摘要

本文提出一套考量錯位充電容忍度與諧振補償最佳化之自主移動機器人感應充電系統。此研究動機在於目前搬運車載採用無線充電時，常因線圈模組錯位而造成操作電壓變動，另諧振補償電容設計常依據線圈模組而進行阻抗匹配計算，此法存在諧振元件應力不足與諧振特性偏移問題。因此，本文提出整合藍芽模組、回授偵測調整技術、與控制器數位補償演算程序而發展一套閉回路控制策略，且輔以導通週期調變即可維持輸出電壓與提升錯位充電距離。此外，此研究再提出諧振補償優化方法，其可建立預期補償電容設計值而同步達成線圈模組設計、擬定諧振頻率、選定系統操作頻率、與評估電壓增益，並實踐高轉換效率與傳輸功率暨穩定輸出電源品質。經由模擬分析與硬體電路充電測試，實驗結果佐證此感應充電系統確實兼具長距離錯位充電能力與維持精緻電源輸出品質等功能，成果頗助益自主移動機器人與電動搬運車應用與設計參考。

關鍵詞：感應充電、諧振補償、錯位容忍度、鋰電池模組

Abstract

This study proposes an inductive charging system for autonomous mobile robots with resonance compensation optimization and misalignment-tolerating considerations. The motivation of the research lies in the fact that when the wireless power transfer is adapted in transport vehicles, the coil module misalignment often causes the operation voltage variation. The resonance compensation capacitor design is often based on the coil module, and then the impedance matching calculation is performed. This method has the problems of insufficient component stress and resonance characteristics deviation. To solve these problems, this study proposes to integrate the feedback detection technique, the digital compensation and judgment algorithm program, and the Bluetooth module into a closed-loop control strategy, supplemented by duty cycle adjustment to maintain the output voltage and improve the misalignment charging distance. In addition, this study also proposes a resonance compensation optimization method to estimate the expected design value of the compensation capacitor, simultaneously achieving coil module design, determining the resonance frequency, selecting the system operating frequency, and evaluating the voltage gain, so that the high conversion efficiency and stable output power can be practiced. Through the simulation analysis and the hardware circuit charging testing, the experimental results validate the performance of the presented inductive charging system, including long-distance misalignment charging capability and maintaining the elegant power output quality. The research achievements can be deemed as beneficial references for the AMR and electric transport vehicle application and design.