Wireless charging magnetic coupler based on dielectric elastomer deformation adjustment and control method

Abstract

This invention discloses a wireless charging magnetic coupler and control method based on dielectric elastomer deformation adjustment. The wireless charging magnetic coupler includes a transmitter component and a receiver component, which are arranged opposite to each other and at least one is configured as an active deformation component. The active deformation component includes: a rigid support substrate; an active deformation adjustment unit composed of a plurality of dielectric elastomer actuators fixed on the rigid support substrate and arranged in an array; an electromagnetic functional layer attached to the deformation output end of the dielectric elastomer actuator array; an offset detection unit for acquiring relative position offset information between the transmitter component and the receiver component; a multi-channel high-voltage drive module, whose output channels are electrically connected to each of the dielectric elastomer actuators; and a controller, whose input terminal is connected to the offset detection unit and whose output terminal is connected to the multi-channel high-voltage drive module. This invention applies to the technical field of high-power wireless power transmission.

Description

Technical Field

[0001] This invention relates to the field of high-power wireless power transmission technology, and in particular to a wireless charging magnetic coupler and control method based on dielectric elastomer deformation adjustment. Background Technology

[0002] In wireless charging systems for electric vehicles, the alignment of the transmitting and receiving coils is a core factor determining the system's transmission efficiency and power. In real-world parking scenarios, due to driver operation and parking space conditions, there is typically a random horizontal offset of tens to hundreds of millimeters, as well as an angular tilt of several to over ten degrees. This offset significantly reduces the mutual inductance between the coils, causing system detuning and resulting in a substantial decrease in transmission capability.

[0003] To address this issue, existing technologies primarily focus on the "electrical parameter compensation" aspect: (1) Compensation topology switching: Different resonant networks such as LCC and LCL are switched by switching to adapt to the changed equivalent impedance. This scheme requires additional switches and passive components, resulting in high system complexity and discrete stepped adjustment.

[0004] (2) Anti-offset coil structure design: such as DD type and DDQ type coils, which broaden the magnetic flux distribution through winding method. This type of method is passively adaptive, which increases the amount of copper used in the coil and the copper loss. It is sensitive to changes in the vertical air gap and the degree of design freedom is limited.

[0005] It is evident that existing technologies attempt to "passively adapt" to mechanical shifts using electromagnetic or circuit methods, but their compensation capabilities and design flexibility are nearing their limits. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a wireless charging magnetic coupler and control method based on dielectric elastomer deformation adjustment. For the first time, the dielectric elastomer actuator in the field of soft robots is introduced into the design of magnetic coupling mechanism. By actively and continuously reconstructing the mechanical shape of the magnetic coupling mechanism itself, the offset is compensated from the physical source, and the magnetic coupling efficiency is significantly restored.

[0007] The technical solution adopted in this invention is as follows: This invention includes a wireless charging magnetic coupler and a control method based on dielectric elastomer deformation adjustment. The wireless charging magnetic coupler based on dielectric elastomer deformation adjustment includes a transmitter component and a receiver component arranged opposite to each other. At least one of the transmitter component and the receiver component is configured as an active deformation component. The active deformation component includes: Rigid support base; The active deformation adjustment unit consists of several dielectric elastomer actuators fixed on the rigid support substrate and arranged in an array. An electromagnetic functional layer, comprising at least one of a coil or a magnetic core, is integrally attached to the deformation output terminals of the plurality of dielectric elastomer actuators and is configured to change its spatial shape in response to the coordinated deformation of each dielectric elastomer actuator. An offset detection unit is used to obtain relative position offset information between the transmitting end component and the receiving end component; A multi-channel high-voltage drive module, the output channels of which are electrically connected to each of the dielectric elastomer drivers; The controller has its input terminal connected to the offset detection unit and its output terminal connected to the multi-channel high-voltage drive module.

[0008] Furthermore, each of the dielectric elastomer actuators includes an insulating rigid frame, a dielectric elastomer film pre-stretched and fixed within the insulating rigid frame, and compliant electrodes coated on the upper and lower surfaces of the dielectric elastomer film. The output channels of the multi-channel high-voltage drive module are electrically connected to the compliant electrodes on the upper surface of each of the dielectric elastomer actuators. One end of the insulating rigid frame is fixed to the rigid support substrate, and the other end of the insulating rigid frame constitutes a deformation output terminal.

