# US 12,600,249 B1 · Passivity-based integral terminal sliding mode control for suppressing output voltage of dynamic wireless charging

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- Number: US 12,600,249 B1
- Document ID: US12600249B1
- Status: Granted
- Kind: B1
- Application number: 19/264,550
- Filed: 2025-07-09
- Granted: 2026-04-14
- Earliest claimed: 2025-07-09
- Assignees: The Florida International University Board of Trustees
- Applicants: Arif I. Sarwat; Milad Behnamfar
- Inventors: Arif I. Sarwat; Milad Behnamfar
- Web page: https://patentgrep.com/patent/US12600249B1

## CPC

- B60L 53/12: Inductive energy transfer
- B60L 53/122: Circuits or methods for driving the primary coil, e.g. supplying electric power to the coil
- H02J 50/12: of the resonant type
- B60L 53/20: characterised by converters located in the vehicle
- B60L 2210/12: Buck converters
- Y02T 10/70: Energy storage systems for electromobility, e.g. batteries
- Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
- Y02T 90/14: Plug-in electric vehicles
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

A method for suppressing output voltage fluctuations in a dynamic wireless charging (DWC) system for electric vehicles is provided. The method includes performing a passivity-based control step that includes performing an energy shaping stage and performing a damping injection stage to mitigate energy oscillations and enhance stability of the DWC system; deriving an intermediary variable that corresponds to an inductor current and serves as a reference value for the inductor current in a subsequent integral terminal sliding mode control step; and performing the integral terminal sliding mode control step that includes defining a terminal integral sliding surface based on the intermediary variable; selecting a reaching law that satisfies a preset condition; and deriving a formula for determining duty cycles for the DWC system.

## Claims

### Claim 1

A system for controlling a dynamic wireless charging system for an electric vehicle, the system comprising:
a) a transmitter component comprising:
a-i) a plurality of transmitter pads;
a-ii) a plurality of transmitter coils positioned within or adjacent to the plurality of transmitter pads and electrically coupled to a power source; and
a-iii) a series resonant inductor and a parallel resonant capacitor forming part of a double-sided LCC compensation network;
b) a receiver component comprising:
b-i) a receiver pad;
b-ii) a receiver coil positioned within or adjacent to the receiver pad and inductively coupled to the plurality of transmitter coils to provide wireless charging of the electric vehicle through mutual inductance;
b-iii) a series resonant capacitor, a series resonant inductor, and a parallel resonant capacitor forming another part of the double-sided LCC compensation network;
b-iv) a DC-DC buck converter comprising an input capacitor, an inductor, and an output capacitor;
b-v) a rectifier coupled to the receiver coil; and
b-vi) a load coupled to an output of the rectifier; and
c) means for implementing a passivity-based integral terminal sliding mode (PBITSM) control method employing a secondary side control approach, wherein the means for implementing the PBITSM control method is configured to adjust a duty cycle of the DC-DC buck converter to provide finite-time convergence of a voltage error to a desired value and stabilize an output voltage of the DC-DC buck converter.

### Claim 2 (depends on 1)

The system according to claim 1, wherein adjusting the duty cycle further comprises steps of:
calculating the duty cycle based on the output voltage and the inductor current in the DC-DC buck converter; and
applying the calculated duty cycle to the DC-DC buck converter.

### Claim 3 (depends on 2)

The system according to claim 2, wherein the means for implementing the PBITSM control method is based on a nonlinear sliding-mode control algorithm involving the output voltage, an inductor-current-related term, and sliding-surface error signals.

### Claim 4 (depends on 1)

The system according to claim 1, wherein the means for implementing the PBITSM control method is based on an integral terminal sliding mode (ITSM) to improve response speed, robustness, stability of the dynamic wireless charging system, and reduce chattering associated with sliding-mode control.

### Claim 5 (depends on 4)

The system according to claim 4, wherein the means for implementing the PBITSM control method is configured to minimize voltage variations arising from changes in coupling coefficient between the transmitter pad mounted on a stationary surface and the receiver pad mounted on the electric vehicle and to constrain voltage ripple to within 1% under varying load conditions.

