Water-air dual-output wireless power transmission platform and control method

Abstract

The application discloses a kind of water space dual-output wireless power transmission platform and control method, the system includes offshore photovoltaic direct-current power supply unit, buffer energy storage unit, floating water space integrated charging platform, air side LCC-S wireless power transmission channel, underwater side LCC-S wireless power transmission channel, dual-channel coordination controller and communication and state acquisition unit;Offshore photovoltaic direct-current power supply unit is connected to the island direct-current bus without being connected to the superior power grid, air side and underwater side LCC-S channel are independently designed resonance parameters for air medium and seawater medium respectively, and the dual-channel coordination controller realizes resonance tracking by input impedance angle frequency fine tuning and phase-shift power closed loop, and dynamically allocates photovoltaic power according to load priority, while suppressing dual-channel electromagnetic crosstalk;The application can provide independent, simultaneous or time-sharing wireless charging service for unmanned aerial vehicle and underwater vehicle under island condition, significantly reduce the operation and maintenance cost of offshore unmanned equipment.

Description

Technical Field

[0001] This invention belongs to the field of marine photovoltaic power supply, magnetically coupled resonant wireless power transmission and marine unmanned system energy supply technology, specifically involving a water-air dual-output wireless power transmission platform and control method. Background Technology

[0002] The operation and maintenance of offshore photovoltaic facilities, island observation stations, marine ranches, and near-shore engineering equipment typically require drones to perform surface inspections, mapping, and emergency delivery, while underwater vehicles are needed to perform basic structure inspections, water quality monitoring, and underwater target searches. Both types of equipment rely primarily on batteries for power. Frequent returns to shore or reliance on mother ships for wired charging would increase scheduling time and labor costs, hindering the formation of a long-term, minimally staffed, collaborative maritime operation system. Existing wireless charging devices are mostly designed for single loads or single transmission media. The drone charging branch is located above the water surface and is affected by landing deviations, platform roll, and wind disturbances. The underwater vehicle charging branch is located in the seawater and, in addition to docking deviations, is also affected by parameter changes caused by coil sealing structures, seawater conductivity, temperature, and deposits.

[0003] In offshore photovoltaic applications, unmanned equipment charging platforms can be built on-site within the operating area using DC power output from photovoltaic arrays. Unlike power supply systems connected to the public power grid, floating charging platforms far from shore typically lack stable AC grid access conditions and need to maintain DC bus voltage stability through photovoltaic output while operating in an isolated state. At the same time, small-capacity buffer batteries can be configured to complete DC bus pre-charging establishment, short-term power compensation, and safe shutdown processes. Therefore, the core control of this type of system is not to achieve switching between multiple grid-connected operation modes, but to ensure the resonance state, power controllability, and operational continuity of the two wireless charging branches under the constraints of limited and fluctuating photovoltaic output.

[0004] The LCC-S compensation network can form an approximate constant current characteristic on the transmitting side, and can improve the output stability under load and coupling changes through parameter design and input impedance angle adjustment, making it suitable for wireless charging scenarios with positional deviations. However, in the water-air dual-load shared platform system, the following issues still need to be addressed: how to design and identify parameters for the two LCC-S branches for different media; how to suppress cross-coupling and DC bus impact when the two branches work simultaneously; how to distribute power between the UAV and the underwater vehicle when the available photovoltaic power is insufficient; and how to achieve low-power state interaction between the platform, UAV, and remote terminal while reducing the number of long-distance wired communication interfaces on the offshore platform. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a water-air dual-output wireless power transmission platform and control method.

[0006] To achieve the above objectives, the present invention provides the following technical solution: This application provides a dual-output wireless power transmission platform for both water and air, comprising: The output of the offshore photovoltaic DC power supply unit is connected to the isolated island DC bus. The buffer energy storage unit is connected to the islanded DC bus via a bidirectional DC / DC converter; A floating water-air integrated charging platform is used to carry the various functional modules and components of a wireless power transmission system. The airside LCC-S wireless power transmission channel connects to the islanded DC bus and is used to provide power to the airside loads; The underwater LCC-S wireless power transmission channel is connected to the isolated island DC bus and is used to provide power to the underwater load. A dual-channel coordination controller is used to generate operating frequency and power adjustment commands based on the status parameters of the two channels, and to control the two channels to operate in a preset operating mode. A communication and status acquisition unit is used to acquire status information of the platform, the air-side load, and the underwater load. The isolated DC bus is configured not to be connected to the upstream power grid.