[0009] Furthermore, the electromagnetic functional layer includes a planar helical coil wound with Litz wire, which is integrally cured onto the surface of the deformation output end composed of several dielectric elastomer actuators by a flexible potting compound, or coated onto the surface of the deformation output end composed of several dielectric elastomer actuators in a lattice or dot matrix manner; the Young's modulus of the flexible potting compound is less than one-tenth of the Young's modulus of the dielectric elastomer film.

[0010] Furthermore, the electromagnetic functional layer also includes modularly assembled magnetic cores, each of which is bonded and fixed to one or a group of corresponding dielectric elastomer actuators at their deformation output terminals. A pre-defined gap filled with flexible insulating material is left between adjacent magnetic cores, the width of which is adapted to the expected deformation of the dielectric elastomer actuator array. In the electromagnetic functional layer, the electrical connection points between the Litz wire and the magnetic core, as well as the bonding points between the magnetic core and the dielectric elastomer actuator, are all arranged at stress neutral points in several dielectric elastomer actuators of the array where the deformation rate is below a pre-defined threshold.

[0011] Furthermore, the offset detection unit includes: at least four triaxial magnetic sensors with known positions installed on the transmitting end component or the receiving end component, and the triaxial magnetic sensors are provided with an electromagnetic shield; the controller calculates the relative position offset information in real time by solving the mapping relationship between the spatial distribution of the magnetic field intensity measured by the triaxial magnetic sensors and the preset magnetic source model.

[0012] Furthermore, the multi-channel high-voltage drive module is a miniature high-voltage amplifier capable of nonlinearly amplifying low-voltage control signals to several kilovolts. The miniature high-voltage amplifier consists of several arrayed multi-channel high-voltage modules. The output terminal of each multi-channel high-voltage drive module is connected in series with a megohm-level current-limiting protection resistor, and they are all encapsulated in a high-insulation potting box.

[0013] Furthermore, the controller is configured to operate in a time-division multiplexing mode: during the measurement time slot, all outputs of the multi-channel high-voltage drive module are turned off, and the offset detection unit is activated to acquire the relative position offset information; during the drive time slot, based on the relative position offset information, a target deformation scheme is calculated to increase the physical quantity characterizing the magnetic coupling performance under the current offset, and the multi-channel high-voltage drive module is controlled to apply an adjustable drive electric field of at least one of amplitude and waveform to at least a portion of the dielectric elastomer drivers to execute the deformation of the active deformation adjustment unit; the physical quantity characterizing the magnetic coupling performance under the current offset is at least one of the mutual inductance value between the transmitting and receiving coils, the coupling coefficient, and the system transmission efficiency.

[0014] Furthermore, the coordinated deformation action implemented by the controller controlling the active deformation adjustment unit includes: Overall thickness adjustment mode: All the dielectric elastomer actuators are subjected to the same driving electric field to generate synchronous and equal thickness direction strain, which drives the electromagnetic functional layer to translate out of plane to compensate for vertical air gap changes; Local curvature adjustment mode: The dielectric elastomer actuators in different regions are applied with differentiated driving electric fields to generate non-uniform strain, causing the electromagnetic functional layer to form a surface with a specific curvature to compensate for coupling attenuation caused by horizontal offset or angular tilt.

[0015] Furthermore, a control method applied to the aforementioned wireless charging magnetic coupler includes the following steps: Step A. During the measurement time slot, the multi-channel high-voltage drive module is turned off, and the offset detection unit obtains the real-time offset vector of the receiving component relative to the transmitting component. Step B. Within the driving time slot, based on a preset "offset-deformation-coupling coefficient" mapping model or an online optimization algorithm with system transmission efficiency as the cost function, calculate the target deformation scheme that can increase or restore the physical quantity characterizing the magnetic coupling performance to above a set threshold. The target deformation scheme includes the target strain of each of the dielectric elastomer actuators in the array. Step C. Based on the target deformation scheme, calculate the driving voltage amplitude applied to each of the dielectric elastomer actuators and generate the corresponding low-voltage control signal; Step D. The low-voltage control signal is converted into a high-voltage driving electric field by the multi-channel high-voltage driving module and applied to the compliant electrode on the upper surface of the dielectric elastomer actuator to complete the adjustment of the spatial morphology of the electromagnetic functional layer.

