CN105429257B - A kind of AUV intelligent chargers and charging method - Google Patents
A kind of AUV intelligent chargers and charging method Download PDFInfo
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- CN105429257B CN105429257B CN201510874381.0A CN201510874381A CN105429257B CN 105429257 B CN105429257 B CN 105429257B CN 201510874381 A CN201510874381 A CN 201510874381A CN 105429257 B CN105429257 B CN 105429257B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 22
- 230000005611 electricity Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 6
- 229910052744 lithium Inorganic materials 0.000 description 6
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- 238000001514 detection method Methods 0.000 description 3
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- 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
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- 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
- 238000006243 chemical reaction Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
Abstract
The invention discloses a kind of AUV intelligent chargers and charging methods.Including main power source module, voltage and current control module, interface selecting module, auxiliary power module, charging setup module, wireless communication module, intelligent controller module and voltage and current temperature detecting module；Main power source module output end is connect with the power input of voltage and current control module, and the output end of voltage and current control module is connect with the power input of interface selecting module；The output end of auxiliary power module is connect with the power input of intelligent controller module, charging setup module and voltage and current temperature detecting module are connect with the signal input part of intelligent controller module respectively, and the control signal output of intelligent controller module is connect with the control signal input of voltage and current control module and interface selecting module respectively；Wireless communication module is connect with intelligent controller module by TTL232.The present invention have it is simple in structure, easy to use, have the advantages that remote control.
Description
Technical field
The invention belongs to the charging fields AUV more particularly to a kind of AUV intelligence using serondary lithium battery as resource equipment
Charging unit and charging method.
Background technology
21 century, as the mankind constantly recognize ocean, develop and use marine resources and protect the process of ocean, nobody dives device
(Unmanned Underwater Vehicle) this new and high technology is rapidly developed, be considered as successfully complete it is various
Leading role in subsea tasks star of hope and unmanned combat system, and underwater intelligent robot (Autonomous
Underwater Vehicle-AUV) because of its intelligent level height, every military mission can be independently completed, it is strong by each ocean
The attention of state is the most important thing in nobody latent device technology.Present AUV is generally used secondary cell and is set as its energy resource supply
Standby, lithium battery is used for because of the advantages that good economy performance is largely supplied in its energy density height, technology relative maturity, market in AUV.But
It is to be limited by AUV own vols, once descends the energy total amount that water carries limited, needs to return before depleted of energy female
Ship or disembarkation carry out the supply of the energy.
AUV energy recharges complete the charging of AUV batteries using the charger of buying is easy on the market at present.Due to AUV
Entrained battery pack is different, so being necessary for it is equipped with corresponding charger, chargers multiple in this way will certainly increase AUV dimensions
The complexity of shield.During charging, to ensure that equipment safety needs someone's whole process guard to cope with bursty state, in this way
Increase human cost.So exploitation it is a set of with easy to operate, rich interface, intelligent and high-efficiency can the lithium battery of remote intervention fill
Electric appliance has actual engineering value.
Invention content
The object of the present invention is to provide it is a kind of be easily achieved, AUV intelligent chargers at low cost.The purpose of the present invention is also
A kind of versatility is good, stability is high including providing, and can carry out the AUV intelligent charging methods of remote control.
A kind of AUV intelligent chargers, including main power source module, voltage and current control module, interface selecting module, auxiliary
Power module, charging setup module, wireless communication module, intelligent controller module and voltage and current temperature detecting module；
Main power source module output end is connect with the power input of voltage and current control module, voltage and current control module
Output end is connect with the power input of interface selecting module；The electricity of the output end and intelligent controller module of auxiliary power module
Source input terminal connection, the setup module that charges and voltage and current temperature detecting module are inputted with the signal of intelligent controller module respectively
End connection, the control signal output control with voltage and current control module and interface selecting module respectively of intelligent controller module
Signal input part connection processed；Wireless communication module is connect with intelligent controller module by TTL232.
