无线电能传输系统能量建模及其应用
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摘要
感应耦合电能传输(ICPT)技术是一种新兴的基于电磁感应原理，综合利用电力电子技术、磁场耦合技术及控制理论，实现用电设备以非电气接触方式从电网获取电能的技术，具有安全、便捷、易维护、可靠性高及环境亲和力强等优点。
在ICPT系统中，由于原副边的松耦合特性，通常采用谐振的方式提高能量的传输效率与等级。根据负载的不同需求，无功补偿网络的电路拓扑形式多种多样，相对应的系统功率与频率控制策略也千差万别。如果采用传统的建模方式，系统电气参数与运行状态的任何一点微小的变化都可能造成系统模型产生很大的改变，对设计者来说又要列出高阶微分方程或高次阻抗变换方程进行模型重构，建模过程十分繁琐。ICPT系统是一种典型的多参数、强粘连的高频高阶非线性系统，系统各功能模块的控制行为必须高度统一于系统整体的控制模式，传统电路拓扑建立的系统模型和所设计的控制模式只能适应某一种特定无功补偿拓扑的ICPT系统，缺乏一般性，因此造成系统各功能模块之间兼容度差，可移植性低，极大的限制了该技术产业化的推广。
针对上述问题，本文提出了旨在解决感应耦合电能传输系统一般性建模与控制问题的ICPT系统能量建模方法与相应的反射阻抗计算、频率稳定性控制、输出功率调节等控制策略并将所提出的建模方法与控制模式，应用到实际ICPT系统的分析与研究中。
本文主要围绕以下几个方面展开研究工作：
(1)针对ICPT系统传统建模方法严重依赖明确的无功补偿电路拓扑与系统的工作状态的缺陷，在分析了ICPT系统各关键组成部分建模与控制需求的基础上，提出了基于能量守恒定律的ICPT系统能量建模的方法；应用该方法将ICPT系统按功能模块划分为若干关键能量流节点，通过对各关键节点能量流动的方向与损耗的分析，建立了各节点的能量流输入输出方程，分别得到了ICPT系统电能变换部分、无功补偿部分和电磁耦合机构的能量模型，进而得到ICPT系统总体能量模型。根据系统各关键组成部分能量的损耗与流动情况作出了ICPT系统能量结构框图，并对其进行了分析。
(2)从能量的角度出发，针对ICPT系统由于补偿网络拓扑种类繁多、负载性质与大小不确定等造成的系统阶数高、建模过程复杂和负载计算困难等问题，建立了基于等效负载理论的ICPT系统能量模型。通过对以TS型为代表的混联补偿型ICPT系统输出特性的分析，提出了一种适用于拾取端电路拓扑不确定的ICPT系统的反射阻抗计算策略，给出了计算公式与控制流程。最后通过仿真验证了理论分析的正确性。
(3)针对ICPT系统负载的变化会使系统谐振频率漂移导致能量传输能力下降的问题，根据ICPT系统能量模型，提出了一种适用于任何无功补偿拓扑的基于能量流方向的ICPT系统谐振状态判据，并根据这一判据提出了一种基于能量模型的ICPT系统自调谐控制策略。最后以TS型ICPT系统为例，通过仿真与实验验证了理论分析的正确性。
(4)针对ICPT系统电路拓扑繁多造成的建模困难和由于原副边电气隔离造成的检测困难等问题，分别提出了能量注入式ICPT系统输出功率控制策略和基于负载需求的拾取端周期性能量注入式输出功率控制策略。两种控制模式都根据能量流的输入输出关系建立系统模型和控制策略。提出了功率调节比的概念，并给出了计算公式。最后通过仿真和实验证明了理论分析的正确性。
本文的创新性贡献在于：
(1)针对ICPT系统无功补偿电路拓扑形式繁多，系统建模与求解困难的问题，提出了ICPT系统关键能量流节点的概念，根据各关键节点的能量流输入输出关系，提出了一种适用于拾取端电路拓扑不确定的ICPT系统能量建模方法。与传统的非线性建模方法相比，该建模方法极大地简化了系统的建模过程，并可推广到电力电子电能变换系统的稳态建模中。
(2)针对ICPT系统高阶非线性和电气隔离特性所带来的负载计算与检测困难的问题，提出了一种适用于拾取端电路拓扑不确定的ICPT系统反射阻抗计算方法，并给出了相应的控制流程与计算公式。
(3)针对ICPT系统负载的不确定性会造成系统谐振频率漂移，导致能量传输能力与效率下降的问题，基于ICPT系统能量流动的方向，提出了一种可适用于任何无功补偿拓扑的ICPT系统谐振状态判据和系统自调谐控制策略
Inductive Coupled Power Transfer (ICPT) is a novel techonology developed todeliver power contactlessly from power supply to one or more movable loads. It isbased on electromagnetic coupling theory and involving modern power electronics,control theory and magnetic coupling techniques. The main advantages of thistechnology are safe, flexible, easy to maintain, highly reliable and environmentallyfriendly.
