IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION, VOL. 70, NO.
4, APRIL 2022
A Planar Distributed Multicoil Antenna to Generate
3-D Ellipsoidally Polarized H -Field for Angular
Misalignment Tolerant WPT System
Vivek Kumar Srivastava , Graduate Student Member, IEEE, Ashwani Sharma , Member, IEEE,
and Ananth Bharadwaj , Graduate Student Member, IEEE
Abstract— This article presents 3-D polarized magnetic-field
forming using a planar multicoil transmitter antenna for wireless
power transfer (WPT) applications. Three orthogonal H-field
components resulting in optimized 3-D ellipsoidal polarization
are generated to mitigate the angular misalignment problem by
the proposed antenna. The analytical optimization of the 3-D
polarized H-field is presented, and its effect on induced voltage
in the receiver coil is investigated. To achieve unconstrained
induced voltage in the receiver independent of its angular
movement, an optimized planar multicoil design is proposed
for a maximum S21 between the transmitter and the receiver
coil antennas. Unlike the 3-D transmitter designs available in
the literature, the proposed antenna is a 2-D planar printed
circuit board (PCB) design, therefore, represents a cost-effective
solution and is suitable for various practical WPT applications.
The analytical results of the design are verified experimentally.
The result proves that the proposed antenna is able to completely
mitigate the angular misalignment problem, which represents a
potential planar antenna solution for orientation-insensitive WPT
applications.
Index Terms— 3-D polarization, angular misalignment, mag-
netic field forming, magnetic resonance coupling, multicoil
antenna, planar printed circuit board (PCB) design, wireless
power transfer (WPT).
I. I NTRODUCTION
W IRELESS power transfer (WPT) has been a prominent
technology for charging various devices with wireless
power ranging from few microwatts to several kilowatts.
Medical implants and mobile devices are well-known exam-
ples of low-power applications, whereas electric vehicles
and high-speed train charging represent high power applica-
tions [1]–[3]. For this purpose, the most eminent techniques
are magnetic induction (MI) used for short-range and magnetic
resonant coupling (MRC) for medium-range WPT [4], [5].
These techniques enable the transfer of power between a
Manuscript received March 22, 2021; revised October 3, 2021; accepted
October 14, 2021. Date of publication January 6, 2022; date of current version
April 7, 2022. This work was supported by the Prime Minister’s Research
Fellowship (PMRF) and Science and Engineering Research Board (SERB),
Department of Science and Technology, Government of India, under Grant
ECR/2018/000343. (Corresponding author: Ashwani Sharma.)
The authors are with the Department of Electrical Engineering,
IIT Ropar, Rupnagar, Punjab 140001, India (e-mail: vivek.19eez0027@
iitrpr.ac.in; ashwani.sharma@iitrpr.ac.in; 2018eez0023@iitrpr.ac.in).
Color versions of one or more figures in this article are available at
https://doi.org/10.1109/TAP.2021.3137477.
Digital Object Identifier 10.1109/TAP.2021.3137477
0018-926X © 2022 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
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2969
transmitter (Tx) and a receiver (Rx) coil wirelessly. The
primary objectives of designing an efficient WPT system
are to minimize the antenna losses and maximize the power
transfer efficiency (PTE) between the coils. The PTE is greatly
influenced by the Rx misalignment, which reduces the flux
linkage between the Tx and the Rx coils, resulting in reduced
transferred power. The Rx misalignment is classified into two
categories: lateral and angular misalignments. The latter serves
the scope of this research work. The angular misalignment
emerges due to the Rx’s rotatory motion with respect to an
intended orientation [6].
Various literature works, e.g., [7], [8], have investigated
the impact on mutual coupling between the coils due to
angular misalignment problem. Further studies targeting the
angular misalignment problem are performed in [4], [9]–[12],
which utilize the concept of kQ theory by employing a single
tone signal transmission to address the problem. However,
the outcomes of such studies intimate that the problem is
mitigated only for a specific range of receiver misalignment
due to inefficient utilization of H -field components; this is
a major limitation of the kQ theory. In contrast, to com-
pletely address the problem, an efficient utilization of the
H -field components is essential at the Rx location for which
redesigning of the conventional planar Tx and Rx coils is
demanded. In some prior works, the angular misalignment
problem is addressed by using three orthogonally placed coils
at the Rx to capture flux from all the directions [13]. However,
this 3-D Rx is not suitable for many applications such as
radio frequency identification (RFID), medically implanted
devices, wireless mobile chargers, etc., where planar Rx is
preferred. Therefore, given the limited scope at the Rx side,
the Tx coils are engineered to find a potential solution to the
angular misalignment problem. For the Tx antenna design,
Shinohara [15], Sritongon et al. [16], Nutwong et al. [17], and
Aoki et al. [18] proposed multicoil Tx designs for generating
the desired H -field components at the planar Rx, however,
to address the horizontal misalignment and do not target the
angular misalignment. To mitigate particularly the angular
misalignment problem, the Tx antenna is expected to produce
orthogonal H -field components so that a planar Rx can capture
the flux in any orientation.
Several Tx designs have been proposed previously to gener-
ate orthogonal components of the H -field at the Rx location.
2970
For instance, in [18], a nonidentical current control method
is utilized with three orthogonally placed coils in a 3-D Tx
for generating an omnidirectional H -field. In this design,
a variation in PTE is observed with the Rx rotation, indicating
the existence of the angular misalignment problem. This is
because the H -field generated by the Tx in [18] does not have
proper polarization to mitigate the angular misalignment prob-
lem completely. In contrast, Srivastava and Sharma [19] have
presented various 3-D rotating H -field polarizations to study
angular misalignment problems and proposed an optimized
3-D rotating H -field that can mitigate the problem completely.
However, the Tx antenna used in [19] has a 3-D spherical
shape similar to that of [18]. The limitation of this structure
is that the Rx is intended to hang in the air at the center
of the 3-D Tx, which is impractical for a real application.
To provide ease of Rx placement, a bowl-shaped Tx for
charging small electronic devices is proposed in [21] and [22].
Similarly, a complex 3-D Tx structure is proposed in [22].
However, the field distribution generated by these 3-D Tx
antennas is nonuniformly distributed and is not optimized to
mitigate the angular misalignment problem. Moreover, being
3-D structured antennas, they are not favorable for many appli-
cations and constitute an inherent difficulty for manufacturing.
Therefore, a planar Tx antenna having advantages such as
simplicity, reliability, cost-effectiveness, and providing angular
misalignment tolerance is sought [23].
In [6], a planar Tx coil antenna consisting of three hexag-
onal spiral overlapping layers is designed to generate robust
lateral and longitudinal fields for powering randomly oriented
multiple Rx coils. However, the PTE is found inconsistent
due to varying longitudinal field intensity for specific Rx coil
orientations, and also the antenna structure is very complex.
In [24], a twisted loop antenna with subcoils of distributed
diameter is proposed to achieve a uniform PTE for arbitrary
oriented Rx coil antennas. However, the design is unable to
generate three orthogonal field components optimally. This
implies that the angular misalignment problem persists in the
design.
In contrast, Sharma et al. [23] have presented an H -field
forming technique using a planar multicoil Tx antenna, which
is designed to address the angular misalignment problem.
Though the planar two-port Tx designed in [23] is able to
produce three orthogonal H -field components, the feeding of
two sinusoidal sources having 90◦ phase difference leads to
the formation of a 2-D elliptically polarized H -field in the Rx
region. This implies that the planar Rx, whose area vector
is perpendicular to the plane of the 2-D rotating H -field,
is unable to receive any power. This motivates the need for
designing a planar Tx antenna that is able to generate the
three robust orthogonal H -field components with a resultant
3-D polarized rotating H -field so that the Rx coil is powered
in any orientation.
This article presents an optimized planar multicoil antenna
in printed circuit board (PCB) technology to form a 3-D
polarized H -field to power the Rx in oblivion to its orien-
tations. A thorough analysis is performed for the proposed
planar multicoil Tx antenna to form three orthogonal H -field
components optimally at the Rx region. The coil parameters
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IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION, VOL. 70, NO. 4, APRIL 2022
Fig. 1. Analytical modeling of H -field due to a single turn Tx coil.
are optimized based on the S21 parameter between the Tx and
the Rx coils constrained by optimal conditions to form 3-D
polarization. The performance of the proposed multicoil Tx is
evaluated by analyzing the RMS induced voltage (Vr ) in the
Rx coil and the objective to obtain insensitive Vr for all the
Rx orientations is analytically achieved. Further, the analytical
results are corroborated with the simulation and experimental
results to verify the claims. Hence, this work contributes to
designing a planar multicoil Tx antenna in PCB technology to
achieve a Rx orientation-insensitive WPT system.
This article is organized as follows. Section II presents
the WPT system configuration, analytical modeling of the
Tx coil antenna, S21 parameter formulation for the WPT
system, and motivation behind the formation of optimal 3-D
polarized H -field to mitigate angular misalignment problem.
Section III presents the modeling of the proposed planar
multicoil Tx antenna followed by the field condition to form an
optimized 3-D polarized H -field in Section IV. In Section V,
analytical optimization of the proposed antenna is performed,
and parametric study results are presented. Further, the antenna
realization and verification by simulation is performed in
Section VI. Subsequently, Section VII demonstrates the fab-
ricated prototype and experimental results. The work is con-
cluded in Section VIII.
II. S YSTEM C ONFIGURATION AND M ODELING
A typical WPT system consists of magnetically coupled
Tx and Rx units placed at a distance, d, apart from each
other, as depicted in Fig. 1. To formulate the field distribution,
a single turn circular coil of radius rt is considered as the
Tx antenna located at (x t , yt , zt ). The Tx coil is excited
by a sinusoidal source resulting in a current It e j ψ flowing
through the Tx coil, where It is the peak value, and ψ
is the initial phase of the current excitation. The current
excitation generates H -field distribution around the Rx area,
which induces a voltage Vind in the Rx coil located at (0,
0, d). Therefore, to evaluate the Vind in the Rx coil, the
H -field distribution is first evaluated in the Rx coil region.
An analytical model of the H -field generated by the Tx coil
and originated from a current-carrying loop is utilized for this
purpose.
Consider an arbitrary observation point OP with coordinates
(xr , yr , zr ) at which the H -field is determined. The relative
SRIVASTAVA et al.: PLANAR DISTRIBUTED MULTICOIL ANTENNA 2971

