CN105429257A - AUV intelligent charging device and charging method - Google Patents
AUV intelligent charging device and charging method Download PDFInfo
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- CN105429257A CN105429257A CN201510874381.0A CN201510874381A CN105429257A CN 105429257 A CN105429257 A CN 105429257A CN 201510874381 A CN201510874381 A CN 201510874381A CN 105429257 A CN105429257 A CN 105429257A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000004891 communication Methods 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 6
- 108700041286 delta Proteins 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 6
- 229910052744 lithium Inorganic materials 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- YTAHJIFKAKIKAV-XNMGPUDCSA-N [(1R)-3-morpholin-4-yl-1-phenylpropyl] N-[(3S)-2-oxo-5-phenyl-1,3-dihydro-1,4-benzodiazepin-3-yl]carbamate Chemical compound O=C1[C@H](N=C(C2=C(N1)C=CC=C2)C1=CC=CC=C1)NC(O[C@H](CCN1CCOCC1)C1=CC=CC=C1)=O YTAHJIFKAKIKAV-XNMGPUDCSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- H02J7/045—
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
- H01M10/441—Methods for charging or discharging for several batteries or cells simultaneously or sequentially
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The invention discloses an AUV intelligent charging device and a charging method. The AUV intelligent charging device comprises a main power supply module, a voltage and current control module, an interface selection module, an auxiliary power supply module, a charging setting module, a wireless communication module, an intelligent controller module and a voltage, current and temperature detection module; an output end of the main power supply module is connected with a power supply input end of the voltage and current control module; the output end of the voltage and current control module is connected with the power supply input end of the interface selection module; the output end of the auxiliary power supply module is connected with the power supply input end of the intelligent controller module; the charging setting module and the voltage, current and temperature detection module are connected with a signal input end of the intelligent controller module; a control signal output end of the intelligent controller module is connected with the control signal input end of the voltage and current control module and the control signal input end of the interface selection module; and the wireless communication module is connected with the intelligent controller module through a TTL232. The AUV intelligent charging device has the advantages of being simple in structure, convenient to use and remote to control.
Description
Technical field
The invention belongs to AUV to charge field, particularly relate to a kind of serondary lithium battery that adopts as the AUV intelligent charger of resource equipment and charging method.
Background technology
21 century; along with the mankind are constantly familiar with ocean, develop the process of marine resources and protection ocean; unmanned device (UnmannedUnderwaterVehicle) this new and high technology of diving is developed rapidly; it is considered to be successfully completed various subsea tasks star of hope; also be the leading role in unmanned combat system; and underwater intelligent robot (AutonomousUnderwaterVehicle-AUV) because of its intelligent level high; can independently complete every military mission; being subject to the attention of each ocean power, is the unmanned most important thing of diving in device technology.Present AUV generally adopts secondary cell as its energy resource supply equipment, lithium battery because its energy density is high, technology relative maturity, market supply the advantages such as good economy performance in a large number and be used in AUV.But be subject to the restriction of AUV own vol, its energy total amount once descending water to carry is limited, before depleted of energy, need to return the supply that the energy is carried out in lash ship or disembarkation.
Current AUV energy recharge adopts the charger of easily buying on the market to complete the charging of AUV battery.Battery pack entrained by AUV is different, so be necessary for it to be equipped with corresponding charger, multiple like this charger will certainly increase the complexity that AUV safeguards.In the process of charging, for guaranteeing that device security needs people's whole process guard to tackle bursty state, this also increases human cost.A set of so develop there is simple to operate, rich interface, intelligent and high-efficiency the lithium battery charger of remote intervention can have actual construction value.
Summary of the invention
The object of this invention is to provide a kind of AUV intelligent charger being easy to realize, cost is low.Object of the present invention also comprises provides that a kind of versatility is good, stability is high, and can carry out the AUV intelligent charging method of remote control.
A kind of AUV intelligent charger, comprises main power source module, electric current and voltage control module, interface selects module, auxiliary power module, charging arranges module, wireless communication module, intelligent controller module and electric current and voltage temperature detecting module;
Main power source module output is connected with the power input of electric current and voltage control module, and output and the interface of electric current and voltage control module select the power input of module to be connected; The output of auxiliary power module is connected with the power input of intelligent controller module, charging arranges module and is connected with the signal input part of intelligent controller module respectively with electric current and voltage temperature detecting module, and the control signal output of intelligent controller module selects the control signal input of module to be connected with electric current and voltage control module and interface respectively; Wireless communication module is connected by TTL232 with intelligent controller module.
