CN105691231B - Control method, onboard system and the ground charging station control system of quick charge - Google Patents
Control method, onboard system and the ground charging station control system of quick charge Download PDFInfo
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- CN105691231B CN105691231B CN201610136361.8A CN201610136361A CN105691231B CN 105691231 B CN105691231 B CN 105691231B CN 201610136361 A CN201610136361 A CN 201610136361A CN 105691231 B CN105691231 B CN 105691231B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/11—DC charging controlled by the charging station, e.g. mode 4
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- 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
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
This application provides a kind of control methods of quick charge, are applied to onboard system；Wherein, the method includes：Receiving the ground that ground charging station control system is sent allows charge information, sends rising bow instruction, and control current collector rises；The current collector rising bow in place after, control Vehicular charging contactor is closed, and sends vehicle-mounted permission charge information to the ground charging station control system；After charging, transmission drop bow instruction controls the current collector and declines, transmission is vehicle-mounted to forbid charge information to the ground charging station control system.Equally, the present invention also provides a kind of control method, onboard system and the ground charging station control systems of the quick charge applied to ground charging station control system.The present invention, which is solved, to be damaged in the moment of charging or the moment generation high current arcing of power-off so as to cause by electrical contact portion, reduces its service life and there are problems that security risk.
Description
Technical field
The present invention relates to energy storage trolleybus charge control fields, more specifically to a kind of control of quick charge
Method, onboard system and ground charging station control system.
Background technology
Trolleybus is known as the title of " green public transport ", is energy conservation and environmental protection, comfort and health to the major advantage of bus,
Major advantage to rail traffic is cheap, flexible.Trolleybus charging infrastructure is the important composition portion of electric car industrial chain
Point.
Charging electric car may be used electric car platform quick charge at present, energy storage type trolleybus enter the station charging when electric current be up to
More than 800 amperes, the charging time is only the time stopped using vehicle in the tens second time of passenger getting on/off, gives vehicle-mounted storage
Energy power source charges, after vehicle leaves charged area, vehicles energy accumulating power supply releases energy, and can solve by aerial electrical power contact line
It travels, needs manually-operated DC charging, replaces energy-storage travelling wave tube, or be in the contactless charging band of conceptual phase
The puzzlement come, the stability of platform charging unit work, safety directly affect entire vehicle line reliability of operation.
But there is also some potential safety problems when charging electric car platform quick charge at present, charging moment or
The moment of power-off, can cause to be damaged by electrical contact portion when serious at the phenomenon that will produce high current arcing, reduce it and use the longevity
It orders and there are security risks.Therefore, the prior art is badly in need of a kind of method that can securely and reliably charge.
Invention content
In view of this, the present invention provides a kind of control method of quick charge, onboard system and ground charging station control system
System can be domestic advanced super capacitor trolleybus quick charge at present, to solve in the moment of charging or the wink of power-off
Between generate high current arcing damaged so as to cause by electrical contact portion, reduce its service life and there are problems that security risk.
In order to solve the above technical problems, present invention employs following technical solutions：
A kind of control method of quick charge is applied to onboard system；Wherein, the method includes：
Receiving the ground that ground charging station control system is sent allows charge information, sends rising bow instruction, controls current collector
Rise；
The current collector rising bow in place after, control Vehicular charging contactor is closed, and sends vehicle-mounted permission charge information to institute
State ground charging station control system；
After charging, bow instruction drops in transmission, controls the current collector and declines, and transmission is vehicle-mounted to forbid charge information described in
Ground charging station control system.
Preferably, before the ground for receiving the transmission of ground charging station control system allows charge information, further include：
Judge whether vehicle enters the station to come to a complete stop；
If coming to a complete stop, send vehicle and come to a complete stop information to the ground charging station control system, and executes reception describedly
Charge the ground permission charge information step that station control system is sent in face；
If not coming to a complete stop, repeat to judge whether the vehicle enters the station to come to a complete stop.
Preferably, after the ground for receiving the transmission of ground charging station control system allows charge information, further include：
It detects vehicle super capacitor and whether there is failure；
If failure is not present in the vehicle super capacitor, the rising bow instruction is sent, the current collector is controlled and rises；
If the vehicle super capacitor is forbidden charging there are failure.
Preferably, after the transmission rising bow instruction, further include：
Judge whether the onboard system is successfully transmitted the rising bow instruction；
If being successfully transmitted the rising bow instruction, controls the current collector and rise；
If sending rising bow instruction not successfully, receive that the ground charging station control system sends again describedly
Face allows charge information.
Preferably, in the control current collector uphill process, further include：
Judging the current collector, within a specified time whether rising bow is in place；
If current collector rising bow within the specified time in place, controls the Vehicular charging contactor and is closed；
If the current collector non-rising bow within the specified time in place, executes the action of current collector failure removal, forbids
Charging.
Preferably, after the control current collector declines, further include：
The Vehicular charging contactor is controlled to disconnect；
After the Vehicular charging contactor disconnects, judging the current collector, within a specified time whether drop is bent in place；
If the current collector drops bow in place within the specified time, the vehicle launch is controlled；
If the current collector does not drop bow in place within the specified time, executes current collector excision and act, described in control
Vehicle launch.
Preferably, during the control current collector rises or declines, further include：
Control instrument display interface switches to current collector video clip.
Preferably, after the current collector rising bow or drop are bent in place, further include：
Control instrument display interface switches to main interface.
