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

LI Hao; QIAN Linjun; LI Shenghong; WANG Feng; LI Zhiqiang

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

Article Contents

Article Navigation > Journal of Unmanned Undersea Systems > 2025 > Accepted Manuscript

LI Hao, QIAN Linjun, LI Shenghong, WANG Feng, LI Zhiqiang. Maximum efficiency tracking and wide power regulation composite control method for underwater MC-WPT system[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0065

Citation:

LI Hao, QIAN Linjun, LI Shenghong, WANG Feng, LI Zhiqiang. Maximum efficiency tracking and wide power regulation composite control method for underwater MC-WPT system[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0065

Citation:

PDF( 2368 KB)

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

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

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

Received Date: 2025-05-16
Accepted Date: 2025-07-04
Rev Recd Date: 2025-06-20

Available Online: 2025-09-26

Abstract

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

FullText(HTML)

References(21)

References

[1]	文海兵, 宋保维, 张克涵, 等. 水下磁耦合谐振无线电能传输技术及应用研究综述[J]. 水下无人系统学报, 2019, 27(4): 361-368. WEN H B, SONG B W, ZHANG K H, et al. Underwater magnetically-coupled resonant wireless power transfer technology and its applications: A review[J]. Journal of Unmanned Undersea Systems, 2019, 27(4): 361-368.
[2]	余世科, 王锋, 李皓, 等. 基于水下无线充电的UUV电能源补给研究[C]//第四届水下无人系统技术高峰论坛—有人/无人协同技术论文集. 西安: 《水下无人系统学报》编辑部, 2021: 151-155.
[3]	QING X D, SU Y G, HU A P, et al. A CPT system with switchable compensation for constant current or voltage output against load and coupling capacitance variations[J]. Electrical Engineering, 2021, 103(5): 2391-402. doi: 10.1007/s00202-021-01235-3
[4]	苏玉刚, 钱林俊, 刘哲, 等. 水下具有旋转耦合机构的电场耦合无线电能传输系统及参数优化方法[J]. 电工技术学报, 2022, 37(10): 2399-410. SU Y G, QIAN L J, LIU Z, et al. Underwater electric-filed coupled wireless power transfer system with rotary coupler and parameter optimization method[J]. Transactions of China Electrotechnical Society, 2022, 37(10): 2399-410.
[5]	钟宏伟, 方明. 一种提升作业持久力大排量基地型UUV设计构想[J]. 舰船科学技术, 2015, 37(S1): 135-142. ZHONG H W, FANG M. A survey of design for larger displacement based UUV on extending underwater operational persistence[J]. Ship Science and Technology, 2015, 37(S1): 135-142.
[6]	丰利军, 朱春波, 张剑韬, 等. 水下无人航行器水下无线充电关键技术研究[J]. 舰船科学技术, 2020, 42(23): 159-162. FENG L J, ZHU C B, ZHANG J T, et al. Research on key technology based on wireless charging technology for unmanned underwater vehicle[J]. Ship Science and Technology, 2020, 42(23): 159-162.
[7]	刘润鹏, 杨金明. 一种改进线圈结构的AUV无线充电系统[J]. 水下无人系统学报, 2020, 28(3): 323-329. LIU R P, YANG J M. AUV wireless charging system with improved coil structure[J]. Journal of Unmanned Undersea Systems, 2020, 28(3): 323-329.
[8]	WU M, YANG X, CHEN W J, et al. A dual-sided control strategy based on mode switching for efficiency optimization in wireless power transfer system[J]. IEEE Transactions on Power Electronics, 2021, 36(8): 8835-48. doi: 10.1109/TPEL.2021.3055963
