A magnetic coupling resonance wireless power supply method and system for unmanned aerial vehicle cluster

Abstract

This invention provides a magnetically coupled resonant wireless power supply method and system for UAV swarms. The system includes a DC power supply, N independent high-frequency inverter branches, primary-side LCC compensation branches corresponding to each inverter branch, a transmitting coil assembly composed of coplanar concentric transmitting coils of different radial dimensions, multiple receiving units with series compensation, and a controller. The compensation parameters of each primary-side LCC compensation branch are determined based on the working equivalent inductance of the transmitting coil under the condition of multiple coils being energized simultaneously. This working equivalent inductance takes into account both the coil's self-inductance and the mutual inductance flux contribution of adjacent transmitting coils. The controller coordinates the current amplitude and phase of each transmitting branch at a common fixed operating frequency, so that the transmitting coils of different radial dimensions form complementary superimposed magnetic fields in the central region and the radial offset region. This invention can expand the effective power supply area, suppress the resonant offset caused by the cross coupling of the transmitting coils, and achieve stable synchronous power supply for multiple UAV loads.

Description

Technical Field

[0001] This invention relates to the field of wireless power transmission technology, specifically to a magnetically coupled resonant wireless power supply method and system for unmanned aerial vehicle (UAV) swarms. Background Technology

[0002] Unmanned aerial vehicles (UAVs) have been widely used in many fields such as power line inspection, emergency mapping, environmental monitoring, and logistics transportation due to their outstanding advantages such as high mobility, flexible deployment, and strong environmental adaptability. However, due to the limitations of onboard battery energy density and payload capacity, the continuous operation time of UAVs is very limited. Frequent return trips and manual battery replacements can greatly reduce the efficiency of swarm collaborative operations. Traditional metal contact charging methods have extremely high requirements for grounding and contact reliability, and the contacts are easily affected by oxidation, rain, dust, and mechanical wear, making it difficult to meet the requirements for long-term stable operation in complex environments. Magnetic Resonant Wireless Power Transfer (MCR-WPT) technology uses high-frequency magnetic field coupling between the transmitting and receiving coils to achieve non-contact energy transfer. It has the advantages of high transmission efficiency, adaptability to certain spatial offsets, and good reliability, and is considered to be a very suitable technology direction for UAV platform-based power replenishment.

[0003] However, existing MCR-WPT systems for UAVs mostly adopt a single transmitting coil and single receiving load architecture. When the receiving coil is laterally offset, the mutual inductance between the transmitting and receiving coils will decrease significantly, resulting in a drop in output voltage and a significant reduction in transmission efficiency, which places high demands on the landing accuracy of the UAV. In order to expand the effective power supply area, some existing solutions attempt to use multiple transmitting coils or array coil structures. However, in such solutions, when multiple transmitting coils work at the same time, there is a strong mutual inductance effect between adjacent coils. If the compensation parameters are still designed according to the self-inductance measured by a single coil, the mutual inductance flux will change the actual equivalent inductance and resonant state of each branch, which can easily cause resonant frequency shift, reactive power surge, uneven distribution of branch current, and a serious decrease in the overall system efficiency.

[0004] Furthermore, when multiple drones are connected to the charging platform simultaneously, the reflected impedance of each receiver changes in real time with variations in the number of loads, spatial location, and operating status; simultaneously, cross-coupling may also occur between multiple receiving coils. Traditional fixed parameters and single excitation methods cannot simultaneously ensure high-efficiency power supply in the central area, stable power supply in the radially offset area, and balanced power distribution among multiple loads, making it difficult to adapt to the complex and ever-changing actual operating scenarios of drone swarms.

[0005] Therefore, there is an urgent need for a wireless power supply system and control method that can take into account the cross-coupling effect between transmitting coils, construct a spatial complementary magnetic field, and coordinate and adjust the transmitting branch according to multiple load conditions. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a magnetically coupled resonant wireless power supply method and system for unmanned aerial vehicle (UAV) swarms.