A kind of control method of quick charge is applied to ground charging station control system；Wherein, the method includes：
Sending ground allows charge information to onboard system；
The vehicle-mounted permission charge information that the onboard system is sent is received, control ground charging contactor is closed, starts to fill
After electricity, charging status information is sent to the onboard system；
After charging, receives the vehicle-mounted of onboard system transmission and forbid charge information, after stopping charging, described in control
Ground charging contactor disconnects, and sends floor contactor and disconnects information to the onboard system.
Preferably, before the transmission ground allows charge information to onboard system, further include：
The vehicle that the onboard system is sent is received to have come to a complete stop information.
Preferably, after the vehicle-mounted permission charge information for receiving the onboard system transmission, further include：
Judge the magnitude relationship between the voltage and given voltage of vehicle super capacitor；
If the voltage of the vehicle super capacitor is less than the given voltage, forbid charging；
If the voltage of the vehicle super capacitor is more than the given voltage, controls the ground charging contactor and close
It closes.
A kind of onboard system, including：
First receiving module, the ground for receiving the transmission of ground charging station control system allow charge information；
First control module, for sending rising bow instruction, control current collector rises；
Second control module, after being used for the current collector rising bow in place, control Vehicular charging contactor is closed；
First sending module, for sending vehicle-mounted permission charge information to the ground charging station control system；
Third control module sends drop bow instruction, controls the current collector and decline after charging；
Second sending module vehicle-mounted forbids charge information to the ground charging station control system for sending.
Preferably, the onboard system further includes：
First judgment module comes to a complete stop for judging whether vehicle enters the station；
Third sending module when judging that the vehicle pull-in comes to a complete stop for first judgment module, sends vehicle and has stopped
Steady information is to the ground charging station control system；
Wherein, first receiving module sends the vehicle for the third sending module and has come to a complete stop information to institute
After stating ground charging station control system, receiving the ground that the ground charging station control system is sent allows charge information.
Preferably, the onboard system further includes：
First detection module whether there is failure for detecting vehicle super capacitor；
First disabled module detects the vehicle super capacitor there are when failure for the first detection module, forbids
Charging；
Wherein, first control module detects the vehicle super capacitor for the first detection module and is not present
When failure, the rising bow instruction is sent, the current collector is controlled and rises.
Preferably, the onboard system further includes：
Second judgment module, for judging whether the onboard system is successfully transmitted the rising bow instruction；
Wherein, first control module judges that the onboard system is successfully transmitted institute for second judgment module
After stating rising bow instruction, controls the current collector and rise；
First receiving module judges that the onboard system sends the liter not successfully for second judgment module
After bow instruction, receiving the ground that the ground charging station control system is sent again allows charge information.
Preferably, the onboard system further includes：
Third judgment module, for judging the current collector, within a specified time whether rising bow is in place；
First execution module judges the current collector non-rising bow within the specified time for the third judgment module
When in place, the action of current collector failure removal is executed；
Second disabled module forbids filling after executing the current collector failure removal action for first execution module
Electricity；
Wherein, second control module judges the current collector when described specified for the third judgment module
Interior rising bow in place after, control the Vehicular charging contactor and be closed.
Preferably, the onboard system further includes：
4th control module after declining for the current collector, controls the Vehicular charging contactor and disconnects；
Whether the 4th judgment module judges the current collector when specified after being disconnected for the Vehicular charging contactor
Interior drop bow is in place；
5th control module judges that the current collector drops bow within the specified time and arrives for the 4th judgment module
Position, controls the vehicle launch；
Second execution module judges that bow does not drop in the current collector within the specified time for the 4th judgment module
In place, current collector excision action is executed；
6th control module controls the vehicle after executing the current collector excision action for second execution module
Start.
Preferably, the onboard system further includes：
7th control module, during rising or decline for the current collector, control instrument display interface switches to
Current collector video clip.
Preferably, the onboard system further includes：
8th control module, after bending in place for the current collector rising bow or drop, control instrument display interface switches to
Main interface.
A kind of ground charging station control system, including：
First transmission unit allows charge information to onboard system for sending ground；
First receiving unit, the vehicle-mounted permission charge information sent for receiving the onboard system；
First control unit is closed for controlling ground charging contactor；
Second transmission unit sends charging status information to the onboard system after starting to charge up；
Second receiving unit receives the vehicle-mounted of onboard system transmission and forbids charge information after charging；
Second control unit controls the ground charging contactor and disconnects after stopping charging；
Third transmission unit disconnects information to the onboard system for sending floor contactor.
Preferably, the ground charging station control system further includes：
Third receiving unit before allowing charge information to onboard system for the transmission ground, receives described vehicle-mounted
The vehicle that system is sent has come to a complete stop information.
Preferably, the ground charging station control system further includes：
First judging unit, the magnitude relationship between voltage and given voltage for judging vehicle super capacitor；
First forbids unit, judges that the voltage of the vehicle super capacitor is less than the finger for first judging unit
When constant voltage, forbid charging；
Wherein, first control unit judges the voltage of the vehicle super capacitor for first judging unit
When more than the given voltage, controls the ground charging contactor and be closed.
