阅读说明：本技术 电动汽车无线充电线圈对准方法 (Alignment method for wireless charging coil of electric automobile ) 是由 龚庆 曹强 鲜奇迹 杨远航 于 2020-12-23 设计创作，主要内容包括：本发明提供的一种电动汽车无线充电线圈对准方法,包括：S1.将地面充电终端设置于六自由度平台上,并获取六自由度平台的初始姿态信息；并将电动汽车停在地面充电终端位置处；S2.采集电动汽车的车载充电终端与地面充电终端之间的位置参数；S3.根据位置参数调整六自由度平台的姿态；S4.控制地面充电终端处于小功率充电状态,调整六自由度平台的姿态,并在调整过程中采集车载充电终端接收到的电流信息；S5.判断找出电流信息中的最大值,并以电流为最大值时所对应的六自由度平台的姿态对六自由度姿态进行设定并保持,能够保证线圈之间的磁通量最大化,从而能够确保电动汽车具有最大的充电效率。(The invention provides an alignment method for a wireless charging coil of an electric automobile, which comprises the following steps: s1, arranging a ground charging terminal on a six-degree-of-freedom platform, and acquiring initial attitude information of the six-degree-of-freedom platform; stopping the electric automobile at the position of the ground charging terminal; s2, collecting position parameters between a vehicle-mounted charging terminal and a ground charging terminal of the electric automobile; s3, adjusting the posture of the six-degree-of-freedom platform according to the position parameters; s4, controlling the ground charging terminal to be in a low-power charging state, adjusting the posture of the six-degree-of-freedom platform, and collecting current information received by the vehicle-mounted charging terminal in the adjusting process; and S5, judging and finding out the maximum value in the current information, setting and maintaining the six-degree-of-freedom attitude by using the attitude of the six-degree-of-freedom platform corresponding to the maximum current, and ensuring the maximization of the magnetic flux between the coils so as to ensure the maximum charging efficiency of the electric automobile.)

1. The method for aligning the wireless charging coil of the electric automobile is characterized by comprising the following steps: the method comprises the following steps:

s1, arranging a ground charging terminal on a six-degree-of-freedom platform, and acquiring initial attitude information of the six-degree-of-freedom platform; stopping the electric automobile at the position of the ground charging terminal;

s2, collecting position parameters between a vehicle-mounted charging terminal and a ground charging terminal of the electric automobile;

s3, adjusting the posture of the six-degree-of-freedom platform according to the position parameters;

s4, controlling the ground charging terminal to be in a low-power charging state, adjusting the posture of the six-degree-of-freedom platform, and collecting current information received by the vehicle-mounted charging terminal in the adjusting process;

and S5, judging and finding out the maximum value in the current information, and setting and maintaining the six-degree-of-freedom attitude by using the attitude of the six-degree-of-freedom platform corresponding to the current as the maximum value.

2. The alignment method of the wireless charging coil of the electric vehicle according to claim 1, wherein: in step S2, the position parameters include a linear distance dh between the vehicle-end positioning device and the ground positioning device, a ground clearance dc of the vehicle-mounted charging terminal, a minimum ground clearance dL of the vehicle-mounted charging terminal, a vertical distance dsen between the ground positioning device and a six-degree-of-freedom platform plane, a vertical distance dg between the ground charging terminal and the ground, an installation clearance ds between the vehicle-mounted charging terminal and the ground charging terminal, a linear distance dL between the vehicle-end positioning device and the ground charging device, a linear distance L1 between the ground positioning device and the ground charging terminal, and a fine adjustment distance dm.