[0007] To achieve the above objectives, the present invention provides the following technical solution: This application provides a magnetically coupled resonant wireless power supply system for unmanned aerial vehicle (UAV) swarms, including a DC power supply, N independently driven transmission links, a transmission coil assembly, m receiving units, and a controller; where N is an integer greater than or equal to 2, and m is an integer greater than or equal to 1. Each of the aforementioned transmission links includes a high-frequency inverter branch and a primary-side LCC compensation branch connected to the high-frequency inverter branch; the transmission coil assembly consists of N coplanar and concentric transmission coils with radial dimensions increasing sequentially; each of the aforementioned receiving units includes a receiving coil, a receiving compensation capacitor, a rectifier circuit, and a load; The compensation parameters of the primary-side LCC compensation branch are set based on the working equivalent inductance of the N transmitting coils under synchronous excitation. The working equivalent inductance is determined by the combined flux linkage contribution of the self-inductance of each transmitting coil and the mutual inductance between each transmitting coil. The controller is used to coordinate the amplitude and phase of the output current of each of the transmitting links under a common fixed operating frequency, based on the spatial position and load state of the m receiving units, so that the spatial magnetic fields of the transmitting coils with different radial dimensions are synthesized into complementary superimposed magnetic fields that adapt to the central region and the radial offset region, so as to wirelessly power the receiving units.

[0008] Furthermore, the first The equivalent inductance of each transmitting coil Determine using the following formula: in, For the first Individual measurement of self-inductance for each transmitting coil; For the first The first transmitting coil and the second Mutual inductance between the transmitting coils; and The first The and the first The current amplitude of each transmitting coil; and These are the phase angles of the corresponding coil currents; when the currents of each transmitting coil are in phase and have equal amplitude, the working equivalent inductance satisfies... .

[0009] Furthermore, in public work corner frequency Below, the original edge number 1 Each LCC compensation branch and receiving unit satisfies the following resonant configuration conditions: in, and The first Parallel compensation capacitors and compensation inductors in a primary-side LCC compensation branch; For the first The series compensation capacitor in the primary LCC compensation branch; and The first The receiving coil self-inductance and series receiving compensation capacitor of each receiving unit.

[0010] Furthermore, the value of N is 3, and the transmitting coil assembly includes an inner transmitting coil, a middle transmitting coil, and an outer transmitting coil arranged coaxially from the inside out. The inner transmitting coil is used to enhance the coupling strength in the central region, and the middle and outer transmitting coils are used to provide compensating magnetic coupling when the receiving coil is radially offset. A magnetically conductive layer is also provided below the transmitting coil assembly. The magnetically conductive layer is made of soft magnetic ferrite material and is used to constrain back leakage magnetic field.

[0011] Furthermore, the controller is provided with a basic excitation mode. In the basic excitation mode, each high-frequency inverter branch outputs a drive signal with the same frequency, phase and fundamental voltage amplitude, so that N transmitting coils jointly generate a spatially superimposed magnetic field with the same direction.

[0012] Furthermore, when determining the target current vector, the controller is based on the first... A multi-load coupling model is established using the steady-state voltage equations of the receiving loops. The steady-state voltage equations are expressed as follows: in, For the first The equivalent load resistance of each receiver, For the first The current in each receiving coil, For the first The receiving coil and the first Mutual inductance between the receiving coils For the first The first transmitting coil and the second Mutual inductance between the receiving coils For the first The current in each transmitting coil, For the common working angle frequency; when | | / When the cross-coupling between the receiving coils is less than a preset threshold, it is treated as a disturbance; when it exceeds the preset threshold, it is retained in the mutual inductance matrix. item.

[0013] Furthermore, the controller is equipped with an adaptive excitation mode, in which the controller determines the target current amplitude and target phase of each transmitting coil by solving the following constraint optimization problem: The objective function is to minimize the sum of the weighted deviation of the output voltage of each receiver relative to the target reference voltage and the current loss of each transmitting branch. ,Right now: in, For the first The actual output voltage of each receiver. For the first The target reference voltage of each receiver. For the first The priority weight of each receiver. For transmit-side loss weighting, For the first The current in each transmitting coil; The constraints for solving the problem include: upper limit constraint on the transmitting coil current, upper limit constraint on the output voltage of the high-frequency inverter branch, and constraint that the common operating frequency remains unchanged.

[0014] Furthermore, the controller is also configured to execute a fault protection mechanism based on the collected branch current, receiver voltage, load temperature, and communication status. When at least one of the following abnormal conditions is detected: overcurrent in the transmitting branch, overvoltage at the receiving end, overtemperature of the load, the receiving unit leaving the effective power supply area, or communication timeout, the output power of the corresponding transmitting branch is reduced or the output of all transmitting branches is stopped. After the abnormal state is eliminated, a low-power detection signal is used for detection. Once the receiver is confirmed to be in normal condition, the rated power supply is restored according to the preset strategy.

