| Substation inspection robot is an intelligent device that replaces human workers in substation inspection.Wired charging is the most commonly used charging method for inspection robots,but it has hidden dangers such as aging and spark discharge.Compared with wired charging,wireless charging applied to inspection robots can not only effectively solve the drawbacks of wired charging,but also improve the safety and efficiency of inspection robots.During the wireless charging of inspection robots,there are problems such as position deviation and large transmission gap,which lead to the decrease of wireless charging transmission efficiency.This paper takes the wireless charging of inspection robots as the research object and aims to improve the transmission efficiency of wireless charging.Firstly,the research background and significance of this paper are introduced.In order to solve the problem of large gap of wireless charging transmission coil of inspection robot,an appropriate compensation topology is selected.Based on the theory of mutual inductance,the SS resonant compensation structure widely used at present is analyzed theoretically,and the necessity of adding compensation topology is analyzed.Based on the SS type compensation topology,an inductor is added to the transmitter to form the LCL-S compound compensation topology,and its output characteristics are analyzed,and the three key parameters affecting the transmission efficiency of wireless charging are analyzed.Secondly,in order to improve transmission efficiency,the key parameters of wireless charging of inspection robots are optimized.In order to solve the problem that the standard PSO algorithm is easy to fall into local convergence,a nonlinear strategy is introduced to improve the inertia weight factor and cognitive factor.To solve the problem of low particle diversity,BAS was combined with the standard PSO algorithm.The algorithm of BAPSO was proposed by introducing differential mutation.By comparing the optimization performance of BAPSO algorithm,standard PSO algorithm and particle swarm optimization with linear decreasing coefficient of inertia,the superiority of BAPSO is verified.The PSO algorithm before and after the improvement is applied to the parameter optimization of wireless charging to verify that BAPSO algorithm can improve the transmission efficiency of wireless charging system.Thirdly,impedance matching and frequency tracking are studied to solve the problem of load resistance change and working frequency deviation in the wireless charging process of inspection robots.Firstly,according to the principle of impedance matching,a control strategy was proposed to optimize transmission efficiency by automatically adjusting duty ratio of DC-DC circuit with improved disturbance control method.Then,in order to prevent the deviation of the operating frequency,the hardware phase-locked loop is used to track the operating frequency,so that the operating frequency is kept at the resonant frequency.Finally,an experimental model is built in Matlab,and the results verify that the impedance matching and frequency tracking proposed in this paper can optimize the transmission efficiency of the system.Fourthly,design the overall structure of the wireless charging system,design the software and hardware of the system in detail,build the experimental prototype of the wireless charging system,and test the problems that may cause the decrease of transmission efficiency in the wireless charging process of the inspection robot,including load resistance change,transmission distance increase,transmission coil deviation.Experimental results show that the proposed system parameter optimization algorithm and impedance matching strategy can optimize the transmission efficiency of wireless charging system. |
PDF Full Text Request