izvestswsuИзвестия Юго-Западного государственного университетаProceedings of the Southwest State University2223-15602686-6757ЮЗГУ10.21869/2223-1560-2021-25-4-84-103izvestswsu-940Research ArticleИнформатика, вычислительная техника и управлениеComputer science, computer engineering and IT managmentСтруктура и схемотехническое решение двунаправленной беспроводной системы передачи энергии для роевых роботовStructure and Circuit Design of a Bidirectional Wireless Power Transmission System for Swarm Robotshttps://orcid.org/0000-0001-6303-0344КрестовниковК. Д.KrestovnikovK. D.

  Крестовников Константин Дмитриевич, младший научный сотрудник лаборатории автономных робототехнических систем,

14-я линия В.О., д. 39, г. Санкт-Петербург 199178 

 Konstantin D. Krestovnikov, Junior Researcher of Laboratory of Autonomous Robotic Systems 

39, 14th Line, St. Petersburg 199178 

k.krestovnikov@iias.spb.suСеменовА. В.SemenovA. V.

 Семенов Александр Валерьевич, магистр

ул. Б. Морская,д. 67, г. Санкт-Петербург 190121 

 Aleksandr V. Semenov, Master Student 

 67, Bolshaya Morskaya str., St. Petersburg 190121 

azarov211@gmail.comhttps://orcid.org/0000-0001-8003-3643ЕрашовА. А.ErashovA. A.

 Ерашов Алексей Алексеевич, младший научный сотрудник лаборатории технологий больших данных социокиберфизических систем

 14-я линия В.О., д. 39, г. Санкт-Петербург 199178 

 Aleksei A. Erashov, Junior Researcher of Laboratory of Big Data Technologies in Socio-Cyberphysical Systems 

39, 14th Line, St. Petersburg 199178 

erashov.a@iias.spb.suСанкт-Петербургский Федеральный исследовательский центр Российской академии наук; Санкт-Петербургский институт информатики и автоматизации Российской академии наукSt. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS); St. Petersburg Institute for Informatics and Automation of the Russian Academy of SciencesСанкт-Петербургский государственный университет аэрокосмического приборостроенияSt. Petersburg State University of Aerospace Instrumentation20210904202225484103Copyright © Крестовников К.Д., Семенов А.В., Ерашов А.А., 20222022Крестовников К.Д., Семенов А.В., Ерашов А.А.Krestovnikov K.D., Semenov A.V., Erashov A.A.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://izvestswsu.elpub.ru/jour/article/view/940Цель исследования

Цель исследования. Развитие роевых робототехнических систем и подходов к одновременному решению задачи группой роботов делает актуальным направление исследований, связанное с распределением энергетических ресурсов между агентами роя. Практическая реализация данных задач требует разработки систем, позволяющих осуществлять передачу энергии между агентами роя. Целью исследования является разработка структуры и схемотехнического решения двунаправленной беспроводной системы передачи энергии на основе резонансного автогенератора.

Методы

Методы. Проведен анализ существующих исследований и разработок двунаправленных систем передачи энергии индуктивным методом. Были рассмотрены такие параметры, как передаваемая мощность, эффективность, расстояние передачи энергии.

Результаты

Результаты. Описан принцип работы разработанного схемотехнического решения в режиме приема и передачи энергии, приведена принципиальная электрическая схема и расчетные соотношения. Получены зави-симости эффективности работы системы от передаваемой мощности и от расстояния передачи энергии. Наибольшее значение передаваемой мощности 15,4 Вт достигается при минимальном расстоянии между приемной и передающей частями системы. Наибольшая величина эффективности 59,91% достигается при передаваемой мощности 10,09 Вт.

Заключение

Заключение. Разработанная структура и схемотехническое решение являются базой для реализации двунаправленной беспроводной системы передачи энергии. Предложенная структура, в составе которой используется повышающий DC-DC преобразователь, позволяет получать напряжение на выходе системы, работающей в режиме приема энергии, равное и выше напряжения источника питания системы, работающей в режиме передачи энергии. Применение представленного решения актуально для передачи энергии между автономными роботами, передачи энергии от источника питания к роботу и в обратном направлении.

Purpose of research

Purpose of research. The development of swarm robotic systems and approaches to the simultaneous solution of the problem by a group of robots makes the direction of research related to the distribution of power resources between swarm agents topical. The implementation of these tasks requires the development of systems that make it possible to transfer power between swarm agents. The aim of the study is to develop the structure and circuit design of a bidirectional wireless power transmission system based on a resonant self oscillator.

Methods

Methods. The analysis of existing research and development of bidirectional power transmission systems by inductive method is carried out. The following parameters - transmitted power, efficiency, and power transmission distance were studied.

Results

Results. The principle of operation of the developed circuit design in the mode of receiving and transmitting power is described, the schematic diagram and the design ratios are provided. The dependences of the efficiency of the system on the transmitted power and on the distance of power transmission are obtained. The highest value of the transmitted power of 15.4 W is achieved with a minimum distance between the receiving and transmitting parts of the system. The highest efficiency value of 59.91% is achieved with a transmitted power of 10.09 W.

Conclusion

Conclusion. The developed structure and circuit design are the basis for the implementation of a bidirectional wireless power transmission system. The proposed structure, which uses a step-up DC-DC converter, allows us to obtain a voltage at the output of a system operating in the power reception mode equal to and higher than the voltage of the power supply of the system operating in the power transmission mode. The application of this solution is relevant for the transfer of power between autonomous robots, the transfer of power from the power source to the robot and in the opposite direction.

двунаправленная беспроводная система передачи энергиироевая робототехникараспределение энергетических ресурсоврезонансный автогенераторпередача энергииbidirectional wireless power transmission systemswarm roboticsdistribution of power sourcesresonant self oscillatorpower transmissionИсследования выполнены при поддержке Российского фонда фундаментальных исследований: РФФИ 19-08-01215_АThe research was carried out with the support of the Russian Foundation for Fundamental Research: РФФИ 19-08-01215_АReferencesПшихопов В.Х., Медведев М.Ю. Групповое управление движением мобильных роботов в неопределенной среде с использованием неустойчивых режимов // Информатика и автоматизация. 2018. Т. 5. № 60. С. 39-63. https://doi.org/10.15622/sp.60.2.Pshikhopov V.KH., Medvedev M.YU. Gruppovoe upravlenie dvizheniem mobil'nyh robotov v neopredelennoj srede s ispol'zovaniem neustojchivyh rezhimov. [Group control of the movement of mobile robots in an uncertain environment using unstable modes]. 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The authors declare that there are no conflicts of interest present.