A kind of AUV intelligent chargers can also include：
1, alternating current is transformed into 70VDC by main power source module using transformer and rectifier；Voltage and current control module includes
The control terminal of buck chopper converter and high-current relay, voltage and current control module uses pwm signal；Interface selecting module
Using single-knife dual-close large power relay, two-way power supply is exported, the control terminal of interface selecting module uses Transistor-Transistor Logic level signal；It is auxiliary
Help power module that alternating current is transformed into 24VDC；The setup module that charges includes button；Wireless communication module is for the prison with host computer
Control end wireless telecommunications；Intelligent controller module 7 uses ARM microcontrollers, contains relevant control algorithm program；Voltage and current temperature is examined
It surveys module and voltage, electric current and temperature information is obtained using sampling resistor, be sent to intelligent controller module.
2, host computer is equipped with the general-purpose terminal device or special equipment of monitoring software, general-purpose terminal device include computer or
Mobile phone.
A kind of AUV intelligent charging methods, include the following steps,
Step 1：The output end of interface selecting module is connect with AUV battery packs, the output end and voltage of AUV battery packs
Current temperature detection module connects；AUV battery packs include battery pack 1 and battery pack 2
Step 2：Wireless communication module is established with host computer and is wirelessly connected；
Step 3：The maximum charging voltage and electricity of each charging port are set by charging setup module or host computer
Stream；
Step 4：Pass through the electric sequence and AUV battery packs of charge setup module or host computer setting charging port
Charging order；
Step 5：Instruction is started to charge up by charging setup module or host computer transmission；
Step 6：Intelligent controller module carries out charge control to battery pack 1；
Step 7：Judge whether to receive in 1 charging process of battery pack and comes self-charging setup module or host computer hair
The charging intervention instruction sent if it is carries out in next step, if it is not, carrying out step 10；
Step 8：According to the charging intervention instruction of reception, charge parameter is changed, if charging intervention instruction is to terminate battery
Group 1 then carries out in next step；If charging intervention instruction is not to terminate battery pack 1, according to modified charge parameter, step is returned to
Rapid six；
Step 9：Judge whether charging intervention instruction is to be switched to the charging of battery pack 2, is if it is transferred to step 11,
If it is not, then being transferred to step 15；
Step 10：Judge battery pack 1 whether charging complete, if it is, carry out in next step；If it is not, then returning to step
Rapid six；
Step 11：Intelligent controller module carries out charge control to battery pack 2；
Step 12：In 2 charging process of battery pack, detects whether to receive and come self-charging setup module or host computer hair
The charging intervention instruction sent, if so, carrying out in next step, otherwise, being transferred to step 14；
Step 13：Charging intervention instruction is received, charge parameter is changed, if charging intervention instruction is to terminate battery pack 2
Charging, then carry out step 15；If charging intervention instruction is not to terminate battery pack 2 to charge, joined according to modified charging
Number, return to step 11；
Step 14：Judge whether charging complete carries out in next step battery pack 2 if charging complete；Otherwise, step is returned
Rapid 11；
Step 15：Charging END instruction is sent, charging is terminated.
A kind of AUV intelligent charging methods can also include：
1, the detailed process of charge control is in step 6 and step 11：
(1) charge parameter is read, including：The maximum charging voltage of each battery pack, maximum charging current and battery pack
Charging order；
(2) according to sequentially opened determined by charging single-pole double-throw relay connect battery pack；
(3) temperature in battery voltage, electric current and charging unit is read；
(4) judge whether to break down, step is transferred to if there is failure, if do not broken down, carry out in next step；
(5) intelligent control point algorithm meter is used according to set charge parameter and actual cell voltage and charging current
Calculate the duty ratio of the pwm signal needed for charge control, and output pwm signal；
(6) charging process data are recorded.