[0016] Furthermore, the "offset-deformation-coupling coefficient" mapping model is constructed by combining offline multiphysics coupling simulation and experiment, and deployed in the controller; or, the target deformation scheme is obtained by iterative calculation of a Jacobian matrix model based on the partial derivative of the deformation of the dielectric elastomer actuator with mutual inductance and PID closed-loop control, so as to achieve dual redundant control driven by model and data.

[0017] The beneficial effects of this invention are: 1. It opens up a new technological dimension for anti-offset: it moves from electrical parameter adjustment to mechanical structure self-adaptation, providing a non-intuitive solution that breaks through the performance bottleneck of traditional electromagnetic compensation.

[0018] 2. Achieve continuous and stepless adjustment: The deformation of the dielectric elastomer actuator is continuously related to the driving electric field, which can achieve fine position and posture adjustment without transient disturbances caused by discrete gear switching.

[0019] 3. Reduced pressure and cost of electromagnetic design: Some of the anti-offset pressure is transferred to the mechanical adjustment layer, allowing the coil to adopt a simple circular or rectangular design, simplifying electromagnetic simulation, thermal management and insulation design.

[0020] 4. Strong system compatibility and robustness: Through time-division control and shielding structure, the electromagnetic compatibility problem between high-voltage drive and weak signal detection is fundamentally solved; this solution is also backward compatible with existing resonant topologies and magnetic core designs, and can work independently or form a double-layer redundant anti-offset system with electrical compensation methods. Attached Figure Description

[0021] Figure 1 This is a block diagram of the overall system structure of the present invention; Figure 2 This is a schematic diagram of the active deformation component. Figure 3 A schematic diagram of the deformation state of a single dielectric elastomer actuator under different driving voltages; Wherein: (a) is a 0V maintaining plane, (b) is a medium voltage producing a small curvature, and (c) is a higher voltage producing a larger curvature. The actuator is constrained within an insulating rigid frame, and the deformation is transmitted to the electromagnetic functional layer through the insulating rigid frame. The arrow direction indicates the evolution trend of compression and out-of-plane bending deformation in the thickness direction. Figure 4 This is a flowchart of the control method of the present invention; Figure 5 This is a comparison of simulation data curves showing the effect of coupling coefficient recovery under different offset conditions in Example 2. Detailed Implementation

[0022] Example 1

[0023] This embodiment is a typical application, integrating the active deformation component into the vehicle-mounted receiver component.

[0024] like Figures 1 to 4 As shown, the present invention includes a wireless charging magnetic coupler and a control method based on dielectric elastomer deformation regulation. The wireless charging magnetic coupler based on dielectric elastomer deformation regulation includes a transmitter component and a receiver component arranged opposite to each other. The receiver component is configured as an active deformation component, and the active deformation component specifically includes: Rigid support base 1: Made of high-strength aluminum alloy, fixed to the vehicle chassis as a fixed reference for deformation.

[0025] Active deformation adjustment unit 2: Composed of 36 dielectric elastomer actuators 21 arranged in a 6×6 rectangular array. For example... Figure 2 and Figure 3 As shown, each dielectric elastomer actuator 21 includes an insulating rigid frame 211 and a dielectric elastomer film 212. The insulating rigid frame 211 is made of high-strength engineering plastic (such as PEEK). A pre-stretched silicone dielectric elastomer film 212 is fixed within the insulating rigid frame 211, and flexible electrodes 213 are coated on the upper and lower surfaces of the dielectric elastomer film 212. One end of the insulating rigid frame 211 is fixed to the rigid support substrate 1 by an insulating adhesive layer, and the other end of the insulating rigid frame 211 serves as the deformation output end, forming a continuous flexible support plane. This structure ensures that the driving force and deformation displacement can be reliably and directionally transmitted to the electromagnetic functional layer 3.