A kind of AUV intelligent charger, can also comprise:
1, main power source module adopts transformer and rectifier that civil power is transformed into 70VDC; Electric current and voltage control module comprises buck chopper converter and high-current relay, and the control end of electric current and voltage control module adopts pwm signal; Interface selects module to adopt single-knife dual-close large power relay, exports two-way power supply, and interface selects the control end of module to adopt Transistor-Transistor Logic level signal; Civil power is transformed into 24VDC by auxiliary power module; Charging arranges module and comprises button; Wireless communication module is used for the monitoring client wireless telecommunications with host computer; Intelligent controller module 7 adopts ARM single-chip microcomputer, containing relevant control algorithm program; Electric current and voltage temperature detecting module adopts sampling resistor to obtain voltage, electric current and temperature information, delivers to intelligent controller module.
2, host computer is general-purpose terminal device or special equipment that monitoring software is housed, and general-purpose terminal device comprises computer or mobile phone.
A kind of AUV intelligent charging method, comprises the following steps,
Step one: selected by interface the output of module to be connected with AUV battery pack, the output of AUV battery pack is connected with electric current and voltage temperature detecting module; AUV battery pack comprises battery pack 1 and battery pack 2
Step 2: wireless communication module and host computer set up wireless connections;
Step 3: maximum charging voltage and the electric current that module or host computer arrange each charging port is set by charging;
Step 4: module is set or host computer arranges the electric sequence of charging port and the charging order of AUV battery pack by charging;
Step 5: module or host computer transmission beginning charging instruction are set by charging;
Step 6: intelligent controller module is carried out charging to battery pack 1 and controlled;
Step 7: judge whether to receive the charging intervention instruction that self-charging arranges module or host computer transmission in battery pack 1 charging process, if it is carry out next step, if not, carry out step 10;
Step 8: according to the charging intervention instruction received, amendment charge parameter, if charging intervention instruction is for terminating battery pack 1, then carries out next step; If charging intervention instruction is not terminate battery pack 1, according to amended charge parameter, return step 6;
Step 9: judge whether charging intervention instruction charges for being switched to battery pack 2, if it is proceeds to step 11, if not, then proceed to step 15;
Step 10: judge battery pack 1 whether charging complete, if so, then carry out next step; If not, then return step 6;
Step 11: intelligent controller module is carried out charging to battery pack 2 and controlled;
Step 12: in battery pack 2 charging process, detects and whether receives the charging intervention instruction that self-charging arranges module or host computer transmission, if so, carry out next step, otherwise, proceed to step 14;
Step 13: receive charging intervention instruction, amendment charge parameter, if charging intervention instruction is charged for terminating battery pack 2, then carries out step 15; If charging intervention instruction is not terminate battery pack 2 to charge, then according to amended charge parameter, return step 11;
Step 14: judge battery pack 2 whether charging complete, if charging complete, carry out next step; Otherwise, return step 11;
Step 15: send charging END instruction, complete charge.
A kind of AUV intelligent charging method, can also comprise:
1, the detailed process controlled of charging in step 6 and step 11 is:
(1) read charge parameter, comprising: the charging order of the maximum charging voltage of each battery pack, maximum charging current and battery pack;
(2) open single-pole double-throw relay according to the determined order of charging and connect battery pack;
(3) temperature in battery voltage, electric current and charging device is read;
(4) judge whether to break down, proceed to step if there is fault, if do not broken down, carry out next step;
(5) Based Intelligent Control point algorithm is adopted to calculate the duty ratio of the pwm signal needed for charging control according to set charge parameter and actual cell voltage and charging current, and output pwm signal;
(6) charging process data are recorded.
