Abstract
Wireless charging is the key technology to realize real autonomy of mobile robots. As the core part of wireless power transfer system, coupling mechanism including coupling coils and compensation topology is analyzed and optimized through simulations, to achieve stable and practical wireless charging suitable for ordinary robots. Multi-layer coil structure, especially double-layer coil is explored and selected to greatly enhance coupling performance, while shape of ferrite shielding goes through distributed optimization to guarantee coil fault tolerance and cost effectiveness. On the basis of optimized coils, primary compensation topology is analyzed to adopt composite LCL compensation, to stabilize operations of the primary side under variations of mutual inductance. Experimental results show the optimized system does make sense for wireless charging application for robots based on magnetic resonance coupling, to realize long-term autonomy of robots.
Highlights
Robot technology has a wide range of applications, such as indoor and outdoor ground cleaning, security, substation patrol and so on
Integrated with the above two points, this paper focuses on the following two core issues in the designing of MCR-Wireless power transfer (WPT) system for mobile robots: 1) to increase k and Q as much as possible through optimizations of coil structure and shape of ferrite shielding under loosely-coupled condition; 2) to achieve the stability of the primary side under the variation of mutual inductance, so as to improve performance of the system
This paper gives a design of wireless charging system for self-charging robots based on magnetic resonance coupling with optimized coil structures and better compensation topology
Summary
Robot technology has a wide range of applications, such as indoor and outdoor ground cleaning, security, substation patrol and so on. Reference proposed a novel wireless charging system for robots battery with battery replacement, which worked at utility frequency of 60 Hz. To reduce the influence of coil size difference and misalignment on the wireless charging performance for robots, a relay coil was added in the plane of transmitting coil, with the axis of them overlapping each other to expand the magnetic field range, and a maximum 7 W power to load with overall efficiency between 20%∼30% at a frequency of 516.5 kHz was achieved based on MCR-WPT.[15] coupling mechanism, the key part of a MCR-WPT system, has not been further optimized. Parameters such as coil structure and shape of ferrite shielding will be optimized, to increase the coupling coefficient and offset tolerance between transmitting and receiving coils, so as to improve the efficiency of the magnetic resonant coupling wireless charging system; and resonance compensation topology is studied to cope with coupling coefficient variation caused by coil offset, due to current robots’ positioning inaccuracy; providing a better wireless charging system for mobile robots in terms of simplicity and practicability
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