[0026] Electromagnetic functional layer 3 includes a coil 31 wound with Litz wire and a segmented ferrite core 32. The coil is a planar helical coil or a planar circular coil. The coil 31 is integrally cured onto several flexible support planes by a flexible potting compound. To reduce the parasitic stiffness effect of the flexible potting compound on deformation, the Young's modulus of the flexible potting compound is selected to be one-tenth lower than that of the dielectric elastomer film 212. Alternatively, the coil 31 can be coated onto several flexible support planes in a lattice or dot matrix non-full-coverage manner. The magnetic core 32 is assembled in sections. Each magnetic core 32 is bonded and fixed to one or a group of corresponding dielectric elastomer actuators 21 at their deformation output ends. More specifically, each magnetic core 32 is bonded one-to-one to a flexible support plane located below the center of the coil 31, and a pre-set gap filled with flexible silicone is left between adjacent magnetic cores 32. This gap is used to accommodate the bending deformation of the dielectric elastomer actuator 21 array and avoid stress concentration and breakage. In addition, all electrical connection solder joints between the Litz wire and the magnetic core 32, as well as the bonding points between the magnetic core 32 and the dielectric elastomer actuators 21, are carefully arranged at the stress neutral point position with the lowest deformation rate among the array of dielectric elastomer actuators 21, thereby maximizing the reliability and fatigue life of the high-voltage drive module during long-term operation.

[0027] An offset detection unit is used to acquire the relative position offset information between the transmitting and receiving components. The offset detection unit 4 consists of eight triaxial magnetic sensors installed around the receiving coil. These triaxial magnetic sensors are triaxial linear Hall sensors, and each sensor is externally shielded with an electromagnetic shield. When the transmitting coil is energized, it generates a quasi-static magnetic field with a known spatial distribution. The controller 6 calculates the relative position offset information in real time by solving the mapping relationship between the spatial distribution of the magnetic field strength measured by the triaxial magnetic sensors and a preset magnetic source model (the controller 6 has a built-in magnetic field model, approximating a multi-magnetic dipole model). To solve the critical electromagnetic interference problem between high-voltage drive and weak magnetic sensing signals, the system employs a strict time-division multiplexing strategy. A complete control cycle is divided into measurement time slots and drive time slots.

[0028] The multi-channel high-voltage drive module 5 has its output channels electrically connected to the compliant electrodes 213 on the upper surface of each dielectric elastomer driver 21. The multi-channel high-voltage drive module 5 serves as the core link between the controller 6 and the dielectric elastomer drivers 21. This module is a miniature high-voltage amplifier capable of nonlinearly amplifying low-voltage control signals to several kilovolts. In this embodiment, the miniature high-voltage amplifier is a compact 6×6 array multi-channel high-voltage module based on a high-voltage operational amplifier (such as PA94). The controller 6 outputs a low-voltage analog signal of 0-10V, which is linearly amplified to 0-6kV by the multi-channel high-voltage drive module 5. Each output channel is connected in series with a 1MΩ current-limiting protection resistor to ensure operational safety and electrostatic discharge protection. The entire multi-channel high-voltage drive module 5 is encapsulated in a high-insulation potting box using high-insulation silicone gel, and its volume can be controlled within 150mm×100mm×40mm.

[0029] The controller 6 is configured to operate in a time-division multiplexing mode: during the measurement time slot, all outputs of the multi-channel high-voltage drive module 5 are turned off, and the offset detection unit 4 is activated to acquire the relative position offset information; during the drive time slot, based on the offset information, a target deformation scheme is calculated to increase the physical quantity characterizing the magnetic coupling performance under the current offset, and the multi-channel high-voltage drive module 5 is controlled to apply an adjustable drive electric field of at least one of amplitude and waveform to at least a portion of the dielectric elastomer actuators 21 to execute the deformation of the active deformation adjustment unit 2; the physical quantity characterizing the magnetic coupling performance under the current offset is at least one of the mutual inductance value between the transmitting and receiving coils, the coupling coefficient, and the system transmission efficiency.

[0030] The controller 6 controls the coordinated deformation actions implemented by the active deformation adjustment unit 2, including: Overall thickness adjustment mode: All the dielectric elastomer actuators 21 are applied the same driving electric field to generate synchronous and equal thickness direction strain, which drives the electromagnetic functional layer to translate out of plane to compensate for vertical air gap changes; Local curvature adjustment mode: The dielectric elastomer actuator 21 in different regions is applied with a differentiated driving electric field to generate non-uniform strain, so that the electromagnetic functional layer forms a surface with a specific curvature to compensate for the coupling attenuation caused by horizontal offset or angular tilt.

