CN110077248B - Positioning wireless charging device, charging method, control method and control structure - Google Patents
Positioning wireless charging device, charging method, control method and control structure Download PDFInfo
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- CN110077248B CN110077248B CN201910500785.1A CN201910500785A CN110077248B CN 110077248 B CN110077248 B CN 110077248B CN 201910500785 A CN201910500785 A CN 201910500785A CN 110077248 B CN110077248 B CN 110077248B
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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
- B60L53/12—Inductive energy transfer
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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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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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
- 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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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a positioning wireless charging device applied to an AGV in the field of wireless charging, which comprises: the wireless charging device is used for wirelessly charging the trolley and comprises a main circuit and a control circuit, wherein the main circuit comprises a transmitting end main circuit and a receiving end main circuit, and the control circuit is used for controlling the main circuit to perform charging work; the invention relates to an ultrasonic positioning device, which is used for positioning an AGV (automatic guided vehicle) and comprises an emitting module arranged in the AGV and a receiving module arranged on a wireless charging device.
Description
Technical Field
The invention relates to a wireless charging device, in particular to a wireless charging method, and belongs to the field of wireless charging.
Background
An unmanned carrying trolley, which is an AGV trolley for short, is a robot applied to a logistics production line. An AGV is a transport vehicle that can travel along a predetermined guide path and has various transfer functions with safety protection. Wireless charging, that is, wireless transmission of electric energy, can be divided into two modes, namely low-power wireless charging and high-power wireless charging. Because the charger and the electric device transmit energy by magnetic field, the charger and the electric device are not connected by electric wires, so that no conductive contact is exposed. The ultrasonic automatic positioning instrument utilizes the space propagation characteristics of ultrasonic waves to determine the specific position of a target.
Disclosure of Invention
The invention aims to provide a positioning wireless charging device, a charging method, a control method and a control structure, which can improve the cruising ability of an AGV, save the transportation time and improve the efficiency.
The purpose of the invention is realized as follows: a wireless charging device of location for AGV dolly includes:
the wireless charging device is used for wirelessly charging the trolley and comprises a main circuit and a control circuit, wherein the main circuit comprises a transmitting end main circuit and a receiving end main circuit, the transmitting end main circuit comprises a low-voltage direct-current power supply, a high-frequency inverter circuit and a primary resonance circuit which are sequentially connected, the receiving end main circuit comprises a secondary resonance circuit, a full-bridge rectification circuit and a power matching conversion circuit, the output end of the power matching conversion circuit is connected with a storage battery pack of the trolley, a transmitting coil in the primary resonance circuit is arranged below a specified travelling route of the trolley, other circuits in the receiving end main circuit are arranged in the trolley, and the control circuit is used for controlling the main circuit to perform charging work;
ultrasonic positioning device for realize the location to the AGV dolly, ultrasonic positioning device is including setting up the transmitting module in the dolly and setting up the receiving module on wireless charging device.
As a further limitation of the present invention, the control circuit includes a transmitting end control circuit and a receiving end control circuit, the transmitting end control circuit includes a transmitting end PWM driving circuit connected to the transmitting end digital signal processor, and a transmitting end current sampling circuit, the transmitting end current sampling circuit is connected to the primary side resonant circuit; the receiving end control circuit comprises a receiving end PWM driving circuit, a receiving end voltage sampling circuit and a receiving end current sampling circuit which are connected to the receiving end digital signal processor.
As a further limitation of the present invention, the high frequency inverter circuit includes four power MOS switch transistors S1、S2、S3、S4The transmitting terminal digital signal processor controls the four power MOS switching tubes S through the transmitting terminal PWM driving circuit1、S2、S3、S4The power matching conversion circuit comprises four full-control power switches IGBT tubes Q1、Q2、Q3、Q4Inductance L and capacitance C2The receiving end digital signal processor controls the four full controls through the PWM driving circuitPower switch IGBT tube Q1、Q2、Q3、Q4Switch action, indirect filter capacitor C between positive and negative poles of the full-bridge rectification circuitf。
A multi-loop feedback control method applied to an AGV trolley positioning wireless charging device comprises the following steps:
1) input voltage V of acquisition power matching conversion circuitinIs compared with an input reference voltage VinrefComparing to obtain deviation amount, and passing the deviation amount through a voltage controller Cvin(s) obtaining an inner loop inductance reference current IrefThrough a current controller Ci(s) obtaining the duty cycle d1；
2) The super capacitor is output with reference voltage V by adopting a super capacitor end controllerorefAnd actually measured super capacitor voltage VoComparing to obtain deviation amount, and passing the deviation amount through a voltage controller Cvo(s) obtaining the duty cycle d2；
3) Comparing duty ratio d using minimum comparator MIN1And duty cycle d2And controlling four full-control power switches IGBT (insulated gate bipolar transistor) Q by taking a smaller duty ratio as a control duty ratio of the power matching conversion circuit1、Q2、Q3、Q4And the control of a rectifier output voltage, an inductive current double closed loop and a super capacitor voltage closed loop is formed by switching action.
