Inductive power transfer (IPT) technology is used in various applications owing to its safety features, robust environmental adaptability, and convenience. In some special applications, the charging pads are required to be as compact as possible to accommodate practical spatial requirements, and even size requirements dictate that the diameter of the charging pad matches the air gap. However, such requirements bring about a decrease in the transmission efficiency, power, and tolerance to misalignment of the system. In this paper, by comparing a double-sided inductor–capacitor–capacitor (LCC), double-sided inductor–capacitor–inductor (LCL), series–series (SS), and inductor–capacitor–capacitor–series (LCC-S) compensation topologies in IPT systems, we identified a double-sided LCC compensation topology that is suitable for weak coupling coefficients. Furthermore, this study modeled and simulated the typical parameters of coreless coils in circular power pads, such as the number of coil layers, turns, wire diameter, and wire spacing, to enhance the mutual inductance of the magnetic coupler during misalignment and long-distance transmission. A wireless charging system with 640 W output power was built, and the experimental results show that a maximum dc-dc efficiency of over 86% is achieved across a 200 mm air gap when the circular power pad with a diameter of 200 mm is well aligned. The experimental results show that using a suitable compensation topology and optimizing the charging pad parameters enables efficient IPT system operation when the coupling coefficient is 0.02.