CN113844298A - AGV battery system and charge-discharge signal anti-shake method thereof - Google Patents
AGV battery system and charge-discharge signal anti-shake method thereof Download PDFInfo
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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
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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
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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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
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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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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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
- 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
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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
- 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
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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
- Y02T90/12—Electric charging stations
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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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- 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention belongs to the field of AGV batteries, and particularly relates to an AGV battery system and a charge-discharge signal anti-shake method thereof. The invention has 2 charging modes, manual charging can be independently carried out, and the charging can still be carried out when debugging or faults occur. The invention has a discharging hardware signal anti-shaking strategy and a charging hardware signal anti-shaking strategy, and increases the running stability of the system.
Description
Technical Field
The invention belongs to the field of AGV batteries, and particularly relates to an AGV battery system and a charge-discharge signal anti-shake method thereof.
Background
In the field of AGVs, lithium batteries are becoming increasingly popular due to their superior performance.
The prior art has the following problems:
1. the AGV trolley is basically unmanned during operation, charging and the like are automatically carried out, and a manual charging mode is lacked;
2. hardware switch and hardware communication signal are easy to break down, cause the shake of charge-discharge relay, and then cause the battery system to operate unstably, have the impact to external device, even cause the incident.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides an AGV battery system and a technical scheme of a charge-discharge signal anti-shake method thereof.
The invention provides an AGV battery system which comprises a lithium battery module used for supplying power, a lithium battery external output control module used for controlling the external output of electric energy, a lithium battery automatic charging control module used for controlling the automatic charging, a lithium battery manual charging control module used for controlling the manual charging, a lithium battery power supply management module used for managing the battery system and a lithium battery communication debugging interface module used for realizing the communication debugging, wherein the lithium battery module is respectively and electrically connected with the lithium battery external output control module, the lithium battery automatic charging control module, the lithium battery manual charging control module and the lithium battery power supply management module, and the lithium battery power supply management module is respectively and electrically connected with the lithium battery external output control module, the lithium battery automatic charging control module, the lithium battery manual charging control module and the lithium battery communication debugging interface module.
Further, the lithium battery external output control module comprises a pre-charging circuit, a discharging relay K3, a starting switch K6 and a discharging interface, wherein the pre-charging circuit and the discharging relay K3 form a parallel circuit, the parallel circuit is respectively electrically connected with the discharging interface and the lithium battery module, and the discharging interface is electrically connected with the lithium battery power supply management module.
Further, the pre-charging circuit comprises a pre-charging relay K1 and a pre-charging circuit R1.
Further, lithium cell manual control module that charges includes manual charging relay K4 and the manual interface group that charges, manual charging relay K4 respectively with lithium cell module and the manual interface group electricity that charges be connected, the manual interface group that charges is connected with lithium cell power management module electricity.
Further, the manual interface group that charges includes manual CAN2H interface, the manual CAN2L interface that charges, the manual A + interface that charges, the manual A-interface that charges and the manual interface that charges, wherein, the manual CAN2H interface that charges, the manual CAN2L interface that charges, the manual A + interface that charges, the manual A-interface that charges all are connected with lithium battery power management module electricity, the manual interface that charges is connected with manual charge relay K4 and lithium battery power management module electricity respectively.
Further, the automatic lithium battery charging control module comprises an automatic charging relay K5 and an automatic charging interface group, the automatic charging relay K5 is respectively electrically connected with the lithium battery module and the automatic charging interface group, and the automatic charging interface group is electrically connected with the lithium battery power supply management module.
Further, the automatic charging interface group comprises an automatic charging CAN2H interface, an automatic charging CAH2L interface and an automatic charging interface, wherein the CAN2H interface and the automatic charging CAH2L interface are electrically connected with the lithium battery power supply management module, and the automatic charging interface is respectively connected with the automatic charging relay K5 and the lithium battery power supply management module.
