【作者】 杨柳；

【导师】 焦超群；

【作者基本信息】 北京交通大学 ， 电气工程（专业学位）， 2021， 硕士

【摘要】 随着社会经济水平的提高,我国变电站的规模和输电电压等级都在不断提高,变电站的巡检工作所需要的安全性和可靠性的要求也在不断提高,若使用传统的人力巡检,不仅容易发生错误,而且危险性也随之提升。巡检机器人的出现不仅提高了巡检工作的安全性,而且巡检的效率也大大提高。但传统的有线充电方法对巡检机器人的灵活运行有所限制,有线充电的接口来回插拔也容易引起安全事故,尤其在雨雪天气下。而将无线充电技术应用到变电站的巡检机器人当中,则可以有效解决这个问题。本课题即是针对巡检机器人的动态无线充电技术中的导轨切换问题,设计了一套适用于变电站巡检机器人的无线充电导轨切换控制系统。本文首先对巡检机器人技术和无线充电技术的研究背景和研究意义进行阐述,随后分析了国内外的发展现状,最后明确了本文的主要研究内容。其次通过对无线充电系统基本原理的研究来设计应用于动态无线充电系统的基本结构。包括对整流电路,DC-DC直流斩波电路,逆变电路以及发射侧和接受侧的补偿电路的网络拓扑进行选择等。在完成对基本结构的设计之后分别对静态和动态无线充电系统的电路拓扑结构进行理论分析,对影响效率的因素进行分析并对参数进行优化,在Matlab/Simulink中选择合适的参数对所设计的无线充电基本结构进行仿真分析,得到适用于动态无线充电技术的基础仿真模型。然后针对动态无线充电系统的导轨切换过程,用差分法来对其进行建模。仿真模拟硬切换和软切换,得到在不同的切换状态下线圈的电压电流值,对切换时电压突变的问题提出使用自由振荡的方式将导轨中的能量消耗完再进行切换。针对副边拾取电压不连续的问题提出电流过零点切换的导轨切换方法,在单一补偿电容的网络拓扑结构下检测发射端的电流,当导轨电流在两种工作状态之间时对相邻两导轨进行切换,使能量连续传输。根据所提出的导轨切换方案在Matlab/Simulink中建立仿真模型,模拟切换时的电压电流变化,验证方案设计的有效性。根据仿真结果对导轨切换控制系统进行硬件电路板的设计和程序的编写,包括核心处理器的选型,主要器件和驱动电路的设计和选型,以及PCB电路的绘制,并用Verilog语言对切换程序进行逻辑设计。最后搭建了静态无线充电系统和动态无线充电系统的实验平台,通过无线充电的正常运行验证了所设计的无线充电系统基本结构和参数的正确性,通过导轨切换功能的正常使用验证了硬件电路板功能的有效性。更多还原

【Abstract】 With the improvement of social and economic level,the scale and transmission voltage level of China’s substations are constantly improving,and the requirements of safety and reliability required by substation inspection are also constantly improving.If the traditional manual inspection is used,not only errors are prone to occur,but also the risk is increased.The appearance of inspection robot not only improves the safety of inspection work,but also greatly improves the efficiency of inspection.However,the traditional wired charging method limits the flexible operation of the inspection robot,and the back and forth plugging of the wired charging interface is also easy to cause safety accidents,especially in rainy and snowy weather.The application of wireless charging technology to substation inspection robot can effectively solve this problem.In this thesis,aiming at the problem of rail switching in the dynamic wireless charging technology of inspection robot,a set of wireless charging rail switching control system suitable for substation inspection robot is designed.This thesis first describes the research background and significance of inspection robot technology and wireless charging technology,then analyzes the development status at home and abroad,and finally defines the main research content of this paper.Secondly,the basic structure of the dynamic wireless charging system is designed by studying the basic principle of the wireless charging system.It includes the selection of network topology of rectifier circuit,DC-DC chopper circuit,inverter circuit and compensation circuit on the transmitting side and receiving side.After completing the design of the basic structure,the circuit topology of static and dynamic wireless charging system is analyzed theoretically,the factors affecting the efficiency are analyzed,and the parameters are optimized.The appropriate parameters are selected in matlabgsimulink to simulate and analyze the designed basic structure of wireless charging,The basic simulation model suitable for dynamic wireless charging technology is obtained.Then,aiming at the rail switching process of the dynamic wireless charging system,the differential method is used to model it.The voltage and current values of the coil under different switching states are obtained by simulating hard switching and soft switching.To solve the problem of voltage mutation during switching,the free oscillation method is proposed to use up the energy in the guide rail before switching.In order to solve the problem of discontinuous Pick-up voltage at the receiving side,a rail switching method of current zero crossing switching is proposed.The current at the transmitting side is detected under the network topology of single compensation capacitor.When the rail current is between two working states,the two adjacent rails are switched,so that the energy can be transmitted continuously.According to the proposed rail switching scheme,the simulation model is established in matlabgsimulink to simulate the voltage and current changes during switching,and verify the effectiveness of the scheme design.According to the simulation results,the hardware circuit board and program of the rail switching control system are designed,including the selection of the core processor,the design and selection of the main devices and driving circuits,and the drawing of PCB circuit.The logic design of the switching program is carried out with Verilog language.According to the simulation results,the hardware circuit board and program of the rail switching control system are designed,including the selection of the core processor,the design and selection of the main devices and driving circuits,and the drawing of PCB circuit.The logic design of the switching program is carried out with Verilog language.更多还原