distances and angle quantities (ρ, h, φt ), as defined in Fig. 1, 3) Parasitic Capacitance Between Different Turns of a Coil:
are obtained as The capacitance, Ct , between two adjacent turns of a coil is
 ⎫ composed of two different capacitances that exist between the
ρ = (xr − x t )2 + (yr − yt )2 , h= (zr − zt ) ⎬ air (Cair ) and the substrate (Csubs ) of a PCB [27], which is
(yr − yt ) (1)
φt = tan−1 . ⎭ defined as
(xr − x t ) t
Ct = Cair + Csubs ≈ (αεair + βεsubs )ε0 l g (6)
The orthogonal projections Hx , H y , and Hz of the H -field s
vector along x-, y-, and z-axes, respectively, at OP shown in where l g is the air gap length, t is the thickness of track
Fig. 1 are formulated as [23] strip, s is the separation between adjacent tracks, α = 0.9,
and β = 0.1 are the constants for air (air = 1) and FR4
 2 
It e j ψ h rt + ρ 2 + h 2 substrate (subs = 4.4). The parasitic capacitance C is the total
Hρ =  E( p) − K ( p) Ct present between all the turns of the coil.
2πρ (rt + ρ)2 + h 2 (rt − ρ)2 + h 2
Hx = Hρ cos φt , H y = Hρ sin φt 4) Resistance of a Multiturn Coil: Total dc resistance of a
 2  multiturn coil is defined as Rdc = (l/σ a), where σ is the con-
It e j ψ rt − ρ 2 − h 2
Hz =  E( p) + K ( p) ductivity of material, l is total length, and a is cross-sectional
2π (rt + ρ)2 + h 2 (rt − ρ)2 + h 2 area of the track [25]. Under higher frequencies, the current
(2) distribution in the coil tracks is nonuniform due to skin and
proximity effects. Due to the former, the current is mainly
where K ( p) and E( p) are defined as complete elliptic inte- confined near the surface of the wire, whereas the latter results
grals
 of first and second kind, respectively, and p is calculated in the nonuniform current distribution along the tracks because
as (4rt ρ/(rt + ρ)2 + h 2 ). Once the H -field distribution in of the coupling in the adjacent turns. Therefore, the Rac of a
the Rx coil region is known, the Vind is determined in coil is given by [28]
Section IV for the proposed coil antenna.
Rac = Rskin + R prox (7)
where Rskin and R prox represent resistances due to skin and
A. Coil Parameter Modeling and S21 Calculation proximity effects, respectively, and are determined by [27],
In the WPT system, various parameters of the coil antennas [28]
influence the power transmission between the Tx and the t
Rskin =   Rdc
Rx. This includes mutual inductance (M), self-inductance (L), δ 1 − e− δ
t