[0015] A power supply control method for a magnetically coupled resonant wireless power supply system for UAV swarms, as described above, includes the following steps: S1: Obtain the self-inductance parameters of each transmitting coil and the mutual inductance parameters between each transmitting coil; S2: Based on the preset multi-coil simultaneous energization working state, calculate the working equivalent inductance of each transmitting coil according to the current amplitude and phase relationship of each transmitting coil, and configure the compensation parameters of each primary-side LCC compensation branch according to the working equivalent inductance. S3: Detect the number of receiving units, their spatial location, and their load status in the power supply area, and construct the mutual inductance matrix between the transmitting coil assembly and each receiving unit; S4: Under the common fixed operating frequency, determine the target current amplitude and target phase of each high-frequency inverter branch according to the mutual inductance matrix and load state; S5: Drive each high-frequency inverter branch to track the target current, so that the transmitting coils of different radial sizes generate a spatial superimposed magnetic field, which is then supplied to the corresponding load after series compensation and rectification by each receiving unit. S6: During the power supply process, the status parameters of the transmitting branch and the receiving end are collected in real time, and the target current is dynamically updated or fault protection actions are executed based on the changes in the status parameters.

[0016] A wireless charging platform for drone swarms includes a support platform and a wireless power supply system as described above. The transmitting coil assembly is embedded in the carrier platform or laid on the surface of the carrier platform. Each UAV is equipped with one of the receiving units, and multiple UAVs can simultaneously receive wireless power at different positions on the carrier platform.

[0017] Compared with the prior art, this application has the following beneficial effects: This invention proposes a magnetically coupled resonant wireless power supply method and system for UAV swarms. The wireless power supply system includes a DC power supply, N independently driven transmitting links, transmitting coil assemblies, m receiving units, and a controller. Each transmitting link includes a high-frequency inverter branch and a primary-side LCC compensation branch. The transmitting coil assembly consists of N coplanar, concentric transmitting coils with progressively increasing radial dimensions. The receiving unit includes a receiving coil, a receiving compensation capacitor, a rectifier circuit, and a load. This invention effectively suppresses resonance offset caused by cross-coupling by setting the parameters of the LCC compensation branch based on the equivalent inductance of the N transmitting coils under synchronous excitation. This equivalent inductance is determined by the combined flux linkage contribution of the self-inductance of the transmitting coils and the mutual inductance between the coils. Simultaneously, under a common fixed operating frequency, the controller coordinates the amplitude and phase of the output current of each transmitting link based on the spatial position and load state of the receiving units. This synthesizes the spatial magnetic fields of the transmitting coils with different radial dimensions into complementary superimposed magnetic fields that adapt to the central region and the radial offset region, ultimately achieving stable and efficient wireless power supply for multiple UAVs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a multi-coil, multi-load magnetically coupled resonant wireless power supply system provided in an embodiment of the present invention.

[0019] Figure 2This is a schematic diagram of the LCC-S equivalent circuit for a single transmitting branch and a single receiving branch provided in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the three-dimensional spatial arrangement of the concentric transmitting coil assembly and multiple receiving coils provided in an embodiment of the present invention.

[0021] Figure 4 This is a flowchart illustrating the control method of the wireless power supply system provided in an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram illustrating the mutual inductance relationship between multiple transmitting coils and multiple receiving ends provided in an embodiment of the present invention.

[0023] The reference numerals in the attached figures are explained as follows: 1. DC power supply; 2. High-frequency inverter branch; 21. One half-bridge inverter; 22. Another half-bridge inverter; 23. Yet another half-bridge inverter; 3. Primary-side LCC compensation branch; 31. Compensating inductor; 32. Parallel compensation capacitor; 33. Series compensation capacitor; 4. Transmitting coil assembly; 41. Inner transmitting coil; 42. Middle transmitting coil; 43. Outer transmitting coil; 5. Controller; 6. Receiving unit; 61. Receiving coil; 62. Receiving compensation capacitor; 63. Rectifier circuit; 64. Load or drone battery; 7. Magnetic conductive layer; 8. Detection module. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Furthermore, in this invention, an element referred to as fixed to or disposed on another element may be directly disposed on the other element, or there may be an intermediate element. When an element is considered to be connected to another element, it may be directly connected to the other element, or there may be an intermediate element present simultaneously. The terms vertical, horizontal, left, right, and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0026] Example 1 This embodiment provides a detailed description of the hardware structure and resonant parameter configuration of a magnetically coupled resonant wireless power supply system for UAV swarms provided in this application: This embodiment mainly illustrates the specific topology and core resonant parameter design method of the wireless power supply system of the present invention. Please refer to... Figures 1 to 3 To understand.

