As an auxiliary function of the wireless power transfer (WPT) system, coil positioning can solve the power and efficiency degradation during power transmission caused by misalignment of the magnetic coupler. In this paper, a Hall sensor array is used to measure the change of magnetic flux density. By comparing the multisensor data fusion results with the preset data obtained from the coil alignment, the real-time accurate positioning of the receiving coil can be realized. Firstly, the positioning model of the receiving coil is built and the variation of magnetic flux density with the coil misalignment is analyzed. Secondly, the arrangement of the Planar 8-direction symmetric sensor array and the positioning algorithm based on data fusion of magnetic flux density variations are proposed. In order to avoid coil positioning misalignment caused by the unstable magnetic field distribution which is actually affected by the change of mutual inductance during automatic guided vehicle (AGV) alignment, the constant current strategy of primary and secondary sides is proposed. Finally, the coil positioning experimental platform is built. The experimental results show that the coil positioning method proposed in this paper has high accuracy, and the positioning error is within 4 cm.

中文翻译：

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基于磁感应的自动导引车无线电力传输系统线圈定位

作为无线电力传输（WPT）系统的辅助功能，线圈定位可以解决由于磁耦合器未对准而导致的功率传输过程中的功率和效率下降。在本文中，霍尔传感器阵列用于测量磁通密度的变化。通过将多传感器数据融合结果与从线圈对准获得的预设数据进行比较，可以实现接收线圈的实时精确定位。首先，建立接收线圈的定位模型，分析了磁通密度随线圈未对准的变化。其次，提出了平面8向对称传感器阵列的布置和基于磁通密度变化数据融合的定位算法。为了避免由于磁场分布不稳而引起的线圈定位失准，而该磁场分布实际上受自动引导车（AGV）对准期间互感变化的影响，提出了一次侧和二次侧的恒流策略。最后，搭建了线圈定位实验平台。实验结果表明，本文提出的线圈定位方法具有较高的精度，定位误差在4 cm以内。