A planar motor moving element wireless power supply device and implementation method

Abstract

The application relates to the technical field of planar motors, and provides a planar motor moving element wireless power supply device and an implementation method. A first coil unit for generating an excitation magnetic field and a second coil unit for relaying the excitation magnetic field through magnetic coupling are arranged, the second coil unit can be jointly excited by a plurality of adjacent first coil units, the equivalent induced voltage of the second coil unit is the phasor sum of the induced voltage components generated by each adjacent first coil unit in the second coil unit, the excitation strength of the second coil unit can be improved, the coupling capacity with the moving element wireless power receiving unit is enhanced, when each effective coupling term is mutually enhanced and the power supply capacity of the excitation unit meets the requirements, the synthesized induced voltage obtained by the target second coil unit can be improved; the active emission position, the active compensation branch and the active power supply connection position can be reduced, and the frequency synchronization control complexity of a plurality of independent driving channels can be reduced.

Description

Technical Field

[0001] This application relates to the field of planar motor technology, and in particular to a wireless power supply device and implementation method for a planar motor actuator. Background Technology

[0002] Planar motors are widely used in semiconductor manufacturing, precision testing, and intelligent logistics sorting due to their advantages such as the ability of the mover to move within a two-dimensional working area, high positioning accuracy, and fast dynamic response. The mover side is usually equipped with electrical loads such as position detection sensors, motion control circuits, communication modules, and functional actuators, which require a continuous and stable power supply.

[0003] Currently, conventional power supply solutions for planar motor movers mostly adopt wired power supply, including drag chain power supply, direct cable power supply, or sliding contact line power supply. However, these solutions have obvious limitations: drag chains or direct cables limit the maximum range of motion of the mover, and dragging resistance reduces the mover's motion accuracy and dynamic response speed; sliding contact lines have the potential for contact wear and electrical sparks, requiring regular maintenance, which significantly increases the total life cycle cost of the system and makes it difficult to adapt to special application scenarios with high cleanliness and high explosion-proof requirements.

[0004] Wireless power transfer technology enables power transfer without a direct physical electrical connection between the stator and rotor sides, eliminating the need for additional mechanical connection structures. One existing wireless power supply scheme involves densely arranging active transmitting coils within a two-dimensional power supply area on the stator. Each active transmitting coil is independently connected to a high-frequency excitation circuit, and power supply is achieved by matching the rotor position to the corresponding active transmitting coil. However, the number of active transmitting coils and associated drive channels in this scheme increases significantly with the size of the power supply area. When the power supply area is large, the number of active transmitting coils, power devices, and connecting lines increases dramatically, significantly increasing wiring complexity. Furthermore, when multiple sets of active transmitting coils operate simultaneously, the output frequency and phase of each drive channel need to be synchronized, further increasing control difficulty and system power consumption. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a planar motor actuator wireless power supply device and its implementation method.

[0006] A first aspect of this application provides a wireless power supply device for a planar motor rotor, including a stator assembly and a rotor assembly; The stator assembly includes an excitation unit and a hybrid coil array; the mover assembly includes a wireless receiving unit; the hybrid coil array includes multiple first coil units and multiple second coil units; the first coil units are configured to generate an excitation magnetic field under the drive of the excitation unit; the second coil units form a closed relay loop and are not directly electrically connected to the excitation unit, and are configured to relay the excitation magnetic field through magnetic coupling; the multiple first coil units and second coil units are arranged alternately along mutually orthogonal first and second directions in a plane to form a two-dimensional orthogonal topology array, at least one second coil unit forms a many-to-one coupling with multiple adjacent first coil units; at least one first coil unit simultaneously forms a one-to-many shared relationship with at least two adjacent second coil units; the first terminal of the first coil unit is connected to the first AC power supply terminal of the excitation unit; the second terminal of the first coil unit is connected to the second AC power supply terminal of the excitation unit; the shared first coil unit simultaneously forms a magnetic coupling relationship with at least two second coil units; the wireless receiving unit is used to receive the magnetic field generated by the hybrid coil array and convert the magnetic field into electrical energy.

[0007] In some embodiments of this application, the hybrid coil array includes multiple local coupling units, and two adjacent local coupling units share a first coil unit or a second coil unit at the boundary.

[0008] In some embodiments of this application, the number of first coil units adjacent to the second coil unit varies depending on its position in the hybrid coil array: a second coil unit located in an inner position is adjacent to four first coil units, a second coil unit located at an edge (non-corner) position is adjacent to three first coil units, and a second coil unit located at a corner position is adjacent to two first coil units; the corresponding number of first coil units adjacent to the second coil unit are configured to be jointly excited to drive the second coil unit.

[0009] In some embodiments of this application, a coupling edge is formed between each adjacent first coil unit and second coil unit; the multiple coupling edges corresponding to the second coil unit have a consistent coupling direction.

[0010] In some embodiments of this application, the first coil unit and the second coil unit form a signed binary network; the mutual inductance sign product of the closed active-relay alternating coupling loops in the signed binary network is determined, and when the sign product of each closed loop is positive, the signed binary network satisfies the global fixed polarity mapping compatibility condition, and the fixed wiring polarity of the first coil unit is determined accordingly.

[0011] In some embodiments of this application, the hybrid coil array is a rectangular array structure of rows and columns. The vertex and center points of the rectangular array structure are provided with second coil units, and the midpoints of the four sides are provided with first coil units. The second coil unit at the center point is coupled to the four first coil units adjacent to it. The second coil unit at the vertex point is coupled to the two first coil units adjacent to it. Each first coil unit is simultaneously coupled to the second coil unit at the center point and the vertex point located on its side.

[0012] In some embodiments of this application, the four coupling edges corresponding to the second coil unit located at the center point have a consistent coupling direction; the coupling edges corresponding to the second coil unit located at the vertex point have a consistent coupling direction; when the position of the second coil unit that mainly transmits energy is changed, the wiring of the first coil unit remains unchanged.