2, intelligent controller module includes charging voltage control loop and charging current control loop, and output controls required
Pwm signal, detailed process are：
A, the deviation of input maximum charging voltage Vmax (t), current time cell voltage V (t) and last moment voltage
Ve (t-1) is calculated the deviation Ve (t) at current time by Vmax-V, and the deviation at current time is calculated by Ve (t) and Ve (t-1)
Change rate Vee (t)；
B, input Ve (t) and Vee (t) is exported to the PD control device in charging voltage control loop through control function operation
The variation delta 1 of the duty ratio of pwm signal；
C, the deviation Ie of input maximum charging voltage Imax (t), the moment cell voltage I (t) and last moment voltage
(t-1), the deviation Ie (t) that current time is calculated by Imax-I, the deviation that current time is calculated by Ie (t) and Ie (t-1) become
Rate Iee (t)；
D, input Ie (t) and Iee (t) arrives the PD control device of charging current control loop, and PWM is exported through control function operation
The variation delta 2 of the duty ratio of signal；
E, compare Δ 1 and Δ 2, take the two minimum value to calculate the duty ratio of pwm signal, and be output to buck chopper converter
Adjust charging voltage and electric current.
Advantageous effect：
Charging unit of the present invention coordinates with program software, fully achieves intelligence, can be according to the configuring condition of AUV battery packs
Arrange parameter, charging process can be easy to use without human intervention；
It realizes the charging that a charging unit is completed to all battery packs of AUV to supplement, simplifies the charging dimension of AUV systems
Shield；
With remote monitoring function, operating personnel are without achieving that at the scene to charging process complete monitoring, to operation
The more flexible working space of personnel.
Description of the drawings
Fig. 1 is AUV intelligent charger overall structure block diagrams；
Fig. 2 is AUV intelligent charger charging strategy flow charts；
Fig. 3 is the program flow diagram of AUV intelligent chargers and ipc monitor program wireless telecommunications；
Fig. 4 is AUV intelligent charger charging control program flow charts；
Fig. 5 is AUV intelligent charger charge control schematic diagrams.
Specific implementation mode
The present invention is described in further details below in conjunction with attached drawing.
The purpose of the present invention is：It is proposed that a kind of versatility is good, stability is high, be easily achieved, be highly practical, it is of low cost and
It is capable of the AUV intelligent chargers of remote control, to solve the deficiency of existing charging equipment and scheme.
Technical solution of the invention is：
A kind of AUV intelligent chargers are provided, including：Main power source module 1, voltage and current control module 2, interface selection
Module 3, auxiliary power module 4, charging setup module 5, wireless communication module 6, intelligent controller module 7, voltage and current temperature
Detection module 8 and AUV battery packs 9.The wherein power input of the main power source module output end and voltage and current control module
End connection, the output end of voltage and current control module are connect with the power input of interface selecting module, interface selecting module
Output end is connect with AUV battery packs, and the output end of battery pack is connect with voltage and current temperature detecting module；The accessory power supply
The output end of module is connect with the power input of intelligent controller module, charging setup module, voltage and current temperature detection mould
Block is connect with the signal input part of intelligent controller module, and voltage and current control module, the control signal of interface selecting module are defeated
Enter end to connect with the signal output end of intelligent controller module；Wireless communication module is connected with intelligent controller module by TTL232
It connects.
Alternating current (220VAC) is transformed into 70VDC by above-mentioned main power source module using transformer and rectifier.
Above-mentioned voltage and current control module uses buck chopper converter and high-current relay, control terminal to use
Pwm signal.
Above-mentioned interface selecting module uses single-knife dual-close large power relay, including two-way power supply exports, control terminal
Using Transistor-Transistor Logic level signal.
Alternating current (220VAC) is transformed into 24VDC by above-mentioned auxiliary power module using transformer and rectifier.
Above-mentioned charging setup module is made of the choosing, it can be achieved that charging voltage, charging current and charging strategy button
It selects.
