Rail-type Wireless Charging System Applied To Patrol Robot

With the gradual development of science and technology,intelligent service robots are used in various scenarios to facilitate people's lives and work.In terms of electrical,the use of inspection robots not only saves maintenance time,but also reduces the workload of electric workers,and has high application value.However,the traditional wired charging robot has insufficient movement flexibility,and there is a safety problem caused by plugging and unplugging the electric spark,which is not conducive to its popularization and application.Based on the newly wireless charging technology,relying on the national key research projects "based on the new power electronic devices of high-performance charging system key technology project" and China institute of electrical technology project "substation robot mobile wireless charging technology research",this thesis designs a kind of inspection robot used in cellular wireless charging system.The thesis first reviews the background and current status of wireless charging technology,makes a comparative analysis of three wireless charging technologies that are widely used,and explains the research significance of this topic and the content of this paper.Then the thesis explains the principle and topology of the circuit such as rectification,power conversion,and inverter involved in the wireless charging system.Based on the consideration of robot application scenarios and comparison of various circuit topologies,the structure of single-phase bridge uncontrolled rectification + Buck voltage reduction circuit + single-phase full-bridge inverter is selected,and the design requirements of the robot WPT system are described.At the same time,the hardware circuit design of the wireless charging system of the robot was carried out,including circuit calculation,device selection and circuit board welding in the main circuit,PCB design of control units such as sampling,signal conditioning,drive and protection,and part programming of DSP software.According to the application scenario of the robot,the rail-type resonant magnetic coupling mechanism is designed.The transmitting side adopts the "work" type structure,the receiving side adopts the "DQ" type structure,and the corresponding model is built by ANSYS electromagnetic simulation software,different structural parameters are changed for simulation to realize optimal design of magnetic coupling mechanism,and the physical coil was wound according to the simulation results.Based on the MATLAB/Simulink simulation software,the model of the robot WPT system is established to verify the feasibility of the whole system design and the effectiveness of the control method,and the corresponding WPT prototype is built for small power test and verification.