Flux guide rail coupling system, circuit, position detection method and magnetic field control method

Abstract

The invention discloses a double-phase magnetic flux guide rail coupling system, an inverter circuit, a position detection method and a magnetic field control method. The system comprises an energy transmitting end and an energy receiving end, the energy transmitting end comprises multiple groups of first magnetic core coil devices which are connected in the extension direction, and each first magnetic core coil device comprises a first magnetic core and a first coil; in two adjacent groups of first magnetic core coil devices, two groups of first magnetic cores are directly connected, the current amplitudes are different, and the distances are equal; and in the two groups of first magnetic core coil devices which are closest to each other and have the same current amplitude, the winding directions of the first coils are opposite. According to the system, two-phase decoupling can be realized, the modeling difficulty of a magnetic circuit is reduced, the utilization rate of a magnetic field is improved, a two-phase driving mode in which two-phase output is completely independent can be realized, and finally wireless power transmission in the advancing process is realized. In addition, the position information of the vehicle can be detected, meanwhile, the output fluctuation of the voltage can be reduced by controlling the magnetic field, and the system stability and the energy utilization efficiency are improved.

Description

Technical Field

[0001] This application relates to a two-phase flux-guided coupling system, an inverter circuit, a position detection method, a magnetic field control method, an electronic device, and a computer-readable storage medium, belonging to the field of wireless power transmission technology. Background Technology

[0002] Currently, Dynamic Wireless Power Transfer (DWPT) technology can continuously power vehicles during operation, thereby significantly reducing the capacity requirements of onboard batteries, increasing driving range, and improving overall energy efficiency.

[0003] Among current DWPT (Dynamic Wave Transmission Platform) configurations, the longitudinal flux guide structure is considered more suitable for road applications due to its advantages such as low guide width requirements, long effective transmission distance, high power density, and strong resistance to lateral displacement. However, the main magnetic flux excited by the longitudinal flux guide exhibits a periodic sinusoidal distribution along the direction of travel, causing the mutual inductance coupled to the receiving coil to change significantly with position, resulting in noticeable periodic fluctuations in the output voltage at the receiving end. These fluctuations not only reduce the system's energy transmission efficiency and the vehicle's DC / DC voltage regulation efficiency, and increase the complexity of filter design, but may also lead to unstable charging current of the vehicle's power battery, affecting the system's stability and safety. Summary of the Invention

[0004] This application discloses a two-phase flux rail coupling system, an inverter circuit, a position detection method, a magnetic field control method, an electronic device, and a computer-readable storage medium.

[0005] The dual-phase flux guide rail coupling system in this application includes an energy transmitter and an energy receiver. The energy transmitter is arranged along the extension direction of a preset fixed infrastructure, and the energy receiver is arranged on a target vehicle. The target vehicle is configured to travel on the preset fixed infrastructure, which includes a road or a track. The energy emitting end includes multiple sets of first magnetic core coil devices connected and arranged along the extension direction of the preset fixed infrastructure. Each first magnetic core coil device includes a first magnetic core and a first coil wound on the first magnetic core. The first magnetic core is arranged perpendicular to the extension direction of the preset fixed infrastructure. The current amplitude in the first coil is set to two values. In two adjacent sets of the first magnetic core coil devices, the two sets of the first magnetic cores are directly connected and the current amplitudes of the two sets of the first coils are different, and the spacing between the two adjacent sets of the first magnetic core coil devices is equal. In the two sets of first magnetic core coil devices that are closest to each other and have the same current amplitude in the first coil, the winding directions of the first coils are opposite.

[0006] In some embodiments, the energy receiving end includes a second magnetic core coil device, which includes a second magnetic core and a second coil that cooperates with the second magnetic core. The second magnetic core is strip-shaped and arranged parallel to the extension direction of the preset fixed infrastructure.

[0007] The inverter circuit in this application embodiment includes a primary side sub-circuit and a secondary side sub-circuit. The primary side sub-circuit is disposed at the energy transmitting end of the two-phase flux rail coupling system in the above embodiment, and the secondary side sub-circuit is disposed at the energy receiving end of the two-phase flux rail coupling system in the above embodiment. The primary-side sub-circuit includes an inverter assembly and a current modulation compensation assembly. The inverter assembly is configured to provide a uniform square wave voltage, and the current modulation compensation assembly is configured to individually adjust the current amplitude and realize power transmission. The secondary side circuit includes a receiving coil and a bridge rectifier, wherein the receiving coil is configured to receive electrical energy and the bridge rectifier is configured to convert electrical energy.

[0008] In some embodiments, the inverter assembly includes a DC power supply and a single-phase full-bridge inverter. The single-phase full-bridge inverter includes a first bridge arm and a second bridge arm connected in parallel between the two poles of the DC power supply. The first bridge arm and the second bridge arm each include an upper arm switch and a lower arm switch arranged in series in the same direction, and the upper arm switch and the lower arm switch are connected at the midpoint of the bridge arm. The current modulation compensation component includes a first branch and a second branch. The first branch is connected between the midpoint of the first bridge arm and the negative terminal of the DC power supply, and the second branch is connected between the midpoint of the second bridge arm and the negative terminal of the DC power supply. The first branch includes a first compensation capacitor and a first transmitting coil connected in series, and the second branch includes a second compensation capacitor and a second transmitting coil connected in series, wherein the first transmitting coil and the second transmitting coil are configured as the first coil in the first magnetic core coil device with different amplitudes described in the above embodiments.

[0009] The vehicle position detection method in this application is based on the dual-phase magnetic flux guide rail coupling system described in the above embodiments, and the method includes: Obtain the transmitting voltage and transmitting current of the first coil in the first magnetic core coil device; The estimated mutual inductance value is determined based on the transmitted voltage and the transmitted current; Based on the preset mutual inductance-position analysis relationship, and according to the estimated mutual inductance value, the relative positional relationship between the energy receiver and the energy transmitter is determined, thereby determining the relative position between the vehicle and the preset fixed infrastructure.

[0010] In some embodiments, determining the estimated mutual inductance value based on the transmitting voltage and the transmitting current includes: The induced electromotive force of the first coil is determined based on the emission voltage, the emission current, the equivalent resistance of the first coil, and the inductance. Based on the induced electromotive force and the impedance of the energy receiving end, determine the estimated current value of the energy receiving end; The estimated mutual inductance value is determined based on the induced electromotive force and the estimated current value.

