensation) involves a capacitor connected in series after the B-phase receiving coil. CSB By satisfying the resonance condition The inductance of the receiving coil is canceled out. At this point, an equivalent voltage source with extremely low internal resistance is obtained at the input of the subsequent circuit, the voltage amplitude of which is equal to the induced electromotive force of the receiving coil; the second stage (L-type phase-shifting impedance matching network) is connected after the first stage by the phase-shifting inductor. L X and phase-shifting capacitor C X An L-shaped network is formed.

[0024] In the B-phase receiving circuit, the inductive reactance of the secondary coil in the first stage (S-compensation) With series compensation capacitor capacitive reactance Configure series compensation capacitors To make it operate at frequency Lower coil inductance Series resonance occurs: (1); In formula (1), This refers to the operating frequency of the ultrasonic motor system. It is the imaginary unit.

[0025] After resonance occurs, the receiving coil L A and receiving coil L B The internal impedances are completely canceled out. For the subsequent circuit, the input terminal is equivalent to an ideal voltage source with zero internal resistance, and its voltage value is equal to the induced electromotive force. .

[0026] The circuit of an L-type network is simplified to a voltage source. Series inductor L X Then connect the capacitor C X and load R L The parallel network, according to the voltage divider theorem, outputs a voltage of... With input voltage The ratio can be expressed as: (2); In formula (2), For phase-shifting inductors L X impedance, ; For capacitor C X With load R L Parallel impedance: (3); Will and Substituting into formula (2), we get: (3); Simplifying equations (2)-(4), we obtain the final transfer function equation: (4); S3: By configuring the parameters of the B-phase receiving circuit, characteristic impedance matching and quadrature output are achieved; The core of this invention lies in the configuration of the parameters of the B-phase phase-shifting network. This is based on the LCL network voltage gain function. In order to make the output voltage of phase B lag 90° relative to phase A, and to maintain a voltage gain of 1 (i.e., Gain =1, voltage amplitude equal to phase A), must follow the characteristic impedance matching principle. Specific parameter design must meet the requirements of the phase-shifting inductor. L X Inductive reactance, phase-shifting capacitor C X The capacitive reactance is equal to the load resistance. R L (i.e., the equivalent impedance of the ultrasonic motor).

[0027] Set the load resistance to R L Two-phase ultrasonic motor R LA = R LB = R L ,but L X and C X The value of must satisfy: (5); We can obtain: (6); Simplifying the transfer function shown in formula (4) according to formula (6), we get: (7); Convert formula (7) to polar coordinates: (8); Based on the above derivation, the condition for the output voltage of phase B receiving circuit to be 90° phase-shifted compared to the output voltage of phase A receiving circuit can be obtained. With a voltage gain of 1, constant voltage lossless transmission is achieved; and the output voltage precisely lags the input voltage by 90 degrees, which fully meets the drive voltage requirements of the ultrasonic motor.

[0028] After completing the above settings, the present invention provides a detailed analysis of the working effect of the LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism, as shown below: like Figure 2 As shown, when the ultrasonic motor system operates at its resonant frequency: the stable sinusoidal voltage output by phase A is defined as... The output voltage of phase B, after passing through the S-LCL network, is... precise phase lag Phase 90°, and effective value This achieves voltage amplitude balance and satisfies the driving voltage conditions for the two-phase quadrature input of the ultrasonic motor.

[0029] Due to the use of LCC compensation on the transmitting side, the primary-side current remains constant under dual-load conditions. The transmitting coil voltage increases due to the superposition of reflection impedance, which conforms to the law of conservation of energy, and the primary-side capacitor withstand voltage is within a safe range. Through the above topology and parameter design, this invention successfully solves the volume redundancy problem caused by two systems in traditional solutions. Orthogonal control of wirelessly driven ultrasonic motors can be achieved simply by adjusting the parameters of passive components.

[0030] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. An LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism, characterized in that, include: The transmitting side and the receiving side are equipped with an LCC compensation structure to transfer high-frequency AC energy to the receiving side; the receiving side includes an A-phase receiving circuit and a B-phase receiving circuit; the transmitting side and the receiving side are electromagnetically coupled through coils.