Compared to the prior art, the invention has the advantages that：
The present invention provides a kind of control method for quickly charging, onboard system and ground charging stations it can be seen from above
Control system.Specifically, onboard system, which receives the ground that ground charging station control system is sent, allows charge information, rising bow is sent
Instruction, control current collector rise, when current collector rising bow in place after, control Vehicular charging contactor is closed, and sending vehicle-mounted allows to fill
Power information is reflected in the case where ensuring that Vehicular charging contactor is closed, ground charging station to ground charging station control system
Start again to Vehicular charging, to illustrate that the contact of Vehicular charging contactor can be powered again rearward.After charging, onboard system
It sends and drops bow instruction, control current collector declines, and transmission is vehicle-mounted to forbid charge information to ground charging station control system, reflects ground
Face is charged after station control system stopping charging, and Vehicular charging contactor just disconnects, to ensure that Vehicular charging contactor disconnects
Reliably.Therefore this programme can solve the problems, such as charging moment or power-off moment generate high current arcing, improve by
The service life of electrical contact portion reduces security risk.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the control method flow chart of the quick charge provided in an embodiment of the present invention applied to onboard system；
Fig. 2 is charging flow in the control method of the quick charge provided in an embodiment of the present invention applied to onboard system
Figure；
Fig. 3 is charging in the control method of the quick charge provided in an embodiment of the present invention applied to onboard system and power-off
Flow chart；
Fig. 4 is the control method stream of the quick charge provided in an embodiment of the present invention applied to ground charging station control system
Cheng Tu；
Fig. 5 is the control method of the quick charge provided in an embodiment of the present invention applied to ground charging station control system
Flow chart；
Fig. 6 is onboard system provided in an embodiment of the present invention；
Fig. 7 is the charge control system in onboard system provided in an embodiment of the present invention；
Fig. 8 is to fill power-off control system in onboard system provided in an embodiment of the present invention；
Fig. 9 is ground charging station control system provided in an embodiment of the present invention；
Figure 10 is the system of ground charging station provided in an embodiment of the present invention control.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
Referring to Fig. 1, Fig. 1 is the control method stream of the quick charge provided in an embodiment of the present invention applied to onboard system
Cheng Tu.This approach includes the following steps：
S11, onboard system, which receive the ground that ground charging station control system is sent, allows charge information, waits for that onboard system connects
After receiving ground permission charge information, S12 is executed；
Wherein, onboard system carries out information conveyance with ground charging station control system by microwave.Specifically, vehicle and ground
Be provided with radio transmitting device on the charging station of face, with this come realize the information between onboard system and ground charging station system pass
It is defeated.When that can not receive the information of other side's transmission each other, there are failures for transmission between confirmation message, therefore can not carry out automatic
Charge control.Such as：When long-time onboard system, which does not receive ground, allows charge information, following step is not executed.
S12, rising bow instruction is sent, control current collector rises；
Wherein, after onboard system, which receives ground, allows charge information, driver operation rising bow button, system receives liter
Bow instruction, current collector execute rising bow action, and current collector rises.
S13, current collector rising bow in place after, control Vehicular charging contactor is closed, send vehicle-mounted permissions charge information to
Charge station control system in face；
It after S14, charging, sends and drops bow instruction, control current collector declines, and transmission is vehicle-mounted to forbid charge information to ground
Charge station control system.
It is the control method for the quick charge applied to onboard system that the embodiment of the present invention one provides above, passes through the reality
Apply mode, when current collector rising bow in place after, control Vehicular charging contactor is closed, and is sent vehicle-mounted permission charge information and is filled to ground
Power station control system starts to charge up, and ensure that Vehicular charging contactor closure can start to charge up rearward.After charging, control
Current collector processed declines, and transmission is vehicle-mounted to forbid charge information to ground charging station control system, ensure that charging finishes, Vehicular charging
Contactor disconnect it is reliable, to solve the problems, such as to generate high current arcing in the moment of charging or the moment of power-off, raising by
The service life of electrical contact portion reduces security risk.
Embodiment two
Referring to Fig. 2, Fig. 2 is in the control method of the quick charge provided in an embodiment of the present invention applied to onboard system
Charging flow figure.This approach includes the following steps：
S21, judge whether vehicle enters the station and come to a complete stop；It comes to a complete stop if entering the station, executes S22, come to a complete stop if not entering the station, return to S21；
Wherein, the parking brake that the speed that the basis for estimation to come to a complete stop is vehicle that enters the station is equal to zero either vehicle applies, and passes through vehicle
Velocity sensor can obtain speed signal, judge whether speed is equal to zero.
S22, onboard system send vehicle and have come to a complete stop information to ground charging station control system, receive ground charging station control
The ground that system is sent allows charge information；
Optionally, after onboard system receives the ground permission charge information, step S23 can also be performed, to judge vehicle
Loading system with the presence or absence of the failures such as system high temperature, monomer/module failure, if vehicle super capacitor there are when failure, vehicle instrument
Table display interface shows relevant fault status information, facilitates personnel inspection failure.
S23, detection vehicle super capacitor whether there is failure, if failure is not present in vehicle super capacitor, execute S24,
If there are failures for vehicle super capacitor, terminate program.
S24, rising bow instruction is sent, control current collector rises；
Optionally, in order to avoid contact fault, video monitor is installed on vehicle, the action process of current collector is carried out
It monitors, in current collector uphill process, instrument display interface switches to current collector video clip.
