CN104682581B - Dynamic wireless power supply device and dynamic wireless power supply method for mobile equipment based on equalized field strength of segmented guide rails - Google Patents

Abstract

A dynamic wireless power supply device and a dynamic wireless power supply method for movable equipment based on a segmented guide rail equalizing field strength relate to a dynamic wireless power supply device for a movable equipment and a dynamic wireless power supply method thereof. The power supply technology has problems of high electromagnetic radiation, high cost, long distance and uneven mutual inductance between the electromagnetic coupling mechanisms. In the dynamic wireless power supply method described in the present invention, the sensitive boundary of the magnetic sensor is set, the movable device is positioned according to the sensitive boundary, and the two-stage segmented guide rail directly below the power receiving end system on the side of the movable device is opened, and the remaining segmented guide rails In the closed state; the controller generates a soft switch control signal according to the positioning signal of the magnetic sensor, and the soft switch control signal generates a drive signal after being electrically isolated and driven by the isolation driver, and the drive signal controls the opening of the high frequency inverter in the two-stage segmented guide rail. off; realize dynamic wireless power supply. The invention is used for dynamic wireless power supply of mobile equipment.

Description

Dynamic wireless power supply device and dynamic wireless power supply method for mobile equipment based on equalized field strength of segmented guide rails

technical field

The invention relates to a dynamic wireless power supply device of a movable device and a dynamic wireless power supply method thereof.

Background technique

In industrial production, motor-driven fixed-site mobile equipment has been widely used, such as AGV unmanned vans, tunnel cable inspection robots, rail transit, factory automated production lines, etc. Due to energy saving and low environmental pollution, electric vehicles have been vigorously promoted by countries all over the world. The above-mentioned movable actuators often need a built-in battery pack or an external cable for power supply, which affects the continuity and flexibility of their use. This requires exploring a suitable energy filling technology to solve the power supply problem for the further development of the above-mentioned mobile devices from the perspective of energy supply.

Due to the limitation of the interface, the traditional plug-in charging method can only charge one device at a time, and the high voltage output by the charger will cause a series of safety problems. Wireless charging technology can solve the above problems very well. Users only need to drive the device to the designated charging area, and it can be charged automatically. This technology is called static wireless charging technology. For mobile actuators, wireless charging has no exposed connectors, which completely avoids safety hazards such as leakage and runaway, and can greatly increase its battery life and mobility. However, traditional static wireless charging has problems such as short cruising range, long charging time, frequent charging, large volume and weight of the battery pack, and high cost. Especially for public transport vehicles such as electric buses, their continuous battery life is extremely important. In this context, the dynamic wireless charging technology emerges as the times require, which provides real-time energy supply to mobile devices while driving in a non-contact manner. The mobile device can be equipped with a small amount or even no battery pack, and its cruising range is extended, while the power supply is safer and more convenient.

The existing dynamic wireless power supply technology for mobile devices is intended to solve the problem of power transmission continuity existing in dynamic wireless power supply for mobile devices. The dynamic wireless power supply device mainly includes fixed ground facilities and energy receiving and conversion systems installed on movable equipment. The main assessment indicators include: wireless energy transmission distance, efficiency, power, lateral lateral movement distance of the road, etc. Therefore, the development of a dynamic wireless power supply system with high power, high efficiency, low electromagnetic radiation, and moderate cost has become the main research content of major foreign research institutions. The University of Auckland in New Zealand uses long guide rail coils to solve the problems caused by energy channel switching during vehicle movement, but this method has small mutual inductance between the transmitting coil structure and the receiving coil, which leads to small transmission distances and low transmission efficiency. . The Korea Institute of Science and Technology added an optimized core structure to the coil, which improved the transmission efficiency and transmission distance compared with the solution of the University of Auckland. However, the addition of the core has the disadvantage of high equipment cost and is not suitable for large-scale applications. The Oak Ridge Laboratory in the United States adopts the scheme of continuous laying of multi-split coils, and its ground launch device adopts a series connection of multiple monomer coils to form a series resonant cavity and uses a topology of a single inverter source, but the transmission power and efficiency are in the vehicle During the driving process, it is affected by the relative position of the transmitting and receiving coils, and the power and efficiency are extremely low in the middle position of the two transmitting coils.

In particular, the prior art has significant shortcomings of electromagnetic radiation, and the current solution can only be by taking some limited electromagnetic shielding measures, such as installing magnetic cores or aluminum plates on the chassis of electric vehicles, to weaken the electromagnetic radiation of the human body in the vehicle. However, when laying high-power long guide rails on the highway to wirelessly power electric vehicles, when pedestrians cross the road and pass by the energized high-power guide rails, they will be affected by strong electromagnetic radiation and pose a serious threat to human safety. According to the standards established by the International Commission on Non-Ionizing Radiation Protection (ICNIRP), the public exposure limit at 100kHz current density is 200mA/m ² , which may affect the function of the human nervous system if the value is too high ; The specific absorption rate (Specific Absorption Rate, SAR) limit is 2W/kg, and the power density limit is 10W/m ² , if the two values are too high, local tissues of the human body will be overheated. Therefore, it is necessary to provide an improved method and device to solve the above technical problems.