parasitic capacitance (C), and coil resistance (Rac ). Therefore,

to formulate the PTE, equivalent circuit parameters of the coils 1 ω 2

R prox = Rdc
need to be analyzed. 10 ωcrit
1) Mutual Inductance, M: The Vind in the Rx coil deter- 3.1 s + w
mines M between the Tx and the Rx coils and calculated using ωcrit = Rsheet . (8)
μ0 w 2
Faraday’s law of electromagnetic induction as [25] √
Herewhere δ is the skin depth defined as 2/(μo ωσ ), ωcrit
Vind is the critical angular frequency at which current crowding
M= (3) becomes significant, μ0 is the permeability of air, and Rsheet
ωIt
is the metal sheet resistance of the track.
where ω is the working angular frequency. 5) PTE and S21 Calculation: The PTE, which is realized
2) Self-Inductance of the Multiturn Coil: The total self- in terms of S21 parameters between the Tx and Rx coils as
inductance L of a multiturn coil having a total Nt turns is |S21|2 , can be formulated as [29]
determined by summation of self-inductance L m of individual √
j 2ωM Rs Rl
mth turn and mutual inductance Mmn between each pair of S21 = (9)
mth and nth turns. In this manner, L is defined as (R1 + Rs )(R2 + Rl ) + (ωM)2
where R1 , R2 are the parasitic resistances of the Tx and

Nt 
Nt 
Nt
the Rx coils and Rs , Rl are the source and load resistances,
L= Lm + Mmn (4) respectively.
m=1 m=1 n=1
By substituting M from (3) in (9), we obtain
√
and the L m and Mmn are calculated using [26] j 2Vind It Rs Rl

 S21 = 2 . (10)
16rm It (R1 + Rs )(R2 + Rl ) + Vind 2

L m = μo rm ln −2
w As noted from (10), the S21 depends on Vind in the Rx coil for

 a fixed Tx and a Rx design. Therefore, for a given Tx and Rx
√ 2 γ2
Mmn = μo rm rn 1− K (γ ) − E(γ ) . (5) antenna, the variation in Vind with respect to the Rx orientation
γ 2
results in S21 variation, thus, is the eventual cause of the
Here, rm and rn are the radii of mth and nth turns, w denotes angular misalignment problem. Ideally, the Vind in the Rx
√
the strip width of the printed coil, and γ = 2 rm rn /(rm + rn ). coil must be invariant with the Rx orientation to mitigate the