In ICPT system, due to loosely coupled characteristic between primary side andsecondary side, resonant mode will be adopted to improve efficiency and level of powertransfer. According to different demands of loads, different reactive powercompensation circuit topologies and control mode will be adopted. Any tinny changecaused by operating state and system parameter will lead to great changes in systemmodel if traditional modeling approaches be adopted, it is very inconvenient fordesigners that the system model have to be restructured. ICPT system is a typicalnonlinear, high-frequency, multi-parameters system and there are strong adhesionbetween different parameters. Control behaviors in different functional modules must behighly unified the overall system control mode. While the system model established bytraditional modeling approaches and control mode just adapt special system, lackinggenerality. So, poor compatibility and low portability between different modules isgreatly limits the development of ICPT tehnology.
In view of the above questions, the paper proposed energy modeling and relevantcontrol strategy just like reflection impedance identification, frequency stability control,output power control and so on, which was aimed at solving general modeling approachand control mode for ICPT system.
The main works of the paper include:
1. Aimed at the defects that traditional system modeling depends on specific circuittopology and operating state in ICPT system, the paper analysed the demands ofmodeling and control in every key part in ICPT system, proposed a energy modelingapproach based on law of conservation of energy. In this modeling approach, ICPTsystem was divided by several energy flow key points according to different fuctionmodules, loss and direction in every energy flow key point was analysed; energy inputand output formule was established; energy model of electrical energy transformer, reactive power compensation circuit and electromagnetic coupling mechanism wereestablished, the system model and schematic diagram was presented.
2. Aimed at loads in ICPT system are difficult to detected and identified caused bycharacteristic of high-order, non-linear and electric isolation, from the point of view ofenergy, established the ICPT system energy model. Analysed series-parallel reactivepower compensation circuit topology, a load identification approach suitable for anytopology in ICPT system was proposed, control flow and computational formula werealso presented. The theoretical analysis was verified according to simulation andexperiment results.
3. Aimed at low efficiency and level of power transfer caused by resonancefrequency drifting because of uncertainly loads, a criterion of system operating state andself tuning control strategy based on energy model was proposed, the criterion andcontrol strategy is suitable for any ICPT system. TS reactive power compensationcircuit was made an example and theoretical analysis was verified according tosimulation and experiment results.
4. Aimed at loads in ICPT system are difficult to detected and identified caused bycharacteristic of high-order, non-linear and electric isolation, the paper separatelyproposed ICPT system output power control strategy by energy injection and pick-upcircuit periodic energy injection output power control strategy based on loads demands.The design of control strategy and establish of system model according to therelationships of energy flow between input and output, to adapt any reactive powercompensation circuit topologies in ICPT system. Concept of power regulation duty ratiowas proposed, computational formulas was presented. Simulation and experimentresults verified the theoretical analysis.
The innovative contributions of this paper are:
1. Aimed at ICPT system is difficult to modeling and solve caused by variedreactive power compensation circuit topologies, the paper proposed the concept ofenergy flow key points in ICPT system, according to the relationships between energyinput and output in every key point, a modeling approach based on energy conservationsuitable for any reactive power compensation circuit in ICPT system was proposed.Compared to traditional modeling approaches, the modeling process based on energyconservation was greatly simplified. This modeling approach also could be used inenergy conversion system.
2. Aimed at loads in ICPT system are difficult to detected and identified caused by characteristic of high-order, non-linear and electric isolation, a load identificationapproach suitable for any topology in ICPT system was proposed, control flow andcomputational formula were also presented.