Furthermore, the lithium battery communication debugging interface module comprises a 485A debugging interface, a 485B debugging interface, a debugging CANH interface, a debugging CANL interface, a charging debugging CANH interface and a charging debugging CANL interface which are all electrically connected with the lithium battery power supply management module.
The invention also provides a charge-discharge signal anti-shake method, which comprises the following steps:
discharging hardware signal anti-jitter strategy: closing a switch KEY ON of the lithium battery power supply management module; judging the time from the last descending edge of the KEY ON to the current ascending edge of the KEY ON; if the time from the last falling edge to the current rising edge is more than 2 seconds, normally performing pre-charging and then electrifying; if the time from the last falling edge to the current rising edge is less than 2 seconds, no power-on response is made; when the discharge relay K3 is turned off again and is electrified again 2 seconds after the falling edge occurs, carrying out electrification response;
charging hardware signal anti-shake strategy: in the key-on automatic charging process, if the charging message signal is detected to disappear for 3S, the charging is considered to be finished, the charging finishing process is entered, the charging current is requested to be 0, the automatic charging relay K5 is cut off after the current is reduced to 0 within 200 milliseconds, and the automatic charging relay K5 is prevented from being cut off with load; if the time interval between the last charging message and the next charging message is less than 10 seconds, no charging response is made to the next charging message; and if the time interval between the last charging message and the next charging message is more than or equal to 10 seconds, making a charging response to the next charging message.
Further, in the execution process of the discharging hardware signal anti-shake strategy, if the discharging hardware signal anti-shake strategy is inserted into an automatic charging port for charging, the discharging hardware signal anti-shake strategy can respond; in the execution process of the charging hardware signal anti-shake strategy, if the charging state is a charging state without opening a key signal, the charging is responded as long as the key is opened in the process of not responding to the charging.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention has 2 charging modes, and manual charging can be carried out independently, thus ensuring that the charging can still be carried out when debugging or failure occurs and the like;
2) the A + is used as the distinction of two charging modes, so that the charging intelligence of the system is improved;
3) the system has a discharging hardware signal anti-shaking strategy and a charging hardware signal anti-shaking strategy, so that the running stability of the system is improved;
4) the invention can still discharge after no response in the anti-shaking charging process, thereby ensuring smooth discharge;
5) the invention can still charge after no response in the anti-jitter discharge process, thereby ensuring smooth charging.
Drawings
FIG. 1 is a schematic diagram of an AGV battery system according to the present invention;
FIG. 2 is a schematic circuit diagram of an AGV battery system of the present invention;
FIG. 3 is an enlarged view at T of FIG. 2;
fig. 4 is a schematic structural diagram of a lithium battery power management module according to the present invention.
Detailed Description
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
The invention will be further explained with reference to the drawings.
Referring to fig. 1-4, an AGV battery system includes a lithium battery module 1 for supplying power, a lithium battery external output control module 3 for controlling the external output of electric energy, an automatic lithium battery charging control module 4 for controlling the automatic charging, a manual lithium battery charging control module 5 for controlling the manual charging, a lithium battery power management module 2 for managing the battery system, and a lithium battery communication debugging interface module 6 for implementing communication debugging, wherein the lithium battery module 1 is electrically connected to the lithium battery external output control module 3, the automatic lithium battery charging control module 4, the manual lithium battery charging control module 5, and the lithium battery power management module 2, the lithium battery power management module 2 is respectively electrically connected with the lithium battery external output control module 3, the lithium battery automatic charging control module 4, the lithium battery manual charging control module 5 and the lithium battery communication debugging interface module 6.
With continued reference to fig. 2 and fig. 3, the lithium battery external output control module 3 includes a pre-charge circuit, a discharge relay K3, a start switch K6, and a discharge interface, where the pre-charge circuit and the discharge relay K3 form a parallel circuit, the parallel circuit is respectively electrically connected to the discharge interface and the lithium battery module 1, and the discharge interface is electrically connected to the lithium battery power management module 2. Wherein the pre-charging circuit comprises a pre-charging relay K1 and a pre-charging circuit R1 which are connected in series.
