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WO2017115625A1 - Système de corps mobile - Google Patents

Système de corps mobile Download PDF

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Publication number
WO2017115625A1
WO2017115625A1 PCT/JP2016/086313 JP2016086313W WO2017115625A1 WO 2017115625 A1 WO2017115625 A1 WO 2017115625A1 JP 2016086313 W JP2016086313 W JP 2016086313W WO 2017115625 A1 WO2017115625 A1 WO 2017115625A1
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WO
WIPO (PCT)
Prior art keywords
power
capacitor
voltage
power transmission
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/086313
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English (en)
Japanese (ja)
Inventor
康正 小平
昌樹 加藤
亮 斉
一行 藤吉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Corp
Original Assignee
Nidec Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nidec Corp filed Critical Nidec Corp
Priority to CN201680076352.2A priority Critical patent/CN108473066A/zh
Priority to JP2017558913A priority patent/JPWO2017115625A1/ja
Publication of WO2017115625A1 publication Critical patent/WO2017115625A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M7/00—Power lines or rails specially adapted for electrically-propelled vehicles of special types, e.g. suspension tramway, ropeway, underground railway
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of DC power input into DC power output
    • H02M3/02—Conversion of DC power input into DC power output without intermediate conversion into AC
    • H02M3/04—Conversion of DC power input into DC power output without intermediate conversion into AC by static converters
    • H02M3/10—Conversion of DC power input into DC power output without intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of DC power input into DC power output without intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of DC power input into DC power output without intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to a mobile system that transmits power to a mobile body including a capacitor in a contactless manner.
  • Patent Document 1 discloses an example of a system that supplies power in a contactless manner to an automated guided vehicle (AGV).
  • AGV automated guided vehicle
  • electromagnetic energy is transmitted from the power feeder to the AGV by electromagnetic inductive coupling.
  • AGV converts the electromagnetic energy into DC power and supplies it to a parallel circuit of a battery and a capacitor. It is disclosed that the capacitor is charged in a short time, and charging from the capacitor to the battery is performed even after the charging is completed.
  • Patent Document 2 discloses a method of adjusting both the resonance frequency and impedance of a resonance system in contactless power transmission using the resonance method.
  • the resonance frequency of the secondary self-resonant coil is adjusted by controlling the capacitance of the variable capacitor connected to the secondary self-resonant coil.
  • the input impedance of the resonance system is adjusted by controlling an impedance matching unit connected to the secondary coil that receives power from the secondary self-resonant coil by electromagnetic induction.
  • Patent Document 3 discloses an example of a wireless power transmission system including transmission inductors and receiving inductors having different sizes. Set the resistance value per unit length of the wiring that configures the smaller inductor among the power transmission inductor and the power receiving inductor at least partially lower than the resistance value of the wiring that configures the larger inductor Is disclosed.
  • JP 2008-137451 A International Publication No. 2012/111108 Specification International Publication No. 2011/125328 Specification
  • the embodiment of the present disclosure provides a novel mobile system that can transmit power to a mobile body in a non-contact manner with a relatively simple configuration.
  • a mobile system includes a wireless power transmission device and a mobile body that is driven by electric power transmitted wirelessly from the wireless power transmission device.
  • the wireless power transmission device includes an inverter circuit that converts DC power supplied from a DC power source into AC power and outputs the power, and a power transmission resonator that transmits at least a part of the AC power output from the inverter circuit to space.
  • a first detector that detects a current flowing through the power transmission resonator, and a power transmission control circuit that controls a frequency of the AC power output from the inverter circuit based on the detected current.
  • the moving body is coupled to the power transmission resonator by magnetic field resonance or electromagnetic induction, and connected to the power reception resonator, and converts the AC power received by the power reception resonator into DC power and outputs the DC power.
  • a rectifier a capacitor that stores electric power output from the rectifier, an electric motor that operates using the electric power stored in the capacitor, and is connected between the capacitor and the motor;
  • a DC-DC converter that boosts or steps down a voltage output from a capacitor and applies the voltage to the motor; a second detector that detects a voltage applied to the motor; and the DC-DC converter based on the detected voltage
  • a power reception control circuit for controlling the DC-DC converter while power is being supplied from the capacitor to the motor. With increasing ratio or a power reception control circuit for reducing the step-down ratio, and.
  • the comprehensive or specific aspect described above may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium.
  • the present invention may be realized by any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.
  • the mobile system can transmit electric power to the mobile body in a non-contact manner with a relatively simple configuration.
  • FIG. 1 is a diagram for explaining an outline of a mobile system according to the first embodiment.
  • FIG. 2 is a perspective view schematically showing an example of the moving body 200 in the first embodiment.
  • FIG. 3 is a perspective view illustrating an example of an arrangement relationship between the power transmission coil unit 105 and the power reception coil unit 205 during charging.
  • FIG. 4 is a block diagram illustrating a configuration of the mobile system according to the first embodiment.
  • FIG. 5 is a diagram illustrating a configuration example of the inverter circuit 120 and the control circuit 140.
  • FIG. 6 is a diagram illustrating an example of a waveform of a pulse signal supplied from the control circuit 140 to the switching elements G1 to G4 and a voltage output from the inverter circuit 120.
  • FIG. 7 is a diagram illustrating an equivalent circuit of the power transmission resonator 110 and the power reception resonator 210.
  • FIG. 8A is a perspective view for explaining in more detail the shapes and arrangement relationships of power transmission coil 112 and power reception coil 212.
  • FIG. 8B is a diagram schematically illustrating the shape of the power transmission coil 112 when viewed from the Y direction.
  • FIG. 8C is a diagram schematically illustrating the shape of the power receiving coil 212 when viewed from the Y direction.
  • FIG. 9A is a diagram illustrating a configuration example of the rectifier 220, the capacitor 230, the DC-DC converter 250, and the motor 240.
  • FIG. 9B is a diagram illustrating another configuration example of the rectifier 220, the capacitor 230, the DC-DC converter 250, and the motor 240.
  • FIG. 10 is a flowchart illustrating an example of the operation of the power transmission device 100 during charging.
  • FIG. 11 is a block diagram showing the configuration of the mobile system in the present embodiment.
  • FIG. 12 is a diagram illustrating a circuit configuration of the rectifier 220, the bidirectional DC-DC converter 250A, the capacitor 230, and the motor 240 in the moving body 200A.
  • FIG. 13 is a flowchart illustrating an example of an operation during charging by the power transmission device 100A and the moving body 200A in the present embodiment.
  • FIG. 14 is a diagram illustrating the relationship between the pulse signal input to the switching elements G5 and G6 and the duty ratio D.
  • FIG. 1 is a diagram for explaining an outline of a mobile system according to the present embodiment.
  • the mobile body system in this embodiment can be used as a system for conveying articles in a factory, for example.
  • the mobile body system includes at least one wireless power transmission device (hereinafter simply referred to as “power transmission device”) 100 and at least one mobile body 200.
  • the mobile body 200 can be, for example, an automatic guided vehicle (AGV) that autonomously moves in a factory and transports articles to a necessary place.
  • FIG. 1 illustrates four power transmission devices 100 and four moving bodies 200. However, the number of each of the power transmission device 100 and the moving body 200 is arbitrary.
  • the power transmission device 100 transmits power to the mobile body 200 wirelessly.
  • the power transmission device 100 includes a power transmission coil unit 105 including a power transmission coil that sends AC power to space.
  • the moving body 200 includes a power receiving coil unit 205 including a power receiving coil.
  • power transmission coil and the power reception coil are coupled by magnetic field resonance, power is wirelessly transmitted from the power transmission coil to the power reception coil.
  • wireless power transmission by magnetic field resonance coupling (sometimes referred to as “magnetic field resonance coupling” or “resonance magnetic field coupling”) is used.
  • magnetic resonance coupling type wireless power transmission power transmission over a longer distance is possible as compared with the electromagnetic induction method.
  • the technology of the present disclosure is not limited to the magnetic field resonance coupling method, and can also be applied to wireless power transmission using an electromagnetic induction method. Therefore, this indication includes the composition by an electromagnetic induction system.
  • the moving body 200 includes a capacitor and a motor.
  • the electric power received by the power receiving coil in the power receiving coil unit 205 is rectified and stored in the capacitor.
  • a large-capacity and low-resistance capacitor such as an electric double layer capacitor or a lithium ion capacitor can be used. That is, the capacitor is an electric double capacitor or a lithium ion capacitor.