Above-mentioned wireless communication module is made of network, it can be achieved that the monitoring client with host computer is closely and remote
Wireless telecommunications.Wherein the host computer can be equipped with the general-purpose terminal devices such as computer or the mobile phone of monitoring software, can also be fortune
The special equipment of row monitoring software.
Above-mentioned intelligent controller module establishes two closed loop controls using ARM microcontrollers containing relevant control algorithm program
Circuit processed is carried out at the same time charging voltage and charging current and automatically controls, and reduces and fills electrically-energized complexity, increases charging
The flexibility of device ensure that the safety of charging process.
Above-mentioned voltage and current temperature detecting module obtains voltage, electric current and temperature information using sampling resistor, by every
It is transmitted to intelligent controller module from circuit.Wherein temperature information refers to the temperature information in charging unit.
Above-mentioned AUV battery packs include mainly 8 strings and 16 two poly-lithium battery groups of string.
Based on the charging strategy that the AUV intelligent chargers charge, mainly include the following steps that：
1) AUV intelligent chargers are connect with AUV battery packs；
2) it opens host computer monitoring software and establishes wireless connection with AUV intelligent chargers, start to communicate；
3) maximum charging voltage and 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) instruction is started to charge up by button or monitoring software transmission, started to charge up；
6) in charging process, charging intervention instruction is sent (such as necessary by button or monitoring software：Stopping charging,
Charging interface conversion and increase maximum charging current etc.)；
7) after charging, all connections are disconnected.
A kind of AUV intelligent chargers, main power source module 1, voltage and current control module 2, interface selecting module 3, auxiliary
Power module 4, charging setup module 5, wireless communication module 6, intelligent controller module 7,8 and of voltage and current temperature detecting module
AUV battery packs 9,1 output end of main power source module are connect with the power input of voltage and current control module 2, voltage electricity
The output end of flow control module 2 is connect with the power input of interface selecting module 3, the output end and AUV of interface selecting module 3
Battery pack 9 connects, and the output end of AUV battery packs 9 is connect with voltage and current temperature detecting module 8；The auxiliary power module 4
Output end connect with the power input of intelligent controller module 7, charging setup module 5, voltage and current temperature detecting module 8
It is connect with the signal input part of intelligent controller module 7, voltage and current control module 2, the control signal of interface selecting module 3 are defeated
Enter end to connect with the control signal output of intelligent controller module 7；Wireless communication module 6 passes through with intelligent controller module 7
TTL232 connections.
Alternating current (220VAC) is transformed into 70VDC by main power source module 1 using transformer and rectifier；Voltage and current controls mould
Block 2 uses buck chopper converter and high-current relay, control terminal to use pwm signal；Interface selecting module 3 uses big work(
Rate single-pole double-throw relay, including two-way power supply exports, control terminal uses Transistor-Transistor Logic level signal；Auxiliary power module 4 is using change
Alternating current (220VAC) is transformed into 24VDC by depressor and rectifier；Charging setup module 5 is made of button, it can be achieved that the electricity that charges
The selection of pressure, charging current and charging strategy；Wireless communication module 6 is made of the prison, it can be achieved that with host computer network chip
Control end short distance and remote wireless telecommunications；Intelligent controller module 7 uses ARM microcontrollers, contains relevant control algorithm journey
Sequence；Voltage and current temperature detecting module 8 obtains voltage, electric current and temperature information using sampling resistor, is transmitted by isolation circuit
To intelligent controller module；AUV battery packs 9 include mainly 8 strings and 16 two poly-lithium battery groups of string.
Host computer is equipped with the general-purpose terminal devices such as computer or the mobile phone of monitoring software, can also be operation monitoring software
Special equipment.
Control algolithm program includes two control loops, using intelligent control algorithm to charging voltage and charging current simultaneously
It is controlled.
Two control loops are without respectively charging voltage control loop and charging current control loop.