[0031] In this embodiment, the workflow of a control method applied to a wireless charging magnetic coupler is as follows (see flowchart). Figure 4 ): Step S1 (Measurement Time Slot): Controller 6 completely shuts off all high-voltage outputs of the multi-channel high-voltage drive module 5 via an enable signal. Then, the offset detection unit 4 is activated to read the three-axis magnetic field components of the eight three-axis magnetic sensors and calculates the six-degree-of-freedom real-time offset vector (X, Y, Z, θx, θy, θz) of the receiver relative to the transmitter in real time using the Levenberg-Marquardt algorithm.

[0032] Step S2 (Drive Time Slot - Calculation): Controller 6 calls the internally stored "offset-deformation-coupling coefficient" mapping model or an online optimization algorithm with system transmission efficiency as the cost function to calculate the target deformation scheme that increases or restores the physical quantity characterizing magnetic coupling performance to above a set threshold. The target deformation scheme includes the target strain of each dielectric elastomer actuator 21 in the array; this embodiment uses a mapping model. For example, when an X-direction offset of +60mm and a Y-axis tilt of +4° are detected, the model outputs the target deformation scheme: the coil needs to bend around the Y-axis by +3.5° and retract 1.8mm in the negative Z-axis direction. This mapping model can be an offline trained radial basis function (RBF) neural network, or a combination of a linearized model based on the Jacobian matrix and a PID closed-loop algorithm, forming a robust control strategy with data-driven and model-driven redundancy.

[0033] Step S3 (Drive Time Slot - Signal Generation): The controller 6 decomposes the target deformation scheme into the target strain of each dielectric elastomer actuator 21 in the array, and calculates the driving voltage amplitude applied to each dielectric elastomer actuator 21 according to the preset strain-voltage characteristic curve, generating the corresponding low-voltage control signal. For example, the three dielectric elastomer actuators 21 at the edge need to be compressed by applying a high voltage of 4.8kV, while the dielectric elastomer actuator 21 at the center needs to be compressed by applying 0V as a fulcrum.

[0034] Step S4 (Drive Time Slot - Execution): The controller 6 outputs the corresponding multi-channel low-voltage control signal to the multi-channel high-voltage drive module 5. The multi-channel high-voltage drive module 5 converts the low-voltage control signal into a high-voltage drive electric field and applies it to the compliant electrode 213 on the upper surface of the dielectric elastomer actuator 21, completing the adjustment of the spatial morphology of the electromagnetic functional layer 3. The array of dielectric elastomer actuators 21 generates a predetermined coordinated deformation, and the electromagnetic functional layer 3 transforms into a specific curved surface within a millisecond-level response time, completing real-time compensation for the offset. Subsequently, the system enters the measurement time slot of the next control cycle, forming a closed loop.

[0035] In this embodiment, the "offset-deformation-coupling coefficient" mapping model is constructed by combining offline multiphysics field coupling simulation and experiment, and deployed in the controller 6; or, the target deformation scheme is obtained by iterative calculation of a Jacobian matrix model based on the partial derivative of the mutual inductance with respect to the deformation of the dielectric elastomer actuator 21 and PID closed-loop control, so as to achieve dual redundant control of model-driven and data-driven approaches.

[0036] Example 2

[0037] This embodiment is a pre-deformation ground coupler for the transmitter. Unlike Embodiment 1, this embodiment integrates the active deformation component into the transmitter component to minimize the impact on the size, weight, and cost of the vehicle-mounted unit. The internal structure, flexible gaps, stress neutral point layout, and time-division control logic of the active deformation component are identical to those in Embodiment 1. The offset detection unit 4 can be replaced with an industrial monocular camera mounted on a pillar behind the parking space. It acquires six-degree-of-freedom offset information by identifying the Apriltag mark on the receiver housing mounted on the bottom of the vehicle. The advantage of this embodiment is that the large-volume multi-channel high-voltage drive module 5 and power supply unit can be easily deployed in a ground distribution cabinet.