  • the moving body 200 can move by driving a motor with electric power stored in the capacitor.
  • the moving body 200 moves, the amount of electricity stored in the capacitor (that is, the amount of charge) decreases. For this reason, recharging is required to continue the movement. Therefore, when the charge amount falls below a predetermined threshold during movement, the moving body 200 moves to the vicinity of the power transmission device 100 and performs charging. As illustrated in FIG. 1, if the power transmission device 100 is installed at a plurality of locations, the moving body 200 may move to the vicinity of the closest power transmission device 100. Therefore, the moving body 200 can shorten the moving distance.
  • Such a system can be used as a system for conveying articles in a factory, for example.
  • the mobile body 200 typically has a loading platform on which articles are loaded.
  • the moving body 200 functions as a cart that autonomously moves in the factory and conveys the article to a necessary place.
  • a mobile body system can be utilized not only in a factory but in a store, a hospital, a home, and other places.
  • the moving body 200 is not limited to the AGV, and may be another industrial machine or a service robot.
  • the moving body 200 may be any device having a mechanism that can move in the lateral direction, such as a manned vehicle or a cleaning robot. “Move laterally” means to move in a direction along a horizontal plane (or a floor surface) (possibly beyond a step, unevenness, or inclined surface).
  • FIG. 2 is a perspective view schematically showing an example of the moving body 200 in the present embodiment.
  • the moving body 200 includes a power receiving coil unit 205 installed on a side surface, a plurality of wheels including drive wheels 207 driven by a motor, and a loading platform 206 on which articles are placed.
  • the power receiving coil unit 205 houses a power receiving resonator including a power receiving coil.
  • FIG. 3 is a perspective view showing an example of an arrangement relationship between the power transmission coil unit 105 and the power reception coil unit 205 at the time of charging.
  • FIG. 3 shows XYZ coordinates indicating X, Y, and Z directions orthogonal to each other. In the following description, the coordinate system shown in the figure is used.
  • the XY plane is parallel to the horizontal plane or the floor surface.
  • the positive direction of the X axis is a direction in which the moving body 200 moves forward, and the positive direction of the Z axis is a vertically upward direction.
  • the power transmission coil 112 in the power transmission coil unit 105 has a conductor wire (winding) wound so as to be relatively long in the X direction and relatively short in the Z direction.
  • the power receiving coil 212 in the power receiving coil unit 205 has a conductor wire (winding) wound so as to be long in the X direction and short in the Z direction.
  • the shapes and sizes of the power transmission coil 112 and the power reception coil 212 in this embodiment are asymmetric.
  • the size of the region defined by the winding of the power receiving coil 212 is smaller than the size of the region defined by the winding of the power transmission coil 112. Power transmission is performed in a state where the power transmission coil 112 and the power reception coil 212 are opposed to each other.
  • the surface defined by the winding of the power transmission coil 112 and the surface defined by the winding of the power receiving coil 212 face each other. Is charged. It should be noted that charging is possible not only when these surfaces are completely parallel, but also when they are inclined to each other.
  • the power transmission coil 112 has a shape that is long in the X direction, even when the moving body 200 is slightly shifted in the X direction, the facing state between the coils is maintained, and power transmission with high efficiency can be maintained.
  • the moving body 200 can grasp the position and orientation of the mobile device 200 and the position and orientation of the power transmission coil 112 using various sensors. As a result, the power transmission device 100 (excluding the power transmission device 100 that is feeding power to the other mobile body 200) closest to the own device can be specified. Then, the moving body 200 moves to the vicinity of the power transmission device 100 and can take a posture in which highly efficient power transmission is possible (that is, a posture in which the power receiving coil 212 is close to and faces the power transmission coil 112).
  • the moving body 200 of the present embodiment does not include a secondary battery (hereinafter also referred to as “battery”) used in the prior art such as Patent Document 1. That is, the moving body 200 of this embodiment is a battery-less moving body. Further, the power receiving coil 212 is smaller than the power transmitting coil 112. For this reason, the moving body 200 can be configured in a small size, light weight, and low cost. Thereby, the time which can move continuously can be lengthened. According to the present embodiment, for example, continuous operation for 30 minutes to several hours is possible by charging for several minutes. Furthermore, the mobile body system of this embodiment can make the structure of the mobile body 200 or the power transmission apparatus 100 simpler by the circuit structure and operation
  • a secondary battery hereinafter also referred to as “battery”
  • FIG. 4 is a block diagram showing the configuration of the mobile system of this embodiment.
  • the power transmission device 100 includes an inverter circuit 120 connected to an external direct current (DC) power supply 50, a power transmission resonator 110 connected to the inverter circuit 120, and a current detector 130 that detects a current flowing through the power transmission resonator 110.
  • the power transmission control circuit 140 controls the inverter circuit 120 based on the amount of current detected by the current detector 130.
  • the power transmission resonator 110 includes the power transmission coil 112 described above.
  • the moving body (power receiving device) 200 includes a power receiving resonator 210, a rectifier (rectifier circuit) 220 connected to the power receiving resonator 210, a capacitor 230 connected to the rectifier 220, and a DC-DC connected to the capacitor 230.
  • Converter 250 and 240 connected to DC-DC converter 250.
  • the power receiving resonator 210 includes the power receiving coil 212 described above.
  • the moving body 200 further includes a voltage detector 260 that detects a voltage applied to the motor 240 and a power reception control circuit 270 that controls the DC-DC converter 250 based on the voltage detected by the voltage detector 260.
  • the power transmission apparatus 100 and the moving body 200 may include other components that are not illustrated. Further, the mobile system need not necessarily include all the components shown in FIG. 4 and can be omitted as appropriate.
  • the DC power source 50 is a power source that outputs a DC voltage having a predetermined magnitude.
  • the DC power supply 50 can include, for example, a converter that converts commercial AC power into DC power having the operating voltage of the power transmission device 100 and outputs the DC power.
  • the inverter circuit 120 converts the DC power supplied from the DC power supply 50 into AC power.
  • the inverter circuit 120 can be, for example, a full bridge inverter circuit.
  • the full bridge inverter circuit can output AC power having a desired frequency and voltage value by adjusting the switching timing of the four switching elements. Each switching element switches between a conductive state and a non-conductive state in accordance with a pulse signal supplied from the power transmission control circuit 140.
  • FIG. 5 is a diagram illustrating a configuration example of the inverter circuit 120 and the control circuit 140.
  • the inverter circuit 120 shown in FIG. 5 has a configuration of a full bridge inverter circuit having four switching elements G1 to G4.
  • Each switching element may be a transistor such as an IGBT (Insulated-gate Bipolar Transistor) or a MOSFET (Metal Oxide Semiconductor Field-Effect Transistor).
  • the control circuit 140 includes a control IC 142, a gate driver 144, and a memory 143.
  • the control IC 142 executes the control program stored in the memory 143 to determine the AC power voltage (meaning an effective value; the same applies hereinafter) and frequency to be output to the inverter circuit 120. In the present embodiment, in particular, the frequency at which the efficiency is maximized is determined based on the value of the current I1 detected by the current detector 130. Details of this operation will be described later.
  • the gate driver 144 supplies a pulse signal having a frequency and a duty ratio determined by the control IC 142 to the gates of the switching elements G1 to G4. Thus, the conduction (on) / non-conduction (off) states of the switching elements G1 to G4 are controlled. Note that a part or the whole of the control circuit 140 can be realized by an integrated circuit such as a microcomputer.
  • the switching elements G1 to G4 when the switching elements G1 and G4 are on (conducting state), a voltage having the same polarity as the DC voltage supplied from the DC power supply 50 is output from the inverter circuit 120.
  • switching elements G ⁇ b> 2 and G ⁇ b> 3 are on (conductive state)
  • a voltage having a polarity opposite to the DC voltage supplied from DC power supply 50 is output from inverter circuit 120.
  • the control circuit 140 causes the inverter circuit 120 to output AC power having a desired frequency and voltage by adjusting the timing of the pulse signal supplied to each of the switching elements G1 to G4.
  • FIG. 6 is a diagram illustrating an example of a waveform of a pulse signal supplied from the control circuit 140 to the switching elements G1 to G4 and a voltage output from the inverter circuit 120.
  • the symbol E represents the magnitude of the voltage output from the DC power supply 50
  • the symbol T represents the period.