[0027] like Figure 1 As shown, this invention provides a multi-coil, multi-load power supply system for a drone swarm, comprising a DC power supply 1, a high-frequency inverter branch 2, a primary-side LCC compensation branch 3, a transmitting coil assembly 4, a controller 5, a detection module 8, and multiple receiving units 6. Taking N=3 as an example, the system includes three half-bridge inverters 21, 22, and 23 and three layers of concentric transmitting coils. The three half-bridge inverters share a DC bus, but their switching transistors are driven independently. The output of each half-bridge inverter is connected in series with a primary-side LCC compensation branch 3, and then connected to one of the transmitting coils in the transmitting coil assembly 4.

[0028] Transmitting coil assembly 4, as shown Figure 3 As shown, the system consists of three coplanar, concentric ring-shaped transmitting coils with progressively increasing radial dimensions: an inner transmitting coil 41, a middle transmitting coil 42, and an outer transmitting coil 43. Each coil is wound with Litz wire and fixed on an insulating frame. Below the coil is a soft magnetic ferrite conductive layer 7, which can be set to 800mm x 800mm with a thickness of 5mm and a relative permeability of 2000 to constrain back leakage magnetic field and improve effective coupling. Each receiving unit 6 includes a receiving coil 61, a receiving compensation capacitor 62 connected in series with the receiving coil, a full-bridge rectifier circuit 63, and a load 64. The receiving coil 61 is preferably a rectangular planar coil that matches the bottom structure of the UAV.

[0029] Please combine Figure 2 The LCC-S equivalent circuit, primary-side LCC compensation branch 3 includes a compensation inductor. Parallel compensation capacitors and series compensation capacitor The core innovation of this invention lies in the fact that the primary-side compensation parameters are not based on the single-point self-inductance of the coil, but rather on the equivalent inductance of multiple transmitting coils simultaneously energized. Due to the mutual inductance between the transmitting coils, when multiple coils are excited simultaneously, the mutual inductance flux generated by adjacent coils will be superimposed on the target coil, changing its equivalent inductance. In this invention, the first... The equivalent inductance of each transmitting coil Determine it using the following formula: in, For the first Individual measurement of self-inductance for each transmitting coil; For the first The first transmitting coil and the second Mutual inductance between the transmitting coils; and The first The and the first The current amplitude of each transmitting coil; and These represent the phase angles of the corresponding coil currents; when the system is in a basic excitation mode with the same frequency, phase, and amplitude, this formula can be simplified to... .

[0030] Determining the equivalent inductance of the working circuit Then, at the common fixed operating angular frequency In this embodiment, the frequency corresponding to the common fixed operating angular frequency is set to 100kHz. To ensure system resonance, the primary side needs to be configured according to the following formula. The parameters of each LCC compensation branch and receiving unit are shown in the following formula: in, and The first Parallel compensation capacitors and compensation inductors in a primary-side LCC compensation branch; For series compensation capacitors; and The first The receiving coil self-inductance and series receiving compensation capacitor of each receiving unit.

[0031] To verify the above design, this embodiment provides specific coil parameter values, as shown in Table 1: Table 1 Coil Parameters As shown in Table 1, the working equivalent inductance when multiple coils are energized simultaneously in the same phase is much greater than the self-inductance measured individually. For example, the self-inductance of the inner coil alone is 454.9 μH, while the working equivalent inductance when energized in the same phase is 827.1 μH, an increase of 81.8%. This fully demonstrates the necessity of using the working equivalent inductance formula of this invention for compensation configuration.

