本文利用Class-E放大器，實現無線充電系統架構。
Class-E電路目的經由開關訊號將MOSFET的drain端所輸入直流操作在零電壓(Zero Voltage Switching, ZVS)狀態，使放大器開關切換時所造成能量的損失減少，而實現其電路的方式則是利用電感與電容的諧振來完成。將共振槽(resonant tank)設計成低阻抗，就可以將電流鎖在此槽，即是鎖住能量，開關訊號輸入時的頻率影響著共振槽中儲存能量的頻率，當能量的頻率與共振槽中共振頻率吻合時，則能夠讓能量大量鎖在共振槽中。
實驗中包含無線能量傳輸電路模擬與鉛酸電池無線充電實驗。
本文實現於以人工勢場法為避障策略的輪型機器人，以為控制器為控制系統的核心，藉由雷射測距儀來擷取並分析環境資料。無線充電系統接收端安裝於輪型機器人上方，後端連接於輪型機器人電池，當完成一次任務後，輪型機器人回到車庫後，發射端線圈與接收端線圈形成磁共振效應，無線傳輸能量對輪型機器人所配備鉛酸電池進行充電。

In this paper, E-class amplifier realizes wireless charging system architecture.
The purpose of the Class-E circuit operates the drain terminal of the MOSFET through a switch signal to operate at a zero voltage (zero voltage switch, ZVS) state so that the loss of energy caused by the switching of the amplifier is reduced while the circuit is implemented by using an inductor resonance with the capacitor to complete. The resonant tank (resonant tank) is designed to a low impedance, the current can be locked in this tank, that is locked energy, the frequency of the switching signal input tank resonance energy storage frequency, when the energy of the resonant frequency in the slot coincides, a large amount of energy can be locked in the resonant tank.
Experiments include wireless energy transfer circuit simulation and lead-acid battery wireless charging.
In this paper, we implement a wheel-type robot with artificial potential field as obstacle avoidance strategy, taking the controller as the core of the control system and capturing and analyzing environmental data by laser range finder. The receiver of the wireless charging system is installed above the wheel-type robot, and the rear end is connected to the wheel-type robot battery. When the wheel-type robot returns to the garage after completing a task, the transmitter-end coil and the receiver-end coil form a magnetic resonance effect, The wheel-type robot is equipped with lead-acid batteries for charging.

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