技术领域technical field
本发明属于电动汽车充电技术领域，具体涉及一种电动汽车自调整无线充电系统及方法。The invention belongs to the technical field of electric vehicle charging, and in particular relates to an electric vehicle self-adjusting wireless charging system and method.
背景技术Background technique
无线电能传输技术能有效克服传统供电存在的设备移动灵活性差、环境不美观、容易产生接触火花、供电线暴露等问题，继而消除了传统供电方式存在的安全隐患问题，使整个供电过程更加安全；目前，无线输电大致可分为：电磁感应式、电磁辐射式和电磁共振式；电磁感应式传输距离近、效率低；电磁辐射式传输距离远，传输效率低，传输功率为毫瓦级；磁耦合谐振式可以在几米的范围内实现高效能量传输。Wireless power transmission technology can effectively overcome the problems of poor mobile flexibility of traditional power supply, unsightly environment, easy contact sparks, and exposure of power supply lines, etc., and then eliminate the potential safety hazards of traditional power supply methods, making the entire power supply process safer; At present, wireless power transmission can be roughly divided into: electromagnetic induction type, electromagnetic radiation type and electromagnetic resonance type; electromagnetic induction type has short transmission distance and low efficiency; electromagnetic radiation type has long transmission distance, low transmission efficiency, and transmission power is milliwatt level; magnetic Coupled resonance can achieve efficient energy transfer in the range of several meters.
由于外部条件的变化和不同电动汽车线圈的变化均会使谐振频率随之而变化，导致电能传输效率降低，因此充电装置必须适应不同电动汽车具有的不同电能接收装置，同时充电装置应按照电池的充电规律的需求对频率和位置进行自适应调节。Due to changes in external conditions and changes in the coils of different electric vehicles, the resonant frequency will change accordingly, resulting in a decrease in power transmission efficiency. Therefore, the charging device must adapt to different power receiving devices of different electric vehicles. At the same time, the charging device should be in accordance with the battery. The frequency and location are adaptively adjusted according to the requirements of the charging law.
目前，磁耦合谐振式电动汽车无线充电方式大多强调发射线圈和接收线圈对称，但是由于电动汽车生产厂家不同，汽车底盘下方的接收线圈没有统一的标准，尺寸和缠绕方式不尽相同，这就造成了无法实现发射线圈和接收线圈采用相同的谐振频率进行最大功率传输；例如：CN 102969776A等专利使用LC补偿电路对发射线圈和接收线圈的谐振参数进行补偿，使传输效率达到最大；CN 103516354A等专利采用频率跟踪方式，控制逆变器开关频率达到跟踪谐振频率的目的，但当发射接收线圈差别较大，特别是汽车停靠位置使得发射接收线圈对准位置偏差较大时，很难取得理想的补偿和跟踪效果；CN 102035239A、CN 103427464A、CN 103401320A等多个专利介绍了通过控制发射线圈的上下、或左右、或前后移动的方式使发射线圈和接收线圈或轴线对准或距离最佳，但这些专利大多使用传感器进行定位，并且仅通过机械装置移动到合适位置后就保持为静止状态，当电池充电过程中电量变化时或接收线圈参数不同时，不能根据这些变化对发射线圈的位置作实时调整，因此，当前急需一种电动汽车自调整无线充电系统，以克服上述问题。At present, the magnetic coupling resonant electric vehicle wireless charging method mostly emphasizes the symmetry of the transmitting coil and the receiving coil. In order to avoid the fact that the transmitting coil and receiving coil adopt the same resonant frequency for maximum power transmission; for example, CN 102969776A and other patents use LC compensation circuits to compensate the resonance parameters of the transmitting coil and receiving coil to maximize the transmission efficiency; CN 103516354A and other patents The frequency tracking method is used to control the switching frequency of the inverter to achieve the purpose of tracking the resonant frequency. However, when the difference between the transmitting and receiving coils is large, especially when the position of the car parks makes the alignment of the transmitting and receiving coils deviate greatly, it is difficult to obtain ideal compensation. and tracking effect; CN 102035239A, CN 103427464A, CN 103401320A and other patents introduce the best alignment or distance between the transmitting coil and the receiving coil or axis by controlling the up and down, left and right, or forward and backward movement of the transmitting coil, but these Most of the patents use sensors for positioning, and only move to a suitable position through a mechanical device and then remain in a static state. When the battery power changes during charging or the parameters of the receiving coil are different, the position of the transmitting coil cannot be adjusted in real time according to these changes. , therefore, there is an urgent need for a self-adjusting wireless charging system for electric vehicles to overcome the above problems.
发明内容Contents of the invention
针对现有技术的缺点，本发明提出一种电动汽车自调整无线充电系统及方法，以达到操作性简单、提高充电时的安全性、可靠性、电池的使用寿命，避免有线充电方式中插拔充电设备的所造成的充电连接设备磨损，使电动车不依靠外部连接设备而实现对电池的充电，根据电池状态，调整无线电能发生装置输出功率，实现负载跟踪的控制方式的目的。Aiming at the shortcomings of the prior art, the present invention proposes a self-adjusting wireless charging system and method for electric vehicles to achieve simple operability, improve charging safety, reliability, and battery life, and avoid plugging and unplugging in wired charging methods. The wear and tear of the charging connection equipment caused by the charging equipment enables the electric vehicle to charge the battery without relying on external connection equipment. According to the battery status, the output power of the wireless energy generating device is adjusted to realize the purpose of the control method of load tracking.
一种电动汽车自调整无线充电系统，该系统包括设置于充电桩内部的无线电能发生装置和设置于电动汽车内部的无线电能接收装置；A self-adjusting wireless charging system for electric vehicles, the system includes a wireless energy generating device installed inside the charging pile and a wireless energy receiving device installed inside the electric vehicle;
所述的无线电能发生装置包括控制器、电机驱动电路、PWM驱动电路、检测电路、频率跟踪电路、高频逆变器和无线数据通信模块，其中，无线数据通信模块的输出端连接控制器的第一输入端，检测电路的第一输出端连接控制器的第二输入端，频率跟踪电路的输出端连接控制器的第三输入端，控制器的第一输出端连接电机驱动电路输入端，控制器的第二输出端连接PWM驱动电路输入端，电网连接高频逆变器的第一输入端，PWM驱动电路的输出端连接高频逆变器的第二输入端，高频逆变器的第一输出端连接检测电路的输入端，检测电路的第二输出端连接频率跟踪电路的输入端；所述的电机驱动电路的输出端作为无线电能发生装置的第一输出端，高频逆变器的第二输出端作为无线电能发生装置的第二输出端；The wireless energy generating device includes a controller, a motor drive circuit, a PWM drive circuit, a detection circuit, a frequency tracking circuit, a high-frequency inverter and a wireless data communication module, wherein the output end of the wireless data communication module is connected to the controller The first input terminal, the first output terminal of the detection circuit is connected to the second input terminal of the controller, the output terminal of the frequency tracking circuit is connected to the third input terminal of the controller, and the first output terminal of the controller is connected to the input terminal of the motor drive circuit, The second output terminal of the controller is connected to the input terminal of the PWM drive circuit, the power grid is connected to the first input terminal of the high-frequency inverter, the output terminal of the PWM drive circuit is connected to the second input terminal of the high-frequency inverter, and the high-frequency inverter The first output end of the detection circuit is connected to the input end of the detection circuit, and the second output end of the detection circuit is connected to the input end of the frequency tracking circuit; the output end of the motor drive circuit is used as the first output end of the wireless energy generating device, and the high frequency inverter The second output end of the transformer is used as the second output end of the wireless energy generating device;
所述的无线电能接收装置包括电动汽车内部的电池充电控制器、能量接收单元、电池和车载无线数据通信模块，能量接收单元输出端连接电池充电控制器输入端，电池充电控制器第一输出端连接电池，电池充电控制器第二输出端连接车载无线数据通信模块；The wireless energy receiving device includes a battery charging controller inside the electric vehicle, an energy receiving unit, a battery and a vehicle-mounted wireless data communication module, the output end of the energy receiving unit is connected to the input end of the battery charging controller, and the first output end of the battery charging controller Connect the battery, and connect the second output terminal of the battery charging controller to the vehicle wireless data communication module;
电动汽车自调整无线充电系统还包括电能传送装置；The electric vehicle self-adjusting wireless charging system also includes a power transmission device;
所述的电能传送装置包括升降架、用于驱动升降架的第一电机、用于驱动第二机械臂的第二电机、用于驱动第三机械臂的第三电机、用于驱动托盘的第四电机、第一机械臂、第二机械臂、第三机械臂、托盘和能量发射单元，其中，所述的第一机械臂、第二机械臂和第三机械臂均为空心圆筒结构，第一机械臂的一端固定连接于升降架的升降端，第一电机固定于升降架上，第一电机转轴的转动带动升降端上下移动，第二电机固定设置于第一机械臂的内壁，且第二电机的转轴通过齿轮与第二机械臂外侧螺纹啮合，第二电机转轴的转动带动第二机械臂在第一机械臂内腔前后移动，第二机械臂的外端固定设置有第三电机，第三电机的转轴连接第三机械臂的水平端，第三电机转轴转动带动第三机械臂在水平方向上旋转，第三机械臂的垂直端设置有第四电机，第四电机的转轴连接托盘底部，第四电机转轴的转动带动托盘在垂直方向上旋转；所述的能量发射单元设置于托盘上端。The power transmission device includes a lifting frame, a first motor for driving the lifting frame, a second motor for driving the second mechanical arm, a third motor for driving the third mechanical arm, and a first motor for driving the tray. Four motors, a first mechanical arm, a second mechanical arm, a third mechanical arm, a tray and an energy transmitting unit, wherein the first mechanical arm, the second mechanical arm and the third mechanical arm are hollow cylinder structures, One end of the first mechanical arm is fixedly connected to the lifting end of the lifting frame, the first motor is fixed on the lifting frame, the rotation of the rotating shaft of the first motor drives the lifting end to move up and down, and the second motor is fixedly arranged on the inner wall of the first mechanical arm, and The rotating shaft of the second motor is meshed with the outer thread of the second mechanical arm through the gear, the rotation of the rotating shaft of the second motor drives the second mechanical arm to move back and forth in the inner cavity of the first mechanical arm, and the outer end of the second mechanical arm is fixedly equipped with a third motor , the rotating shaft of the third motor is connected to the horizontal end of the third mechanical arm, the rotating shaft of the third motor drives the third mechanical arm to rotate in the horizontal direction, the vertical end of the third mechanical arm is provided with a fourth motor, and the rotating shaft of the fourth motor is connected to At the bottom of the tray, the rotation of the fourth motor shaft drives the tray to rotate in the vertical direction; the energy emitting unit is arranged at the upper end of the tray.
所述的能量发射单元包括激励线圈、发射线圈和初级补偿电路。The energy transmitting unit includes an exciting coil, a transmitting coil and a primary compensation circuit.
所述的无线电能发生装置的第一输出端同时连接第一电机触发端、第二电机触发端、第三电机触发端和第四电机触发端，无线电能发生装置的第二输出端通过屏蔽电缆连接能量发射单元的输入端，且所述的屏蔽电缆依次穿过第一机械臂内腔、第二机械臂内腔和第三机械臂内腔。The first output terminal of the wireless energy generating device is simultaneously connected to the first motor trigger terminal, the second motor trigger terminal, the third motor trigger terminal and the fourth motor trigger terminal, and the second output terminal of the wireless energy generating device passes through a shielded cable The input end of the energy emitting unit is connected, and the shielded cable passes through the inner cavity of the first mechanical arm, the inner cavity of the second mechanical arm and the inner cavity of the third mechanical arm in sequence.