  • the period during which the output voltage V1 of the inverter circuit 120 is the same as the output voltage magnitude E of the DC power supply 50 is controlled by the duty ratio dinv. That is, the control circuit 140 can adjust the amplitude and effective value of the AC voltage obtained by approximating the output voltage V1 with a sine wave by adjusting the duty ratio dinv.
  • the inverter circuit 120 is not limited to the configuration shown in FIG.
  • a half-bridge configuration in which each of switching elements G3 and G4 shown in FIG. 5 is replaced with a capacitor may be used. Even in that case, it is possible to output a desired AC voltage by adjusting the timing of the gate drive pulse applied to the two switching elements G1 and G2.
  • the inverter circuit 120 can be realized by, for example, a commercially available high frequency power supply device.
  • FIG. 7 is a diagram illustrating an equivalent circuit of the power transmission resonator 110 and the power reception resonator 210.
  • the power transmission resonator 110 is a series resonance circuit having an inductance component (L1), a capacitance component (C1), and a resistance component (R1) due to the power transmission coil 112.
  • the power receiving resonator 210 is a series resonant circuit having an inductance component (L2), a capacitance component (C2), and a resistance component (R2) by the power receiving coil 122.
  • the capacitance components (C1 and C2) may be parasitic capacitance components of the power transmission coil 112 and the power reception coil 212, respectively, or may be due to capacitors provided separately.
  • the resonance frequency of power transmission resonator 110 and the resonance frequency of power reception resonator 210 are set to substantially the same value.
  • the resonance frequency is not particularly limited, but can be set to, for example, 5 kilohertz (kHz) or more and 50 megahertz (MHz) or less.
  • the resonance frequency is more preferably 10 kHz or more and 1 MHz. In the present embodiment, as an example, it is assumed that the resonance frequency is 85 kHz.
  • Each resonator is not limited to a series resonance circuit, but may be a parallel resonance circuit.
  • a primary coil coupled to the power transmission resonator 110 by electromagnetic induction and a secondary coil coupled to the power reception resonator 210 by electromagnetic induction are not limited to the illustrated configuration. It may be provided.
  • FIG. 8A is a perspective view for explaining in more detail the shape and arrangement relationship of the power transmission coil 112 and the power reception coil 212.
  • 8A shows an example in which the width of the power transmission coil 112 in the Y direction is smaller than that in the example of FIG.
  • a two-dot chain line shown in FIG. 8A represents a normal line of the surface defined by the coils 112 and 212.
  • FIG. 8B schematically shows a shape when the power transmission coil 112 is viewed from the Y direction.
  • FIG. 8C schematically shows the shape of the power receiving coil 212 when viewed from the Y direction.
  • the power transmission coil 112 is a winding formed from a first conductor (that is, a winding wound by a first conductor wire), and includes a first upper portion 112a and a first lower portion that extend in the lateral direction. 112b and two arc-shaped portions connecting them.
  • the power receiving coil 212 is a winding formed from the second conductor (that is, a winding wound by the second conductor wire), and has a second upper portion 212a and a second lower portion extending in the lateral direction. 212b and two arc-shaped portions connecting them.
  • the specific resistance (resistivity) of the second conductor is lower than the specific resistance of the first conductor.
  • the number of turns of the power reception coil 212 is smaller than the number of turns of the power transmission coil 112. With such a configuration, the resistance value of the power reception coil 212 is smaller than the resistance value of the power transmission coil 121.
  • the upper part 212a and the lower part 212b of the power receiving coil 212 are shorter than the upper part 112a and the lower part 112b of the power transmission coil 112, respectively.
  • the length of the upper part 112a and the lower part 112b of the power transmission coil 112 may be 1.2 times or more of the length of the upper part 212a and the lower part 212b of the power receiving coil 212, respectively.
  • the distance between the upper part 112a and the lower part 112b of the power transmission coil 112 is, for example, not less than 0.8 times and not more than 1.2 times the distance between the upper part 212a and the lower part 212b of the power receiving coil 212. possible.
  • the height of the upper portion 212a of the power reception coil 212 with respect to a reference horizontal plane is equal to or smaller than the height of the upper portion 112a of the power transmission coil 112.
  • the height of the lower part 212b of the receiving coil 212 with respect to the said horizontal surface is equal to the height of the lower part 112b of the power transmission coil 112, or is larger than the said height.
  • first rectangular surface 112c (FIG. 8B) defined by the upper portion 112a and the lower portion 112b of the power transmission coil 112, and by the second upper portion 212a and the second lower portion 212b of the power receiving coil 212
  • the defined second rectangular surface 212c (FIG. 8C) is perpendicular or inclined with respect to the horizontal plane.
  • the power receiving coil 112 is disposed on the side surface of the moving body 200. Then, the second rectangular surface 212 c faces the first rectangular surface 112 c of the power transmission coil 112 during power transmission.
  • the power transmission coil 112 is made of a relatively inexpensive material
  • the power receiving coil 212 is made of a relatively expensive material with a small specific resistance.
  • the wire length of the power reception coil 212 can be made shorter than the wire length of the power transmission coil 112, and the size of the mobile body 200 can be reduced.
  • the cost of the power transmission device 100 can be reduced.
  • Non-contact power feeding is performed by magnetic flux generated between the power transmission coil 112 and the power reception coil 212. Therefore, the resistance value of each coil and the mutual inductance between the coils are important parameters.
  • the power transmission coil 112 and the power reception coil 212 are generally made of a material such as copper having high conductivity (that is, low specific resistance) in order to reduce loss.
  • a specially shaped conductor such as a litz wire bundled with insulated thin copper wires is often used.
  • the cost increases and the weight also increases.
  • both the power transmission coil 112 and the power reception coil 212 need to be enlarged in order to increase the power transmission distance.
  • the design of the moving body 200 provided with the power receiving coil 212 is limited.
  • a low impedance element such as an electric double layer capacitor
  • a maximum voltage of 30 volts (V) and a current of 10 to 100 amperes (A) can be applied to the capacitor 230. More preferably, a current of 10 to 30 amperes (A) can be applied to the capacitor 230. Under such circumstances, it is required to increase the transmission efficiency.
  • the above requirements can be satisfied by configuring the power receiving coil 212 to have a lower loss than the power transmitting coil 112.
  • the power receiving coil 212 is configured by using a low-resistivity material such as copper or a low-loss structure such as a litz wire, and by reducing the shape and the number of turns, the entire power receiving coil 212 can be reduced. Resistance can be reduced.
  • the power receiving coil 212 has, for example, about 10 to 30 turns.
  • the size in the Y direction shown in FIG. 8C can be, for example, about 10 centimeters (cm) to about 25 cm, and the size in the Z direction can be about 3 cm to 10 cm.
  • the resistance value of the power receiving coil 212 may be, for example, 1 ohm ( ⁇ ) or less. In addition, these numerical values are examples, and you may employ
  • the loss of the power transmission coil 112 is relatively acceptable. For this reason, an inexpensive material such as aluminum can be used for the power transmission coil 112 or a normal single wire having a small cross-sectional area can be used. Further, even if the position of the power receiving coil 212 is shifted from the optimal position in the X direction (traveling direction), the power transmitting coil 112 has a shape that is longer in the X direction than the power receiving coil 112 in order to enable power transmission. Configured as follows. The number of turns of the power transmission coil 112 is set large in order to increase the mutual inductance. The power transmission coil 112 can have, for example, about 60 to 100 turns. The size in the X direction shown in FIG.
  • the resistance value of the power transmission coil 112 can be, for example, about 5 to 10 ⁇ . These numerical values are examples, and a configuration outside the above range may be adopted.
  • the power receiving coil 212 can be reduced in size, and the degree of freedom in designing the moving body 200 can be increased. Further, the power receiving coil 212 can be reduced in weight, and the power consumption of the moving body 200 can be reduced. Furthermore, an inexpensive material such as aluminum or an inexpensive wire structure such as a single wire is adopted for the relatively large power transmission coil 112, and the power receiving coil 212 that requires low loss is made small and has a small number of turns. Thus, the cost can be reduced. By reducing the power receiving coil 212 to a low loss, transmission efficiency can be maintained high when a capacitor having a low input impedance during charging, such as an electric double layer capacitor or a lithium ion capacitor, is used.