[0007] Preferably, the offshore photovoltaic DC power supply unit includes an offshore photovoltaic array and an MPPT type DC / DC converter unit, and the output terminal of the MPPT type DC / DC converter unit is connected to the island DC bus.

[0008] Preferably, the floating water-air integrated charging platform includes a float and a sealed control cabin, a UAV landing surface set above the water surface, an underwater vehicle docking structure set below the water surface, and a mooring and positioning device; The transmitter of the air-side LCC-S wireless power transmission channel is located below the UAV landing surface and is arranged corresponding to the UAV landing surface; The transmitter of the underwater LCC-S wireless power transmission channel is located at the underwater vehicle docking structure and is arranged correspondingly to the underwater vehicle docking structure.

[0009] Preferably, the communication and status acquisition unit includes a LoRa gateway and status acquisition unit, a UAV LoRa terminal, and a docking communication node set at the underwater docking structure; The LoRa gateway and status acquisition unit are positioned above the water surface, and the UAV LoRa terminal is mounted on the UAV.

[0010] Preferably, the air-side LCC-S wireless power transmission channel includes a first full-bridge high-frequency inverter, a first transmitter LCC compensation network, a first transmitter coil, a first receiver coil, a first receiver series compensation capacitor, a first rectification and charging regulation unit, and a UAV battery management system. The AC output terminal of the first full-bridge high-frequency inverter is connected to the input terminal of the first transmitter LCC compensation network. The output terminal of the first transmitter LCC compensation network is connected to the first transmitting coil. The first receiving coil and the first receiving terminal series compensation capacitor are connected in series and then connected to the input terminal of the first rectification and charging regulation unit. The output terminal of the first rectification and charging regulation unit is connected to the UAV battery management system. The underwater LCC-S wireless power transmission channel includes a second full-bridge high-frequency inverter, a second transmitter LCC compensation network, a second transmitter coil, a second receiver coil, a second receiver series compensation capacitor, a second rectification and charging regulation unit, and an underwater vehicle battery management system. The AC output terminal of the second full-bridge high-frequency inverter is connected to the input terminal of the second transmitter LCC compensation network. The output terminal of the second transmitter LCC compensation network is connected to the second transmitting coil. The second receiving coil and the second receiving terminal series compensation capacitor are connected in series and then connected to the input terminal of the second rectification and charging regulation unit. The output terminal of the second rectification and charging regulation unit is connected to the underwater vehicle battery management system.

[0011] Preferably, the buffer energy storage unit includes a lithium battery and a bidirectional DC / DC converter, the bidirectional DC / DC converter is connected in parallel to the islanded DC bus, and the power output of the buffer energy storage unit is constrained by a preset transient compensation upper limit and battery state. The isolated DC bus is not equipped with a grid-connected AC / DC interface for supplying or receiving power from the public grid.

[0012] Preferably, the dual-channel coordination controller is based on the first Input impedance angle of each channel The operating frequency is adjusted according to the following formula: in, For the first The corrected operating frequency for each channel For the first The nominal operating frequency of each channel. For the first Frequency correction factor for each channel For the first The input impedance angle of each channel, It is a saturation function. and The first The lower and upper limits of frequency correction for each channel; The dual-channel coordination controller also controls the power of the corresponding channel by adjusting the phase shift angle of the corresponding full-bridge high-frequency inverter.

[0013] Preferably, for the first One channel, Indicates the airside passage. Indicates the underwater channel, at the nominal angular frequency Under these conditions, the compensation parameters satisfy: in, For the first The compensation inductor of the channel, For the first Parallel compensation capacitors for multiple channels, For the first Series compensation capacitors for each channel For the first The self-inductance of the transmitting coil in each channel, For the first The self-inductance of the receiving coil in each channel, For the first A compensation capacitor is connected in series at the receiving end of each channel; Furthermore, the first The coupling coefficient between the transmitting and receiving coils of each channel satisfies: in, For the first The coupling coefficient of each channel, For the first The mutual inductance between the transmitting coil and the receiving coil of the channel.

[0014] Preferably, the dual-channel coordinated controller generates control commands based on the following power balance relationship: in, For photovoltaic output power, To buffer the energy storage power, For the DC input power of the air-side channel, This refers to the DC input power of the underwater channel. To provide auxiliary power for the platform, This refers to the system's power loss. The dual-channel coordination controller (106) calculates the first according to the following formula. Channel priority : in, For the first Each channel corresponds to the normalized power gap of the load. Due to the urgency of the task, For normalization waiting time, The coupling quality index is determined by the coupling coefficient, input impedance angle, and real-time efficiency. , , , The weights are non-negative and their sum is 1; When available power When the requested power is met, the requested power is given according to the power requested by each channel, and when the available power... When the power requests of the two loads are not met, the dual-channel coordination controller generates the first power according to the following formula. Power given for each channel: in, For the first Given the power of each channel, For the first The request power of each channel, Available power, For the first Channel priority, and The priorities are given to the airside passage and the underwater passage, respectively.

