Abstract：With the widespread deployment of unmanned aerial vehicles (UAVs) in environmental monitoring, logistics, and disaster relief, the limitations of conventional lithium battery power, such as endurance constraints and payload restrictions, have become increasingly pronounced. Although fuel-powered and solar charging solutions have been proposed, their low energy density and conversion efficiency fail to meet the demands of long-duration operations. Magnetic resonance-based wireless power transfer (WPT) offers a promising alternative; however, coil misalignment during UAV takeoff and landing leads to significant efficiency degradation in existing systems. Current coupling mechanisms generally suffer from high magnetic leakage, strong mutual coupling between adjacent coils, and weak misalignment tolerance, necessitating innovative solutions. To address these challenges, this study proposes a novel dual orthogonal DD-dual solenoid coil magnetic coupling mechanism that enhances misalignment tolerance by generating a rotating magnetic field. First, a three-dimensional electromagnetic model of the dual-channel coupling system is established, and the spatial magnetic field distribution of the orthogonal coil array is analyzed based on Maxwell's equations. The transmitter adopts a layered dual orthogonal DD coil architecture, generating a synthetic rotating magnetic field in three-dimensional space by controlling excitation currents with a 90° electrical phase difference. The receiver employs a diagonally arranged solenoid coil array that captures dynamic magnetic flux using a spatial flux directional compensation principle while eliminating mutual coupling between adjacent coils. Furthermore, a time-varying mutual inductance optimization model is developed by integrating finite element simulation with intelligent algorithms, addressing spatial adaptability and dynamic stability in a phased manner. Spatial optimization involves discrete magnetic field sampling to analyze flux path variations at different misalignment positions, iteratively refining coil geometric parameters to expand the effective coupling region. Finally, a dual-channel compensation control strategy is implemented with a cascaded resonant network topology. The primary LCC compensation module utilizes impedance transformation to match the transmitter's dynamic load characteristics, achieving constant current output, while the secondary series compensation network integrates synchronous rectification to establish a load-adaptive voltage stabilization mechanism. Experimental results demonstrate that the proposed coupling mechanism generates a uniform vertical magnetic field across four rectangular charging areas above the transmitter, forming a closed-loop magnetic flux at the coil center. Within a horizontal misalignment of ±100 mm, the output power of the system is kept above 240W, and the transmission efficiency is stable between 87.1% and 91.2%. Under ±30° rotational misalignment conditions, output power remains above 80% of the optimal value, with uninterrupted charging at any rotation angle. With the implementation of a dual LCC-S compensation topology, the control accuracy of the transmitter excitation current phase difference improves to within 0.8°, and the output voltage fluctuation remains below 2.1% under sudden load variations. Simulation analysis yields the following conclusions: (1) The 90° phase-difference excitation of the orthogonal DD coils establishes a dynamic rotating magnetic field synthesis mechanism, fundamentally overcoming the severe efficiency drop observed in conventional static magnetic fields under misalignment conditions. (2) The solenoid coil array eliminates mutual coupling between adjacent coils through spatial flux directional compensation and a reverse-series topology while maintaining a magnetic flux capture efficiency of 92.3%. (3) The asymmetric parameter design of the dual-channel LCC-S compensation network, combined with a resonant point coordination mechanism, ensures that the transmitter maintains constant current excitation across the entire misalignment range, while the receiver achieves load-independent constant voltage output.
荣灿灿, 段晓宇, 陈蒙蒙, 刘旭, 夏晨阳. 基于双正交DD-双组合式螺线管的强抗偏移性无人机无线电能传输系统[J]. 电工技术学报, 2026, 41(1): 46-59.
Rong Cancan, Duan Xiaoyu, Chen Mengmeng, Liu Xu, Xia Chenyang. A Robust Anti-Offset Wireless Power Transfer System for Unmanned Aerial Vehicles Based on Dual-Orthogonal DD-Dual Combined Solenoid. Transactions of China Electrotechnical Society, 2026, 41(1): 46-59.