The utility model provides a be applied to AGV dolly wireless charging device's in location multiple ring feedback control structure, includes:
current controller Cvin(s) for converting the input voltage VinAnd an input reference voltage VinrefIs converted into an inner loop reference current Iref；
Current controller Ci(s) for converting the input current ILAnd inner loop inductance reference current IrefConversion of deviation amount into duty ratio d of power matching conversion circuit1；
Gid(s) is the transfer function of duty cycle to inductor L current, Hi(s) is the current sensor transfer function;
voltage controlSystem ware Cvo(s) for converting the deviation amount of the output voltage into the duty ratio d of the power matching conversion circuit2；
Hvo(s) is the output voltage sensor transfer function, the output voltage VoAnd outputs a reference voltage V with the super capacitororefComparing;
MIN minimum comparator for comparing duty ratio d1And duty cycle d2Size of (1), Gvod(s) is the duty cycle d versus the output voltage VoThe transfer function of (a);
Gvoind(s) is the output voltage VoFor input voltage VinTransfer function of Hvin(s) is the input voltage VinA sensor transfer function;
wherein a reference voltage V is inputinrefThe voltage of the charging circuit can be ensured to work at the maximum point all the time by artificial determination; reference current I of inner loop inductorrefThe maximum value is obtained after the current on the inductor is limited, and the constant current charging of the super capacitor under normal conditions is ensured in order to ensure the stable operation of the charging circuit; vorefThe maximum value of the supercapacitor voltage cannot be exceeded.
A wireless charging method for positioning of an AGV comprises an ultrasonic positioning device, wherein the ultrasonic positioning device comprises a transmitting module arranged in the AGV and a receiving module arranged on the wireless charging device, and is characterized in that the transmitting module arranged on the head of the AGV always transmits signals to the front in the driving process of the AGV, the receiving module continuously calculates the position, and when the AGV travels to the position above a transmitting coil in a specified driving route, the wireless charging device on the ground automatically enters a charging mode and charges the driven AGV in real time through the wireless charging device; when the charging device on the ground detects that the AGV drives away from the charging area, the AGV automatically closes.
Compared with the prior art, the invention has the beneficial effects that: the AGV wireless charging device utilizes the electromagnetic induction principle, the closed-loop control principle and the ultrasonic positioning principle to realize the indoor positioning wireless charging of the AGV; the driving route of the AGV trolley is fixed, so that whether the AGV trolley drives into a wireless charging section or not can be judged by positioning the position of the AGV trolley through ultrasonic waves, and online charging of the AGV trolley is realized; the method greatly improves the running efficiency of the AGV trolley and simplifies the charging process of the AGV trolley.
Drawings
Fig. 1 is a schematic diagram of a main circuit of a wireless charging part according to the present invention.
Fig. 2 is a schematic diagram of a control circuit of a transmitting terminal of the wireless charging part according to the present invention.
Fig. 3 is a schematic diagram of a receiving end control circuit of the wireless charging part of the present invention.
Fig. 4 is a schematic diagram of the input voltage control of the wireless charging part power matching closed loop circuit of the present invention.
FIG. 5 is a schematic diagram of a wireless charging process for an AGV of the present invention.
FIG. 6 is a schematic diagram of the basic principle of the AGV ultrasonic positioning of the present invention.
FIG. 7 is a schematic diagram of an AGV ultrasonic positioning transceiver device according to the present invention.
Detailed Description
The present invention is further illustrated by the following specific examples.