Contents of the invention

The purpose of the present invention is to solve the problems of high electromagnetic radiation, high cost, long distance and uneven mutual inductance between the electromagnetic coupling mechanisms in the existing mobile equipment wireless power supply technology, and to provide a mobile equipment based on segmented guide rail equalization field strength A dynamic wireless power supply device and a dynamic wireless power supply method thereof.

The dynamic wireless power supply device for mobile equipment based on segmented guide rail equalized field strength according to the present invention, the dynamic wireless power supply device for mobile equipment includes a power supply end system on the grid side and a power receiving end system on the mobile equipment side, the power supply end system on the grid side will Energy transmission to the power receiving end system on the mobile device side;

The grid-side power supply system includes a power frequency rectifier, a high-power DC bus, n-level segmented guide rails and an n-level position detection control circuit, where n is a positive integer; the power of the power grid is transmitted to the high-power DC bus through the power frequency rectifier;

The n-level segmented guide rails have the same structure, including high-frequency inverters, composite resonant circuits and transmitting windings; the high-frequency inverters at all levels are connected in parallel on the high-power DC bus, and the high-frequency inverters output power to the composite resonant circuit, then transmitted into the air medium through the transmitting winding;

The n-level position detection control circuit has the same structure, including a magnetic sensor, a controller and an isolation driver. The magnetic sensor is set at the center between two adjacent transmitting windings. The magnetic sensor detects the magnetic field strength when the movable device is moving. According to the threshold The threshold is used to locate the movable device. The controller generates a soft switch control signal according to the positioning signal of the magnetic sensor. The soft switch control signal is electrically isolated and driven by the isolation driver to generate a drive signal, and the drive signal controls the communication of the corresponding high frequency inverter. broken;

The threshold threshold is the set sensitive boundary of the magnetic sensor. By setting the threshold threshold, the two-level segmented guide rail directly below the power receiving end system on the movable device side is opened, and the remaining n-2 segmented guide rails are in a closed state;

The sensitive boundary of the magnetic sensor is set as: Among them: r represents the radius of the inscribed circle of the transmitting winding, and d represents the boundary distance between two adjacent transmitting windings;

The operating point frequency of the soft switching control signal generated by the controllers at all levels is f ₀ , and the resonance frequency of the composite resonant circuit at all levels is f _k , and f _k = f ₀ ;

The power receiving end system on the mobile equipment side includes a receiving resonant circuit, a high frequency rectifier, a DC bus, a DC-DC converter, a DC-AC converter, a vehicle battery pack and a vehicle AC motor;

The receiving resonant circuit receives the magnetic energy transmitted by the transmitting winding in the grid-side power supply end system, and converts the magnetic energy into electrical energy in the form of alternating current, which is rectified into DC by a high-frequency rectifier and then output to the DC bus, DC-DC converter and DC -The AC converter is connected in parallel to the DC bus, the energy received by the movable equipment is driven by the DC-AC converter to drive the AC motor on the vehicle, and the energy received by the movable equipment when it enters the dock is converted to the vehicle by the DC-DC converter Battery pack charging;

The receiving resonant circuit is provided with a receiving winding, the receiving winding receives the magnetic energy transmitted by the transmitting winding in the power supply end system of the network side, and a magnetic track nail is arranged at the geometric center of the receiving winding;

The magnetic field resonance coupling is generated by the transmitting winding on the opened two-stage segmented guide rail and the receiving winding in the power receiving end system on the movable device side to complete the dynamic wireless power supply.

The dynamic wireless power supply method of the mobile equipment dynamic wireless power supply device based on the segmented guide rail equalizing field strength of the present invention, the specific process of the dynamic wireless power supply method is:

Step 1. Install the magnetic sensor and transmitting winding in the power supply end system on the grid side below the ground, install the other components in the power supply end system on the grid side above the ground, and install the power receiving end system on the movable equipment side on the electric vehicle;

Step 2. Set the sensitive boundary of the magnetic sensor as: Among them: r represents the radius of the inscribed circle of the transmitting winding, and d represents the boundary distance between two adjacent transmitting windings;

Step 3. The magnetic sensor measures the change value of the output of the horizontal axis when the electric vehicle moves, obtains the magnetic field strength, locates the electric vehicle according to the sensitive boundary set in step 2, and opens the two-stage sub-system directly below the power receiving end system on the movable device side. segment guide rails, and the remaining n-2 segment segment guide rails are closed;

Step 4, the controller generates a soft switch control signal according to the positioning signal of the magnetic sensor, the operating point frequency of the soft switch control signal is f ₀ , and the resonant frequency of the composite resonant circuit is set to f _k , and f _k =f ₀ is satisfied;

Step 5, the soft switch control signal is electrically isolated and driven by the isolation driver to generate a drive signal, and the drive signal controls the on-off of the high-frequency inverter in the two-stage segmented guide rail;

Step 6. The activated high-frequency inverter transmits the electric energy to the air medium through the transmitting winding of the same level;

Step 7, the receiving winding in the power receiving end system on the movable device side and the transmitting winding in the opened segment guide rail generate magnetic resonance coupling, and the receiving winding receives the magnetic energy transmitted by the transmitting winding;

Step 8. The energy received when the electric vehicle is moving drives the on-board AC motor to work through the DC-AC converter, and the energy received when the electric vehicle enters a stop is charged for the on-board battery pack through the DC-DC converter to complete dynamic wireless power supply.