2, intelligent controller module comprises charging voltage control loop and charging current control loop, and export the pwm signal needed for controlling, detailed process is:
The deviate Ve (t-1) of a, input maximum charging voltage Vmax (t), current time cell voltage V (t) and a upper moment voltage, calculated the deviate Ve (t) of current time by Vmax-V, calculated deviation variation rate Vee (t) of current time by Ve (t) and Ve (t-1);
B, input Ve (t) and Vee (t) to the PD controller in charging voltage control loop, through the variation delta 1 of the duty ratio of control function computing output pwm signal;
The deviate Ie (t-1) of c, input maximum charging voltage Imax (t), this moment cell voltage I (t) and a upper moment voltage, calculated the deviate Ie (t) of current time by Imax-I, calculated deviation variation rate Iee (t) of current time by Ie (t) and Ie (t-1);
D, input Ie (t) and the PD controller of Iee (t) to charging current control loop, through the variation delta 2 of the duty ratio of control function computing output pwm signal;
E, compare Δ 1 and Δ 2, get the duty ratio that the two minimum value calculates pwm signal, and output to buck chopper converter and regulate charging voltage and electric current.
Beneficial effect:
Charging device of the present invention coordinates with program software, realizes intellectuality completely, can according to the configuring condition parameters of AUV battery pack, and charging process can without the need to manual operation, easy to use;
Achieve a charging device to complete and supplement the charging of all battery pack of AUV, simplify the charge maintenance of AUV system;
There is remote monitoring function, operating personnel without the need to just realizing charging process complete monitoring at the scene, to operating personnel's working space more flexibly.
Accompanying drawing explanation
Fig. 1 is AUV intelligent charger overall structure block diagram;
Fig. 2 is AUV intelligent charger charging strategy flow chart;
Fig. 3 is the program flow diagram of AUV intelligent charger and the wireless telecommunications of ipc monitor program;
Fig. 4 is AUV intelligent charger charging control program flow chart;
Fig. 5 is AUV intelligent charger charging control principle drawing.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
The object of the invention is: propose that a kind of versatility is good, stability is high, be easy to realize, practical, with low cost and can the AUV intelligent charger of remote control, to solve the deficiency of existing charging device and scheme.
Technical solution of the present invention is:
Provide a kind of AUV intelligent charger, comprising: main power source module 1, electric current and voltage control module 2, interface select module 3, auxiliary power module 4, charging arranges module 5, wireless communication module 6, intelligent controller module 7, electric current and voltage temperature detecting module 8 and AUV battery pack 9.Wherein said main power source module output is connected with the power input of electric current and voltage control module, output and the interface of electric current and voltage control module select the power input of module to be connected, interface selects the output of module to be connected with AUV battery pack, and the output of battery pack is connected with electric current and voltage temperature detecting module; The output of described auxiliary power module is connected with the power input of intelligent controller module, charging arranges module, electric current and voltage temperature detecting module is connected with the signal input part of intelligent controller module, and electric current and voltage control module, interface select the control signal input of module to be connected with the signal output part of intelligent controller module; Wireless communication module is connected by TTL232 with intelligent controller module.
Above-mentioned main power source module adopts transformer and rectifier that civil power (220VAC) is transformed into 70VDC.
Above-mentioned electric current and voltage control module adopts buck chopper converter and high-current relay, and its control end adopts pwm signal.
Above-mentioned interface selects module to adopt single-knife dual-close large power relay, and comprise two-way power supply and export, its control end adopts Transistor-Transistor Logic level signal.
Above-mentioned auxiliary power module adopts transformer and rectifier that civil power (220VAC) is transformed into 24VDC.
Above-mentioned charging arranges module and is made up of button, can realize the selection of charging voltage, charging current and charging strategy.
Above-mentioned wireless communication module is made up of network, can realize with the monitoring client of host computer closely with remote wireless telecommunications.Wherein this host computer can be the general-purpose terminal device such as computer or mobile phone that monitoring software is housed, and also can be the special equipment of operation monitoring software.
Above-mentioned intelligent controller module adopts ARM single-chip microcomputer, containing relevant control algorithm program, set up two close loop control circuits, charging voltage and charging current are controlled simultaneously automatically, reduce and fill electrically-energized complexity, add the flexibility of charging device, ensure that the fail safe of charging process.
Above-mentioned electric current and voltage temperature detecting module adopts sampling resistor to obtain voltage, electric current and temperature information, is sent to intelligent controller module by buffer circuit.Wherein temperature information refers to the temperature information in charging device.
Above-mentioned AUV battery pack mainly comprises 8 strings and 16 strings, two poly-lithium battery groups.