采用电动汽车自调整无线充电系统进行的充电方法，包括以下步骤：A charging method using an electric vehicle self-adjusting wireless charging system includes the following steps:
步骤1、采用电动汽车内部的车载无线数据通信模块将充电请求发送至无线电能发生装置内部的控制器中，控制器回复响应至电动汽车内部的电池充电控制器中；Step 1. Use the on-board wireless data communication module inside the electric vehicle to send the charging request to the controller inside the wireless power generating device, and the controller replies to the battery charging controller inside the electric vehicle;
步骤2、电池充电控制器通过车载无线数据通信模块将电池信息发送至无线电能发生装置内部的控制器中，所述的电池信息包括电池实时端电压、电池实时充电电流、电池实时电池温度、电池最大允许充电电流、电池涓流充电电流、电池端电压最小值、变电流用电池端电压、电池过充保护电压、电池允许最高温度；Step 2. The battery charging controller sends the battery information to the controller inside the wireless power generating device through the vehicle-mounted wireless data communication module. The battery information includes the real-time terminal voltage of the battery, the real-time charging current of the battery, the real-time battery temperature of the battery, and the battery temperature. Maximum allowable charging current, battery trickle charging current, minimum battery terminal voltage, battery terminal voltage for variable current, battery overcharge protection voltage, battery maximum allowable temperature;
步骤3、控制器判断电池实时端电压所属电压范围，具体如下：Step 3. The controller judges the voltage range of the real-time terminal voltage of the battery, as follows:
若电池实时端电压小于电池端电压最小值，则执行步骤4；If the real-time terminal voltage of the battery is less than the minimum value of the battery terminal voltage, perform step 4;
若电池实时端电压大于等于电池端电压最小值且小于变电流用电池端电压，则执行步骤5；If the real-time terminal voltage of the battery is greater than or equal to the minimum value of the terminal voltage of the battery and is less than the terminal voltage of the battery for variable current, then perform step 5;
若电池实时端电压大于等于变电流用电池端电压且小于电池过充保护电压，则执行步骤6；If the real-time terminal voltage of the battery is greater than or equal to the battery terminal voltage for variable current and less than the battery overcharge protection voltage, then perform step 6;
若电池实时端电压等于电池过充保护电压，则执行步骤7；If the battery real-time terminal voltage is equal to the battery overcharge protection voltage, then perform step 7;
步骤4、调整高频逆变器输出端的交流电频率值并调整电能传送装置内部结构所处位置，实现最大功率跟踪的状态对电动汽车内电池进行充电，具体过程如下：Step 4. Adjust the AC frequency value at the output end of the high-frequency inverter and adjust the position of the internal structure of the power transmission device to realize the state of maximum power tracking to charge the battery in the electric vehicle. The specific process is as follows:
步骤4-1、采用检测电路采集高频逆变器输出端电流，通过频率跟踪电路得到交流电频率值，并发送至控制器中；Step 4-1. Use the detection circuit to collect the output current of the high-frequency inverter, obtain the AC frequency value through the frequency tracking circuit, and send it to the controller;
步骤4-2、控制器将高频逆变器输出端的交流电频率值和能量发射单元的谐振频率进行作差，并生成PWM信号控制高频逆变器中开关管的开断，调节高频逆变器输出端的交流电频率，对电动汽车内电池进行充电；Step 4-2. The controller makes a difference between the AC frequency value at the output end of the high-frequency inverter and the resonant frequency of the energy transmitting unit, and generates a PWM signal to control the switching of the switching tube in the high-frequency inverter, and adjust the high-frequency inverter The AC frequency at the output of the inverter is used to charge the battery in the electric vehicle;
步骤4-3、监测电池实时充电电流是否达到电池最大允许充电电流，若是，则保持当前高频逆变器输出端的交流电频率值不变，对电动汽车内电池进行充电并执行步骤4-4，否则，返回执行步骤4-1；Step 4-3. Monitor whether the real-time charging current of the battery reaches the maximum allowable charging current of the battery. If so, keep the current AC frequency value at the output end of the high-frequency inverter unchanged, charge the battery in the electric vehicle and perform steps 4-4. Otherwise, return to step 4-1;
步骤4-4、控制器发送控制信号至第一电机，第一电机转动带动升降架升降端上下移动，同时实时监测电路采集高频逆变器输出端的电流值，当上述电流值达到最大值时，停止第一电机的转动，获得升降架升降端的最优位置；Step 4-4. The controller sends a control signal to the first motor, and the first motor rotates to drive the lifting end of the lifting frame to move up and down. At the same time, the real-time monitoring circuit collects the current value of the output terminal of the high-frequency inverter. When the above-mentioned current value reaches the maximum value , stop the rotation of the first motor, and obtain the optimal position of the lifting end of the lifting frame;
步骤4-5、控制器发送控制信号至第二电机，第二电机转轴的转动带动第二机械臂在第一机械臂内腔前后移动，同时实时监测电路采集高频逆变器输出端的电流值，当上述电流值达到最大值时，停止第二电机的转动，获得第二机械臂的最优位置；Step 4-5, the controller sends a control signal to the second motor, and the rotation of the second motor shaft drives the second mechanical arm to move back and forth in the cavity of the first mechanical arm, and at the same time, the real-time monitoring circuit collects the current value at the output end of the high-frequency inverter , when the above-mentioned current value reaches the maximum value, stop the rotation of the second motor to obtain the optimal position of the second mechanical arm;
步骤4-6、控制器发送控制信号至第三电机，第三电机转轴转动带动第三机械臂在水平方向上旋转，同时实时监测电路采集高频逆变器输出端的电流值，当上述电流值达到最大值时，停止第三电机的转动，获得第三机械臂的最优位置；Step 4-6. The controller sends a control signal to the third motor, and the rotation of the third motor shaft drives the third mechanical arm to rotate in the horizontal direction. At the same time, the real-time monitoring circuit collects the current value of the output terminal of the high-frequency inverter. When the above current value When the maximum value is reached, the rotation of the third motor is stopped to obtain the optimal position of the third mechanical arm;
步骤4-7、控制器发送控制信号至第四电机，第四电机转轴的转动带动托盘在垂直方向上旋转，同时实时监测电路采集高频逆变器输出端的电流值，当上述电流值达到最大值时，停止第四电机的转动，获得托盘的最优位置；Step 4-7, the controller sends a control signal to the fourth motor, the rotation of the fourth motor shaft drives the tray to rotate in the vertical direction, and the real-time monitoring circuit collects the current value of the output terminal of the high-frequency inverter. When the above-mentioned current value reaches the maximum value, stop the rotation of the fourth motor to obtain the optimal position of the tray;
步骤4-8、在上述获得的升降架升降端、第二机械臂、第三机械臂和托盘的最优位置处，对电动汽车内电池进行充电；Step 4-8, charging the battery in the electric vehicle at the optimal positions of the lifting end of the lifting frame, the second mechanical arm, the third mechanical arm and the tray obtained above;
步骤4-9、当电池实时端电压等于电池端电压最小值时，执行步骤5；Step 4-9, when the real-time terminal voltage of the battery is equal to the minimum value of the battery terminal voltage, perform step 5;
步骤5、电池充电控制器通过车载无线数据通信模块将电动汽车电池的特性曲线发送至控制器中，控制器根据电池性能曲线调整高频逆变器输出端的交流电频率值或调整电能传送装置内部结构所处位置，实现对电动汽车内电池进行充电，具体如下：Step 5. The battery charging controller sends the characteristic curve of the electric vehicle battery to the controller through the on-board wireless data communication module, and the controller adjusts the AC frequency value at the output end of the high-frequency inverter or adjusts the internal structure of the power transmission device according to the battery performance curve The location is used to charge the battery in the electric vehicle, as follows:
当调整高频逆变器输出端的交流电频率值时，包括以下步骤：When adjusting the AC frequency value at the output of the high frequency inverter, the following steps are involved:
步骤5-1、确定电池性能曲线上多个采样点，获得每个采样点的电流值，并将上述电流值作为电流目标值；Step 5-1. Determine multiple sampling points on the battery performance curve, obtain the current value of each sampling point, and use the above current value as the current target value;
步骤5-2、控制器将电池实时充电电流与电流目标值进行作差，并生成PWM信号控制高频逆变器中开关管的开断，调节高频逆变器输出端的交流电频率，使电池实时充电电流沿电池性能曲线进行变化；Step 5-2. The controller makes a difference between the real-time charging current of the battery and the current target value, and generates a PWM signal to control the switching of the switching tube in the high-frequency inverter, adjust the AC frequency at the output end of the high-frequency inverter, and make the battery The real-time charging current changes along the battery performance curve;
步骤5-3、当电池实时端电压等于变电流用电池端电压时，执行步骤6；Step 5-3, when the real-time terminal voltage of the battery is equal to the terminal voltage of the battery used for variable current, perform step 6;
当调整电能传送装置内部结构所处位置时，方法为：控制器发送控制信号至一个或多个电机，使电机转轴的转动带动电能传送装置内部结构位置产生变化，使电池实时充电电流沿电池性能曲线进行变化，当电池实时端电压等于变电流用电池端电压时，执行步骤6；When adjusting the position of the internal structure of the power transmission device, the method is: the controller sends a control signal to one or more motors, so that the rotation of the motor shaft drives the internal structure of the power transmission device to change, so that the real-time charging current of the battery follows the battery performance. The curve changes, and when the real-time terminal voltage of the battery is equal to the battery terminal voltage for variable current, perform step 6;
步骤6、判断电池实时充电电流是否达到电池涓流充电电流，若是，则保持当前高频逆变器输出端的交流电频率值不变或电能传送装置内部结构位置不变，对电动汽车内电池进行充电，当电池实时端电压等于电池过充保护电压时，执行步骤7；否则，返回执行步骤5；Step 6. Determine whether the real-time charging current of the battery reaches the trickle charging current of the battery. If so, keep the current AC frequency value at the output end of the high-frequency inverter or the internal structure position of the power transmission device unchanged, and charge the battery in the electric vehicle , when the battery real-time terminal voltage is equal to the battery overcharge protection voltage, go to step 7; otherwise, go back to step 5;
步骤7、系统断电或控制器发送控制信号至第四电机，使托盘旋转处于垂直位置，停止对电动汽车内电池进行充电。Step 7. The system is powered off or the controller sends a control signal to the fourth motor to make the tray rotate in a vertical position and stop charging the battery in the electric vehicle.
在该方法过程中，监测电池实时电池温度，当电池实时电池温度大于电池允许最高温度时，则持续1～2分钟后，系统断电或控制器发送控制信号至第四电机，使托盘旋转处于垂直位置，停止对电动汽车内电池进行充电。In the process of this method, the real-time battery temperature of the battery is monitored. When the real-time battery temperature of the battery is greater than the allowable maximum temperature of the battery, after 1 to 2 minutes, the system is powered off or the controller sends a control signal to the fourth motor to make the tray rotate at Vertical position, stop charging the battery in the electric vehicle.
