无人机无线电能传输系统采用DD型发射线圈可以有效减小漏磁,但只产生一个方向的水平磁场,对无人机停靠精度要求高,自由度低,控制复杂。本文提出了一种发射端磁集成设计方案,发射线圈由上下和左右的两组DD型线圈组成以产生X、Y两个方向的磁场,补偿线圈在中间绕制成单极性方型以实现解耦和集成化设计。首先,基于COMSOL仿真软件验证了磁集成设计的可靠性,仿真证明所设计的发射端可以给多种耦合机构进行多自由度供电；其次,设计并分析了系统电路输出特性；最后,搭建了无人机无线充电系统进行了验证,结果表明所设计的系统可以为水平螺线管型线圈及垂直方型线圈进行多自由度供电。

The UAV wireless charging system adopts the DD type transmitting coil to effectively reduce the magnetic leakage, but only generates a horizontal magnetic field in one direction, which requires high docking accuracy of the UAV, low degree of freedom, and complicated control. This paper proposes a magnetic integrated design scheme for the transmitter. The transmitter coil is composed of two sets of DD coils on the top and bottom and left and right to generate magnetic fields in both X and Y directions. The compensation coil is wound into a unipolar square in the middle to achieve Decoupling and integrated design. First, the reliability of the magnetic integrated design is verified based on the COMSOL simulation software. The simulation proves that the designed transmitter can provide power for multiple coupling mechanisms with multiple degrees of freedom. Secondly, the output characteristics of the system are designed and analyzed. Finally, an unmanned aerial vehicle wireless charging system was built for verification. The results show that the designed system can provide multi-degree-of-freedom power supply for horizontal solenoid-type coils and vertical square coils.

TM724

自治区重点研发计划项目：基于RTK高精度定位无线充电续航技术的配电智能巡线无人机研发(桂科AB19245041)