[0038] Mapping model and simulation data support: The "offset-deformation-coupling coefficient" mapping model is obtained in the following way, ensuring the feasibility of the solution: A parametric model of electro-magnetic-force multiphysics coupling was established in COMSOL Multiphysics software, comprising a deformable Litz wire coil, a segmented ferrite core with flexible gaps, and an array of framed dielectric elastomer actuators 21. A parameter sweep method was employed, using a typical offset vector and the voltage combination of the 36 dielectric elastomer actuators 21 as input variables, with the mutual inductance of the main coil (coupling coefficient) as the optimization objective, and constraining the uniformity of the current density in the coil 31. Thousands of optimal data pairs of offset-voltage-coupling coefficient were obtained through optimization. A 4-36-36 radial basis function neural network was trained using this dataset and deployed in the Flash memory of the controller 6. The network model is less than 200KB in size, and a single forward computation takes less than 1 microsecond.

[0039] The simulation conditions were a coil spacing of 150mm, a frequency of 85kHz, and a power rating of 11kW. Simulation results show that, under extreme conditions of a 100mm horizontal offset and a 5° tilt, this solution, through mechanical deformation, can restore the system coupling coefficient from 0.12 (without intervention) to over 0.18 (close to 0.20 under aligned conditions), improving transmission efficiency by more than 8 percentage points. The effect curves can be referenced. Figure 5 This data strongly supports the beneficial effects of the present invention.

[0040] Although the embodiments of the present invention are described with reference to actual solutions, they do not constitute a limitation on the meaning of the present invention. Modifications to the embodiments and combinations with other solutions based on this specification will be obvious to those skilled in the art.

Claims

1. A wireless charging magnetic coupler based on dielectric elastomer deformation adjustment, comprising a transmitter assembly and a receiver assembly disposed opposite to each other, characterized in that: At least one of the transmitter component and the receiver component is configured as an active deformation component, the active deformation component comprising: Rigid support base (1); The active deformation adjustment unit (2) consists of a number of dielectric elastomer actuators (21) fixed on the rigid support base (1) and arranged in an array. The electromagnetic functional layer (3) includes at least one of a coil (31) or a magnetic core (32). The electromagnetic functional layer (3) is attached to the deformation output terminals of the plurality of dielectric elastomer actuators (21) and is configured to change its spatial shape in response to the coordinated deformation of each dielectric elastomer actuator (21). The offset detection unit (4) is used to obtain the relative position offset information between the transmitting end component and the receiving end component; The multi-channel high-voltage drive module (5) has its output channels electrically connected to each of the dielectric elastomer drivers (21); The controller (6) has its input end connected to the offset detection unit (4) and its output end connected to the multi-channel high-voltage drive module (5).

2. The wireless charging magnetic coupler based on dielectric elastomer deformation adjustment according to claim 1, characterized in that: Each of the dielectric elastomer actuators (21) includes an insulating rigid frame (211), a dielectric elastomer film (212) that is pre-stretched and fixed within the insulating rigid frame (211), and compliant electrodes (213) coated on the upper and lower surfaces of the dielectric elastomer film (212). The output channels of the multi-channel high-voltage drive module (5) are electrically connected to the compliant electrodes (213) on the upper surface of each of the dielectric elastomer actuators (21). One end of the insulating rigid frame (211) is fixed to the rigid support substrate (1), and the other end of the insulating rigid frame (211) constitutes a deformation output terminal.

3. The wireless charging magnetic coupler based on dielectric elastomer deformation adjustment according to claim 2, characterized in that: The electromagnetic functional layer (3) includes a coil (31) wound with Litz wire. The coil (31) is a planar spiral coil or a planar circular coil, and is integrally cured on the surface of the deformation output end composed of several dielectric elastomer actuators (21) by flexible potting compound, or coated on the surface of the deformation output end composed of several dielectric elastomer actuators (21) in a lattice or dot matrix non-full coverage manner; the Young's modulus of the flexible potting compound is less than one-tenth of the Young's modulus of the dielectric elastomer film (212).

4. The wireless charging magnetic coupler based on dielectric elastomer deformation adjustment according to claim 3, characterized in that: The electromagnetic functional layer (3) also includes modularly assembled magnetic cores (32), each magnetic core (32) being bonded and fixed to the deformation output end of one or a group of corresponding dielectric elastomer drivers (21). A preset gap filled with flexible insulating material is left between adjacent magnetic cores (32), the width of which is adapted to the expected deformation of the dielectric elastomer driver (21) array. In the electromagnetic functional layer (3), the electrical connection point between the Litz wire and the magnetic core (32), and the bonding point between the magnetic core (32) and the dielectric elastomer driver (21), are all arranged on stress neutral points in several dielectric elastomer drivers (21) of the array where the deformation rate is lower than a preset threshold.