### Claim 6 (depends on 4)

The system according to claim 4, wherein the means for implementing the PBITSM control method is configured to preserve system passivity, thereby enhancing stability of the dynamic wireless charging system under varying operating conditions.

### Claim 7 (depends on 1)

The system according to claim 1, wherein the means for implementing the PBITSM control method is based on stages of:
1) energy shaping, defining a desired energy function for the system; and
2) damping injection, adding virtual resistances to dissipate oscillations.

### Claim 8 (depends on 7)

The system according to claim 7, wherein the means for implementing the PBITSM control method is based on a Lyapunov function, being configured to suppress output voltage fluctuations arising from variations in mutual coupling during dynamic charging of the electric vehicle.

### Claim 9 (depends on 7)

The system according to claim 7, wherein the means for implementing the PBITSM control method is implemented within the receiver component, being configured to regulate DC-DC buck converter operation using local voltage and current conditions, thereby eliminating transmitter-receiver communication.

### Claim 10 (depends on 7)

The system according to claim 7, wherein the means for implementing the PBITSM control method is configured to efficiently adapt to variable variations in load and vehicle position to maintain stable and continuous power supply to the electric vehicle.

### Claim 11

A method for controlling a dynamic wireless charging system for an electric vehicle, the method comprising the steps of:
a) providing a transmitter component, the transmitter component comprising:
a-i) generating an alternating magnetic field for transfer of wireless power via a plurality of transmitter pads;
a-ii) positioning a plurality of transmitter coils within or adjacent to the plurality of transmitter pads and electrically coupling them to a power source; and
a-iii) employing a series resonant inductor and a parallel resonant capacitor forming part of a double-sided LCC compensation network;
b) providing a receiver component, the receiver component comprising:
b-i) receiving the wireless power from the transmitter component via a receiver pad;
b-ii) positioning a receiver coil within or adjacent to the receiver pad, inductively coupling the receiver coil to the plurality of transmitter coils to facilitate wireless charging of the electric vehicle through mutual inductance;
b-iii) employing a series resonant capacitor, a series resonant inductor, and a parallel resonant capacitor forming another part of the double-sided LCC compensation network;
b-iv) employing a DC-DC buck converter comprising an input capacitor, an inductor, and an output capacitor;
b-v) rectifying power received by the receiver coil using a rectifier; and
b-vi) providing a load coupled to the output of the rectifier; and
c) controlling the dynamic wireless charging system using means for implementing a passivity-based integral terminal sliding mode (PBITSM) control method employing a secondary side control approach, wherein the means for implementing the PBITSM control method is configured to adjust a duty cycle of the DC-DC buck converter to provide finite-time convergence of a voltage error to a desired value and stabilize an output voltage of the DC-DC buck converter.

### Claim 12 (depends on 11)

The method according to claim 11, wherein adjusting the duty cycle further comprises steps of:
calculating the duty cycle based on the output voltage and the inductor current in the DC-DC buck converter; and
applying the calculated duty cycle to the DC-DC buck converter.

### Claim 13 (depends on 12)

The method according to claim 12, wherein the means for implementing the PBITSM control method is based on a nonlinear sliding-mode control algorithm involving the output voltage, an inductor-current-related term, and sliding-surface error signals.

### Claim 14 (depends on 11)

The method according to claim 11, wherein the means for implementing the PBITSM control method is based on an integral terminal sliding mode (ITSM) to improve response speed, robustness, stability of the dynamic wireless charging system, and reduce chattering associated with sliding-mode control.

### Claim 15 (depends on 14)

The method according to claim 14, wherein the means for implementing the PBITSM control method is configured to minimize voltage variations arising from changes in coupling coefficient between the transmitter pad mounted on a stationary surface and the receiver pad mounted on the electric vehicle and to constrain voltage ripple to within 1% under varying load conditions.