The charging strategy that AUV intelligent chargers charge, steps are as follows：
A) AUV intelligent chargers are connect with AUV battery packs；
B) it opens host computer monitoring software and establishes wireless connection with AUV intelligent chargers, start to communicate；
C) maximum charging voltage and 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 packs are arranged by button or monitoring software；
E) instruction is started to charge up by button or monitoring software transmission, started to charge up；
F) battery pack 1 carries out charge control；
G) in charging process, if charging intervention instruction is sent by button or monitoring software, if it is, being transferred to step
Rapid h, if it is not, then being transferred to step j；
H) charging intervention instruction is received, charge parameter is changed.It is transferred to if intervention instruction is " terminating battery pack 1 to charge "
Step i re-reads new charge parameter if intervention instruction is not " terminating battery pack 1 to charge ", is transferred to step f；
I) judge whether intervention instruction is " being switched to the charging of battery pack 2 ", k is if it is transferred to, if being otherwise transferred to o；
J) judge battery pack 1 whether charging complete, step k is if it is transferred to, if being otherwise transferred to step f；
K) battery pack 2 carries out charge control；
L) in charging process, if charging intervention instruction is sent by button or monitoring software, if it is, being transferred to step
Rapid m, if it is not, then being transferred to step n；
M) charging intervention instruction is received, charge parameter is changed.It is transferred to if intervention instruction is " terminating battery pack 2 to charge "
Step o re-reads new charge parameter if intervention instruction is not " terminating battery pack 2 to charge ", is transferred to step 11；
N) judge battery pack 2 whether charging complete, if it is, step o is transferred to, if it is not, then being transferred to step k；
O) it sends and terminates charging instruction, charging terminates.
Two groups of poly-lithium battery groups that AUV intelligent chargers as shown in Figure 1 can configure AUV systems carry out
Charging supplement, main includes following several parts：It is main power source module 1, voltage and current control module 2, interface selecting module 3, auxiliary
Help power module 4, charging setup module 5, wireless communication module 6, intelligent controller module 7, voltage and current temperature detecting module 8
With AUV battery packs 9.Wherein the main power source module output end is connect with the power input of voltage and current control module, electricity
The output end of piezoelectricity flow control module is connect with the power input of interface selecting module, the output end of interface selecting module with
AUV battery packs connect, and the output end of battery pack is connect with voltage and current temperature detecting module；The auxiliary power module it is defeated
Outlet is connect with the power input of intelligent controller module, charging setup module, voltage and current temperature detecting module and intelligence
The signal input part of controller module connects, voltage and current control module, the control signal input and intelligence of interface selecting module
The signal output end connection of energy controller module；Wireless communication module is connect with intelligent controller module by TTL232.
As shown in Fig. 2, the charging strategy based on the AUV intelligent chargers, specifically includes following steps：
1) AUV intelligent chargers are connect with AUV battery packs；
2) it opens host computer monitoring software and establishes wireless connection with AUV intelligent chargers, start to communicate；
3) maximum charging voltage and 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 packs are arranged by button or monitoring software；
5) instruction is started to charge up by button or monitoring software transmission, started to charge up；
6) battery pack 1 carries out charge control；
7) in charging process, if charging intervention instruction is sent by button or monitoring software, if it is, being transferred to step
Rapid 8, if it is not, then being transferred to step 10；
8) charging intervention instruction is received, charge parameter is changed.It is transferred to if intervention instruction is " terminating battery pack 1 to charge "
Step 9, new charge parameter is re-read if intervention instruction is not " terminating battery pack 1 to charge ", is transferred to step 6；
9) judge whether intervention instruction is " being switched to the charging of battery pack 2 ", 11 is if it is transferred to, if be otherwise transferred to
15；
10) judge battery pack 1 whether charging complete, step 11 is if it is transferred to, if being otherwise transferred to step 6；
11) battery pack 2 carries out charge control；
12) in charging process, if charging intervention instruction is sent by button or monitoring software, if it is, being transferred to
Step 13, if it is not, then being transferred to step 14；
13) charging intervention instruction is received, charge parameter is changed.Turn if intervention instruction is " terminating battery pack 2 to charge "
Enter step 15, re-reads new charge parameter if intervention instruction is not " terminating battery pack 2 to charge ", be transferred to step 11；
14) judge battery pack 2 whether charging complete, if it is, step 15 is transferred to, if it is not, then being transferred to step 11；
15) it sends and terminates charging instruction, charging terminates.