3. The alignment method of the wireless charging coil of the electric vehicle according to claim 2, wherein: in step S3, the attitude of the six-degree-of-freedom platform is adjusted according to the following method:

s31, constructing a three-dimensional coordinate system, and adjusting the initial posture of the charging six-degree-of-freedom platform to a posture I, wherein the posture I is expressed by the posture of the ground charging terminal:

(x, y, z, ψ x, ψ y, ψ z) (0, 0, z1 ═ Min { dl + dg-ds-dsen, zmax }, 0, 0, 0); the method comprises the following steps that psi x represents a roll angle of a ground charging terminal, psi y represents a pitch angle of the ground charging terminal, psi z represents a yaw angle of the ground charging terminal, x, y and z are values of the ground charging terminal in a three-dimensional coordinate system respectively, and zmax is a maximum value which can be extended by a six-degree-of-freedom platform in a z-axis direction of the coordinate system;

s32, acquiring a linear distance dh between the vehicle-end positioning equipment and the ground positioning equipment in real time, adjusting the posture of the six-degree-of-freedom platform to be in a posture II, wherein the posture II meets the condition that dh is dc-dl + ds, and at the moment, the posture of the ground charging terminal is adjusted to be:

(x, y, z, ψ x, ψ y, ψ z) ═ x1, y1, z1, 0, 0, 0), where if z1 is zmax at this time, equation dh is dl-zmax + dg of dc-dl + ds;

s33, adjusting the posture of the six-degree-of-freedom platform to be in a posture III, wherein the posture of the ground charging terminal is adjusted to be as follows:

(x, y, z, ψ x, ψ y, ψ z) — (x1, y1, z1, ψ x1, ψ y1, ψ z 1); adjusting the z-axis coordinate value of the ground charging terminal, wherein the distance is adjusted to be dc-dl;

s34, adjusting the three-axis coordinate values of x, y and z of the ground charging terminal when the six-degree-of-freedom platform is in the attitude III until ds²+L1²＝dL²At this time, the ground charging terminal has an attitude of (x, y, z, ψ x, ψ y, ψ z) — (x2, y2, z2, ψ x1, ψ y1, ψ z 1).

4. The alignment method of the wireless charging coil of the electric vehicle according to claim 3, wherein: in step S4, when the attitude of the six-degree-of-freedom platform is adjusted, the positions of the ground charging terminal in the coordinate system are adjusted to be within x2 ± dm, y2 ± dm, and z2 ± dm.

Technical Field

The invention relates to the field of electric vehicle charging control, in particular to an electric vehicle wireless charging coil alignment method.

Background

The electric automobile is new energy automobile, and its charging system is the indispensable part of electric automobile power, and along with the development of technique and the convenience of use, more and more electric automobile adopts the mode of wireless charging.

The wireless charging method of the electric vehicle is that a ground charging terminal is arranged on the ground, the ground charging terminal is provided with a transmitting coil, a vehicle-mounted charging terminal is arranged on the vehicle, the ground charging terminal is provided with a receiving coil, the electric vehicle is driven to the ground charging terminal, then the relative position between the ground charging terminal and the vehicle-mounted charging terminal is determined through a positioning device arranged on the ground charging terminal, the positioning device is positioned by the existing wireless positioning device through receiving and sending information, and then charging is carried out, however, in the prior art, due to the difference of the arrangement of the vehicle-mounted charging terminals of the electric vehicles of different manufacturers, the coils between the ground charging terminal and the vehicle-mounted charging terminal are not fully aligned, according to the electromagnetic theory, the axis coincidence between the two coils can ensure the optimal electromagnetic coupling performance, and the maximum charging efficiency can be achieved, but due to the difference of the electric vehicles, the charging efficiency of the electric automobile is often low because the two coils are not in the optimal position state during charging.

Therefore, in order to solve the above technical problems, a new technical means is continuously proposed.

Disclosure of Invention

In view of the above, an object of the present invention is to provide an alignment method for a wireless charging coil of an electric vehicle, which can ensure that axes of a receiving coil of a vehicle-mounted charging terminal of the electric vehicle and an emitting coil of a ground charging terminal coincide when the electric vehicle is wirelessly charged, and ensure that magnetic flux between the coils is maximized, thereby ensuring that the electric vehicle has maximum charging efficiency.

The invention provides an alignment method of a wireless charging coil of an electric automobile, which comprises the following steps:

s1, arranging a ground charging terminal on a six-degree-of-freedom platform, and acquiring initial attitude information of the six-degree-of-freedom platform; stopping the electric automobile at the position of the ground charging terminal;

s2, collecting position parameters between a vehicle-mounted charging terminal and a ground charging terminal of the electric automobile;

s3, adjusting the posture of the six-degree-of-freedom platform according to the position parameters;

s4, controlling the ground charging terminal to be in a low-power charging state, adjusting the posture of the six-degree-of-freedom platform, and collecting current information received by the vehicle-mounted charging terminal in the adjusting process;

and S5, judging and finding out the maximum value in the current information, and setting and maintaining the six-degree-of-freedom attitude by using the attitude of the six-degree-of-freedom platform corresponding to the current as the maximum value.