[0032] Combination Figure 3The spatial arrangement of the three concentric coils was modeled using COMSOL. It was found that when excited in phase, the peak magnetic induction intensity in the central region was about 0.15 Tesla, forming a strong coupling region. At a radial offset of 10cm, the mutual inductance of the inner coil decreased by about 15%, but the mutual inductance of the middle coil increased by about 8%, and the total mutual inductance decreased by only about 7% after superposition. At a radial offset of 24cm, the total mutual inductance decreased by only about 22% relative to the center position, which effectively made up for the defect of poor anti-offset capability of a single coil.

[0033] Example 2 Based on Embodiment 1 above, this embodiment elaborates in detail the power supply control method for a magnetically coupled resonant wireless power supply system for UAV swarms: Please combine Figure 4 and Figure 5 After the system starts, controller 5 first performs parameter calibration, reads the self-inductance of each transmitting coil and the mutual inductance between coils as described in Table 1, and presets the parameters of the compensation components; then it proceeds to... Figure 4 During the detection phase shown, the controller 5 identifies the number, spatial location, and load status of effective receiving units through methods such as receiving end communication information, changes in transmitting end input impedance, transmitting branch current response, or low-power detection signals, and constructs the mutual inductance matrix from the transmitting coil to each receiving coil accordingly.

[0034] In high-load situations, please combine Figure 5 The mutual inductance relationship between multiple transmitting coils and multiple receiving ends, the first The steady-state voltage equation for the receiving loop can be expressed as follows: in, For the first The equivalent load resistance of each receiver, For the first The current in each receiving coil, For the first The receiving coil and the first Mutual inductance between the receiving coils For the first The first transmitting coil and the second Mutual inductance between the receiving coils For the first The current in each transmitting coil, The common operating angular frequency is used. When modeling the system, the voltage and impedance ratio is calculated. When the ratio is less than a preset threshold, the cross-coupling between the receiving coils is considered as a disturbance and ignored.

[0035] In the experimental verification, the self-inductance of the receiving coil was 109.22 μH, and the mutual inductance of adjacent receiving coils was 2.07 μH, corresponding to a cross-coupling coefficient of 0.019. Under a 40Ω equivalent load and a 100kHz operating frequency, this ratio was calculated to be 3.25%, indicating that the cross-coupling between the receiving coils can be treated as a small disturbance under this arrangement. If this ratio exceeds the threshold, it must be retained in the mutual inductance matrix. This is to ensure the accuracy of power decoupling.

[0036] Controller 5 calculates the target current vector by solving a constrained optimization problem; the objective function is... It is set to minimize the output voltage deviation at each receiver and the transmit-side loss, as shown in the following formula: in, For the first The actual output voltage of each receiver. The target reference voltage, For the first The priority weight of each receiver. For transmit-side loss weighting, For the first The current of each transmitting coil; the constraints for solving the problem include the upper limit constraint of the transmitting coil current, the upper limit constraint of the output voltage of the high-frequency inverter branch, and the constraint that the common operating frequency remains unchanged; in specific implementation, this optimization problem can be solved by quadratic programming, sequential quadratic programming or model predictive control.

[0037] In terms of specific operating modes, the system has a basic excitation mode and an adaptive excitation mode. In the basic excitation mode, each high-frequency inverter branch outputs a drive signal with the same frequency, phase, and fundamental voltage amplitude, so that the N transmitting coils jointly generate a spatially superimposed magnetic field with the same direction. In the adaptive mode, when the receiving coil shifts from the center to the outside, the controller will actively reduce the weight of the inner coil and increase the weight of the middle or outer coil to compensate for the decrease in mutual inductance. When the load quantity changes abruptly or the load impedance changes stepwise, the controller will first adjust the output amplitude and then fine-tune the phase difference, maintaining a constant common operating frequency throughout. For example, when the equivalent load changes stepwise from 35Ω to 70Ω, the system can recover to the new steady state within about 20ms, and the overshoot of the output voltage is less than 5%, while the instantaneous distortion rate of the resonant current is also less than 5%.

[0038] To verify the above control method, this embodiment built an experimental prototype with three transmitting coils and multiple receiving ends, and conducted multi-load tests. The data is shown in Table 2.

[0039] Table 2 Results of Multi-Load Test As can be seen from the test data in Table 2, under the condition of single load center alignment, the maximum output power of the prototype reached 507.2W and the system transmission efficiency was 80.6%. Within a radial offset range of 24cm for the receiving coil, the system transmission efficiency remained above 75%, which fully demonstrates that the spatial complementary magnetic field of the inner, middle and outer three-layer transmitting coils can significantly expand the effective power supply area.