3. Aimed at low efficiency and level of power transfer caused by resonancefrequency drifting because of uncertainly loads, a criterion of system operating state andself tuning control strategy based on energy flow direction was proposed, the criterionand control strategy is suitable for any ICPT system.
在ICPT系统中，由于原副边的松耦合特性，通常采用谐振的方式提高能量的传输效率与等级。根据负载的不同需求，无功补偿网络的电路拓扑形式多种多样，相对应的系统功率与频率控制策略也千差万别。如果采用传统的建模方式，系统电气参数与运行状态的任何一点微小的变化都可能造成系统模型产生很大的改变，对设计者来说又要列出高阶微分方程或高次阻抗变换方程进行模型重构，建模过程十分繁琐。ICPT系统是一种典型的多参数、强粘连的高频高阶非线性系统，系统各功能模块的控制行为必须高度统一于系统整体的控制模式，传统电路拓扑建立的系统模型和所设计的控制模式只能适应某一种特定无功补偿拓扑的ICPT系统，缺乏一般性，因此造成系统各功能模块之间兼容度差，可移植性低，极大的限制了该技术产业化的推广。
针对上述问题，本文提出了旨在解决感应耦合电能传输系统一般性建模与控制问题的ICPT系统能量建模方法与相应的反射阻抗计算、频率稳定性控制、输出功率调节等控制策略并将所提出的建模方法与控制模式，应用到实际ICPT系统的分析与研究中。
本文主要围绕以下几个方面展开研究工作：
(1)针对ICPT系统传统建模方法严重依赖明确的无功补偿电路拓扑与系统的工作状态的缺陷，在分析了ICPT系统各关键组成部分建模与控制需求的基础上，提出了基于能量守恒定律的ICPT系统能量建模的方法；应用该方法将ICPT系统按功能模块划分为若干关键能量流节点，通过对各关键节点能量流动的方向与损耗的分析，建立了各节点的能量流输入输出方程，分别得到了ICPT系统电能变换部分、无功补偿部分和电磁耦合机构的能量模型，进而得到ICPT系统总体能量模型。根据系统各关键组成部分能量的损耗与流动情况作出了ICPT系统能量结构框图，并对其进行了分析。
(2)从能量的角度出发，针对ICPT系统由于补偿网络拓扑种类繁多、负载性质与大小不确定等造成的系统阶数高、建模过程复杂和负载计算困难等问题，建立了基于等效负载理论的ICPT系统能量模型。通过对以TS型为代表的混联补偿型ICPT系统输出特性的分析，提出了一种适用于拾取端电路拓扑不确定的ICPT系统的反射阻抗计算策略，给出了计算公式与控制流程。最后通过仿真验证了理论分析的正确性。
(3)针对ICPT系统负载的变化会使系统谐振频率漂移导致能量传输能力下降的问题，根据ICPT系统能量模型，提出了一种适用于任何无功补偿拓扑的基于能量流方向的ICPT系统谐振状态判据，并根据这一判据提出了一种基于能量模型的ICPT系统自调谐控制策略。最后以TS型ICPT系统为例，通过仿真与实验验证了理论分析的正确性。
(4)针对ICPT系统电路拓扑繁多造成的建模困难和由于原副边电气隔离造成的检测困难等问题，分别提出了能量注入式ICPT系统输出功率控制策略和基于负载需求的拾取端周期性能量注入式输出功率控制策略。两种控制模式都根据能量流的输入输出关系建立系统模型和控制策略。提出了功率调节比的概念，并给出了计算公式。最后通过仿真和实验证明了理论分析的正确性。
本文的创新性贡献在于：
(1)针对ICPT系统无功补偿电路拓扑形式繁多，系统建模与求解困难的问题，提出了ICPT系统关键能量流节点的概念，根据各关键节点的能量流输入输出关系，提出了一种适用于拾取端电路拓扑不确定的ICPT系统能量建模方法。与传统的非线性建模方法相比，该建模方法极大地简化了系统的建模过程，并可推广到电力电子电能变换系统的稳态建模中。
(2)针对ICPT系统高阶非线性和电气隔离特性所带来的负载计算与检测困难的问题，提出了一种适用于拾取端电路拓扑不确定的ICPT系统反射阻抗计算方法，并给出了相应的控制流程与计算公式。
(3)针对ICPT系统负载的不确定性会造成系统谐振频率漂移，导致能量传输能力与效率下降的问题，基于ICPT系统能量流动的方向，提出了一种可适用于任何无功补偿拓扑的ICPT系统谐振状态判据和系统自调谐控制策略
Inductive Coupled Power Transfer (ICPT) is a novel techonology developed todeliver power contactlessly from power supply to one or more movable loads. It isbased on electromagnetic coupling theory and involving modern power electronics,control theory and magnetic coupling techniques. The main advantages of thistechnology are safe, flexible, easy to maintain, highly reliable and environmentallyfriendly.
