Research On The Compensation Topology Of The Induction Wireless Charging Systems For Substation Inspection Robots

Substation is the intermediate link of power transmission and distribution.It plays a transitional role in the process of power transmission.In order to ensure its normal operation,it is necessary to inspect and monitor the substation lines and equipment periodically and in real time.Therefore,substation inspection robot emerges as the times require.Patrol robots can patrol substation lines and equipment according to pre-set tracks and procedures,and gradually replace manual patrol and become an indispensable part of substation patrol.However,due to the shortcomings of traditional contact power supply in the charging process of inspection robot,such as frequent plug-in,aging and electric shock in humid environment,the compensation topology of wireless charging system for inspection robot in substation is studied based on inductive Coupled Power Transfer(ICPT)technology in this paper.In this paper,a LCL-LCL/S hybrid compensation topology network is proposed for the ICPT system of substation inspection robot,which can charge the batteries of inspection robot at constant current and voltage by switching control compensation circuit.The system also has the characteristics of Zero Phase Angle(ZPA),and achieves the safety,flexibility and high efficiency of electric energy.Line transmission.The main research contents include the following four aspects:Firstly,the main technologies of ICPT system are analyzed and studied,including rectifier and filter circuit,DC voltage regulation circuit,high frequency inverter circuit,magnetic circuit coupling mechanism,resonance compensation network,and the design requirements of compensation circuit for inspection robot ICPT system are analyzed.Secondly,this paper studies the resonant compensation circuit of ICPT system,analyses and compares the load output characteristics and input impedance characteristics of four basic compensation topologies of ICPT system,LCL/S and LCL/LCL.On this basis,a LCL-LCL/S hybrid compensation topology is proposed,and its constant current and constant voltage output principle and ZPA characteristics are analyzed.Thirdly,the actual equivalent model of LCL-LCL/S hybrid compensation topology is established.According to the actual equivalent model,the expressions of the parameters of the hybrid compensation topology are deduced,the load output characteristics,power characteristics and efficiency characteristics of the system areanalyzed,and the sensitivity of the compensation parameters of the system is analyzed.Based on the simulation software of MATLAB/Simulink,the LCL-LCL/S hybrid compensation topology simulation model is built.It is proved that this system can be used for constant current and constant voltage charging of inspection robot in substation.Finally,a system experiment platform is built to verify the correctness of the compensation topology theory and simulation analysis of the substation inspection robot ICPT system.