Carry out the charging strategy charged based on this AUV intelligent charger, mainly comprise the following steps:
1) AUV intelligent charger is connected with AUV battery pack;
2) open host computer monitoring software and AUV intelligent charger sets up wireless connections, start communication;
3) maximum charging voltage and the electric current of each charging port are set by button or monitoring software;
4) electric sequence of charging port is set by button or monitoring software;
5) send beginning charging instruction by button or monitoring software, start charging;
6) in charging process, charging intervention instruction (as: stop charging, charging inlet conversion and increase maximum charging current etc.) is sent as necessary by button or monitoring software;
7), after charging terminates, all connections are disconnected.
A kind of AUV intelligent charger, main power source module 1, electric current and voltage control module 2, interface selects module 3, auxiliary power module 4, charging arranges module 5, wireless communication module 6, intelligent controller module 7, electric current and voltage temperature detecting module 8 and AUV battery pack 9, described main power source module 1 output is connected with the power input of electric current and voltage control module 2, output and the interface of electric current and voltage control module 2 select the power input of module 3 to be connected, interface selects the output of module 3 to be connected with AUV battery pack 9, the output of AUV battery pack 9 is connected with electric current and voltage temperature detecting module 8, the output of described auxiliary power module 4 is connected with the power input of intelligent controller module 7, charging arranges module 5, electric current and voltage temperature detecting module 8 is connected with the signal input part of intelligent controller module 7, and electric current and voltage control module 2, interface select the control signal input of module 3 to be connected with the control signal output of intelligent controller module 7, wireless communication module 6 is connected by TTL232 with intelligent controller module 7.
Main power source module 1 adopts transformer and rectifier that civil power (220VAC) is transformed into 70VDC; Electric current and voltage control module 2 adopts buck chopper converter and high-current relay, and its control end adopts pwm signal; Interface selects module 3 to adopt single-knife dual-close large power relay, and comprise two-way power supply and export, its control end adopts Transistor-Transistor Logic level signal; Auxiliary power module 4 adopts transformer and rectifier that civil power (220VAC) is transformed into 24VDC; Charging arranges module 5 and is made up of button, can realize the selection of charging voltage, charging current and charging strategy; Wireless communication module 6 is made up of network chip, can realize with the monitoring client of host computer closely with remote wireless telecommunications; Intelligent controller module 7 adopts ARM single-chip microcomputer, containing relevant control algorithm program; Electric current and voltage temperature detecting module 8 adopts sampling resistor to obtain voltage, electric current and temperature information, is sent to intelligent controller module by buffer circuit; AUV battery pack 9 mainly comprises 8 strings and 16 strings, two poly-lithium battery groups.
Host computer is the general-purpose terminal device such as computer or mobile phone that monitoring software is housed, and also can be the special equipment of operation monitoring software.
Control algolithm program package, containing two control loops, adopts intelligent control algorithm to control charging voltage and charging current simultaneously.
Article two, control loop is without being respectively charging voltage control loop and charging current control loop.
AUV intelligent charger carries out the charging strategy charged, and step is as follows:
A) AUV intelligent charger is connected with AUV battery pack;
B) open host computer monitoring software and AUV intelligent charger sets up wireless connections, start communication;
C) maximum charging voltage and the electric current of each charging port are set by button or monitoring software;
D) electric sequence of charging port and the charging order of two battery pack are set by button or monitoring software;
E) send beginning charging instruction by button or monitoring software, start charging;
F) battery pack 1 carries out charging control;
G) in charging process, whether send charging intervention instruction by button or monitoring software, if so, then proceed to step h, if not, then proceed to step j;
H) charging intervention instruction is received, amendment charge parameter.If intervention instruction is " terminating battery pack 1 to charge ", proceed to step I, if intervention instruction is not " terminating battery pack 1 to charge ", again reads new charge parameter, proceed to step f;
I) judge whether intervention instruction is " being switched to battery pack 2 to charge ", if it is proceeds to k, if otherwise proceed to o;
J) judge battery pack 1 whether charging complete, if it is proceed to step k, if otherwise proceed to step f;
K) battery pack 2 carries out charging control;
L) in charging process, whether send charging intervention instruction by button or monitoring software, if so, then proceed to step m, if not, then proceed to step n;
M) charging intervention instruction is received, amendment charge parameter.If intervention instruction is " terminating battery pack 2 to charge ", proceed to step o, if intervention instruction is not " terminating battery pack 2 to charge ", again reads new charge parameter, proceed to step 11;
N) judge battery pack 2 whether charging complete, if so, then proceed to step o, if not, then proceed to step k;
O) send complete charge instruction, charging terminates.