In ICPT system, due to loosely coupled characteristic between primary side andsecondary side, resonant mode will be adopted to improve efficiency and level of powertransfer. According to different demands of loads, different reactive powercompensation circuit topologies and control mode will be adopted. Any tinny changecaused by operating state and system parameter will lead to great changes in systemmodel if traditional modeling approaches be adopted, it is very inconvenient fordesigners that the system model have to be restructured. ICPT system is a typicalnonlinear, high-frequency, multi-parameters system and there are strong adhesionbetween different parameters. Control behaviors in different functional modules must behighly unified the overall system control mode. While the system model established bytraditional modeling approaches and control mode just adapt special system, lackinggenerality. So, poor compatibility and low portability between different modules isgreatly limits the development of ICPT tehnology.
In view of the above questions, the paper proposed energy modeling and relevantcontrol strategy just like reflection impedance identification, frequency stability control,output power control and so on, which was aimed at solving general modeling approachand control mode for ICPT system.
The main works of the paper include:
1. Aimed at the defects that traditional system modeling depends on specific circuittopology and operating state in ICPT system, the paper analysed the demands ofmodeling and control in every key part in ICPT system, proposed a energy modelingapproach based on law of conservation of energy. In this modeling approach, ICPTsystem was divided by several energy flow key points according to different fuctionmodules, loss and direction in every energy flow key point was analysed; energy inputand output formule was established; energy model of electrical energy transformer, reactive power compensation circuit and electromagnetic coupling mechanism wereestablished, the system model and schematic diagram was presented.
2. Aimed at loads in ICPT system are difficult to detected and identified caused bycharacteristic of high-order, non-linear and electric isolation, from the point of view ofenergy, established the ICPT system energy model. Analysed series-parallel reactivepower compensation circuit topology, a load identification approach suitable for anytopology in ICPT system was proposed, control flow and computational formula werealso presented. The theoretical analysis was verified according to simulation andexperiment results.
3. Aimed at low efficiency and level of power transfer caused by resonancefrequency drifting because of uncertainly loads, a criterion of system operating state andself tuning control strategy based on energy model was proposed, the criterion andcontrol strategy is suitable for any ICPT system. TS reactive power compensationcircuit was made an example and theoretical analysis was verified according tosimulation and experiment results.
4. Aimed at loads in ICPT system are difficult to detected and identified caused bycharacteristic of high-order, non-linear and electric isolation, the paper separatelyproposed ICPT system output power control strategy by energy injection and pick-upcircuit periodic energy injection output power control strategy based on loads demands.The design of control strategy and establish of system model according to therelationships of energy flow between input and output, to adapt any reactive powercompensation circuit topologies in ICPT system. Concept of power regulation duty ratiowas proposed, computational formulas was presented. Simulation and experimentresults verified the theoretical analysis.
The innovative contributions of this paper are:
1. Aimed at ICPT system is difficult to modeling and solve caused by variedreactive power compensation circuit topologies, the paper proposed the concept ofenergy flow key points in ICPT system, according to the relationships between energyinput and output in every key point, a modeling approach based on energy conservationsuitable for any reactive power compensation circuit in ICPT system was proposed.Compared to traditional modeling approaches, the modeling process based on energyconservation was greatly simplified. This modeling approach also could be used inenergy conversion system.
2. Aimed at loads in ICPT system are difficult to detected and identified caused by characteristic of high-order, non-linear and electric isolation, a load identificationapproach suitable for any topology in ICPT system was proposed, control flow andcomputational formula were also presented.
3. Aimed at low efficiency and level of power transfer caused by resonancefrequency drifting because of uncertainly loads, a criterion of system operating state andself tuning control strategy based on energy flow direction was proposed, the criterionand control strategy is suitable for any ICPT system.
引文
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