S25, judge whether onboard system is successfully transmitted rising bow instruction；If being successfully transmitted rising bow instruction, S26 is executed, is controlled
Current collector processed rises；If sending rising bow instruction not successfully, S22 is returned, receives what ground charging station control system was sent again
Ground allows charge information；
S26, control current collector rise；
Optionally, after control current collector rises, step S27 can also be performed.
S27, judging current collector, within a specified time whether rising bow is in place；If current collector within a specified time rising bow in place,
S29 is then executed, if within a specified time non-rising bow in place, executes S28 to current collector；
Wherein it is possible to be configured to specified time according to the vehicle dwell time, it is preferable that specified time could be provided as
30S.Current collector is contacted by electricity, and positive and negative power supply is introduced respectively by two conductor rails.When onboard system does not receive always
The signal of rising bow in place, instrument display interface will show always current collector current state, it is ensured that driver can see current collector
State, and make corresponding processing, corresponding auxiliary is only made in current collector video monitoring and the control for being not involved in charging process
It has been shown that, when rising bow in place after, instrument display interface switches to main interface.
S28, the action of current collector failure removal is executed；
Wherein, when current collector detects failure in place there are failure or rising bow, the action of current collector failure removal is executed,
And terminate program.
S29, Vehicular charging contactor are closed；
Wherein, after detecting current collector rising bow in place, onboard system sends vehicle charger close command automatically.
S210, vehicle-mounted permission charge information is sent to ground charging station control system；
It after S211, charging, sends and drops bow instruction, control current collector declines, and transmission is vehicle-mounted to forbid charge information to ground
Charge station control system in face.
In the present embodiment, by judge vehicle whether enter the station come to a complete stop, detect vehicle super capacitor with the presence or absence of failure, judge
Current collector whether within a specified time rising bow in place and when current collector within a specified time non-rising bow in place when, execute current collector
Failure removal acts these steps, and vehicle can be further ensured that in trouble-free safe charging.
Embodiment three
Referring to Fig. 3, Fig. 3 is in the control method of the quick charge provided in an embodiment of the present invention applied to onboard system
Charging and power-off flow chart.This approach includes the following steps：
S31, onboard system, which receive the ground that ground charging station control system is sent, allows charge information, waits for that onboard system connects
After receiving ground permission charge information, S32 is executed；
S32, rising bow instruction is sent, control current collector rises；
S33, current collector rising bow in place after, control Vehicular charging contactor is closed, send vehicle-mounted permissions charge information to
Charge station control system in face；
After S34, charging, drop bow instruction is sent, control current collector declines；If be successfully transmitted drop bow instruction, control by
Electric appliance declines, then executes S35, if failed send drop bow instruction, control current collector declines, then returns to S34；
It should be noted that during the current collector declines, instrument display interface switches to current collector video clip,
Facilitate the decline of monitoring current collector.
S35, it sends and vehicle-mounted forbids charge information to ground charging station control system；
S36, Vehicular charging contactor disconnect；
Wherein, onboard system transmission is vehicle-mounted forbids charge information to ground charging station control system, ground charging contactor
It disconnects, feedback signal to onboard system, control Vehicular charging contactor disconnects.
S37, judging current collector, within a specified time whether drop bow in place, bends in place if current collector within a specified time drops,
S39 is then executed, if current collector does not drop bow within a specified time in place, executes S38；
Wherein it is possible to be configured to specified time according to the vehicle dwell time, it is preferable that specified time could be provided as
30S.It should also be noted that, after the current collector drop is bent in place, instrument display interface switches to main interface.
S38, current collector excision action is executed；
Wherein, current collector does not drop bow within a specified time in place, then manually cuts off current collector.
S39, vehicle launch.
In the present embodiment, after charging, it is successfully transmitted drop bow instruction by judging whether, control current collector declines, if
It is failed to send, then repeat to send drop bow instruction, control current collector declines and after Vehicular charging contactor disconnects, judge by
Within a specified time whether drop bow in place, if not dropping bow in place, executes current collector excision and acts these steps, ensure that electric appliance
When current collector breaks down, it also can guarantee that vehicle safety starts.
Example IV
Referring to Fig. 4, Fig. 4 is the quick charge provided in an embodiment of the present invention applied to ground charging station control system
Control method flow chart.This approach includes the following steps：
S41, ground charging station control system send ground permission charge information to onboard system；
Wherein, ground charging station control system also has ID identification codes, passes through other than it can control vehicle and be charged
ID identification codes can record charging times, charged state and the energy consumption of charging vehicle, while can also pass through each charging station
Charge information carry out the service chart of calculating vehicle.
S42, the vehicle-mounted permission charge information that onboard system is sent is received；
Wherein, after ground charging station control system sends ground permission charge information to onboard system, onboard system passes through
A series of operation and detection finally send vehicle-mounted permission charge information to ground charging station control system, ground charging station control
System processed is received.
S43, control ground charging contactor are closed；
S44, after starting to charge up, charging status information is sent to onboard system；
Wherein, after starting to charge up, ground charging station control system sends charging status information to onboard system in real time, can
The charged state of vehicle is known at any time.
After S45, charging, receives the vehicle-mounted of onboard system transmission and forbid charge information；
S46, it after stopping charging, controls ground charging contactor and disconnects；
Wherein, ground charging station control system receive it is vehicle-mounted forbid charge information after, stop charging, and control ground charging
Contactor disconnects.
S47, floor contactor disconnection information is sent to onboard system.
