Design and Optimization of Coupling Mechanism for Wireless Energy Transmission of Hovering Unmanned Aerial Vehicles
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摘要:
针对无人机续航能力有限、悬停充电过程中因位置偏移导致电能传输不稳定的问题，提出一种基于退磁场理论的T型非对称磁耦合机构. 首先，通过优化磁路设计增强磁场集中能力，抑制退磁效应，从而提高耦合系数，并分析发射机构上侧边长、下侧边长及中间磁柱高度等关键参数对耦合性能的影响；其次，采用参数化扫描方法确定最优结构尺寸组合；最后，搭建实验样机进行性能测试. 研究结果表明：该结构在旋转偏移±20° 范围内互感波动率仅为2.3%，轴向偏移±20 mm范围内互感波动率为4.1%，表现出优良的抗偏移特性；旋转偏移下互感波动率为2.4%，轴向偏移±20 mm范围内输出功率波动率为4.2%，与仿真结果基本一致；在负载变化条件下，系统能实现恒流输出，所设计的耦合机构在动态工况下具有良好鲁棒性与稳定性. 本文所提出的T型耦合机构具有结构紧凑、抗偏移能力强、输出稳定等优点，适用于中继通信、电力巡检等需要持续供电的无人机应用场景.
Abstract:To address the problems of limited endurance of unmanned aerial vehicles and unstable power transmission caused by positional offset during hovering charging, a T-shaped asymmetric magnetic coupling mechanism based on demagnetizing field theory was proposed. Firstly, the magnetic field concentration ability was enhanced, and the demagnetization effect was suppressed by optimizing the magnetic circuit design, thereby improving the coupling coefficient; the influences of key parameters such as the upper side length, lower side length, and middle magnetic column height of the launch mechanism on the coupling performance were analyzed. Secondly, the optimal structural dimension combination was determined using a parametric sweep method. Finally, an experimental prototype was built to conduct performance testing. The research results indicate that the mutual inductance fluctuation rate of the structure is only 2.3% within a rotational offset range of ±20° and 4.1% within an axial offset range of ±20 mm, exhibiting excellent anti-offset characteristics; the mutual inductance fluctuation rate under rotational offset is 2.4%, and the output power fluctuation rate within an axial offset range of ±20 mm is 4.2%, which are basically consistent with the simulation results; under varying load conditions, the system can achieve constant current output, and the designed coupling mechanism has good robustness and stability under dynamic working conditions. The proposed T-shaped coupling mechanism has advantages such as compact structure, strong anti-offset ability, and stable output and is suitable for unmanned aerial vehicle application scenarios requiring continuous power supply, such as relay communication and power inspection.
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图 1 发射机构磁芯内部的退磁现象
Figure 1. Demagnetization phenomenon inside magnetic core of launch mechanism
图 2 T型发射机构磁芯内部的退磁现象
Figure 2. Demagnetization phenomenon inside magnetic core of T-shaped launch mechanism
图 5 旋转偏移下不同D1时互感系数变化情况
Figure 5. Changes in mutual inductance coefficient at different D1 under rotational offset
图 6 轴向偏移下不同D1时互感系数变化情况
Figure 6. Changes in mutual inductance coefficient at different D1 under axial offset
图 7 旋转偏移下不同D2时互感系数变化情况
Figure 7. Changes in mutual inductance coefficient at different D2 under rotational offset
图 8 轴向偏移下不同D2时互感系数变化情况
Figure 8. Changes in mutual inductance coefficient at different D2 under axial offset
图 9 旋转偏移下不同H时互感系数变化情况
Figure 9. Changes in mutual inductance coefficient at different H under rotational offset
图 10 轴向偏移下不同H时互感系数变化情况
Figure 10. Changes in mutual inductance coefficient at different H under axial offset
图 11 旋转偏移时互感值变化情况
Figure 11. Changes in mutual inductance values during rotational offset
图 16 旋转偏移互感值变化情况
Figure 16. Changes in mutual inductance values under rotational offset
图 19 耦合机构对准时逆变器输出电流电压波形
Figure 19. Output voltage and current waveforms of inverter when coupling mechanism is aligned
图 20 耦合机构对准时整流器输入电流电压波形
Figure 20. Input voltage and current waveforms of rectifier when coupling mechanism is aligned
图 21 轴向偏移 + 20 mm时逆变器输出电压电流波形
Figure 21. Output voltage and current waveforms of inverter under axial offset of + 20 mm
图 22 轴向偏移 + 20 mm时整流器输入电压电流波形
Figure 22. Input voltage and current waveforms of rectifier under axial offset of + 20 mm
图 23 不同负载下电路跨导变化情况
Figure 23. Changes in circuit transconductance under different loads
表 1 耦合机构尺寸
Table 1. Dimensions of coupling mechanism
参数 A1 A2 D1 D2 H R1 R2 R3 值/mm 180 180 220 110 80 156 196 276 
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表 2 系统电路参数
Table 2. Circuit parameters of system
参数 取值 参数 取值 $ {L}_{\text{p}} $ 1750 μH$ {L}_{2} $ 64 μH $ {L}_{\text{s}} $ 780 μH $ {C}_{2} $ 55 nF $ {L}_{1} $ 64 μH $ {C}_{\text{p}} $ 2.1 nF $ {C}_{1} $ 55 nF $ {C}_{\text{s}} $ 5 nF
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表 3 旋转偏移互感测量结果
Table 3. Measurement results of mutual inductance under rotational offset
参数 $ {M}_{\max } $ $ {M}_{\min } $ 取值/μH 129.34 123.12
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表 4 轴向偏移互感测量结果
Table 4. Measurement results of mutual inductance under axial offset
参数 $ {M}_{\max } $ $ {M}_{\min } $ 取值/μH 129.34 118.78
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表 5 电压电流有效值
Table 5. Effective values of voltage and current
参数 $ {U}_{\text{S}} $ $ {I}_{1} $ $ {U}_{2} $ $ {I}_{2} $ 取值 20 V 0.86 A 16.2 V 0.99 A
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表 6 电压电流有效值
Table 6. Effective values of voltage and current
参数 $ {U}_{\text{S}} $ $ {I}_{1} $ $ {U}_{2} $ $ {I}_{2} $ 取值 20 V 0.82 A 16 V 0.92 A
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