[0013] In some embodiments of this application, the excitation unit includes a DC power supply and an inverter; the inverter is used to convert DC power into an angular frequency of... The inverter provides high-frequency alternating current and has a first common AC power supply terminal and a second common AC power supply terminal; the input terminal of the inverter is electrically connected to the DC power supply; one end of each first coil unit is connected to the first common AC power supply terminal and the other end is connected to the second common AC power supply terminal to form an active transmission branch; multiple active transmission branches are connected in parallel between the first common AC power supply terminal and the second common AC power supply terminal.

[0014] In some embodiments of this application, each of the active transmitting branches further includes a transmitting compensation capacitor; the transmitting compensation capacitor is connected in series with the first coil unit to form a compensated active transmitting branch, and the active transmitting branch is connected between the first common AC power supply terminal and the second common AC power supply terminal.

[0015] In some embodiments of this application, the second coil unit forms a closed relay circuit and is not directly electrically connected to the excitation unit; a relay compensation capacitor is connected in series in each relay circuit to form a relay compensation circuit.

[0016] In some embodiments of this application, the wireless power receiving unit includes a receiving coil, a receiving compensation capacitor, and a rectifier circuit having a first AC input terminal and a second AC input terminal; the second AC input terminal, the receiving coil, the receiving compensation capacitor, and the first AC input terminal are connected sequentially to form a series-compensated receiving circuit.

[0017] A second aspect of this application provides a method for implementing a wireless power supply device for a planar motor actuator, the method comprising the following steps: Step S1: Define the reference winding direction, terminal definition and positive direction of induced voltage for each first coil unit and second coil unit, and set the reference output polarity of the excitation unit. Step S2: Obtain the signed mutual inductance relationship between multiple first coil units and at least two second coil units; Step S3: Determine the fixed correspondence between the wiring terminals of the first coil unit and the AC output terminals of the excitation unit based on the signed mutual inductance relationship; Step S4: Connect the active transmission branches according to the obtained fixed correspondence and maintain the connection relationship so that multiple active transmission branches can work together; Step S5: Obtain the actual phase relationship of each effective coupling side at at least two second coil units; Step S6: Check whether the effective coupling edges at at least two second coil units meet the predetermined mutual reinforcement conditions.

[0018] In some embodiments of this application, step S2 specifically includes the following steps: The active transmitting branch under test is isolated from other branches, and each adjacent active transmitting branch is excited individually in sequence. The phase of the induced voltage generated by each branch is detected and recorded at the second coil unit. One of the active transmitting branches is selected as the reference branch. The phase of the induced voltage generated by the other active transmitting branches is compared with the phase of the induced voltage generated by the reference branch to determine the signed mutual inductance relationship or wiring polarity between multiple first coil units and at least two second coil units.

[0019] In some embodiments of this application, in step S2, the signed mutual inductance is determined based on the winding direction, relative installation direction, and spatial coupling relationship. In step S, the coupling impedance relationship is established and the common working current phasor and actual phase are solved.

[0020] In some embodiments of this application, the following methods are also included: When the verification indicates the presence of mutually weakening effective coupling terms or additional phase deviations, at least one compensation parameter in the active transmitting branch, target relay circuit, or receiving circuit involved in the operation is determined or corrected, and the actual phase relationship of each effective coupling term is re-detected or calculated after correction.

[0021] In some embodiments of this application, the following methods are also included: When the global network formed by the first coil unit, the second coil unit and their coupling edges is incompatible, the global network is divided into compatible regions, each conflicting branch is connected to only one region, and the polarity is switched when the region is switched; or independent phase control is used for each region.

[0022] In some embodiments of this application, the following methods are also included: Obtain effective coupling edges, check the compatibility conditions of each effective coupling edge, and determine the fixed terminals; verify the phase relationship of each second coil unit respectively, and when the position of the second coil unit that mainly transmits energy is changed, the wiring of the first coil unit remains unchanged.

[0023] Compared with the prior art, the present invention has the following advantages and beneficial effects: The planar motor mover wireless power supply device of this application, by setting a first coil unit that generates an excitation magnetic field and a second coil unit that relays the excitation magnetic field through magnetic coupling, the second coil unit can be jointly excited by multiple adjacent first coil units. The equivalent induced voltage of the second coil unit is the phasor sum of the induced voltage components generated by each adjacent first coil unit in the second coil unit, which can improve the excitation intensity of the second coil unit and enhance the coupling capability with the mover wireless power receiving unit. When each effective coupling term enhances each other and the power supply capacity of the excitation unit meets the requirements, it is beneficial to improve the synthetic induced voltage obtained by the target second coil unit; it can reduce the active transmission position, active compensation branch and active power supply connection position, and reduce the frequency synchronization control complexity of multiple independent drive channels.

[0024] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit this document. Attached Figure Description

[0025] The accompanying drawings, which form part of this document, are used to provide a further understanding of the document. The illustrative embodiments and descriptions herein are used to explain the document and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a hybrid coil array provided in an exemplary embodiment of this application; Figure 2 This is a schematic diagram of the magnetic coupling relationship between four orthogonal adjacent first coil units and a target second coil unit provided in an exemplary embodiment of this application; Figure 3 This is a schematic diagram of the power supply structure between the hybrid coil array and the wireless power receiving unit of the mover provided in an exemplary embodiment of this application; Figure 4 This is a schematic diagram of a two-dimensional orthogonal topology array provided in an exemplary embodiment of this application.

[0026] In the picture: 100. Hybrid coil array; 110. First coil unit; 120. Second coil unit; 121. Target second coil unit; 200. Excitation unit; 300. Mover assembly; 310. Wireless power receiving unit; 311. Receiving coil; 320. Mover-side electrical load; 400. Stator assembly. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0028] Planar motors are widely used in semiconductor manufacturing, precision testing, and intelligent logistics sorting due to their advantages such as the ability of the mover to move within a two-dimensional working area, high positioning accuracy, and fast dynamic response. The mover side is usually equipped with electrical loads such as position detection sensors, motion control circuits, communication modules, and functional actuators, which require a continuous and stable power supply.

[0029] Currently, conventional power supply solutions for planar motor movers mostly adopt wired power supply, including drag chain power supply, direct cable power supply, or sliding contact line power supply. However, these solutions have obvious limitations: drag chains or direct cables limit the maximum range of motion of the mover, and dragging resistance reduces the mover's motion accuracy and dynamic response speed; sliding contact lines have the potential for contact wear and electrical sparks, requiring regular maintenance, which significantly increases the total life cycle cost of the system and makes it difficult to adapt to special application scenarios with high cleanliness and high explosion-proof requirements.