Further, in step S2, the position parameters include a linear distance dh between the vehicle-end positioning device and the ground positioning device, a ground clearance dc of the vehicle-mounted charging terminal, a minimum ground clearance dL of the vehicle-mounted charging terminal, a vertical distance dsen between the ground positioning device and the six-degree-of-freedom platform plane, a vertical distance dg between the ground charging terminal and the ground, an installation clearance ds between the vehicle-mounted charging terminal and the ground charging terminal, a linear distance dL between the vehicle-end positioning device and the ground charging device, a linear distance L1 between the ground positioning device and the ground charging terminal, and a fine adjustment distance dm.

Further, in step S3, the attitude of the six-degree-of-freedom platform is adjusted according to the following method:

s31, constructing a three-dimensional coordinate system, and adjusting the initial posture of the charging six-degree-of-freedom platform to a posture I, wherein the posture I is expressed by the posture of the ground charging terminal:

(x, y, z, ψ x, ψ y, ψ z) (0, 0, z1 ═ Min { dl + dg-ds-dsen, zmax }, 0, 0, 0); the method comprises the following steps that psi x represents a roll angle of a ground charging terminal, psi y represents a pitch angle of the ground charging terminal, psi z represents a yaw angle of the ground charging terminal, x, y and z are values of the ground charging terminal in a three-dimensional coordinate system respectively, and zmax is a maximum value which can be extended by a six-degree-of-freedom platform in a z-axis direction of the coordinate system;

s32, acquiring a linear distance dh between the vehicle-end positioning equipment and the ground positioning equipment in real time, adjusting the posture of the six-degree-of-freedom platform to be in a posture II, wherein the posture II meets the condition that dh is dc-dl + ds, and at the moment, the posture of the ground charging terminal is adjusted to be:

(x, y, z, ψ x, ψ y, ψ z) ═ x1, y1, z1, 0, 0, 0), where if z1 is zmax at this time, equation dh is dl-zmax + dg of dc-dl + ds;

s33, adjusting the posture of the six-degree-of-freedom platform to be in a posture III, wherein the posture of the ground charging terminal is adjusted to be as follows:

(x, y, z, ψ x, ψ y, ψ z) — (x1, y1, z1, ψ x1, ψ y1, ψ z 1); adjusting the z-axis coordinate value of the ground charging terminal, wherein the distance is adjusted to be dc-dl;

s34, adjusting the three-axis coordinate values of x, y and z of the ground charging terminal when the six-degree-of-freedom platform is in the attitude III until ds²+L1²＝dL²At this time, the ground charging terminal has an attitude of (x, y, z, ψ x, ψ y, ψ z) — (x2, y2, z2, ψ x1, ψ y1, ψ z 1).

Further, in step S4, when the attitude of the six-degree-of-freedom platform is adjusted, the positions of the ground charging terminal in the coordinate system are adjusted to the ranges x2 ± dm, y2 ± dm, and z2 ± dm.

The invention has the beneficial effects that: the axis coincidence of the receiving coil of the vehicle-mounted charging terminal of the electric automobile and the transmitting coil of the ground charging terminal can be ensured when the electric automobile is wirelessly charged, and the maximization of the magnetic flux between the coils is ensured, so that the electric automobile can be ensured to have the maximum charging efficiency.

Drawings

The invention is further described below with reference to the following figures and examples:

FIG. 1 is a flow chart of the present invention.

