Research On Autonomous Charging System Of Quadcopter

Quadcoptor has been received widespread attention due to its unique advantages.But due to its endurance problems,the application of quadcoptor has been limited to a certain extent,especially in harsh environments.Therefore,it is necessary to design a quadrotor that can be charged autonomously.So that the quadcopter can work continuously.First of all,on the premise of consulting a large amount of information,the realization scheme and composition structure of the quadcoptor autonomous charging system were determined.Secondly,on the basis of theoretical research and feasibility analysis of autonomous and precise docking of quadcoptor and charging station,combined with current technology status.The INS/GPS combined with visual landing navigation can be used to conduct autonomous precise docking and landing research.The Zhang Zhengyou calibration method is used to calibrate the camera to obtain the camera correction parameters,focal length and other information.The findcontour contour search algorithm is used to filter the contour information contained in the image,and the quadcoptor and the landing beacon are extracted.In view of the problem that the sensor noise interferes with the position information during the landing of the quadcoptor.The kalman filter algorithm is used to filter the noise of the position information.The Gazebo simulation software is used to verify the visual landing navigation algorithm.The result shows that the strategy used is feasible.Then,in view of the strict working conditions of the quadcoptor,and based on the research of multiple wireless charging methods.The magnetic coupling resonant wireless charging scheme was determined.In order to solve the problem of low efficiency of magnetic coupling wireless charging,different circuit compensation topologies and voltage gain equations are studied.The method of joint simulation of Ansys Maxwell and Simplorer is used to determine the way of using the transmitter side series and the receiver side series compensation capacitors.Which improves charging efficiency.For the problem that the voltage cannot respond quickly according to load changes during the charging process,a voltage and current double closed-loop feedback controller is used to control the voltage strategy to achieve rapid response of the charging voltage according to load changes.Finally,a quadcoptor and a charging station were built to verify some functions,and good results were achieved.The simulation and experimental results show that the quadcoptor autonomous charging system studied in this paper can realize the precise docking of the quadcoptor and the charging station,and wireless electricity transmission is used for charging,which provides a solution for the efficient use of the quadcoptor.