[0030] Wireless power transfer technology enables power transfer without a direct physical electrical connection between the stator and rotor sides, eliminating the need for additional mechanical connection structures. One existing wireless power supply scheme involves densely arranging active transmitting coils within a two-dimensional power supply area on the stator. Each active transmitting coil is independently connected to a high-frequency excitation circuit, and power supply is achieved by matching the rotor position to the corresponding active transmitting coil. However, the number of active transmitting coils and associated drive channels in this scheme increases significantly with the size of the power supply area. When the power supply area is large, the number of active transmitting coils, power devices, and connecting lines increases dramatically, significantly increasing wiring complexity. Furthermore, when multiple sets of active transmitting coils operate simultaneously, the output frequency and phase of each drive channel need to be synchronized, further increasing control difficulty and system power consumption.

[0031] Based on this, an exemplary embodiment of this application provides a planar motor mover wireless power supply device and implementation method. By setting a first coil unit that generates an excitation magnetic field and a second coil unit that relays the excitation magnetic field through magnetic coupling, at least one second coil unit forms a many-to-one coupling with multiple adjacent first coil units, and at least one first coil unit simultaneously forms a one-to-many shared coupling with at least two adjacent second coil units. The second coil unit can be jointly excited by multiple adjacent first coil units. The equivalent induced voltage of the second coil unit is the phasor sum of the induced voltage components generated by each adjacent first coil unit in the second coil unit. This can improve the excitation intensity of the second coil unit and enhance the coupling capability with the mover wireless power receiving unit. When each effective coupling term enhances each other and the power capacity of the excitation unit meets the requirements, it is beneficial to improve the synthetic induced voltage obtained by the target second coil unit. It can reduce the active transmission position, active compensation branch and active power supply connection position, and reduce the frequency synchronization control complexity of multiple independent drive channels.

[0032] Example 1: An exemplary embodiment of this application provides a planar motor actuator wireless power supply device, such as... Figures 1 to 4 As shown, the device includes a stator assembly 400 and a mover assembly 300; The stator assembly 400 includes a stator body, an excitation unit 200, and a hybrid coil array 100, wherein both the hybrid coil array 100 and the excitation unit 200 are disposed on the stator body. The mover assembly 300 includes a mover body, a wireless power receiving unit 310, and a mover-side electrical load 320, wherein both the wireless power receiving unit 310 and the mover-side electrical load 320 are disposed on the mover body, and the mover-side electrical load 320 can be a sensor, a communication module, etc. Figure 1As shown, the hybrid coil array 100 includes a plurality of first coil units 110 and a plurality of second coil units 120; the first coil units 110 are electrically connected to the excitation unit 200 and are configured to generate an excitation magnetic field under the drive of the excitation unit 200; the second coil units 120 form a closed relay loop and are not directly electrically connected to the excitation unit 200, and are configured to relay the excitation magnetic field through magnetic coupling; the plurality of first coil units 110 and second coil units 120 are arranged alternately along a first direction and a second direction that are orthogonal to each other in the plane to form a two-dimensional orthogonal topological array. For example, the first direction and the second direction can be a row direction and a column direction that are perpendicular to each other in the array plane. At least one second coil unit 120 forms a many-to-one coupling with multiple adjacent first coil units 110. The equivalent induced voltage of the second coil unit is the phasor sum of the induced voltage components generated by each adjacent first coil unit in the second coil unit. This can improve the excitation intensity of the second coil unit and enhance the coupling capability with the moving wireless receiving unit. When the effective coupling terms enhance each other and the power supply capacity of the excitation unit meets the requirements, it is beneficial to improve the synthetic induced voltage obtained by the target second coil unit. At least one first coil unit 110 simultaneously forms a one-to-many shared relationship with at least two adjacent second coil units 120, which can reduce the active transmission position, active compensation branch, and active power supply connection position, and reduce the frequency synchronization control complexity of multiple independent drive channels. The first terminal of the first coil unit 110 is connected to the first AC power supply terminal of the excitation unit 200; the second terminal of the first coil unit 110 is connected to the second AC power supply terminal of the excitation unit 200; the shared first coil unit 110 simultaneously forms a magnetic coupling relationship with at least two second coil units 120; the wireless receiving unit 310 is used to receive the magnetic field generated by the hybrid coil array 100 and convert the magnetic field into electrical energy.

[0033] During the operation of the wireless power supply device, such as Figure 2 , 3 As shown, the excitation unit 200 provides alternating current to the first coil unit 110, which generates an alternating magnetic field. This alternating magnetic field acts on the target second coil unit 121, generating induced voltage and induced current. When the wireless power receiving unit 310 of the mover assembly 300 of the planar motor enters the effective coupling region of the target second coil unit 121, the target second coil unit 121 transmits energy to the wireless power receiving unit 310 through magnetic coupling. The wireless power receiving unit 310 includes a receiving coil 311, which can convert energy into electrical energy to provide energy to the mover-side electrical load 320.

[0034] In this application, such as Figure 2As shown, multiple first coil units 110 adjacent to the second coil unit 120 can simultaneously act on the second coil unit 120. The equivalent induced voltage of the second coil unit 120 is the phasor sum of the induced voltage components generated by each adjacent first coil unit 110 in the second coil unit 120. This can increase the excitation intensity of the second coil unit 120 and enhance the coupling capability with the moving part wireless power receiving unit 310. When each effective coupling term enhances the other and the power supply capacity of the excitation unit meets the requirements, it is beneficial to improve the composite induced voltage obtained by the target second coil unit 121. In the figure, to This represents the mutual inductance amplitude of each first coil unit 110 to the second coil unit 120; to This indicates the phase of the corresponding effective coupling voltage term. Furthermore, in this application, the first coil unit 110 can simultaneously provide excitation to multiple adjacent second coil units 120, and can be shared during power supply at different target relay locations, thereby improving the utilization rate of the first coil unit 110; reducing the number of first coil units 110; and simultaneously reducing the number of active transmission positions, active compensation branches, and active power supply connection positions, as well as reducing the frequency synchronization control complexity of multiple independent drive channels.