[0040] In the multi-load test in Table 2, when three receivers are evenly distributed within the power supply area, the voltage across each receiver load is stable at 35.46V, the single-load receiving power is 31.44W, the total system transmission power is 119.18W, and the corresponding transmission efficiency is 79.14%. By further optimizing the excitation weight and impedance matching, the use of multiple receivers significantly improves the effective utilization rate of the synthetic magnetic field. Under optimal matching conditions, the total transmission efficiency can reach up to 81.6%, which proves that the independent transmission branch can flexibly adjust the excitation weight according to the load distribution, effectively realizing the synchronous charging of multiple drones. Even when four loads are working simultaneously, the voltage at each receiver remains stable at 34.62V, and the total transmission efficiency remains above 76.94%, demonstrating the system's excellent power expansion capability and load adaptability.

[0041] Example 3 This embodiment further illustrates the safe operation logic of the system of the present invention. The controller 5 is configured to use the detection module 8 to collect the voltage, current, phase and temperature of each transmitting branch in real time according to a preset period, and to receive the battery voltage, battery current, state of charge and temperature fed back by each UAV.

[0042] When the system detects at least one of the abnormal states, such as overcurrent in the transmitting branch, overvoltage at the receiving end, overtemperature of the load, the receiving unit leaving the effective power supply area, or communication timeout, the controller will prioritize reducing the output power of the corresponding transmitting branch to mitigate the impact of the abnormality.

[0043] If the abnormal state persists, the system will take more thorough countermeasures, namely, stopping the output of all transmission branches to prevent the fault from escalating.

[0044] Once the abnormal state is eliminated, the system cannot start at full power without warning. Instead, it first outputs a low-power detection signal to check and confirm that the positions and states of the receiver and transmitter have returned to normal. Then, it gradually increases the power to the rated power to ensure the high safety and high reliability of the drone swarm wireless charging platform in daily operation.

[0045] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0046] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A magnetically coupled resonant wireless power supply system for unmanned aerial vehicle (UAV) swarms, characterized in that, It includes a DC power supply, N independently driven transmission links, a transmission coil assembly, m receiving units, and a controller; where N is an integer greater than or equal to 2, and m is an integer greater than or equal to 1. Each of the aforementioned transmission links includes a high-frequency inverter branch and a primary-side LCC compensation branch connected to the high-frequency inverter branch; the transmission coil assembly consists of N coplanar and concentric transmission coils with radial dimensions increasing sequentially; each of the aforementioned receiving units includes a receiving coil, a receiving compensation capacitor, a rectifier circuit, and a load; The compensation parameters of the primary-side LCC compensation branch are set based on the working equivalent inductance of the N transmitting coils under synchronous excitation. The working equivalent inductance is determined by the combined flux linkage contribution of the self-inductance of each transmitting coil and the mutual inductance between each transmitting coil. The controller is used to coordinate the amplitude and phase of the output current of each of the transmitting links under a common fixed operating frequency, based on the spatial position and load state of the m receiving units, so that the spatial magnetic fields of the transmitting coils with different radial dimensions are synthesized into complementary superimposed magnetic fields that adapt to the central region and the radial offset region, so as to wirelessly power the receiving units.

2. The wireless power supply system according to claim 1, characterized in that, No. The equivalent inductance of each transmitting coil Determine using the following formula: in, For the first Individual measurement of self-inductance for each transmitting coil; For the first The first transmitting coil and the second Mutual inductance between the transmitting coils; and The first The and the first The current amplitude of each transmitting coil; and These are the phase angles of the corresponding coil currents; when the currents of each transmitting coil are in phase and have equal amplitude, the working equivalent inductance satisfies... .

3. The wireless power supply system according to claim 2, characterized in that, In common working angle frequency Below, the original edge number 1 Each LCC compensation branch and receiving unit satisfies the following resonant configuration conditions: in, and The first Parallel compensation capacitors and compensation inductors in a primary-side LCC compensation branch; For the first The series compensation capacitor in the primary LCC compensation branch; and The first The receiving coil self-inductance and series receiving compensation capacitor of each receiving unit.