Two groups of poly-lithium battery groups that AUV intelligent charger as shown in Figure 1 can configure AUV system are carried out charging and are supplemented, and mainly comprise following several part: main power source module 1, electric current and voltage control module 2, interface select module 3, auxiliary power module 4, charging arranges module 5, wireless communication module 6, intelligent controller module 7, electric current and voltage temperature detecting module 8 and AUV battery pack 9.Wherein said main power source module output is connected with the power input of electric current and voltage control module, output and the interface of electric current and voltage control module select the power input of module to be connected, interface selects the output of module to be connected with AUV battery pack, and the output of battery pack is connected with electric current and voltage temperature detecting module; The output of described auxiliary power module is connected with the power input of intelligent controller module, charging arranges module, electric current and voltage temperature detecting module is connected with the signal input part of intelligent controller module, and electric current and voltage control module, interface select the control signal input of module to be connected with the signal output part of intelligent controller module; Wireless communication module is connected by TTL232 with intelligent controller module.
As shown in Figure 2, based on the charging strategy of described AUV intelligent charger, specifically comprise the following steps:
1) AUV intelligent charger is connected with AUV battery pack;
2) open host computer monitoring software and AUV intelligent charger sets up wireless connections, start communication;
3) maximum charging voltage and the electric current of each charging port are set by button or monitoring software;
4) electric sequence of charging port and the charging order of two battery pack are set by button or monitoring software;
5) send beginning charging instruction by button or monitoring software, start charging;
6) battery pack 1 carries out charging control;
7) in charging process, whether send charging intervention instruction by button or monitoring software, if so, then proceed to step 8, if not, then proceed to step 10;
8) charging intervention instruction is received, amendment charge parameter.If intervention instruction is " terminating battery pack 1 to charge ", proceed to step 9, if intervention instruction is not " terminating battery pack 1 to charge ", again reads new charge parameter, proceed to step 6;
9) judge whether intervention instruction is " being switched to battery pack 2 to charge ", if it is proceeds to 11, if otherwise proceed to 15;
10) judge battery pack 1 whether charging complete, if it is proceed to step 11, if otherwise proceed to step 6;
11) battery pack 2 carries out charging control;
12) in charging process, whether send charging intervention instruction by button or monitoring software, if so, then proceed to step 13, if not, then proceed to step 14;
13) charging intervention instruction is received, amendment charge parameter.If intervention instruction is " terminating battery pack 2 to charge ", proceed to step 15, if intervention instruction is not " terminating battery pack 2 to charge ", again reads new charge parameter, proceed to step 11;
14) judge battery pack 2 whether charging complete, if so, then proceed to step 15, if not, then proceed to step 11;
15) send complete charge instruction, charging terminates.
Wherein:
Step 2) in AUV intelligent charger open as server priority, ipc monitor program is as client-access.It sets up the program flow diagram of wireless connections and communication as shown in Figure 3, comprises following process:
S101:AUV intelligent charger creates socket and bind address as network server end, starts to monitor client-requested;
S102: ipc monitor end creates socket as client and arranges the server address that will connect, and sends connection request to server;
S103: server accepts the connection request of client, sets up communication and connects;
S104: server and client side carries out data communication.
Step 6) and step 11) middle charging voltage, charging current and the overload protection etc. that control mainly to comprise in charging process of charging; adopt intelligent algorithm complete charging current from main regulation; the principle of its concrete work as shown in Figure 4, comprises following process:
S201: configuration I/O mouth, the functional modules such as initialization serial communication, PWM, AD collection, timer and house dog;
S202: start timer, main program is started working;
S203: read charge parameter, mainly comprise the charging order of the maximum charging voltage of each battery pack, maximum charging current and battery pack;
S204: open relay according to the determined order of charging and connect battery pack;
S205: read the temperature in battery voltage, electric current and charging device;
S206: judge whether to break down; If it is step S209 is proceeded to, if otherwise proceed to step S207; Described fault mainly comprises: battery does not connect, battery voltage is too high, batteries charging electric current is excessive and charging device temperature crosses high fault;
S207: the duty ratio of the pwm signal needed for set charge parameter (maximum charging voltage, maximum charging current) and actual cell voltage and charging current employing Based Intelligent Control point algorithm calculating charging control, and output pwm signal.