[0035] For example, the excitation unit 200 includes a DC power supply and an inverter; the inverter is used to convert DC power into an angular frequency of... The inverter provides high-frequency alternating current and has a first common AC power supply terminal and a second common AC power supply terminal. The input terminal of the inverter is electrically connected to the DC power supply. One end of each first coil unit 110 is connected to the first common AC power supply terminal, and the other end is connected to the second common AC power supply terminal, forming an active transmitting branch. Multiple active transmitting branches are connected in parallel between the first common AC power supply terminal and the second common AC power supply terminal. Each active transmitting branch includes a first coil unit 110 and shares one inverter. At the same time, the coil structure, inductance value, and compensation parameters of the first coil units 110 of each active transmitting branch are kept the same or substantially the same, so that each active transmitting branch has the same or substantially the same impedance phase in the initial design state. The inverter provides the same frequency and same source terminal voltage to each active transmitting branch. The actual current phase when each active transmitting branch works together can be calculated or detected and corrected by combining mutual inductance coupling, compensation error, and load reflection impedance.

[0036] The second coil unit 120 is not connected to the inverter, and it can form a closed relay circuit with coil conductors. The wireless power receiving unit 310 includes a receiving coil 311 and a rectifier circuit having a first AC input terminal and a second AC input terminal; the two ends of the rectifier circuit are respectively connected to the two ends of the receiving coil 311 to form a closed circuit.

[0037] The hybrid coil array 100 includes multiple local coupling units. The local coupling unit can be used as the smallest array unit of the hybrid coil array 100. Depending on the working area size of the planar motor, multiple local coupling units can be arranged in an expanded manner. Two adjacent local coupling units share the first coil unit 110 or the second coil unit 120 at the boundary.

[0038] Depending on the position of the second coil unit 120 in the hybrid coil array 100, the number of adjacent first coil units 110 varies: for example... Figure 4 As shown, the second coil unit 120 located inside is adjacent to four first coil units 110, the second coil unit 120 located at the edge (non-corner) is adjacent to three first coil units 110, and the second coil unit 120 located at the corner is adjacent to two first coil units 110. The corresponding number of first coil units 110 adjacent to the second coil unit 120 are configured to be jointly excited to drive the second coil unit 120. Depending on the location of the target second coil unit 121, it can be jointly excited by two, three, or four first coil units 110. Here, the target second coil unit 121 refers to the second coil unit 120 that currently forms the main energy transfer relationship with the mover-side receiving coil 311; in the common AC bus mode, multiple second coil units 120 can be excited simultaneously, and the second coil unit 120 closest to the mover-side receiving coil 311 constitutes the current target second coil unit 121.

[0039] A coupling edge is formed between each adjacent first coil unit 110 and second coil unit 120; the multiple coupling edges corresponding to the second coil unit 120 have a consistent coupling direction.

[0040] The first coil unit 110 and the second coil unit 120 form a signed binary network; the mutual inductance sign product of the closed active-relay alternating coupling loops in the signed binary network is determined. When the sign product of each closed loop is positive, the signed binary network satisfies the global fixed polarity mapping compatibility condition, and the fixed wiring polarity of the first coil unit 110 is determined accordingly.

[0041] Preferred, such as Figure 1 As shown, the hybrid coil array 100 is a rectangular array structure with 3 rows and 3 columns. The vertex and center points of the rectangular array structure are equipped with second coil units 120, and the midpoints of the four sides are equipped with first coil units 110. The second coil unit 120 at the center point is coupled to the four adjacent first coil units 110. The second coil unit 120 at the vertex point is coupled to the two adjacent first coil units 110. Each first coil unit 110 is coupled to the second coil unit 120 at the center point and the vertex point on its side.

[0042] In a 3x3 rectangular array structure, four first coil units 110 and five second coil units 120 are arranged in nine coil positions. Compared with a comparative scheme where all nine positions are configured with first coil units 110, the number of active transmitting positions and the number of active transmitting branches directly connected to the active AC power supply are reduced from nine to four, a reduction of: ; For a coil extension array with a large number of rows and columns, the ratio of the number of first coil units 110 to the number of second coil units 120 approaches 1:1. Therefore, compared with a fully active array with the same total number of positions, the number of active transmitting positions and active power supply connection positions required by the hybrid coil array 100 of this application can theoretically be reduced by about 50%.

[0043] For a hybrid coil array 100 with m rows and n columns of coils, if the corner points are arranged starting from the passive relay position, the number of active transmitting positions is... Number of passive relay locations and the proportion of active position reduction It can be represented as: ; .

[0044] If the corner points are arranged starting from the active launch position, then the number of active launch positions is... Number of passive relay locations It can be represented as: ; In this application, the four coupling edges corresponding to the second coil unit 120 located at the center point have a consistent coupling direction, thus enabling the four first coil units 110 to form mutually reinforcing effective coupling terms with the central second coil unit 120; the coupling edges corresponding to the second coil unit 120 located at the vertex point have a consistent coupling direction, so that each vertex point second coil unit 120 obtains mutually reinforcing effective coupling terms from its two adjacent first coil units 110; when the position of the second coil unit 120 that mainly transmits energy is changed, the wiring of the first coil unit 110 remains unchanged.

[0045] This fixed wiring relationship not only enables the four first coil units 110 to form mutually reinforcing effective coupling terms with the central second coil unit 120, but also enables each corner second coil unit 120 to obtain mutually reinforcing effective coupling terms from the two first coil units 110 adjacent to it; when changing the main energy transfer position between the central and any corner second coil unit 120, it is not necessary to re-exchange the wiring terminals of the first coil units 110.

[0046] The four first coil units 110 operate at the same or substantially the same operating frequency and have a preset phase relationship. In this application, the preset phase relationship is configured together with the winding direction or wiring polarity of each first coil unit 110, so that the alternating magnetic flux components generated by each first coil unit 110 at the target second coil unit 121 have a mutually reinforcing composite relationship at least during the target operating period.

