基于E类逆变器的胶囊机器人无线供电系统研究与设计

发布时间：2018-03-18 16:45

本文选题：无线供电　切入点：E类逆变器　出处：《东北大学》2014年硕士论文　论文类型：学位论文

【摘要】：电能供应问题是目前胶囊机器人技术所面临的最主要问题。常见的无线胶囊机器人通常依靠人体肠道蠕动或者通过纽扣电池等方式进行供电。但是要获得精确的测量、拍摄高质量图片、对病变部位进行采样以及局部手术治疗等,这种电能获得途径是远不能胜任的,必须使用一种能够提供足够、稳定电能的供给方式——体外无线供电。目前对于面向胶囊机器人的无线供电系统研究还处于起步阶段,有很多问题值得深入探究。比如发射端功率的不足、效率不高、接收功率低、提高使用频率时性能会大幅度下降、谐振稳定性问题、线圈之间位置稳定性问题、姿态稳定性问题等众多问题。针对这些问题,本文开展了以下研究。研究提高发射端功率、效率、工作频率的方法。胶囊机器人无线供电系统由于其应用的特殊性,耦合线圈采用大线圈对小线圈结构,为弱耦合供电形式。选用E类逆变器作为系统发射端逆变器,从新的角度对E类逆变器进行建模和参数优化设计。分析了发射端电路特性、实际电路中参数对电路性能的影响、重要电子器件的性能,设计并实现了高频、高功率、高效率无线供电系统发射端电路,且回路发射端电流与输入电源电压成线性关系、系统重复性好。研究发射线圈结构模型,进行了磁场仿真分析,并分析了线圈参数变化对系统的影响,设计了无线供电系统耦合线圈。实际测试结果表明,所设计的耦合线圈改善了高频效应,提高了位置稳定度、姿态稳定度。为解决系统谐振频率偏移问题,设计了稳定性好、对发射端回路影响小的感应式电流传感器、分压与直流偏置电路、电压比较器、锁相环电路及电源,最终设计并实现了频率跟踪器,解决了谐振点偏移等问题,提高了系统稳定性。改进了整流电路结构,降低了纹波、提高了整流性能。在不同电压以及不同负载的情况下,对无线供电系统整体进行接收功率和稳定性的测试,测试结果表明,所设计的无线供电系统具有较高的接收功率和输出稳定性。
[Abstract]:The power supply problem is the most important problem facing the current capsule robot technology. The common wireless capsule robot usually rely on human intestinal peristalsis or button battery to power the power supply. But to obtain accurate measurement, Taking high-quality pictures, sampling lesions, and local surgery, etc., is a far cry from being able to get this kind of electrical energy, and you have to use one that can provide enough. At present, the research on wireless power supply system for capsule robot is still in its infancy, and there are many problems worth further exploring. For example, the power of the transmitter is not enough and the efficiency is not high. When the receiving power is low, the performance will be greatly reduced when the frequency is increased, the resonance stability problem, the position stability problem between coils, the attitude stability problem and so on. In this paper, the following research is carried out. The methods of improving the power, efficiency and working frequency of the transmitter are studied. Because of the particularity of the application of the wireless power supply system of the capsule robot, the coupling coils adopt the structure of large coils to small coils. The class E inverter is selected as the transmitter inverter of the system. From a new point of view, the modeling and parameter optimization design of the class E inverter are carried out. The characteristics of the transmitter circuit and the effect of the parameters in the actual circuit on the circuit performance are analyzed. The high frequency, high power and high efficiency transmitter circuit of wireless power supply system is designed and realized, and the current at the transmitter end of the circuit is linearly related to the input power supply voltage, and the system has good repeatability. The structure model of the transmitting coil is studied. The magnetic field simulation analysis is carried out, and the influence of coil parameters on the system is analyzed, and the coupling coil of wireless power supply system is designed. The actual test results show that the designed coupling coil improves the high frequency effect and improves the stability of position. Attitude stability. In order to solve the problem of system resonance frequency offset, the inductive current sensor, voltage comparator, phase-locked loop circuit and power supply are designed, which have small influence on the transmitter loop, voltage offset circuit, voltage comparator, phase locked loop circuit and power supply. Finally, the frequency tracker is designed and implemented, which solves the problem of resonance point offset, improves the stability of the system, improves the rectifier circuit structure, reduces the ripple, and improves the rectifying performance. The receiving power and stability of the whole wireless power supply system are tested. The test results show that the designed wireless power supply system has higher receiving power and output stability.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM724;TP242

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