  • the moving body 200 moves in the traveling direction by making the upper part 212a and the lower part 212b of the power receiving coil 212 shorter than the upper part 212a and the lower part 212b of the power transmission coil 112, respectively, it is high. Transmission efficiency can be maintained. Furthermore, by transmitting the first rectangular surface 112c and the second rectangular surface 212c to be perpendicular or inclined with respect to the horizontal plane, power transmission can be performed with the side surface of the moving body 200 and the side surface of the power transmission device 100 facing each other. It becomes possible. For this reason, compared with the structure which has arrange
  • each coil 112 and the power reception coil 212 are not limited to the illustrated shapes.
  • the shape of each coil may be rectangular (including a square) or elliptical (including a circle).
  • FIG. 9A is a diagram illustrating a configuration example of the rectifier 220, the capacitor 230, the DC-DC converter 250, the motor 240, the voltage detector 260, and the power reception control circuit 270.
  • the rectifier 220 may be a full wave rectifier circuit including a diode bridge and a smoothing capacitor, as shown.
  • the rectifier 220 may be another type of full-wave rectifier circuit or a half-wave rectifier circuit.
  • the rectifier 220 converts AC power from the power receiving resonator 210 into DC power and outputs the DC power.
  • the capacitor 230 is connected to the rectifier 220 in parallel.
  • the capacitor 230 is, for example, an electric double layer capacitor or a lithium ion capacitor. Since the electric double layer capacitor or the lithium ion capacitor has a small internal resistance (for example, several tens of m ⁇ ), charging and discharging with a large current can be performed with low loss. For this reason, compared with a battery, rapid charge is possible. In addition, since the capacitance is larger than that of other types of capacitors, a relatively long continuous discharge is possible.
  • the moving body 200 of this embodiment does not include a battery. Therefore, the power supply to the motor 240 is performed by the capacitor 230. By removing the battery, the circuit for controlling the battery can also be removed.
  • the mobile body 200 can be reduced in size, reduced in weight, and rapidly charged. By removing the battery, the energy density is reduced.
  • a plurality of power transmission devices 100 are provided. Thereby, the fall of energy density can be compensated.
  • the mobile body 200 of this embodiment is not provided with the battery, you may apply the technique of this indication to the mobile body provided with the battery. In that case, since the motor 240 can be driven from both the capacitor and the battery, the time during which the motor can move continuously can be improved.
  • FIG. 9B is a diagram showing an example of a DC-DC converter 250 capable of both step-up and step-down operations.
  • the capacitor 230 is an electric double layer capacitor
  • the voltage required by the motor 240 is 30V
  • the voltage of the capacitor 230 is 35V
  • a DC-DC converter 250 capable of step-up / step-down as exemplified in FIG. 9B is used.
  • the DC-DC converter 250 in this embodiment may have a boost chopper circuit configuration as shown in FIG. 9A, or a buck-boost chopper circuit configuration as shown in FIG. 9B. It may be.
  • the DC-DC converter 250 is connected in parallel to the capacitor 230 via the switch G5.
  • the DC-DC converter 250 includes a switch G6, and switches the conduction (on) / non-conduction (off) state of the switch G6 to change the DC voltage output from the capacitor 230 to a desired value.
  • the voltage is boosted to a DC voltage of the magnitude of
  • the control circuit 270 controls the conduction / non-conduction state of the switches G5 and G6.
  • FIG. 9A the example of FIG. 9A
  • the DC-DC converter 250 includes a switch G6, and switches the conduction (on) / non-conduction (off) state of the switch G6 to change the DC voltage output from the capacitor 230 to a desired value.
  • the voltage is boosted to a DC voltage of the magnitude
  • the DC voltage output from the capacitor 230 is boosted or stepped down to a DC voltage of a desired magnitude by switching the conduction (on) / non-conduction (off) state of the switch G5.
  • the conduction / non-conduction state of the switch G5 is controlled by the control circuit 270.
  • the DC-DC converter 250 is not limited to the step-up chopper circuit or the step-up / step-down chopper circuit described above, and may be an arbitrary DC-DC converter.
  • the DC-DC converter is not limited to the non-insulated DC-DC converter shown in FIGS. 9A and 9B, and may be an isolated converter.
  • the power reception control circuit 270 includes a control IC 272, a gate driver 274, and a memory 273, similar to the power transmission control circuit 140.
  • the control IC 272 determines the on / off timing (switching timing) of the switch G5 and the switch G6 of the DC-DC converter 250 by executing the control program stored in the memory 273.
  • the gate driver 274 applies a predetermined voltage to the gates of the switches G5 and G6 in accordance with the switching timing determined by the control IC 272.
  • Part or all of the power reception control circuit 270 can be realized by an integrated circuit such as a microcomputer.
  • the control circuit 270 turns off the switches G5 and G6 during charging. As a result, the DC power output from the rectifier 220 is supplied to the capacitor 230, and charges are accumulated in the capacitor 230.
  • the power transmission control circuit 140 in the power transmission device 100 causes the inverter circuit 120 to stop power transmission. Completion of charging can be determined based on, for example, whether or not the amount of current detected by the current detector 130 has fallen below a predetermined threshold.
  • the power reception control circuit 270 turns on the switch G5 and starts control of the switch G6. By turning on the switch G5, the electric charge stored in the capacitor 230 is discharged, and the electric power is supplied to the motor 240. By switching the on / off state of the switch G6 at an appropriate timing, a voltage boosted at a desired boost ratio can be supplied to the motor 240.
  • Switching control of the switch G6 is performed based on the detection result of the voltage detector 260 that detects the voltage applied to the motor 240.
  • the boost ratio is determined so that the magnitude of the voltage of the motor 240 detected by the voltage detector 260 is maintained substantially constant, and the control circuit 270 determines the duty ratio of the pulse signal supplied to the switch G6. . Thereby, even if the voltage drop of the capacitor 230 occurs, a substantially constant voltage is supplied to the motor 240.
  • the operation in the configuration shown in FIG. 9B is as follows.
  • the power reception control circuit 270 turns on the switch G5 and starts control of the switch G5.
  • the switch G5 By turning on the switch G5, the electric charge stored in the capacitor 230 is discharged, and the electric power is supplied to the motor 240.
  • a voltage stepped up or down at a desired step-up / step-down ratio can be supplied to the motor 240.
  • the switching control of the switch G5 is performed based on the detection result of the voltage detector 260 that detects the voltage applied to the motor 240.
  • the control circuit 270 determines the step-up / step-down ratio and the duty ratio of the pulse signal supplied to the switch G5 so that the magnitude of the voltage of the motor 240 detected by the voltage detector 260 is maintained substantially constant. Thereby, even if the voltage drop of the capacitor 230 occurs, a substantially constant voltage is supplied to the motor 240.
  • the motor 240 is a direct current motor in the example shown in FIG. 9, but is not limited to this, and may be an alternating current motor such as a permanent magnet synchronous motor or an induction motor.
  • a three-phase inverter that converts DC power into three-phase AC power is provided between the DC-DC converter 250 and the motor 240. Such a configuration is also included in the present disclosure.
  • the mobile body 200 determines that charging is necessary, the mobile body 200 moves to the vicinity of the power transmission device 100 that is closest. Then, the power reception coil 212 stands by in a posture facing the power transmission coil 112 with a predetermined distance (for example, several centimeters to several tens of centimeters).
  • a predetermined distance for example, several centimeters to several tens of centimeters.
  • FIG. 10 is a flowchart showing an example of the operation of the power transmission device 100 during charging.
  • the power transmitting apparatus 100 turns on a control system switch (step S101).
  • the control system means components related to the control of the power transmission device 100 such as the power transmission control circuit 140 and a communication circuit (not shown).
  • components related to power transmission referred to as a power transmission system
  • the inverter circuit 120 are set to OFF.
  • the power transmission control circuit 140 in the power transmission apparatus 100 determines whether or not the applied voltage from the DC power source 50 matches a specified value (J volts) (step S102). This specified value may be a value such as 100V or 200V, for example.
  • control circuit 140 adjusts the values of the direct current and the DC voltage until the applied voltage matches the specified value (step S103). This adjustment can be performed, for example, by controlling a switching element of a converter included in the DC power supply 50.
  • the power transmission control circuit 140 detects the approach of the power receiving coil 212 (step S104). This detection is performed based on light (including infrared rays) such as a laser light source or an LED light source provided in the moving body 200, for example.
  • the power transmission device 100 detects the approach of the moving body 200 by detecting this light with a sensor (not shown). Note that the approach detection method of the moving body 200 is not limited to this example, and may be performed using magnetism, for example.
