Design of Four-Plate Parallel Dynamic Capacitive Wireless Power Transfer Coupler for Mobile Robot Wireless-Charging Applications

Abstract

A detailed theoretical design of an electric resonance-based coupler for dynamic wireless power transfer (DWPT) at the mobile robot level is presented. The scattering matrix of the coupler was derived by transforming and multiplying transmission matrices for each circuit network in a practical equivalent circuit that accounted for loss resistance. This theoretical approach was validated through equivalent circuit models, yielding results consistent with 3D full-wave simulations and showing an error rate of less than 1%. Additionally, a null-power point characteristic, where efficiency sharply decreases when the receiver moves outside the transmitter’s range, was observed. The detailed theoretical design of the practical equivalent circuit for electric resonance-based dynamic WPT couplers is expected to contribute to the design of couplers for various specifications in future applications.