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基于感应电能传输的水下AUV非接触充电技术研究
其他题名Underwater Contactless Power Transmission Based on Inductive Power Transfer for AUV
王侃1,2
导师袁学庆
分类号TM72
关键词感应耦合电能传输 电磁耦合器 耦合系数 补偿电容 压磁效应 涡流效应 稳压控制器
索取号TM72/W33/2016
页数62页
学位专业控制工程
学位名称硕士
2016-05-25
学位授予单位中国科学院沈阳自动化研究所
学位授予地点沈阳
作者部门装备制造技术研究室
摘要自主式水下航行器(Autonomous Underwater Vehicle,AUV)是探索海洋世界的重要工具,越来越被人们用于民用、商用、军事以及海洋科学等领域的水下探测。AUV通过自身携带能源,依靠自身的控制系统实现自身独立的管理和控制。不仅可以完成水下搜索、监视、侦察、猎雷等军事任务,而且还可以完成认识、研究和开发海洋的科学任务。但是由于受到自身体积和电池技术的限制,AUV无法长时间在水下工作。目前主要采用打捞回收至母船后进行充电的方法,再将充电机上的线缆连接至AUV的充电接口。不仅智能化降低,而且操作繁琐、耗时长,大大降低了AUV的工作效率和隐蔽性。非接触感应电能传输(Inductive Coupled Power Transfer ,简称ICPT)系统利用法拉第电磁感应原理在电源和负载之间进行电能传输,不需要直接的电气连接,能从根本上消除普通插件引起的电弧,火花等。因此,可以很好的适应深海环境,是未来AUV水下能源补充的理想技术。本文先从论文的研究背景、感应电能传输技术的工作原理与特点,阐述了该项技术的起源,发展历程以及国内外研究的最新进展,总结了感应电能传输技术的技术难点、研究意义和发展趋势。随后从感应电能传输系统的系统组成及其基本特性,谐振补偿技术及系统输出功率控制三个部分进行了分析。在感应电能传输系统的组成及基本特性分析中,描述感应电能传输系统的基本组成部件和工作原理。随后建立松耦合变压器模型的等效电感模型和漏感模型,对松耦合器进行磁路分析,得到其漏感、电感、耦合系数等参数。讨论系统能量传输的制约因素,表明感应电能传输系统中使用补偿拓扑的重要性。在谐振补偿技术中,重点分析单次侧补偿拓扑和双次侧补偿拓扑,系统得研究各种补偿拓扑的阻抗特性,得到不同补偿电容的计算公式,分析不同补偿拓扑的优缺点及使用环境。并且提出两种新型的补偿拓扑结构,对其目前的研究进展及拓扑传输特性进行阐述。在系统输出功率控制中,通过理论计算和MATLAB Simulink仿真软件实现了基于PID和神经网络的负载端恒流输出的控制器设计和仿真验证。利用神经网络的控制算法动态调节升压电路的占空比,最终保证系统输出电压恒定,克服了PID控制器不能满足水下充电系统控制需求的缺点。
其他摘要Autonomous Underwater Vehicle (AUV) is an important tool to explore the underwater world,which is more and more used on underwater detection civil, commercial, military and marine science and other fields by people. AUV carry its own energy, rely on its own control system to achieve their own independent management and control. It not only can complete the underwater search, surveillance, reconnaissance, mine-hunting and other military tasks, but also to complete the task cognition science, research and development of the oceans. Due to their limited size and battery technology, AUV cannot work for a long time in the water. It not only reduces intelligent, complicated operation, time-consuming and greatly reducing the AUV efficiency and concealment. The fundamental principle that inductive power transfer system is based on, which is also used in conventional transformers, is the well-known electromagnetic theory. Inductively Coupled Power Transfer(ICPT) is based on Faraday principle to transfer power between the load and power supply, It has no direct electrical connection, which can eliminate common plug-in phone, sparks, etc. Therefore, it can well adapt to the deep sea environment, it is a ideal technology for energy supplement in the future. This paper firstly introduced the basic principles and characteristics of the research back –ground of ICPT technology, the research status of domestic and foreign researchers, and the development process of the technology ,describing the technical difficulties, significance and trends of Inductively Coupled Power Transfer. Then the inductive power transfer system composition and basic characteristics of the system, resonance compensation and output power control system were analyzed. In analysis of the composition and basic characteristics of Inductively Coupled Power Transfer, the detailed introduction of structure and the basic characteristics of inductively coupled power transfer system are made in this paper. Magnetic and circuit model of loosely coupled transformer is constructed. The analysis of system constraints indicates the need of compensation topology. A variety of basic compensation topology is discussed in detail ,including the systematic study of the impedance characteristics of compensation topology. This paper systemly study the impedance characteristics of the various compensation topology, get the formulas different compensation capacitor the preferences of different compensation topology. Then this paper introduces two new kinds of compensation topology, its current research progress and topological transmission characteristics were introduced. In the system output power control, through theoretical calculations and MATLAB Simulink software, the load side constant current output system based on PID controller and neural network were simulated. In this paper ,the author put forward a dynamic control algorithm to adjust the boost circuit duty cycle based on neural networks, and ultimately ensure that the system output voltage is constant, to overcome the shortcomings ,which PID controller can’t meet the needs of the undersea system control.
语种中文
产权排序1
文献类型学位论文
条目标识符http://ir.sia.cn/handle/173321/19666
专题装备制造技术研究室
作者单位1.中国科学院沈阳自动化研究所
2.中国科学院大学
推荐引用方式
GB/T 7714
王侃. 基于感应电能传输的水下AUV非接触充电技术研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2016.
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