  • the power transmission control circuit 140 turns on a power transmission system, that is, a switch such as the inverter circuit 120 (step S105).
  • the power transmission control circuit 140 sets the inverter circuit 120 to the low output mode (step S106).
  • the low output mode is a mode in which AC power having a low voltage effective value is output from the inverter circuit 120.
  • the low output mode is set, for example, by setting the duty ratio of the pulse signal supplied to each switching element of the inverter circuit 120 to a relatively low value (for example, 10% to 30%).
  • the power transmission control circuit 140 determines whether or not it is equal to or greater than a predetermined threshold value (A ampere) based on the detection result of the current detector 130 (step S107).
  • the predetermined threshold is the amount of current flowing into the power transmission resonator 110 (referred to as “flowing current amount”). When the amount of current flowing is less than this threshold, it is considered that the power receiving coil 212 is not opposed in the vicinity of the power transmitting coil 112. For this reason, the power transmission control circuit 140 shifts to the abnormal current stop mode.
  • the power transmission control circuit 140 turns off the power transmission system switch (step S113). Then, an alarm indicating a current abnormality is turned on (step S114). This notifies the user or administrator of the current abnormality.
  • step S115 the operation of step 104 is executed again.
  • step S107 it is considered that the power receiving coil 212 faces the power transmitting coil 112 when the amount of current flowing is greater than or equal to A amperes. For this reason, the power transmission control circuit 140 sweeps the oscillation frequency of the inverter circuit 120 to determine an optimum frequency.
  • the resonance frequency of the power transmission resonator 110 and the power reception resonator 210 is set to 85 KHz. For this reason, the power transmission control circuit 140 sweeps the frequency in the vicinity of 84 kHz to 86 kHz. This range is an example, and the sweep may be performed in another range.
  • the power transmission control circuit 140 records the amount of current flowing in the memory 143 each time the frequency is changed in units of 100 kHz.
  • the power transmission control circuit 140 determines whether there is a peak in the amount of current flowing (step S109). If no peak exists, the process proceeds to the abnormal current stop mode described above (steps S113 to S115). When there is a peak, the power transmission control circuit 140 determines a frequency at which the amount of flowing current reaches a peak, and sets the frequency as the oscillation frequency X. That is, the frequency of the pulse signal supplied to each switching element of the inverter circuit 120 is set to X. Thereby, transmission efficiency can be maximized.
  • the power transmission control circuit 140 also sets the duty ratio of the pulse signal supplied to each switching element of the inverter circuit 120 to 50% (step S111). This is to maximize the voltage (effective value) output from the inverter circuit 120. When it is not necessary to maximize the output voltage, the duty ratio may be set to a value other than 50%.
  • the power transmission control circuit 140 determines whether or not the amount of current flowing is equal to or less than a specified upper limit value (B ampere) (step S112).
  • B ampere a specified upper limit value
  • This upper limit value is provided to ensure safety and is set to a current value that does not destroy each element in the circuit. If the amount of current flowing exceeds B amperes, it is determined that an abnormal current is flowing, and therefore the process proceeds to the abnormal current stop mode (steps S113 to S115).
  • the power transmission control circuit 140 starts power transmission (step S120). That is, driving of the inverter circuit 120 with the determined oscillation frequency X is started. Thereby, AC power of frequency X is transmitted to the moving body 200 via the power transmission resonator 110 and the power reception resonator 210.
  • the power transmission control circuit 140 sweeps within a frequency range including the oscillation frequency X at that time (in the example of FIG. 10, a range from X-100 Hz to X + 100 Hz) every predetermined time (T seconds) after power transmission starts.
  • the frequency at which the amount of current flow reaches the peak is reset as the oscillation frequency X (steps S121 to S123). This operation is repeated until the amount of current flowing becomes equal to or less than a preset charge end current (C amp).
  • the charge end current is, for example, a value close to 0 ampere. When the charge end current is less than this value, it is determined that the charge amount of the capacitor 230 is sufficient.
  • the power transmission control circuit 140 stops power transmission when the amount of current flowing is equal to or lower than C amperes (step S125). By this operation, even when the moving body 200 is moving and the relative position between the power receiving coil 212 and the power transmitting coil 112 may be shifted, the transmission efficiency can be improved.
  • the power reception control circuit 270 detects the stop of power transmission by a detector (for example, the voltage detector 262 shown in FIGS. 9A and 9B) that detects at least one of a current and a voltage connected to the capacitor 230, for example.
  • a detector for example, the voltage detector 262 shown in FIGS. 9A and 9B
  • the power reception control circuit 270 of the moving body 200 turns on the switch G5 shown in FIG. Thereby, the electric power feeding from the capacitor 230 to the motor 240 and the movement of the moving body 200 associated therewith are started.
  • the voltage applied to the motor 240 gradually decreases with the voltage drop of the capacitor 230. For this reason, the maximum speed of the moving body 200 decreases.
  • the power reception control circuit 270 of the present embodiment controls the switch G6 to boost the DC-DC converter 250 at a desired boost ratio.
  • the power reception control circuit 270 adjusts the duty ratio of the pulse signal applied to the switch G6 so that a constant voltage is always supplied to the motor 240, for example. Thereby, the operation of the motor 240 can be stabilized.
  • the mobile system of the present embodiment includes the wireless power transmission device 100 and the mobile body 200 that is driven by the power transmitted wirelessly from the wireless power transmission device 100.
  • the wireless power transmitting apparatus 100 includes an inverter circuit 120 that converts DC power supplied from the DC power supply 50 into AC power and outputs the power, and a power transmission resonator that transmits at least part of the AC power output from the inverter circuit 120 to the space. 110, a current detector (first detector) 130 for detecting the current flowing through the power transmission resonator 110, and the frequency of the AC power output from the inverter circuit 120 based on the current detected by the current detector 130. And a power transmission control circuit 140 for controlling.
  • the moving body 200 is connected to the power receiving resonator 210 that can be coupled to the power transmitting resonator 110 by magnetic field resonance (or electromagnetic induction), and is connected to the power receiving resonator 210, and converts AC power received by the power receiving resonator 210 into DC power.
  • magnetic field resonance or electromagnetic induction
  • Rectifier 220 that outputs power
  • capacitor 230 that stores the power output from rectifier 220, motor 240 that operates using the power stored in capacitor 230, and moves mobile body 200
  • capacitor 230 and motor 240 A DC-DC converter 250 that is connected between the two and boosts or steps down the voltage output from the capacitor 230 and applies the voltage to the motor 240; a voltage detector (second detector) 260 that detects the voltage applied to the motor; Power reception control circuit that controls DC-DC converter 250 based on the voltage detected by detector 260 It has a 70, a.
  • the power reception control circuit 270 increases the step-up ratio of the DC-DC converter 250 or decreases the step-down ratio while electric power is supplied from the capacitor 230 to the motor 240.
  • the step-up ratio is defined as output voltage / input voltage
  • the step-down ratio is defined as input voltage / output voltage. Therefore, the step-up ratio and the step-down ratio are values larger than 1.
  • the DC-DC converter 250 is not limited to a step-up DC-DC converter (for example, a step-up chopper circuit).
  • a step-down operation can be performed.
  • the power reception control circuit 270 reduces the step-down ratio of the DC-DC converter 250 while electric power is supplied from the capacitor 230 to the motor 240.
  • the power transmission control circuit 140 sequentially drives the inverter circuit 120 at a plurality of frequencies included in a preset frequency range, and transmits the power transmission resonator 110 from the plurality of frequencies. The frequency at which the effective value of the current flowing through the maximum is determined. The power transmission control circuit 140 drives the inverter circuit 120 at the determined frequency.
  • the phase of the voltage and current at this time is matched. That is, the phase of the current with the maximum effective value matches the phase of the voltage output from the inverter circuit 120.
  • “matching” does not only mean matching exactly but includes a case where there is a slight deviation.
  • the current having the maximum effective value is the current having the smallest difference between the phase and the phase of the voltage output from the inverter circuit 120.
  • Transmission efficiency can be optimized by transmitting power at a frequency at which such current flows.
  • the mobile unit 200 also has a function of reducing inrush current by sequentially driving at a plurality of frequencies at the start of transmission.
  • the power transmission resonator 110 and the power reception resonator can be charged by performing power transmission by resonance or coupling with the capacitor 210.