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2972
Fig. 2. Literature design. (a) Polarization study. (b) Vr variation for Rx
orientations (θ , φ).
problem. In this regard, the effect of H -field polarization on
Vind and the root cause of the angular misalignment problem
from a field perspective is discussed as motivation for the
proposed design.
B. Motivation for the New Transmitter Design Using
Field-Forming Technique
The planar Tx coil as shown in Fig. 1 is located at (0, 0, 0)
and the planar Rx coil of a very small size compared to the
Tx coil is located at (0, 0, d). For this case, the H -field
components generated by the Tx coil at the Rx center are
found by substituting ρ = 0, h = d, and φt = 0◦ in (2) as
It r 2
Hx = 0, H y = 0, Hz =
 t  3 . (11)
2 a planar multicoil Tx is proposed here. Fig. 3 illustrates the
2 rt2 + d 2
From (11), it is inferred that only the Hz component of the
H -field is dominant at the Rx coil center. Under this condition,
a perfectly aligned Rx (θr = 0◦ and φr = 0◦ ) is able to
capture maximum Hz resulting in a maximum Vind in the
Rx coil. However, in angular misalignment (θr = 0◦ and
φr = 0◦ ) condition, the Vind reduces since only a fraction
of Hz is able to link with the Rx coil. Moreover, the Hx and
H y components are absent to contribute to the overall Vind in
this case. To mitigate this problem, Hx and H y components
are necessary along with the Hz field at the Rx location [23].
Although the Tx coil antenna proposed previously in [23] is
able to generate three orthogonal H -field components at the
Rx location, complete mitigation of the angular misalignment
problem is not possible due to the formation of a 2-D ellip-
tically polarized H -field by that design, as demonstrated in
Fig. 2(a). This happens because the H -field vector rotates
in a 2-D plane only. Thus, a planar Rx coil whose plane
coincides with the H -field plane is unable to capture any field.
This is graphically visualized from Fig. 2(b), which shows the
RMS-induced voltage Vr plots for different orientations θ and
φ of the Rx coil. Hence, It can be concluded that for the
complete elimination of angular misalignment problem, a 3-D
polarized H -field [21] is required. The planar Tx coil antenna
to generate a 3-D polarized H -field with optimized S21 is
presented next.
III. P ROPOSED P LANAR M ULTICOIL T RANSMITTER
To generate a 3-D polarized H -field distribution at the Rx
location, amplitude-modulated (AM) excitations [21] are used.
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IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION, VOL. 70, NO. 4, APRIL 2022
Fig. 3. Planar multicoil antenna to produce 3-D polarized H -field.
Since the excitation current determines the distribution of
instantaneous H -field originated by a coil, the AM-modulated
field projections to generate 3-D rotating H -field are formu-
lated as
⎫
h x (t) = Hx cos(ωm t) sin(ωc t) ⎬
h y (t) = H y sin(ωm t) sin(ωc t) (12)
⎭
h z (t) = Hz cos(ωc t)
where ωm is the modulating angular frequency (2 × π ×
500 rad/s), ωc is the carrier angular frequency (2 × π ×
13.56×106 rad/s), and Hx , H y , and Hz are the peak amplitudes
whose spacial distributions in the Rx region are obtained
from (2). To generate these components defined in (12),
schematic view of the proposed design comprising a total of
five multiturn planar coils distributed in space. Each coil-i ∀i ∈
[1, 5] has location (x i , yi , zi ) and radius ri as shown in Fig. 3.
For an efficient field forming at the Rx location, the excitation
current and geometrical parameters of the individual coil are
controlled.
Since the Rx is located at (0, 0, d) as shown in Fig. 3,
coil-1 alone is sufficient to form h z (t) field at the Rx location.
Whereas to produce h x (t) component at the Rx location,
coil-2 and coil-3 carry currents with opposite circulation as
depicted in Fig. 3; this incorporates 180◦ phase shift in the
excitation current. Similarly, coil-4 and coil-5 produce the
h y (t) component at the Rx location. To derive an optimal
H -field condition for the proposed planar multicoil antenna
Vind is analyzed in Section IV.
IV. O PTIMAL 3-D P OLARIZATION C ONDITION TO
M ITIGATE THE A NGULAR M ISALIGNMENT P ROBLEM
For the scenario shown in Fig. 3, the induced voltage Vind
in the Rx having orientation (θr , φr ) is given as
d 
Vind (t, θr , φr ) = −Nr μo h(t) · A (13)
dt
where h(t) = h x (t)x̂ + h y (t) ŷ + h z (t)ẑ is the resultant
H -field of the three orthogonal components defined in (12),
A = A x x̂ + A y ŷ + Az ẑ is the area vector of the Rx coil, and Nr
is the number of turns assumed concentrated at the periphery
of the Rx coil. By substituting, (13) modifies to
d
Vind (t, θr , φr ) = −Nr μo [h x (t)A x + h y (t)A y + h z (t)Az ].
dt
(14)
SRIVASTAVA et al.: PLANAR DISTRIBUTED MULTICOIL ANTENNA 2973

where A x = A sin θr cos φr , A y = A sin θr sin φr , and Az = The RMS value for this case, Vrx , is evaluated using (17)
A cos θr are the area projections of A along x-, y-, and z-axes, in (19) by assuming ωc = nωm , where n is an integer and
respectively. To simplify the analysis further, it is assumed obtained as

that the Rx is very small compared to the Tx depicted in Nr μo Hx A  2 
Fig. 3. This condition implies a uniform H -field throughout Vrx = ωc + ωm2 . (20)
2
the Rx dimension. The substitution of (12) in (14) results in
Vind formulation as
C. For θr = 90◦ φr = 90◦
Vind (t, θr , φr )
 Similarly, for this case, the area projections are A x = 0,
Hx A x
= −Nr μo (ωc + ωm ) cos((ωc + ωm )t) A y = A, and Az = 0 and only h y (t) contributes to Vind (t)
2

and found using (15)
+ (ωc − ωm ) cos((ωc − ωm )t) Vind (t, 90◦ 90◦ )
Nr μo H y A
Hy A y =− [(ωc + ωm ) sin((ωc + ωm )t)
+ (ωc + ωm ) sin((ωc + ωm )t) 2
2