[0011] The magnetic field control method in this application is configured to control the magnetic field generated by the two-phase flux rail coupling system in the above embodiments, the method comprising: Obtain the emission current of the first coil in the first magnetic core coil device; In the coil connection model, the relative position information of the energy receiving end and the energy transmitting end is defined, and the angle parameter between the dq coordinate system and the αβ coordinate system is determined according to the relative position information. The coil connection model is configured as a circular model formed by assuming that four adjacent groups of the first magnetic core coil devices are connected end to end in sequence. Based on the included angle parameter, the transmitting current is transformed into a direct-axis current and a quadrature-axis current in the dq coordinate system, wherein the direct-axis current and the quadrature-axis current satisfy a pre-configured magnetic field vector model. The magnetic field vector model is determined based on the coil connection model and includes the voltage, current, and magnetic flux relationship between the energy transmitting end and the energy receiving end. Based on the attribute parameters of the energy emitting end, determine the reference value of the direct-axis current corresponding to the direct-axis current and the reference value of the quadrature-axis current corresponding to the quadrature-axis current; Based on the PI controller, the standard value of the direct-axis current is determined according to the direct-axis current and the reference value of the direct-axis current, and the standard value of the quadrature-axis current is determined according to the direct-axis current and the reference value of the quadrature-axis current. The direct-axis current standard value and the quadrature-axis current standard value are transformed into current standard values ​​in the αβ coordinate system, so that the transmitting current of the first coil in the two adjacent sets of the first magnetic core coil devices tracks the current standard value, thereby controlling the magnetic field generated by the energy transmitting end to always be directly opposite the energy receiving end.

[0012] In some implementations, the direct-axis current reference value is configured to keep the magnetic field amplitude generated by the energy emitting end constant and as large as possible within the range that the two-phase flux rail coupling system can support; The quadrature-axis current reference value is configured to be 0 to eliminate the quadrature-axis magnetic field decoupled from the energy emitter.

[0013] The electronic device in this application includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the vehicle position detection method or magnetic field control method in the above embodiments are implemented.

[0014] The computer-readable storage medium in the embodiments of this application stores a computer program that, when executed by one or more processors, implements the vehicle position detection method or magnetic field control method in the above embodiments.

[0015] The beneficial effects of this application are as follows: The dual-phase flux rail coupling system in this application, while meeting the basic requirements for wireless power transmission, further achieves two-phase decoupling, thereby reducing the modeling difficulty of the magnetic circuit, improving the utilization rate of the magnetic field, and, after simple connection to the inverter circuit, can achieve a two-phase drive mode with completely independent two-phase outputs, controllable amplitude, and fixed phase, ultimately enabling wireless charging of the vehicle while it is in motion. Furthermore, the dual-phase flux rail coupling system can be used to perform approximate detection of the vehicle's position information, and by controlling its magnetic field, voltage output fluctuations can be reduced, improving system stability and energy utilization efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the first magnetic core coil device in the two-phase magnetic flux guide rail coupling system according to the embodiments of this application; Figure 2 This is a schematic diagram of the energy emitting end in the dual-phase flux guide rail coupling system according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the second magnetic core coil device (energy receiving end) in the two-phase magnetic flux guide rail coupling system according to the embodiments of this application; Figure 4 This is a schematic diagram of the application scenario of the two-phase magnetic flux guide rail coupling system according to the embodiments of this application; Figure 5 This is a schematic diagram of the circuit structure of the inverter circuit according to an embodiment of this application; Figure 6 This is one of the flowcharts illustrating the vehicle position detection method according to an embodiment of this application; Figure 7This is a second schematic flowchart of the vehicle position detection method according to the embodiments of this application; Figure 8 This is a flowchart illustrating the magnetic field control method according to an embodiment of this application; Figure 9 This is a schematic diagram of the coil connection model and the equivalent connection model in the embodiments of this application.

[0017] Wherein: 10, first magnetic core coil assembly; 110, first magnetic core; 111, pole shoe; 112, pole body; 113, pole yoke; 120, first coil; 20, second magnetic core coil assembly; 210, second coil; 220, second magnetic core; DC, direct current power supply; G1, first upper arm switch transistor; G2, first lower arm switch transistor; G3, second upper arm switch transistor; G4, second lower arm switch transistor; L α First transmitting coil; L β Second transmitting coil; C α First compensation capacitor; C β Second compensation capacitor; L r , receiving coil; C r Receiver compensation capacitor; CVT, bridge rectifier; R eq , load; M α Mutual inductance between the first transmitting coil and the receiving coil; M β The mutual inductance between the second transmitting coil and the receiving coil. Detailed Implementation

[0018] Please see Figures 1-4 The dual-phase magnetic flux guide rail coupling system in this application includes an energy transmitter and an energy receiver. The energy transmitter is arranged along the extension direction of a preset fixed infrastructure, and the energy receiver is arranged on a target vehicle. The target vehicle is configured to travel on the preset fixed infrastructure, which includes a road or a track. The energy emitting end includes multiple sets of first magnetic core coil devices 10 connected and arranged along the extension direction of the preset fixed infrastructure. The first magnetic core coil device 10 includes a first magnetic core 110 and a first coil 120 wound on the first magnetic core 110. The first magnetic core 110 is arranged perpendicular to the extension direction of the preset fixed infrastructure. The current amplitude in the first coil 120 is set in two ways. In two adjacent sets of first magnetic core coil devices 10, the two sets of first magnetic cores 110 are directly connected and the current amplitudes of the two sets of first coils 120 are different, and the spacing between the two adjacent sets of first magnetic core coil devices 10 is equal. In the two sets of first magnetic core coil devices 10 that are closest to each other and have the same current amplitude in the first coil 120, the winding directions of the first coil 120 are opposite.

[0019] In some embodiments, the energy receiving end includes a second magnetic core coil device 20, which includes a second magnetic core 220 and a second coil 210 that cooperates with the second magnetic core 220. The second magnetic core 220 is strip-shaped and arranged parallel to the extension direction of the preset fixed infrastructure.