With continued reference to fig. 2 and fig. 3, the lithium battery manual charging control module 5 includes a manual charging relay K4 and a manual charging interface set, the manual charging relay K4 is electrically connected to the lithium battery module 1 and the manual charging interface set respectively, and the manual charging interface set is electrically connected to the lithium battery power management module 2. The manual charging interface group comprises a manual charging CAN2H interface, a manual charging CAN2L interface, a manual charging A + interface, a manual charging A-interface and a manual charging interface, wherein the manual charging CAN2H interface, the manual charging CAN2L interface, the manual charging A + interface and the manual charging A-interface are all electrically connected with the lithium battery power supply management module 2, and the manual charging interface is respectively electrically connected with the manual charging relay K4 and the lithium battery power supply management module 2.
Continuing to refer to fig. 2 and fig. 3, the automatic lithium battery charging control module includes an automatic charging relay K5 and an automatic charging interface set, the automatic charging relay K5 is electrically connected with the lithium battery module 1 and the automatic charging interface set respectively, and the automatic charging interface set is electrically connected with the lithium battery power management module 2. The automatic charging interface group comprises an automatic charging CAN2H interface, an automatic charging CAH2L interface and an automatic charging interface, the CAN2H interface and the automatic charging CAH2L interface are electrically connected with the lithium battery power supply management module 2, and the automatic charging interface is respectively connected with the automatic charging relay K5 and the lithium battery power supply management module 2.
Continuing to refer to fig. 2 and fig. 3, the lithium battery communication debugging interface module 6 includes a 485A debugging interface, a 485B debugging interface, a debugging CANH interface, a debugging CANL interface, a charging debugging CANH interface, and a charging debugging CANL interface, which are all electrically connected to the lithium battery power management module 2.
The battery system of the present invention is further provided with a shunt FG1 and a fuse F1, both of which are well known in the art and will not be described in detail.
Continuing to refer to fig. 4, the lithium battery power management module 2 is a known technology in the art, also referred to as a BMS system, and has a switch KEY ON, a BMS power supply interface, a current divider 1 detection interface, a 485A interface, a 485B interface, a BMS debug CANH interface, a BMS debug CANL interface, a BMS charging CAN2H interface, a BMS charging CAN2L interface, an a-interface, an a + interface, a module voltage temperature acquisition interface, and the like. Wherein, the switch KEY ON is electrically connected with the start switch K6. The BMS power supply interface is respectively and electrically connected with the lithium battery module 1, the discharging interface, the manual charging interface and the automatic charging interface. The detection interface of the shunt 1 is electrically connected with the shunt FG1, and the 485A interface and the 485B interface are respectively electrically connected with the 485A debugging interface and the 485B debugging interface. BMS debugging CANH interface, BMS debugging CANL interface are connected with debugging CANH interface, debugging CANL interface electricity respectively. The BMS charging CAN2H interface is electrically connected with the charging commissioning CANH interface, the manual charging CAN2H interface and the automatic charging CAN2H interface, respectively. The BMS charging CAN2L interface is electrically connected with the charging commissioning CANL interface, the manual charging CAN2L interface and the automatic charging CAN2L interface, respectively. The A-interface and the A + interface are respectively and electrically connected with the manual charging A + interface and the manual charging A-interface. The module voltage and temperature acquisition interface is electrically connected with a heating film on the lithium battery module 1.
In the structure, the discharging relay K3 is used for controlling the on and off of the external output of the battery system, the charging relay K6 is used for controlling the starting and the closing of the charging, the pre-charging branch circuit correspondingly protects the discharging relay K3, the automatic charging relay K4 is used for controlling the input of the automatic charging pair, and the manual charging relay K5 is used for controlling the input of the automatic manual charging pair. The manual charging A + interface and the manual charging A-interface are used for distinguishing manual charging messages from automatic charging messages.