The advantages of the present invention: the dynamic wireless power supply device for movable equipment based on the balanced field strength of the segmented guide rails described in the present invention is simple and easy to implement, has high wireless energy transfer efficiency, stable output power, uniform magnetic field generated by the coupling mechanism, and low electromagnetic radiation. Low cost, high system reliability.

Description of drawings

Fig. 1 is a schematic diagram of the circuit structure of the dynamic wireless power supply device for mobile equipment based on segmented guide rail equalizing field strength according to the present invention;

Fig. 2 is a schematic diagram of the circuit structure of the grid-side power supply end system of the present invention;

Fig. 3 is a schematic diagram of the size of the transmitting winding and the receiving winding and the setting of the sensitive boundary of the magnetic sensor according to the present invention;

Fig. 4 is drive signal, high-frequency inverter voltage, transmitting winding current waveform figure of the present invention;

Fig. 5 is a graph of the mutual inductance of two transmitting windings and receiving windings in Embodiment 2 of the present invention, curve a represents M1+M2, curve b represents M1, and curve c represents M2;

6 is a waveform diagram of transmission efficiency and output power during the movement of the mobile device in Embodiment 2 of the present invention, curve d represents transmission power, and curve e represents output power;

Fig. 7 is a power supply schematic diagram of the dynamic wireless power supply device for mobile equipment based on segmented guide rail equalizing field strength according to the present invention.

detailed description

Specific Embodiment 1: The present embodiment will be described below with reference to Fig. 1, Fig. 2 and Fig. 3. The dynamic wireless power supply device for mobile equipment based on segmented guide rail equalization field strength described in this embodiment mode, the dynamic wireless power supply device for mobile equipment includes The power supply end system 1 on the grid side and the power receiving end system 2 on the movable equipment side, the power supply end system 1 on the grid side transmits energy to the power receiving end system 2 on the movable equipment side;

The grid-side power supply end system 1 includes a power frequency rectifier 1-1, a high-power DC bus 1-2, n-level segmented guide rails 1-3 and n-level position detection control circuits 1-4, where n is a positive integer; the power of the grid passes through The power frequency rectifier 1-1 is sent to the high-power DC bus 1-2;

The n-level segmented guide rails 1-3 have the same structure, and all include a high-frequency inverter 1-3-1, a composite resonant circuit 1-3-2 and a transmitting winding 1-3-3; all levels of high-frequency inverters 1-3-3 3-1 are all connected in parallel on the high-power DC bus 1-2, and the high-frequency inverter 1-3-1 outputs electric energy to the composite resonant circuit 1-3-2, and then transmits it to the air through the transmitting winding 1-3-3 medium;

The n-level position detection control circuit 1-4 has the same structure, and all includes a magnetic sensor 1-4-1, a controller 1-4-2 and an isolation driver 1-4-3, and the magnetic sensor 1-4-1 is arranged on two adjacent At the central position between the two transmitting windings 1-3-3, the magnetic sensor 1-4-1 detects the magnetic field strength when the movable device moves, and locates the movable device according to the threshold value, and the controller 1-4-2 according to the magnetic field strength The positioning signal of the sensor 1-4-1 generates a soft switch control signal, and the soft switch control signal generates a drive signal after being electrically isolated and driven by the isolation driver 1-4-3, and the drive signal controls the corresponding high frequency inverter 1-3- 1 on and off;

The threshold threshold is the sensitive boundary of the set magnetic sensor 1-4-1. By setting the threshold threshold, the two-stage segmented guide rail 1-3 directly below the power receiving end system 2 on the movable device side is opened, and the remaining n- Level 2 segmented guide rails 1-3 are closed;

The sensitive boundary of the magnetic sensor 1-4-1 is set as: Among them: r represents the radius of the inscribed circle of the transmitting winding, and d represents the boundary distance between two adjacent transmitting windings;

The operating point frequency of the soft switching control signals generated by the controllers 1-4-2 at all levels is f ₀ , and the resonant frequency of the composite resonant circuits 1-3-2 at all levels is f _k , which satisfies f _k =f ₀ ;

The power receiving end system 2 on the mobile device side includes a receiving resonant circuit 2-1, a high frequency rectifier 2-2, a DC bus 2-3, a DC-DC converter 2-4, a DC-AC converter 2-5, and a vehicle battery Groups 2-6 and on-board AC motors 2-7;

The receiving resonant circuit 2-1 receives the magnetic energy transmitted by the transmitting winding 1-3-3 in the grid-side power supply end system 1, and converts the magnetic energy into electrical energy in the form of AC current, which is rectified into DC by the high-frequency rectifier 2-2 The output is to the DC bus 2-3, the DC-DC converter 2-4 and the DC-AC converter 2-5 are connected in parallel on the DC bus 2-3, and the energy received when the movable equipment moves passes through the DC-AC converter 2-5 drives the vehicle-mounted AC motor 2-7, and the energy received when the movable device enters the dock is charged for the vehicle-mounted battery pack 2-6 through the DC-DC converter 2-4;