It is the controlling party for the quick charge applied to ground charging station control system that the embodiment of the present invention four provides above
Method passes through the embodiment, when ground allows to charge and receive the vehicle-mounted permission charge information of onboard system transmission, just meeting
It charges to vehicle, ensure that vehicle safety charges.After charging, receives the vehicle-mounted of onboard system transmission and charging is forbidden to believe
After breath, ground charging contactor is disconnected, stops, to Vehicular charging, ensure that vehicle power outage security.To solve the wink in charging
Between or moment of power-off leads to the problem of high current arcing, improve the service life by electrical contact portion, reduction security risk.
Embodiment five
Referring to Fig. 5, Fig. 5 is the quick charge provided in an embodiment of the present invention applied to ground charging station control system
The flow chart of control method.This approach includes the following steps：
S51, it receives the vehicle that onboard system is sent and has come to a complete stop information；
S52, ground charging station control system send ground permission charge information to onboard system；
Wherein, only in the case of judging that vehicle has come to a complete stop, can just send ground allows charge information to vehicle-mounted system
System.
S53, the vehicle-mounted permission charge information that onboard system is sent is received；
S54, judge whether the voltage of vehicle super capacitor is more than given voltage；If the voltage of vehicle super capacitor is less than finger
Constant voltage then returns to S53, if the voltage of vehicle super capacitor is more than given voltage, executes S55；
Wherein it is possible to be configured to given voltage, it is preferable that given voltage could be provided as 150V.When vehicle is super
When the voltage of capacitance is less than given voltage, system forbids charging.
S55, control ground charging contactor are closed；
S56, after starting to charge up, charging status information is sent to onboard system；
After S57, charging, receives the vehicle-mounted of onboard system transmission and forbid charge information；
S58, it after stopping charging, controls ground charging contactor and disconnects；
S59, floor contactor disconnection information is sent to onboard system.
In the present embodiment, come to a complete stop information by receiving the vehicle that onboard system is sent, and judge the electricity of vehicle-mounted capacitance
Whether pressure is more than these steps of given voltage.It can ensure vehicle the case where coming to a complete stop and vehicle super voltage meets condition
Under, it just charges to vehicle, ensures vehicle safety charging.
Embodiment six
Referring to Fig. 6, Fig. 6 is onboard system provided in an embodiment of the present invention, the first receiving module 11, first is specifically included
Control module 21, the second control module 22, the first sending module 31, third control module 23, the second sending module 32.
Specifically, the first receiving module 11, the ground for receiving the transmission of ground charging station control system allows charging to believe
Breath；
First control module 21 sends rising bow instruction after receiving ground permission charge information for the first receiving module 11,
Current collector is controlled to rise；
Second control module 22, for the first control module 21 control current collector rise and current collector rising bow in place after, control
Vehicular charging contactor processed is closed；
First sending module 31 after being closed for the second control module 22 control Vehicular charging contactor, is sent vehicle-mounted fair
Perhaps charge information is to ground charging station control system；
Third control module 23 sends drop bow instruction after charging, and control current collector declines；
Second sending module 32 vehicle-mounted forbids charge information to ground charging station control system for sending.
Onboard system disclosed in the present embodiment, when current collector rising bow in place after, the second control module 22 control Vehicular charging
Contactor is closed, and the first sending module 31 sends vehicle-mounted permission charge information to ground charging station control system, starts to charge up, and is protected
Having demonstrate,proved Vehicular charging contactor closure can start to charge up again rearward.After charging, third control module 23 controls under current collector
Drop, the second sending module 32 send it is vehicle-mounted forbid charge information to ground charging station control system, ensure that charging finishes, vehicle
Charging contactor disconnects reliably, to solve the problems, such as to generate high current arcing in the moment of charging or the moment of power-off, carries
Height is reduced security risk by the service life of electrical contact portion.
It should be noted that in onboard system disclosed in the present embodiment each unit specific work process, refer to reality
The content of example 1 is applied, details are not described herein again.
Embodiment seven
Referring to Fig. 7, Fig. 7 is the charge control system in onboard system provided in an embodiment of the present invention.Specifically include
One judgment module 41, third sending module 83, the first receiving module 11, first detection module 51, the first control module 21, first
Disabled module 61, the second judgment module 42, third judgment module 43, the second control module 22, the first execution module 71, first hair
Send module 31, the second disabled module 62, third control module 23, the second sending module 32.
Specifically, the first judgment module 41, comes to a complete stop for judging whether vehicle enters the station；
Third sending module 83 when judging that vehicle pull-in comes to a complete stop for the first judgment module 41, sends vehicle and has come to a complete stop letter
It ceases to ground charging station control system；
First receiving module 11, for third sending module 83 send vehicle come to a complete stop information to ground charging station control be
After system, receiving the ground that ground charging station control system is sent allows charge information；
First detection module 51, receiving the ground that ground charging station control system is sent for the first receiving module 11 allows
After charge information, detection vehicle super capacitor whether there is failure；
First disabled module 61 detects vehicle super capacitor there are when failure for first detection module 51, forbids charging,
And terminate program；
First control module 21 detects vehicle super capacitor there is no when failure for first detection module 51, sends and rise
Bow instruction, control current collector rise；
Second judgment module 42, for judging whether onboard system is successfully transmitted rising bow instruction；
Wherein, the first control module 21, after judging that onboard system is successfully transmitted rising bow instruction for the second judgment module 42,
Current collector is controlled to rise；
In addition, the first receiving module 11, judges that onboard system sends rising bow instruction not successfully for the second judgment module 42
Afterwards, receiving the ground that ground charging station control system is sent again allows charge information；
Third judgment module 43, for judging current collector, within a specified time whether rising bow is in place；
Second control module 22, for third judgment module 43 judge current collector within a specified time rising bow in place after, control
Vehicular charging contactor processed is closed；
First sending module 31 after being closed for the second control module 22 control Vehicular charging contactor, is sent vehicle-mounted fair
Perhaps charge information is to ground charging station control system；
First execution module 71 judges that current collector within a specified time in place, hold by non-rising bow for third judgment module 43
Row current collector failure removal acts；
Second disabled module 62 forbids charging after executing the action of current collector failure removal for the first execution module 71, ties
Shu Chengxu；
Third control module 23 sends drop bow instruction after charging, and control current collector declines；
Second sending module 32 vehicle-mounted forbids charge information to ground charging station control system for sending.