The charging and discharging processes of the battery system are as follows:
discharge circuit power supply mode: after the automatic charging relay K5 is closed, the BMS power supply interface and the KEY ON are conducted, the lithium battery power supply management module 2 senses the input of the KEY, the pre-charging relay K1 is closed to perform pre-charging, the pre-charging time is 500ms, and after the pre-charging is completed, the discharging relay K3 is closed to complete the whole power-ON process.
Manual charging: in the key-on state, only the charging message of the charging CAN is detected, the only signal of automatic charging is considered to be detected, the automatic charging relay K5 is closed after 1S, automatic charging is carried out, and the charging current is the final output current according to the current value requested by the lithium battery power supply management module 2 and the minimum output current of the charger. During the automatic charging process, the discharge relay K3 must be kept stationary, since the maintenance of the charging message needs to be forwarded by the entire vehicle.
Automatic charging: under the key-on state, an A + signal is detected, and a message of a charging CAN is detected, then an automatic charging signal is considered to be detected, after 1S, a manual charging relay K4 is closed, manual interactive charging is carried out, if the key-on state does not exist, because A + CAN activate the lithium battery power supply management module 2, and the lithium battery power supply management modules 2 detect the charging message under the state, the manual charging process is also considered to enter, and once a discharging fault occurs, charging and power supplementing CAN be carried out without opening a switch.
A charge-discharge signal anti-shake method adopting the battery system comprises the following steps:
discharging hardware signal anti-jitter strategy: in order to prevent the discharging electrification signal from shaking, after the switch KEY ON of the lithium battery power supply management module 2 is closed, the time of the last time of the falling edge of the KEY ON to the rising edge of the KEY ON is firstly judged; if the time from the last falling edge to the current rising edge is more than 2 seconds, normally performing pre-charging and then electrifying; if the time from the last falling edge to the current rising edge is less than 2 seconds, no power-on response is made, and no response is made even if the interval time reaches 2 seconds; in this state, if a charging response is to be obtained, the discharging relay K3 needs to be turned off again, and power is turned on again 2 seconds after the falling edge occurs, so that power-on response is performed, short hardware power failure in the operation process can be prevented, frequent shaking of the main positive relay is avoided, and the charging process can be maintained.
Charging hardware signal anti-shake strategy: in the key-on automatic charging process, if the charging message signal is detected to disappear for 3S, the charging is considered to be finished, the charging finishing process is entered, the charging current is requested to be 0, the automatic charging relay K5 is cut off after the current is reduced to 0 within 200 milliseconds, and the automatic charging relay K5 is prevented from being cut off with load; however, if the charging message is detected within 10 seconds after the end, in order to prevent the jitter of the communication line, the charging is not responded within 10 seconds, the state that the charging message cannot be detected lasts for 10 seconds or more, and the charging message is detected again to respond to the charging; that is, if a charging message is detected again and the time interval between the previous charging message and the next charging message is less than 10 seconds, no charging response is made to the next charging message; and if the time interval between the last charging message and the next charging message is more than or equal to 10 seconds, making a charging response to the next charging message.
Further, during the execution of the discharging hardware signal anti-shake strategy, the discharging hardware signal anti-shake strategy can respond if the discharging hardware signal anti-shake strategy is inserted into an automatic charging port for charging.
Further, in the execution process of the charging hardware signal anti-shake strategy, if the charging state is a charging state in which a key is not turned on, the charging is responded as long as the key is turned on in the process of not responding to the charging, so that the charging fluency is ensured.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An AGV battery system is characterized by comprising a lithium battery module for supplying power, a lithium battery external output control module for controlling the external output of electric energy, a lithium battery automatic charging control module for controlling automatic charging, a lithium battery manual charging control module for controlling manual charging, a lithium battery power supply management module for managing the battery system and a lithium battery communication debugging interface module for realizing communication debugging, wherein the lithium battery module is respectively and electrically connected with the lithium battery external output control module, the lithium battery automatic charging control module, the lithium battery manual charging control module and the lithium battery power supply management module, the lithium battery power management module is respectively electrically connected with the lithium battery external output control module, the lithium battery automatic charging control module, the lithium battery manual charging control module and the lithium battery communication debugging interface module.
