基于互感与负载识别的AGV无线电能传输系统闭环恒流与效率优化控制方法

doi:10.19595/j.cnki.1000-6753.tces.240790

Abstract
Figure/Table
References
Related Citation (15)

Download: PDF (4209 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract With the widespread application of AGV in intelligent manufacturing and logistics, a stable and efficient power supply is essential. Enterprises and researchers have proposed applying WPT technology to AGV wireless charging. However, the mutual inductance and load parameter changes lead to system output current and efficiency variations. This paper proposes a closed-loop constant current and efficiency optimization control method for the AGV wireless power transfer system based on mutual inductance and load identification.
Firstly, this paper gives the overall structure of the closed-loop constant current AGV wireless power transfer system without a communication link. According to the topological structure of the system, the LCC-LCC and SS resonant compensation topology circuits are analyzed, the parameter identification formulas of mutual inductance M_P and M_D are derived, and the principle and identification process of the mutual inductance and load are obtained. Since the mutual inductance M_P has been identified in advance, the corresponding load R_L in the two topological working modes can be further identified by sampling the inverter current.
Secondly, according to the mutual inductance and load identification principle, the closed-loop constant current and efficiency control method of the AGV wireless power transfer system is obtained based on mutual inductance and load identification. The closed-loop system structure based on phase-shift control is analyzed, and the specific implementation method of closed-loop control of the output current I_L using the feedback detection voltage U_D is explained. The load critical points under the LCC-LCC and SS resonant compensation topologies are analyzed, and the load critical point has a one-to-one correspondence with the mutual inductance. A flow chart of system efficiency optimization control based on mutual inductance and load identification is given, and the specific control process of efficiency optimization is elaborated.
Finally, an experimental setup is built. The experimental results show that the maximum identification error rates of mutual inductance M_P and M_D are 2.59% and 6.62% under the two transmission distances of z=3 cm and z=4 cm, and the identification errors of the load identification method under LCC-LCC and SS resonant compensation topologies are both within 1 Ω. The system dynamic response waveforms are tested under LCC-LCC and SS topologies by switching the load and output current reference values. The results show that the system has good steady-state and dynamic performance. A total of three experimental efficiency curves varying with loads are measured. The results show that a load critical value exists, which reverses the system’s efficiency under the two topologies before and after the critical value. The key waveform of the system switching from LCC-LCC topology to SS topology and maintaining constant current output is given, which proves that topology switch determination through load identification is feasible to optimize the system efficiency.

Key words： Automated guided vehicle (AGV) wireless power transfer (WPT) system closed-loop constant current parameter identification efficiency optimization

Received: 14 May 2024

PACS:

TM724

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	Li Xiaofei
	Jiang Guangli
	Li Zhiheng
	Dai Xin
	Su Yugang

Cite this article:

Li Xiaofei,Jiang Guangli,Li Zhiheng等. A Closed-Loop Constant Current and Efficiency Optimization Control Method for AGV Wireless Power Transfer System Based on Mutual Inductance and Load Identification[J]. Transactions of China Electrotechnical Society, 2025, 40(14): 4418-4430.

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.240790 OR https://dgjsxb.ces-transaction.com/EN/Y2025/V40/I14/4418

