应用于自动导引小车无线充电系统的导航与供电一体化线圈研究  

A Research on a Navigation and Power Supply Integrated Coil for Automatic Guided Vehicle Wireless Power Transfer System

作　　者：冯鸿运 林飞[1] 杨中平[1] 方晓春[1] Feng Hongyun;Lin Fei;Yang Zhongping;Fang Xiaochun(School of Electrical Engineering Beijing Jiaotong University Beijing 100044,China)

机构地区：[1]北京交通大学电气工程学院,北京100044

出　　处：《电工技术学报》2024年第14期4294-4304,共11页Transactions of China Electrotechnical Society

摘　　要：在自动导引小车(AGV)中采用无线电能传输(WPT)可以提高AGV充电及搬运效率。相比于电动汽车,AGV的导航系统为WPT的应用增加了新的挑战。为降低系统的复杂性和成本,该文提出一种无线充电线圈结构:DAD线圈,该线圈既可以实现无线供电,又可以实现偏移检测。首先,结合DAD线圈的气隙磁场分布,对比方形线圈结构,分析DAD线圈导航和供电的原理;然后,对采用LCC-S型补偿拓扑的DAD线圈进行建模分析,提出具有耦合机构输出电压不受负载影响的谐振元件参数配置条件,进而给出耦合机构的电压增益、输出功率与传输效率表达式;最后,为验证所提出的DAD耦合机构偏移检测性能和系统传输特性,搭建30 mm间距的400 W无线充电样机装置,对DAD线圈的导航性能与供电性能进行了验证,在偏移范围为(-50~+50) mm之间,DAD线圈可以指示偏移方向与偏移大小,且效率波动在5%范围内,可以实现稳定的电能传输。As the advent of the fourth industrial revolution develops all automated and connected systems in industries,automated guided vehicles(AGVs)have become essential technologies for factory production and logistics systems.Since the AGV should be automatically parked and charged in the charging station,wireless power transfer(WPT)technologies are inevitably used instead of plug-in-type power cables or conductive charging.Compared with electric vehicles,the navigation system of AGV adds new challenges to the application of WPT technology.Recent studies have paid less attention to this problem.This paper proposes a navigation and power supply integrated DAD coil.This paper introduces the structure of DAD coils and analyzes the principle of the DAD coil navigation and power supply from the coil magnetic field perspective.Most magnetic lines of the DAD coil form an annular closed magnetic field in the air gap magnetic field area.The leakage magnetic field is small,the coupling coefficient between primary and secondary is high,and the coil efficiency is high.From the navigation perspective,under different offset directions,the mutual inductance of the two coils on the secondary side changes differently.Therefore,the offset direction can be judged according to the relative value of mutual inductance,and the offset value can be judged by the difference of mutual inductance.Then,the DAD coil with an LCC-S compensation topology is modeled and analyzed,and the loop current equation is written.With the traditional compensation parameters,it is found that the value of the coil output voltage is related to the secondary coupling inductance.There are two disadvantages:(1)The load voltage changes with the load,which is not conducive to DCDC voltage modulation and voltage stability;(2)The way of characterizing the offset direction and offset value by the voltage output difference is disturbed by the load.Therefore,the compensation parameters are improved,making the output voltage of the two secondary coils only dependent on the inp

关 键 词：自动导引小车(AGV) 无线电能传输(WPT) 线圈 导航 

分 类 号：TM724[电气工程—电力系统及自动化]