Concrete embedded sensors play a very important role in structural health monitoring. However, the time of endurance of sensors remains a performance bottleneck and sensors need to be charged without damaging the structure as well. Wireless power transfer (WPT) technology is a promising approach to solving this problem. However, the electromagnetic characteristics of concrete medium can cause WPT systems to be untuned and can reduce the energy transmission efficiency of the system. In this paper, the induced medium loss and eddy current loss of a WPT system in concrete are calculated using analytical equations and finite element analysis method. The equivalent circuit model of a concrete–air transmedia WPT system is established according to the calculated losses and a composite tuning control technology is proposed based on the above analysis. In addition, the composite tuning control technology combines the advantages of frequency-modulation tuning and dynamic compensation tuning to ensure the overall resonance of the WPT system. The tuning control technology can ensure the whole resonance of the WPT system and make the natural resonant frequencies of primary and secondary sides consistent. The experimental results show that compared with the untuned control technology, the output power and efficiency of the tuned control system increased by 73% and 11.05%, respectively. The proposed tuning control technology provides direction for future charging of concrete-embedded sensors.