[0020] Specifically, based on the above embodiments, and exemplarily, for the first magnetic core coil device 10 included in the energy emitting end, please refer to... Figure 1 Each first magnetic core coil device 10 includes a first magnetic core 110 and a first coil 120 wound on the first magnetic core 110. Each first magnetic core 110 includes three parts: a pole yoke 113, a pole body 112, and a pole shoe 111. The pole yoke 113 and the pole shoe 111 are arranged parallel to each other, while the pole body 112 is arranged perpendicular to the pole yoke 113 and the pole shoe 111. The three parts are spliced ​​together to form a first magnetic core 110 perpendicular to the extension direction of the preset fixed infrastructure. The first coil 120 is wound on the pole body 112 in the first magnetic core 110, thus forming the first magnetic core coil device 10 together with the first magnetic core 110. Generally, considering the wide range of applications, the above-mentioned first magnetic core 110 can be an N-type magnetic core.

[0021] For pre-set fixed infrastructure, these can generally be extended structures such as roads or tracks that allow vehicles to travel. Numerous first magnetic core coil devices 10 are buried beneath the road surface or track surface, extending linearly along the direction of the road or track, thus forming an energy emitting end that is substantially the same length as the road or track and extends in the same direction. Considering practical application scenarios, the pole body 112 of the first magnetic core 110 should be perpendicular to the road surface or track surface, while the pole yoke 113 and pole shoe 111 should be parallel to the road surface or track surface. For example, please refer to... Figure 2 , Figure 2 Four adjacent sets of first magnetic core coil devices 10 are shown.

[0022] In particular, for Figure 2 The four sets of first magnetic core coil devices 10 shown in the figure have the following rules regarding the amplitude of the current in the first coil 120 and the winding direction of the first coil 120 itself (that is, equivalent to the direction of the magnetic field vector): First, in any two adjacent sets of first magnetic core coil devices 10, the current amplitude in the first coil 120 is different. Assuming that α and β represent current phases with different amplitudes, the current amplitude of each first magnetic core coil device 10 is set by alternating α phase and β phase. Secondly, in any two adjacent sets of first magnetic core coil devices 10 with the same amplitude, the winding directions of the first coil 120 are different, thus resulting in different directions of the generated magnetic field vector. For example, if the direction from the pole body 112 to the pole shoe 111 is positive, and the direction from the pole body 112 to the pole yoke 113 is negative, then... Figure 2 The magnetic field vector direction corresponding to the α-phase first magnetic core coil device 10 on the left is positive, denoted by α+, while the magnetic field vector direction corresponding to the α-phase first magnetic core coil device 10 on the right is negative, denoted by α-.

[0023] Following the above two rules, it can be seen that the numerous first magnetic core coil devices 10 included in the energy emitting end are arranged and connected repeatedly in a cycle of four groups of first magnetic core coil devices 10 with different current amplitudes and magnetic field vector directions, thus forming a complete energy emitting end. The specific type of the four first magnetic core coil devices 10 used as the cycle starting point can be chosen according to the actual situation, as long as the above two rules are satisfied. For example, the cycle can be α+, β+, α-, β-, or α+, β-, α-, β+, etc.

[0024] Furthermore, in any two adjacent sets of first magnetic core coil devices 10, the spacing between the first magnetic cores 110 should generally be equal, and exemplary, should be set to 0.5. τ The above τ The pole pitch is a parameter used to define the repetition period of the magnetic field distribution. Therefore, in the above-mentioned cyclic arrangement of the four sets of first magnetic core coil devices 10, the first magnetic core coil devices 10 at the entire energy emitting end operate at a 2... τ The polarity is repeated in a complete periodic pattern, thereby generating a periodic longitudinal main magnetic flux in the direction of vehicle travel.

[0025] Correspondingly, for the second magnetic core coil device 20 included in the energy receiving end, considering the utilization of electromagnetic induction, the second magnetic core coil device 20 is generally installed on the target vehicle traveling on the road or track, and its shape is generally flat and parallel to the road surface or track surface. For example, please refer to... Figure 3 as well as Figure 4 , Figure 3 The diagram shown is a top view of the second magnetic core coil assembly 20 in practical application of a two-phase flux-guided coupling system. Figure 4The diagram illustrates the positional relationship between the second magnetic core coil device 20 and the first magnetic core coil device 10 in a practical application of a two-phase magnetic flux guide rail coupling system. Specifically, the second magnetic core coil device 20 includes a second magnetic core 220 and a second coil 210 arranged parallel to the road surface or track surface. This arrangement maximizes the magnetic field coupling efficiency. As the vehicle travels along the road or track, dynamic magnetic coupling occurs between the second coil 210 and the first magnetic core coil device 10, thereby inducing a voltage within the second coil 210 and enabling wireless energy transmission.

[0026] For the first magnetic core 110, the magnetic flux flow is constrained and guided by the vertically arranged pole body 112 and the laterally connected pole shoe 111 and pole yoke 113, preventing the magnetic field from spreading disorderly in space, thereby improving the magnetic field utilization and transmission efficiency. The fixed spacing of the first magnetic core 110 ensures that the magnetic field is distributed periodically and sinusoidally along the road's extension direction. Compared to a lateral magnetic flux arrangement, this distribution method has a longer transmission distance, higher power density, and stronger anti-lateral displacement performance, thereby reducing power output fluctuations and minimizing leakage flux. The staggered orthogonal arrangement of the coil winding directions allows the magnetic circuits corresponding to the two currents to be independent, preventing mutual inductance coupling and physically eliminating phase-to-phase interference. For the second magnetic core 220, its arrangement parallel to the road surface enhances coupling efficiency, ensuring that the second coil 210 can stably induce voltage during dynamic processes.