2. The LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism according to claim 1, characterized in that, The transmitting side includes a DC power supply, a single inverter, and an LCC compensation structure. Both the positive and negative terminals of the DC power supply are connected to the input terminals of the single inverter; the single inverter includes a switching transistor. Q 1. Switching transistor Q 2. Switching transistor Q 3 and switching transistors Q 4; Switching transistor Q The source of 1 is connected to the positive terminal of the DC power supply and the switching transistor. Q The source and drain of 3 are connected to the switching transistor. Q 2. Source and LCC compensation structure; switching transistor Q The drain of 2 is connected to the switching transistor. Q The drain of 4 and the negative terminal of the DC power supply; the switching transistor Q The drain of 3 is connected to the switching transistor. Q 4 source and LCC compensation structure; The LCC compensation structure includes a filter inductor. L f Compensation capacitor C p Compensation capacitor C p1 And the transmitting coil; the filter inductor L f Compensation capacitor C p1 And the series connection between the transmitting coils, and the compensation capacitor. C p It is connected in parallel across the two ends of the transmitting coil.

3. The LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism according to claim 1, characterized in that, The A-phase receiving circuit includes a receiving coil. L A Compensation capacitor C SA and load R L ; receiving coil L A Compensation capacitor C SA and load R L They are connected in series.

4. The LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism according to claim 1, characterized in that, The B-phase receiving circuit includes a receiving coil. L B ,capacitance C SB L-shaped network and load R L L-type networks include phase-shifting inductors. L X and phase-shifting capacitor C X ; receiving coil L B ,capacitance C SB Phase-shifting inductor L X and load R L Series connection; phase-shifting capacitor C X Parallel connection at load R L Both ends.

5. An orthogonal driving method for an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism, applied to the LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism according to any one of claims 1-4, characterized in that, include: Step 1: The DC power supply on the transmitting side is converted into high-frequency AC power by a single inverter and then connected to the LCC compensation network. The high-frequency AC power is compensated by the LCC compensation network, generating a constant high-frequency AC power in the transmitting coil. Step 2: Through the two output circuits on the transmitting side, a constant high-frequency alternating current is transmitted to the A-phase receiving circuit and the B-phase receiving circuit respectively. The receiving coil A and the receiving coil B respectively induce a first induced electromotive force and a second induced electromotive force according to the constant high-frequency current. Step 3: The A-phase receiving circuit on the receiving side obtains the first AC voltage based on the first induced electromotive force; Step 4: The B-phase receiving circuit on the receiving side obtains a second AC voltage that lags 90° in phase and has the same amplitude as the first AC voltage by processing the second induced electromotive force through a series compensation network and an L-type phase shifting network in sequence.

6. The orthogonal driving method for an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism according to claim 5, characterized in that, Step 3 specifically includes: Based on the first induced electromotive force, via the series compensation capacitor C SA The compensation function directly outputs a reference voltage of 0° and serves as a phase reference.

7. The orthogonal driving method for an LCC-S single-input dual-receiver orthogonal magnetic coupling mechanism according to claim 5, characterized in that, Step 4 specifically includes: Through the receiving coil in the B-phase receiving circuit L B Infected With compensation capacitor C SB Capacitive ,in, This refers to the operating frequency of the ultrasonic motor system. The imaginary unit is used; a series compensation capacitor is configured. Make the compensation capacitor Operating frequency The receiving coil in the lower phase B receiving circuit L B inductance Series resonance occurs, causing the receiving coil to... L A and receiving coil L B The internal impedances are completely canceled out by the compensation capacitor. C SB The voltage value is equal to the second induced electromotive force. ; According to load R L resistance, phase-shifting capacitor C X Capacitive reactance and phase-shifting inductance L X The inductive reactance value is obtained from the transfer function; Define the impedance matching relationship of the L-type network, i.e., the phase-shifting inductor. L X Inductive reactance, phase-shifting capacitance C X Capacitive reactance and load R L With equal resistance values, the transfer function is optimized based on the set impedance matching relationship to obtain the condition that the output voltage of phase B receiving circuit is 90° phase-shifted compared to the output circuit of phase A receiving circuit. Furthermore, the voltage gain is 1, enabling orthogonal control of the ultrasonic motor system.

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