S208: judge whether charging completes, and forwards step S209 to, otherwise forward step S203 to if completed;
S209: record charging process data, disconnect battery and connect.
Wherein in step S207, charging voltage and charging current automatically regulate, and comprise two control loops: a voltage control loop, a current control loop, its schematic diagram as shown in Figure 5.In figure, the expression formula of PD controller is as follows:
y(t)＝k
pe(t)+k
dee(t)
Wherein: y (t) is for exporting; E (t) and ee (t) is deviation and deviation variation rate; k
pand k
dfor controling parameters.
Automatic control comprises following process:
S301: the deviate Ve (t-1) of input maximum charging voltage Vmax (t), this moment cell voltage V (t) and a upper moment voltage, calculated the deviate Ve (t) of current time by Vmax-V, calculated deviation variation rate Vee (t) of current time by Ve (t) and Ve (t-1);
S302: input Ve (t) and Vee (t) to PD controller 1, through the variation delta 1 of the duty ratio (DutyCycle) of control function computing output pwm signal;
S303: the deviate Ie (t-1) of input maximum charging voltage Imax (t), this moment cell voltage I (t) and a upper moment voltage, calculated the deviate Ie (t) of current time by Imax-I, calculated deviation variation rate Iee (t) of current time by Ie (t) and Ie (t-1);
S304: input Ie (t) and Iee (t) to PD controller 2, through the variation delta 2 of the duty ratio (DutyCycle) of control function computing output pwm signal;
S305: compare Δ 1 and Δ 2, gets the duty ratio that the two minimum value calculates pwm signal, and outputs to buck chopper converter adjustment charging voltage and electric current.
Step 10) and step 14) in judge that the condition of charging complete is:
(1) charging process becomes constant voltage by constant current;
(2) charging voltage has reached set maximum charging voltage;
(3) charging current is less than 0.1 times of maximum charging current;
Above three conditions need all to meet, and can determine that this batteries charging completes.
The key parameter of AUV batteries charging is set by the user, and this charging device Automatic solution also carries out charging control, easy to use, simplifies AUV charging flow, reduces the complexity of AUV charge maintenance, also give operating personnel's working space more flexibly simultaneously.
Claims (6)
1. an AUV intelligent charger, is characterized in that: comprise main power source module, electric current and voltage control module, interface select module, auxiliary power module, charging arrange module, wireless communication module, intelligent controller module and electric current and voltage temperature detecting module;
Main power source module output is connected with the power input of electric current and voltage control module, and output and the interface of electric current and voltage control module select the power input of module to be connected; The output of auxiliary power module is connected with the power input of intelligent controller module, charging arranges module and is connected with the signal input part of intelligent controller module respectively with electric current and voltage temperature detecting module, and the control signal output of intelligent controller module selects the control signal input of module to be connected with electric current and voltage control module and interface respectively; Wireless communication module is connected by TTL232 with intelligent controller module.
2. a kind of AUV intelligent charger according to claim 1, is characterized in that: described main power source module adopts transformer and rectifier that civil power is transformed into 70VDC; Electric current and voltage control module comprises buck chopper converter and high-current relay, and the control end of electric current and voltage control module adopts pwm signal; Interface selects module to adopt single-knife dual-close large power relay, exports two-way power supply, and interface selects the control end of module to adopt Transistor-Transistor Logic level signal; Civil power is transformed into 24VDC by auxiliary power module; Charging arranges module and comprises button; Wireless communication module is used for the monitoring client wireless telecommunications with host computer; Intelligent controller module 7 adopts ARM single-chip microcomputer, containing relevant control algorithm program; Electric current and voltage temperature detecting module adopts sampling resistor to obtain voltage, electric current and temperature information, delivers to intelligent controller module.
3. a kind of AUV intelligent charger according to claim 1, is characterized in that: described host computer is general-purpose terminal device or special equipment that monitoring software is housed, and general-purpose terminal device comprises computer or mobile phone.
