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Resonant Inductive Coupling Power Transfer for Mid-Sized Inspection Robot

Mohd Norhakim Bin Hassan, Simon Watson, Cheng Zhang

Abstract

This paper presents a wireless power transfer (WPT) for a mid-sized inspection mobile robot. The objective is to transmit 100 W of power over 1 meter of distance, achieved through lightweight Litz wire coils weighing 320 g held together with a coil structure of 3.54 kg. The Wireless Power Transfer System (WPTS) is mounted onto an unmanned ground vehicle (UGV). The study addresses an investigation of coil design, accounting for misalignment and tolerance issues in resonance-coupled coils. In experimental validation, the system effectively transmits 109.7 W of power over a 1-meter distance, with obstacles present. This achievement yields a system efficiency of 47.14%, a value that is remarkably close to the maximum power transfer point (50%) when the WPTS utilises the full voltage allowance of the capacitor. The paper shows the WPTS charging speed of 5 minutes for 12 V, 0.8 Ah lead acid batteries.

Resonant Inductive Coupling Power Transfer for Mid-Sized Inspection Robot

Abstract

This paper presents a wireless power transfer (WPT) for a mid-sized inspection mobile robot. The objective is to transmit 100 W of power over 1 meter of distance, achieved through lightweight Litz wire coils weighing 320 g held together with a coil structure of 3.54 kg. The Wireless Power Transfer System (WPTS) is mounted onto an unmanned ground vehicle (UGV). The study addresses an investigation of coil design, accounting for misalignment and tolerance issues in resonance-coupled coils. In experimental validation, the system effectively transmits 109.7 W of power over a 1-meter distance, with obstacles present. This achievement yields a system efficiency of 47.14%, a value that is remarkably close to the maximum power transfer point (50%) when the WPTS utilises the full voltage allowance of the capacitor. The paper shows the WPTS charging speed of 5 minutes for 12 V, 0.8 Ah lead acid batteries.

Paper Structure

This paper contains 15 sections, 13 equations, 5 figures, 2 tables.

Table of Contents

  1. Introduction
  2. Mobile Robot & Wireless Power Transfer Systems
  3. Mobile Robot
  4. Wireless Power Transfer Technologies
  5. Analysis
  6. Parameters of Resonant Inductive Power Transfer System
  7. Constraints
  8. Dimensional
  9. Power Losses, Interference and Translational Offsets
  10. Simulations and Experimental Setup
  11. Results and Observations
  12. Power Transmission
  13. Effect of Translational Offsets
  14. Battery Charging using WPT
  15. Conclusions and Future Works

Figures (5)

  • Figure 1: Circuit topology of resonant inductive coupling for a mid-sized inspection mobile robot.
  • Figure 2: a) Simulated circle coils, b) simulated octagon-shaped coils, c) a close-up view of the number of turns for each coil in the simulation, d) A sample of lightweight litz wire to construct the transmitter and receiver coil, e) a 1 cm gap for each individual turn, f) an aperture of 1 m for the transmitter and receiver coils.
  • Figure 3: a) Transmitter and receiver octagon coil frames in between 600 m thick concrete wall, b) Powering up 16 W LED with WPT with obstacles in between transmitter and receiver coils.
  • Figure 4: a) WPTS efficiency and output power vs. transmission distance for coaxially aligned coils and efficiency of y-axis offset coils, b) WPTS efficiency reduces when the receiver coil is positioned at multiple points along y-axis for operational space offset testing (with d5 showing the maximum distance of 1 m)
  • Figure 5: I-V curve of 12 V, 0.8 Ah lead-acid battery charging with 615 kHz using the octagon-shaped transmitter and receiver coil frames.