本发明优点：Advantages of the present invention:
本发明一种电动汽车自调整无线充电系统及方法，提高了电动车在充电时的安全性和可靠性，避免了有线充电方式中插拔充电设备的所造成的充电连接设备磨损，连接件设备使用寿命下降等问题；相对于有线充电系统，本发明的操作性更为简单；在发射线圈和接收线圈的距离在50cm范围内时，可实现高效率电能传输；本发明还包含变电流负载跟踪充电模式，可以按照最佳充电电流曲线进行充电，提高电池的使用寿命；无线充电与汽车型号及能量接收单元的大小、形状无关，能使电动车不依靠外部连接设备而实现对电池的充电；此外，本发明使无线电能发生装置与无线电能接收装置进行实时的通讯，并能根据电池状态，调整无线电能发生装置输出功率，实现负载跟踪的控制方式；使充电设备可靠性更高、使用寿命更长，能满足客户在对电动车充电的要求；并且本发明通过磁耦合谐振方式给电池充电，充电效率高，实用性强。The invention provides a self-adjusting wireless charging system and method for an electric vehicle, which improves the safety and reliability of the electric vehicle during charging, avoids the wear and tear of the charging connection equipment caused by plugging and unplugging the charging equipment in the wired charging mode, and the connector equipment Reduced service life and other issues; Compared with the wired charging system, the operability of the present invention is simpler; when the distance between the transmitting coil and the receiving coil is within 50cm, high-efficiency power transmission can be realized; the present invention also includes variable current load tracking The charging mode can be charged according to the optimal charging current curve to improve the service life of the battery; wireless charging has nothing to do with the car model and the size and shape of the energy receiving unit, enabling the electric vehicle to charge the battery without relying on external connection equipment; In addition, the present invention enables the wireless power generating device to communicate with the wireless power receiving device in real time, and can adjust the output power of the wireless power generating device according to the battery status to realize the control mode of load tracking; the charging equipment has higher reliability and longer service life It is longer and can meet the customer's requirements for charging electric vehicles; and the invention charges the battery through magnetic coupling and resonance, which has high charging efficiency and strong practicability.
附图说明Description of drawings
图1是本发明一种实施例的电动汽车自调整无线充电系统结构框图；Fig. 1 is a structural block diagram of an electric vehicle self-adjusting wireless charging system according to an embodiment of the present invention;
图2是本发明一种实施例的控制器电路原理图；Fig. 2 is a controller circuit schematic diagram of an embodiment of the present invention;
图3是本发明一种实施例的能量发射单元、能量接收单元结构图，其中，图(a)为能量接收单元结构图，图(b)为能量发射单元结构图；Fig. 3 is a structural diagram of an energy transmitting unit and an energy receiving unit according to an embodiment of the present invention, wherein, figure (a) is a structural diagram of an energy receiving unit, and figure (b) is a structural diagram of an energy transmitting unit;
图4为本发明一种实施例的充电方法流程图；Fig. 4 is a flow chart of a charging method according to an embodiment of the present invention;
图5为本发明一种实施例的频率跟踪控制框图；Fig. 5 is a frequency tracking control block diagram of an embodiment of the present invention;
图6为本发明一种实施例的输出频率与谐振频率的比值和采样平均值的关系曲线图；Fig. 6 is a graph showing the relationship between the ratio of the output frequency and the resonant frequency and the sampling average value of an embodiment of the present invention;
图7为本发明一种实施例的无线电能传输最大功率及负载跟踪控制框图。FIG. 7 is a block diagram of wireless power transfer maximum power and load tracking control according to an embodiment of the present invention.
具体实施方式detailed description
下面结合附图对本发明一种实施例做进一步说明。An embodiment of the present invention will be further described below in conjunction with the accompanying drawings.
如图1所示，本发明实施例中，电动汽车自调整无线充电系统包括设置于充电桩内部的无线电能发生装置100、设置于电动汽车内部的无线电能接收装置200和电能传送装置300；无线电能发生装置100位于充电站上，用于产生高频电能，并根据电能接收装置200的电池信息，通过电能传送装置300及磁耦合谐振方式向电能接收装置200传输电能；As shown in Figure 1, in the embodiment of the present invention, the electric vehicle self-adjusting wireless charging system includes a wireless power generating device 100 disposed inside the charging pile, a wireless power receiving device 200 and a power transmitting device 300 disposed inside the electric vehicle; The energy generating device 100 is located on the charging station, and is used to generate high-frequency electric energy, and transmit electric energy to the electric energy receiving device 200 through the electric energy transmitting device 300 and the magnetic coupling resonance method according to the battery information of the electric energy receiving device 200;
如图1所示，无线电能发生装置包括控制器107、电机驱动电路106、PWM驱动电路105、检测电路104、频率跟踪电路103、高频逆变器102和无线数据通信模块108，其中，无线数据通信模块108的输出端连接控制器107的第一输入端，检测电路104的第一输出端连接控制器107的第二输入端，频率跟踪电路103的输出端连接控制器107的第三输入端，控制器107的第一输出端连接电机驱动电路106输入端，控制器107的第二输出端连接PWM驱动电路105输入端，电网101连接高频逆变器102的第一输入端，PWM驱动电路105的输出端连接高频逆变器102的第二输入端，高频逆变器102的第一输出端连接检测电路104的输入端，检测电路104的第二输出端连接频率跟踪电路103的输入端；所述的电机驱动电路106的输出端作为无线电能发生装置100的第一输出端，高频逆变器102的第二输出端作为无线电能发生装置100的第二输出端；所述的无线电能发生装置100的第一输出端同时连接第一电机303触发端、第二电机305触发端、第三电机307触发端和第四电机309触发端，无线电能发生装置100的第二输出端通过屏蔽电缆连接能量发射单元311的输入端。As shown in Figure 1, the wireless power generation device includes a controller 107, a motor drive circuit 106, a PWM drive circuit 105, a detection circuit 104, a frequency tracking circuit 103, a high frequency inverter 102 and a wireless data communication module 108, wherein the wireless The output end of the data communication module 108 is connected to the first input end of the controller 107, the first output end of the detection circuit 104 is connected to the second input end of the controller 107, and the output end of the frequency tracking circuit 103 is connected to the third input end of the controller 107 end, the first output end of the controller 107 is connected to the input end of the motor driving circuit 106, the second output end of the controller 107 is connected to the input end of the PWM driving circuit 105, the grid 101 is connected to the first input end of the high-frequency inverter 102, and the PWM The output end of the drive circuit 105 is connected to the second input end of the high frequency inverter 102, the first output end of the high frequency inverter 102 is connected to the input end of the detection circuit 104, and the second output end of the detection circuit 104 is connected to the frequency tracking circuit The input end of 103; the output end of the motor drive circuit 106 is used as the first output end of the wireless energy generating device 100, and the second output end of the high frequency inverter 102 is used as the second output end of the wireless energy generating device 100; The first output terminal of the wireless energy generating device 100 is simultaneously connected to the trigger terminal of the first motor 303, the trigger terminal of the second motor 305, the trigger terminal of the third motor 307 and the trigger terminal of the fourth motor 309, the first output terminal of the wireless energy generating device 100 The two output ends are connected to the input end of the energy emitting unit 311 through a shielded cable.
本发明实施例中，所述的高频逆变器102采用高频肖特基整流二极管IN5817组成全桥整流器进行对电网101的220V工频交流电整流成直流电，采用MOS管IRFZ44N组成全桥逆变电路将直流电逆变成100KHz-30MHz频率可控的高频交流电。In the embodiment of the present invention, the high-frequency inverter 102 uses a high-frequency Schottky rectifier diode IN5817 to form a full-bridge rectifier to rectify the 220V power-frequency alternating current of the power grid 101 into direct current, and uses a MOS tube IRFZ44N to form a full-bridge inverter The circuit inverts the direct current into a high-frequency alternating current with a controllable frequency of 100KHz-30MHz.
本发明实施例中，所述的频率跟踪电路103由电流电压转换电路、过零比较器、平均值电路和AD转换器构成，根据检测电路104的测量值，采用电流极性的频率跟踪方法对高频逆变器102的频率进行跟踪，并将跟踪结果送入控制器107中。In the embodiment of the present invention, the frequency tracking circuit 103 is composed of a current-voltage conversion circuit, a zero-crossing comparator, an average value circuit, and an AD converter. According to the measured value of the detection circuit 104, the frequency tracking method of current polarity is used to The frequency of the high-frequency inverter 102 is tracked, and the tracking result is sent to the controller 107 .
本发明实施例中，所述的检测电路104包括电压采样电路和电流采样电路，用于实时检测高频逆变器102的输出电压值和输出电流值。电压采样电路使用LEM公司的霍尔电压传感器LV100作为前端检测器件，使用集成运放TL084接成直流电压信号调理电路；电流采样电路使用LEM公司的霍尔电流传感器LA58-P作为前端检测器件，使用集成运放TL084接成直流电流信号调理电路。高频逆变器102的输出电压值和输出电流值经前端器件采样后，由信号调理电路转换成1-5V标准电压信号发送给控制器107；In the embodiment of the present invention, the detection circuit 104 includes a voltage sampling circuit and a current sampling circuit for detecting the output voltage value and output current value of the high frequency inverter 102 in real time. The voltage sampling circuit uses the Hall voltage sensor LV100 of LEM Company as the front-end detection device, and the integrated operational amplifier TL084 is used to form a DC voltage signal conditioning circuit; the current sampling circuit uses the Hall current sensor LA58-P of LEM Company as the front-end detection device. The integrated operational amplifier TL084 is connected to a DC current signal conditioning circuit. After the output voltage value and output current value of the high frequency inverter 102 are sampled by the front-end device, the signal conditioning circuit converts it into a 1-5V standard voltage signal and sends it to the controller 107;
本发明实施例中，所述的PWM驱动电路105采用IR2013作为驱动芯片，接收控制器107的信号，生成PWM信号发送至高频逆变器102中，调节高频逆变器102的输出交流电频率。In the embodiment of the present invention, the PWM drive circuit 105 uses IR2013 as the drive chip, receives the signal from the controller 107, generates a PWM signal and sends it to the high-frequency inverter 102, and adjusts the output AC frequency of the high-frequency inverter 102 .
本发明实施例中，所述的电机驱动电路106由4路驱动器组成，包括2路BTS7961直流减速电机驱动器、1路TB6560A步进电机驱动器和1路舵机驱动器，分别控制电能传送单元300中的用于驱动升降架的第一电机303、用于驱动第二机械臂的第二电机305、用于驱动第三机械臂的第三电机307和用于驱动托盘的第四电机309，接收控制器107的信号驱动电机调节机械臂各臂节角度和位置，从而调节能量发射单元的空间位置，改变能量发射模块和能量接收模块之间的磁耦合谐振关系，按照电池充电需要，调节无线电能传输大小。In the embodiment of the present invention, the motor drive circuit 106 is composed of 4 drivers, including 2 BTS7961 DC geared motor drivers, 1 TB6560A stepping motor driver and 1 steering gear driver, respectively controlling the power transmission unit 300 The first motor 303 for driving the lifting frame, the second motor 305 for driving the second mechanical arm, the third motor 307 for driving the third mechanical arm, and the fourth motor 309 for driving the tray, receive the controller The signal of 107 drives the motor to adjust the angle and position of each arm section of the mechanical arm, thereby adjusting the spatial position of the energy transmitting unit, changing the magnetic coupling resonance relationship between the energy transmitting module and the energy receiving module, and adjusting the size of wireless energy transmission according to the battery charging requirements .