The receiving resonant circuit 2-1 is provided with a receiving winding 2-1-1, and the receiving winding 2-1-1 receives the magnetic energy transmitted by the transmitting winding 1-3-3 in the power supply end system 1 on the network side, and the receiving winding 2-1 The geometric center of -1 is provided with a magnetic track nail 2-1-2;

Magnetic resonance coupling is generated between the transmitting winding 1-3-3 on the opened two-stage segmented guide rail 1-3 and the receiving winding 2-1-1 in the power receiving end system 2 on the movable device side to complete dynamic wireless power supply.

In this embodiment, the continuity and high efficiency of electric energy transmission are guaranteed by setting the threshold.

In this embodiment, during the movement of the movable device, the working state of the high-frequency inverter 1-3-1 is switched through the soft switch, and there are always only two transmitting windings under the power receiving end system 2 on the movable device side. 1-3-3 work, effectively avoid the influence of electromagnetic radiation.

In this embodiment, the energy received when the movable device is moving drives the on-board AC motor 2-7 through the DC-AC converter 2-5, and the energy received when the movable device enters the docking point passes through the DC-DC converter 2-4 charges the on-board battery pack 2-6, which can realize double-load wireless power supply to the battery and the motor.

In this embodiment, since the magnetic sensor 1-4-1 is arranged at the geometric center position between two adjacent transmitting windings 1-3-3, the alternating magnetic field generated by energy transmission has all the influences on the magnetic sensor 1-4-1. Concentrated in the direction of the vertical axis, so when the receiving winding 2-1-1 moves with the movable device, the magnetic track spike 2-1 can be detected through the output change of the horizontal axis of the magnetic sensor 1-4-1 of the grid-side power supply end system 1 -2 Changes in the magnetic field strength in the moving direction of the movable device, thereby realizing precise positioning of the movable device.

In this embodiment, the magnetic sensor 1-4-1 can also be installed at the geometric center position of each transmitting winding 1-3-3, and the magnetic sensor 1-4-1 can also be set to be composed of other pressure, laser, and infrared sensors. The detection of the position of the movable device can also be realized.

In this embodiment, the structure and size of the transmitting windings 1-3-3 in the segmented guide rails 1-3 at each level are the same, and the boundary distances between the transmitting windings are also the same, so as to generate a balanced field strength.

In this embodiment, the track spike 2-1-2 is arranged at the geometric center of the receiving winding 2-1-1, and is used to change the change of the magnetic field intensity in the traveling direction of the movable device during its movement.

In this embodiment, f ₀ and f _k satisfy f _k =f ₀ , and the value of f _k =f ₀ is 20 kHz, 85 kHz or 100 kHz.

Embodiment 2: This embodiment will further explain Embodiment 1. The power frequency rectifier 1-1 includes a full-wave bridge rectifier circuit and a filter capacitor C _pf . The input end of the full-wave bridge rectifier circuit is connected to the power grid. The output end of the bridge rectifier circuit is connected to the high-power DC bus 1-2, and the filter capacitor C _pf is connected in parallel to the output end of the full-wave bridge rectifier circuit.

Embodiment 3: In this embodiment, Embodiment 1 is further described, and the high-frequency inverter 1-3-1 is a four-power-tube full-bridge inverter circuit.

Specific Embodiment 4: This embodiment will be described below in conjunction with FIG. 3. This embodiment will further explain Embodiment 3, and set the size of the receiving winding 2-1-1, the size of the transmitting winding 1-3-3 and the transmitting winding 1-3. The -3 spacings are:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; r</span>}\\ \mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; d</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; r</span>}\\ \mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; d</span>}\end{array}\right.$

Where: w is the width of the receiving winding, l is the length of the receiving winding, w and l are determined according to the size of the chassis of the mobile device, the transmitting winding is a square, and r is the radius of the inscribed circle;

According to Kirchhoff's law, the system equivalent AC impedance output power P _ac and transmission efficiency η are expressed as:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; ac</span>}}<span\; class="notranslate">\; =</span>\frac{{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; pk</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; ac</span>}}}{{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; ac</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ \mathrm{<span\; class="notranslate">\; \&eta;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; ac</span>}}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; ac</span>}}<span\; class="notranslate">\; )</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; pk</span>}\mathrm{<span\; class="notranslate">\; 1,2</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; pk</span>}\mathrm{<span\; class="notranslate">\; 1,2</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; ac</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\end{array}\right.$

Among them: M ₁ is the mutual inductance between the first transmitting winding and the receiving winding that is turned on, M ₂ is the mutual inductance between the second transmitting winding and the receiving winding that is turned on, V ₁ is the fundamental wave of the output voltage of the high-frequency inverter of the grid-side power supply system The effective value, R _ac is the equivalent AC load of the movable equipment, R _pk1,2 and R _s are constants, which respectively represent the internal resistance of the receiving winding and the transmitting winding. In this embodiment, by setting the size of the receiving winding 2-1-1, the size of the transmitting winding 1-3-3 and the spacing of the transmitting winding 1-3-3 to generate a balanced field strength (mutual inductance is stable), effectively avoid electromagnetic radiation At the same time, the continuity and stability of the dynamic wireless power supply of the system are improved. Since the mutual inductance M ₁ +M ₂ remains unchanged, the power P _ac and efficiency η are stable.

