|
|
|
| Research on an Anti-Misalignment Charging System for Underwater Vehicles Based on Reverse Series Coupled Coils |
| Liang chenxu1, Zhao Cheng2, Yuan Huan1, Wang Xiaohua1, Rong Mingzhe1 |
1. School of Electrical Engineering Xi'an Jiaotong University Xi'an 710049 China;
2. State Grid Luohe Power Supply Company of Henan Electric Power Company Luohe 462000 China |
|
|
|
Abstract Autonomous underwater vehicles (AUVs) have demonstrated significant application value in fields such as underwater resource exploration and ocean development. The challenges of underwater environments, including the limitations of wired power transmission, necessitate the adoption of wireless power transfer (WPT) technology, which eliminates the risk of short circuits associated with physical electrical contacts. However, WPT systems often face axial and rotational misalignment between the transmitting and receiving coils, reducing power transmission efficiency. This paper focuses on three key aspects: compensation network design, coupling mechanism design, and system control.
Firstly, a novel circuit topology based on an LCC/S/S hybrid compensation network and a dual-path parallel rectifier bridge is proposed, as shown in Fig.A1. The LCC/S/S hybrid compensation network exhibits a load-independent, constant-voltage output characteristic under resonant conditions. Combined with the output-voltage-clamping behavior of the dual-path parallel-diode full-bridge rectifier, the system topology transitions through six distinct operating modes as axial misalignment varies. Although the power transfer path may differ across these modes, the rectified output voltage depends solely on the equivalent mutual inductance of the coupling mechanism. The rectified output voltage expressions for each operating mode can be summarized based on the relative magnitudes of Mps1 and Mps2, as shown in Equation (A1).
$\left\{ \begin{align} & \left| {{M}_{\text{ps1}}} \right|\left| {{M}_{\text{ps2}}} \right|\to {{U}_{\text{REC}}}\approx 1.08\frac{\left| {{M}_{\text{ps1}}} \right|}{{{L}_{\text{f1}}}}E \\ & \left| {{M}_{\text{ps1}}} \right|=\left| {{M}_{\text{ps2}}} \right|\to {{U}_{\text{REC}}}\approx 1.08\frac{\left| {{M}_{\text{ps1}}} \right|}{{{L}_{\text{f1}}}}E=1.08\frac{\left| {{M}_{\text{ps2}}} \right|}{{{L}_{\text{f1}}}}E \\ & \left| {{M}_{\text{ps1}}} \right|\left| {{M}_{\text{ps2}}} \right|\to {{U}_{\text{REC}}}\approx 1.08\frac{\left| {{M}_{\text{ps2}}} \right|}{{{L}_{\text{f1}}}}E \\ \end{align} \right.$ (A1)
Secondly, a new coupling mechanism utilizing reverse-series coaxial solenoid coils is designed. The coupling mechanism, based on reverse-series coaxial solenoid coils, exhibits full 360° rotational misalignment tolerance and radial misalignment tolerance within the structural constraints of the AUV and charging dock. With optimized design, the axial misalignment tolerance reaches ±132 mm, which is 75% of the total coupling structure length and represents a 2.3-fold improvement over a control configuration using a single solenoid receiver coil, which achieves only approximately ±57 mm of axial tolerance.
Furthermore, a synchronous Buck converter employing a voltage-current dual-loop competitive control strategy is implemented to achieve constant-current and constant-voltage outputs. Each control loop generates its own error signal, Ve1 (voltage error) and Ve2 (current error). The channel selector chooses the one with the smaller magnitude as the final input to the PWM controller, eliminating the need for external state-switching logic. The dual-loop competitive control enables a seamless, automatic transition from constant-current (CC) to constant- voltage (CV) charging modes, offering superior dynamic adaptability that aligns well with the charging requirements of lithium-ion batteries.