  • the power transmission control circuit 140 determines an optimal frequency once and drives the inverter circuit 120 at the frequency, and when a predetermined time has elapsed, the power transmission control circuit 140 performs inverters at a plurality of frequencies included in other frequency ranges including the frequency. The circuit 120 is sequentially driven. And the power transmission control circuit 140 determines the other frequency from which the effective value of the electric current which flows through the power transmission resonator 110 becomes the maximum among several frequencies, and drives the inverter circuit 120 with the determined said other frequency.
  • the frequency is optimized not only at the start of power transmission but also every predetermined time during power transmission, for example, even when the mobile body 200 is moving, high transmission efficiency can be maintained over the charging period.
  • the moving body 200 can suppress the influence even if the relative position between the power transmission resonator 110 and the power reception resonator 210 is shifted within the predetermined time or a substance having high magnetic permeability approaches the periphery.
  • the relative position between the power transmission resonator 110 and the power reception resonator 210 is shifted or a substance having a high magnetic permeability approaches the periphery, the self-inductance and the mutual inductance between the power transmission resonator 110 and the power reception resonator 210 change. To do. Further, the voltage of the capacitor 230 fluctuates during charging.
  • the resistance value of the power transmission resonator 110, the resistance value of the power reception resonator 210, the self inductance, the mutual inductance, and the capacitance vary.
  • the resonance frequency of the power transmission device 100 and the resonance frequency of the moving body 200 vary. Even if such a fluctuation occurs, the difference between the phase of the output current of the inverter circuit 120 and the phase of the output voltage can be reduced.
  • the moving body 200 further includes a switch G5 connected between the capacitor 230 and the DC-DC converter 250.
  • the power reception control circuit 270 turns off the switch G5 when the capacitor 230 is being charged, stops the power supply from the capacitor 230 to the motor 240, and after the charging of the capacitor 230 is completed, G5 is turned on to start supplying power from the capacitor 230 to the motor 240.
  • power supply from the capacitor 230 to the motor 240 can be started after the charging of the capacitor 230 is completed.
  • a configuration in which power is supplied from the capacitor 230 to the motor 240 and other loads while charging is also possible.
  • the power transmission coil 112 may be provided over a long range along the road surface, for example.
  • the moving body 200 can move by driving the motor 240 while charging the capacitor 230.
  • the power transmission coil 112 and the power reception coil 212 do not need to have the structure described with reference to FIG. 3 and FIGS. 8A to 8C.
  • Embodiment 2 Next, the mobile body system in Embodiment 2 is demonstrated.
  • FIG. 11 is a block diagram showing the configuration of the mobile system in the present embodiment.
  • This mobile body system includes a power transmission device 100A and a mobile body 200A.
  • the mobile body 200 ⁇ / b> A according to the present embodiment has a bidirectional DC-DC converter (bidirectional chopper circuit) 250 ⁇ / b> A connected between the rectifier 220 and the capacitor 230 and between the capacitor 230 and the motor 240, and an input to the capacitor 230.
  • the mobile unit 200 according to the first embodiment is different from the mobile unit 200 according to the first embodiment in that the first detector 280 that detects the current and voltage to be transmitted and the communication circuit 290 that performs communication are provided.
  • Embodiment 100 A of power transmission apparatuses differ from the power transmission apparatus 100 in Embodiment 1 by the point provided with the 2nd detector 180 which detects the electric current and voltage input into the power transmission resonator 110, and the communication circuit 190 which communicates. ing.
  • the 2nd detector 180 which detects the electric current and voltage input into the power transmission resonator 110
  • the communication circuit 190 which communicates. ing.
  • a different point from Embodiment 1 is demonstrated and description is abbreviate
  • FIG. 12 is a diagram showing a circuit configuration of the rectifier 220, the bidirectional DC-DC converter 250A, the capacitor 230, and the motor 240 in the moving body 200A.
  • the description of the control circuit 270 and each detector is omitted.
  • the bidirectional DC-DC converter 250A includes two switching elements G5 and G6. The switching elements G5 and G6 are controlled by the control circuit 270.
  • the bidirectional DC-DC converter 250A has a circuit configuration of a half bridge type two quadrant converter. With such a configuration, the bidirectional DC-DC converter 250A can realize both functions of an impedance matching device and a charger. Unlike the configuration of Patent Document 2, the above two functions are realized by one circuit. Since no input impedance matching device is provided on the power transmission device 100A side, it is possible to reduce the cost and size of the power transmission device 100A. Thereby, for example, it becomes easy to arrange the power transmission device 100A in various places in the factory.
  • the bidirectional DC-DC converter 250A is controlled by the power reception control circuit 270, and performs both impedance matching and charge control.
  • the power reception control circuit 270 performs feedback control by reading signals from the first detector 280 (current voltage sensor) connected to the bidirectional DC-DC converter 250A and the capacitor 230.
  • the first detector 280 current voltage sensor
  • the capacitor 230 can be charged rapidly.
  • the voltage value received by the capacitor 230 can be stepped down to an appropriate value.
  • the power reception control circuit 270 can increase the charging speed by controlling the step-down ratio of the bidirectional DC-DC converter 250A and increasing the amount of current.
  • the bi-directional DC-DC converter 250A also performs an operation of boosting the voltage output from the capacitor 230 and applying it to the motor 240, as in the first embodiment. Thereby, the fall of the moving speed accompanying the voltage drop of the capacitor 230 can be suppressed.
  • the power reception control circuit 270 in the present embodiment turns off the switch G7 between the bidirectional DC-DC converter 250A and the motor 240 and turns on / off the switches G5 and G6. Control. Thereby, the bidirectional DC-DC converter 250A functions as a step-down chopper circuit.
  • the power reception control circuit 270 turns on the switch G7 and controls on / off of the G5 and G6.
  • the bidirectional DC-DC converter 250A functions as a step-up chopper circuit.
  • the operation as the step-up chopper circuit is the same as the operation described in the first embodiment.
  • the control circuit 270 Based on the current and voltage detected by the first detector 280, the control circuit 270 switches the switching timings of the two switching elements G5 and G6 in the bidirectional DC-DC converter 250A and the AC power to be output to the inverter circuit 120. Determine the voltage command value. Then, information indicating the voltage command value is transmitted to the power transmission control circuit 140. This communication is performed via the communication circuit 290 of the mobile body 200A and the communication circuit 190 of the power transmission apparatus 100A. The power transmission control circuit 140 changes the voltage of the AC power output from the inverter circuit 120 based on the received information. Note that the communication is not limited to a specific method, and any method can be used.
  • a wireless system such as an amplitude modulation system, a frequency modulation system, a wireless LAN, or Zigbee (registered trademark) can be used.
  • a modulation circuit and a demodulation circuit can be connected to appropriate positions of the circuit (for example, a stage after the inverter circuit 120 and a stage before the rectifier circuit 220).
  • FIG. 13 is a flowchart illustrating an example of an operation at the time of charging by the power transmission device 100A and the moving body 200A in the present embodiment.
  • FIG. 13 illustrates an operation after the moving body 200A has moved to the vicinity of the power transmission device 100A.
  • the power reception control circuit 270 in the moving body 200A first sets the duty ratio of the pulse signal supplied to the switching elements G5 and G6 of the bidirectional DC-DC converter 250A to a preset initial value (step S201). Then, information (referred to as a power transmission voltage command) indicating a command value of the power transmission voltage is transmitted to the power transmission control circuit 140 of the power transmission device 100A (step S202).
  • the command value of the transmission voltage is an initial value set in advance.
  • step S203 when the power transmission control circuit 140 receives the power transmission voltage command, the power transmission control circuit 140 sets the AC voltage (effective value) to be output to the inverter circuit 120 to the value indicated by the power transmission voltage command.
  • This setting is performed by setting the duty ratio (dinv shown in FIG. 6) of the pulse signal supplied to each of the switching elements G1 to G4 of the inverter circuit 120 to a value corresponding to the voltage value.
  • the relationship between the voltage command value and the duty ratio dinv is derived from the relationship between the effective value of the voltage and the duty ratio when the waveform (rectangular wave) of the voltage V1 shown in FIG. 6 is approximated by a sine wave.
  • the duty ratio dinv is expressed by the following formula 1, where E is the value of the voltage output from the DC power supply 50, and V1 is the effective value of the output voltage of the inverter circuit 120.
  • the power transmission control circuit 140 causes the second detector 180 to measure the voltage and current values of the power transmission resonator 110 (step S205). And the information which shows the value of the measured voltage and electric current is transmitted via the communication circuit 190 (step S206).