Wherein：
AUV intelligent chargers are opened as server priority in step 2), and ipc monitor program is visited as client
It asks.It establishes the program flow diagram for being wirelessly connected and communicating as shown in figure 3, including following procedure：
S101：AUV intelligent chargers create socket and bind address as network server end, begin listening for client
End request；
S102：Ipc monitor end creates socket as client and the server address to be connected is arranged, to clothes
Business device sends connection request；
S103：Server receives the connection request of client, establishes communication connection；
S104：Server and client side carries out data communication.
Charge control includes mainly charging voltage, charging current and the overload in charging process in step 6) and step 11)
Protection etc., using intelligent algorithm complete charging current from main regulation, the principle that specifically works as shown in figure 4, comprising with
Lower process：
S201：I/O mouthfuls of configuration, the function modules such as initialization serial communication, PWM, AD acquisition, timer and house dog；
S202：Start timer, main program is started to work；
S203：Charge parameter is read, maximum charging voltage, maximum charging current and the battery of each battery pack are mainly included
The charging order of group；
S204：Battery pack is connected according to relay is sequentially opened determined by charging；
S205：Read the temperature in battery voltage, electric current and charging unit；
S206：Judge whether to break down；If it is it is transferred to step S209, if being otherwise transferred to step S207；It is described
Failure include mainly：Battery is not connected, battery voltage is excessively high, battery pack charging current is excessive and charging unit temperature is excessively high
Etc. failures；
S207：According to set charge parameter (maximum charging voltage, maximum charging current) and actual cell voltage
The duty ratio of the pwm signal needed for intelligent control point algorithm calculating charge control, and output pwm signal are used with charging current.
S208：Judge whether charging is completed, if completing to go to step S209, otherwise goes to step S203；
S209：Charging process data are recorded, battery connection is disconnected.
In wherein step S207, charging voltage and charging current are automatic adjustments, including two control loops:One electricity
Pressure control loop, a current control loop, schematic diagram are as shown in Figure 5.The expression formula of PD control device is as follows in figure：
Y (t)=kpe(t)+kdee(t)
Wherein：Y (t) is output；E (t) and ee (t) is deviation and deviation variation rate；kpAnd kdParameter in order to control.
It includes following procedure to automatically control：
S301：Input the deviation of maximum charging voltage Vmax (t), the moment cell voltage V (t) and last moment voltage
Ve (t-1) is calculated the deviation Ve (t) at current time by Vmax-V, and the deviation at current time is calculated by Ve (t) and Ve (t-1)
Change rate Vee (t)；
S302：It inputs Ve (t) and Vee (t) and arrives PD control device 1, the duty ratio through control function operation output pwm signal
The variation delta 1 of (Duty Cycle)；
S303：Input the deviation of maximum charging voltage Imax (t), the moment cell voltage I (t) and last moment voltage
Ie (t-1) is calculated the deviation Ie (t) at current time by Imax-I, and the deviation at current time is calculated by Ie (t) and Ie (t-1)
Change rate Iee (t)；
S304：It inputs Ie (t) and Iee (t) and arrives PD control device 2, the duty ratio through control function operation output pwm signal
The variation delta 2 of (Duty Cycle)；
S305：Compare Δ 1 and Δ 2, the two minimum value is taken to calculate the duty ratio of pwm signal, and is output to buck chopper change
Parallel operation adjusts charging voltage and electric current.