The parameter setting in this embodiment ensures that the magnetic fields formed by the two turned-on transmitting windings 1-3-3 and the receiving winding 2-1-1 are balanced, that is, the mutual inductance is constant, and at the same time, the maximum transmission efficiency is realized.

In this embodiment, the operating point frequency f ₀ of the soft switches at each stage is exactly the same as the effective value V ₁ of the output fundamental wave voltage.

Embodiment 5: This embodiment further describes Embodiment 3. The composite resonant circuit 1-3-2 includes a compensation inductance L _pk,1 , a first resistor R _pk,1 , a second resistor R _pk,2 , a first The compensation capacitor C _pk,1 and the second compensation capacitor C _pk,2 , the first resistor R _pk,1 is the internal resistance of the compensation inductor L _pk,1 , and the second resistor R _pk,2 is the internal resistance of the transmitting winding L _pk,2 Resistance, all the parameters of the composite resonant circuit 1-3-2 at all levels are the same, namely:

L _pk,1 =R _pk,1 =R _pk,2 =C _pk,1 =C _pk,2 ;

The first compensation capacitor C _pk,1 and the compensation inductance L _pk,1 resonate, satisfying:

$\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; pk</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; pk</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; ;</span>$

The second compensation capacitor C _pk,2 resonates with the transmitting winding 1-3-3, satisfying:

$\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; pk</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; pk</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; pk</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; ;</span>$

Among them: L _pk,2 represents the launch winding 1-3-3.

In this embodiment, the composite resonant circuit 1-3-2 may also be composed of other T-shaped and π-shaped compensation resonant circuits.

Embodiment 6: This embodiment will further explain Embodiment 3. The internal resistance of the receiving winding 2-1-1 is the resistance R _s , and the compensation capacitor C _s resonates with the receiving winding 2-1-1, and the resonance frequency is is f _s , and is equal to the soft-switching operating point frequency f ₀ of the high-frequency inverter 1-3-1, that is, f _s =f ₀ , and satisfies:

$\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; ;</span>$

Among them: L _s represents the receiving winding 2-1-1.

Embodiment 7: In this embodiment, Embodiment 1 is further described, and the magnetic sensor 1-4-1 is a high-sensitivity three-axis magnetic sensor.

Embodiment 8: This embodiment will further explain Embodiment 1. The transmitting windings 1-3-3 of the segmented guide rails 1-3 at all levels use a separate high-frequency inverter 1-3-1 for power transmission; The high-frequency inverters 1-3-1 are connected in parallel on the same high-power DC bus 1-2.

Specific implementation mode nine: the dynamic wireless power supply method of the dynamic wireless power supply device for movable equipment based on the segmented guide rail equalizing field strength described in this embodiment mode, the specific process of the dynamic wireless power supply method is:

Step 1. Install the magnetic sensor 1-4-1 and the transmitting winding 1-3-3 in the grid-side power supply system 1 below the ground, and install the rest of the components in the grid-side power supply system 1 above the ground, and move the equipment The side power receiving end system 2 is installed on the electric vehicle;

Step 2. Set the sensitive boundary of magnetic sensor 1-4-1 as: Among them: r represents the radius of the inscribed circle of the transmitting winding, and d represents the boundary distance between two adjacent transmitting windings;

Step 3. The magnetic sensor 1-4-1 measures the change value of the horizontal axis output when the electric vehicle is moving, obtains the magnetic field strength, locates the electric vehicle according to the sensitive boundary set in step 2, and activates the mobile device side power receiving end system 2 The two-stage segmented guide rails 1-3 directly below, and the remaining n-2 segmented guide rails 1-3 are closed;

Step 4, the controller 1-4-2 generates a soft switch control signal according to the positioning signal of the magnetic sensor 1-4-1, the operating point frequency of the soft switch control signal is f ₀ , and the composite resonant circuit 1-3-2 is set The resonant frequency is f _k and satisfies f _k =f ₀ ;

Step 5, the soft switch control signal is electrically isolated and driven by the isolation driver 1-4-3 to generate a drive signal, and the drive signal controls the on-off of the medium-high frequency inverter 1-3-1 of the two-stage segmented guide rail 1-3;

Step 6. The activated high-frequency inverter 1-3-1 transmits electric energy to the air medium through the transmitting winding 1-3-3 of the same level;

Step 7. The receiving winding 2-1-1 in the power receiving end system 2 on the movable device side and the transmitting winding 1-3-3 in the opened segment guide rail 1-3 generate magnetic resonance coupling, and the receiving winding 2-1- 1 Receive the magnetic energy transmitted by the transmitting winding 1-3-3;

Step 8, the energy received when the electric vehicle moves drives the vehicle-mounted AC motor 2-7 to work through the DC-AC converter 2-5, and the energy received when the electric vehicle enters a stop is converted to the vehicle-mounted AC motor through the DC-DC converter 2-4. The battery pack 2-6 is charged to complete the dynamic wireless power supply.