  • the power reception control circuit 270 of the moving body 200A When receiving the information in step S207, the power reception control circuit 270 of the moving body 200A causes the first detector 280 to measure the voltage and current input to the capacitor 230 (step S208).
  • the power reception control circuit 270 estimates the mutual inductance, which is a control parameter of the bidirectional DC-DC converter 250A, based on the voltage and current values and the voltage and current values transmitted from the power transmitting apparatus 100A (step S100). S209).
  • the mutual inductance is calculated by the following formula 2.
  • ⁇ o is an angular frequency
  • V1 is a power transmission side voltage
  • I1 is a power transmission side current
  • VB is a power reception side capacitor voltage
  • IB is a power reception side capacitor current
  • D is a pulse signal supplied to the bidirectional DC-DC converter 250A.
  • R1 represents the AC resistance on the power transmission side
  • R2 represents the AC resistance on the power reception side.
  • the power reception control circuit 270 calculates the value of the transmission voltage for realizing the maximum efficiency and the duty ratio of the DC-DC converter 250A (step S210).
  • the transmission voltage V1 and the duty ratio D are calculated by the following formula 3. This equation is derived from conditions that maximize efficiency.
  • the power reception control circuit 270 sets the duty ratio of the DC-DC converter 250A to the calculated value of the duty ratio D (step S211).
  • FIG. 14 is a diagram showing the relationship between the pulse signal input to the switching elements G5 and G6 and the duty ratio D.
  • the duty ratio D represents the duty ratio of the pulse signal input to the switching element G5.
  • the duty ratio of the pulse signal input to the switching element G6 is represented by (1-D).
  • the power reception control circuit 270 transmits information indicating the command value of the power transmission voltage to the power transmission control circuit 270 (step S212).
  • the oscillation of the inverter circuit 120 The duty is decreased so as to satisfy V1 ⁇ E, and the command value of the transmission voltage is determined so as to decrease the effective value of V1.
  • the value of R1 >> R2 can be taken.
  • D ⁇ Dmax.
  • a configuration in which E is variable and E is raised may be used, or the maximum value of E may be increased and the initial value of V1 may be V1 ⁇ E.
  • Dmin represents a lower limit value for determining the duty ratio D of the bidirectional DC-DC converter 250A
  • Dmax represents an upper limit value for determining the duty ratio D.
  • step S213 when the power transmission control circuit 270 receives information indicating the command value of the power transmission voltage via the communication circuit 190, the power transmission control circuit 270 sets the voltage so as to realize the voltage command value (step S214).
  • the duty ratio Dinv corresponding to the voltage command value V1 is calculated using the above equation (1).
  • the above operations can be executed not only at the start of power transmission but also repeatedly (for example, every predetermined time) during power transmission. Thereby, the transmission voltage in power transmission device 100A and the duty ratio of bidirectional DC-DC converter 250A in moving body 200A can be maintained at optimum values.
  • the bidirectional DC-DC converter 250A matches the impedance of the mobile body 200A with the impedance of the power transmission device 100A, and steps down the voltage output from the rectifier 220. 230, the voltage output from the capacitor 230 is boosted and provided to the motor 240.
  • the power reception control circuit 270 determines the two switching elements G5 in the bidirectional DC-DC converter 250A based on the current and voltage values to the capacitor 230 detected by the first detector 280. , The switching timing of G6, and the voltage command value of AC power to be output to the inverter circuit 120 are determined. Information indicating the voltage command value is transmitted to the power transmission control circuit 140.
  • the power transmission control circuit 140 changes the voltage of the AC power output from the inverter circuit 120 based on the received information.
  • the power transmission control circuit 140 further transmits second information indicating the current and voltage to the power transmission resonator 10 detected by the second detector 180 to the power reception control circuit 270.
  • the power reception control circuit 270 determines the switching timings and voltage command values of the two switching elements G5 and G6 based on the received second information and the current and voltage detected by the first detector 280.
  • the impedance of the moving body 200A can be matched with the impedance of the power transmission device 100A. Furthermore, the voltage input to the capacitor 230 can be stepped down to an appropriate value. The charging rate can be increased by controlling the step-down ratio and increasing the amount of current.
  • the distance between the coils fluctuates with the movement of the moving body 200A during charging, and the fluctuations in the inductance and capacitance of each coil occur due to the presence of a foreign object such as metal around each coil.
  • impedance matching can be performed appropriately.
  • the impedance of the bidirectional DC-DC converter 250A can be matched with the impedance of the power transmission device 100A so as to reduce the influence of the fluctuation, and the power transmission efficiency can be improved. According to the present embodiment, it is possible to perform power transmission more efficiently than that of the first embodiment even while the moving body 200 is moving.
  • the voltage V2dc is obtained by dividing the aforementioned capacitor voltage VB by the duty ratio D of the DC-DC converter 250.
  • the moving body 200 further includes a voltage detector (third detector) 260 that detects a voltage applied to the motor 240.
  • the power reception control circuit 270 adjusts the switching timing of the two switching elements G5 and G6 based on the voltage detected by the voltage detector 260 while the electric power is supplied from the capacitor 230 to the motor 240, thereby performing bidirectional DC. -Increase the step-up ratio of the DC converter 250A.
  • the present disclosure includes the mobile object system and the mobile object described in the following items.
  • a wireless power transmission device A moving body driven by electric power transmitted wirelessly from the wireless power transmission device; With The wireless power transmission device An inverter circuit that converts DC power supplied from a DC power source into AC power and outputs the AC power; A power transmission resonator for sending at least part of the AC power output from the inverter circuit to a space; A first detector for detecting a current flowing through the power transmission resonator; A power transmission control circuit that controls the frequency of the AC power output from the inverter circuit based on the detected current; Have The moving body is A power receiving resonator that can be coupled to the power transmitting resonator by magnetic field resonance or electromagnetic induction; A rectifier connected to the power receiving resonator and converting the AC power received by the power receiving resonator into DC power and outputting the DC power; A capacitor for storing electric power output from the rectifier; A motor that operates using the electric power stored in the capacitor and moves the moving body; A DC-DC converter that is connected between the capacitor and the motor, and boosts
  • the power transmission control circuit sequentially drives the inverter circuit at a plurality of frequencies included in a preset frequency range when starting power transmission, and the current flowing through the power transmission resonator is selected from the plurality of frequencies.
  • Item 2 The mobile system according to Item 1, wherein a frequency at which an effective value is maximized is determined, and the inverter circuit is driven at the determined frequency.
  • Item 3 The mobile system according to Item 2, wherein the phase of the current at which the effective value is maximized matches the phase of the voltage output from the inverter circuit.
  • the power transmission control circuit determines the frequency and drives the inverter circuit at the frequency, and when a predetermined time has elapsed, the inverter circuit is sequentially operated at a plurality of frequencies included in another frequency range including the frequency. Item 2 or 3 is driven, and the other frequency at which the effective value of the current flowing through the power transmission resonator is maximized is determined from among the plurality of frequencies, and the inverter circuit is driven at the determined other frequency.
  • the moving body is A third detector for detecting the voltage of the capacitor; A switch connected between the capacitor and the motor; Further comprising The power reception control circuit includes: Until the voltage of the capacitor detected by the third detector exceeds a threshold value, the switch is turned off to stop the supply of power from the capacitor to the motor, When the voltage of the capacitor exceeds the threshold, the switch is turned on to start supplying the power from the capacitor to the motor; Item 5.
  • the mobile system according to any one of items 1 to 4.
  • the moving body further includes a switch connected between the capacitor and the DC-DC converter,
  • the power reception control circuit includes: When the capacitor is being charged, turn off the switch to stop the power supply from the capacitor to the motor, After charging of the capacitor is completed, the switch is turned on to start supplying the electric power from the capacitor to the motor.
  • Item 5 The mobile system according to any one of items 1 to 4.
  • Item 5 The mobile system according to any one of Items 1 to 4, wherein the capacitor is an electric double layer capacitor or a lithium ion capacitor.