As shown in fig. 1 to 3, a positioning wireless charging device applied to an AGV includes a wireless charging device and an ultrasonic positioning device, and a load is a super capacitor. The described wireless charging device comprises a main circuit and a control circuit, wherein a plurality of groups of transmitting end main circuits are arranged, each group of transmitting end main circuits comprises a low-voltage direct-current power supply, a high-frequency inverter circuit and a primary resonance circuit which are sequentially connected and are arranged on a scheduled driving route of the trolley, and a receiving end main circuit comprises a secondary resonance circuit, a full-bridge rectification circuit and a power matching conversion circuit which are sequentially connected and is arranged in the trolley; the control circuit comprises a transmitting end control circuit and a receiving end control circuit, the transmitting end control circuit comprises a PWM (pulse-width modulation) driving circuit and a current sampling circuit which are connected to a transmitting end digital signal processor, and the current sampling circuit is connected to the primary side resonance circuit; the receiving end control circuit comprises a PWM driving circuit, a voltage sampling circuit and a current sampling circuit which are connected to a receiving end digital signal processor, the voltage sampling circuit is connected to the output end of the full-bridge rectification circuit and the output end of the load super capacitor, and the current sampling circuit is connected to the left side of the inductor L. The digital signal processing circuit consists of a dsPIC33FJ64GS606 chip and peripheral circuits;
the high-frequency inverter circuit comprises four power MOS switching tubes S1、S2、S3、S4. MOS transistor S1Drain electrode of and MOS tube S3The drain electrode of the MOS tube S is connected with the anode of a low-voltage direct-current power supply1Source electrode and MOS tube S2Is connected with the drain electrode of the MOS transistor S3Source electrode of and MOS tube S4Is connected with the drain electrode of the MOS transistor S2And MOS transistor S4Is connected with the negative pole of the low-voltage direct current power supply.
In the wireless charging circuit, the high-frequency inverter circuit inverts low-voltage direct current to generate high-frequency alternating current, and the high-frequency alternating current passes through the primary side capacitor C comprising series connectionpPrimary side inductance LpThe load super capacitor bank is charged by the primary resonance circuit and the full-bridge rectification circuit and the power matching conversion circuit. Wherein the full-bridge rectifier circuit comprises a first diode VD1A second diode VD2A third diode VD3And a fourth diode VD4The indirect feedback capacitor C between the positive and negative poles of the full-bridge rectification circuitf. The power matching conversion circuit comprises four full-control power switches IGBT tubes Q1、Q2、Q3、Q4Inductance L and capacitance C2. The output voltage passes through a capacitor C2The continuity of the input voltage and current at the two ends of the load super capacitor can be ensured.
In the power conversion circuit of the present invention, the output voltage V isoThe higher the charging rate, the faster the filter capacitor CfThe voltage has an optimum while the current over the inductor L is limited.
And the ultrasonic receiving device arranged on the ground receives the ultrasonic transmitting signal from the AGV trolley, and performs charging and stopping operations on the switch operation of the charging device.
When the load super capacitor bank is charged, the specific method for operating the power matching change circuit is as follows: the designed power matching circuit is a four-switch Buck-Boost power converter circuit, and the control method is a composite control structure of a rectifier output voltage, an inductive current double closed loop and a super capacitor voltage closed loop.
FIG. 4 is a schematic diagram of input voltage control of a power matching converter, the outer loop of which is a rectifier output voltage control loop formed by a measured rectifier output voltage and an input reference voltage VinrefAnd comparing to obtain deviation amount. The deviation is passed through a voltage controller Cvin(s) obtaining an inner loop inductance reference current IrefThrough a current controller Ci(s) obtaining the duty cycle d1(ii) a In order to protect the super capacitor, a super capacitor end controller is adopted, and the super capacitor outputs a reference voltage VorefAnd actually measured super capacitor voltage VoComparing to obtain deviation amount, and passing through voltage controller Cvo(s) obtaining a duty cycle d2(ii) a According to the energy relation, a minimum comparator is adopted to screen duty ratio variables and transmit the duty ratio variables to a four-switch Buck-Boost circuit, and a composite control structure of a rectifier output voltage, an inductive current double closed loop and a super capacitor voltage closed loop is formed.
Wherein G isvod(s) is a transfer function of duty cycle to output voltage; gvoind(s) is the transfer function of the output voltage to the input voltage; hvin(s) is the input voltage sensor transfer function; hi(s) is the current sensor transfer function; hvo(s) is the output voltage sensor transfer function. Input reference voltage VinrefThe voltage of the charging circuit can be ensured to work at the maximum point all the time by artificial determination; reference current IrefThe maximum value is obtained after the current on the inductor is limited, and the constant current charging of the super capacitor under normal conditions is ensured in order to ensure the stable operation of the charging circuit; vorefThe maximum value of the supercapacitor voltage cannot be exceeded.