In the present invention, during the movement of the movable device, only the two transmitting windings directly below the receiving winding are kept in operation, effectively avoiding electromagnetic radiation, and at the same time a balanced magnetic field is formed between the dual transmitting windings and the receiving windings, which improves the system dynamics Continuity and stability of wireless power supply. The frequency, amplitude, and phase of the drive signal, high-frequency inverter voltage, and current waveform of the transmitting winding for the two-stage segmented guide rails that are opened each time are exactly the same, so that the magnetic field after the superposition of two adjacent transmitting windings is a balanced field strength.

In the following, in conjunction with Embodiment 1, the process of realizing dynamic wireless power transmission by this method is given.

Embodiment 1: As shown in Figure 1, taking the k-th stage segmented guide rail as an example, when the magnetic sensor k does not detect the movable device, the high-frequency inverter k has no output voltage, and at this time there is no current on the transmitting winding k , there is no external energy transfer, so there is no efficiency loss and electromagnetic radiation. When the magnetic sensor k detects that the movable device passes by, the controllers k and k-1 immediately generate four synchronous control signals, which are respectively isolated from the drivers k and k-1 to generate the driving signals G _k,1 , G _k,2 , G _k,3 , G _k,4 and G _k-1,1 , G _k-1,2 , G _k-1,3 , G _k-1,4 , drive high-frequency inverters k and k-1 synchronously Work. As shown in Fig. 4, the driving signal of the segmented guide rail of the kth stage is in phase with the driving signal of the k-1th stage, and the output voltages u _k and u _k-1 of the high-frequency inverters k and k-1 are equal. At this time, there is current on both transmitting winding k and k-1, and the current i _k on transmitting winding k is equal to the current i _k -1 on transmitting winding k-1, and the phase is the same, and energy can be transferred to the receiving winding at the same time. The two transmitting windings that are turned on finally generate magnetic field resonance coupling with the receiving winding in the power receiving system to complete the wireless transmission of energy.

The following describes how to generate a balanced magnetic field to ensure the stability and efficiency uniformity of dynamic wireless power transmission in conjunction with Embodiment 2.

Embodiment 2: In this embodiment, the receiving winding is a rectangular coil with a side length of 20×40 cm, and the number of turns is 14, and the transmitting winding is a rectangular coil with a side length of 20×20 cm, and the number of turns is also 14, and the boundary spacing of each transmitting winding is is 14cm, and the receiving winding moves at a height of 20cm directly above the transmitting winding at a speed of 2cm/ms. As shown in Figure 5, the total mutual inductance M ₁ +M ₂ of the turned-on dual transmitting windings and receiving windings is always constant at 8.2 μH during the moving process of the receiving windings, and a balanced magnetic field is finally realized. As shown in Figure 6, when the mobile device moves continuously directly above multiple transmitting windings, the output power is continuously stable, and the transmission efficiency is always stable above 85%, which ensures the stability and efficiency of the system's dynamic wireless power supply.

As shown in Figure 7, because during the movement of the movable device, the system always keeps only the two transmitting windings directly below it running, which effectively avoids the occurrence of electromagnetic radiation, and at the same time forms a balanced magnetic field between the two transmitting windings to ensure energy transmission uniformity and stability.

The high-frequency rectifier 2-2 is composed of a full-wave bridge rectifier circuit and a filter capacitor C _sf , and may also be composed of other bridge or controllable rectifier circuits to convert alternating current into direct current. The DC-DC converter 2-4 is composed of a Buck circuit, connected to the vehicle battery pack 2-6, and the DC-AC converter 2-5 is composed of a full-bridge inverter circuit, connected to the vehicle-mounted AC motor 2-7 , the key lies in: the DC-DC converter 2-4 and the DC-AC converter 2-5 are connected in parallel to the output end of the high-frequency rectifier 2-2 through the DC bus 2-3, which can realize a double load of the battery/motor wireless power supply. Described DC-DC converter 2-4 can also be made up of Boost, Buck-Boost or Boost-Buck circuit etc., and described DC-AC converter 2-5 can also be made up of half-bridge inverter circuit, can realize equally Wireless power supply for loads on the receiving side.