  • a wireless power transmission device A moving body driven by electric power transmitted wirelessly from the wireless power transmission device; With The wireless power transmission device An inverter circuit that converts DC power supplied from a DC power source into AC power and outputs the AC power; A power transmission resonator for sending at least part of the AC power output from the inverter circuit to a space; A power transmission control circuit for controlling the inverter circuit; Have The moving body is A power receiving resonator that can be coupled to the power transmitting resonator by magnetic field resonance or electromagnetic induction; and A rectifier connected to the power receiving resonator and converting the AC power received by the power receiving resonator into DC power and outputting the DC power; A capacitor for storing electric power output from the rectifier; A motor that operates using the electric power stored in the capacitor and moves the moving body; A bi-directional DC-DC converter connected between the rectifier and the capacitor and between the capacitor and the motor, wherein the impedance of the moving body is matched with the impedance of the power transmission device; A bi
  • the bidirectional DC-DC converter has at least two switching elements connected in parallel to the capacitor;
  • the power reception control circuit determines the impedance and the step-down ratio of the bidirectional DC-DC converter by adjusting a switching timing of the at least two switching elements.
  • Item 11 The mobile system according to Item 10.
  • the power transmission device further includes a second detector that detects a current and a voltage input to the power transmission resonator, The power transmission control circuit transmits second information indicating the current and the voltage detected by the second detector to the power reception control circuit, The power reception control circuit determines a switching timing of the two switching elements and the voltage command value based on the received second information and the current and the voltage detected by the first detector.
  • the mobile system according to Item 11.
  • the moving body further includes a third detector for detecting a voltage applied to the motor,
  • the power reception control circuit adjusts switching timings of the two switching elements based on the voltage detected by the third detector while electric power is supplied from the capacitor to the motor.
  • the mobile system according to any one of Items 10 to 12.
  • the moving body further includes a switch connected between the capacitor and the motor,
  • the power reception control circuit includes: Until the voltage of the capacitor detected by the first detector exceeds a threshold value, the switch is turned off to stop power supply from the capacitor to the motor, When the voltage of the capacitor exceeds the threshold, the switch is turned on to start supplying the power from the capacitor to the motor; Item 14.
  • the mobile system according to any one of Items 10 to 13.
  • the power reception control circuit determines the impedance of the bidirectional DC-DC converter based on the current and voltage input to the power transmission resonator and the current and voltage detected by the first detector.
  • the voltage command value of the AC power to be output to the inverter circuit is updated, and information indicating the voltage command value is transmitted to the power transmission control circuit.
  • the power transmission control circuit changes the voltage of the AC power to be output from the inverter circuit based on the received information.
  • a moving body that is driven by power transmitted wirelessly from at least one wireless power transmission device having a power transmission resonator, A power receiving resonator that can be coupled to the power transmitting resonator by magnetic field resonance or electromagnetic induction; A rectifier connected to the power receiving resonator and converting the AC power received by the power receiving resonator into DC power and outputting the DC power; A capacitor for storing electric power output from the rectifier; A motor that operates using the electric power stored in the capacitor and moves the moving body; A DC-DC converter that is connected between the capacitor and the motor, and boosts or steps down a voltage output from the capacitor and applies the voltage to the motor; A detector for detecting a voltage applied to the motor; A power reception control circuit for controlling the DC-DC converter based on the detected voltage, and increasing a step-up ratio of the DC-DC converter while electric power is supplied from the capacitor to the motor; Or a power reception control circuit that reduces the step-down ratio; A moving object comprising:
  • a moving body that is driven by electric power wirelessly transmitted from at least one wireless power transmission device having an inverter circuit and a power transmission resonator connected to the inverter circuit, A power receiving resonator that can be coupled to the power transmitting resonator by magnetic field resonance or electromagnetic induction; A rectifier connected to the power receiving resonator and converting the AC power received by the power receiving resonator into DC power and outputting the DC power; A capacitor for storing electric power output from the rectifier; A motor that operates using the electric power stored in the capacitor and moves the moving body; A bi-directional DC-DC converter connected between the rectifier and the capacitor and between the capacitor and the motor, wherein the impedance of the moving body is matched with the impedance of the power transmission device; A bidirectional DC-DC converter that steps down an output voltage and applies the voltage to the capacitor, and steps up and outputs a voltage output from the capacitor to the motor; A detector for detecting current and voltage input to the capacitor; A power reception control circuit for controlling the bidirectional DC
  • the technology of the present disclosure can be applied to a wireless power transmission system to an automated guided vehicle (AGV) used in a factory, for example.
  • AGV automated guided vehicle
  • the technology of the present disclosure can be applied not only to AGV but also to other industrial machines or mobile objects such as service robots.
  • DESCRIPTION OF SYMBOLS 50 Direct current (DC) power supply 100 Wireless power transmission apparatus 105 Power transmission coil unit 110 Power transmission resonator 112 Power transmission coil 112a 1st upper part 112a 1st lower part 112c 1st rectangular surface 120 Inverter circuit 130 Current detector 140 Power transmission control Circuit 142 Control IC 143 Memory 144 Gate driver 180 Second detector 200 Moving body 205 Power receiving coil unit 207 Drive wheel 210 Power receiving resonator 212 Power receiving coil 212a Second upper portion 212a Second lower portion 212c Second rectangular surface 220 Rectifier 230 Capacitor 240 motor 250 DC-DC converter (step-up chopper circuit) 260 Voltage detector 262 Voltage detector 270 Power reception control circuit 272 Control IC 273 Memory 274 Gate driver 280 First detector

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)

Abstract

L'objectif de l'invention est de transmettre une puissance sans contact à un corps mobile au moyen d'une configuration relativement simple. Dans la présente invention, un corps mobile est entraîné par la puissance transmise sans fil à partir d'un dispositif de transmission de puissance sans fil comprenant un résonateur de transmission de puissance. Le corps mobile comprend : un résonateur de réception de puissance ; un redresseur qui convertit un courant alternatif en courant continu et qui délivre le courant continu, ledit courant alternatif ayant été reçu par le résonateur de réception de puissance ; un condensateur qui stocke la puissance délivrée par le redresseur ; un moteur, qui est actionné au moyen de la puissance stockée dans le condensateur, et qui déplace le corps mobile ; un convertisseur courant continu-courant continu, qui augmente ou réduit la tension délivrée par le condensateur et qui applique la tension au moteur ; et un circuit de commande de réception de puissance qui commande le convertisseur courant continu-courant continu sur la base de la tension appliquée au moteur, ledit circuit de commande de réception de puissance augmentant le rapport d'augmentation du convertisseur courant continu-courant continu ou réduisant le rapport de réduction du convertisseur courant continu-courant continu alors que le moteur est alimenté avec la puissance provenant du condensateur.
PCT/JP2016/086313 2015-12-28 2016-12-07 Système de corps mobile Ceased WO2017115625A1 (fr)

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CN201680076352.2A CN108473066A (zh) 2015-12-28 2016-12-07 移动体系统
JP2017558913A JPWO2017115625A1 (ja) 2015-12-28 2016-12-07 移動体システム

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JP2019187006A (ja) * 2018-04-04 2019-10-24 株式会社豊田中央研究所 スイッチング制御装置
CN111033421A (zh) * 2017-09-29 2020-04-17 日本电产株式会社 移动体
JP2020174453A (ja) * 2019-04-10 2020-10-22 株式会社デンソー 非接触給電システム
JP2022139153A (ja) * 2021-03-11 2022-09-26 株式会社レーザーシステム 結合共振型無線電力伝送システム
JP2023051528A (ja) * 2021-09-30 2023-04-11 大日本印刷株式会社 コイル部品、送電装置、受電装置、及び電力伝送システム
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JPWO2017115624A1 (ja) * 2015-12-28 2018-10-18 日本電産株式会社 移動体システム
WO2019021655A1 (fr) * 2017-07-25 2019-01-31 日本電産株式会社 Dispositif de transmission d'énergie et système d'alimentation électrique sans contact
CN111033421A (zh) * 2017-09-29 2020-04-17 日本电产株式会社 移动体
JP2019187006A (ja) * 2018-04-04 2019-10-24 株式会社豊田中央研究所 スイッチング制御装置
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JP2022139153A (ja) * 2021-03-11 2022-09-26 株式会社レーザーシステム 結合共振型無線電力伝送システム
JP2023051528A (ja) * 2021-09-30 2023-04-11 大日本印刷株式会社 コイル部品、送電装置、受電装置、及び電力伝送システム
JP2023183649A (ja) * 2022-06-16 2023-12-28 株式会社ダイフク 受電装置
JP7548274B2 (ja) 2022-06-16 2024-09-10 株式会社ダイフク 受電装置

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