本发明实施例中，所述的控制器107获得无线数据通信模块108发送的数据，在判断电动汽车电池符合预设充电条件后(控制器预设充电条件包括电动汽车处于停车状态且电池的剩余电量低于预设电量值)，控制器107根据检测电路104和无线数据通信模块108的数据，建立传输效率与频率之间的特性关系；按照最大功率和负载跟踪集成控制策略对整个充电过程进行控制，通过PWM驱动电路105控制高频逆变器开关管频率调节输出交流电频率，通过电机驱动电路106调节机械臂节位置和角度。In the embodiment of the present invention, the controller 107 obtains the data sent by the wireless data communication module 108, and after judging that the battery of the electric vehicle meets the preset charging condition (the preset charging condition of the controller includes that the electric vehicle is in a parked state and the battery remaining The power is lower than the preset power value), the controller 107 establishes the characteristic relationship between the transmission efficiency and the frequency according to the data of the detection circuit 104 and the wireless data communication module 108; the entire charging process is carried out according to the integrated control strategy of maximum power and load tracking For control, the PWM drive circuit 105 is used to control the switching tube frequency of the high-frequency inverter to adjust the output AC frequency, and the motor drive circuit 106 is used to adjust the position and angle of the mechanical arm section.
如图2所示，控制器107采用MSP-F149型单片机，检测电路104和无线数据通信模块108的采样值经AD转换后送入单片机处理；检测电路104测量的直流母线电流(高频逆变器输出端电流)通过频率跟踪电路103后获得交流电频率值送入单片机；单片机经过数据处理之后，对PWM驱动电路105和电机驱动电路106发送控制信号，控制高频逆变器102内部的开关管和机械臂各电机完成最大功率和负载跟踪集成控制；As shown in Figure 2, controller 107 adopts MSP-F149 type single-chip microcomputer, and the sampling value of detection circuit 104 and wireless data communication module 108 is sent into single-chip microcomputer processing after AD conversion; output terminal current) through the frequency tracking circuit 103 to obtain the AC frequency value and send it to the single-chip microcomputer; after the single-chip microcomputer is through data processing, it sends a control signal to the PWM drive circuit 105 and the motor drive circuit 106 to control the switching tube inside the high-frequency inverter 102 Complete the integrated control of maximum power and load tracking with each motor of the robotic arm;
本发明实施例中，所述无线数据通信模块108用于接收车载无线数据通信模块204发送的充电请求信号和电池的信息；本实施例中无线数据传输网络由车载无线数据通信模块204和无线数据通信模块108组成，完成无线电能发生装置100和电能接收装置200之间的通讯，无线数据通信模块使用射频无线收发模块CC1101构成，不会受到磁耦合谐振无线电能传输网络干扰。车载无线数据通信模块204向无线电能发生装置100发送电池的当前状态信息，以及充电功率需求，无线电能发生装置100根据接收到的电池信息，做相应的调整，控制器107计算充电电量，并通过无线数据通信模块108发送给车载充电控制器202。In the embodiment of the present invention, the wireless data communication module 108 is used to receive the charging request signal and battery information sent by the vehicle wireless data communication module 204; in this embodiment, the wireless data transmission network consists of the vehicle wireless data communication module 204 and the wireless data The communication module 108 is composed to complete the communication between the wireless power generating device 100 and the power receiving device 200. The wireless data communication module is composed of the radio frequency wireless transceiver module CC1101, which will not be interfered by the magnetic coupling resonance wireless power transmission network. The on-vehicle wireless data communication module 204 sends the current state information of the battery and the charging power demand to the wireless power generating device 100, the wireless power generating device 100 makes corresponding adjustments according to the received battery information, the controller 107 calculates the charging power, and passes The wireless data communication module 108 sends to the on-board charging controller 202 .
如图1所示，无线电能接收装置200包括电动汽车内部的电池充电控制器202、能量接收单元201、电池203和车载无线数据通信模块204，能量接收单元201输出端连接电池充电控制器202输入端，电池充电控制器202第一输出端连接电池203，电池充电控制器202第二输出端连接车载无线数据通信模块204；As shown in Figure 1, the wireless energy receiving device 200 includes a battery charging controller 202, an energy receiving unit 201, a battery 203 and a vehicle wireless data communication module 204 inside the electric vehicle, and the output of the energy receiving unit 201 is connected to the input of the battery charging controller 202. terminal, the first output terminal of the battery charging controller 202 is connected to the battery 203, and the second output terminal of the battery charging controller 202 is connected to the vehicle wireless data communication module 204;
本发明实施例中，电能接收装置200位于电动汽车上，包括电池充电控制器202(内部包括CPU、测量电路、整流电路，将拾取线圈的高频交流电进行整流)、能量接收单元201、电池203和车载无线数据通信模块204；In the embodiment of the present invention, the power receiving device 200 is located on the electric vehicle, and includes a battery charging controller 202 (including a CPU, a measuring circuit, and a rectifying circuit inside to rectify the high-frequency alternating current of the pickup coil), an energy receiving unit 201, and a battery 203 And vehicle wireless data communication module 204;
本发明实施例中，电能接收装置200用于检测邻近区域是否有无线电能发生装置100，若有，则向无线电能发生装置100发送充电请求，并将电池信息发送至无线电能发生装置100，同时接收电能传送装置300按照最大功率和负载跟踪的能量管理集成控制方式提供的电能，实现对电动汽车内部电池的充电；In the embodiment of the present invention, the power receiving device 200 is used to detect whether there is a wireless power generating device 100 in the adjacent area, and if so, send a charging request to the wireless power generating device 100, and send battery information to the wireless power generating device 100, and Receive the electric energy provided by the electric energy transmission device 300 according to the energy management integrated control mode of maximum power and load tracking, and realize the charging of the internal battery of the electric vehicle;
本发明实施例中，所述能量接收单元201设置在电动汽车底盘上，能量接收单元201用于采用磁耦合方式通过接收线圈接收能量发射单元产生的高频电磁能，通过拾取线圈将其转化为高频电能，经充电控制器整流稳压后给电池充电；如图3中图(a)所示，能量接收单元201包括接收线圈、拾取线圈和次级频率补偿电路构成；所述的接收线圈为平面螺旋结构，拾取线圈为接收线圈的匹配线圈，拾取线圈与接收线圈之间是强磁耦合谐振；连接方式为：拾取线圈和接收线圈同平面共轴放置，拾取线圈通过屏蔽电缆连接电池充电控制器202输入端，拾取线圈连接次级频率补偿电路；次级频率补偿电路用于对拾取线圈的LC谐振参数进行补偿；In the embodiment of the present invention, the energy receiving unit 201 is arranged on the chassis of the electric vehicle, and the energy receiving unit 201 is used to receive the high-frequency electromagnetic energy generated by the energy transmitting unit through the receiving coil in a magnetic coupling manner, and convert it into High-frequency electric energy is charged to the battery after being rectified and stabilized by the charging controller; as shown in Figure 3 (a), the energy receiving unit 201 includes a receiving coil, a pickup coil and a secondary frequency compensation circuit; the receiving coil It is a planar spiral structure, the pickup coil is the matching coil of the receiving coil, and there is a strong magnetic coupling resonance between the pickup coil and the receiving coil; the connection method is: the pickup coil and the receiving coil are placed on the same plane and coaxially, and the pickup coil is connected to the battery for charging through a shielded cable The input terminal of the controller 202, the pickup coil is connected to the secondary frequency compensation circuit; the secondary frequency compensation circuit is used to compensate the LC resonance parameters of the pickup coil;
如图1所示，电能传送装置300包括升降架302、用于驱动升降架的第一电机303、用于驱动第二机械臂的第二电机305、用于驱动第三机械臂的第三电机307、用于驱动托盘的第四电机309(本发明实施例中，第三电机307和第四电机309采用云台)、第一机械臂304、第二机械臂306、第三机械臂308、托盘310和能量发射单元311，其中，所述的第一机械臂304、第二机械臂306和第三机械臂308均为空心圆筒结构，第一机械臂304的一端固定连接于升降架302的升降端，第一电机303固定于升降架302上(第一电机303具体放置位置不做限定，即结合现有机械公知技术设置于升降架302上，例如：电机303固定于升降架302底端，通过转轴与齿轮的啮合带动链条移动，链条带动升降端上下移动)，第一电机303转轴的转动带动升降端上下移动100cm，第二电机305固定设置于第一机械臂304的内壁，且第二电机305的转轴通过齿轮与第二机械臂306外侧螺纹啮合，第二电机305转轴的转动带动第二机械臂306在第一机械臂304内腔前后移动50cm，第二机械臂306的外端固定设置有第三电机307，第三电机307的转轴连接第三机械臂308的水平端，第三电机307转轴转动带动第三机械臂308在水平方向上旋转±90°，第三机械臂308的垂直端设置有第四电机309，第四电机309的转轴连接托盘310底部，第四电机309转轴的转动带动托盘310在垂直方向上旋转0～90度；所述的能量发射单元311设置于托盘上端。As shown in FIG. 1 , the power transmission device 300 includes a lifting frame 302, a first motor 303 for driving the lifting frame, a second motor 305 for driving the second mechanical arm, and a third motor for driving the third mechanical arm. 307. The fourth motor 309 for driving the tray (in the embodiment of the present invention, the third motor 307 and the fourth motor 309 use a pan/tilt), the first mechanical arm 304, the second mechanical arm 306, the third mechanical arm 308, The tray 310 and the energy emission unit 311, wherein the first mechanical arm 304, the second mechanical arm 306 and the third mechanical arm 308 are all hollow cylinder structures, and one end of the first mechanical arm 304 is fixedly connected to the lifting frame 302 The lifting end, the first motor 303 is fixed on the lifting frame 302 (the specific placement position of the first motor 303 is not limited, that is, it is arranged on the lifting frame 302 in combination with existing mechanical known technologies, for example: the motor 303 is fixed on the bottom of the lifting frame 302 end, through the engagement of the rotating shaft and the gear to drive the chain to move, the chain drives the lifting end to move up and down), the rotation of the first motor 303 rotating shaft drives the lifting end to move up and down 100cm, the second motor 305 is fixedly arranged on the inner wall of the first mechanical arm 304, and The rotating shaft of the second motor 305 is threadedly engaged with the outer side of the second mechanical arm 306 through the gear, and the rotation of the rotating shaft of the second motor 305 drives the second mechanical arm 306 to move back and forth 50 cm in the inner chamber of the first mechanical arm 304, and the outer surface of the second mechanical arm 306 The third motor 307 is fixedly arranged at the end, and the rotating shaft of the third motor 307 is connected to the horizontal end of the third mechanical arm 308. The rotating shaft of the third motor 307 drives the third mechanical arm 308 to rotate ±90° in the horizontal direction, and the third mechanical arm The vertical end of 308 is provided with a fourth motor 309, the rotating shaft of the fourth motor 309 is connected to the bottom of the tray 310, and the rotation of the rotating shaft of the fourth motor 309 drives the tray 310 to rotate 0-90 degrees in the vertical direction; the energy emitting unit 311 is set on top of the tray.
本发明实施例中，所述电能传送装置300位于汽车底盘下方，或将汽车行驶至车架上，或将电能传送装置300位于地坑内，升降架302垂直固定在地面上，第一电机303采用步进电机或直流减速电机，第二电机305为步进电机或直流减速机，第三电机和第四电机均采用云台，云台307电机为步进电机或舵机，云台309电机为舵机。In the embodiment of the present invention, the electric energy transmission device 300 is located under the chassis of the automobile, or the automobile is driven onto the frame, or the electric energy transmission device 300 is located in the pit, the lifting frame 302 is vertically fixed on the ground, and the first motor 303 adopts Stepper motor or DC reduction motor, the second motor 305 is a stepper motor or DC speed reducer, the third motor and the fourth motor all adopt the cloud platform, the cloud platform 307 motor is a stepper motor or steering gear, and the cloud platform 309 motor is steering gear.
