Research And Design Of Dynamic Wireless Power Transfer System For The Track Inspection Robot Of Tunnel

The track inspection robot of tunnel as the object,in view of the underground pipe gallery environment existence inflammable and explosive gas and corrosive substance causing the track inspection robot of tunnel cannot use easy to produce sparks sliding contact line problem such as the power battery power supply of the power supply and expensive,by means of electromagnetic induction principle,research a kind of applicable to the track inspection robot of tunnel dynamic wireless power supply technology and low cost high efficiency and safe and reliable dynamic wireless power transfer system.In this paper,the transmission efficiency of the dynamic wireless power transfer system based on the principle of magnetic induction and its main influencing factors are studied,and the ways to improve the transmission efficiency are discussed.Firstly,the dynamic wireless power supply system is established,and the system analysis model is established by using mutual inductance theory and coupling mode theory.The energy transmission process,characteristics and influencing factors of the system are analyzed.Secondly,the finite element analysis software COMSOL was used to analyze the influence of the parameters and physical structure of the magnetic coupling mechanism on the energy transfer efficiency of the system,so as to optimize the magnetic coupling mechanism.Then,through the analysis of the inverter,compensation and protection of the power in the wireless power transfer system,a complete experimental power supply system is constructed.The MATLAB simulation software is used to analyze the experiment,which proves the effectiveness of the system in this paper.The main research results of this paper are as follows:A dynamic wireless power transfer system is designed based on the magnetic induction principle,aiming at the wireless power supply of the track inspection robot of tunnel developed by the academic team;Applying mutual inductance theory and coupling mode theory,the equivalent model of wireless power transfer system is established,the mathematical model of output power and transmission efficiency is derived,the influence of energy transmission process,system parameters,highfrequency impedance and other factors on output power and transmission efficiency is analyzed,and the technical scheme of improving transmission efficiency and output power is determined.The circuit characteristics of the model and the electromagnetic field characteristics of the model are analyzed by mutual inductance theory and coupled mode theory respectively,and the results are consistent.2.The analysis in this paper shows that the mutual inductance of the magnetic coupling mechanism in the dynamic wireless power supply system changes with the change of its position during the moving process,and has a great impact on the power transmission efficiency and power of the system.Based on that,the mutual inductance calculation expressions of coupling mechanisms with different types of coils are derived by using Neumann formula,and the variation of mutual inductance coefficients of circular coils,square coils and spiral coils with different positions is analyzed.On this basis,the magnetic field and power flow of the coupling mechanism with different structure combinations are simulated and analyzed by COMSOL.The results show that the straight conductor-circular coupling mechanism can better reduce the energy dissipation of the dynamic wireless power supply system and improve the transmission efficiency.Finally,the coupling mechanism between straight wire and circular wire is selected as the coupling mechanism of the dynamic wireless power transfer system studied in this paper.