水下MC-WPT系统最大效率跟踪及宽功率调节复合控制方法

李皓; 钱林俊; 李盛洪; 王锋; 李志强

doi:10.11993/j.issn.2096-3920.2025-0065

水下MC-WPT系统最大效率跟踪及宽功率调节复合控制方法

doi: 10.11993/j.issn.2096-3920.2025-0065

中国船舶集团有限公司第705研究所, 云南昆明, 650118

详细信息

作者简介:
李皓(19-), 男, 高级工程师, 主要研究方向为水下能源与动力

中图分类号: TJ632; U674.941
计量
- 文章访问数: 4
- HTML全文浏览量: 1
- PDF下载量: 1
- 被引次数: 0
出版历程
- 收稿日期: 2025-05-16
- 修回日期: 2025-06-20
- 录用日期: 2025-07-04
- 网络出版日期: 2025-09-26

Maximum efficiency tracking and wide power regulation composite control method for underwater MC-WPT system

The 705 Research Institute, China State Shipbuilding Corporation Limited, Kunming 650118, China

摘要

摘要: 针对无人水下航行器无线充电系统最大效率传输和不同功率输出的需求, 提出一种既能实现最大效率跟踪又能调节输出功率的复合控制方法。首先分析水下磁场耦合式无线电能传输(MC-WPT)系统传输功率和效率的影响因素, 围绕海水介质环境需考虑耦合机构涡流损耗的问题, 采用磁场和电路联合仿真的方法得到了耦合机构涡流等效电阻, 计算得到最优负载; 其次, 在接收端级联Cuk电路进行阻抗匹配实现最大效率跟踪, 同时在发射端通过控制移相角实现宽功率范围调节, 该复合控制方法中效率和功率2个控制回路之间互不干扰。最后, 构建系统仿真模型, 并搭建系统实验样机, 通过仿真和实验验证了文中理论分析和所提出方法的正确性。实验结果表明引入最大效率跟踪方法后, 各个负载工况均能提升至最佳效率, 以输出2 kW、负载5 Ω为例, 效率由84.8%提升至93.1%; 实验中输入电压变化时, 通过调节移相角实现了最大效率情况下1~3 kW的功率输出, 仿真和实验表明系统能够时刻保持较高效率运行并根据需求实时调节输出功率。
- 无人水下航行器 /
- 水下无线电能传输 /
- 最大效率跟踪 /
- 宽功率调节 /
- 复合控制
Abstract: Addressing the requirements of maximum efficiency transmission and varying power output for underwater unmanned vehicle wireless charging systems, a composite control method that can both achieve maximum efficiency tracking and adjust output power is proposed in this paper. Firstly, the influencing factors of transmission power and efficiency in underwater MC-WPT systems are analyzed. Focusing on the seawater medium environment, the issue of eddy current loss in the coupling mechanism needs to be considered. A joint simulation method of magnetic field and circuit is adopted to obtain the equivalent resistance of the coupling mechanism's eddy current, and the optimal load is calculated. Secondly, impedance matching is achieved by cascading Cuk converters at the receiving end to track maximum efficiency, while wide power range adjustment is realized by controlling the phase shift angle of the inverter at the transmitting end. In this composite control method, the efficiency and power control loops do not interfere with each other. Finally, a system simulation model was constructed, and an experimental prototype of the MC-WPT system was built. The correctness of the theoretical analysis and proposed methods in the paper was verified through simulation and experiment. The experimental results showed that after introducing the maximum efficiency tracking method, the optimal efficiency could be achieved under various load conditions. Taking the output of 2 kW and a load of 5 Ω as an example, the efficiency increased from 84.8% to 93.1%. In the experiment, when the input voltage varied, power output ranging from 1 kW to 3 kW was achieved at maximum efficiency by adjusting the phase shift angle. Both simulation and experiment demonstrate that the system can maintain high efficiency operation at all times and adjust the output power in real-time according to demand.
- unmanned undersea vehicle /
- underwater wireless power transfer /
- maximum efficiency tracking /
- wide power regulation /
- composite control

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图 1 LCC-S型MC-WPT系统拓扑图

Figure 1. Topology diagram of LCC-S MC-WPT system

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图 2 LCC-S型MC-WPT系统等效电路图

Figure 2. Equivalent circuit diagram of LCC-S MC-WPT system

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图 3 耦合机构涡流损耗分布图

Figure 3. Distribution diagram of eddy current losses in coupling mechanism

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图 4 Cuk变换器电路图

Figure 4. Circuit diagram of Cuk converter

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图 5 基于Cuk变换器的最大效率跟踪等效电路图

Figure 5. Equivalent circuit diagram of maximum efficiency tracking based on Cuk converter

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图 6 移相控制驱动电压及输出电压波形图

Figure 6. Phase shifted control driving voltage and output voltage waveform diagram

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图 7 效率随负载变化图

Figure 7. Efficiency versus load variation graph

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图 8 移相角随输入电压和需求输出功率变化图

Figure 8. Dephasing angle variation diagram with input voltage and required output power

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图 9 移相角随输入电压和需求输出功率变化图

Figure 9. Dephasing angle variation diagram with input voltage and required output power

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图 10 系统参数设计及复合控制流程图

Figure 10. System parameter design and composite control flowchart

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图 11 最大效率跟踪下的输出功率调节范围图

Figure 11. Diagram of output power adjustment range under maximum efficiency tracking

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图 12 仿真逆变输出电压/电流和系统输出电压波形

Figure 12. Simulate the waveform of inverter output voltage/current and system output voltage

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图 13 实验装置图

Figure 13. Experimental setup diagram

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图 14 实验逆变输出电压/电流和系统输出电压波形

Figure 14. Experimental inverter output voltage/current and system output voltage waveform

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图 15 引入最大效率跟踪方法前效率随负载变化曲线

Figure 15. Efficiency versus load curve before introducing maximum efficiency tracking method

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图 16 引入最大效率跟踪方法后效率随负载变化曲线

Figure 16. Efficiency variation curve with load after introducing maximum efficiency tracking method

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图 17 电压变化过程中各功率下的移相角

Figure 17. Phase shift angle at different powers during voltage variation process

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表 1 LCC-S型MC-WPT系统参数

Table 1. LCC-S MC-WPT system parameters

参数	数值	参数	数值
ƒ/kHz	80	C_p/nF	52.8
L_f/μH	75	C_s/nF	26.4
L_p/μH	150	C_f/μF	470
L_s/μH	150	R_p/Ω	0.2
M/μH	55	R_s/Ω	0.2
C_r/nF	52.8

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表 2 Cuk变换器参数

Table 2. Cuk converter parameters

参数	数值
L₁/μH	50
L₂/μH	50
C₁/nF	47
C₂/μF	4.7

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表 3 引入最大效率跟踪方法前后效率值对比

Table 3. Comparison of efficiency before and after introducing maximum efficiency tracking method

负载/Ω	功率/W
	3 000		2 000		1 000
	η_a	η_max	η_a	η_max	η_a	η_max
5	87.6	93.9	84.8	93.1	82.9	91.7
10	89.7	94.0	87.5	92.9	85.4	91.7
30	93.8	94.2	92.8	93.4	91.5	92.1
50	93.1	94.3	92.0	93.1	90.9	92.0
70	91.7	94.3	90.1	93.2	88.2	92.0

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