[0015] A control method for a dual-output (water and air) wireless power transmission platform applied to the above system includes the following steps: Control the establishment of an isolated DC bus for the offshore photovoltaic DC power supply unit; Detect the landing status of drones and the docking status of underwater vehicles, and obtain the battery status and mission status of the corresponding payloads; Low-power excitation is applied to the channel where the load is detected, and mutual inductance, input impedance angle, and coupling quality are determined based on the transmitter voltage and current and receiver feedback. Call the air-side or underwater-side LCC-S parameter group to determine the nominal operating frequency, frequency fine-tuning range, phase shift range, and safe power limit of the corresponding channel; The power settings for the two channels are generated based on the available photovoltaic power and the charging requirements of the two loads. The two channels are controlled separately by phase-shift power closed-loop and input impedance angular frequency fine-tuning, and preset crosstalk suppression control is executed when the two channels are working at the same time. When the load completes charging or an abnormality occurs, the corresponding channel is reduced and stopped, and the remaining power is redistributed; The input impedance angular frequency fine-tuning includes: When the input impedance angle is outside the target range, the operating frequency is corrected within the preset frequency fine-tuning range. Once the input impedance angle enters the target range, the phase shift angle is used as the main power adjustment amount. When the startup of another channel causes the coil current or input impedance angle of the current channel to change beyond the threshold, a preset disturbance suppression or timing switching control is executed. The system periodically monitors the island DC bus voltage, channel input power, coil current, coil temperature, receiver off-site status, underwater insulation status, and communication status. If overvoltage, undervoltage, overcurrent, overtemperature, metal foreign objects, off-site status, insulation abnormality, or communication timeout occurs, the corresponding channel will reduce to the detection power according to the preset power change rate and then stop. When the buffer energy storage status is insufficient, the total wireless charging power will be reduced.

[0016] Compared with the prior art, this application has the following beneficial effects: This invention proposes a dual-output wireless power transmission platform and control method for both air and water. It achieves independent photovoltaic power supply at sea through an isolated DC bus architecture, providing continuous energy replenishment for heterogeneous air and water equipment without relying on shore-based power grids, effectively reducing the operation and maintenance costs of unmanned maritime equipment. The air-side and underwater LCC-S channels are configured with independent resonance parameters and power control loops for air and seawater media respectively, adapting to the different coupling characteristics of different media and ensuring that both channels maintain near-resonance operation under positional deviations and load fluctuations. The dual-channel coordinated controller, combining frequency fine-tuning and phase-shift power closed-loop control, suppresses electromagnetic crosstalk and bus impact during simultaneous operation of both channels and dynamically allocates limited photovoltaic power according to load priority, ensuring the power supply needs of critical mission equipment. The communication and status acquisition unit achieves low-power information exchange between the platform, UAVs, underwater vehicles, and remote terminals via LoRa links with docked communication nodes, reducing the need for long-distance wired communication interfaces on the maritime platform and improving the system's reliability and maintainability in isolated environments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the marine photovoltaic island-type dual-output wireless power transmission system described in this invention.

[0018] Figure 2 This is a schematic diagram of the floating water-air integrated dual-channel wireless charging platform structure described in this invention.

[0019] Figure 3 This is the topology diagram of the water-air dual-channel LCC-S magnetic coupling resonant wireless power transfer main circuit described in this invention.

[0020] Figure 4 This is a diagram of the water-air dual-channel coordinated control structure under the isolated DC bus described in this invention.

[0021] Figure 5 This is a flowchart of the water-air dual-channel LCC-S wireless charging control process described in this invention.

[0022] Reference numerals: 101. Marine photovoltaic array; 102. MPPT type DC / DC converter unit; 103. Isolated DC bus; 104. Buffer energy storage unit; 105. Bidirectional DC / DC converter; 106. Dual-channel coordination controller; 107. LoRa gateway and status acquisition unit; 201. Air-side LCC-S transmitter branch; 202. Air-side transmitter coil; 211. Underwater-side LCC-S transmitter branch; 212. Underwater-side transmitter coil and sealed compartment; 301. UAV receiver; 302. UAV; 311. Underwater vehicle receiver; 312. Underwater vehicle; 401. Floating body and sealed control compartment; 402. Mooring and positioning device. Detailed Implementation

[0023] 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.