[0027] For example, in some cases, the energy emitting end is laid 1.5m along the direction of the road's extension, and the spacing between adjacent first magnetic cores 110 is 0.5m. τ ,in τ =300mm, the first magnetic core coil device 10 is 2 τ For periodic repetition, the first magnetic core 110 is made of PC95 ferrite material, and the total length of the pole yoke 113 is 150mm. Adjacent first magnetic cores 110 are installed on the load-bearing structure under the road surface by means of guide rail slots. Each first magnetic core coil assembly 10 repeats periodically in the order α+, β+, α-, β- according to different coil current amplitudes and coil winding directions. Each first coil 120 has 8 turns and an equivalent inductance of 175. μH and equivalent resistance are both 1Ω. The energy receiving end (second magnetic core coil device 20) is mounted on the electric vehicle chassis and arranged parallel to the energy transmitting end. Multiple strip-shaped second magnetic cores 220 are provided with winding posts for winding the second coil 210. The second coil 210 is wound around the strip-shaped second magnetic cores 220 with the winding posts as a reference, thus ensuring that the second magnetic core 220 can cover the second coil 210 as much as possible, and that the second coil 210 is also arranged parallel to the energy transmitting end. The second magnetic core 220 is made of the same PC95 ferrite material as the first magnetic core 110, with a length of 400mm, a width of 50mm, and a thickness of 5mm. The second coil 210 has 8 turns and an equivalent inductance of 200Ω. μ H, with an equivalent resistance of 0.5Ω, the initial air gap between the geometric center of the second coil 210 and the upper surface of each pole piece 111 of the energy emitting end is 150mm, and the air gap fluctuation during vehicle operation does not exceed ±50mm.

[0028] Please see Figure 5 The inverter circuit in this application includes a primary side sub-circuit and a secondary side sub-circuit. The primary side sub-circuit is disposed at the energy transmitting end of the two-phase flux rail coupling system in the above embodiment, and the secondary side sub-circuit is disposed at the energy receiving end of the two-phase flux rail coupling system in the above embodiment. The primary-side sub-circuit includes an inverter assembly and a current modulation compensation assembly. The inverter assembly is configured to provide a uniform square wave voltage, and the current modulation compensation assembly is configured to individually adjust the current amplitude and realize energy transmission. The secondary side circuit includes the receiving coil L r And bridge rectifier CVT, receiving coil L r The bridge rectifier CVT is configured to receive electrical energy and to convert electrical energy into power.

[0029] In some embodiments, the inverter assembly includes a DC power supply DC and a single-phase full-bridge inverter. The single-phase full-bridge inverter includes a first bridge arm and a second bridge arm connected in parallel between the two poles of the DC power supply DC. The first bridge arm and the second bridge arm each include an upper arm switch and a lower arm switch arranged in series in the same direction, and the upper arm switch and the lower arm switch are connected at the midpoint of the bridge arm. The current modulation compensation component includes a first branch and a second branch. The first branch is connected between the midpoint of the first bridge arm and the negative terminal of the DC power supply, and the second branch is connected between the midpoint of the second bridge arm and the negative terminal of the DC power supply. The first branch includes a first compensation capacitor C connected in series. α and the first transmitting coil L α The second branch includes a second compensation capacitor C connected in series. β and the second transmitting coil L βThe first transmitting coil L α and the second transmitting coil L β The first coil is configured as a first magnetic core coil device with a different amplitude in the above embodiments.

[0030] Specifically, please refer to Figure 5 , Figure 5 The overall structure of the inverter circuit described above is shown. Based on the above implementation method, the inverter circuit is divided into a primary side and a secondary side by the mutual inductance of the coils. The primary side is the energy transmitting side, which is located on the energy transmitting end side of the two-phase magnetic flux rail coupling system in the above implementation method. The secondary side is the energy receiving side, which is located on the energy receiving end side of the two-phase magnetic flux rail coupling system in the above implementation method.

[0031] For the primary side, this sub-circuit includes two components: a unified single-phase high-frequency inverter (corresponding to the inverter component) and a current modulation compensation component.

[0032] The single-phase high-frequency inverter includes a DC power supply for providing electrical energy and a full-bridge converter (corresponding to a single-phase full-bridge inverter) for rectifying and forming a uniform square wave voltage. For specific connection methods, please refer to [link / reference needed]. Figure 5 For example, the entire bridge includes two arms, each arm comprising two sets of switching transistors; see [link to relevant documentation]. Figure 5 The first bridge arm includes a first upper arm switch G1 and a first lower arm switch G2, while the second bridge arm includes a second upper arm switch G3 and a second lower arm switch G4. Each switch is typically an NMOS transistor or an IGBT. However, in general applications, and for any given bridge arm, the source of the upper arm switch and the drain of the lower arm switch are connected at the midpoint of the bridge arm. The drains of the upper arm switches (G1 and G3) are connected to the positive terminal of the DC power supply, and the sources of the lower arm switches (G2 and G4) are connected to the negative terminal of the DC power supply. A connection point is then led out from the midpoint of each bridge arm to connect a current modulation compensation component.

[0033] The current modulation compensation component includes two branches: a first branch and a second branch. The first end of each branch is connected to the midpoint of one bridge arm, and the second end of each branch is connected to the negative terminal of a DC power supply. For example, please refer to... Figure 5The first end of the first branch is connected to the midpoint of the first bridge arm, and the first end of the second branch is connected to the midpoint of the second bridge arm. The uniform square wave voltage obtained after rectification by the full bridge is then input to the two branches of the current modulation compensation component using the aforementioned connection relationship. Each branch within the current modulation compensation component includes a compensation capacitor connected in series and a transmitting coil. The main function of the transmitting coil is to transmit electrical energy using mutual inductance; specifically, it is represented by the first coil included in the energy transmitting end of the two-phase flux-guided coupling system described above. The compensation capacitor is used to compensate for the self-inductance of the transmitting coil and achieve resonance.

[0034] Furthermore, the current amplitudes of the transmitting coils in the first and second branches should be different. That is, based on the energy transmitting end of the two-phase flux-guided coupling system in the above embodiment, exemplarily, the first transmitting coil L in the first branch... α The current phase is phase α, which is connected in series with a first compensation capacitor C. α The second transmitting coil L in the second branch β The current phase uses a β phase, which is connected in series with a second compensation capacitor C. β In this way, by connecting two branches to the transmitting coils corresponding to different current phases, and in conjunction with the two-phase flux rail coupling system described above, the amplitude of the current in each phase can be controlled independently without interference, and the periodic distribution characteristics of the magnetic field at the energy transmitting end in the two-phase flux rail coupling system can be matched, thereby eliminating power output fluctuations.