In the present embodiment, the first judgment module 41 judge vehicle whether enter the station come to a complete stop, first detection module 51 detect vehicle
Super capacitor judges whether onboard system is successfully transmitted rising bow instruction, third judges with the presence or absence of failure, the second judgment module 42
Module 43 judge current collector whether within a specified time in rising bow in place and when within a specified time non-rising bow is in place for current collector
When, the first execution module 71 executes the action of current collector failure removal.By above-mentioned module, it can further ensure vehicle in nothing
Safe charging in the case of failure.
It should be noted that in onboard system disclosed in the present embodiment each unit specific work process, refer to reality
The content of example 2 is applied, details are not described herein again.
Embodiment eight
Referring to Fig. 8, Fig. 8 is to fill power-off control system in onboard system provided in an embodiment of the present invention.It specifically includes
First receiving module 11, the first control module 21, the second control module 22, the first sending module 31, third control module 23,
Two sending modules 32, the 4th control module 24, the 4th judgment module 44, the 5th control module 25, the second execution module the 72, the 6th
Control module 26.
Specifically, the first receiving module 11, the ground for receiving the transmission of ground charging station control system allows charging to believe
Breath；
First control module 21 sends rising bow instruction after receiving ground permission charge information for the first receiving module 11,
Current collector is controlled to rise；
Second control module 22, for the first control module 21 control current collector rise and current collector rising bow in place after, control
Vehicular charging contactor processed is closed；
First sending module 31 after being closed for the second control module 22 control Vehicular charging contactor, is sent vehicle-mounted fair
Perhaps charge information is to ground charging station control system；
Third control module 23 sends drop bow instruction after charging, and control current collector declines；
Second sending module 32 is successfully transmitted drop bow instruction, after control current collector declines, hair for third control module 23
It send and vehicle-mounted forbids charge information to ground charging station control system；
4th control module 24 is disconnected for controlling Vehicular charging contactor；
4th judgment module 44 judges whether current collector within a specified time drops after being disconnected for Vehicular charging contactor
Bow is in place；
5th control module 25, when judging that current collector within a specified time drops bow in place for the 4th judgment module 44, control
Vehicle launch processed；
Second execution module 72, when judging that current collector does not drop bow within a specified time in place for the 4th judgment module 44,
Execute current collector excision action；
6th control module 26 controls vehicle launch after executing current collector excision action for the second execution module 72.
In the present embodiment, after Vehicular charging contactor disconnects, whether the 4th judgment module 44 judges current collector specified
In place, if not dropping bow in place, the second execution module 72 executes current collector excision action to drop bow in time.To ensure that when by
When electric appliance breaks down, it also can guarantee that vehicle safety starts.
It should be noted that in onboard system disclosed in the present embodiment each unit specific work process, refer to reality
The content of example 3 is applied, details are not described herein again.
Embodiment nine
Referring to Fig. 9, Fig. 9 is ground charging station control system provided in an embodiment of the present invention, the first transmission is specifically included
Unit 81, the first receiving unit 91, the first control unit 101, the second transmission unit 82, the control of the second receiving unit 92, second
Unit 102, third transmission unit 83.
Specifically, the first transmission unit 81, allows charge information to onboard system for sending ground；
First receiving unit 91 connects after sending ground permission charge information to onboard system for the first transmission unit 81
The vehicle-mounted permission charge information that the loading system that returns the vehicle to the garage and knock off is sent；
First control unit 101 receives the vehicle-mounted permission charge information that onboard system is sent for the first receiving unit 91
Afterwards, control ground charging contactor is closed；
Second transmission unit 82 sends charging status information to onboard system after starting to charge up；
Second receiving unit 92 receives the vehicle-mounted of onboard system transmission and forbids charge information after charging；
Second control unit 102, after stopping charging, control ground charging contactor disconnects；
Third transmission unit 83 sends ground and connects after being disconnected for the second control unit 102 control ground charging contactor
Tentaculum disconnects information to onboard system.
Ground charging station control system disclosed in the present embodiment, when ground allow charging and the first receiving unit 91 receive
It when the vehicle-mounted permission charge information that onboard system is sent, can just charge to vehicle, ensure that vehicle safety charges.It has charged
Bi Hou, the second receiving unit 92 receive onboard system transmission it is vehicle-mounted forbid charge information after, disconnect ground charging contactor, stop
Only to Vehicular charging, vehicle power outage security ensure that.To solve to generate high current in the moment of charging or the moment of power-off
The problem of arcing, improves the service life by electrical contact portion, reduces security risk.
