【作者】 王鹏；

【导师】 同向前； 文海兵；

【作者基本信息】 西安理工大学 ， 电气工程， 2025， 硕士

【摘要】 平面型水下航行器在海洋资源探索、开发、利用等方面具有广阔的应用前景,各种类型结构的水下航行器应运而生,其功能也各不相同。但水下航行器如何在水下进行长时间连续工作,已经成为制约其发展的重要问题。无线电能传输技术(Wireless Power Transfer,WPT)是新兴的电能补给方式,其电能发送端和接收端无需电路间的物理连接,从而确保水下航行器以高效、安全的方式进行电能传输,提高充电的自由度和安全性。电磁耦合机构是无线电能传输系统中的重要组成部分,耦合机构的性能决定了系统的电能传输效率、传输距离等关键性能指标。由于海洋环境中富含微生物,藻类和贝壳等海洋生物,经过长时间的水下工作,海洋生物会附着在平面型水下航行器底部以及充电基站上,除此之外还有洋流的影响,这就导致平面型水下航行器会产生侧向,垂直,倾斜等各个方向的偏移情况,这是水下无线电能传输中着重考虑的因素。对此,本文重点针对平面型水下航行器在工作环境中可能产生的各个方向上偏移情况进行分析,设计了一种具有较强抗偏移能力的阶梯-反串联线圈组合式磁耦合机构。论文的主要研究内容如下:首先,针对平面型水下航行器在海洋环境下的偏移问题提出了阶梯状发送线圈的结构,并对阶梯状发送线圈的重要参数进行详细描述。基于阶梯状线圈的建模,利用毕奥-萨伐尔定律推导了阶梯状发送线圈在空间中磁场分布公式,并对公式结果进行分析,获得了影响阶梯状发送线圈在空间中磁场分布情况的参数,并对重点参数进行初步优化与分析,表明了阶梯状发送线圈的磁场分布特性会随着阶梯状线圈的阶梯数增加而有较强的改善,但受绕线可行性和工程复杂度的影响,将阶梯状发送线圈的阶梯数最终定为4段。由于阶梯状线圈对改善磁场分布的能力有限,需引入反串联线圈进行组合,共同改善空间中磁场分布情况。得出初步优化结果后,对整体阶梯-反串联线圈组合式磁耦合机构进行建模仿真分析,证明阶梯-反串联线圈组合式磁耦合机构可以实现空间内的匀强磁场,使得磁耦合机构具有良好的抗全向偏移的能力。其次,针对阶梯-反串联线圈组合式磁耦合机构的参数优化问题,通过引入非支配排序遗传算法(Non-dominated Sorting Genetic Algorithms-II,NSGA-II)对阶梯-反串联组合式线圈磁耦合机构的重点参数进行详细优化,以电能发送线圈在空间中产生的磁场强度的平均值和方差为优化目标,得出帕累托前沿,选取权衡最好的优化参数,得出最优的阶梯-反串联组合式线圈结构。此外,还围绕新型电磁屏蔽材料进行分析,引入纳米晶带材而取代传统铁氧体作为磁芯,进一步减少涡流损耗的影响,并且减少漏磁,以确保系统高效运行。最后,通过搭建无线电能传输系统的实验平台,验证了所提出的阶梯-反串联组合式线圈磁耦合机构抗偏移能力,并在盐水中进行了验证实验。建立的450W的试验样机,效率达91.1%,在盐水中的电能传输效率比空气中低1.55%,倾斜角度的输出功率波动在3%以内。电能传输效率的变化和高度偏移时的情况也相同,最大的电能传输效率波动仅为4.39%。当传输距离为10mm时,输出功率下降了40.35W,下降率为9.8%,当极限传输距离为30mm时,功率波动率限制在10%以内。更多还原

【Abstract】 Planar-type autonomous underwater vehicles(AUVs)have vast potential in ocean resource exploration,development,and utilization.Various types of AUVs with different structures have emerged,each serving distinct functions.However,the challenge of enabling AUVs to operate continuously underwater for extended periods has become a critical obstacle to their advancement.Wireless power transfer(WPT)technology,as a novel method of energy transmission,eliminates the needs for physical connections between the power transmitter and receiver.This ensures efficient and safe energy transfer for underwater vehicles,increasing charging flexibility and safety.The electrical magnetic coupler is a vital component of the WPT system,with the coupler’s performance determining key metrics such as power transfer efficiency and transmission distance.Due to the marine environment is rich in microorganisms,algae,shellfish,and other marine life,prolonged underwater operation leads to marine biofouling on the bottom of planar type AUVs and charging stations.Additionally,ocean currents cause lateral,vertical,and tilt angles misalignments in planar type AUVs,which are significant considered in underwater WPT.To address these problems,this paper focuses on analyzing the potential multi-directional displacements of planar type AUVs and designs a hybrid stepped electrical magnetic coupler with robust anti-misalignment capabilities.The key research contributions are as follows:Firstly,the structure of a stepped transmitting coil is proposed,and the parameters of the stepped transmitting coil are described in detail.Based on the modeling of the stepped coil,the Biot-Savart law is applied to analyze the magnetic field distribution generated by the stepped transmitting coil in space.The key parameters influencing the magnetic field distribution are identified and preliminarily optimized.It is demonstrated that increasing the number of steps in the stepped coil significantly improves the magnetic field distribution.However,considering wiring feasibility and engineering complexity,the number of steps is ultimately set as four.Since the stepped coil alone has limited ability to improve the magnetic field distribution,a reverse-series coil is introduced to enhance the overall distribution.After initial optimization,the hybrid stepped transmitting coil is modeled and simulated,confirming its ability to generate a uniform magnetic field in space,providing the coupler with excellent anti-omnidirectional displacement performance.Secondly,the Non-dominated Sorting Genetic Algorithm-II(NSGA-II)is employed to optimize the key parameters of the hybrid stepped transmitting coil.The optimization targets are the average and variance of the magnetic field strength generated by the transmitting coil in space.The pareto front is obtained,and the best trade-off parameters are selected,resulting in an optimal hybrid stepped transmitting coil structure.Additionally,new electromagnetic shielding materials are analyzed,with nanocrystalline ribbon replacing traditional ferrite as the core material.This further eddy current losses are reduced and magnetic leakage is minimized,ensuring the system’s high efficiency.Finally,an experimental platform for the WPT system is developed to validate the anti-misalignmentment capability of the proposed hybrid stepped transmitting coil.The underwater experiment is tested and the effectiveness is confirmed.A 450W prototype was constructed,achieving an efficiency of 91.1%.The power transfer efficiency in seawater was found to be1.55%lower than in air,while the output power fluctuation remained within 3%across various tilt angles.Similarly,the efficiency variation and power fluctuations during height displacement were minimal,with the maximum efficiency fluctuation recorded at just 4.39%.When the transmission distance was increased to 10mm,the output power decreased by 40.35W,representing a 9.8%drop.At the maximum transmission distance of 30mm,the power fluctuation rate was constrained to within 10%.更多还原