摘 要

AGV（自动引导车）作为典型的柔性自动化设备，由于其工作效率高，适应性强，线路布局简单而得到迅速发展和不断推广，这使得工业生产过程的自动化程度大幅提高。一般情况下，小车使用有线充电，这降低了自动化程度和实际工作效率。此外，在不断的拔插过程中会磨损充电插头，造成设备老化。这样不仅增加了成本，而且还容易发生漏电等安全隐患。本设计将设计一种无线能量传输系统来解决上述问题。

本设计首先介绍了AGV的现状，并阐述了使用无线电能传输技术对AGV的好处。紧接着并介绍了几种不同的无线充电技术，然后，根据实际应用条件解释了系统是一个低电压高电流输出系统，并选择感应耦合式能量传输系统为研究对象。接下来分析感应耦合能量传输系统的原理与结构，首先根据基波模型近似分析法对主电路的工作原理、逆变部分和整流部分进行分析。在分析时还发现发现需要使用补偿拓扑减小变压器漏感造成的无功功率。根据AGV实际应用要求，分析不同的补偿拓扑优缺点，最终选择用D-LCC（Double-LCC，双边LCC）型补偿拓扑。接着根据实际条件选择非对称原型线圈为本文研究对象。在D-LCC型系统的分析中首先分析出单位功率因数特性和恒流输出特性，再根据恒流输出特性和AGV的实际应用的条件确定电路参数，完成整个电路的设计。最后在ANSYS和Simulink软件中完成仿真，得到最终结果，验证本设计正确。

通过研究仿真结果可以知道：(1)本文所设计线圈具有优良的抗偏移能力；（2）本设计输出结果满足选题要求，并且还具有原/副边单位功率因数特性、恒流输出特性和良好的敏感性。

关键词：感应耦合能量传输；D-LCC型补偿拓扑；耦合线圈；ANSYS；Simulink

Abstract

AGV (Automated guided vehicle ), as a typical flexible automation equipment, has been rapidly developed and continuously promoted due to its high efficiency, strong adaptability, and simple circuit layout, which has significantly improved the degree of industrial production automation. Under normal circumstances, the car uses wired charging, which reduces the degree of automation and actual work efficiency. In addition, the charging plug will be worn out during the continuous plugging and unplugging process, causing the device to age. This not only increases the cost, but also prone to potential safety hazards such as leakage.This paper will design a wireless energy transmission system to solve the above problems.

This design first introduces the current situation of AGV and explains the benefits of using wireless energy transmission technology for AGV. Immediately following and introduced several different wireless charging technologies .Then, according to the actual application conditions, the system is explained as a low voltage and high current output system, and the inductively coupled energy transmission system is selected as the research object. Next, the principle and structure of the inductively coupled energy transmission system are analyzed. First, the working principle, inverter part and rectification part of the main circuit are analyzed according to the fundamental mode approximattion. During the analysis, we also found that we need to use the compensation topology to reduce the reactive power caused by the transformer leakage inductance. According to the actual application requirements of AGV, the advantages and disadvantages of different compensation topologies are analyzed, and finally the D-LCC (Double-LCC, bilateral LCC) type compensation topology is selected. Then choose the asymmetric prototype coil as the research object in this paper according to the actual conditions. In the analysis of the D-LCC type system, the unit power factor characteristics and the constant current output characteristics are first analyzed, and then the circuit parameters are determined according to the constant current output characteristics and the actual application conditions of the AGV to complete the design of the entire circuit. Finally, the simulation is completed in ANSYS and Simulink software, and the final result is obtained, which verifies that the design is correct.

By studying the simulation results, we can know that: (1) the coil designed in this paper has excellent anti-offset ability; (2) the output results of this design meet the requirements of the topic selection, and also have the unit power factor characteristics of the primary and secondary sides, and the constant current output characteristics And good sensitivity.By studying the simulation results, we can know that: (1) the coil designed in this paper has excellent anti-offset ability; (2) the output results of this design meet the requirements of the topic selection, and also have the unit power factor characteristics of the primary and secondary sides, and the constant current output characteristics And good sensitivity.

Keywords: inductively coupled energy transmission; D-LCC type compensation topology; Coupling coil; ANSYS Maxwell; MATLAB / Simulink

目 录

第一章 绪论1

1.1 课题的研究背景及意义1

1.2 无线电能传输技术介绍1

1.3 无线充电技术的研究现状3

1.3.1 无线充电技术的国外研究现状3

1.3.2 无线充电技术的国内研究现状4

1.4 本文主要研究内容5

第二章 IPT系统原理与结构分析6

2.1 基于AGV应用的IPT系统的工作原理6

2.2 电能变换器分析6

2.2.1 逆变电路基波分析7

2.2.2 整流电路基波分析7

2.3 补偿拓扑结构分析9

2.3.1 补偿拓扑选择要素9

2.3.2 补偿拓扑现状10

2.4 线圈结构分析11

2.4.1 线圈结构选择要素11

2.4.2 线圈结构现状11

2.5 本章小结12

第三章 基于D-LCC补偿的AGV用IPT系统设计13

3.1 IPT系统主电路分析13

3.2 IPT系统电路传输特性分析14

3.2.1 系统功率因数特性分析14

3.2.1 系统恒流输出特性分析16

3.3 电路参数配置设计18

3.4 本章小结19

第四章 系统仿真与结论20

4.1 耦合线圈ANSYS仿真结果分析20

4.2 电路Simulink仿真结果分析21

4.3 本章小结24

第五章 总结与展望 25

5.1 总结25

5.2 展望25

致谢26

参考文献27

附录A28

附录B29

第一章 绪论

1.1课题的研究背景及意义

现代生活中，随着生产、制造、加工等工业过程的完成，机器人正在逐步取代人工，极大的提升了工业生产的自动化程度。自动导引车(Automated Guided Vehicle，又称AGV小车)，是一种被广泛应用的工业机器人，它可以按照设定的路线自动完成运输任务。AGV小车供电系统选用蓄电池，运行一段时间至电量不足后，小车会自动行驶到休息区进行充电。随着AGV的发展和普及，充电技术已成为限制其推广的关键技术，其研究和应用越来越重要。在充电的技术方面，目前的充电方式有有线充电和非接触式的无线充电。

传统的有线充电方式可以直接一次性实现能源转换，产生的电能损失低，可有效节约能源，维修方便。但是有线充电方式依靠人力来移动,设备的搬运比较麻烦，手动操作复杂，并且充电电缆长度限制充电范围。裸露在空气里的导线和插座等带电导体容易产生电火花，手动操作过程中极易造成设备的严重磨损，存在很大安全隐患;这是有线充电的最大问题。