It should be noted that in ground charging station control system disclosed in the present embodiment each unit specific works mistake
Journey refers to the content of embodiment 4, and details are not described herein again.
Embodiment ten
Referring to Fig. 10, Figure 10 is the system of ground charging station provided in an embodiment of the present invention control, third is specifically included
Receiving unit 93, the first transmission unit 81, the first receiving unit 91, the first judging unit 111, the first control unit 101, first
Forbid unit 121, the second transmission unit 82, the second receiving unit 92, the second control unit 102, third transmission unit 83.
Specifically, third receiving unit 93, the vehicle for receiving onboard system transmission has come to a complete stop information；
First transmission unit 81, the vehicle for the reception onboard system transmission of third receiving unit 93 have come to a complete stop after information,
Sending ground allows charge information to onboard system；
First receiving unit 91 connects after sending ground permission charge information to onboard system for the first transmission unit 81
The vehicle-mounted permission charge information that the loading system that returns the vehicle to the garage and knock off is sent；
First judging unit 111, after the vehicle-mounted permission information that onboard system is sent is received for the first receiving unit 91,
Judge whether the voltage of vehicle-mounted super capacitor is more than given voltage；
First forbids unit 121, forbids vehicle to fill when judging that voltage is less than given voltage for the first judging unit 111
Electricity；
First control unit 101, when judging that voltage is more than given voltage for the first judging unit 111, control ground is filled
Electric contactor is closed；
Second transmission unit 82 sends charging status information to onboard system after starting to charge up；
Second receiving unit 92 receives the vehicle-mounted of onboard system transmission and forbids charge information after charging；
Second control unit 102, after stopping charging, control ground charging contactor disconnects；
Third transmission unit 83 sends ground and connects after being disconnected for the second control unit 102 control ground charging contactor
Tentaculum disconnects information to onboard system.
In the present embodiment, third receiving unit 93, which receives the vehicle that onboard system is sent and come to a complete stop, information and first to be sentenced
Disconnected unit 111 judges whether the voltage of vehicle-mounted capacitance is more than given voltage, when the voltage of vehicle-mounted capacitance is less than given voltage, the
One forbids unit 121 to forbid Vehicular charging.Ensure vehicle in the case where coming to a complete stop and vehicle super voltage meets condition, it is just right
Vehicle charges, and ensures vehicle safety charging.
It should be noted that in ground charging station control system disclosed in the present embodiment each unit specific works mistake
Journey refers to the content of embodiment 5, and details are not described herein again.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (16)
1. a kind of control method of quick charge, which is characterized in that be applied to onboard system；Wherein, the method includes：
Receiving the ground that ground charging station control system is sent allows charge information, sends rising bow instruction, and control current collector rises；
Wherein, mode communicates the ground charging station control system by radio communication with the onboard system；
The current collector rising bow in place after, control Vehicular charging contactor is closed, and sends vehicle-mounted permission charge information to described
Charge station control system in face；
After charging, transmission drop bow instruction controls the current collector and declines, transmission is vehicle-mounted to forbid charge information to the ground
Charge station control system, and ground charging contactor disconnects, feedback signal to onboard system, and control Vehicular charging contactor disconnects.
2. the control method of quick charge according to claim 1, which is characterized in that the reception ground charging station control
Before the ground that system is sent allows charge information, further include：
Judge whether vehicle enters the station to come to a complete stop；
If coming to a complete stop, send vehicle and come to a complete stop information to the ground charging station control system, and executes the reception ground and fill
The ground that power station control system is sent allows charge information step；
If not coming to a complete stop, repeat to judge whether the vehicle enters the station to come to a complete stop.
3. the control method of quick charge according to claim 1, which is characterized in that the reception ground charging station control
After the ground that system is sent allows charge information, further include：
It detects vehicle super capacitor and whether there is failure；
If failure is not present in the vehicle super capacitor, the rising bow instruction is sent, the current collector is controlled and rises；
If the vehicle super capacitor is forbidden charging there are failure.
4. the control method of quick charge according to claim 1, which is characterized in that the transmission rising bow instructs it
Afterwards, further include：
Judge whether the onboard system is successfully transmitted the rising bow instruction；
If being successfully transmitted the rising bow instruction, controls the current collector and rise；
If sending the rising bow instruction not successfully, the ground that the ground charging station control system is sent is received again and is permitted
Perhaps charge information.
5. the control method of quick charge according to claim 1, which is characterized in that the control current collector rises
In the process, further include：
Judging the current collector, within a specified time whether rising bow is in place；
If current collector rising bow within the specified time in place, controls the Vehicular charging contactor and is closed；
If the current collector non-rising bow within the specified time in place, executes the action of current collector failure removal, forbids charging.
6. the control method of quick charge according to claim 1, which is characterized in that the control current collector declines
Afterwards, further include：
After the Vehicular charging contactor disconnects, judging the current collector, within a specified time whether drop is bent in place；
If the current collector drops bow in place within the specified time, the vehicle launch is controlled；
If the current collector does not drop bow in place within the specified time, current collector excision action is executed, the vehicle is controlled
Start.
7. the control method of quick charge according to claim 1, which is characterized in that the control current collector rises
Or during declining, further include：
Control instrument display interface switches to current collector video clip.