Judge that the condition of charging complete is in step 10) and step 14)：
(1) charging process becomes constant pressure by constant current；
(2) charging voltage has reached set maximum charging voltage；
(3) 0.1 times of charging current less than maximum charging current；
Three above condition need to all meet, and can determine that battery pack charging is completed.
The key parameter of AUV battery packs charging is set by the user, which simultaneously carries out charge control, makes
With conveniently, AUV charging flows are simplified, reduce the complexity of AUV charge maintenances, while also giving operating personnel more flexible work
Make space.
Claims (3)
1. a kind of charging method of AUV intelligent chargers, AUV intelligent chargers include main power source module, voltage and current control
Molding block, interface selecting module, auxiliary power module, charging setup module, wireless communication module, intelligent controller module and electricity
Current voltage temperature detecting module；Main power source module output end is connect with the power input of voltage and current control module, voltage electricity
The output end of flow control module is connect with the power input of interface selecting module；The output end of auxiliary power module is controlled with intelligence
The power input of device module processed connects, the setup module that charges and voltage and current temperature detecting module respectively with intelligent controller mould
The signal input part of block connects, the control signal output of intelligent controller module respectively with voltage and current control module and interface
The control signal input of selecting module connects；Wireless communication module is connect with intelligent controller module by TTL232；It is described
Main power source module alternating current is transformed by 70VDC using transformer and rectifier；Voltage and current control module includes buck chopper
The control terminal of converter and high-current relay, voltage and current control module uses pwm signal；Interface selecting module uses big work(
Rate single-pole double-throw relay, exports two-way power supply, and the control terminal of interface selecting module uses Transistor-Transistor Logic level signal；Accessory power supply mould
Alternating current is transformed into 24VDC by block；The setup module that charges includes button；Wireless communication module is used for wireless with the monitoring client of host computer
Communication；Intelligent controller module uses ARM microcontrollers, contains relevant control algorithm program；Voltage and current temperature detecting module is adopted
Voltage, electric current and temperature information are obtained with sampling resistor, is sent to intelligent controller module；Host computer is equipped with the logical of monitoring software
With terminal device or special equipment, general-purpose terminal device includes computer or mobile phone, it is characterised in that：Include the following steps,
Step 1：The output end of interface selecting module is connect with AUV battery packs, the output end and voltage and current of AUV battery packs
Temperature detecting module connects；AUV battery packs include battery pack 1 and battery pack 2
Step 2：Wireless communication module is established with host computer and is wirelessly connected；
Step 3：The maximum charging voltage and electric current of each charging port are set by charging setup module or host computer；
Step 4：Pass through setup module or the host computer setting electric sequence of charging port and the filling for AUV battery packs of charging
Electric sequence；
Step 5：Instruction is started to charge up by charging setup module or host computer transmission；
Step 6：Intelligent controller module carries out charge control to battery pack 1；
Step 7：Judge whether to receive self-charging setup module in 1 charging process of battery pack or host computer sends
Charge intervention instruction, if it is carries out in next step, if it is not, carrying out step 10；
Step 8：According to the charging intervention instruction of reception, charge parameter is changed, if charging intervention instruction is to terminate battery pack 1,
It then carries out in next step；If charging intervention instruction is not to terminate battery pack 1, according to modified charge parameter, return to step six；
Step 9：Judge whether charging intervention instruction is to be switched to the charging of battery pack 2, is if it is transferred to step 11, if
It is not to be then transferred to step 15；
Step 10：Judge battery pack 1 whether charging complete, if it is, carry out in next step；If it is not, then return to step six；
Step 11：Intelligent controller module carries out charge control to battery pack 2；
Step 12：In 2 charging process of battery pack, detects whether to receive self-charging setup module or host computer sends
Charge intervention instruction, if so, carrying out in next step, otherwise, being transferred to step 14；
Step 13：Charging intervention instruction is received, charge parameter is changed, if charging intervention instruction is to terminate battery pack 2 to charge,
Then carry out step 15；If charging intervention instruction is not to terminate battery pack 2 to charge, according to modified charge parameter, return
Return step 11；
Step 14：Judge whether charging complete carries out in next step battery pack 2 if charging complete；Otherwise, return to step ten
One；
Step 15：Charging END instruction is sent, charging is terminated.