[9]	CHEN S X, CHEN Y, LI H C, et al. An operation mode selection method of dual-side bridge converters for efficiency optimization in inductive power transfer[J]. IEEE Transactions on Power Electronics, 35(10): 9992-97.
[10]	黄文聪, 饶天彪, 蒋煊焱, 等. 无线电能传输系统最大效率追踪及恒压输出复合控制方法[J]. 电工技术学报, 2024, 39(12): 3589-601. HUANG W C, RAO T B, JIANG X Y, et al. Maximum efficiency tracking and constant voltage output compound control method for wireless power transfer system[J]. Transactions of China Electrotechnical Society, 2024, 39(12): 3589-601.
[11]	夏晨阳, 李晓丽, 韩潇左, 等. IPT系统线性自抗扰恒压输出和最大效率跟踪复合控制方法[J]. 中国电机工程学报, 2022, 42(16): 6042-52. XIA C Y, LI X L, HAN X Z, et al. A hybrid control method for achieving constant voltage output with LADRC and maximum efficiency tracking for IPT systems[J]. Proceedings of the CSEE, 2022, 42(16): 6042-52.
[12]	刘登伟, 周坤卓, 刘野然, 等. 基于双拾取结构的恒功率输出动态无线电能传输系统研究[J]. 中国电机工程学报, 2019, 39(13): 3899-907. LIU D W, ZHOU K Z, LIU Y R, et al. Research on constant output power based on double pick-up in dynamic wireless power transfer system[J]. Proceedings of the CSEE, 2019, 39(13): 3899-907.
[13]	魏金成, 廖师师, 邱晓初, 等. 谐振式无线电能传输系统恒功率输出特性研究[J]. 电力工程技术, 2022, 41(3): 231-236. WEI J C, LIAO S S, QIu X C, et al. Constant power output characteristics of resonant wireless power transmission system[J]. Electric Power Engineering Technology, 2022, 41(3): 231-236.
[14]	祖建中, 赵进, 孙作民, 等. 具有恒功率特性的水下无线电能传输系统研究与设计[EB/OL]. (2025-03-26)[2025-06-13]. http://kns.cnki.net/kcms/detail/12.1420.tm.20250326.1743.030.html.
[15]	YANG Y, ZHONG W, KIRATIPONGVOOT S, et al. Dynamic improvement of series-series compensated wireless power transfer systems using discrete sliding modecontrol[J]. IEEE Transactions on Power Electronics, 2018, 33(7): 6351-60. doi: 10.1109/TPEL.2017.2747139
[16]	麦瑞坤, 刘野然, 陈阳. 基于最优等效负载控制的感应电能传输系统效率优化方法研究[J]. 中国电机工程学报, 2016, 36(23): 6468-75. MAI R K, LIU Y R, CHEN Y. Studies of eficiency optimization methods based on optimal equivalent load control in IPT systems[J]. Proceedings of the CSEE, 2016, 36(23): 6468-75.
[17]	XIA C, LI X, SUN Q, et al. Integrated control method for constant output voltage and maximum efficiency tracking of bilateral LCL compensation ICPT system[J]. IET Electric Power Applications, 2020, 14(10): 1956-65. doi: 10.1049/iet-epa.2020.0133
[18]	高国章, 于梓航, 李佳奇. 海水对UUV WPT系统的影响及耦合机构的补偿研究[J]. 船舶工程, 2024, 46(2): 18-23. GAO G Z, YU J H, LI J Q. Research on the effect of seawater on the WPT system of UUV and compensation of coupling mechanisms[J]. Ship Engineering, 2024, 46(2): 18-23.
[19]	KIM J, KIM K, KIM H, et al. An efficient modeling for underwater wireless power transfer using Z-parameters[J]. IEEE Transactions on Electromagnetic Compatibility, 2019, 61(6): 2006-14. doi: 10.1109/TEMC.2019.2952320
[20]	周婷, 荣军, 罗方思, 等. 升降压电路和Cuk电路的比较研究[J]. 船电技术, 2015, 35(7): 67-71. ZHOU T, RONG J, LUO F S, et al. Comparative study on boost and buck circuit with Cuk circuit[J]. Marine Electric & Electronic Engineering, 2015, 35(7): 67-71.
[21]	岳志明. Cuk电路效率的仿真研究[J]. 实验科学与技术, 2015, 13(3): 32-36. doi: 10.3969/j.issn.1672-4550.2015.03.011 YUE Z M. Simulation study on the efficiency of Cuk converter[J]. Experiment Science and Technology, 2015, 13(3): 32-36. doi: 10.3969/j.issn.1672-4550.2015.03.011