[0024] Example 1 See Figure 1 This embodiment provides an overall architecture for a dual-output wireless power transmission platform for both water and air.

[0025] like Figure 1 As shown, the offshore photovoltaic array 101 is connected to the island DC bus 103 via the MPPT type DC / DC converter unit 102. The island DC bus 103 is only connected to the power consumption units inside the platform and is not configured with a grid-connected AC / DC interface for supplying power to or receiving power from the public grid, that is, it is not connected to the upper-level grid through the grid-connected AC / DC interface. When the photovoltaic output is insufficient to complete the system startup, the buffer energy storage unit 104 establishes the bus for a short time. The buffer energy storage only compensates for the power difference within the preset transient compensation limit and the limited time. After the photovoltaic output meets the conditions, it enters the limited compensation state.

[0026] The buffer energy storage unit 104 is connected in parallel to the islanded DC bus 103 via a bidirectional DC / DC converter 105. Its capacity can be determined based on the allowable duration of photovoltaic fluctuations and the safe shutdown energy. Under normal illumination conditions, photovoltaic power is preferentially supplied to the air-side LCC-S transmission branch 201 and the underwater-side LCC-S transmission branch 211. When the photovoltaic power drops instantaneously, the buffer energy storage unit 104 compensates for the power difference within a limited time. When the buffer energy storage is insufficient, the dual-channel coordination controller 106 reduces the total power of wireless charging instead of switching to the public grid power supply.

[0027] The LoRa gateway and status acquisition unit 107 collect DC bus voltage, photovoltaic power, voltage and current of the two channels, coil temperature and fault status, and communicate with UAV 302 and remote monitoring terminal via LoRa. The status of underwater vehicle 312 is received by the underwater docking communication node and uploaded to the platform controller, and then forwarded by the LoRa gateway.

[0028] Example 2 See Figure 2 This embodiment details the specific structure of the floating water-air integrated charging platform.

[0029] The floating body and sealed control cabin 401 are arranged near the water surface. The marine photovoltaic array 101 is set above the floating body or on the photovoltaic support adjacent to the floating body. The UAV landing surface is set on the upper surface of the floating body. The air-side transmitting coil 202 is embedded below the non-metallic load-bearing layer and is arranged corresponding to the UAV landing surface.

[0030] The underwater side transmitting coil and the sealed chamber 212 are located below the float and correspond to the docking direction of the underwater vehicle 312, that is, they are located at the docking structure of the underwater vehicle. The sealed coil chamber is made of low dielectric loss and seawater resistant material, and is equipped with an insulating potting layer, a magnetic conductive layer and a temperature sensor inside.

[0031] The platform is equipped with a mooring and positioning device 402 and attitude sensors. After the UAV lands, the lateral deviation of the aerial coil can be reduced by visual marking or mechanical limiting; the underwater vehicle enters the docking position through guiding components, acoustic positioning or electromagnetic guidance; the platform's LoRa antenna is arranged above the water surface to reduce the attenuation of radio frequency signals by seawater.

[0032] Example 3 See Figure 3 This embodiment details the circuit topology and parameter design methods for the air-side channel and the underwater-side channel.

[0033] The air-side and underwater channels share an islanded DC bus, but each has its own full-bridge inverter and LCC-S compensation network. Taking the air-side channel as an example, the AC outputs of the full-bridge inverters Q11 to Q14 are connected sequentially to the compensation inductors. and by , and transmitting coil The LCC network is constructed; receiving coil With series compensation capacitor After connection, it is connected to the rectification and charging regulation unit; the underwater side channel adopts the corresponding , , , , and .

[0034] For the Channel ( Indicates the airside passage. (Indicating the underwater side channel), at the nominal angular frequency Under these conditions, the compensation parameters satisfy: in, For the first The compensation inductor of the channel, For the first Parallel compensation capacitors for multiple channels, For the first Series compensation capacitors for each channel For the first The self-inductance of the transmitting coil in each channel, For the first The self-inductance of the receiving coil in each channel, For the first A compensation capacitor is connected in series at the receiving end of each channel.

[0035] No. The coupling coefficient between the transmitting and receiving coils of each channel satisfies: in, For the first The coupling coefficient of each channel, For the first The mutual inductance between the transmitting coil and the receiving coil of the channel.