Fig. 2-11 are diagrams illustrating a relationship between the position adjustment of the vehicle-mounted charging terminal and the ground charging terminal according to the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings of the specification:

the invention provides an alignment method of a wireless charging coil of an electric automobile, which comprises the following steps:

s1, arranging a ground charging terminal on a six-degree-of-freedom platform, and acquiring initial attitude information of the six-degree-of-freedom platform; stopping the electric automobile at the position of the ground charging terminal; as shown in fig. 2 to 11, in fig. 2, 1 is a six-degree-of-freedom platform, 2 is a ground charging terminal, and 3 is a vehicle-mounted charging terminal;

s2, collecting position parameters between a vehicle-mounted charging terminal and a ground charging terminal of the electric automobile;

s3, adjusting the posture of the six-degree-of-freedom platform according to the position parameters;

s4, controlling the ground charging terminal to be in a low-power charging state, adjusting the posture of the six-degree-of-freedom platform, and collecting current information received by the vehicle-mounted charging terminal in the adjusting process;

and S5, judging and finding out the maximum value in the current information, and setting and maintaining the six-degree-of-freedom attitude by using the attitude of the six-degree-of-freedom platform corresponding to the maximum current.

In this embodiment, in step S2, the position parameters include a linear distance dh between the vehicle-end positioning device and the ground positioning device, a ground clearance dc of the vehicle-mounted charging terminal, a minimum ground clearance dL of the vehicle-mounted charging terminal, a vertical distance dsen between the ground positioning device and a six-degree-of-freedom platform plane, a vertical distance dg between the ground charging terminal and the ground, an installation clearance ds between the vehicle-mounted charging terminal and the ground charging terminal, a linear distance dL between the vehicle-end positioning device and the ground charging device, a linear distance L1 between the ground positioning device and the ground charging terminal, and a fine adjustment distance dm; the ground positioning equipment and the vehicle-end positioning equipment are sensors which are respectively arranged on the ground charging terminal and the vehicle-mounted charging terminal and are used for aligning the two charging terminals, and existing devices such as photoelectric switches can be adopted;

specifically, in step S3, the attitude of the six-degree-of-freedom platform is adjusted according to the following method:

s31, constructing a three-dimensional coordinate system, and adjusting the initial posture of the charging six-degree-of-freedom platform to a posture I, wherein the posture I is expressed by the posture of the ground charging terminal:

(x, y, z, ψ x, ψ y, ψ z) (0, 0, z1 ═ Min { dl + dg-ds-dsen, zmax }, 0, 0, 0); the method comprises the following steps that psi x represents a roll angle of a ground charging terminal, psi y represents a pitch angle of the ground charging terminal, psi z represents a yaw angle of the ground charging terminal, x, y and z are values of the ground charging terminal in a three-dimensional coordinate system respectively, and zmax is a maximum value which can be extended by a six-degree-of-freedom platform in a z-axis direction of the coordinate system;

s32, acquiring a linear distance dh between the vehicle-end positioning equipment and the ground positioning equipment in real time, adjusting the posture of the six-degree-of-freedom platform to be in a posture II, wherein the posture II meets the condition that dh is dc-dl + ds, and at the moment, the posture of the ground charging terminal is adjusted to be:

(x, y, z, ψ x, ψ y, ψ z) ═ x1, y1, z1, 0, 0, 0), where if z1 is zmax at this time, equation dh is dl-zmax + dg of dc-dl + ds;

s33, adjusting the posture of the six-degree-of-freedom platform to be in a posture III, wherein the posture of the ground charging terminal is adjusted to be as follows:

(x, y, z, ψ x, ψ y, ψ z) — (x1, y1, z1, ψ x1, ψ y1, ψ z 1); adjusting the z-axis coordinate value of the ground charging terminal, wherein the distance is adjusted to be dc-dl;

s34, adjusting the three-axis coordinate values of x, y and z of the ground charging terminal when the six-degree-of-freedom platform is in the attitude III until ds²+L1²＝dL²At this time, the ground charging terminal has an attitude of (x, y, z, ψ x, ψ y, ψ z) — (x2, y2, z2, ψ x1, ψ y1, ψ z 1).

In step S4, when the attitude of the six-degree-of-freedom platform is adjusted, the positions of the ground charging terminal in the coordinate system are adjusted to be within x2 ± dm, y2 ± dm, and z2 ± dm. By the method, the axis coincidence of the coils of the vehicle-mounted charging terminal and the ground charging terminal can be accurately ensured, and the charging efficiency is improved.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.