2. The AGV battery system of claim 1, wherein the lithium battery external output control module comprises a pre-charging circuit, a discharging relay K3, a starting switch K6 and a discharging interface, the pre-charging circuit and the discharging relay K3 form a parallel circuit, the parallel circuit is electrically connected to the discharging interface and the lithium battery module, and the discharging interface is electrically connected to the lithium battery power management module.
3. The AGV battery system of claim 2, wherein said pre-charge circuit includes a pre-charge relay K1 and a pre-charge circuit R1.
4. The AGV battery system of claim 1, wherein the lithium battery manual charging control module comprises a manual charging relay K4 and a manual charging interface set, the manual charging relay K4 is electrically connected with the lithium battery module and the manual charging interface set, and the manual charging interface set is electrically connected with the lithium battery power management module.
5. The AGV battery system of claim 4, wherein the manual charging interface set comprises a manual charging CAN2H interface, a manual charging CAN2L interface, a manual charging A + interface, a manual charging A-interface and a manual charging interface, wherein the manual charging CAN2H interface, the manual charging CAN2L interface, the manual charging A + interface and the manual charging A-interface are electrically connected to the lithium battery power management module, and the manual charging interface is electrically connected to the manual charging relay K4 and the lithium battery power management module, respectively.
6. The AGV battery system of claim 1, wherein the automatic lithium battery charging control module comprises an automatic charging relay K5 and an automatic charging interface set, the automatic charging relay K5 is electrically connected with the lithium battery module and the automatic charging interface set, and the automatic charging interface set is electrically connected with the lithium battery power management module.
7. The AGV battery system of claim 6, wherein the set of automatic charging interfaces includes an automatic charging CAN2H interface, an automatic charging CAH2L interface and an automatic charging interface, wherein the CAN2H interface and the automatic charging CAH2L interface are electrically connected to the lithium battery power management module, and the automatic charging interface is respectively connected to the automatic charging relay K5 and the lithium battery power management module.
8. The AGV battery system of claim 1, wherein the lithium battery communication debugging interface module comprises a 485A debugging interface, a 485B debugging interface, a debugging CANH interface, a debugging CANL interface, a charging debugging CANH interface and a charging debugging CANL interface, all of which are electrically connected to the lithium battery power management module.
9. A charge and discharge signal anti-shake method is characterized by comprising the following steps:
discharging hardware signal anti-jitter strategy: closing a switch KEY ON of the lithium battery power supply management module; judging the time from the last descending edge of the KEY ON to the current ascending edge of the KEY ON; if the time from the last falling edge to the current rising edge is more than 2 seconds, normally performing pre-charging and then electrifying; if the time from the last falling edge to the current rising edge is less than 2 seconds, no power-on response is made; when the discharge relay K3 is turned off again and is electrified again 2 seconds after the falling edge occurs, carrying out electrification response;
charging hardware signal anti-shake strategy: in the key-on automatic charging process, if the charging message signal is detected to disappear for 3S, the charging is considered to be finished, the charging finishing process is entered, the charging current is requested to be 0, the automatic charging relay K5 is cut off after the current is reduced to 0 within 200 milliseconds, and the automatic charging relay K5 is prevented from being cut off with load; if the time interval between the last charging message and the next charging message is less than 10 seconds, no charging response is made to the next charging message; and if the time interval between the last charging message and the next charging message is more than or equal to 10 seconds, making a charging response to the next charging message.
10. The method according to claim 9, wherein the discharging hardware signal anti-shake strategy is executed in response to charging by inserting an automatic charging port; in the execution process of the charging hardware signal anti-shake strategy, if the charging state is a charging state without opening a key signal, the charging is responded as long as the key is opened in the process of not responding to the charging.
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Citations (7)
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