Research On Phase Locked Technology Of Wireless Charging Of Mobile Robot

Wireless charging technology plays a great role in the intelligence of mobile robot,which can ensure that the mobile robots do all the work on their own.Aiming at the complexity design of traditional phase-locked loop circuit in wireless power supply frequency tracking,slow speed of tracking,no lead-lag module,narrow frequency band of phase locked,an all digital phase-locked loop with automatic modulus control was improved.Firstly,an adaptive control module is designed,based on the size of the phase error the module can automatically changes the proportional coefficient and the integral coefficient,so it can overcome the contradiction between the loop capture speed and the noise resistance effectively.A feed-forward control loop is also integrated into the proposed ADPLL to decrease the pull-in time.The digital voltage controlled oscillator use variable modulus divider to make the center frequency real-time variable.At the same time by adding lead-lag module in the phase-locked loop,the output phase can be adjusted.Driving circuit was designed with FOD3180.Trigger pulse of two MOSFET on a bridge has 200 ns dead time to avoid short circuit.The over-voltage,over-current and over-heating detection and protection circuits were designed,so the power device was prevented from work exception of high frequency inverter.Finally a wireless power transmission experiment platform was built.High frequency inverter frequency tracking circuit,the driving logic signal and the drive pulse were experimented,which verifies the correctness of the design.