[0036] The parameter set for the air-side channel is determined based on the predetermined air gap, UAV landing offset, and UAV battery voltage; the parameter set for the underwater channel is determined based on the coil sealing layer thickness, underwater transmission distance, additional losses caused by seawater medium, and vehicle battery voltage; the nominal operating frequency of the underwater channel is significantly lower than that of the air-side channel, and it should be equipped with a high permeability magnetic core shielding structure to suppress seawater eddy current losses.

[0037] Example 4 See Figure 4 This embodiment details the control logic for resonant tracking and power closed-loop.

[0038] When a load arrives, the corresponding channel initially operates at a detection power not exceeding a preset proportion of the rated power; the controller estimates the input impedance angle and coupling quality based on the inverter output voltage and current phase difference within one or more switching cycles, as well as feedback from the receiver; when the input impedance angle deviates from the target range, the dual-channel coordination controller 106 adjusts according to the... Input impedance angle of each channel The degree of deviation from the target value is used to adjust the operating frequency according to the following formula: in, For the first The corrected operating frequency for each channel, f i0 For the first The nominal operating frequency of each channel. For the first Frequency correction factor for each channel For the first The input impedance angle of each channel, It is a saturation function. and The first The lower and upper limits of frequency correction for each channel.

[0039] Once the input impedance angle enters the target range, the phase shift angle is used as the main power adjustment quantity. The dual-channel coordination controller 106 adjusts the phase shift angle of the corresponding full-bridge high-frequency inverter to make the actual received power track the power setpoint.

[0040] When two channels are running simultaneously, the controller coordinates the switching times of the two channels. When it detects a sudden change in the coil current of the current channel or an input impedance angle change exceeding the threshold after the other channel is started, the controller sequentially performs power ramp reduction, switching phase shift, frequency interval adjustment, and time-sharing operation until the crosstalk index returns to the allowable range.

[0041] Example 5 See Figure 4 and Figure 5 This embodiment details the dual-channel power distribution control logic.

[0042] The dual-channel coordination controller 106 generates control commands based on the following power balance relationship: in, For photovoltaic output power, To buffer the energy storage power, For the DC input power of the air-side channel, This refers to the DC input power of the underwater channel. To provide auxiliary power for the platform, This represents the system's power loss.

[0043] The dual-channel coordination controller 106 calculates the first according to the following formula. Channel priority : in, For the first Each channel corresponds to the normalized power gap of the load. Due to the urgency of the task, For normalization waiting time, The coupling quality index is determined by the coupling coefficient, input impedance angle, and real-time efficiency. , , , The weights are non-negative and their sum is 1.

[0044] When available power When the power requests of the two loads are not met, the dual-channel coordination controller 106 generates the power according to the following formula. Power given for each channel: in, For the first Given the power of each channel, For the first The request power of each channel, Available power, For the first Channel priority, and The priorities are given to the airside passage and the underwater passage, respectively.

[0045] In one embodiment, the UAV is used for an upcoming maritime inspection mission, while the underwater vehicle is in a normal standby state. Even if their State of Charge (SOC) is close, the UAV's mission urgency weight can be increased, allowing the airside channel to be activated first. In another embodiment, the underwater vehicle is responsible for an emergency search and rescue mission, thus increasing the underwater channel's mission weight. Once the high-priority load reaches a certain level of power, the controller recalculates. So that another load can get more power.

[0046] The system is equipped with protection against bus overvoltage, bus undervoltage, inverter overcurrent, coil overtemperature, foreign metal objects, receiver displacement, underwater insulation abnormality, and communication timeout. When an abnormality occurs, the corresponding channel is gradually reduced to the detected power according to the power slope limit and then shut down. If the other channel still meets the charging conditions, the released power is redistributed to the other channel.

[0047] Example 6 Before landing, the UAV LoRa terminal sends proximity information, and after landing, it sends device identification, battery SOC, allowable charging voltage, allowable charging current, and mission level. The platform LoRa gateway calls the corresponding airside parameter group based on the device identification. After docking, the underwater vehicle sends the same information through the docking node adjacent to the coil cabin. The docking node can use low-frequency magnetic induction, near-field coupling, short-range optical communication, or underwater acoustic communication. The platform controller maps the received data into a unified status frame and sends it to the LoRa gateway.

[0048] The LoRa link is used for low-power state transmission and command issuance between the platform and drones and remote terminals; the charging power closed loop does not rely on the real-time feedback of each frame of the LoRa link, and the platform still maintains safety control based on the transmitter current, bus power and input impedance angle; when the LoRa or underwater docking node communication times out, the corresponding channel enters the derating mode and stops after the timeout continues to exceed the threshold.