Claims (9)

1. A dynamic wireless power supply device for mobile equipment based on segmented guide rail equalized field strength, characterized in that: the dynamic wireless power supply device for mobile equipment includes a power supply end system (1) on the grid side and a power receiving end system (2) on the mobile equipment side ), the grid side power supply end system (1) transmits energy to the movable device side power receiving end system (2); The grid-side power supply end system (1) includes a power frequency rectifier (1-1), a high-power DC bus (1-2), n-level segmented guide rails (1-3), and an n-level position detection control circuit (1-4) , n is a positive integer; the electric energy of the power grid is transmitted to the high-power DC bus (1-2) through the power frequency rectifier (1-1); The n-level segmented guide rails (1-3) have the same structure, and all include a high-frequency inverter (1-3-1), a composite resonant circuit (1-3-2) and a transmitting winding (1-3-3); each The high-frequency inverters (1-3-1) of each stage are all connected in parallel on the high-power DC bus (1-2), and the high-frequency inverters (1-3-1) output electric energy to the composite resonant circuit (1- 3-2), and then transmitted to the air medium through the launch winding (1-3-3); The n-level position detection control circuits (1-4) have the same structure, and all include a magnetic sensor (1-4-1), a controller (1-4-2) and an isolated driver (1-4-3), and a magnetic sensor (1-4-3). -4-1) Set at the center between two adjacent transmitting windings (1-3-3), the magnetic sensor (1-4-1) detects the magnetic field strength when the movable device is moving, and can detect the magnetic field strength according to the threshold threshold value The mobile device is positioned, and the controller (1-4-2) generates a soft switch control signal according to the positioning signal of the magnetic sensor (1-4-1), and the soft switch control signal is electrically isolated and After driving, a driving signal is generated, and the driving signal controls the on-off of the corresponding high-frequency inverter (1-3-1); The threshold threshold is the set sensitive boundary of the magnetic sensor (1-4-1). By setting the threshold threshold, the two-stage segmented guide rail (1- 3), the remaining n-2 level segmented guide rails (1-3) are in a closed state; The sensitive boundary of described magnetic sensor (1-4-1) is set as: Where: r represents the radius of the inscribed circle of the transmitting winding, d represents the boundary distance between two adjacent transmitting windings, and R represents the radius of the sensitive range of the magnetic sensor (1-4-1); The operating point frequency of the soft switching control signal generated by the controllers (1-4-2) at all levels is f ₀ , and the resonant frequency of the composite resonant circuit (1-3-2) at all levels is f _k , and satisfies f _k = f ₀ ; The mobile device side power receiving end system (2) includes a receiving resonance circuit (2-1), a high frequency rectifier (2-2), a DC bus (2-3), a DC-DC converter (2-4), a DC -AC converter (2-5), on-board battery pack (2-6) and on-board AC motor (2-7); The receiving resonant circuit (2-1) receives the magnetic energy transmitted by the transmitting winding (1-3-3) in the grid-side power supply end system (1), and converts the magnetic energy into electrical energy in the form of alternating current, and passes through the high-frequency rectifier ( 2-2) After being rectified into DC, it is output to the DC bus (2-3), and the DC-DC converter (2-4) and the DC-AC converter (2-5) are connected in parallel to the DC bus (2-3) , the energy received when the movable device moves through the DC-AC converter (2-5) drives the vehicle-mounted AC motor (2-7), and the energy received when the movable device enters the dock passes through the DC-DC converter (2 -4) charging the on-board battery pack (2-6); The receiving resonant circuit (2-1) is provided with a receiving winding (2-1-1), and the receiving winding (2-1-1) receives transmission from the transmitting winding (1-3-3) in the power supply end system (1) on the grid side magnetic energy, a track spike (2-1-2) is set at the geometric center of the receiving winding (2-1-1); Magnetic field resonance is generated by the transmitting winding (1-3-3) on the opened two-stage segmented guide rail (1-3) and the receiving winding (2-1-1) in the power receiving end system (2) on the movable device side Coupled to complete dynamic wireless power supply. 2. The dynamic wireless power supply device for mobile equipment based on segmented guide rail equalization field strength according to claim 1, characterized in that: the power frequency rectifier (1-1) includes a full-wave bridge rectifier circuit and a filter capacitor C _pf , the input end of the full-wave bridge rectifier circuit is connected to the power grid, the output end of the full-wave bridge rectifier circuit is connected to the high-power DC bus (1-2), and the filter capacitor C _pf is connected in parallel with the output end of the full-wave bridge rectifier circuit superior. 3. The dynamic wireless power supply device for movable equipment based on segmented guide rail equalizing field strength according to claim 1, characterized in that: the high-frequency inverter (1-3-1) is a four-power tube full-bridge inverter Change the circuit. 4. The dynamic wireless power supply device for movable equipment based on segmented guide rail equalizing field strength according to claim 3, characterized in that: the size of the receiving winding (2-1-1), the transmitting winding (1-3-3 ) and the emission winding (1-3-3) spacing are: $\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; r</span>}\\ \mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; d</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; r</span>}\\ \mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; d</span>}\end{array}\right.$ Where: w is the width of the receiving winding, l is the length of the receiving winding, w and l are determined according to the size of the chassis of the mobile device, the transmitting winding is a square, and r is the radius of the inscribed circle; According to Kirchhoff's law, the system equivalent AC impedance output power P _ac and transmission efficiency η are expressed as: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; =</span>\frac{{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}}}{{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ \mathrm{<span\; class="notranslate">\; \&eta;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 4</span>}{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\end{array}\right.