[0047] In one embodiment, the four first coil units 110 employ the same driving phase, for example, all employing a driving signal with a phase of 0°. The winding direction and connection polarity of each first coil unit 110 are configured such that the four first coil units 110 form mutually reinforcing effective magnetic flux components at the central target second coil unit 121. That is, through consistent or compatible winding directions and connection polarities, their effective magnetic flux directions at the target second coil unit 121 are aligned. The same driving phase does not require that each active transmitting branch has absolute zero error at all moments, but rather that the phase difference between each first coil unit 110 is within an allowable range that enables mutually reinforcing coupling at the target second coil unit 121.

[0048] In another equivalent embodiment, when different first coil units 110 have different magnetic field directions due to different mounting directions or winding directions, the effective magnetic flux components of each first coil unit 110 at the target second coil unit 121 can still have a mutually reinforcing relationship by changing the wiring polarity or driving phase of the corresponding first coil unit 110. The cooperative excitation mentioned in this application is not limited to the nominal phase of each driving end being exactly the same, but is based on the synthetic coupling result at the target second coil unit 121.

[0049] For a locally coupled unit in a 3x3 rectangular array structure, all four active transmitting branches can be connected in parallel to the AC output of the same inverter. For an extended array, all active transmitting branches can be connected in parallel to a common AC bus, so that each second coil unit 120 can simultaneously receive excitation from its adjacent first coil unit 110; alternatively, the array can be divided into multiple power supply areas, with the active transmitting branches in each area driven by the corresponding inverter, and all common high-frequency inverters sharing the same clock source or common frequency and phase reference.

[0050] A fixed reference winding direction, first terminal, second terminal, and positive current direction are predefined for each first coil unit 110 and second coil unit 120. The target second coil unit 121 is denoted as coil R, and the number of first coil units 110 participating in the coordinated excitation is... , No. The actual current phasor of the first coil unit 110 under the aforementioned fixed reference direction is: The mutual inductance amplitude between it and the target second coil unit 121 is The mutual inductance symbol under the reference direction is The system's operating angular frequency is The fixed polarity of the first coil unit 110 is reflected in the actual current phasor by changing the direction of the applied voltage. In, no duplicate entries will be made. The equivalent induced voltage phasor obtained by the target second coil unit 121 can be expressed as: ; in, It only indicates the mutual inductance symbol determined by the relative winding direction and spatial coupling relationship of the two coils under a predefined coil reference direction, and does not include the fixed wiring polarity when the first coil unit 110 is connected to the common AC port; Represents the imaginary unit, satisfying .

[0051] The current phasor of the target second coil unit 121 can be approximately expressed as: ; in, The equivalent impedance of the target second coil unit 121 at the operating frequency includes the combined effects of the coil's own impedance, optional passive compensation components, and the reflected impedance on the receiving side. In the above formula, the positive and negative signs depend on the voltage and current reference directions and the convention for mutual inductance sign.

[0052] Thus, the coupling terms generated by the multiple first coil units 110 can mutually enhance or cancel each other out at the target second coil unit 121. When each effective coupling term... , When there is a mutually reinforcing phase relationship, the equivalent induced voltage obtained by the target second coil unit 121 increases.

[0053] Example 2: Based on the above embodiment 1, in this embodiment, at least one of the active transmitting branch, the target relay circuit, or the receiving circuit is provided with a compensation component in order to compensate for at least one of the active transmitting branch, the target relay circuit, or the receiving circuit.

[0054] Each active transmitting branch also includes a transmitting compensation capacitor; the transmitting compensation capacitor is connected in series with the first coil unit 110 to form a compensated active transmitting branch, and the active transmitting branch is connected between the first common AC power supply terminal and the second common AC power supply terminal. Transmitting compensation capacitor The calculation formula is as follows: ; in, Indicates the angular frequency of alternating current; This corresponds to the inductance value of the first coil unit 110.

[0055] The second coil unit 120 forms a closed relay circuit and is not directly electrically connected to the excitation unit 200; a relay compensation capacitor is connected in series in each relay circuit to form a relay compensation circuit. The alternating magnetic field generated by the first coil unit 110 induces a voltage in the second coil unit 120 and generates an alternating current in the closed relay circuit; assuming the common operating frequency is... , In the initial design that ignores the impact of mutual inductance and load reflection on the resonant point offset, the relay compensation capacitor... The calculation formula is as follows: ; in, Indicates the angular frequency of alternating current; This is the inductance value of the second coil unit 120.

[0056] The wireless power receiving unit 310 includes a receiving coil 311, a receiving compensation capacitor, and a rectifier circuit having a first AC input terminal and a second AC input terminal; the second AC input terminal, the receiving coil 311, the receiving compensation capacitor, and the first AC input terminal are connected in sequence to form a series compensation receiving circuit.

[0057] Receive compensation capacitor The calculation formula is as follows: ; in, Indicates the angular frequency of alternating current; This refers to the inductance value of the receiving coil 311. Additionally, a filter circuit can be provided. Depending on the requirements of the moving-side electrical load 320, a voltage regulator circuit or energy storage element can also be installed between the filter circuit and the moving-side electrical load 320.

[0058] After initial selection, the mutual inductance between the first coil units 110, the mutual inductance between the first coil unit 110 and the second coil unit 120, the mutual inductance between the second coil unit 120 and the receiving coil 311, and the receiving side reflection impedance can be incorporated into the equivalent input impedance, and the corresponding compensation parameters can be corrected so that the imaginary part of the input impedance of each active branch participating in the operating frequency satisfies: ; in, Indicates the first The equivalent input impedance of each active transmit branch; This indicates taking the imaginary part of a complex number; Each series-compensated transmitting branch, relay circuit, and compensated receiving circuit can be uniformly solved using the coupling impedance equation at the operating frequency. For a system containing p coil circuits, let the current phasor column vector be... The applied voltage phasor column vector is ,but: ; in, Indicates the system's operating angular frequency Below, a p×p order complex impedance matrix is ​​formed by p coil loops; it is used to describe the relationship between the voltage phasor and current phasor of each loop; its diagonal elements represent the impedance of each loop itself, including resistance, inductance, series compensation capacitor and corresponding equivalent load impedance, and the off-diagonal elements represent the coupling impedance between different loops formed by signed mutual inductance.