[0049] Example 7 See Figure 5 This embodiment provides a water-air dual-channel LCC-S wireless charging control method, which includes the following steps: S1: The platform island is powered on, and the photovoltaic DC / DC converter establishes a DC bus.

[0050] When the system starts up, the control of the offshore photovoltaic DC power supply unit (MPPT type DC / DC conversion unit 102) boosts the DC power output of the offshore photovoltaic array 101 to the preset bus voltage, thereby establishing the island DC bus 103; if the photovoltaic output is insufficient to complete the start-up, the buffer energy storage unit 104 establishes the bus for a short time. The buffer energy storage only compensates for the power difference within the preset transient compensation limit and the time limit. After the photovoltaic output meets the conditions, it enters the limited compensation state.

[0051] S2: Detect drone landings or aircraft docking and establish a state link.

[0052] Sensors detect the landing status of the drone and the docking status of the underwater vehicle; the drone completes the interaction of identity and charging parameters through the LoRa link, and the underwater vehicle completes the interaction of parameters through the docking communication node, and the status data is aggregated to the platform's LoRa gateway.

[0053] S3: Low-power sweep frequency / pulse identification to obtain mutual inductance, impedance angle and coupling quality.

[0054] The corresponding channel is excited by low-power frequency sweep, short pulse or small phase shift. Based on the voltage and current of the transmitter, the reflected impedance and the feedback of the receiver, the mutual inductance, input impedance angle and coupling quality are identified, and then the allowable start-up power is determined.

[0055] S4: Configure the LCC-S resonant parameters and safe power limits for the air-side and underwater-side respectively. Call the air-side or underwater-side parameter group to determine the nominal operating frequency, frequency fine-tuning range, phase shift limit, current limit, and temperature rise limit, so that the air medium channel and the seawater medium channel operate in their respective allowable near-resonance regions; the air-side and underwater-side channels adopt different operating parameter configurations to adapt to the differences in coupling and loss characteristics of air and seawater media respectively.

[0056] S5: Determine if the available power meets the dual load request.

[0057] Calculate available power based on available photovoltaic power and load condition. .

[0058] If the judgment result is yes: the two branches operate synchronously or alternately according to their respective power settings.

[0059] If the judgment result is negative: Allocation is weighted by task and power priority or single-branch priority is applied. Specifically, the allocation is calculated according to the following formula. Channel priority : in, To normalize the power shortage, Due to the urgency of the task, For normalization waiting time, To couple quality indicators, , , , The weights are non-negative and their sum is 1.

[0060] And generate the first according to the following formula Power given for each channel: in, For the first Given the power of each channel, For the first The request power of each channel, Available power, and The priorities are assigned to the air-side passage and the underwater-side passage, respectively; if a passage has an extremely high priority, then single-branch priority is implemented.

[0061] S6: Phase-shifting power closed-loop and impedance angular frequency fine-tuning, periodically updating the status of LoRa / docked communication nodes.

[0062] Each channel uses phase-shifted power closed-loop tracking to monitor the power input and employs input impedance angular frequency fine-tuning to maintain a near-zero phase angle operating range. When the input impedance angle deviates from the target range, the operating frequency is corrected according to the following formula: in, The corrected operating frequency, The nominal operating frequency, This is the frequency correction factor. The input impedance angle. It is a saturation function. and These are the lower and upper limits for frequency correction, respectively.

[0063] When the startup of another channel causes the coil current or input impedance angle of the current channel to change beyond the threshold, power ramp reduction, switch phase shift, frequency interval adjustment and time-division operation are executed sequentially until the crosstalk index is restored to the allowable range. At the same time, the platform periodically updates the status of LoRa / docked communication nodes and uploads the load status and platform status to the remote terminal.

[0064] S7: Target power reached or abnormality occurs: Reduce power, stop branch and redistribute remaining power.

[0065] When the load reaches the target power, or when there is a problem such as displacement, overcurrent, overtemperature, foreign metal object, insulation abnormality, or communication timeout, the corresponding channel will stop after reducing to the detection power according to the preset power change rate. If the other channel still meets the charging conditions, the released power will be redistributed to the other channel. If there is a problem such as bus overvoltage or bus undervoltage, the system will synchronously adjust the charging and discharging state of the buffer energy storage unit.