As shown in fig. 5, when the AGV car travels on a planned trajectory, a transmitting terminal installed on the AGV car always transmits a modulated wave signal, an ultrasonic receiving device is installed on a charging device on one side of a track, and the charging devices are fixed on the ground at certain intervals; when the AGV car drives into the wireless charging section, the ultrasonic receiving device arranged on the charging device receives the signal sent by the ultrasonic sending device, the charging device automatically starts to charge the running AGV car in real time, and after the AGV car drives away from a charging area, the charging device closes the charging, so that the parking charging time of the AGV car is saved. The purpose of improving the running efficiency of the AGV trolley is achieved.
As shown in fig. 6, in the ultrasonic positioning basic principle diagram, in the room, the coordinates of the cart are assumed to be (x, y, z), and the coordinates of the ultrasonic receiving device mounted on the charging device are known to be (x, y, z), respectively0,y0,z0), (x1,y1,z1), (x2,y2,z2), (x3,y3,z3). The time received by the first receiving module is t, and the other receiving modules are respectively at (t + t)1),(t+t2),(t+t3) When the target signal is received (t is the undetectable propagation time, t)iA detectable travel time difference), c is the speed of sound traveling through the air, (c =340m/s), the specific coordinates of the AGV cart can be derived according to the following algorithm.
As shown in fig. 7, the ultrasonic localization principle is that when sensor data is used for modulation of a signal source, the modulated data transmits a signal by a sequence code, the transmitted signal is to be received by a receiving sensor while being able to calculate the time to detect and receive the signal, and inverse diffusion and demodulation and summation are performed by the sequence code and the signal source.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (2)
1. A multi-loop feedback control method applied to an AGV trolley positioning wireless charging device adopts a positioning wireless charging device, and comprises the following steps:
the wireless charging device is used for wirelessly charging the trolley and comprises a main circuit and a control circuit;
the main circuit comprises a transmitting end main circuit and a receiving end main circuit;
the receiving end main circuit comprises a secondary resonance circuit, a full-bridge rectification circuit and a power matching conversion circuit;
the transmitting end main circuit comprises a low-voltage direct-current power supply, a high-frequency inverter circuit and a primary resonance circuit which are sequentially connected;
the output end of the power matching conversion circuit is connected with a storage battery pack of the trolley, a transmitting coil in the primary resonance circuit is arranged below a specified driving route of the trolley, and other circuits in a main circuit of a receiving end are arranged in the trolley;
the high-frequency inverter circuit comprises four power MOS switching tubes S1、S2、S3、S4The transmitting terminal digital signal processor controls the four power MOS switching tubes S through the transmitting terminal PWM driving circuit1、S2、S3、S4The power matching conversion circuit comprises four full-control power switches IGBT tubes Q1、Q2、Q3、Q4Inductance L and capacitance C2The receiving end digital signal processor controls the four full-control power switch IGBT tubes Q through the PWM driving circuit1、Q2、Q3、Q4Switch action, indirect filter capacitor C between positive and negative poles of the full-bridge rectification circuitf；
The control circuit is used for controlling the main circuit to perform charging work; the control circuit comprises a transmitting end control circuit and a receiving end control circuit, the transmitting end control circuit comprises a transmitting end PWM (pulse-width modulation) drive circuit and a transmitting end current sampling circuit which are connected to a transmitting end digital signal processor, and the transmitting end current sampling circuit is connected to the primary side resonance circuit; the receiving end control circuit comprises a receiving end PWM driving circuit, a receiving end voltage sampling circuit and a receiving end current sampling circuit which are connected to the receiving end digital signal processor;
ultrasonic positioning device for realize the location to the AGV dolly, ultrasonic positioning device is including setting up the transmitting module in the dolly and setting up the receiving module on wireless charging device, its characterized in that includes following steps:
1) input voltage V of acquisition power matching conversion circuitinIs compared with an input reference voltage VinrefComparing to obtain deviation amount, and passing the deviation amount through a voltage controller Cvin(s) obtaining an inner loop inductance reference current IrefThrough a current controller Ci(s) obtaining the duty cycle d1(ii) a Current controller Ci(s) an input current I to be passed through the inductor LLAnd inner loop inductance reference current IrefConversion of deviation amount to duty ratio d of power matching conversion circuit1；
2) The super capacitor is output with reference voltage V by adopting a super capacitor end controllerorefAnd actually measured super capacitor voltage VoComparing to obtain deviation amount, and passing the deviation amount through a voltage controller Cvo(s) obtaining the duty cycle d2；
3) Comparing duty ratio d using minimum comparator MIN1And duty cycle d2And controlling four full-control power switches IGBT (insulated gate bipolar transistor) Q by taking a smaller duty ratio as a control duty ratio of the power matching conversion circuit1、Q2、Q3、Q4And the control of a rectifier output voltage, an inductive current double closed loop and a super capacitor voltage closed loop is formed by switching action.
