Modelling and Control Design of a Non-Collaborative UAV Wireless Charging System

Area of Science:

• Electrical Engineering
• Electromagnetics
• Robotics

Background:

• Wireless power transfer (WPT) systems are crucial for mobile electronics and robotics.
• Efficiently charging moving and rotating loads presents significant challenges in WPT.
• Existing WPT systems often require precise alignment or feedback mechanisms.

Purpose of the Study:

• To develop an analytical model for a 3D WPT system capable of charging a moving, rotating load.
• To design a controller for maximizing power transfer without requiring receiver-end feedback.
• To simulate and validate the proposed WPT system's performance under dynamic conditions.

Main Methods:

• An analytical model of a WPT system with three orthogonal transmitter coils was developed.
• Mutual coupling was accurately modeled using Ansys software for a realistic 3D simulation.
• Extremum seeking control (ESC) was implemented to optimize power transfer based on input power.

Main Results:

• The simulation demonstrated a concentrated, omnidirectional magnetic field for efficient energy transfer.
• The ESC controller successfully maximized power transfer to a simulated moving and rotating UAV.
• A maximum power transfer of 2.6W was achieved in approximately 1ms at a receiver speed of 2250 deg/s.

Conclusions:

• The proposed WPT system and ESC strategy effectively enable efficient wireless charging of dynamic loads.
• The Ansys-based simulation provides a robust platform for WPT system design and controller development.
• This research paves the way for untethered, continuous power delivery to mobile robotic platforms.