[0035] For the secondary side, this sub-circuit includes the receiving coil L. r The system consists of two parts: a bridge rectifier CVT and a receiving coil L. r The bridge rectifier CVT is used to form mutual inductance with the transmitting coil on the primary side, thereby utilizing electromagnetic induction to receive electrical energy. The CVT primarily converts the received AC energy into DC energy and further supplies it to the load R connected to the bridge rectifier CVT. eq Power supply, thereby enabling the load R to be supplied with power. eq Charging or acting as a load R eq The aforementioned loads can be the vehicle's battery or other electrical appliances, and can include functions such as power supply.

[0036] For the secondary side receiving coil L r It is simultaneously connected with the first transmitting coil L on the original side. α and the second transmitting coil L β Mutual inductance M is formed respectively α and M βThe mutual inductance value changes with the positional relationship between the energy receiver and the energy transmitter, that is, it changes with the periodic variation of the magnetic field. Simultaneously, the receiving coil L... r A receiving end compensation capacitor C is also connected in series with the bridge rectifier CVT. r This capacitor and the first compensation capacitor C on the original side α and the second compensation capacitor C β They serve similar purposes, both being used for resonance matching.

[0037] The inverter circuit described above integrates the dual-phase flux-rail coupling system described in the previous embodiment. A unified high-frequency square wave voltage is constructed using a single-phase full-bridge inverter, and independent current amplitudes for the α-phase and β-phase are generated separately by the current modulation compensation components of the dual-branch channels. This achieves power distribution from a single power source to a dual-current-phase equivalent independent AC source, with both current phases having independently adjustable amplitudes. The compensation capacitor compensates for the self-inductance of the transmitting and receiving coils in series, ensuring the system reaches resonance at the operating frequency and avoiding energy loss and interference. Based on the decoupling characteristic of the dual-phase flux-rail coupling system for different current phases, the α-phase transmitting coil and β-phase coil are independently energized. This avoids the limitation of a single inverter intelligently driving a single transmitting coil in current DWPT systems and also avoids synchronization problems between multiple inverters.

[0038] Please see Figure 6 The vehicle position detection method in this application is based on the two-phase magnetic flux guide rail coupling system in the above embodiments, and the method specifically includes the following steps: Step 011: Obtain the transmitting voltage and transmitting current of the first coil in the first magnetic core coil device; Step 012: Determine the estimated mutual inductance value based on the transmitting voltage and transmitting current; Step 013: Based on the preset mutual inductance-position analysis relationship, determine the relative positional relationship between the energy receiver and the energy transmitter according to the estimated mutual inductance value, so as to determine the relative position of the vehicle and the preset fixed infrastructure.

[0039] Furthermore, in some implementations, please refer to Figure 7 Step 012 specifically includes: Step 0121: Determine the induced electromotive force of the first coil based on the transmitting voltage, transmitting current, equivalent resistance of the first coil, and inductance; Step 0122: Determine the estimated current value of the energy receiver based on the induced electromotive force and the impedance of the energy receiver. Step 0123: Determine the estimated mutual inductance value based on the induced electromotive force and the current estimate.

[0040] Specifically, based on the above implementation method and the above-described dual-phase magnetic flux guide rail coupling system, for example, when the energy receiver is installed on the target vehicle, the energy receiver is arranged below the road surface, and the target vehicle is driving on the road, the vehicle position detection method in the following example can be used to roughly detect the relative position of the vehicle on the road.

[0041] For example, firstly, during the movement of the target vehicle, the voltage and current of the target α-phase coil and the target β-phase coil in the energy transmitter are collected in real time, wherein the target α-phase coil and the target β-phase coil are both the first coils included in the energy transmitter. When the voltage and current corresponding to the target α-phase coil are respectively and The voltage and current corresponding to the target β-phase coil are respectively and The target α-phase coil and the target β-phase coil are generally the first coils of adjacent coils.

[0042] Next, based on the collected data, the following preparations are made. The collected voltage and current parameters satisfy the following equivalent voltage equations.

[0043] ………… Formula 1 in j The imaginary unit, Angular frequency, The equivalent inductance of the target α-phase coil, The equivalent inductance of the target β-phase coil, The mutual inductance between the target α-phase coil and the second coil at the energy receiving end. The mutual inductance between the target β-phase coil and the second coil at the energy receiving end. The current in the second coil at the energy receiving end. Let be the equivalent resistance of the target α-phase coil. The equivalent resistance of the target β-phase coil.

[0044] In particular, if the second coil of the energy receiving end is connected in series with the receiving end compensation capacitor in the inverter circuit of the above embodiment, the above equations can be equivalent to the following equations.

[0045] ………… Formula 2 in This is the equivalent total impedance of the second coil. This is the equivalent resistance of the second coil. This is the equivalent inductance of the second coil. The capacitance value of the compensation capacitor at the receiving end.

[0046] Using the two sets of equations mentioned above as preliminary conditions, the following section addresses... as well as The estimated value is solved: Considering the current of the second coil It is difficult to measure directly, so the induced electromotive force of phase α is defined. and the induced electromotive force of the β phase as follows.

[0047] ………… Formula 3 Next, the induced potential mentioned above... as well as Substituting into formulas 1 and 2, we can... as well as The coupling relationship between them is eliminated, thus obtaining the current estimate of the second coil in the energy receiver. The details are as follows.

[0048] ………… Formula 4 Then, based on the above equation, a linear equation is established and rearranged into a least squares form, which yields the form shown in Formula 5.

[0049] ………… Formula 5 Based on Formula 5, the solution can be obtained using the least squares method. as well as The estimated value is shown in Formula 6.

[0050] ………… Formula 6 in For the matrix representation of the estimated mutual inductance values, The estimated mutual inductance between the target α-phase coil and the second coil at the energy receiving end is given. This is the estimated mutual inductance between the target β-phase coil and the second coil at the energy receiving end.

[0051] In obtaining and Based on this, since the mutual inductance value and the relative position between the energy receiver and the energy transmitter in the two-phase flux-guided coupling system described in the above embodiments exhibit a sinusoidal relationship with a spatial phase difference of 90°, the estimated value of the relative position angle between the energy receiver and the energy transmitter can be calculated in reverse according to Formula 7. The details are as follows.