− (ωc − ωm ) sin((ωc − ωm )t)]. (21)
− (ωc − ωm ) sin((ωc − ωm )t) The RMS value for this case,
y
Vr ,
is obtained by using (17)
 and (21) as
− Hz Az ωc sin(ωc t) . (15) 
Nr μo H y A  2 
Vry = ωc + ωm2 . (22)
2
It is noted from (15) that the Vind solution is a function of
To eliminate the θ and φ dependency of Vr , the expres-
the Rx orientation (θr , φr ). To completely mitigate the angular
sions (18), (20), and (22) are equated to each other so that
misalignment problem, the Vind should be independent of θr
Vr is equal in all the three orientations. By solving this the
and φr . To analyze this, the Vind for various orientations of
optimal H -field conditions obtained are
the Rx coil is investigated. 
2ω2
H x = H y = Hz  2 c 2  . (23)
A. For θr = 0◦ & φr = 0◦ ωc + ωm
This case corresponds to perfectly aligned Rx (A x = A y = The derived optimal field conditions of (23) show that to miti-
0 and Az = A), which is coplanar to the Tx. Under this gate angular misalignment problem completely, the optimized
condition only h z (t) contributes to the Vind in the Rx coil, 3-D polarization is an ellipsoidal polarization since Hz = Hx
hence, using (15), it is derived as and Hz = H y . The proposed antenna is optimized to form the
optimal 3-D ellipsoidally polarized H -field adhering to the
Vind (t, 0◦ , 0◦ ) = Nr μo Hz Aωc sin(ωc t). (16) conditions derived in (23).
From [30], it is inferred that the average power delivered to
V. A NALYTICAL O PTIMIZATION OF THE P ROPOSED
the load depends on Vr , denoted earlier as RMS value of Vind ,
P LANAR M ULTICOIL T RANSMITTER
and evaluated using the expression
 To obtain maximum S21 between the Tx and Rx coils, the
 1 Tx coil parameters such as coil radius (ri ), number of turns
2 fm
Vr = 2 f m 2
Vind (t)dt (17) (Ni ), strip width (wi ), and spacing between the turns (si ) for
o
coil-i ∀i ∈ [1, 5] are optimized in accordance to the formulated
where f m = (ωm /2π) corresponds to the fundamental fre- problem defined as
quency of the Vind (t). Hence, the Vr value, Vrz , for the
max S21(ri , Ni , wi , si )
perfectly aligned Rx case, is evaluated by using (16) and (17) ri ,Ni ,wi ,si
as s.t. r1 ≤ 70 mm, r2 , r3 , r4 , and r5 ≤ 29 mm

Nr μo Hz A  2 2ωc2

1

Vrz = 2ωc . (18) H x = H y = Hz , and ωc L − > 0.

2 (ωc2 + ωm2 ) ωc C
(24)
B. For θr = 90◦ φr = 0◦
For this case, the area projections have values A x = A, where r1 is restricted to 70 mm such that coil-1 can form
A y = Az = 0 and only h x (t) contributes to Vind (t), which is maximum H -field at the Rx location (0, 0, 50) mm from (11).
determined from (15) as To avoid any electrical shorting between tracks of different
coils, their locations are set carefully. For this purpose, coils
Nr μo Hx A are spatially distributed, i.e., coil-1 is placed at the origin
Vind (t, 90◦ 0◦ ) = − [(ωc +ωm ) cos((ωc +ωm )t)
2 (backside of PCB), whereas all other coils are located in z =
+ (ωc − ωm ) cos((ωc − ωm )t)]. 1.6 mm plane (front side of PCB). The coils 2–5 are distributed
(19) as shown in Fig. 3 with their centers having coordinates