[0066] Example 8 Taking a specific implementation as an example, the system operating parameters can be set as follows: the rated voltage of the isolated DC bus is 400V, the buffer energy storage unit 104 adopts a lithium battery pack with a rated capacity of 10Ah; the nominal operating frequency of the air-side channel is set to 85kHz, the distance between the transmitting coil and the receiving coil is 5cm, and the allowable lateral offset is ±3cm; the nominal operating frequency of the underwater-side channel is set to 50kHz, the distance between the transmitting coil and the receiving coil is 10cm, and the influence of seawater conductivity is suppressed by the sealed coil compartment and magnetic shielding structure.

[0067] The dual-channel coordination controller 106 is implemented using a digital signal processor (DSP) with a control cycle of 100μs; the target range for the input impedance angle is set to [-5°, +5°]; when the input impedance angle deviates from the target range, the frequency correction coefficient... Set to 500Hz / degree, with a frequency fine-tuning range of ±5% of the nominal frequency.

[0068] 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.

[0069] 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 dual-output wireless power transmission platform for both water and air, characterized in that, include: The output of the offshore photovoltaic DC power supply unit is connected to the isolated island DC bus (103); The buffer energy storage unit (104) is connected to the island DC bus (103) via a bidirectional DC / DC converter (105); A floating water-air integrated charging platform is used to carry the various functional modules and components of a wireless power transmission system. The airside LCC-S wireless power transmission channel is connected to the islanded DC bus (103) and is used to provide power to the airside load; The underwater LCC-S wireless power transmission channel is connected to the isolated DC bus (103) and is used to provide power to the underwater load. A dual-channel coordination controller (106) is used to generate operating frequency and power adjustment commands based on the status parameters of the two channels, and to control the two channels to operate in a preset operating mode. A communication and status acquisition unit is used to acquire status information of the platform, the air-side load, and the underwater load. The isolated DC bus (103) is configured not to be connected to the upstream power grid.

2. The transmission platform according to claim 1, characterized in that, The offshore photovoltaic DC power supply unit includes an offshore photovoltaic array (101) and an MPPT type DC / DC converter unit (102), the output of which is connected to the island DC bus (103).

3. The transmission platform according to claim 1, characterized in that, The floating water-air integrated charging platform includes a float and a sealed control cabin (401), a UAV landing surface set above the water surface, an underwater vehicle docking structure set below the water surface, and a mooring and positioning device (402). The transmitter of the air-side LCC-S wireless power transmission channel is located below the UAV landing surface and is arranged corresponding to the UAV landing surface; The transmitter of the underwater LCC-S wireless power transmission channel is located at the underwater vehicle docking structure and is arranged correspondingly to the underwater vehicle docking structure.

4. The transmission platform according to claim 1, characterized in that, The communication and status acquisition unit includes a LoRa gateway and status acquisition unit (107), a UAV LoRa terminal, and a docking communication node set at the underwater docking structure. The LoRa gateway and status acquisition unit (107) are set above the water surface, and the UAV LoRa terminal is set on the UAV (302).

5. The transmission platform according to claim 1, characterized in that, The airside LCC-S wireless power transmission channel includes a first full-bridge high-frequency inverter, a first transmitter LCC compensation network, a first transmitter coil, a first receiver coil, a first receiver series compensation capacitor, a first rectification and charging regulation unit, and a UAV battery management system. The AC output terminal of the first full-bridge high-frequency inverter is connected to the input terminal of the first transmitter LCC compensation network. The output terminal of the first transmitter LCC compensation network is connected to the first transmitting coil. The first receiving coil and the first receiving terminal series compensation capacitor are connected in series and then connected to the input terminal of the first rectification and charging regulation unit. The output terminal of the first rectification and charging regulation unit is connected to the UAV battery management system. The underwater LCC-S wireless power transmission channel includes a second full-bridge high-frequency inverter, a second transmitter LCC compensation network, a second transmitter coil, a second receiver coil, a second receiver series compensation capacitor, a second rectification and charging regulation unit, and an underwater vehicle battery management system. The AC output terminal of the second full-bridge high-frequency inverter is connected to the input terminal of the second transmitter LCC compensation network. The output terminal of the second transmitter LCC compensation network is connected to the second transmitting coil. The second receiving coil and the second receiving terminal series compensation capacitor are connected in series and then connected to the input terminal of the second rectification and charging regulation unit. The output terminal of the second rectification and charging regulation unit is connected to the underwater vehicle battery management system.