Finally, experimental results show that the rectifier output voltage fluctuates by only 9.7% over an axial misalignment range of ±132 mm. Within the axial misalignment range, the system transitions internally through six distinct operating modes while maintaining a stable constant-current/constant-voltage output of 25.2 V/5 A at the external terminals. When operating in Mode 3, where the currents in the two receiver coils are equal, the system achieves a peak DC-to-DC transmission efficiency of 95.1% and an overall system efficiency of 90.3%. The proposed system demonstrates significant advantages in both anti-misalignment capability and efficiency, highlighting its strong potential for practical engineering applications.
|
|
Received: 09 July 2025
|
|
|
|
|
|
[1] 李加林, 沈满洪, 马仁锋, 等. 海洋生态文明建设背景下的海洋资源经济与海洋战略[J]. 自然资源学报, 2022, 37(4): 829-849.
Li Jialin, Shen Manhong, Ma Renfeng, et al.Marine resource economy and strategy under the background of marine ecological civilization construction[J]. Journal of Natural Resources, 2022, 37(4): 829-849.
[2] 邓仁为, 苏玉刚, 胡宏晟, 等. 基于共面中继线圈的水下无线电能与信息并行传输系统[J]. 电工技术学报, 2025, 40(12): 3759-3769, 3786.
Deng Renwei, Su Yugang, Hu Hongsheng, et al.Underwater simultaneous wireless power and infor-mation transfer system with coplanar double-coil coupler[J]. Transactions of China Electrotechnical Society, 2025, 40(12): 3759-3769, 3786.
[3] McMahon J, Plaku E. Autonomous data collection with timed communication constraints for unmanned underwater vehicles[J]. IEEE Robotics and Auto-mation Letters, 2021, 6(2): 1832-1839.
[4] 陈国东. 水下电缆巡检机器人无线充电关键技术研究[D]. 重庆: 重庆大学, 2019.
Chen Guodong.Research on key technologies of wireless charging for underwater cable inspection robot[D]. Chongqing: Chongqing University, 2019.
[5] 刘旭, 钟敬, 荣灿灿, 等. 考虑水下跨接电容效应的水下磁耦合谐振式无线电能传输系统多参数辨识方法[J]. 电工技术学报, 2026, 41(2): 374-388.
Liu Xu, Zhong Jing, Rong Cancan, et al.Multiple parameters identification method with considering the span capacitor effect in the underwater magnetic coupled resonant wireless power transfer system[J]. Transactions of China Electrotechnical Society, 2026, 41(2): 374-388.
[6] 闫争超, 胡谦宇, 赵晨旭, 等. 水下航行器感应式无线电能传输技术研究综述[J]. 中国电机工程学报, 2023, 43(24): 9668-9682.
Yan Zhengchao, Hu Qianyu, Zhao Chenxu, et al.Review on inductive wireless power transfer tech-nology for underwater vehicles[J]. Proceedings of the CSEE, 2023, 43(24): 9668-9682.
[7] 丰利军, 朱春波, 张剑韬, 等. 水下无人航行器水下无线充电关键技术研究[J]. 舰船科学技术, 2020, 42(12): 159-162.
Feng Lijun, Zhu Chunbo, Zhang Jiantao, et al.Research on key technology based on wireless charging technology for unmanned underwate vehicle[J]. Ship Science and Technology, 2020, 42(12): 159-162.
[8] 王思睿, 丘东元, 张波, 等. 宇称-时间对称磁耦合无线电能传输技术研究进展[J]. 电工技术学报, 2025, 40(12): 3787-3802.
Wang Sirui, Qiu Dongyuan, Zhang Bo, et al.A review of parity-time symmetric magnetic coupling wireless power transfer technology[J]. Transactions of China Electrotechnical Society, 2025, 40(12): 3787-3802.
[9] 左月, 孙跃, 陈丰伟, 等. 基于频率控制的双边LCL型无线电能传输系统抗偏移方法[J]. 电工技术学报, 2026, 41(10): 3245-3259.
Zuo Yue, Sun Yue, Chen Fengwei, et al.An anti-misalignment method for double-sided LCL-compensated wireless power transfer system with frequency regulation[J]. Transactions of China Elec-trotechnical Society, 2026, 41(10): 3245-3259.
[10] 张保坤, 邓钧君, 林倪, 等. 基于移相控制与模式切换的双向无线电能传输系统效率优化方法[J]. 电力系统自动化, 2025, 49(16): 187-196.