[1] 武帅, 蔡春伟, 陈轶, 等. 多旋翼无人机无线充电技术研究进展与发展趋势[J]. 电工技术学报, 2022, 37(3): 555-565. Wu Shuai, Cai Chunwei, Chen Yi, et al.Research progress and development trend of multi-rotor unman- ned aerial vehicles wireless charging technology[J]. Transactions of China Electrotechnical Society, 2022, 37(3): 555-565. [2] 黄文聪, 饶天彪, 蒋煊焱, 等. 无线电能传输系统最大效率追踪及恒压输出复合控制方法[J]. 电工技术学报, 2024, 39(12): 3589-3601, 3615. Huang Wencong, Rao Tianbiao, Jiang Xuanyan, et al.Maximum efficiency tracking and constant voltage output compound control method for wireless power transfer system[J]. Transactions of China Electrotech- nical Society, 2024, 39(12): 3589-3601, 3615. [3] Liu Yeran, Madawala U K, Mai Ruikun, et al.Zero- phase-angle controlled bidirectional wireless EV charging systems for large coil misalignments[J]. IEEE Transactions on Power Electronics, 2020, 35(5): 5343-5353. [4] Li Yong, Hu Jiefeng, Li Xiaofei, et al.Efficiency analysis and optimization control for input-parallel output-series wireless power transfer systems[J]. IEEE Transactions on Power Electronics, 2020, 35(1): 1074-1085. [5] Zhao Jingying, Wu Changzun.Research on control method and variable topology design of wireless power transmission system with coil offset[J]. IEEJ Transactions on Electrical and Electronic Engineering, 2022, 17(10): 1495-1505. [6] 邹静, 徐耘英, 彭娟娟, 等. 基于频率切换实现电池恒流和恒压充电的LCC-S补偿WPT系统研究[J]. 电源学报, 2023, 21(3): 117-124. Zou Jing, Xu Yunying, Peng Juanjuan, et al.Research on LCC-S compensated WPT system based on frequency switching to realize CC and CV charging for battery[J]. Journal of Power Supply, 2023, 21(3): 117-124. [7] 张滨山, 张泽恒, 杨斌, 等. 基于钳位电路的LCC-S补偿型感应电能传输系统抗偏移方法[J]. 电工技术学报, 2024, 39(8): 2388-2399. Zhang Binshan, Zhang Zeheng, Yang Bin, et al.LCC-S compensated inductive power transfer system against misalignment with a clamp circuit[J]. Trans- actions of China Electrotechnical Society, 2024, 39(8): 2388-2399. [8] 陈永洪, 黎祎阳, 杨斌, 等. 基于多中继线圈结构的无线电能传输系统恒流/恒压输出方法[J]. 电力系统自动化, 2022, 46(20): 147-154. Chen Yonghong, Li Yiyang, Yang Bin, et al.Constant- current/constant-voltage output method for wireless power transfer system based on multi-relay coil structure[J]. Automation of Electric Power Systems, 2022, 46(20): 147-154. [9] 王鹏程, 潘立刚, 王懿杰. 基于D. D. D. 型松耦合变压器的无线电能传输系统研究[J]. 电气传动, 2023, 53(10): 29-35. Wang Pengcheng, Pan Ligang, Wang Yijie.Research on wireless power transmission system based on D.D.D. loosely-coupled transformer[J]. Electric Drive, 2023, 53(10): 29-35. [10] 赵永秀, 魏艺超, 王亚辉, 等. 基于“88Q” 线圈的三维抗偏移WPT系统[J]. 电力电子技术, 2024, 58(3): 81-84. Zhao Yongxiu, Wei Yichao, Wang Yahui, et al.Three- dimensional anti-offset WPT system based on “88Q” coil[J]. Power Electronics, 2024, 58(3): 81-84. [11] 杨奕, 张葛, 曹桂梅, 等. 基于多线圈阵列的单管无线电能传输电路优化[J]. 电工技术学报, 2023, 38(20): 5398-5410. Yang Yi, Zhang Ge, Cao Guimei, et al.Optimization on single-switch wireless power transfer circuit based on multi-coils array[J]. Transactions of China Electro- technical Society, 2023, 38(20): 5398-5410. [12] Rong Cancan, Chen Mengmeng, Duan Xiaoyu, et al.Optimized design of passive array coils for high- efficiency and anti-misalignment WPT system[J]. IEEE Transactions on Power Electronics, 2024, 39(5): 6504-6514. [13] Wang Qi, Li Xingcan, Yang Fei, et al.UAV-WPT system based on novel magnetic structure and model predictive control[J]. Sensors, 2023, 23(15): 6859. [14] Arteaga J M, Aldhaher S, Kkelis G, et al.Dynamic capabilities of multi-MHz inductive power transfer systems demonstrated with batteryless drones[J]. IEEE Transactions on Power Electronics, 2019, 34(6): 5093-5104. [15] Jawad A M, Jawad H M, Nordin R, et al.Wireless power transfer with magnetic resonator coupling and sleep/ active strategy for a drone charging station in smart agriculture[J]. IEEE Access, 2019, 7: 139839-139851. [16] Campi T, Cruciani S, Feliziani M.Wireless power transfer technology applied to an autonomous electric UAV with a small secondary coil[J]. Energies, 2018, 11(2): 352. [17] Rong Cancan, He Xiangrui, Wu Yitong, et al.Optimization design of resonance coils with high misalignment tolerance for drone wireless charging based on genetic algorithm[J]. IEEE Transactions on Industry Applications, 2021, 58(1): 1242-1253. [18] Cai Chunwei, Wu Shuai, Jiang Longyun, et al.A 500-W wireless charging system with lightweight pick- up for unmanned aerial vehicles[J]. IEEE Transactions on Power Electronics, 2020, 35(8): 7721-7724. [19] 张云, 黄伟义, 李玉博, 等. 高抗偏移及杂散磁场约束的无人机无线充电系统设计[J]. 电工技术学报, 2025, 40(12): 3692-3701. Zhang Yun, Huang Weiyi, Li Yubo, et al.Design of a wireless charging system for drones with high anti-offset and stray magnetic field constraints[J]. Transactions of China Electrotechnical Society, 2025, 40(12): 3692-3701. [20] Zhai Xuefeng, Wang Hongxing, Li Jun, et al.A wireless charging method with lightweight pick-up structure for UAVs[J]. Electrical Engineering, 2021, 103(6): 2847-2854. [21] Rohan A, Rabah M, Talha M, et al.Development of intelligent drone battery charging system based on wireless power transmission using hill climbing algorithm[J]. Applied System Innovation, 2018, 1(4): 44. [22] Wu Shuai, Cai Chunwei, Jiang Longyun, et al.Unmanned aerial vehicle wireless charging system with orthogonal magnetic structure and position correction aid device[J]. IEEE Transactions on Power Electronics, 2021, 36(7): 7564-7575. [23] Han Wei, Chau K T, Jiang Chaoqiang, et al.Design and analysis of quasi-omnidirectional dynamic wireless power transfer for fly-and-charge[J]. IEEE Transactions on Magnetics, 2019, 55(7): 8001709.
2026, Vol. 41 