6. The transmission platform according to claim 1, characterized in that, The buffer energy storage unit (104) includes a lithium battery and a bidirectional DC / DC converter (105). The bidirectional DC / DC converter (105) is connected in parallel to the island DC bus (103), and the power output of the buffer energy storage unit (104) is constrained by a preset transient compensation limit and battery status. The isolated DC bus (103) is not equipped with a grid-connected AC / DC interface for supplying or receiving power from the public grid.

7. The transmission platform according to claim 1, characterized in that, The dual-channel coordination controller (106) according to the first Input impedance angle of each channel The operating frequency is adjusted according to the following formula: in, For the first The corrected operating frequency for each channel For the first The nominal operating frequency of each channel. For the first Frequency correction factor for each channel For the first The input impedance angle of each channel. It is a saturation function. and The first The lower and upper limits of frequency correction for each channel; The dual-channel coordination controller (106) also controls the power of the channel by adjusting the phase shift angle of the corresponding full-bridge high-frequency inverter.

8. The transmission platform according to claim 1, characterized in that, For the One channel, Indicates the airside passage. Indicates the underwater channel, at the nominal angular frequency Under these conditions, the compensation parameters satisfy: in, For the first The compensation inductor of the channel, For the first Parallel compensation capacitors for multiple channels, For the first Series compensation capacitors for each channel, For the first The self-inductance of the transmitting coil in each channel, For the first The self-inductance of the receiving coil in each channel, For the first A compensation capacitor is connected in series at the receiving end of each channel; Furthermore, the first The coupling coefficient between the transmitting and receiving coils of each channel satisfies: in, For the first The coupling coefficient of each channel, For the first The mutual inductance between the transmitting coil and the receiving coil of the channel.

9. The transmission platform according to claim 1, characterized in that, The dual-channel coordination controller (106) generates control commands based on the following power balance relationship: in, For photovoltaic output power, To buffer the energy storage power, For the DC input power of the air-side channel, This refers to the DC input power of the underwater channel. To provide auxiliary power for the platform, This refers to the system's power loss. The dual-channel coordination controller (106) calculates the first according to the following formula. Channel priority : in, For the first Each channel corresponds to the normalized power gap of the load. Due to the urgency of the task, To normalize the waiting time, The coupling quality index is determined by the coupling coefficient, input impedance angle, and real-time efficiency. , , , The weights are non-negative and their sum is 1; When available power When the requested power is met, the requested power is given according to the power requested by each channel, and when the available power... When the requested power of both loads is not met, the dual-channel coordination controller (106) generates the first power according to the following formula. Power given for each channel: in, For the first Given the power of each channel, For the first The request power of each channel, Available power, For the first Channel priority, and The priorities are given to the airside passage and the underwater passage, respectively.

10. A control method for a dual-output (water and air) wireless power transmission platform applied to the system described in any one of claims 1 to 9, characterized in that, Includes the following steps: Control the establishment of an isolated DC bus for the offshore photovoltaic DC power supply unit (103); Detect the landing status of drones and the docking status of underwater vehicles, and obtain the battery status and mission status of the corresponding payloads; Low-power excitation is applied to the channel where the load is detected, and mutual inductance, input impedance angle, and coupling quality are determined based on the transmitter voltage and current and receiver feedback. Call the air-side or underwater-side LCC-S parameter group to determine the nominal operating frequency, frequency fine-tuning range, phase shift range, and safe power limit of the corresponding channel; The power settings for the two channels are generated based on the available photovoltaic power and the charging requirements of the two loads. The two channels are controlled separately by phase-shift power closed-loop and input impedance angular frequency fine-tuning, and preset crosstalk suppression control is executed when the two channels are working at the same time. When the load completes charging or an abnormality occurs, the corresponding channel is reduced and stopped, and the remaining power is redistributed; The input impedance angular frequency fine-tuning includes: When the input impedance angle is outside the target range, the operating frequency is corrected within the preset frequency fine-tuning range. Once the input impedance angle enters the target range, the phase shift angle is used as the main power adjustment amount. When the startup of another channel causes the coil current or input impedance angle of the current channel to change beyond the threshold, a preset disturbance suppression or timing switching control is executed. The system periodically monitors the island DC bus voltage, channel input power, coil current, coil temperature, receiver off-site status, underwater insulation status, and communication status. If overvoltage, undervoltage, overcurrent, overtemperature, metal foreign objects, off-site status, insulation abnormality, or communication timeout occurs, the corresponding channel will reduce to the detection power according to the preset power change rate and then stop. When the buffer energy storage status is insufficient, the total wireless charging power will be reduced.

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