2. a kind of charging method of AUV intelligent chargers according to claim 1, it is characterised in that：The step
Six and step 11 in the detailed process of charge control be：
(1) charge parameter is read, including：The charging of the maximum charging voltage, maximum charging current and battery pack of each battery pack
Sequentially；
(2) according to sequentially opened determined by charging single-pole double-throw relay connect battery pack；
(3) temperature in battery voltage, electric current and charging unit is read；
(4) judge whether to break down, step (6) is transferred to if there is failure, if do not broken down, carry out in next step；
(5) it is filled using the calculating of intelligent control point algorithm according to set charge parameter and actual cell voltage and charging current
The duty ratio of pwm signal needed for electric control, and output pwm signal；
(6) charging process data are recorded.
3. a kind of charging method of AUV intelligent chargers according to claim 2, it is characterised in that：The intelligence
Controller module includes charging voltage control loop and charging current control loop, the pwm signal needed for output control, specific mistake
Cheng Wei：
A, the deviation Ve (t- of input maximum charging voltage Vmax (t), current time cell voltage V (t) and last moment voltage
1) the deviation Ve (t) that current time, is calculated by Vmax-V is calculated the deviation variation rate at current time by Ve (t) and Ve (t-1)
Vee(t)；
B, input Ve (t) and Vee (t) is to the PD control device in charging voltage control loop, through control function operation output PWM letters
Number duty ratio variable quantity a；
C, the deviation Ie (t- of input maximum charging current Imax (t), the moment battery current I (t) and last moment electric current
1) the deviation Ie (t) that current time, is calculated by Imax-I is calculated the deviation variation rate at current time by Ie (t) and Ie (t-1)
Iee(t)；
D, input Ie (t) and Iee (t) arrives the PD control device of charging current control loop, through control function operation output pwm signal
Duty ratio variable quantity b；
E, compare a and b, the two minimum value is taken to calculate the duty ratio of pwm signal, and be output to buck chopper converter and adjust charging
Voltage and current.
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| CN105703458B (en) * | 2016-03-25 | 2018-09-11 | 哈尔滨工程大学 | A kind of Autonomous Underwater Vehicle wireless charging device under water |
| CN106314728B (en) * | 2016-09-18 | 2018-02-27 | 河海大学常州校区 | Underwater search and rescue robot, cooperative control system and its method of work |
| CN106335617B (en) * | 2016-09-18 | 2018-02-23 | 河海大学常州校区 | Underwater robot energy supplying system, underwater robot and underwater crowd's system |
| CN106505674A (en) * | 2016-11-18 | 2017-03-15 | 广州极飞科技有限公司 | Battery charging switching device, charging system, charging method for handover control and device |
| CN109728619B (en) * | 2017-10-31 | 2022-11-08 | 中国科学院沈阳自动化研究所 | Underwater charging device for AUV (autonomous underwater vehicle) and control method |
| CN109065973B (en) * | 2018-06-25 | 2020-04-07 | 中国人民解放军陆军炮兵防空兵学院 | Intelligent detection and charging maintenance device for storage battery |
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Effective date of registration: 20211124 Address after: 266061 1003, unit 2, building 1, No. 88, Donghai East Road, Laoshan District, Qingdao, Shandong Province Patentee after: Qingdao Pengsheng Marine Equipment Co.,Ltd. Address before: 150001 Intellectual Property Office, Harbin Engineering University science and technology office, 145 Nantong Avenue, Nangang District, Harbin, Heilongjiang Patentee before: HARBIN ENGINEERING University |
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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 |