本发明实施例中，所述第一电机303连接第一机械臂304，由无线电能发生装置100中的电机驱动电路控制第一电机303转动，带动升降端在100cm范围内上下移动；第二电机305的转轴通过齿轮与第二机械臂306外侧螺纹啮合，第二电机由无线电能发生装置100中的电机驱动电路控制，带动第二机械臂306在50cm范围内前后移动；云台307由无线电能发生装置100中的电机驱动电路控制，带动第三机械臂308在平面内自由旋转，云台309由无线电能发生装置100中的电机驱动电路控制，带动托盘310在水平±90度之间自由调整角度。In the embodiment of the present invention, the first motor 303 is connected to the first mechanical arm 304, and the motor drive circuit in the wireless power generating device 100 controls the rotation of the first motor 303, driving the lifting end to move up and down within a range of 100 cm; the second motor The rotating shaft of 305 is threadedly engaged with the outside of the second mechanical arm 306 through the gear, and the second motor is controlled by the motor drive circuit in the wireless power generating device 100, driving the second mechanical arm 306 to move back and forth within the range of 50cm; The motor driving circuit in the generating device 100 is controlled to drive the third mechanical arm 308 to rotate freely in the plane, and the pan-tilt 309 is controlled by the motor driving circuit in the wireless power generating device 100 to drive the tray 310 to adjust freely between ±90 degrees horizontally angle.
本发明实施例中，所述升降架302、第一机械臂304、第二机械臂306、第三机械臂308和托盘310均具有穿孔，屏蔽电缆301通过穿孔，依次进入第一机械臂304、第二机械臂306、第三机械臂308和托盘310，最终连接至能量发射单元。In the embodiment of the present invention, the lifting frame 302, the first robot arm 304, the second robot arm 306, the third robot arm 308 and the tray 310 all have perforations, and the shielded cable 301 passes through the holes and enters the first robot arm 304, The second robot arm 306, the third robot arm 308 and the tray 310 are finally connected to the energy emitting unit.
本发明实施例中，所述能量发射单元311和能量接收单元201线圈之间是磁耦合谐振；接收线圈与发射线圈通过耦合方式进行磁场能传输，产生相同频率的LC谐振，拾取线圈在LC谐振作用下产生高频振荡电能，如图3中图(b)所示，能量发射单元311包括激励线圈、发射线圈和初级补偿电路；所述激励线圈和发射线圈同轴同平面放置，激励线圈为发射线圈的匹配线圈，激励线圈与发射线圈之间为强磁耦合谐振，能量发射模块通过激励线圈LC谐振产生高频电磁场，再通过发射线圈进行发射；In the embodiment of the present invention, there is a magnetic coupling resonance between the coils of the energy transmitting unit 311 and the energy receiving unit 201; the receiving coil and the transmitting coil perform magnetic field energy transmission through a coupling method to generate LC resonance at the same frequency, and the pickup coil is at the LC resonance Produce high-frequency oscillating electric energy under the action, as shown in figure (b) in Fig. 3, energy transmitting unit 311 comprises exciting coil, transmitting coil and primary compensating circuit; The matching coil of the transmitting coil, the strong magnetic coupling resonance between the exciting coil and the transmitting coil, the energy transmitting module generates a high-frequency electromagnetic field through the LC resonance of the exciting coil, and then transmits through the transmitting coil;
当系统在高频状态下工作时，无线电能发生装置和接收装置会消耗大量的无功功率，使得电路的功率因数降低，为了提高功率因数，需要加电容进行补偿；为了提高无线电能发生装置100和电能接收装置200之间磁耦合谐振无线电能的传输效率，本发明实施例中在高频逆变器102输出端连接初级频率补偿电路，初级频率补偿电路由串并联混合式LC网络构成，初级频率补偿电路连接激励线圈，用于对能量发射单元311的对激励线圈的LC谐振参数进行补偿，高频电能经激励线圈产生振荡磁场，发射线圈在振荡磁场中发生LC谐振，实现激励线圈和发射线圈工作在最佳谐振频率点，磁耦合谐振无线能量传输效率达到最大。When the system works at high frequency, the wireless power generating device and the receiving device will consume a large amount of reactive power, which will reduce the power factor of the circuit. In order to improve the power factor, it is necessary to add a capacitor for compensation; The transmission efficiency of magnetically coupled resonant wireless energy between the power receiving device 200, in the embodiment of the present invention, the primary frequency compensation circuit is connected to the output end of the high-frequency inverter 102, and the primary frequency compensation circuit is composed of a series-parallel hybrid LC network. The frequency compensation circuit is connected to the excitation coil, which is used to compensate the LC resonance parameters of the excitation coil of the energy transmitting unit 311. The high-frequency electric energy generates an oscillating magnetic field through the excitation coil, and the LC resonance of the transmitting coil occurs in the oscillating magnetic field to realize the excitation coil and emission The coil works at the optimal resonance frequency point, and the magnetic coupling resonance wireless energy transmission efficiency reaches the maximum.
本发明实施例中，激励线圈和拾取线圈由单圈多股漆包线构成，漆包线线径0.2mm，线圈为10～40股绕成，线圈为10～15股绕成，线圈直径15～20cm；发射线圈和接收线圈由多圈多股漆包线构成，漆包线线径0.2mm，每根线圈为10～20股绕成，线圈直径最大50cm；发射线圈和接收线圈品质因数Q不小于100。In the embodiment of the present invention, the excitation coil and the pick-up coil are composed of single-turn multi-strand enameled wire, the diameter of the enameled wire is 0.2mm, the coil is wound by 10-40 strands, the coil is wound by 10-15 strands, and the coil diameter is 15-20cm; The coil and the receiving coil are composed of multi-turn multi-strand enameled wire, the diameter of the enameled wire is 0.2mm, each coil is wound with 10-20 strands, and the maximum diameter of the coil is 50cm; the quality factor Q of the transmitting coil and the receiving coil is not less than 100.
本发明实施例中，采用电动汽车自调整无线充电系统进行的充电方法，方法流程图如图4所示，包括以下步骤：In the embodiment of the present invention, the charging method performed by the self-adjusting wireless charging system of the electric vehicle is used, and the method flow chart is shown in Figure 4, including the following steps:
步骤1、采用电动汽车内部的车载无线数据通信模块将充电请求发送至无线电能发生装置内部的控制器中，控制器回复响应至电动汽车内部的电池充电控制器中；Step 1. Use the on-board wireless data communication module inside the electric vehicle to send the charging request to the controller inside the wireless power generating device, and the controller replies to the battery charging controller inside the electric vehicle;
本发明实施例中，当汽车驶入指定有效位置后，车载无线数据通信模块204发出充电请求信号，接收到无线数据通信模块108发出的响应信号，车内指示灯点亮。In the embodiment of the present invention, when the vehicle enters the specified valid position, the vehicle wireless data communication module 204 sends a charging request signal, receives a response signal from the wireless data communication module 108, and the indicator light in the vehicle lights up.
步骤2、电池充电控制器通过车载无线数据通信模块将电池信息发送至无线电能发生装置内部的控制器中，所述的电池信息包括电池实时端电压、电池实时充电电流、电池实时电池温度、电池最大允许充电电流、电池涓流充电电流、电池端电压最小值、变电流用电池端电压、电池过充保护电压、电池允许最高温度；Step 2. The battery charging controller sends the battery information to the controller inside the wireless power generating device through the vehicle-mounted wireless data communication module. The battery information includes the real-time terminal voltage of the battery, the real-time charging current of the battery, the real-time battery temperature of the battery, and the battery temperature. Maximum allowable charging current, battery trickle charging current, minimum battery terminal voltage, battery terminal voltage for variable current, battery overcharge protection voltage, battery maximum allowable temperature;
本发明实施例中，电池充电控制器202检测电池信息，通过车载无线数据通信模块204将检测到的电池信息传送给无线数据通信模块108，送给无线电能发生装置100中的控制器107进行处理。In the embodiment of the present invention, the battery charging controller 202 detects the battery information, and transmits the detected battery information to the wireless data communication module 108 through the on-board wireless data communication module 204, and sends it to the controller 107 in the wireless energy generating device 100 for processing .
步骤3、控制器判断电池实时端电压所属电压范围，具体如下：Step 3. The controller judges the voltage range of the real-time terminal voltage of the battery, as follows:
若电池实时端电压小于电池端电压最小值10.3V，则执行步骤4；If the real-time terminal voltage of the battery is less than the minimum battery terminal voltage of 10.3V, go to step 4;
若电池实时端电压大于等于电池端电压最小值10.3V且小于变电流用电池端电压13.2V，则执行步骤5；If the real-time terminal voltage of the battery is greater than or equal to the minimum battery terminal voltage of 10.3V and less than the battery terminal voltage of 13.2V for variable current, then perform step 5;
若电池实时端电压大于等于变电流用电池端电压13.2V且小于电池过充保护电压14.4V，则执行步骤6；If the real-time terminal voltage of the battery is greater than or equal to the battery terminal voltage 13.2V for variable current and less than the battery overcharge protection voltage 14.4V, then perform step 6;
若电池实时端电压等于电池过充保护电压14.4V，则执行步骤7；If the battery real-time terminal voltage is equal to the battery overcharge protection voltage 14.4V, then perform step 7;
步骤4、调整高频逆变器输出端的交流电频率值并调整电能传送装置内部结构所处位置，实现最大功率跟踪的状态对电动汽车内电池进行充电；具体过程如下：Step 4. Adjust the AC frequency value at the output end of the high-frequency inverter and adjust the position of the internal structure of the power transmission device to realize the state of maximum power tracking to charge the battery in the electric vehicle; the specific process is as follows:
无线电能发生装置通过磁耦合方式给无线电能接收装置传递能量，当无线电能接收装置在谐振频率工作时，不同电动汽车负载的变化会引起电路品质因数的变化，从而导致传输效率的下降，因此需要调节逆变频率来跟踪谐振频率使得传输效率最大。The wireless power generating device transmits energy to the wireless power receiving device through magnetic coupling. When the wireless power receiving device works at the resonant frequency, the change of the load of different electric vehicles will cause the change of the circuit quality factor, which will lead to the decline of the transmission efficiency. Therefore, it is necessary to Adjusting the inverter frequency to track the resonant frequency maximizes transmission efficiency.