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2974
(41, 0), (−41, 0), (0, 41), and (0, −41) in mm, respectively.
This allows a maximum radius of 29 mm for these coils to
constrain the maximum antenna size to 140 mm. Moreover, the
last constraint in the optimization problem of (24) corresponds
to the reactance criteria for determining sign change of net
reactance value, which is analytically obtained by calculating
L and C using (4)–(6) for various coil parameters. Note that
the measurement of L and C separately is not necessary
through direct measurement of the reactance since only the
sign of reactance is required for the last constraint in (24).
This reactance criterion is imposed to refrain the optimized
coil from adopting a very high number of turns and becoming
capacitive. This is because, under high-frequency operation,
the capacitive effect in a multiturn coil may dominate. The
reason for discarding such Tx coil solutions working in a
capacitive region is due to the requirement of a complex
matching network, which further leads to wastage in the form
of electric field [31], [32].
To optimize the Tx coil antenna, a parametric sweep is
performed using MATLAB 2019a. For this, a planar Rx
coil presented in [28] having diameter = 20 mm, and the
number of turns = 6 is considered where the track width
and gap are set as 0.5 mm in accordance to the fabrication
limits of the available PCB prototyping machine. During the
parametric study, the optimization procedure calculates the coil
parameters for different coils as formulated in Section II-A and
determined using (5)–(7). The optimization procedure begins
to optimize the coils 2–5 to maximize the S21 parameter
calculated using (9). The reason behind optimizing the coils
2–5 prior to coil-1 is the maximum Hx and H y that the
optimized coils 2–5 will generate; coil-1 alone is able to
generate sufficient Hz such that the field condition given
in (23) is satisfied, but the converse may not be true because
of the space limitation of coils 2–5. Once coils 2–5 are
optimized, the optimal H -field for coil-1 is found from (23),
and the optimal parameters of coil-1 are then evaluated. The
parametric study results obtained by the design procedure are
presented in the following.
A. Parametric Study Results
To satisfy the field condition Hx = H y in (23), coils 2–5
must be identical, therefore, their design parameters are also
same and considered as r2 , w2 , s2 , and N2 . Fig. 4 demonstrates
the normalized plots of S21 by varying coils 2–5 parameters.
Fig. 4(a) shows the variation of S21 versus s2 for various
values of N2 , where w2 = 0.5 mm and r2 = 29 mm. The
plots indicate that for lower s2 , the S21 increases with s2 due
to a slower rate of decay in M compared to Rac of the coil. For
higher s2 , the S21 degrades and is dominated by the change
in M, which decreases with a higher rate. To note that, with
increasing s2 , an abrupt fall of S21 to zero for higher values
of N2 is dictated in the plots due to unavailability of space for
further increment in turn-to-turn spacing since the r2 is limited
to 29 mm. The plot also signifies that a maximum S21 is
achieved at the optimized values s2 = 1.5 mm and N2 = 11.
Fig. 4(b) shows variation of S21 versus w2 for different values
of N2 when s2 = 1.5 mm and r2 = 29 mm. The plots show
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IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION, VOL. 70, NO. 4, APRIL 2022
Fig. 4. Parametric study for optimizing parameters of proposed Tx coil 2–5.
Normalized S21 versus (a) s2 , (b) w2 , (c) N2 , and (d) r2 .
that the S21 degrades with higher w2 values due to increase
in R prox of the coil. In these plots, an abrupt change in the
S21 to zero is forced because a further increase in w2 impels
the coil to operate in the capacitive region. Fig. 4(b) indicates
that the maximum S21 is achieved for a minimum w2 and at
N2 = 11. Due to the fabrication limits of the available PCB
prototyping machine, the minimum possible w2 = 0.5 mm is
selected. Similarly, Fig. 4(c) illustrates the S21 variation with
N2 for different values of r2 at w2 = 0.5 mm and s2 = 1.5 mm.
This exhibits an increasing S21 with N2 for various values of
r2 ; however, the abrupt drops of S21 plots to zero are due
to the space constraint for adding subsequent turns. The plot
signifies that S21 is optimized for r2 = 29 mm and N2 =
11 because the increment in S21 is almost constant beyond
N2 > 11. Fig. 4(d) describes the variation of S21 versus r2 for
different values of s2 while w2 = 0.5 mm and N2 = 11.
An increase in S21 with r2 is observed for various values
of s2 . This is because, to maintain N2 = 11, a minimum r2 is
required, which results in an increasing S21 above a certain
r2 value. The plot indicates that the maximum S21 is achieved
for r2 = 29 mm and s2 = 1.5 mm. Corresponding to these
optimized parameters of the coil 2–5 as r2 = 29 mm, N2 = 11,
w2 = 0.5 mm, and s2 = 1.5 mm, the values of Hx and H y
are obtained using (2) at the Rx location as Hx = H y =
11.46 A/m. To satisfy the optimal field condition of (23), the
required Hz field is calculated to be 8.10 A/m. To generate
this Hz field, coil-1 is optimized by allowing 1% variation in
the analytically obtained Hz value.
Fig. 5 shows parametric study of coil-1 optimization.
Fig. 5(a) plots the variation of S21 versus s1 for different
values of N1 , when w1 = 1.2 mm, and r1 = 59 mm. This plot
indicates that an increase in s1 improves the S21; however, for
higher N1 , the S21 is forced to zero representing nonexistence
of the solution due to space constraints in the coil. Further, the
plot indicates that the optimized ellipsoidal H -field condition
is satisfied for s1 = 18.4 mm and N1 = 3. Fig. 5(b) includes
variation of S21 versus w1 for different values of N1 indi-
cating the optimized ellipsoidal H -field condition achieved
for w1 = 1.2 mm and N1 = 3. Similarly, Fig. 5(c) shows
that the maximum S21 and the optimized ellipsoidal H -field
condition both are simultaneously achieved for r1 = 59 mm
