| Micro-pipe robots made by giant magnetostrictive material(GMM) could be powered by cable or battery, which largely limits the working range of the pipeline robots. Wireless power supply can be realized by wireless power transmission by magnetic coupling resonanance(MCR WPT). Firstly, the receiver can get enough power within a certain distance.Secondly, even a slight displacement does not lead to a sharp decline in efficiency. So the technology has become one of the feasible ways of power supply for micro pipe robots.In this paper, a study on the electromagnetic-mechanical synchronous resonance system based on GMM and MCR WPT is conducted for the power supply of micro-pipe robots made by GMM. Main points of this paper are as follows:(1) This paper analyzed the composition and working principle of MCR WPT and the leakage inductance models of the capacitance compensation circuits of two-coils structure are proposed to study the effects of the coupling coefficient, load quality factor and resonant capacitor compensation coefficient under the different compensation structures on system performance, which is a reference for the compensation system selection;(2) Based on the equivalent circuit theory, the GMM impedance model and the WPT MCR circuit model in multiple coupling fields are proposed to study the transmission characteristics of the system when the transmitting coil and receiving coil are in different relative positions;(3) According to the actual working conditions, the structure of giant magnetostrictive actuator(GMA) is designed, including GMM geometric parameter, electromagnetic structure, pre-pressure system and cooling system. Moreover, the 3D model of GMA is built and the magnetic field of GMA is simulated and analyzed by using ANSOFT software;(4) The MCR WPT electromagnetic-mechanical synchronous resonance system is designed, which contains the inverter circuit, the drive circuit, the coupling coil structure and the resonant capacitor;(5) Experimental results are compared with theoretical analysis, which verifies the correctness of the theoretical analysis of the GMM impedance model and the transmission power. By using the laser displacement sensor with high sampling rate and high precision, the high frequency vibration displacement of GMM rod is sampled and measured in real time, which proves the feasibility of the MCR WPT electromagnetic-mechanical synchronous resonance system.The achievement of this research has important theoretical and practical value. It provides a possible solution to transfer, convert and control the energy between electromagnetic and mechanical field and facilitates power supply in micro-pipe robots which is difficult to towing wires. |
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