[0059] For the For a series compensated branch, the diagonal elements of the impedance matrix can be written as: ; in, Indicates the ohmic resistance of the coil branch; Indicates the inductive reactance of the coil; This represents the capacitive reactance of the series compensation capacitor; This represents the equivalent impedance of the load; for active transmitting branches and repeater circuits that are not connected to a load, it can be set as follows: =0.

[0060] definition ; ; is the sign of mutual inductance determined based on the reference directions of the two coils; the uncoupled circuit pair takes If 0, then the off-diagonal coupled elements are: ; in, Representing a circuit loop The mutual inductance amplitude; Representing a circuit loop The mutual inductance amplitude; Representing a circuit loop Mutual induction symbols; Representing a circuit loop Mutual induction symbols.

[0061] For the active transmission branch on the public communication bus Make its fixed wiring polarity as The common bus voltage phasor is Then the external voltage element of the active transmitting circuit is: ; When multiple drivers or branch phase adjusters capable of individually adjusting branch phases are used, it can be further written as: ;in, This represents the phase rotation factor, introducing an additional phase shift. This allows the branch voltage to rotate at any angle on the complex plane.

[0062] The applied voltage elements corresponding to the relay circuit and the receiving circuit are set to zero; the rectification and DC load on the receiving side can be converted into the equivalent load impedance in the receiving circuit under the fundamental equivalent condition. By solving the above equations, the currents of each first coil unit 110, second coil unit 120, and receiving coil 311 can be obtained, and the compensation capacitor, inverter capacity, and rated current of each branch can be corrected accordingly. In terms of geometric arrangement, the first coil unit 110 and the second coil unit 120 are set on the fixed side of the planar motor, and their coil axes are basically parallel or arranged in a predetermined direction; the coil plane of the receiving coil 311 is basically parallel to the coil plane of the fixed side of the planar motor. The array grid pitch, coil size, and power supply gap on the moving side are selected according to the target mutual inductance and load power requirements, so that there is non-zero mutual inductance between adjacent first coil units 110 and target second coil units 121, and between target second coil units 121 and receiving coil 311, which meets the energy transmission requirements.

[0063] Example 3: An exemplary embodiment of this application provides a method for implementing a planar motor actuator wireless power supply device as described in any one of Embodiments 1 or 2, the method comprising the following steps: Step S1: Define the reference winding direction, terminal definition and positive direction of induced voltage for each first coil unit 110 and second coil unit 120, and set the reference output polarity of excitation unit 200. Step S2: Obtain the signed mutual inductance relationship between the plurality of first coil units 110 and at least two second coil units 120; Step S2 specifically includes the following steps: The active transmitting branch under test is isolated from other branches, and each adjacent active transmitting branch is excited individually in sequence. The phase of the induced voltage generated by each branch is detected and recorded at the second coil unit 120. One of the active transmitting branches is selected as the reference branch. The phase of the induced voltage generated by the other active transmitting branches is compared with the phase of the induced voltage generated by the reference branch to determine the signed mutual inductance relationship or wiring polarity between the multiple first coil units 110 and at least two second coil units 120.

[0064] In step S2, the signed mutual inductance is determined based on the winding direction, relative installation direction, and spatial coupling relationship; Step S3: Determine the fixed correspondence between the terminals of the first coil unit 110 and the AC output terminals of the excitation unit 200 based on the signed mutual inductance relationship; Step S4: Connect the active transmission branches according to the obtained fixed correspondence and maintain the connection relationship so that multiple active transmission branches can work together; Step S5: Obtain the actual phase relationship of each effective coupling edge at at least two second coil units 120; In step S5, the coupling impedance relationship is established and the common working current phasor and actual phase are solved. Step S6: Check whether the effective coupling edges at at least two second coil units 120 meet the predetermined mutual reinforcement conditions.

[0065] For an extended array where the same first coil unit 110 is shared by multiple second coil units 120, a globally fixed polarity mapping that can be applied simultaneously to multiple relay positions is preferred. Let the first... The fixed wiring polarity of the first coil unit 110 is , and the first The direction of the signed mutual inductance between the second coil units 120 is: Choose a synthesis direction And configure the fixed wiring polarity of each first coil unit 110 to satisfy: ; (r); in, (r) represents the active adjacency set of the second coil unit 120; when this relationship is satisfied, all adjacent first coil units 110 of the same second coil unit 120 have the same basic coupling sign under common in-phase voltage excitation. For a connected signed bipartite network formed by active nodes and relay nodes, the compatibility condition for the global binary polarity mapping is: along any closed active-relay alternating coupling loop C, the product of the mutual inductance signs of each edge is positive, that is: ; in, It is a coupling edge, and the actual current phase relationship has been verified and corrected when necessary to ensure that the actual current phase is consistent when the common AC bus works together.

[0066] In a practically implementable periodic array, each coil adopts a consistent reference winding direction, and all nearest-neighbor first coil units 110 and second coil units 120 have the same signed mutual inductance direction s. In this case, all first coil units 110 can be made to use the same fixed wiring polarity. And select each relay node =s, so that all nearest-neighbor effective coupling terms of each second coil unit 120 have the same basic sign.

[0067] If the signed mutual inductance network of a specific installation structure does not meet the above compatibility conditions, it is not mandatory to use a single global fixed polarity mapping throughout the array. Instead, the hybrid coil array 100 can be divided into power supply areas that satisfy fixed polarity relationships. Shared active transmitting branches with polarity conflicts do not participate in the two areas simultaneously with contradictory polarities. They can be connected to only one area, and the wiring polarity can be changed through a switching structure during area switching, or the phase can be configured by a branch driver with independent phase control capabilities.

[0068] The binary polarity mapping is used to determine the basic positive and negative directions of the effective coupling terms, but it does not guarantee that the current phases of each active transmitting branch under the common bus are exactly the same. After completing the polarity configuration, it should also be combined with the coupling impedance equation or phase detection under the common operating state to verify that the effective coupling terms formed by the i-th active transmitting branch to the r-th second coil unit 120 satisfy: ; in, The predetermined synthesis direction of the r-th second coil unit 120; the phase difference modulus in the formula. The minimum absolute phase difference after the condition is determined. If this condition is not met, it is preferentially corrected by compensation parameters to meet it; this is an extended implementation method when power supply area division or controllable branch phase adjustment is not applicable as a fixed polarity scheme.