[1] 苏庆华, 张娣娣, 吴昊, 等. AGV导航技术综述[J]. 计算机科学与应用, 2022, 12(8): 1990-1997.
Su Qinghua, Zhang Didi, Wu Hao, et al.Overview of AGV navigation technology[J]. Computer Science and Application, 2022, 12(8): 1990-1997.
[2] 蒋金橙, 王佩月, 冯天旭, 等. 基于准双向三态协同调度的无人车和无人机逐级式无线充电应用[J]. 电工技术学报, 2024, 39(22): 6965-6979.
Jiang Jincheng, Wang Peiyue, Feng Tianxu, et al.AGV and UAV stepwise wireless charging appli- cation based on quasi bidirectional three-state collaborative progressive method[J]. Transactions of China Electrotechnical Society, 2024, 39(22): 6965-6979.
[3] 冯鸿运, 林飞, 杨中平, 等. 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[J]. 电工技术学报, 2024, 39(14): 4294-4304.
Feng Hongyun, Lin Fei, Yang Zhongping, et al.A research on a navigation and power supply integrated coil for automatic guided vehicle wireless power transfer system[J]. Transactions of China Electro- technical Society, 2024, 39(14): 4294-4304.
[4] Pan Shuaishuai, Xu Yefei, Lu Yuanfang, et al.Design of compact magnetic coupler with low leakage EMF for AGV wireless power transfer system[J]. IEEE Transactions on Industry Applications, 2022, 58(1): 1044-1052.
[5] 荆锐, 张耀, 刘顺攀, 等. 自动导引车动态无线供电系统无通信自动分段切换技术研究[J]. 电工技术学报, 2024, 39(17): 5344-5353.
Jing Rui, Zhang Yao, Liu Shunpan, et al.Research on automatic segment switching without communication in AGV dynamic wireless power transfer system[J]. Transactions of China Electrotechnical Society, 2024, 39(17): 5344-5353.
[6] 童湛安心, 苏建徽, 张健, 等. AGV无线充电全波同步整流尖峰电压抑制方法[J]. 电气传动, 2023, 53(3): 22-27.
Tong Zhan’anxin, Su Jianhui, Zhang Jian, et al.Suppression method of spike voltage of AGV wireless charging by full-wave synchronous rectification[J]. Electric Drive, 2023, 53(3): 22-27.
[7] Li Xiaofei, Wang Cheng, Wang Heshou, et al.A robust wireless power transfer system with self- alignment capability and controllable output current for automatic-guided vehicles[J]. IEEE Transactions on Power Electronics, 2023, 38(10): 11898-11906.
[8] Matsumoto H, Kanazawa H, Uwai H, et al.Segment switching method of three-phase wireless power transmitter for AGV[J]. IEEE Transactions on Industrial Electronics, 2024, 71(7): 6490-6500.
[9] Iam I W, Choi C K, Lam C S, et al.A constant-power and optimal-transfer-efficiency wireless inductive power transfer converter for battery charger[J]. IEEE Transactions on Industrial Electronics, 2024, 71(1): 450-461.
[10] 杨云虎, 贾维娜, 梁大壮, 等. LCC-LCC/S自切换恒流-恒压复合型无线电能传输系统[J]. 电工技术学报, 2023, 38(18): 4823-4837, 4852.
Yang Yunhu, Jia Weina, Liang Dazhuang, et al.A self-switching wireless power transfer system based on hybrid topology of LCC-LCC/S with constant current and constant voltage[J]. Transactions of China Electrotechnical Society, 2023, 38(18): 4823-4837, 4852.
[11] Luo Jialin, Xiao Wenxun, Zhang Bo, et al.Design of magnetic coupling resonant wireless charging system for cable tunnel inspection robot[C]//2018 IEEE Wireless Power Transfer Conference (WPTC), Montreal, QC, Canada, 2018: 1-4.
[12] Colak K, Asa E, Bojarski M, et al.A novel phase-shift control of semibridgeless active rectifier for wireless power transfer[J]. IEEE Transactions on Power Electronics, 2015, 30(11): 6288-6297.
[13] Dai Xin, Li Xiaofei, Li Yanling, et al.Maximum efficiency tracking for wireless power transfer systems with dynamic coupling coefficient esti- mation[J]. IEEE Transactions on Power Electronics, 2018, 33(6): 5005-5015.
[14] Berger A, Agostinelli M, Vesti S, et al.A wireless charging system applying phase-shift and amplitude control to maximize efficiency and extractable power[J]. IEEE Transactions on Power Electronics, 2015, 30(11): 6338-6348.
[15] Chen Yang, Li Mingxuan, Yang Bin, et al.Variable- parameter T-circuit-based IPT system charging battery with constant current or constant voltage output[J]. IEEE Transactions on Power Electronics, 2020, 35(2): 1672-1684.
[16] 谢诗云, 杨奕, 李恋, 等. 基于双极性耦合磁场调控的高抗偏移偏转无线电能传输系统[J]. 电工技术学报, 2023, 38(18): 4838-4852.
Xie Shiyun, Yang Yi, Li Lian, et al.Wireless power transfer system with high misalignment tolerance based on bipolar coupling magnetic-field control[J]. Transactions of China Electrotechnical Society, 2023, 38(18): 4838-4852.
[17] 姚若玉, 曲小慧, 郁继栋, 等. 自适应电池充电曲线的三线圈电池无线充电器[J]. 电力系统自动化, 2022, 46(7): 170-177.
Yao Ruoyu, Qu Xiaohui, Yu Jidong, et al.Three-coil wireless battery charger with self-adaptation to battery charging curve[J]. Automation of Electric Power Systems, 2022, 46(7): 170-177.