本发明实施例中，调整高频交流电的频率值，使其跟踪能量发射单元的谐振频率值；或调整机械臂实现能量发射单元位于能量接收单元下方的适当位置，使无线电能发生装置发出的电流达到最大；在最大功率控制状态时，首先进行谐振频率跟踪，通过检测高频逆变器102实时输出电流和电池信息，观察输出电流变化趋势；调整无线电能发生装置发出的高频交流电的频率，将其与系统的频率-效率特性比较，若输出电流增大，则保持前述高频交流电频率的调整方向，若输出电流减小，则反向调整无线电能发生装置发出的高频交流电的频率；In the embodiment of the present invention, the frequency value of the high-frequency alternating current is adjusted to make it track the resonant frequency value of the energy transmitting unit; reach the maximum; in the state of maximum power control, first carry out resonant frequency tracking, by detecting the real-time output current of the high-frequency inverter 102 and battery information, and observe the change trend of the output current; adjust the frequency of the high-frequency alternating current sent by the wireless power generating device, Comparing it with the frequency-efficiency characteristics of the system, if the output current increases, then maintain the adjustment direction of the aforementioned high-frequency alternating current frequency, and if the output current decreases, reversely adjust the frequency of the high-frequency alternating current emitted by the wireless power generating device;
具体步骤如下：Specific steps are as follows:
步骤4-1、采用检测电路采集高频逆变器输出端电流，通过频率跟踪电路得到交流电频率值，并发送至控制器中；Step 4-1. Use the detection circuit to collect the output current of the high-frequency inverter, obtain the AC frequency value through the frequency tracking circuit, and send it to the controller;
本发明实施例中，控制器105根据电池端电压与充电电流之间的关系函数IB＝f(UB)，计算当前电压下需要的充电电流；根据无线电能发生装置的实时输出电流，调整无线电能发生装置发出的高频交流电的频率；In the embodiment of the present invention, the controller 105 calculates the required charging current under the current voltage according to the relationship function IB =f(UB) between the battery terminal voltage and the charging current; adjusts the charging current according to the real-time output current of the wireless energy generating device the frequency of the high frequency alternating current emitted by the wireless power generating device;
步骤4-2、控制器将高频逆变器输出端的交流电频率值和能量发射单元的谐振频率进行作差，并生成PWM信号控制高频逆变器中开关管的开断，调节高频逆变器输出端的交流电频率，对电动汽车内电池进行充电；Step 4-2. The controller makes a difference between the AC frequency value at the output end of the high-frequency inverter and the resonant frequency of the energy transmitting unit, and generates a PWM signal to control the switching of the switching tube in the high-frequency inverter, and adjust the high-frequency inverter The AC frequency at the output of the inverter is used to charge the battery in the electric vehicle;
本发明实施例中，采用电流极性跟踪法调整高频逆变器输出端的交流电频率值，具体描述为：采集直流母线电流(高频逆变器输出端电流)发送至频率跟踪电路中，如图5所示，检测电路104采样直流母线电流输入电流电压转换电路，电流电压转换电路将直流母线电流转换成电压送入过零比较器，过零比较器计算出电流小于零和大于零的时间，然后把电流的大于零和小于零的时间转换成极性信号，从过零比较器输出高低电平，将过零比较器输出高低电平输入平均值电路求出极性平均值。当高电平恒定时，平均值的大小与电路参数和工作频率有关，电路参数变化时，平均值也发生变化。因此，该平均值反映的是电路参数和工作频率的变化，平均值的最大值对应的是谐振频率。电压极性平均值经AD转换器转换成数字信号送入控制器105的输入端。In the embodiment of the present invention, the current polarity tracking method is used to adjust the AC frequency value at the output end of the high-frequency inverter, which is specifically described as: collecting the DC bus current (the current at the output end of the high-frequency inverter) and sending it to the frequency tracking circuit, such as As shown in FIG. 5 , the detection circuit 104 samples the DC bus current and inputs it to the current-voltage conversion circuit. The current-voltage conversion circuit converts the DC bus current into a voltage and sends it to the zero-crossing comparator. The zero-crossing comparator calculates the time when the current is less than zero and greater than zero. , and then convert the time of the current greater than zero and less than zero into a polarity signal, output high and low levels from the zero-crossing comparator, and input the high and low levels output by the zero-crossing comparator into the average value circuit to obtain the polarity average value. When the high level is constant, the average value is related to the circuit parameters and operating frequency. When the circuit parameters change, the average value also changes. Therefore, the average value reflects changes in circuit parameters and operating frequency, and the maximum value of the average value corresponds to the resonant frequency. The average value of the voltage polarity is converted into a digital signal by an AD converter and sent to the input terminal of the controller 105 .
本发明实施例中，输出频率与谐振频率的比值和采样平均值的关系曲线如图6所示，高频逆变器输出频率跟踪谐振频率方法，包括以下步骤：In the embodiment of the present invention, the relationship curve between the ratio of the output frequency and the resonant frequency and the sampling average value is shown in Figure 6. The method for tracking the resonant frequency by the output frequency of the high-frequency inverter includes the following steps:
步骤4-2-1、设置谐振频率和采样平均值；Step 4-2-1, set the resonant frequency and sampling average value;
步骤4-2-2、判断高频逆变器输出频率与谐振频率的关系，具体为：Step 4-2-2. Determine the relationship between the output frequency of the high-frequency inverter and the resonant frequency, specifically:
若高频逆变器输出频率与谐振频率相等，则此时高频逆变器输出频率与谐振频率比值为1，采样平均值为1，则不需要进行频率跟踪的控制，保持高频逆变器输出频率不变；If the output frequency of the high-frequency inverter is equal to the resonant frequency, then the ratio of the output frequency of the high-frequency inverter to the resonant frequency is 1, and the sampling average value is 1, so frequency tracking control is not required to maintain high-frequency inverter The output frequency of the device remains unchanged;
若高频逆变器输出频率小于谐振频率，则此时高频逆变器输出频率与谐振频率比值小于1，并执行步骤4-2-3；If the output frequency of the high-frequency inverter is less than the resonance frequency, then the ratio of the output frequency of the high-frequency inverter to the resonance frequency is less than 1, and step 4-2-3 is performed;
若高频逆变器输出频率大于谐振频率，则此时高频逆变器输出频率与谐振频率比值大于1，并执行步骤4-2-6；If the output frequency of the high-frequency inverter is greater than the resonant frequency, then the ratio of the output frequency of the high-frequency inverter to the resonant frequency is greater than 1, and step 4-2-6 is performed;
步骤4-2-3、检测采样平均值，判断采样平均值是否远离1，若是，则执行步骤4-2-4，否则，执行步骤4-2-5；Step 4-2-3, detect the sampling average value, and judge whether the sampling average value is far from 1, if so, execute step 4-2-4, otherwise, execute step 4-2-5;
步骤4-2-4、此时高频逆变器输出频率的变化率大于0，采样平均值变化率大于0，如图6中的a点所示，a点位于谐振频率点的左侧，并且变化趋势指向谐振频率点，则保持这个变化趋势，并采用大步长逼近谐振频率；Step 4-2-4. At this time, the rate of change of the output frequency of the high-frequency inverter is greater than 0, and the rate of change of the sampling average value is greater than 0. As shown in point a in Figure 6, point a is located on the left side of the resonance frequency point. And the change trend points to the resonant frequency point, then maintain this change trend, and use a large step size to approach the resonant frequency;
步骤4-2-5、此时高频逆变器输出频率的变化率小于0，采样平均值变化率小于0，如图6中的b点所示，b点位于谐振频率点的左侧，并且变化趋势背离谐振频率点，则使这种变化趋势变反，采用小步长逼近谐振频率；Step 4-2-5. At this time, the rate of change of the output frequency of the high-frequency inverter is less than 0, and the rate of change of the sampling average value is less than 0, as shown in point b in Figure 6. Point b is located on the left side of the resonance frequency point. And if the change trend deviates from the resonant frequency point, the change trend will be reversed, and the resonant frequency will be approached with a small step size;
步骤4-2-6、检测采样平均值，判断采样平均值是否远离1，若是，则执行步骤4-2-7，否则，执行步骤4-2-8；Step 4-2-6, detect the sampling average value, and judge whether the sampling average value is far from 1, if so, perform step 4-2-7, otherwise, perform step 4-2-8;
步骤4-2-7、此时高频逆变器输出频率的变化率小于0，采样平均值变化率大于0，如图6中的d点所示，d点位于谐振频率点的右侧，并且变化趋势指向谐振频率点，应保持变化趋势，并采用大步长逼近谐振频率；Step 4-2-7. At this time, the rate of change of the output frequency of the high-frequency inverter is less than 0, and the rate of change of the sampling average value is greater than 0, as shown in point d in Figure 6. Point d is located on the right side of the resonance frequency point. And the change trend points to the resonant frequency point, the change trend should be maintained, and a large step size should be used to approach the resonant frequency;
步骤4-2-8、此时高频逆变器输出频率的变化率大于0，采样平均值变化率小于0，如图6中的c点所示，c点位于谐振频率点的右侧，并且变化趋势背离谐振频率点，应使这种变化趋势变反，并采用小步长逼近谐振频率；Step 4-2-8. At this time, the rate of change of the output frequency of the high-frequency inverter is greater than 0, and the rate of change of the sampling average value is less than 0, as shown in point c in Figure 6. Point c is located on the right side of the resonance frequency point. And the change trend deviates from the resonant frequency point, this change trend should be reversed, and the resonant frequency should be approached with a small step size;
如图7所示，将频率跟踪电路的输出频率值和传输效率输入单片机中，得到传输效率和工作频率的关系曲线，单片机根据传输效率和工作频率的关系曲线设定的效率检测值和频率跟踪信号，产生对应频率和脉冲宽度的PWM脉宽调制控制信号，经PWM驱动电路进行隔离和功率放大，调节高频逆变器输出频率实时跟踪谐振频率，使能量发射单元和能量接收单元之间的无线电能传输效率达到最大。As shown in Figure 7, input the output frequency value and transmission efficiency of the frequency tracking circuit into the single-chip microcomputer to obtain the relationship curve between transmission efficiency and operating frequency. The efficiency detection value and frequency tracking set by the single-chip microcomputer according to the relationship curve between transmission efficiency and operating frequency Signal, generate PWM pulse width modulation control signal corresponding to frequency and pulse width, isolate and amplify power through PWM driving circuit, adjust output frequency of high frequency inverter to track resonant frequency in real time, so that the energy transmitting unit and energy receiving unit Wireless power transfer efficiency is maximized.
步骤4-3、监测电池实时充电电流是否达到电池最大允许充电电流，若是，则保持当前高频逆变器输出端的交流电频率值不变，对电动汽车内电池进行充电并执行步骤4-4，否则，返回执行步骤4-1；Step 4-3. Monitor whether the real-time charging current of the battery reaches the maximum allowable charging current of the battery. If so, keep the current AC frequency value at the output end of the high-frequency inverter unchanged, charge the battery in the electric vehicle and perform steps 4-4. Otherwise, return to step 4-1;
本发明实施例中，当电池的充电电流达到电池最大允许充电流0.1C时，或者未达到电池最大允许充电流但已达到最大时，保持此时的无线电能发生装置发出的高频交流电的频率不变；若此时充电电流大于0.1C，则通过降低高频逆变器102输出频率，减小充电电流至0.1C并保持；若充电电流小于0.1C，则保持高频逆变器102频率，当高频逆变器输出电流最大时即达到谐振频率，此时无线电能传输效率达到最大。In the embodiment of the present invention, when the charging current of the battery reaches the maximum allowable charging current of the battery 0.1C, or when it has not reached the maximum allowable charging current of the battery but has reached the maximum, the frequency of the high-frequency alternating current emitted by the wireless energy generating device at this time is maintained unchanged; if the charging current is greater than 0.1C at this time, by reducing the output frequency of the high-frequency inverter 102, reduce the charging current to 0.1C and keep it; if the charging current is less than 0.1C, keep the frequency of the high-frequency inverter 102 , the resonant frequency is reached when the output current of the high-frequency inverter reaches the maximum, and the wireless power transmission efficiency reaches the maximum at this time.