[0069] Suppose that the absolute value of the phase error of each of the q effective coupling terms relative to the same predetermined synthesis direction does not exceed [a certain value]. The magnitude of each coupling term is not less than ,and ,make: ; in, Indicates the first The phasor of the induced voltage component generated by the first coil unit 110 through magnetic coupling in the r-th second coil unit 120 has its positive direction determined according to a predetermined induced voltage reference direction. This indicates that when all participating coil circuits work together, the first... The actual current phasor of the first coil unit 110 under a predetermined current reference direction; The resultant induced voltage of the target second coil unit 121 has the following conservative relationship: ; in, The lower bound of the amplitude contributed by a single induced voltage; In this application, each active transmitting branch is in a mutually reinforcing relationship at the target second coil unit 121, and it is not required that each active transmitting branch be in phase at the driving end; as long as the projection of each effective coupling term in the predetermined synthesis direction is positive, constructive coupling can be formed. Preferably, by using a common frequency reference, fixed wiring polarity, and compensation parameter correction, the phase error of each effective coupling term can be made close to 0°.

[0070] It should be noted that, in this application, the active node and active position refer to the position where the first coil unit 110 is arranged; the relay node and relay position refer to the position where the second coil unit 120 is arranged.

[0071] Taking a local coupling unit with a 3x3 rectangular array structure as an example, the polarity configuration of the coils is performed. For example... Figure 1 As shown, the four first coil units 110 at the top center point, right center point, bottom center point, and left center point are denoted as T1, T2, T3, and T4, respectively. The second coil unit 120 at the center point is denoted as R0, and the second coil units 120 at the four corner points (top left, top right, bottom right, and bottom left) are denoted as R1, R2, R3, and R4, respectively. Their adjacency relationships are as follows: R0 is coupled to T1, T2, T3, and T4 respectively; R1 is coupled to T1 and T4 respectively; R2 is coupled to T1 and T2 respectively; R3 is coupled to T2 and T3 respectively; and R4 is coupled to T3 and T4 respectively. Therefore, T1 simultaneously serves R0, R1, and R2; T2 simultaneously serves R0, R2, and R3; T3 simultaneously serves R0, R3, and R4; and T4 simultaneously serves R0, R4, and R1.

[0072] During installation and commissioning, the signed mutual inductance directions of the twelve nearest-neighbor coupling edges are obtained according to the above method. A signed two-part network consisting of T1 to T4 and R0 to R4 is established, and the sign product of the mutual inductance of the closed active-relay alternating loops is checked. When the sign product of each closed loop is positive, the fixed wiring polarity of T1 to T4 is determined, so that the four coupling terms of R0 and the two coupling terms of each of R1 to R4 have the same basic coupling direction. Then, T1 to T4 are connected in parallel to the first AC output terminal and the second AC output terminal of the inverter according to the determined terminal direction.

[0073] Preferably, the implementation method of the planar motor mover wireless power supply device of this application further includes the following method: When the verification indicates the presence of mutually weakening effective coupling terms or additional phase deviations, at least one compensation parameter in the active transmitting branch, target relay circuit, or receiving circuit involved in the operation is determined or corrected, and the actual phase relationship of each effective coupling term is re-detected or calculated after correction.

[0074] The compensation parameters include the transmit compensation capacitors of each active transmit branch. The relay compensation capacitor of the target relay circuit Receiver compensation capacitor in the receiving circuit At least one of them.

[0075] Preferably, the implementation method of the planar motor mover wireless power supply device of this application further includes the following method: When the global network formed by the first coil unit 110, the second coil unit 120, and their coupling edges is incompatible, the global network is divided into separately compatible regions. Each conflicting branch is connected to only one region, and the polarity is switched during region switching; or independent phase control is used for each region. Shared active transmitting branches with polarity conflicts do not participate in two regions simultaneously with contradictory polarities. They can be connected to only one region, and the wiring polarity can be changed through a switching structure during region switching, or the phase can be configured by a branch driver with independent phase control capability.

[0076] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0077] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0078] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, the intent of this application also includes these modifications and variations.

Claims

1. A wireless power supply device for a planar motor rotor, characterized in that, Includes stator assembly (400) and mover assembly (300); The stator assembly (400) includes an excitation unit (200) and a hybrid coil array (100); the mover assembly (300) includes a wireless power receiving unit (310); the hybrid coil array (100) includes a plurality of first coil units (110) and a plurality of second coil units (120); the first coil units (110) are configured to generate an excitation magnetic field under the drive of the excitation unit (200); the second coil units (120) form a closed relay loop and are not directly electrically connected to the excitation unit (200), and are configured to relay the excitation magnetic field through magnetic coupling; the plurality of first coil units (110) and second coil units (120) are arranged alternately along mutually orthogonal first and second directions in a plane, forming a dual The hybrid coil array (100) is a multi-coil array in which at least one second coil unit (120) is coupled to multiple adjacent first coil units (110) in a many-to-one coupling; at least one first coil unit (110) is simultaneously coupled to at least two adjacent second coil units (120) in a one-to-many sharing relationship; the first terminal of the first coil unit (110) is connected to the first AC power supply terminal of the excitation unit (200); the second terminal of the first coil unit (110) is connected to the second AC power supply terminal of the excitation unit (200); the shared first coil unit (110) is simultaneously coupled to at least two second coil units (120); the wireless power receiving unit (310) is used to receive the magnetic field generated by the hybrid coil array (100) and convert the magnetic field into electrical energy.

2. The planar motor actuator wireless power supply device according to claim 1, characterized in that, The hybrid coil array (100) includes multiple local coupling units, with adjacent local coupling units sharing a first coil unit (110) or a second coil unit (120) at the junction.

3. The planar motor actuator wireless power supply device according to claim 1, characterized in that, Depending on the position of the second coil unit (120) in the hybrid coil array (100), the number of first coil units (110) adjacent to it varies: the second coil unit (120) located in the inner position is adjacent to four first coil units (110), the second coil unit (120) located at the edge non-corner position is adjacent to three first coil units (110), and the second coil unit (120) located at the corner position is adjacent to two first coil units (110); the corresponding number of first coil units (110) adjacent to the second coil unit (120) are configured to be jointly excited to drive the second coil unit (120).

