Research On Dynamic Wireless Charging Rail Switching System Applied To Inspection Robot

With the improvement of social and economic level,the scale and transmission voltage level of China’s substations are constantly improving,and the requirements of safety and reliability required by substation inspection are also constantly improving.If the traditional manual inspection is used,not only errors are prone to occur,but also the risk is increased.The appearance of inspection robot not only improves the safety of inspection work,but also greatly improves the efficiency of inspection.However,the traditional wired charging method limits the flexible operation of the inspection robot,and the back and forth plugging of the wired charging interface is also easy to cause safety accidents,especially in rainy and snowy weather.The application of wireless charging technology to substation inspection robot can effectively solve this problem.In this thesis,aiming at the problem of rail switching in the dynamic wireless charging technology of inspection robot,a set of wireless charging rail switching control system suitable for substation inspection robot is designed.This thesis first describes the research background and significance of inspection robot technology and wireless charging technology,then analyzes the development status at home and abroad,and finally defines the main research content of this paper.Secondly,the basic structure of the dynamic wireless charging system is designed by studying the basic principle of the wireless charging system.It includes the selection of network topology of rectifier circuit,DC-DC chopper circuit,inverter circuit and compensation circuit on the transmitting side and receiving side.After completing the design of the basic structure,the circuit topology of static and dynamic wireless charging system is analyzed theoretically,the factors affecting the efficiency are analyzed,and the parameters are optimized.The appropriate parameters are selected in matlabgsimulink to simulate and analyze the designed basic structure of wireless charging,The basic simulation model suitable for dynamic wireless charging technology is obtained.Then,aiming at the rail switching process of the dynamic wireless charging system,the differential method is used to model it.The voltage and current values of the coil under different switching states are obtained by simulating hard switching and soft switching.To solve the problem of voltage mutation during switching,the free oscillation method is proposed to use up the energy in the guide rail before switching.In order to solve the problem of discontinuous Pick-up voltage at the receiving side,a rail switching method of current zero crossing switching is proposed.The current at the transmitting side is detected under the network topology of single compensation capacitor.When the rail current is between two working states,the two adjacent rails are switched,so that the energy can be transmitted continuously.According to the proposed rail switching scheme,the simulation model is established in matlabgsimulink to simulate the voltage and current changes during switching,and verify the effectiveness of the scheme design.According to the simulation results,the hardware circuit board and program of the rail switching control system are designed,including the selection of the core processor,the design and selection of the main devices and driving circuits,and the drawing of PCB circuit.The logic design of the switching program is carried out with Verilog language.According to the simulation results,the hardware circuit board and program of the rail switching control system are designed,including the selection of the core processor,the design and selection of the main devices and driving circuits,and the drawing of PCB circuit.The logic design of the switching program is carried out with Verilog language.