2. The utility model provides a be applied to AGV dolly wireless charging device's in location multiple ring feedback control structure, the wireless charging device in location of adoption includes:
the wireless charging device is used for wirelessly charging the trolley and comprises a main circuit and a control circuit;
the main circuit comprises a transmitting end main circuit and a receiving end main circuit;
the receiving end main circuit comprises a secondary resonance circuit, a full-bridge rectification circuit and a power matching conversion circuit;
the transmitting end main circuit comprises a low-voltage direct-current power supply, a high-frequency inverter circuit and a primary resonance circuit which are sequentially connected;
the output end of the power matching conversion circuit is connected with a storage battery pack of the trolley, a transmitting coil in the primary resonance circuit is arranged below a specified driving route of the trolley, and other circuits in a main circuit of a receiving end are arranged in the trolley;
the high-frequency inverter circuit comprises four power MOS switching tubes S1、S2、S3、S4The transmitting terminal digital signal processor controls the four power MOS switching tubes S through the transmitting terminal PWM driving circuit1、S2、S3、S4The power matching conversion circuit comprises four full-control power switches IGBT tubes Q1、Q2、Q3、Q4Inductance L and capacitance C2The receiving end digital signal processor controls the four full-control power switch IGBT tubes Q through the PWM driving circuit1、Q2、Q3、Q4Switch action, indirect filter capacitor C between positive and negative poles of the full-bridge rectification circuitf；
The control circuit is used for controlling the main circuit to perform charging work; the control circuit comprises a transmitting end control circuit and a receiving end control circuit, the transmitting end control circuit comprises a transmitting end PWM (pulse-width modulation) drive circuit and a transmitting end current sampling circuit which are connected to a transmitting end digital signal processor, and the transmitting end current sampling circuit is connected to the primary side resonance circuit; the receiving end control circuit comprises a receiving end PWM driving circuit, a receiving end voltage sampling circuit and a receiving end current sampling circuit which are connected to the receiving end digital signal processor;
ultrasonic positioning device for the realization is to the location of AGV dolly, ultrasonic positioning device is including setting up the transmitting module in the dolly and setting up the receiving module on wireless charging device, its characterized in that includes:
voltage controller Cvin(s) matching the power to the input voltage V of the conversion circuitinAnd an input reference voltage VinrefIs converted into an inner loop reference current Iref；
Current controller Ci(s) for passing the input current I through the inductor LLAnd inner loop inductance reference current IrefConversion of deviation amount into duty ratio d of power matching conversion circuit1；
Gid(s) is the duty cycle d1Transfer function to inductor L current, Hi(s) is the current sensor transfer function;
voltage controller Cvo(s) for converting the deviation amount of the output voltage into the duty ratio d of the power matching conversion circuit2The output voltage deviation amount refers to the output voltage sensor transfer function Hvo(s) output of an output voltage VoAnd the super capacitor outputs a reference voltage VorefThe deviation value of (a);
Hvo(s) is the output voltage sensor transfer function, the output voltage VoAnd outputs a reference voltage V with the super capacitororefComparing;
MIN as minimum comparator for comparing duty ratio d1And duty cycle d2Size of (1), Gvod(s) is the duty cycle d versus the output voltage VoThe duty cycle d refers to the comparison of the duty cycle d with a minimum comparator MIN1And duty cycle d2A smaller duty cycle is obtained;
Gvoind(s) is the output voltage VoFor input voltage VinTransfer function of Hvin(s) is the input voltage VinA sensor transfer function;
wherein a reference voltage V is inputinrefThe voltage of the charging circuit can be ensured to work at the maximum point all the time by artificial determination; reference current I of inner loop inductorrefThe maximum value is obtained after the current on the inductor is limited, and the constant current charging of the super capacitor under normal conditions is ensured in order to ensure the stable operation of the charging circuit; vorefThe maximum value of the supercapacitor voltage cannot be exceeded.
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