Research On Dynamic Wireless Charging System Of Patrol Robot

With the continuous development of China's power industry,the scale of substation construction in China is expanding,which not only ensures the normal operation of the power system,but also increases the workload of substation operation and maintenance personnel.The appearance of patrol robot in substation improves the efficiency and accuracy of patrol work.However,at present,most of the patrol robots in substations adopt the contact plug-in charging mode,which has the defects of poor environmental adaptability and prone to accidents.As a new technology in recent years,wireless charging avoids the direct contact between the generation side and the receiving side,and solves the above problems.Therefore,this paper designs a dynamic wireless charging system for the patrol robot in the substation,which is mainly composed of magnetic coupling structure,power transformation subsystem,rail switching subsystem,etc.First of all,after the theoretical research on the system structure,mutual inductance coupling model,magnetic coupling structure,compensation network and switching mode of dynamic wireless charging,this paper designs each part of the system.Among them,after using ANSYS software to simulate and compare four kinds of common magnetic coupling structures,the rectangular magnetic coupling structure with arc-shaped corner is selected and designed.The power conversion subsystem is controlled by DSP chip TMS320F28335.The main power circuit is composed of improved buck APFC circuit,high frequency inverter circuit and lcc-s compensation circuit.The 220 V power frequency AC is converted into 85 k Hz high frequency AC with adjustable voltage amplitude required for wireless charging.The PI regulation of the conversion process is carried out in the DSP control program to ensure the rapidity and stability of the output voltage.The guide rail switching subsystem is controlled by FPGA chip EP4CE6E22C8 N.The position of the inspection robot is detected by photoelectric sensor,the moving direction of the robot is judged by software program,and the control signal is sent to the relay and the electric energy conversion system,so as to realize the accurate and safe switching of the guide rail where the transmitting coil is in the process of system soft switching.Finally,the simulation charging and control experiments are carried out on the patrol robot dynamic wireless charging experimental platform after the completion of the relevant physical production.The experimental results show that the guideway switching system designed in this paper can achieve continuous and stable switching,and the electric energy conversion system can provide the magnetic coupling structure with qualified and efficient electric energy,and the maximum output power of the whole system It can exceed 1000 W,and the static maximum charging efficiency can reach 85%.