Zhang Baokun, Deng Junjun, Lin Ni, et al.Efficiency optimization method for bidirectional wireless power transfer system based on phase-shift control and mode switching[J]. Automation of Electric Power Systems, 2025, 49(16): 187-196.
[11] 刘天宇. 水下感应式无线电能传输系统及其控制策略研究[D]. 哈尔滨: 哈尔滨工程大学, 2024.
Liu Tianyu.Research on Underwater Induction wireless power transmission System and Its Control Strategy[D]. Harbin: Harbin Engineering University, 2024.
[12] 王得安, 张剑韬, 朱春波, 等. 海洋环境对水下无线电能传输系统的影响机理研究进展[J]. 电工技术学报, 2025, 40(3): 653-675.
Wang Dean, Zhang Jiantao, Zhu Chunbo, et al.Review of progress in the study of marine environment effects on underwater wireless power transfer systems[J]. Transactions of China Electro-technical Society, 2025, 40(3): 653-675.
[13] Zhu Zhenghao, Yuan Huan, Liang Cang, et al.Maximum efficiency tracking of a wireless power transfer system with 3-D coupling capability using a planar transmitter coil configuration[J]. IEEE Trans-actions on Power Electronics, 2024, 39(8): 10594-10604.
[14] Zhang Renjie, Yuan Huan, Rong Mingzhe, et al.Self-tuning WPT system with constant voltage output under resonance frequency shift[J]. IEEE Trans-actions on Power Electronics, 2024, 39(1): 1713-1722.
[15] Liang Cang, Wang Xiaohua, Zhang Renjie, et al.An anti-offset CPT system with multiple pickups for mobile desktop application[J]. IEEE Transactions on Power Electronics, 2024, 39(3): 3826-3841.
[16] Wu Yue, Yuan Huan, Zhang Renjie, et al.Low-frequency wireless power transfer via rotating permanent magnets[J]. IEEE Transactions on Indu-strial Electronics, 2022, 69(10): 10656-10665.
[17] Zhao Lei, Thrimawithana D J, Madawala U K.Hybrid bidirectional wireless EV charging system tolerant to pad misalignment[J]. IEEE Transactions on Industrial Electronics, 2017, 64(9): 7079-7086.
[18] Qu Xiaohui, Yao Yunchang, Wang Dule, et al.A family of hybrid IPT topologies with near load-independent output and high tolerance to pad misalignment[J]. IEEE Transactions on Power Elec-tronics, 2020, 35(7): 6867-6877.
[19] 王懿杰, 陆凯兴, 姚友素, 等. 具有强抗偏移性能的电动汽车用无线电能传输系统[J]. 中国电机工程学报, 2019, 39(13): 3907-3916.
Wang Yijie, Lu Kaixing, Yao Yousu, et al.An electric vehicle (EV)-oriented wireless power transfer system featuring high misalignment tolerance[J]. Proceedings of the CSEE, 2019, 39(13): 3907-3916.
[20] Chen Yang, Mai Ruikun, Zhang Youyuan, et al.Improving misalignment tolerance for IPT system using a third-coil[J]. IEEE Transactions on Power Electronics, 2019, 34(4): 3009-3013.
[21] 彭云尔, 张滨山, 杨斌, 等. 基于双螺旋正交线圈的强抗偏移IPT系统[J]. 中国电机工程学报, 2022, 42(20): 7352-7362.
Peng Yuner, Zhang Binshan, Yang Bin, et al.A high misalignment tolerant inductive power transfer system based on double-solenoid quadrature pad[J]. Proceedings of the CSEE, 2022, 42(20): 7352-7362.
[22] 陈阳, 杨斌, 彭云尔, 等. 感应式无线电能传输系统抗偏移技术研究综述[J]. 中国电机工程学报, 2023, 43(14): 5537-5557.
Chen Yang, Yang Bin, Peng Yuner, et al.Review of anti-misalignment technology in inductive wireless power transfer system[J]. Proceedings of the CSEE, 2023, 43(14): 5537-5557.
