巡检机器人无线充电线圈偏移容忍力改善研究

Research on Improvement of Offset Tolerance of Wireless Charging Coil for Inspection Robot

为了解决巡检机器人无线充电时两耦合线圈偏移导致耦合系数下降速度过快的问题,提出一种发射和接收线圈半径匹配的优化设计方法。首先建立感应耦合式电能传输系统等效模型,得到传输效率与线圈互感和内阻的关系,并利用有限元仿真软件得到圆形和方形线圈间耦合系数在不同偏移失调情况下的变化曲线。然后推导出圆形线圈间耦合系数与半径比和距径比的关系,根据该关系和限定条件得到优化后圆形和方形线圈尺寸。最后绕制线圈进行实验验证,对比发射线圈优化前后对耦合系数和传输效率的影响。实验结果表明:优化后线圈可以明显减缓耦合系数的下降,提高系统传输效率,验证了所提设计方法的正确性。

To solve the problem of over quick descent of the coupling coefficient due to offset of two coupling coils as the inspection robot is in wireless charging, this paper presents a kind of optimized design method for matching of radius of the transmitting coil and the receiving coil.It firstly builds an equivalent model of the inductively coupled power transmission system to get relationships between transmission efficiency and mutual inductance and internal resistance of the coil, and by using the finite element simulation software, it obtains variation curves of the coupling coefficient between the circular coil and the square coil under different offset disorder conditions.Then it derives relationships between the coupling coefficient between the radius ratio and the distance radius ratio of the circular coil and obtains sizes of the circular coil and the square coil according to the relationships and defined conditions.Finally, it enwinds the coil to make experimental verification and compare influence of the coupling coefficient and transmission efficiency of the transmitting coil before and after optimization.The experiment results indicate the optimized coil could obviously slow down descent of the coupling coefficient and improve system transmission efficiency, which has proved accuracy of the design method.