$ Among them: M ₁ is the mutual inductance between the first transmitting winding and the receiving winding that is turned on, M ₂ is the mutual inductance between the second transmitting winding and the receiving winding that is turned on, V ₁ is the fundamental wave of the output voltage of the high-frequency inverter of the grid-side power supply system The effective value, R _ac is the equivalent AC load of the mobile device, R _pk1,2 and R _s are constants, which respectively represent the internal resistance of the receiving winding and the transmitting winding; C _pk,1 represents the first compensation capacitor. 5. The dynamic wireless power supply device for mobile equipment based on segmented guide rail equalizing field strength according to claim 3, characterized in that: the composite resonant circuit (1-3-2) includes a compensation inductance L _pk,1 , a first resistor R _pk,1 , the second resistor R _pk,2 , the first compensation capacitor C _pk,1 and the second compensation capacitor C _pk,2 , the first resistor R _pk,1 is the internal resistance of the compensation inductor L _pk,1 , the second The two resistors R _pk,2 are the internal resistance of the transmitting winding L _pk,2 , and all the parameters of the composite resonant circuits (1-3-2) at all levels are the same, namely: L _pk,1 =R _pk,1 =R _pk,2 =C _pk,1 =C _pk,2 ; The first compensation capacitor C _pk,1 and the compensation inductance L _pk,1 resonate, satisfying: $\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; \&pi;f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; \&pi;f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; ;</span>$ The second compensation capacitor C _pk,2 and the transmitting winding (1-3-3) generate resonance, satisfying: $\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; \&pi;f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; \&pi;f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; \&pi;f</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; ;</span>$ Among them: L _pk,2 represents the launch winding (1-3-3). 6. The dynamic wireless power supply device for movable equipment based on segmented guide rail equalizing field strength according to claim 3, characterized in that: the internal resistance of the receiving winding (2-1-1) is resistance R _s , and the compensation capacitance C _s resonates with the receiving winding (2-1-1), and the resonant frequency is f _s , which is equal to the frequency f ₀ of the soft switching operating point of the high-frequency inverter (1-3-1), that is, f _s =f ₀ , and satisfy: $\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; \&pi;f</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; \&pi;f</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; ;</span>$ Among them: L _s represents the receiving winding (2-1-1). 7. The dynamic wireless power supply device for mobile equipment based on segmented guide rail equalizing field strength according to claim 1, characterized in that: the magnetic sensor (1-4-1) is a high-sensitivity three-axis magnetic sensor. 8. The dynamic wireless power supply device for mobile equipment based on segmented guide rail equalization field strength according to claim 1, characterized in that: the transmitting windings (1-3-3) of the segmented guide rails (1-3) at all levels are all Separate high-frequency inverters (1-3-1) are used for power transmission; the high-frequency inverters (1-3-1) of all levels are connected in parallel on the same high-power direct current bus (1-2). 9. Based on the dynamic wireless power supply method of the mobile device dynamic wireless power supply device based on the segmented guide rail equalizing field strength of claim 1, it is characterized in that: the specific process of the dynamic wireless power supply method is: Step 1. Install the magnetic sensor (1-4-1) and the transmitting winding (1-3-3) in the grid-side power supply system (1) under the ground, and the rest of the components in the grid-side power supply system (1) Installed above the ground, the power receiving end system (2) on the side of the movable equipment is installed on the electric vehicle; Step 2. Set the sensitive boundary of the magnetic sensor (1-4-1) as: Among them: r represents the radius of the inscribed circle of the transmitting winding, and d represents the boundary distance between two adjacent transmitting windings; Step 3. The magnetic sensor (1-4-1) measures the change value of the output of the horizontal axis when the electric vehicle moves, obtains the magnetic field strength, locates the electric vehicle according to the sensitive boundary set in step 2, and activates the power receiving terminal on the movable device side The two-stage segmented guide rails (1-3) directly below the system (2), and the remaining n-2 segmented guide rails (1-3) are in a closed state; Step 4, the controller (1-4-2) generates a soft switch control signal according to the positioning signal of the magnetic sensor (1-4-1), the operating point frequency of the soft switch control signal is f ₀ , and the composite resonant circuit (1 -3-2) The resonant frequency is f _k , and f _k =f ₀ is satisfied; Step 5. The soft switch control signal is electrically isolated and driven by the isolation driver (1-4-3) to generate a drive signal, and the drive signal controls the opening of the two-stage segmented guide rail (1-3) medium and high frequency inverter (1-3- 1) on and off; Step 6, the activated high-frequency inverter (1-3-1) transmits electric energy to the air medium through the transmitting winding (1-3-3) of the same level; Step 7. The receiving winding (2-1-1) in the power receiving end system (2) on the movable device side and the transmitting winding (1-3-3) in the opened segment guide rail (1-3) generate magnetic field resonance Coupling, the receiving winding (2-1-1) receives the magnetic energy transmitted by the transmitting winding (1-3-3); Step 8, the energy received when the electric vehicle moves drives the vehicle-mounted AC motor (2-7) to work through the DC-AC converter (2-5), and the energy received when the electric vehicle enters the stop passes through the DC-DC converter ( 2-4) Charging the vehicle battery pack (2-6) to complete dynamic wireless power supply.