当调整电能传送装置内部结构所处位置时，在谐振频率下，通过多次控制机械臂上下移动、或者控制机械臂伸缩、或者控制机械臂旋转、或者控制机械臂末端倾斜角度，将能量发射单元送达能量接收单元下方的适当位置，使电池的充电电流达到最大值但小于电池最大允许充电流，或者使无线电能发生装置发出的电流达到电池最大允许充电流0.1C；若充电电流小于0.1C，则保持机械臂位置；即依次调节第二电机305控制第二机械臂306伸缩，云台307控制第三机械臂308旋转，云台309控制托盘310角度，升降机303控制第一机械臂304上下移动，每次调节过后与前一次调节的输出电流作比较，当高频逆变器输出电流达到最大值时，保持位置不变。When adjusting the position of the internal structure of the power transmission device, at the resonant frequency, by controlling the up and down movement of the mechanical arm, or controlling the expansion and contraction of the mechanical arm, or controlling the rotation of the mechanical arm, or controlling the tilt angle of the end of the mechanical arm, the energy transmitting unit Deliver to the appropriate position below the energy receiving unit, so that the charging current of the battery reaches the maximum value but less than the maximum allowable charging current of the battery, or the current sent by the wireless energy generating device reaches the maximum allowable charging current of the battery 0.1C; if the charging current is less than 0.1C , then maintain the position of the mechanical arm; that is, adjust the second motor 305 to control the expansion and contraction of the second mechanical arm 306, the pan-tilt 307 to control the rotation of the third mechanical arm 308, the pan-tilt 309 to control the angle of the tray 310, and the elevator 303 to control the first mechanical arm 304 to go up and down Move, after each adjustment, compare with the output current of the previous adjustment, when the output current of the high-frequency inverter reaches the maximum value, keep the position unchanged.
包括以下步骤：Include the following steps:
步骤4-4、控制器发送控制信号至第一电机，第一电机转动带动升降架升降端上下移动，同时实时监测电路采集高频逆变器输出端的电流值，当上述电流值达到最大值时，停止第一电机的转动，获得升降架升降端的最优位置；Step 4-4. The controller sends a control signal to the first motor, and the first motor rotates to drive the lifting end of the lifting frame to move up and down. At the same time, the real-time monitoring circuit collects the current value of the output terminal of the high-frequency inverter. When the above-mentioned current value reaches the maximum value , stop the rotation of the first motor, and obtain the optimal position of the lifting end of the lifting frame;
步骤4-5、控制器发送控制信号至第二电机，第二电机转轴的转动带动第二机械臂在第一机械臂内腔前后移动，同时实时监测电路采集高频逆变器输出端的电流值，当上述电流值达到最大值时，停止第二电机的转动，获得第二机械臂的最优位置；Step 4-5, the controller sends a control signal to the second motor, and the rotation of the second motor shaft drives the second mechanical arm to move back and forth in the cavity of the first mechanical arm, and at the same time, the real-time monitoring circuit collects the current value at the output end of the high-frequency inverter , when the above-mentioned current value reaches the maximum value, stop the rotation of the second motor to obtain the optimal position of the second mechanical arm;
步骤4-6、控制器发送控制信号至第三电机，第三电机转轴转动带动第三机械臂在水平方向上旋转，同时实时监测电路采集高频逆变器输出端的电流值，当上述电流值达到最大值时，停止第三电机的转动，获得第三机械臂的最优位置；Step 4-6. The controller sends a control signal to the third motor, and the rotation of the third motor shaft drives the third mechanical arm to rotate in the horizontal direction. At the same time, the real-time monitoring circuit collects the current value of the output terminal of the high-frequency inverter. When the above current value When the maximum value is reached, the rotation of the third motor is stopped to obtain the optimal position of the third mechanical arm;
步骤4-7、控制器发送控制信号至第四电机，第四电机转轴的转动带动托盘在垂直方向上旋转，同时实时监测电路采集高频逆变器输出端的电流值，当上述电流值达到最大值时，停止第四电机的转动，获得托盘的最优位置；Step 4-7, the controller sends a control signal to the fourth motor, the rotation of the fourth motor shaft drives the tray to rotate in the vertical direction, and the real-time monitoring circuit collects the current value of the output terminal of the high-frequency inverter. When the above-mentioned current value reaches the maximum value, stop the rotation of the fourth motor to obtain the optimal position of the tray;
步骤4-8、在上述获得的升降架升降端、第二机械臂、第三机械臂和托盘的最优位置处，对电动汽车内电池进行充电；Step 4-8, charging the battery in the electric vehicle at the optimal positions of the lifting end of the lifting frame, the second mechanical arm, the third mechanical arm and the tray obtained above;
步骤4-9、当电池实时端电压等于电池端电压最小值时，执行步骤5；Step 4-9, when the real-time terminal voltage of the battery is equal to the minimum value of the battery terminal voltage, perform step 5;
步骤5、电池充电控制器通过车载无线数据通信模块将电动汽车电池的特性曲线发送至控制器中，控制器根据电池性能曲线调整高频逆变器输出端的交流电频率值或调整电能传送装置内部结构所处位置，实现对电动汽车内电池进行充电；Step 5. The battery charging controller sends the characteristic curve of the electric vehicle battery to the controller through the on-board wireless data communication module, and the controller adjusts the AC frequency value at the output end of the high-frequency inverter or adjusts the internal structure of the power transmission device according to the battery performance curve The location is used to charge the battery in the electric vehicle;
本发明实施例中，根据存储在无线电能接收装置中的本电池的特性曲线给出的充电特性，通过调整无线电能发生装置发出的高频交流电的频率，或者，通过多次控制机械臂上下移动或者控制机械臂伸缩或者控制机械臂旋转或者控制机械臂末端倾斜角度，控制电池实时充电电流跟踪该电池的充电特性；In the embodiment of the present invention, according to the charging characteristics given by the characteristic curve of the battery stored in the wireless power receiving device, by adjusting the frequency of the high-frequency alternating current sent by the wireless power generating device, or by controlling the mechanical arm to move up and down multiple times Or control the expansion and contraction of the manipulator or the rotation of the manipulator or the tilt angle of the end of the manipulator, and control the real-time charging current of the battery to track the charging characteristics of the battery;
当调整高频逆变器输出端的交流电频率值时，包括以下步骤：When adjusting the AC frequency value at the output of the high frequency inverter, the following steps are involved:
步骤5-1、确定电池性能曲线上多个采样点，获得每个采样点的电流值，并将上述电流值作为电流目标值；Step 5-1. Determine multiple sampling points on the battery performance curve, obtain the current value of each sampling point, and use the above current value as the current target value;
步骤5-2、控制器将电池实时充电电流与电流目标值进行作差，并生成PWM信号控制高频逆变器中开关管的开断，调节高频逆变器输出端的交流电频率，使电池实时充电电流沿电池性能曲线进行变化；Step 5-2. The controller makes a difference between the real-time charging current of the battery and the current target value, and generates a PWM signal to control the switching of the switching tube in the high-frequency inverter, adjust the AC frequency at the output end of the high-frequency inverter, and make the battery The real-time charging current changes along the battery performance curve;
步骤5-3、当电池实时端电压等于变电流用电池端电压时，执行步骤6；Step 5-3, when the real-time terminal voltage of the battery is equal to the terminal voltage of the battery used for variable current, perform step 6;
当调整电能传送装置内部结构所处位置时，方法为：控制器发送控制信号至一个或多个电机，使电机转轴的转动带动电能传送装置内部结构位置产生变化，使电池实时充电电流沿电池性能曲线进行变化，当电池实时端电压等于变电流用电池端电压时，执行步骤6；When adjusting the position of the internal structure of the power transmission device, the method is: the controller sends a control signal to one or more motors, so that the rotation of the motor shaft drives the internal structure of the power transmission device to change, so that the real-time charging current of the battery follows the battery performance. The curve changes, and when the real-time terminal voltage of the battery is equal to the battery terminal voltage for variable current, perform step 6;
本发明实施例中，当充电电流大于设定最大充电电流0.1C，调节云台309，改变托盘310角度，减小输出电流；随着充电的进行，电池端电压升高，当电池容量达到80％左右时，电池电压一般升至2.40V/单体时，进入负载跟踪控制状态，此时控制器检测电池203的充电电压电流，与预先存储在车载充电控制器内的电池特性变电流充电曲线比较，根据差值通过PWM发生电路105调节高频逆变器102开关管频率偏离谐振频率，降低电能发射单元311和电能接收单元201之间的传输效率，使充电电流跟踪电池特性变电流充电曲线。In the embodiment of the present invention, when the charging current is greater than the set maximum charging current of 0.1C, adjust the gimbal 309, change the angle of the tray 310, and reduce the output current; as the charging progresses, the battery terminal voltage increases, and when the battery capacity reaches 80 %, when the battery voltage generally rises to 2.40V/cell, it enters the load tracking control state. At this time, the controller detects the charging voltage and current of the battery 203, which is consistent with the battery characteristic variable current charging curve stored in the on-board charging controller. In comparison, according to the difference, the switching tube frequency of the high-frequency inverter 102 is adjusted to deviate from the resonance frequency through the PWM generating circuit 105, so as to reduce the transmission efficiency between the power transmitting unit 311 and the power receiving unit 201, so that the charging current tracks the battery characteristic variable current charging curve .
步骤6、判断电池实时充电电流是否达到电池涓流充电电流，若是，则保持当前高频逆变器输出端的交流电频率值不变或电能传送装置内部结构位置不变，对电动汽车内电池进行充电，当电池实时端电压等于电池过充保护电压时，执行步骤7；否则，返回执行步骤5；Step 6. Determine whether the real-time charging current of the battery reaches the trickle charging current of the battery. If so, keep the current AC frequency value at the output end of the high-frequency inverter or the internal structure position of the power transmission device unchanged, and charge the battery in the electric vehicle , when the battery real-time terminal voltage is equal to the battery overcharge protection voltage, go to step 7; otherwise, go back to step 5;
本发明实施例中，通过调整无线电能发生装置发出的高频交流电的频率，或者，通过多次控制机械臂上下移动、或者控制机械臂伸缩、或者控制机械臂旋转、或者控制机械臂末端倾斜角度，控制电池实时充电电流达到电池涓流充电电流；直至检测到充电电流降低到0.015C，则电池已经充满，固定托盘角度和频率，保持这个电流，以补充电池的自然放电；由于在整个充电过程中，充电电流始终符合电池的特性，可以根据电池的不同状态调节充电电流的大小，保证了电池既能快速充电又不会因为电流过大造成析气。In the embodiment of the present invention, by adjusting the frequency of the high-frequency alternating current emitted by the wireless power generating device, or by controlling the up and down movement of the mechanical arm multiple times, or controlling the expansion and contraction of the mechanical arm, or controlling the rotation of the mechanical arm, or controlling the inclination angle of the end of the mechanical arm , control the real-time charging current of the battery to reach the trickle charging current of the battery; until the charging current is detected to drop to 0.015C, the battery is fully charged, and the angle and frequency of the tray are fixed to maintain this current to supplement the natural discharge of the battery; because during the entire charging process In the process, the charging current always conforms to the characteristics of the battery, and the size of the charging current can be adjusted according to the different states of the battery, ensuring that the battery can be charged quickly without gassing due to excessive current.
步骤7、系统断电或控制器发送控制信号至第四电机，使托盘旋转处于垂直位置，停止对电动汽车内电池进行充电。Step 7. The system is powered off or the controller sends a control signal to the fourth motor to make the tray rotate in a vertical position and stop charging the battery in the electric vehicle.
本发明实施例中，当检测到电动汽车电池电压达电池过充保护电压14.4V时，控制器105通过电机驱动电路调节云台309控制托盘310与汽车底盘垂直，停止充电。In the embodiment of the present invention, when it is detected that the battery voltage of the electric vehicle reaches the battery overcharge protection voltage of 14.4V, the controller 105 adjusts the pan-tilt 309 to control the tray 310 to be perpendicular to the chassis of the vehicle through the motor drive circuit, and stops charging.
