【作者】 于涛；

【导师】 李聃； 王春芳；

【作者基本信息】 哈尔滨工程大学 ， 电子信息工程（专业学位）， 2025， 硕士

【摘要】 无线电能传输（Wireless Power Transfer,WPT）技术为工业级及消费级移动机器人提供了高效便捷的解决方案。WPT系统输入一般为电网的工频交流电,为了减少谐波污染,提升有功功率,通常会增加一级功率因数校正（Power Factor Correction,PFC）电路。本文通过对比分析,建立功率等级-效率-成本的协同设计准则,针对不同应用场景提出两类差异化功率因数校正拓扑设计方案。针对工业级移动机器人无线充电,设计基于交错并联Boost PFC的多级式WPT系统。首先在连续导通（Continuous Conduction Mode,CCM）模式下分析交错并联Boost PFC的工作原理及特性,采用状态平均法进行小信号建模,并进行频域分析完成双闭环PI补偿器参数优化设计,之后对SS补偿系统的磁耦合机构及WPT系统电路进行设计,搭建的3000 W实验平台验证表明,在220 V_AC输入,阻性负载条件下,当负载率由10%变化至100%时,前级PFC效率大于96.78%,功率因数（Power Factor,PF）大于0.966,当线圈垂直距离由4 cm变化至8 cm时,系统整体效率大于85%。针对消费级家用移动机器人无线充电,设计了一种新型的基于全桥变换器的单级WPT系统。该系统减少了所用功率器件数量,简化了WPT系统,满足消费级低成本的目标。基于基波分析法得出了系统用于有源PFC运行的线频分量和用于WPT运行的高频分量的数学表达式,采用三电平非对称调制方法控制MOSFET导通时序,可实现PFC与高频逆变功能的集成,通过构建数学模型,提出了针对系统输入、输出特性的总体闭环控制方案。在优化双闭环控制策略的基础上,引入一级母线电压环,采用输出电压、输入电流、母线电压的三闭环控制策略,在实现PFC的同时解决了单级WPT系统固有的母线电压不稳定的问题,同时给出了解决输出电压存在二倍工频纹波的方法。搭建的45 W验证样机表明,在24 V_AC输入条件下,线圈垂直距离d=6 cm时,系统的PF>0.99,母线电压稳定在60 V,输出电压为45 V且抑制了双倍的工频纹波,系统效率为85.2%,器件数量与传统结构相比减少37.5%。系统在减少器件数量的同时,并未牺牲性能,为后续优化设计和实际应用提供了坚实基础。更多还原

【Abstract】 Wireless Power Transfer（WPT）technology offers an efficient and convenient solution for mobile robots used in industrial and consumer applications.In practical applications,the input to WPT systems is typically the grid’s power-frequency AC.To reduce harmonic distortion and improve active power,a Power Factor Correction（PFC）circuit is often added.This paper establishes a collaborative design guideline for power level,efficiency,and cost through comparative analysis,and proposes two differentiated PFC topology design schemes for different application scenarios.For industrial-grade mobile robot wireless charging,a multi-stage WPT system based on an interleaved parallel Boost PFC is designed.The working principle and characteristics of the interleaved parallel Boost PFC are analyzed in Continuous Conduction Mode（CCM）.A small-signal model is developed using the state-space averaging method,and frequency domain analysis is performed for the optimization design of the dual-loop PI compensator parameters.Subsequently,the magnetic coupling mechanism of the SS compensation system and the WPT system circuit are designed.Experimental validation on a 3000 W platform shows that,under220 V_AC input with resistive load,when the load rate changes from 10%to 100%,the efficiency of the front-stage PFC exceeds 96.78%,and the power factor（PF）exceeds 0.966.When the vertical distance between the coils changes from 4 cm to 8 cm,the overall system efficiency exceeds 85%.For consumer-grade household mobile robot wireless charging,a novel single-stage WPT system based on a full-bridge converter is designed.This system reduces the number of power semiconductor devices required,thereby simplifying the WPT architecture while meeting the cost-efficiency demands of mass-market applications.Using a fundamental wave analysis method,mathematical expressions for the line frequency component used for active PFC operation and the high-frequency component used for WPT operation are derived.The system employs a three-level asymmetric modulation method to control the MOSFET conduction timing,enabling the integration of PFC and high-frequency inversion functions.A closed-loop control scheme is proposed for the system’s input and output characteristics based on the constructed mathematical model.Building upon an optimized dual-loop control strategy,a first-stage bus voltage loop is introduced,and a three-loop control strategy—comprising output voltage,input current,and bus voltage—is applied.This strategy not only realizes PFC but also solves the inherent instability of the bus voltage in the single-stage WPT system.Moreover,a method to eliminate the double-line-frequency ripple in the output voltage is provided.A 45 W verification prototype indicates that,under a 24 V_AC input condition and with a coil vertical distance of 6 cm,the system’s PF exceeds 0.99,the bus voltage is stabilized at 60 V,the output voltage is 45 V with suppressed double-line-frequency ripple,and the system efficiency reaches85.2%.Compared to traditional structures,the number of components is reduced by 37.5%.The system achieves performance without sacrificing functionality,providing a solid foundation for further optimization and practical applications.更多还原