4. The wireless power supply system according to claim 1, characterized in that, The value of N is 3, and the transmitting coil assembly includes an inner transmitting coil, a middle transmitting coil and an outer transmitting coil arranged coaxially from the inside to the outside. The inner transmitting coil is used to enhance the coupling strength in the central region, and the middle and outer transmitting coils are used to provide compensating magnetic coupling when the receiving coil is radially offset. A magnetically conductive layer is also provided below the transmitting coil assembly. The magnetically conductive layer is made of soft magnetic ferrite material and is used to constrain back leakage magnetic field.

5. The wireless power supply system according to claim 1, characterized in that, The controller is equipped with a basic excitation mode. In the basic excitation mode, each high-frequency inverter branch outputs a drive signal with the same frequency, phase and fundamental voltage amplitude, so that N transmitting coils jointly generate a spatially superimposed magnetic field with the same direction.

6. The wireless power supply system according to claim 1, characterized in that, When determining the target current vector, the controller is based on the first... A multi-load coupling model is established using the steady-state voltage equations of the receiving loops. The steady-state voltage equations are expressed as follows: in, For the first The equivalent load resistance of each receiver, For the first The current in each receiving coil, For the first The receiving coil and the first Mutual inductance between the receiving coils For the first The first transmitting coil and the second Mutual inductance between the receiving coils For the first The current in each transmitting coil, For the common working angle frequency; when | | / When the cross-coupling between the receiving coils is less than a preset threshold, it is treated as a disturbance; when it exceeds the preset threshold, it is retained in the mutual inductance matrix. item.

7. The wireless power supply system according to claim 1, characterized in that, The controller is equipped with an adaptive excitation mode. In this mode, the controller determines the target current amplitude and target phase of each transmitting coil by solving the following constraint optimization problem: The objective function is to minimize the sum of the weighted deviation of the output voltage of each receiver relative to the target reference voltage and the current loss of each transmitting branch. ,Right now: in, For the first The actual output voltage of each receiver. For the first The target reference voltage of each receiver. For the first The priority weight of each receiver. For transmit-side loss weighting, For the first The current in each transmitting coil; The constraints for solving the problem include: upper limit constraint on the transmitting coil current, upper limit constraint on the output voltage of the high-frequency inverter branch, and constraint that the common operating frequency remains unchanged.

8. The wireless power supply system according to claim 1, characterized in that, The controller is also configured to execute a fault protection mechanism based on the collected branch current, receiver voltage, load temperature and communication status. When at least one of the following abnormal conditions is detected: overcurrent in the transmitting branch, overvoltage at the receiving end, overtemperature of the load, the receiving unit leaving the effective power supply area, or communication timeout, the output power of the corresponding transmitting branch is reduced or the output of all transmitting branches is stopped. After the abnormal state is eliminated, a low-power detection signal is used for detection. Once the receiver is confirmed to be in normal condition, the rated power supply is restored according to the preset strategy.

9. A power supply control method for a magnetically coupled resonant wireless power supply system for unmanned aerial vehicle (UAV) swarms as described in any one of claims 1-8, characterized in that, Includes the following steps: S1: Obtain the self-inductance parameters of each transmitting coil and the mutual inductance parameters between each transmitting coil; S2: Based on the preset multi-coil simultaneous energization working state, calculate the working equivalent inductance of each transmitting coil according to the current amplitude and phase relationship of each transmitting coil, and configure the compensation parameters of each primary-side LCC compensation branch according to the working equivalent inductance. S3: Detect the number of receiving units, their spatial location, and their load status in the power supply area, and construct the mutual inductance matrix between the transmitting coil assembly and each receiving unit; S4: Under the common fixed operating frequency, determine the target current amplitude and target phase of each high-frequency inverter branch according to the mutual inductance matrix and load state; S5: Drive each high-frequency inverter branch to track the target current, so that the transmitting coils of different radial sizes generate a spatial superimposed magnetic field, which is then supplied to the corresponding load after series compensation and rectification by each receiving unit. S6: During the power supply process, the status parameters of the transmitting branch and the receiving end are collected in real time, and the target current is dynamically updated or fault protection actions are executed based on the changes in the status parameters.

10. A wireless charging platform for drone swarms, characterized in that, Includes a carrier platform and a wireless power supply system as described in any one of claims 1 to 8; The transmitting coil assembly is embedded in the carrier platform or laid on the surface of the carrier platform. Each UAV is equipped with one of the receiving units, and multiple UAVs can simultaneously receive wireless power at different positions on the carrier platform.

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