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To address the sharp decline in magnetic coupling efficiency caused by rotational and axial misalignment during underwater wireless charging of autonomous underwater vehicles (AUVs), this paper proposes an anti-misalignment optimization scheme based on magnetic coupling resonant wireless power transfer (MCR-WPT). By designing a quadrupole symmetric pot-shaped magnetic core and a misaligned three-segment arc-shaped secondary coil, the system’s dynamic stability is significantly enhanced. The primary side employs an orthogonal decoupled magnetic circuit, achieving 360° magnetic field coverage while reducing the leakage flux rate. On the secondary side, two sets of coils are arranged in a staggered configuration with a 60° phase difference. Through a magnetic field superposition compensation mechanism, the system attains an effective working angle of 240° within a full 360° rotational misalignment range, with mutual inductance fluctuation rates below 5%. Under axial misalignment of ±10 mm, the mutual inductance fluctuation rate remains under 2%. Further optimized with an LCC-S compensation network, the system achieves an output efficiency of 87.92% (including eddy current losses). This research provides a reliable technical solution for high-efficiency power supply to AUVs in complex marine environments.

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Development of a Misalignment-Tolerant Underwater Inductive Power Transfer System for Autonomous Underwater Vehicles

  • 会议论文

  • 发表日期：

    2026年

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  • Limei Wang,
  • Lintao Liu,
  • Zhengmao Duan,
  • Jiaqi Song,
  • Zeyu Li

摘要

To address the sharp decline in magnetic coupling efficiency caused by rotational and axial misalignment during underwater wireless charging of autonomous underwater vehicles (AUVs), this paper proposes an anti-misalignment optimization scheme based on magnetic coupling resonant wireless power transfer (MCR-WPT). By designing a quadrupole symmetric pot-shaped magnetic core and a misaligned three-segment arc-shaped secondary coil, the system’s dynamic stability is significantly enhanced. The primary side employs an orthogonal decoupled magnetic circuit, achieving 360° magnetic field coverage while reducing the leakage flux rate. On the secondary side, two sets of coils are arranged in a staggered configuration with a 60° phase difference. Through a magnetic field superposition compensation mechanism, the system attains an effective working angle of 240° within a full 360° rotational misalignment range, with mutual inductance fluctuation rates below 5%. Under axial misalignment of ±10 mm, the mutual inductance fluctuation rate remains under 2%. Further optimized with an LCC-S compensation network, the system achieves an output efficiency of 87.92% (including eddy current losses). This research provides a reliable technical solution for high-efficiency power supply to AUVs in complex marine environments.