### Claim 16 (depends on 14)

The method according to claim 14, wherein the means for implementing the PBITSM control method is configured to preserve system passivity, thereby enhancing stability of the dynamic wireless charging system under varying operating conditions.

### Claim 17 (depends on 11)

The method according to claim 11, wherein the means for implementing the PBITSM control method is based on stages of:
1) energy shaping, defining a desired energy function for the system; and
2) damping injection, adding virtual resistances to dissipate oscillations.

### Claim 18 (depends on 17)

The method according to claim 17, wherein the means for implementing the PBITSM control method is based on a Lyapunov function, being configured to suppress output voltage fluctuations arising from variations in mutual coupling during dynamic charging of the electric vehicle.

### Claim 19 (depends on 17)

The method according to claim 17, wherein the means for implementing the PBITSM control method is implemented within the receiver component, being configured to regulate DC-DC buck converter operation using local voltage and current conditions, thereby eliminating transmitter-receiver communication and being configured to efficiently adapt to variable variations in load and vehicle position to maintain stable and continuous power supply to the electric vehicle.

### Claim 20

A system for controlling a dynamic wireless charging system for an electric vehicle, the system comprising:
a) a transmitter component comprising:
a-i) a plurality of transmitter pads;
a-ii) a plurality of transmitter coils positioned within or adjacent to the plurality of transmitter pads and electrically coupled to a power source; and
a-iii) a series resonant inductor and a parallel resonant capacitor forming part of a double-sided LCC compensation network;
b) a receiver component comprising:
b-i) a receiver pad;
b-ii) a receiver coil positioned within or adjacent to the receiver pad and inductively coupled to the plurality of transmitter coils to provide wireless charging of the electric vehicle through mutual inductance;
b-iii) a series resonant capacitor, a series resonant inductor, and a parallel resonant capacitor forming another part of the double-sided LCC compensation network;
b-iv) a DC-DC buck converter comprising an input capacitor, an inductor, and an output capacitor;
b-v) a rectifier coupled to the receiver coil; and
b-vi) a load coupled to an output of the rectifier; and
c) means for implementing a passivity-based integral terminal sliding mode (PBITSM) control method employing a secondary side control approach, wherein the means for implementing the PBITSM control method is configured to adjust a duty cycle of the DC-DC buck converter to provide finite-time convergence of a voltage error to a desired value and stabilize an output voltage of the DC-DC buck converter,
wherein adjusting the duty cycle further comprises steps of:
calculating the duty cycle based on the output voltage and the inductor current in the DC-DC buck converter; and
applying the calculated duty cycle to the DC-DC buck converter,
wherein the means for implementing the PBITSM control method is based on a nonlinear sliding-mode control algorithm involving the output voltage, an inductor-current-related term, and sliding-surface error signals,
wherein the means for implementing the PBITSM control method is based on an integral terminal sliding mode (ITSM) to improve response speed, robustness, stability of the dynamic wireless charging system, and reduce chattering associated with sliding-mode control,
wherein the means for implementing the PBITSM control method is configured to minimize voltage variations arising from changes in coupling coefficient between the transmitter pad mounted on a stationary surface and the receiver pad mounted on the electric vehicle and to constrain voltage ripple to within 1% under varying load conditions,
wherein the means for implementing the PBITSM control method is configured to preserve system passivity, thereby enhancing stability of the dynamic wireless charging system under varying operating conditions,
wherein the means for implementing the PBITSM control method is based on stages of:
1) energy shaping, defining a desired energy function for the system; and
2) damping injection, adding virtual resistances to dissipate oscillations,
wherein the means for implementing the PBITSM control method is based on a Lyapunov function, being configured to suppress output voltage fluctuations arising from variations in mutual coupling during dynamic charging of the electric vehicle,
wherein the means for implementing the PBITSM control method is implemented within the receiver component, being configured to regulate DC-DC buck converter operation using local voltage and current conditions, thereby eliminating transmitter-receiver communication, and
wherein the means for implementing the PBITSM control method is configured to efficiently adapt to variable variations in load and vehicle position to maintain stable and continuous power supply to the electric vehicle.