This article presents an in-depth study of a dynamic wireless power transfer (DWPT) system used to charge electric vehicles (EVs), with a focus on modeling and controlling a double-D (DD) coil structure. The chosen DD coil design improves energy transfer efficiency and minimizes mutual coupling between adjacent transmit coils, a common problem in dynamic applications. A comprehensive mathematical model is developed to account for the nonlinear dynamics of the system, i.e., when the vehicle is moving and misalignments and coupling variations occur. A robust nonlinear control method based on sliding mode control (SMC) is implemented to ensure stable operation and accurate regulation of the output voltage. The controller is tested in different scenarios where the vehicle speed changes, thus ensuring its robustness and stability under all operating conditions. Particular attention is paid to the critical transition zone, in which the receiver coil is placed between two transmitter coils in order to achieve minimal magnetic coupling. The simulation results demonstrate that the proposed controller offers a fast dynamic response (~0.07 s) and stable voltage tracking, even in the event of significant variations in mutual inductance and different EV movement speeds. These results confirm the effectiveness of the control approach and its potential for real-time charging of electric vehicles in large-scale DWPT applications.
Hamed et al. (2025) studied this question.