4. The planar motor actuator wireless power supply device according to claim 1, characterized in that, A coupling edge is formed between each adjacent first coil unit (110) and second coil unit (120); the multiple coupling edges corresponding to the second coil unit (120) have a consistent coupling direction.

5. The planar motor actuator wireless power supply device according to claim 4, characterized in that, The first coil unit (110) and the second coil unit (120) form a signed binary network; the mutual inductance sign product of the closed active-relay alternating coupling loops in the signed binary network is determined. When the sign product of each closed loop is positive, the signed binary network satisfies the global fixed polarity mapping compatibility condition, and the fixed wiring polarity of the first coil unit (110) is determined accordingly.

6. The planar motor actuator wireless power supply device according to claim 1, characterized in that, The hybrid coil array (100) is a rectangular array structure with 3 rows and 3 columns. The vertex and center points of the rectangular array structure are equipped with second coil units (120), and the midpoints of the four sides are equipped with first coil units (110). The second coil unit (120) at the center point is coupled to the four first coil units (110) adjacent to it. The second coil unit (120) at the vertex point is coupled to the two first coil units (110) adjacent to it. Each first coil unit (110) is coupled to the second coil unit (120) at the center point and the vertex point on its side.

7. The planar motor mover wireless power supply device according to claim 6, characterized in that, The four coupling sides corresponding to the second coil unit (120) located at the center point have the same coupling direction; the coupling sides corresponding to the second coil unit (120) located at the vertex point have the same coupling direction; when the position of the second coil unit (120) that mainly transmits energy is changed, the wiring of the first coil unit (110) remains unchanged.

8. The planar motor mover wireless power supply device according to claim 1, characterized in that, The excitation unit (200) includes a DC power supply and an inverter; the inverter is used to convert DC power into an angular frequency of... The inverter has a high-frequency AC power supply and a first common AC power supply terminal and a second common AC power supply terminal; the input terminal of the inverter is electrically connected to the DC power supply; one end of each first coil unit (110) is connected to the first common AC power supply terminal and the other end is connected to the second common AC power supply terminal to form an active transmission branch; Multiple active transmission branches are connected in parallel between the first common AC power supply terminal and the second common AC power supply terminal.

9. The planar motor mover wireless power supply device according to claim 8, characterized in that, Each of the active transmitting branches also includes a transmitting compensation capacitor; the transmitting compensation capacitor is connected in series with the first coil unit (110) to form a compensated active transmitting branch, and the active transmitting branch is connected between the first common AC power supply terminal and the second common AC power supply terminal.

10. The planar motor actuator wireless power supply device according to claim 1, characterized in that, The second coil unit (120) forms a closed relay circuit and is not directly electrically connected to the excitation unit (200); a relay compensation capacitor is connected in series in each relay circuit to form a relay compensation circuit.

11. The planar motor actuator wireless power supply device according to claim 1, characterized in that, The wireless power receiving unit (310) includes a receiving coil (311), a receiving compensation capacitor, and a rectifier circuit having a first AC input terminal and a second AC input terminal; the second AC input terminal, the receiving coil (311), the receiving compensation capacitor and the first AC input terminal are connected in sequence to form a series compensation receiving circuit.

12. A method for implementing a wireless power supply device for a planar motor actuator, characterized in that, The method includes the following steps: Step S1: Define the reference winding direction, terminal definition and positive direction of induced voltage for each first coil unit (110) and second coil unit (120), and set the reference output polarity of the excitation unit (200); Step S2: Obtain the signed mutual inductance relationship between a plurality of first coil units (110) and at least two second coil units (120); Step S3: Determine the fixed correspondence between the terminals of the first coil unit (110) and the AC output terminal of the excitation unit (200) based on the signed mutual inductance relationship; Step S4: Connect the active transmission branches according to the obtained fixed correspondence and maintain the connection relationship so that multiple active transmission branches can work together; Step S5: Obtain the actual phase relationship of each effective coupling edge at at least two second coil units (120); Step S6: Check whether the effective coupling edges at at least two second coil units (120) meet the predetermined mutual reinforcement conditions.

13. The method for implementing the planar motor actuator wireless power supply device according to claim 12, characterized in that, Step S2 specifically includes the following steps: The active transmitting branch under test is isolated from other branches, and each adjacent active transmitting branch is excited individually in sequence. The phase of the induced voltage generated by each branch is detected and recorded at the second coil unit (120). Select one of the active transmitting branches as the reference branch, compare the phase of the induced voltage generated by the other active transmitting branches with the phase of the induced voltage generated by the reference branch, and determine the signed mutual inductance relationship or wiring polarity between the multiple first coil units (110) and at least two second coil units (120).

14. The method for implementing the planar motor actuator wireless power supply device according to claim 12, characterized in that, In step S2, the signed mutual inductance is determined based on the winding direction, relative installation direction, and spatial coupling relationship. In step S5, the coupling impedance relationship is established and the common working current phasor and actual phase are solved.

15. The method for implementing the planar motor actuator wireless power supply device according to claim 12, characterized in that, It also includes the following methods: When the verification indicates the presence of mutually weakening effective coupling terms or additional phase deviations, at least one compensation parameter in the active transmitting branch, target relay circuit, or receiving circuit involved in the operation is determined or corrected, and the actual phase relationship of each effective coupling term is re-detected or calculated after correction.

16. The method for implementing the planar motor actuator wireless power supply device according to claim 12, characterized in that, It also includes the following methods: When the global network formed by the first coil unit (110), the second coil unit (120) and their coupling edges is incompatible, the global network is divided into compatible regions, each conflicting branch is connected to only one region, and the polarity is switched when the region is switched; or independent phase control is used for each region.

17. The method for implementing the planar motor actuator wireless power supply device according to claim 12, characterized in that, It also includes the following methods: Obtain effective coupling edges, check the compatibility conditions of each effective coupling edge, and determine the fixed terminals; check the phase relationship of each second coil unit (120) respectively. When the position of the second coil unit (120) that mainly transmits energy is changed, the wiring of the first coil unit (110) remains unchanged.

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