SRIVASTAVA et al.: PLANAR DISTRIBUTED MULTICOIL ANTENNA
Fig. 5. Parametric study for optimizing the proposed Tx coil-1. Normalized
S21 versus (a) s1 , (b) w1 , and (c) r1 for various N1 .
Fig. 6. Field forming from Tx (a) coil-1, (b) coils 2 and 3, (c) coils 4 and 5,
(d) proposed planar multicoil Tx, and (e) H -field vector at progressive time
instants.
and s1 = 18.4 mm. The parameters resulted from the complete
parametric study of coil-1 results in Hz = 8.05 A/m generated
at the receiver location. The optimized parameters of all the
coils in the proposed Tx antenna with maximum and mini-
mum radius of rout and rin , respectively, are summarized in
Table I.
B. Analytical Results
The H -field distributions in the Rx plane generated by the
proposed Tx coil having optimized parameters listed in Table I
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2975
TABLE I
O PTIMIZED C OIL PARAMETERS OF THE P ROPOSED A NTENNA
Fig. 7. Analyzing proposed Tx (a) 3-D ellipsoidally polarized H -field and
(b) Vr variation in the misaligned Rx coil having orientation (θ , φ).
is depicted in Fig. 6. Fig. 6(a) shows field formation due to
coil-1, which shows only Hz component is present at the Rx
location. In contrast, coils 2 and 3 form Hx , as shown in
Fig. 6(b). Similarly, H y due to coils 4 and 5 is illustrated in
Fig. 6(c). This shows that the proposed multicoil Tx antenna
is able to generate three orthogonal components of H -field
at the Rx location as depicted in Fig. 6(d) over the fields
shown in Fig. 6(a) of the conventional single coil Tx antenna.
The total H -field vector distributions plotted at different
progressive time instants are shown in Fig. 6(e) signifying the
rotating H -field with time. By using (12), the rotating H -field
components are calculated and further used in (15) to evaluate
Vind in the Rx coil. Fig. 7 shows the polarization study and
variation of Vr under different Rx misalignment conditions.
From Fig. 7(a) it is observed that the 3-D ellipsoidally polar-
ized H -field is formed at the Rx location, hence can eliminate
angular misalignment problem. Fig. 7(b) shows the analyti-
cally obtained Vr variation for different θr and φr implying a
minimal variation in the induced voltage; therefore, the power
received by the Rx coil in any orientation is almost same.
Further verification of these results is provided in the next
section.
VI. P ROPOSED A NTENNA R EALIZATION
The proposed design presented in Fig. 3 with optimized
parameters provided in Table I with a planar Rx coil is
realized in PCB technology. For this purpose, a double-sided
FR4 substrate of thickness, t = 1.6 mm, relative dielectric
constant r = 4.4, loss tangent tan δ = 0.02, and 0.017 mm
of copper deposition is utilized Fig. 8 shows the PCB layout
of the proposed Tx design. The antenna has three ports and
is fed with signals defined in (12). Coil-1 is fed by port-1 as
shown in Fig. 8. Coils 2 and 3 are connected in series through
vias such that the current circulation is opposite from each
other and fed using common port-2. Similarly, coils 4 and 5
are excited through port-3 and connected in series to obtain
opposite current circulation. As apparent from the back view
of the layout, these series connections are implemented using
two semicircular printed jumpers to connect the two oppositely
placed coils. The connections of the front and the backside of
the printed tracks of the Tx coils are made through vias as
2976
Fig. 8. Proposed Tx antenna PCB layout: (a) front view and (b) back view.
Fig. 9. Simulation results of H-field distribution along (a) Hx , (b) H y ,
and (c) Hz .
Fig. 10. Fabricated prototype view of (a) Tx front, (b) Tx back, and (c) Rx
front and back.
depicted in Fig. 8 indicated by solid dots. This layout is imple-
mented, and the analytical results obtained in Section V-B are
verified by using commercial software Ansys EM Suite 19.1.
This simulated design is then used for verification of H -field
forming at the Rx location. Fig. 9 illustrates the variation of the
H -field originated by the proposed Tx antenna in the Rx plane,
and the simulated results are found corroborating well with the
analytical results. The peak H -field generated at the Rx center
has values Hx = 11.37 A/m, H y = 11.37 A/m, and Hz =
8.02 A/m satisfying the condition (23). This validates that the
proposed multicoil antenna is able to generate three orthogonal
H -field components of desired amplitude to mitigate the
angular misalignment problem. The design is experimentally
validated subsequently.
VII. FABRICATION AND E XPERIMENTAL R ESULTS
To validate the design, the proposed Tx antenna is fabricated
using a PCB prototyping machine in the laboratory. The
fabricated prototype of the proposed Tx antenna along with
the Rx coil is shown in Fig. 10. The input impedances of
the unloaded (without resonating capacitors) coils are obtained
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IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION, VOL. 70, NO. 4, APRIL 2022
TABLE II
M EASURED C OIL I MPEDANCE AT D IFFERENT P ORTS
Fig. 11. Experimental setup of the WPT system.
using an Agilent Vector Network Analyser (PNA-L N5230C).
The measured impedance (in ) values at different ports of
the Tx and the Rx are provided in Table II.
Corresponding to these impedance values, the required
capacitances to resonate the proposed Tx and the Rx coils
at the system-operating frequency are evaluated as C port1 =
1.75 nF, C port2 = 0.21 nF, C port3 = 0.21 nF, and C port Rx =
2.30 nF. The corresponding SMD capacitors are inserted in
series with the coils as shown in Fig. 10. To demonstrate
the effectiveness of the proposed antenna to mitigate the
angular misalignment problem, the used WPT experimental
setup is shown in Fig. 11. To excite the Tx ports, two syn-
chronized dual-channel Rigol function generators (DG1062Z)
are employed. Whereas Vr is measured at the Rx port using
Keysight Digital Storage Oscilloscope (DSOX2022A). Here,
the function generator-A generates two AM signals and excites
port-2 and port-3 of the Tx as shown in DSO-A. At the