[23] Zhang Zhen, Shen Shen, Liang Zhenyan, et al.Dynamic-balancing robust current control for wireless drone-in-flight charging[J]. IEEE Transactions on Power Electronics, 2022, 37(3): 3626-3635.
[24] Zeng Yingqin, Rong Cancan, Lu Conghui, et al.Misalignment insensitive wireless power transfer system using a hybrid transmitter for autonomous underwater vehicles[J]. IEEE Transactions on Indu-stry Applications, 2022, 58(1): 1298-1306.
[25] Wang De'an, Cui Shumei, Zhang Jiantao, et al.A novel arc-shaped lightweight magnetic coupler for AUV wireless power transfer[J]. IEEE Transactions on Industry Applications, 2022, 58(1): 1315-1329.
[26] Qiao Kangheng, Sun Pan, Rong Enguo, et al.Anti-misalignment and lightweight magnetic coupler with H-shaped receiver structure for AUV wireless power transfer[J]. IET Power Electronics, 2022, 15(16): 1843-1857.
[27] Wu Shuai, Cai Chunwei, Wang Aobo, et al.Design and implementation of a uniform power and stable efficiency wireless charging system for autonomous underwater vehicles[J]. IEEE Transactions on Indu-strial Electronics, 2023, 70(6): 5674-5684.
[28] Cai Chunwei, Cui Qinyuan, Meng Xiangyao, et al.Design of a misalignment-tolerant wireless charging system based on multidimensional cross-coupling for autonomous underwater vehicles[J]. Journal of Power Electronics, 2022, 22(12): 2147-2157.
[29] Wu Shuai, Cai Chunwei, Chai Wenping, et al.Uniform power IPT system with quadruple-coil trans-mitter and crossed dipole receiver for autonomous underwater vehicles[J]. IEEE Transactions on Indu-stry Applications, 2022, 58(1): 1289-1297.
[30] Yan Zhengchao, Song Baowei, Zhang Yiming, et al.A rotation-free wireless power transfer system with stable output power and efficiency for autonomous underwater vehicles[J]. IEEE Transactions on Power Electronics, 2019, 34(5): 4005-4008.
[31] Yan Zhengchao, Wu Min, Zhao Chenxu, et al.Free-rotation wireless power transfer system based on composite anti-misalignment method for AUVs[J]. IEEE Transactions on Power Electronics, 2023, 38(4): 4262-4266.
[32] Chen Zhixin, Zhang Xian, Xu Fei, et al.Wide rotation-misalignment-tolerance design of magnetic coupled structure for AUVs wireless charging system[J]. IEEE Transactions on Industrial Elec-tronics, 2024, 71(11): 14086-14096.
[33] Cai Chunwei, Wu Shuai, Zhang Zhipeng, et al.Development of a fit-to-surface and lightweight magnetic coupler for autonomous underwater vehicle wireless charging systems[J]. IEEE Transactions on Power Electronics, 2021, 36(9): 9927-9940.
[34] Wang De'an, Chen Fuze, Zhang Jiantao, et al.A novel pendulum-type magnetic coupler with high misalignment tolerance for AUV underwater wireless power transfer systems[J]. IEEE Transactions on Power Electronics, 2023, 38(12): 14861-14871.
[35] Wang De'an, Gao Zhan, Chen Fuze, et al.Wide antimisalignment tolerance WPT system with uniform magnetic field coupler for autonomous underwater vehicles[J]. IEEE Journal of Emerging and Selected Topics in Power Electronics, 2025, 13(4): 4045-4059.
[36] 王忠达. 自主水下航行器磁耦合式无线充电系统设计[D]. 大连: 大连理工大学, 2022.
Wang Zhongda.Design of inductively coupled wireless charging system for autonomous underwater vehicle[D]. Dalian: Dalian University of Technology, 2022.
[37] 王兆安, 刘进军. 电力电子技术[M]. 5版. 北京: 机械工业出版社, 2009.
[38] Huang Zhicong, Wang Guoyu, Yu Jidong, et al.A novel clamp coil assisted IPT battery charger with inherent CC-to-CV transition capability[J]. IEEE Transactions on Power Electronics, 2021, 36(8): 8607-8611. |
|
|
|
2026, Vol. 41 