4., based on the charging method of a kind of AUV intelligent charger according to claim 1, it is characterized in that: comprise the following steps,
Step one: selected by interface the output of module to be connected with AUV battery pack, the output of AUV battery pack is connected with electric current and voltage temperature detecting module; AUV battery pack comprises battery pack 1 and battery pack 2
Step 2: wireless communication module and host computer set up wireless connections;
Step 3: maximum charging voltage and the electric current that module or host computer arrange each charging port is set by charging;
Step 4: module is set or host computer arranges the electric sequence of charging port and the charging order of AUV battery pack by charging;
Step 5: module or host computer transmission beginning charging instruction are set by charging;
Step 6: intelligent controller module is carried out charging to battery pack 1 and controlled;
Step 7: judge whether to receive the charging intervention instruction that self-charging arranges module or host computer transmission in battery pack 1 charging process, if it is carry out next step, if not, carry out step 10;
Step 8: according to the charging intervention instruction received, amendment charge parameter, if charging intervention instruction is for terminating battery pack 1, then carries out next step; If charging intervention instruction is not terminate battery pack 1, according to amended charge parameter, return step 6;
Step 9: judge whether charging intervention instruction charges for being switched to battery pack 2, if it is proceeds to step 11, if not, then proceed to step 15;
Step 10: judge battery pack 1 whether charging complete, if so, then carry out next step; If not, then return step 6;
Step 11: intelligent controller module is carried out charging to battery pack 2 and controlled;
Step 12: in battery pack 2 charging process, detects and whether receives the charging intervention instruction that self-charging arranges module or host computer transmission, if so, carry out next step, otherwise, proceed to step 14;
Step 13: receive charging intervention instruction, amendment charge parameter, if charging intervention instruction is charged for terminating battery pack 2, then carries out step 15; If charging intervention instruction is not terminate battery pack 2 to charge, then according to amended charge parameter, return step 11;
Step 14: judge battery pack 2 whether charging complete, if charging complete, carry out next step; Otherwise, return step 11;
Step 15: send charging END instruction, complete charge.
5. a kind of AUV intelligent charging method according to claim 4, is characterized in that: the detailed process controlled of charging in described step 6 and step 11 is:
(1) read charge parameter, comprising: the charging order of the maximum charging voltage of each battery pack, maximum charging current and battery pack;
(2) open single-pole double-throw relay according to the determined order of charging and connect battery pack;
(3) temperature in battery voltage, electric current and charging device is read;
(4) judge whether to break down, proceed to step if there is fault, if do not broken down, carry out next step;
(5) Based Intelligent Control point algorithm is adopted to calculate the duty ratio of the pwm signal needed for charging control according to set charge parameter and actual cell voltage and charging current, and output pwm signal;
(6) charging process data are recorded.
6. a kind of AUV intelligent charging method according to claim 4, is characterized in that: described intelligent controller module comprises charging voltage control loop and charging current control loop, and export the pwm signal needed for controlling, detailed process is:
The deviate Ve (t-1) of a, input maximum charging voltage Vmax (t), current time cell voltage V (t) and a upper moment voltage, calculated the deviate Ve (t) of current time by Vmax-V, calculated deviation variation rate Vee (t) of current time by Ve (t) and Ve (t-1);
B, input Ve (t) and Vee (t) to the PD controller in charging voltage control loop, through the variation delta 1 of the duty ratio of control function computing output pwm signal;
The deviate Ie (t-1) of c, input maximum charging voltage Imax (t), this moment cell voltage I (t) and a upper moment voltage, calculated the deviate Ie (t) of current time by Imax-I, calculated deviation variation rate Iee (t) of current time by Ie (t) and Ie (t-1);
D, input Ie (t) and the PD controller of Iee (t) to charging current control loop, through the variation delta 2 of the duty ratio of control function computing output pwm signal;
E, compare Δ 1 and Δ 2, get the duty ratio that the two minimum value calculates pwm signal, and output to buck chopper converter and regulate charging voltage and electric current.
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Denomination of invention: An AUV intelligent charging device and charging method Effective date of registration: 20231025 Granted publication date: 20181026 Pledgee: Agricultural Bank of China Limited Qingdao North No.1 Branch Pledgor: Qingdao Pengsheng Marine Equipment Co.,Ltd. Registration number: Y2023370010107 |
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