same time, the function generator-B excites port-1 of the Tx
with a carrier signal of frequency 13.56 MHz. The Vr at
the Rx coil is measured using DSO-B. Fig. 12 shows the
measured result of Vr variation for different Rx orientations.
The comparison of the proposed Tx with the previous design
available in the literature [23] is performed. The calculated
standard deviation (σVr ) in the Vr for the literature design is
0.2247 V in all the orientations, whereas, for the proposed
Tx, σVr is 0.0034 V. The Vr of the literature design shows
98.48% higher variation over the proposed design. This proves
that the proposed antenna has a minimal variation in the Vr
compared to the literature design. The link efficiency of the
proposed system, when the Rx coil is aligned in θ = φ =
0◦ , is 17.10% for the resistances of the Tx coil-1 and Rx
coil evaluated as 0.97 and 1.64 , respectively. The efficiency
is compared with that obtained by the single coil presented
in [23]. The evaluated link efficiency is 5.72% for the single
coil when the Rx coil is in perfect alignment with the Tx; this
implies an improvement in PTE by the proposed design due
to S21 optimization in Fig. 5. Hence, the proposed Tx coil
antenna designed in planar technology has the potential to
produce optimal 3-D polarized H -field at the Rx location and
allows the Rx to rotate freely. As a result, the power transfer
SRIVASTAVA et al.: PLANAR DISTRIBUTED MULTICOIL ANTENNA
Fig. 12. Measured Vr in the Rx for angular misalignment. (a) φ = 0◦ .
(b) φ = 90◦ .
performance remains consistent irrespective of the angular
misalignment of the Rx coil by the use of the optimized 3-D
ellipsoidal polarization generated using the proposed planar
antenna design.
VIII. C ONCLUSION
This article proposed an optimized planar multicoil antenna
that is able to generate an optimized 3-D ellipsoidally polar-
ized H -field to address the angular misalignment problem
in WPT systems. The proposed analytical framework of 3-D
rotating H -field forming reveals a design with five spatially
distributed coils in the proposed planar antenna structure. The
antenna having three ports is excited with two amplitude
modulated signals and a carrier signal and optimized to achieve
a maximum S21 between the transmitter and the receiver
antennas. The tolerance to angular misalignment is investi-
gated by observing the RMS value of the induced voltage
in the Rx coil of any orientation. The analytical results are
verified experimentally, showing that the proposed design,
although planar, is able to form a 3-D polarized H -field,
which powers the receiver in any orientation. As compared
to a previous 2-port antenna, which was proposed to generate
three orthogonal H -field components, the proposed antenna
outperforms to mitigate angular misalignment problems. This
is due to the optimal 3-D ellipsoidally polarized H -field
generated by the proposed antenna compared to the pre-
vious design, which produces only 2-D polarization. The
results indicate that the standard deviation in RMS-induced
voltage for the previous design is 0.2247 V, whereas, for
the proposed design, it is 0.0034 V. This concludes that
the proposed design showcases a very high misalignment
tolerance with a percentage deviation in RMS-induced voltage
as 98.48% lower than the previous design. This proves the
usefulness of the proposed antenna as a simple and pla-
nar design to resolve the angular misalignment problem in
WPT systems.
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Vivek Kumar Srivastava (Graduate Student
Member, IEEE) received the B.Tech. degree
in electrical and electronics engineering from
Dr. A. P. J. Abdul Kalam Technical University,
Lucknow, India, in 2015, and the master’s degree
in electrical engineering from the National Institute
of Technology, Itanagar, Arunachal Pradesh, India,
in 2018. He is currently pursuing the Ph.D. degree
with the Department of Electrical Engineering, IIT
Ropar, Rupnagar, India.
He was a Junior Research Fellow with IIT Ropar
from 2018 to 2019. His current research interests include exploiting field
forming technique in near field wireless power transfer and electromagnetic
localization applications.
Authorized licensed use limited to: Indian Institute of Technology (Ropar). Downloaded on January 08,2023 at 05:25:01 UTC from IEEE Xplore. Restrictions apply.
Ashwani Sharma (Member, IEEE) received the
B.Tech. degree from The LNM Institute of Informa-
tion Technology, Jaipur, India, in 2010, the master’s
degree in technology and communication systems
from the Escuela Técnica Superior de Ingeniería de
Telecomunicación (ETSIT), Technical University of
Madrid (UPM), Madrid, Spain, in 2013, and the
Ph.D. degree from the University of Deusto, Bilbao,
Spain, in 2015.
He was a Junior Research Fellow with IIT Delhi,
New Delhi, India, from 2010 to 2011, and a Visiting
Training Fellow with the University of Kent, Canterbury, U.K., from May
2014 to August 2014. He has been working as an Assistant Professor with IIT
Ropar, Rupnagar, India, since July 2018. His current research interests include
exploiting field forming techniques in antenna design for wireless power
transmission, the IoT, and 5G. His research works have been published in
various international journals and conferences such as IEEE T RANSACTIONS
and Letters, IET journals, and Wiley letters.
Ananth Bharadwaj (Graduate Student Member,
IEEE) received the B.Tech. degree in electrical
and electronics engineering from Anna University,
Chennai, India, in 2015, and the master’s degree
in electrical engineering from the National Institute
of Technology, Itanagar, Arunachal Pradesh, India,
in 2018. He is currently pursuing the Ph.D. degree
with the Department of Electrical Engineering, IIT
Ropar, Rupnagar, India.
He was an Assistant Professor with the Sree
Vidyaniketan Engineering College, Tirupati, India,
from 2018 to 2019. His current research interests include field-forming
techniques in wireless power transfer to mitigate misalignment problems in
electric vehicle applications.