[0052] ………… Formula 7 Finally, based on the offline calibration function in related technologies, the estimated value of the relative position angle is obtained. The independent variable is denoted by , which allows us to deduce the relative position of the energy receiver and the energy transmitter (i.e., the relative position of the energy receiver in the direction of the energy transmitter's extension). Since the energy receiver is installed on the target vehicle, the above method is equivalent to being able to detect the relative position information of the target vehicle on the road where the energy transmitter is deployed in real time.

[0053] The method described above can be directly implemented in the process of controlling a two-phase flux-guided rail coupling system to achieve wireless power transmission. The actual calculation process only requires the collected voltage and current of the transmitting coil, combined with the inherent properties of the two-phase flux-guided rail coupling system, to calculate the real-time position of the receiving coil, i.e., the target vehicle. No additional sensors are needed; the positioning problem can be solved directly within the system. Furthermore, the computation time for obtaining position information based on mutual inductance direct identification and inversion is sufficient to achieve real-time positioning even at the vehicle's speed in a driving scenario.

[0054] Please see Figure 8 The magnetic field control method in this application is configured to control the magnetic field generated by the two-phase flux rail coupling system in the above embodiments. The magnetic field control method includes the following steps: Step 021: Obtain the transmitting current of the first coil in the first magnetic core coil device; Step 022: In the coil connection model, define the relative position information of the energy receiving end and the energy transmitting end, and determine the angle parameter between the dq coordinate system and the αβ coordinate system based on the relative position information. The coil connection model is configured as a circular model formed by assuming that four adjacent groups of first magnetic core coil devices are connected end-to-end in sequence. Step 023: Based on the included angle parameter, transform the emission current into direct-axis current and quadrature-axis current in the dq coordinate system. The direct-axis current and quadrature-axis current satisfy a pre-configured magnetic field vector model. The magnetic field vector model is determined based on the coil connection model and includes the voltage, current, and flux relationship between the energy transmitter and the energy receiver. Step 024: Based on the attribute parameters of the energy emitter, determine the reference value of the direct-axis current corresponding to the direct-axis current and the reference value of the quadrature-axis current corresponding to the quadrature-axis current; Step 025: Based on the PI controller, determine the standard value of the direct-axis current according to the direct-axis current and the direct-axis current reference value, and determine the standard value of the quadrature-axis current according to the direct-axis current and the quadrature-axis current reference value; Step 026: Transform the standard values ​​of the direct-axis current and the quadrature-axis current into standard values ​​of the current in the αβ coordinate system, so that the transmitting current of the first coil in the two adjacent sets of first magnetic core coil devices tracks the standard values ​​of the current, so as to control the magnetic field generated by the energy transmitting end to always be directly opposite the energy receiving end.

[0055] Specifically, the magnetic field control method in this application controls the two-phase flux guide rail coupling system described above. Its purpose is to control the direction of the magnetic field vector generated at the energy transmitting end of the two-phase flux guide rail coupling system so that it always points to the energy receiving end, thereby realizing the real-time tracking and focusing of the magnetic field on the energy receiving end, thus suppressing the output power fluctuation in the DWPT system in principle.

[0056] Before implementing the magnetic field control method, as preparatory work, a reference coil connection model for the energy transmitter needs to be established. Since the energy transmitter uses four sets of first magnetic core coil devices in a loop, four adjacent sets of first magnetic core coil devices can be assumed to form a closed circle, with one first magnetic core coil device placed every quarter of the circumference. This constructs an equivalent coil connection model between the various first coils. Specifically, based on the above coil connection model, the equivalent coverage area of ​​the second magnetic core and second coil of the energy receiver is drawn on the outer circumference according to actual dimensions, thus constructing an equivalent connection model of the two-phase flux-guided coupling system. For example, please refer to... Figure 9 Based on the two-phase flux-guided coupling system described above, let the origin (i.e., coordinate 0) be the projection point corresponding to the geometric center of the first magnetic core coil device (i.e., α+) with the α-phase coil winding direction in the extending direction of the energy emitting end. The coordinates of the projection position of the geometric center of the second coil at the energy receiving end in the extending direction of the energy emitting end are... x Therefore, for the three sets of first magnetic core coil devices (β+, α-, and β-), the coordinates of their geometric centers projected onto the direction of energy emission are 0.5 and 0.5, respectively. τ , τ and 1.5 τ After converting to the equivalent connection model, still taking the line connecting the geometric center of α+ and the center of the circle as the initial state, assuming that the process of moving from α+ to β- at the energy receiving end is represented by the energy receiving end rotating clockwise along the circumference in the equivalent connection model, then the angle formed by the line connecting the geometric center of the second coil and the center of the circle, and the line connecting the geometric center of α+ and the center of the circle... θ and x The equivalent conversion relationship between them, specifically in radians, is as follows: ………… Formula 8 The model transformation process described above can also be directly regarded as a coordinate system transformation process for the current in the first coil of the energy emitting end. x This refers to the relative position information of the energy receiver and the energy transmitter. Given the polar distance, the included angle parameter can be updated in real time based on their relative positions. θ .

[0057] Based on the above preparatory work, the magnetic field control method will be described in the following example.

[0058] First, the current of the first coil included in the energy transmitter is acquired. Generally, based on the current position of the energy receiver, the current is acquired for the adjacent first coils among the four sets of first magnetic core coil devices corresponding to that position. Similar to the above implementation, among the four sets of first magnetic core coil devices corresponding to that position, two adjacent sets of first magnetic core coil devices are selected, where the target α-phase coil and the target β-phase coil are the first coils included in the aforementioned two sets of first magnetic core coil devices. Under this condition, the currents of the target α-phase coil and the target β-phase coil are acquired respectively. and .

[0059] Next, based on the above preparations, determine the current included angle parameters. θ , and then with θ Based on, , Transform to the dq coordinate system.

[0060] Specifically, in the stationary coordinate system (corresponding to the αβ coordinate system), the voltages of the target α-phase coil and the target β-phase coil are defined as follows: and And define the flux linkage of the target α-phase coil and the target β-phase coil as follows: and Then, the voltage equation, current equation, and flux linkage equation of the target α-phase coil and the target β-phase coil can be established in the stationary coordinate system, as shown in Formula 9 and Formula 10. The relevant parameters in the formulas can be found in the formulas in the above implementation.