8. the control method of quick charge according to any one of claim 1 to 6, which is characterized in that the current collector
After rising bow or drop are bent in place, further include：
Control instrument display interface switches to main interface.
9. a kind of control system of quick charge, which is characterized in that including：
Onboard system and ground charging station control system；
Wherein, onboard system includes：First receiving module, the ground for receiving the transmission of ground charging station control system allow to fill
Power information；First control module, for sending rising bow instruction, control current collector rises；Second control module, for described by electricity
Device rising bow in place after, control Vehicular charging contactor be closed；First sending module, for sending vehicle-mounted permission charge information to institute
State ground charging station control system；Third control module sends drop bow instruction, controls the current collector after charging
Decline；Second sending module vehicle-mounted forbids charge information to the ground charging station control system for sending；4th control mould
Block is disconnected for controlling Vehicular charging contactor；
Wherein, ground charging station control system includes：First transmission unit allows charge information to vehicle-mounted system for sending ground
System；First receiving unit, the vehicle-mounted permission charge information sent for receiving the onboard system；First control unit, is used for
Ground charging contactor is controlled to be closed；Second transmission unit sends charging status information to described vehicle-mounted after starting to charge up
System；Second receiving unit receives the vehicle-mounted of onboard system transmission and forbids charge information after charging；Second
Control unit controls the ground charging contactor and disconnects after stopping charging；Third transmission unit, for sending ground
Contactor disconnects information to the onboard system.
10. the control system of quick charge according to claim 9, which is characterized in that the onboard system further includes：
First judgment module comes to a complete stop for judging whether vehicle enters the station；
Third sending module when judging that the vehicle pull-in comes to a complete stop for first judgment module, sends vehicle and has come to a complete stop letter
It ceases to the ground charging station control system；
Wherein, first receiving module sends the vehicle for the third sending module and has come to a complete stop information to described
Face is charged after station control system, and receiving the ground that the ground charging station control system is sent allows charge information.
11. the control system of quick charge according to claim 9, which is characterized in that the onboard system further includes：
First detection module whether there is failure for detecting vehicle super capacitor；
First disabled module detects the vehicle super capacitor there are when failure for the first detection module, forbids charging；
Wherein, first control module detects the vehicle super capacitor for the first detection module and failure is not present
When, the rising bow instruction is sent, the current collector is controlled and rises.
12. the control system of quick charge according to claim 9, which is characterized in that the onboard system further includes：
Second judgment module, for judging whether the onboard system is successfully transmitted the rising bow instruction；
Wherein, first control module judges that the onboard system is successfully transmitted the liter for second judgment module
After bow instruction, controls the current collector and rise；
First receiving module judges that the onboard system sends the rising bow and refers to not successfully for second judgment module
After order, receiving the ground that the ground charging station control system is sent again allows charge information.
13. the control system of quick charge according to claim 9, which is characterized in that the onboard system further includes：
Third judgment module, for judging the current collector, within a specified time whether rising bow is in place；
First execution module, judging the current collector for the third judgment module, non-rising bow is in place within the specified time
When, execute the action of current collector failure removal；
Second disabled module forbids charging after executing the current collector failure removal action for first execution module；
Wherein, second control module judges the current collector within the specified time for the third judgment module
Rising bow in place after, control the Vehicular charging contactor and be closed.
14. the control system of quick charge according to claim 9, which is characterized in that the onboard system further includes：
Within a specified time whether the 4th judgment module judge the current collector after being disconnected for the Vehicular charging contactor
Drop bow is in place；
5th control module judges that the current collector drops bow in place within the specified time for the 4th judgment module,
Control the vehicle launch；
Second execution module judges that the current collector does not drop bow within the specified time and arrives for the 4th judgment module
Position executes current collector excision action；
6th control module controls the vehicle and opens after executing the current collector excision action for second execution module
It is dynamic.
15. the control system of quick charge according to claim 9, which is characterized in that the onboard system further includes：
7th control module, during rising or decline for the current collector, control instrument display interface is switched to by electricity
Device video clip.
16. the control system of the quick charge according to any one of claim 9-15, which is characterized in that the vehicle-mounted system
System further includes：
8th control module, after bending in place for the current collector rising bow or drop, control instrument display interface switches to main boundary
Face.
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| CN106114236B (en) * | 2016-07-28 | 2018-08-07 | 厦门金龙旅行车有限公司 | The electronic automobile-used bow formula charging system of one kind and its control method |
| CN107839488A (en) * | 2016-09-21 | 2018-03-27 | 郑州宇通客车股份有限公司 | A kind of pure electric vehicle current collecting bow lifting control method and device |
| CN107757407A (en) * | 2017-10-30 | 2018-03-06 | 中车株洲电力机车有限公司 | A kind of intelligent charging method, system, equipment and computer-readable recording medium |
| CN110525222B (en) * | 2018-05-25 | 2023-09-05 | 比亚迪股份有限公司 | Charging device and charging system of rail vehicle and rail vehicle |
| CN110626207B (en) * | 2018-06-01 | 2021-10-22 | 比亚迪股份有限公司 | Charging method and system for rail transit vehicle |
| CN116729155A (en) * | 2023-08-10 | 2023-09-12 | 湖南中车智行科技有限公司 | Intelligent driving full-automatic charging control method suitable for electronic guide rubber wheel system |
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