5. The wireless charging magnetic coupler based on dielectric elastomer deformation adjustment according to claim 4, characterized in that: The offset detection unit (4) includes: at least four triaxial magnetic sensors with known positions installed on the transmitter assembly or receiver assembly, and the triaxial magnetic sensors are provided with an electromagnetic shield; the controller (6) calculates the relative position offset information in real time by solving the mapping relationship between the spatial distribution of the magnetic field strength measured by the triaxial magnetic sensors and the preset magnetic source model.

6. The wireless charging magnetic coupler based on dielectric elastomer deformation adjustment according to claim 5, characterized in that: The multi-channel high-voltage drive module (5) is a miniature high-voltage amplifier that can nonlinearly amplify low-voltage control signals to several kilovolts. The miniature high-voltage amplifier is a multi-channel high-voltage module arranged in an array. The output terminal of each multi-channel high-voltage drive module (5) is connected in series with a megohm-level current-limiting protection resistor and is encapsulated together in a high-insulation potting box.

7. The wireless charging magnetic coupler based on dielectric elastomer deformation adjustment according to claim 2, characterized in that: The controller (6) is configured to operate in a time-division multiplexing mode: during the measurement time slot, all outputs of the multi-channel high-voltage drive module (5) are turned off, and the offset detection unit (4) is activated to acquire the relative position offset information; during the drive time slot, based on the relative position offset information, a target deformation scheme is calculated to increase the physical quantity characterizing the magnetic coupling performance under the current offset, and the multi-channel high-voltage drive module (5) is controlled to apply an adjustable drive electric field of at least one of amplitude and waveform to at least a portion of the dielectric elastomer actuators (21) to perform the deformation of the active deformation adjustment unit (2); The physical quantity characterizing the magnetic coupling performance under the current offset is at least one of the following: mutual inductance between the transmitting and receiving coils (31), coupling coefficient, and system transmission efficiency.

8. The wireless charging magnetic coupler based on dielectric elastomer deformation adjustment according to claim 7, characterized in that: The controller (6) controls the active deformation adjustment unit (2) to perform the following coordinated deformation actions: Overall thickness adjustment mode: All the dielectric elastomer actuators (21) are subjected to the same driving electric field to generate synchronous and equal thickness direction strain, which drives the electromagnetic functional layer (3) to translate out of plane to compensate for vertical air gap changes; Local curvature adjustment mode: The dielectric elastomer actuators (21) in different regions are subjected to a different driving electric field to generate non-uniform strain, so that the electromagnetic functional layer (3) forms a surface with a specific curvature to compensate for the coupling attenuation caused by horizontal offset or angular tilt.

9. A control method for the wireless charging magnetic coupler according to any one of claims 2-6, characterized in that, It includes the following steps: Step A. During the measurement time slot, the multi-channel high-voltage drive module (5) is turned off, and the offset detection unit (4) obtains the real-time offset vector of the receiving component relative to the transmitting component; Step B. During the driving time slot, based on the preset "offset-deformation-coupling coefficient" mapping model or the online optimization algorithm with system transmission efficiency as the cost function, calculate the target deformation scheme that can increase or restore the physical quantity characterizing the magnetic coupling performance to above the set threshold. The target deformation scheme includes the target strain of each of the dielectric elastomer actuators (21) in the array. Step C. Based on the target deformation scheme, calculate the driving voltage amplitude applied to each of the dielectric elastomer actuators (21) and generate the corresponding low-voltage control signal; Step D. The low-voltage control signal is converted into a high-voltage driving electric field by the multi-channel high-voltage driving module (5) and applied to the compliant electrode (213) on the upper surface of the dielectric elastomer driver (21) to complete the adjustment of the spatial shape of the electromagnetic functional layer (3).

10. The control method according to claim 9, characterized in that: The "offset-deformation-coupling coefficient" mapping model is constructed by combining offline multiphysics field coupling simulation and experiment, and deployed in the controller (6); or, the target deformation scheme is obtained by iterative calculation of a Jacobian matrix model based on the partial derivative of the deformation of the dielectric elastomer actuator (21) with mutual inductance and PID closed-loop control, so as to realize dual redundant control of model-driven and data-driven.

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