[0061] ………… Formula 9 ………… Formula 10 Where p represents time t The differential, The current amplitude of the target α-phase coil, The current amplitude of the target β-phase coil.

[0062] For the current of the second coil at the energy receiving end and magnetic chains It satisfies the equation relationship shown in Formula 11, and the relevant parameters in the formula can be found in the formulas in the above implementation.

[0063] ………… Formula 11 in The equivalent resistance of the load connected to the energy output terminal. The peak flux linkage, also known as the linkage between the target α-phase coil and the second coil at the energy receiving end. and the linkage flux between the target β-phase coil and the second coil at the energy receiving end. The sum of.

[0064] It should be added that, in the two-phase flux-guided coupling system described above, if all the first coils have the same specifications, then the equivalent resistance of the target α-phase coil and the target β-phase coil is... as well as Both are equal, let the two equivalent resistances above be equal to And the equivalent inductance of the target α-phase coil and the target β-phase coil as well as They are also equal, let the two equivalent inductances mentioned above be equal to .

[0065] Therefore, when converting the two-phase flux-guided coupling system based on the above coil connection model, the same included angle parameter is used. θ, According to the Park transformation, the above... and , and , and When electromagnetic quantities are converted to the dq coordinate system, then for (or That is, you can get a corresponding pair. and ,for (or That is, you can get a corresponding pair. and ,for (or That is, you can get a corresponding pair. and ,in That is, corresponding to the direct-axis current, This corresponds to the quadrature-axis current, while the Park transform requires the use of the included angle parameter. θ The included angle matrix with reference to the stationary coordinate system is equivalent to rotating the stationary coordinate system. θThe resulting dq coordinate system can be implemented using the Park transformation method found in current related technologies; this application does not impose any specific limitations. In the aforementioned dq coordinate system, the second coil at the energy receiving end is directly aligned with the direct axis (d-axis), and the quadrature axis (q-axis) is orthogonal to the direct axis. The voltage of the first coil corresponding to the direct axis includes the coil resistance voltage drop, self-induced voltage, and the back EMF at the energy receiving end. The quadrature axis is independent of the energy receiving end. In this way, the aforementioned Park transformation achieves physical decoupling of the various electromagnetic quantities at the energy transmitting end in the dq coordinate system.

[0066] Next, according to , as well as Let's take the case after performing the Park transformation as an example to illustrate, for , as well as The same principle applies, so I will not elaborate further.

[0067] After the Park transformation, according to , as well as They can be obtained separately , , , , and There are six different components. According to the form of Formula 9, the voltage equation of the energy emitter in the dq coordinate system can be obtained, as shown in Formula 12.

[0068] ………… Formula 12 Based on Equation 12, considering that the magnetic flux in the stationary coordinate system consists of two parts: self-inductance and mutual inductance, and that the mutual inductance approximately follows a sinusoidal distribution as the position of the energy receiving end changes, therefore, in the dq coordinate system, the magnetic flux... and This can be represented as Formula 13.

[0069] ………… Formula 13 Substituting Equation 13 into Equation 12, we obtain the complete voltage equation for the energy emitter in the dq coordinate system, as shown in Equation 14. Equations 9 through 14 together constitute the magnetic field vector model in the dq coordinate system.

[0070] ………… Formula 14 Next, in the dq coordinate system, for and Closed-loop regulation is then implemented. First, the direct-axis current reference value needs to be determined based on the control objective. and quadrature axis current reference value For direct-axis current reference values Its purpose is to keep the amplitude of the direct-axis magnetic field used for energy transfer constant and as large as possible within a supportable range, thereby maintaining the output power of electrical energy. Therefore, for the direct-axis current reference value... The anchoring reference value of the direct-axis current is generally calculated based on the rated electrical output power and rated equivalent load of the two-phase flux-guided coupling system. and take Direct-axis current reference value The value of . And for the quadrature axis current reference value ,according to As can be seen from the purpose of this setting, it is necessary to decouple the quadrature-axis magnetic field from energy transmission in the q-axis direction to reduce interference with the electrical output power. Therefore, the quadrature-axis current reference value is... It should be set to 0 to eliminate the magnetic field in the direction of the cross axis.

[0071] So, once it's confirmed... as well as Based on this, using a PI controller, for as well as Two quantities are used for closed-loop regulation. The specific PI regulation process can be found in relevant technologies, and this application does not impose specific limitations. Ultimately, the standard value of the direct-axis current can be obtained. and the standard value of quadrature axis current .

[0072] Finally, the obtained standard value of the direct-axis current is... and the standard value of quadrature axis current After transforming back to the stationary coordinate system using the inverse Park transformation, the standard value of the current in the target α-phase coil can be obtained. Based on this, the obtained standard value of current is used. To achieve the target, continuously adjust the current of the target α-phase coil. Modulation is performed to make the current of the target α-phase coil... Continuous tracking current standard value Specifically, modulation control can be achieved using signals such as SPWM or SVPWM. The same principle applies to the target β-phase coil, which will not be elaborated here.

[0073] As the energy receiver moves along the extension direction of the energy transmitter, the included angle parameter... θAs the current changes continuously, a new standard current value can be obtained at any time according to the calculation method in the example above. Therefore, during the continuous movement of the energy receiving end, by utilizing the change of the standard current value and controlling the adjustment of the coil current based on the standard value, it is possible to make the current of each first coil at the energy transmitting end follow its corresponding standard current value in real time. Thus, by controlling the coil current, the magnetic field resultant vector of the two-phase magnetic flux guide rail coupling system can be indirectly controlled, so that the magnetic field vector of the energy transmitting end always points to the energy receiving end, thereby realizing the real-time tracking and focusing of the magnetic field on the position of the energy receiving end.

[0074] The electronic device in the embodiments of this application includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the vehicle position detection method or magnetic field control method in the above embodiments are implemented.

[0075] The computer-readable storage medium in the embodiments of this application stores a computer program, which, when executed by one or more processors, implements the vehicle position detection method or magnetic field control method in the above embodiments.

[0076] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any way. Although this application has disclosed the preferred embodiment as above, it is not intended to limit this application. 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 technical solution of this application. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the technical solution of this application, based on the technical essence of this application and within the spirit and principles of this application, shall still fall within the protection scope of the technical solution of this application.