在该方法过程中，监测电池实时电池温度40℃，当电池实时电池温度大于电池允许最高温度40℃时，则持续2分钟后，系统断电或控制器发送控制信号至第四电机，使托盘旋转处于垂直位置，停止对电动汽车内电池进行充电。During the process of this method, the real-time battery temperature of the battery is monitored at 40°C. When the real-time battery temperature of the battery is greater than the allowable maximum temperature of 40°C, after 2 minutes, the system is powered off or the controller sends a control signal to the fourth motor to make the tray The rotation is in the vertical position, and the charging of the battery in the electric vehicle is stopped.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510021238.7ACN104539033B (en) | 2015-01-15 | 2015-01-15 | A kind of electric automobile self-adjusting wireless charging system and method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510021238.7ACN104539033B (en) | 2015-01-15 | 2015-01-15 | A kind of electric automobile self-adjusting wireless charging system and method |
| Publication Number | Publication Date |
|---|---|
| CN104539033A CN104539033A (en) | 2015-04-22 |
| CN104539033Btrue CN104539033B (en) | 2016-08-24 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510021238.7AExpired - Fee RelatedCN104539033B (en) | 2015-01-15 | 2015-01-15 | A kind of electric automobile self-adjusting wireless charging system and method |
| Country | Link |
|---|---|
| CN (1) | CN104539033B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104868552B (en)* | 2015-05-29 | 2018-08-10 | 百度在线网络技术（北京）有限公司 | A kind of wireless charging method, apparatus and system |
| US10046660B2 (en)* | 2015-06-19 | 2018-08-14 | Qualcomm Incorporated | Devices, systems, and methods using reactive power injection for active tuning electric vehicle charging systems |
| CN105024438A (en)* | 2015-07-14 | 2015-11-04 | 合肥华信电动科技发展有限公司 | Intelligent power source monitoring device |
| CN105140993A (en)* | 2015-08-28 | 2015-12-09 | 联想(北京)有限公司 | Charging control method and device |
| CN105137173A (en)* | 2015-08-31 | 2015-12-09 | 盛世铸成科技（天津）有限公司 | Wireless charging frequency monitoring device |
| CN106560971B (en)* | 2016-04-22 | 2024-03-29 | 中兴新能源汽车有限责任公司 | Wireless charging circuit, wireless charging device, wireless charging method and wireless charging system |
| CN106130193B (en)* | 2016-09-05 | 2018-08-07 | 青岛鲁渝能源科技有限公司 | Radio energy transmission system and wireless power transmission control method |
| CN107046320A (en)* | 2016-12-26 | 2017-08-15 | 芜湖哈特机器人产业技术研究院有限公司 | Robot wireless charging device |
| CN106828154B (en)* | 2017-01-14 | 2023-08-15 | 伽行科技（北京）有限公司 | Wireless charging system and method based on new positioning mechanism and wireless communication unit |
| KR102268987B1 (en)* | 2017-04-07 | 2021-06-24 | 광동 오포 모바일 텔레커뮤니케이션즈 코포레이션 리미티드 | Wireless charging device, wireless charging method and charging standby equipment |
| EP3462564A4 (en)* | 2017-04-07 | 2019-05-08 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | SYSTEM, APPARATUS AND METHOD FOR WIRELESS LOADING, AND DEVICE FOR CHARGING |
| CN106972582B (en)* | 2017-04-28 | 2024-03-29 | 中惠创智(阜阳)技术有限公司 | High-power wireless charging system and control method thereof |
| CN107856572B (en)* | 2017-12-14 | 2023-12-15 | 伽行科技（北京）有限公司 | Intelligent wireless charging system for automobile and charging method thereof |
| CN107914596B (en)* | 2017-12-15 | 2023-08-25 | 三峡大学 | Electric automobile charging system based on wireless power transmission |
| CN108872701B (en)* | 2018-07-11 | 2025-03-14 | 池州市千润宇信息技术有限公司 | A method and system for testing charging efficiency of a wireless charging system |
| CN109017394A (en)* | 2018-08-08 | 2018-12-18 | 武汉楚象能源科技有限公司 | A kind of wireless charging device of electric vehicle |
| CN109278577A (en)* | 2018-09-17 | 2019-01-29 | 江苏万帮德和新能源科技股份有限公司 | Electric car charging annular electrode, charging system and working method |
| CN109546757A (en)* | 2018-11-28 | 2019-03-29 | 重庆欧锐特科技有限公司 | A kind of wireless charging cart system |
| CN113169561B (en)* | 2018-12-21 | 2024-04-02 | Oppo广东移动通信有限公司 | Wireless charging method, device to be charged, wireless charging device and storage medium |
| CN109494840A (en)* | 2018-12-21 | 2019-03-19 | 中惠创智无线供电技术有限公司 | A kind of dynamic radio charging system and its receiving terminal circuit and protection control method |
| CN109795354B (en)* | 2019-03-07 | 2023-08-15 | 暨南大学 | Automatic alignment device and method for vehicle-mounted wireless charging coil |
| CN109910647B (en)* | 2019-04-18 | 2024-03-08 | 合肥有感科技有限责任公司 | Automobile wireless charging ground lock, automobile wireless charging system and method |
| CN109969012A (en)* | 2019-04-24 | 2019-07-05 | 东北大学 | A coil position automatic correction system applied in the wireless charging process of automobiles |
| CN110435451A (en)* | 2019-08-15 | 2019-11-12 | 合肥工业大学 | A kind of wireless charger of electric automobile automatically adjusting coil-span and its control method |
| CN111942187A (en)* | 2020-07-16 | 2020-11-17 | 合肥工业大学 | A pure electric formula student car with wireless charging technology |
| CN111835100B (en)* | 2020-08-18 | 2025-07-04 | 亨通慧充众联科技有限公司 | Precise position alignment system and alignment method for wireless charging coil of electric vehicle |
| CN112165181A (en)* | 2020-09-16 | 2021-01-01 | 郑州轻工业大学 | A frequency adaptive regulation wireless power transmission system and method |
| CN112165182A (en)* | 2020-09-16 | 2021-01-01 | 郑州轻工业大学 | A wireless power transmission system and method for self-adaptive adjustment of coil position |
| CN113078743A (en)* | 2021-04-06 | 2021-07-06 | 山东大学 | Movable wireless charging device and method |
| CN113675957A (en)* | 2021-08-23 | 2021-11-19 | 广西大学 | Near-field wireless charging and maximum power tracking control system and method based on position regulation |
| CN113708465A (en)* | 2021-09-30 | 2021-11-26 | 歌尔科技有限公司 | Earphone charging method and device, earphone box and readable storage medium |
| CN114030381B (en)* | 2021-11-09 | 2023-12-05 | 重庆前卫无线电能传输研究院有限公司 | High-power wireless energy transmission system of heavy-load AGV trolley and control method |
| CN114726115A (en)* | 2022-05-24 | 2022-07-08 | 武汉华工融军科技有限公司 | Control system and method for wireless power transmission |
| CN118971414A (en)* | 2024-10-14 | 2024-11-15 | 安徽容知日新科技股份有限公司 | Wireless charging method, electronic device and charging device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5654621A (en)* | 1992-10-28 | 1997-08-05 | Daimler-Benz Aktiengesellschaft | Method and arrangement for automatic contactless charging |
| JP2000152512A (en)* | 1998-11-05 | 2000-05-30 | Densei Lambda Kk | Charger |
| CN103094813A (en)* | 2013-01-29 | 2013-05-08 | 蒋健棠 | Fully automatic butted system of electrode and method through mechanical arm |
| CN103516354A (en)* | 2013-10-23 | 2014-01-15 | 江南大学 | Electromagnetism resonance type wireless electric energy transmission lock phase frequency tracking circuit |
| CN103944243A (en)* | 2014-02-27 | 2014-07-23 | 北京航空航天大学 | Inductive non-contact charging device with precise centering function for electric automobile |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5654621A (en)* | 1992-10-28 | 1997-08-05 | Daimler-Benz Aktiengesellschaft | Method and arrangement for automatic contactless charging |
| JP2000152512A (en)* | 1998-11-05 | 2000-05-30 | Densei Lambda Kk | Charger |
| CN103094813A (en)* | 2013-01-29 | 2013-05-08 | 蒋健棠 | Fully automatic butted system of electrode and method through mechanical arm |
| CN103516354A (en)* | 2013-10-23 | 2014-01-15 | 江南大学 | Electromagnetism resonance type wireless electric energy transmission lock phase frequency tracking circuit |
| CN103944243A (en)* | 2014-02-27 | 2014-07-23 | 北京航空航天大学 | Inductive non-contact charging device with precise centering function for electric automobile |
| Title |
|---|
| A Novel Positioning Tolerant Inductive Power Transfer System;Christopher Joffe et al.;《Electric Drives Production Conference(EDPC),2013 3rd International》;20131231;第1-7页* |
| Contactless Power and Data Transfer for Variable Distributed Loads contactless charging at Car Parks;A.Fuchs et al.;《Wireless Power Transfer Conference(WPTC),2014 IEEE》;20141231;第186-188页* |
| 电动汽车无线充电技术;李斌等;《江苏电机工程》;20130131;第32卷(第1期);第81-84页* |
| Publication number | Publication date |
|---|---|
| CN104539033A (en) | 2015-04-22 |
| Publication | Publication Date | Title |
|---|---|---|
| CN104539033B (en) | A kind of electric automobile self-adjusting wireless charging system and method | |
| US9270138B2 (en) | Electric power transmission system | |
| EP3116743B1 (en) | Devices, systems, and method for power control of dynamic electric vehicle charging systems | |
| JP5810632B2 (en) | Non-contact power feeding device | |
| US20150054456A1 (en) | Electric power transmission system | |
| EP3683926B1 (en) | Power transmission device, power transmission method, and wireless power transfer system | |
| CN108448693A (en) | Wireless power transmission system and control method for AGV | |
| KR20140117587A (en) | Vehicle power receiving device, power supply equipment and electrical power transmission system | |
| JP2011244530A (en) | Power receiving side equipment of resonance type non-contact power supply system | |
| CN110649685A (en) | Wireless charging device and method for high-voltage cable of inspection unmanned aerial vehicle | |
| CN104362714A (en) | Cellular wireless charging pole for electric automobile | |
| CN103326447B (en) | Electric motor car wireless charging system | |
| JP2013074685A (en) | Power transmission system | |
| CN109314405B (en) | Transmission system for contactless transmission of energy | |
| CN207705871U (en) | A kind of wireless charging system for electric automobile based on adjustable DC power module | |
| JP2013158188A (en) | Power transmission system | |
| CN115958972A (en) | A wireless charging system for electric vehicles based on magnetic coupling resonance | |
| CN106451818A (en) | Wheel hub motor wireless power supply system based on magnetic coupling resonance | |
| JP6405885B2 (en) | Power supply apparatus and power supply method | |
| CN115107539A (en) | System and method for optimizing position of wireless charging coil of automobile | |
| CN110380494A (en) | A kind of Intelligent Mobile Robot wireless charging system and its charging method | |
| CN206135502U (en) | Wireless charging system of robot sweeps floor | |
| CN117022005B (en) | A wireless charging control system for unmanned platforms for energy autonomy | |
| CN107199901A (en) | A kind of wireless electric vehicle charging device of the poly- magnetic of normal form multi-coil | |
| CN208226592U (en) | A kind of wireless electric vehicle charging device |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20160824 |