Claims

1. A two-phase flux-guided coupling system, characterized in that, The system includes an energy transmitter and an energy receiver. The energy transmitter is arranged along the extension direction of a preset fixed infrastructure, and the energy receiver is arranged on a target vehicle. The target vehicle is configured to travel on the preset fixed infrastructure, which includes a road or a track. The energy emitting end includes multiple sets of first magnetic core coil devices connected and arranged along the extension direction of the preset fixed infrastructure. Each first magnetic core coil device includes a first magnetic core and a first coil wound on the first magnetic core. The first magnetic core is arranged perpendicular to the extension direction of the preset fixed infrastructure. The current amplitude in the first coil is set to two values. In two adjacent sets of the first magnetic core coil devices, the two sets of the first magnetic cores are directly connected and the current amplitudes of the two sets of the first coils are different, and the spacing between the two adjacent sets of the first magnetic core coil devices is equal. In the two sets of first magnetic core coil devices that are closest to each other and have the same current amplitude in the first coil, the winding directions of the first coils are opposite.

2. The system according to claim 1, characterized in that, The energy receiving end includes a second magnetic core coil device, which includes a second magnetic core and a second coil that cooperates with the second magnetic core. The second magnetic core is strip-shaped and is arranged parallel to the extension direction of the preset fixed infrastructure.

3. An inverter circuit, characterized in that, The inverter circuit includes a primary side sub-circuit and a secondary side sub-circuit. The primary side sub-circuit is located at the energy transmitting end of the two-phase flux rail coupling system as described in claim 1 or 2, and the secondary side sub-circuit is located at the energy receiving end of the two-phase flux rail coupling system as described in claim 1 or 2. The primary-side sub-circuit includes an inverter assembly and a current modulation compensation assembly. The inverter assembly is configured to provide a uniform square wave voltage, and the current modulation compensation assembly is configured to individually adjust the current amplitude and realize power transmission. The secondary side circuit includes a receiving coil and a bridge rectifier, wherein the receiving coil is configured to receive electrical energy and the bridge rectifier is configured to convert electrical energy.

4. The circuit according to claim 3, characterized in that, The inverter assembly includes a DC power supply and a single-phase full-bridge inverter. The single-phase full-bridge inverter includes a first bridge arm and a second bridge arm connected in parallel between the two poles of the DC power supply. The first bridge arm and the second bridge arm each include an upper arm switch and a lower arm switch arranged in series in the same direction, and the upper arm switch and the lower arm switch are connected at the midpoint of the bridge arm. The current modulation compensation component includes a first branch and a second branch. The first branch is connected between the midpoint of the first bridge arm and the negative terminal of the DC power supply, and the second branch is connected between the midpoint of the second bridge arm and the negative terminal of the DC power supply. The first branch includes a first compensation capacitor and a first transmitting coil connected in series, and the second branch includes a second compensation capacitor and a second transmitting coil connected in series, wherein the first transmitting coil and the second transmitting coil are configured as the first coil in the first magnetic core coil device with different amplitudes as described in claim 1 or 2.

5. A vehicle position detection method, characterized in that, The method is implemented based on the two-phase flux guide coupling system as described in claim 1 or 2, and the method includes: Obtain the transmitting voltage and transmitting current of the first coil in the first magnetic core coil device; The estimated mutual inductance value is determined based on the transmitted voltage and the transmitted current; Based on the preset mutual inductance-position analysis relationship, and according to the estimated mutual inductance value, the relative positional relationship between the energy receiver and the energy transmitter is determined, thereby determining the relative position between the vehicle and the preset fixed infrastructure.

6. The method according to claim 5, characterized in that, Determining the estimated mutual inductance value based on the transmitting voltage and the transmitting current includes: The induced electromotive force of the first coil is determined based on the emission voltage, the emission current, the equivalent resistance of the first coil, and the inductance. Based on the induced electromotive force and the impedance of the energy receiving end, determine the estimated current value of the energy receiving end; The estimated mutual inductance value is determined based on the induced electromotive force and the estimated current value.

7. A magnetic field control method, characterized in that, The magnetic field control method is configured to control the magnetic field generated by the two-phase flux rail coupling system as described in claim 1 or 2, the method comprising: Obtain the emission current of the first coil in the first magnetic core coil device; In the coil connection model, the relative position information of the energy receiving end and the energy transmitting end is defined, and the angle parameter between the dq coordinate system and the αβ coordinate system is determined according to the relative position information. The coil connection model is configured as a circular model formed by assuming that four adjacent groups of the first magnetic core coil devices are connected end to end in sequence. Based on the included angle parameter, the transmitting current is transformed into a direct-axis current and a quadrature-axis current in the dq coordinate system, wherein the direct-axis current and the quadrature-axis current satisfy a pre-configured magnetic field vector model. The magnetic field vector model is determined based on the coil connection model and includes the voltage, current, and magnetic flux relationship between the energy transmitting end and the energy receiving end. Based on the attribute parameters of the energy emitting end, determine the reference value of the direct-axis current corresponding to the direct-axis current and the reference value of the quadrature-axis current corresponding to the quadrature-axis current; Based on the PI controller, the standard value of the direct-axis current is determined according to the direct-axis current and the reference value of the direct-axis current, and the standard value of the quadrature-axis current is determined according to the direct-axis current and the reference value of the quadrature-axis current. The direct-axis current standard value and the quadrature-axis current standard value are transformed into current standard values ​​in the αβ coordinate system, so that the transmitting current of the first coil in the two adjacent sets of the first magnetic core coil devices tracks the current standard value, thereby controlling the magnetic field generated by the energy transmitting end to always be directly opposite the energy receiving end.

8. The method according to claim 7, characterized in that, The direct-axis current reference value is configured to keep the magnetic field amplitude generated by the energy emitter constant and as large as possible within the range that the two-phase flux rail coupling system can support; The quadrature-axis current reference value is configured to be 0 to eliminate the quadrature-axis magnetic field decoupled from the energy emitter.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program that, when executed by the processor, implements the vehicle position detection method as described in claim 5 or 6, or the magnetic field control method as described in claim 7 or 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the vehicle position detection method as described in claim 5 or 6, or the magnetic field control method as described in claim 7 or 8.

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