CN113844298B - 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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- CN113844298B CN113844298B CN202111163924.XA CN202111163924A CN113844298B CN 113844298 B CN113844298 B CN 113844298B CN 202111163924 A CN202111163924 A CN 202111163924A CN 113844298 B CN113844298 B CN 113844298B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000007599 discharging Methods 0.000 claims abstract description 38
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 105
- 229910052744 lithium Inorganic materials 0.000 claims description 105
- 238000004891 communication Methods 0.000 claims description 14
- 230000000630 rising effect Effects 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
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- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
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 the discharging hardware signal anti-shake strategy and the charging hardware signal anti-shake 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 AGV field, lithium batteries are becoming more and more favored for their excellent performance.
The prior art has the following problems:
1. the AGV is basically unmanned in operation, and comprises automatic charging and the like, and lacks a manual charging mode;
2. the hardware switch and the hardware communication signal are easy to fail, so that the shaking of the charge-discharge relay is caused, the battery system is unstable to operate, impact is generated on external devices, and even safety accidents are caused.
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 for supplying power, a lithium battery external output control module for controlling 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 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 management module, and the lithium battery power 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 external output control module of the lithium battery 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 management module.
Further, the precharge circuit includes a precharge relay K1 and a precharge circuit R1.
Further, the manual lithium battery charging control module comprises a manual charging relay K4 and a manual charging interface group, wherein the manual charging relay K4 is respectively electrically connected with the lithium battery module and the manual charging interface group, and the manual charging interface group is electrically connected with the lithium battery power management module.
Further, 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 management module, and the manual charging interface is electrically connected with the manual charging relay K4 and the lithium battery power management module respectively.
Further, the lithium battery automatic 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 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 management module, and the automatic charging interface is respectively connected with the automatic charging relay K5 and the lithium battery power management module.
Further, 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 management module.
The invention also provides a charge and discharge signal anti-shake method, which comprises the following steps:
Discharge hardware signal anti-shake strategy: closing a switch KEY ON of the lithium battery power management module; judging the time from the last KEYON falling edge to the rising edge of the KEY ON; if the time from the last falling edge to the rising edge is longer than 2 seconds, the pre-charging is normally carried out and then the power is supplied; if the time from the last falling edge to the rising edge is less than 2 seconds, the power-on response is not performed; when the discharging relay K3 is closed again and is powered on again after the falling edge occurs for 2 seconds, the power-on response is carried out;
Charging hardware signal anti-shake strategy: in the automatic charging process of the key, if the charging message signal is detected to disappear for 3S, the charging is considered to be ended, a charging ending flow is entered, the automatic charging relay K5 is cut off after the current is reduced to 0 within 0.200 milliseconds when the charging current is requested, and the automatic charging relay K5 is prevented from being cut off under load; if the time interval between the last charge message and the next charge message is less than 10 seconds, the next charge message is not subjected to charge response; and if the time interval between the last charging message and the next charging message is more than or equal to 10 seconds, responding 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 executing process of the anti-shake strategy of the charging hardware signal, if the charging hardware signal is in a charging state without key-on signal, the charging hardware signal is in response to the charging only if the key is on in the charging process without response 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 independently carried out, so that the charging can still be carried out when debugging or faults occur;
2) Taking A+ as the distinction of two charging modes, the intelligent charging of the system is improved;
3) The invention has the discharging hardware signal anti-shake strategy and the charging hardware signal anti-shake strategy, thereby improving the running stability of the system;
4) The invention can discharge after not responding in the anti-shake charging process, thereby ensuring smooth discharge;
5) The invention can still charge after not responding in the anti-shake discharging process, and ensures 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 according to the present invention;
FIG. 3 is an enlarged view of FIG. 2 at T;
fig. 4 is a schematic structural diagram of a power management module for a lithium battery according to the present invention.
Detailed Description
In the description of the present invention, it should be understood that the terms "one end," "the other end," "the outer side," "the upper," "the inner side," "the horizontal," "coaxial," "the center," "the end," "the length," "the outer end," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
The invention is further described below with reference to the accompanying 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 external output of electric energy, a lithium battery automatic charging control module 4 for controlling automatic charging, a lithium battery manual charging control module 5 for controlling 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, where the lithium battery module 1 is 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 power management module 2, and the lithium battery power management module 2 is 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 3, the lithium battery external output control module 3 includes a pre-charging circuit, a discharging relay K3, a start switch K6 and a discharging interface, where the pre-charging circuit and the discharging relay K3 form a parallel circuit, the parallel circuit is electrically connected with the discharging interface and the lithium battery module 1, and the discharging interface is electrically connected with the lithium battery power management module 2. 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 3, the manual charging control module 5 for lithium battery includes a manual charging relay K4 and a manual charging interface group, where the manual charging relay K4 is electrically connected with the lithium battery module 1 and the manual charging interface group, and the manual charging interface group is electrically connected with 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 management module 2, and the manual charging interface is electrically connected with the manual charging relay K4 and the lithium battery power management module 2 respectively.
With continued reference to fig. 2 and 3, the lithium battery automatic charging control module includes an automatic charging relay K5 and an automatic charging interface group, where the automatic charging relay K5 is electrically connected with the lithium battery module 1 and the automatic charging interface group, and the automatic charging interface group 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, wherein the CAN2H interface and the automatic charging CAH2L interface are electrically connected with the lithium battery power management module 2, and the automatic charging interface is respectively connected with the automatic charging relay K5 and the lithium battery power management module 2.
With continued reference to fig. 2 and 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 with the lithium battery power management module 2.
The battery system of the present invention is further equipped with a shunt FG1 and a fuse F1, both of which are known in the art and will not be described in detail.
With continued reference to fig. 4, the lithium battery power management module 2 is a well-known technology in the art, and is also referred to as a BMS system, and has a switch KEY ON, a BMS power supply interface, a shunt 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, switch KEY ON is electrically connected with 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 debugging 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 debugging 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 temperature acquisition interface is electrically connected with a heating film on the lithium battery module 1.
In the above structure, the discharging relay K3 is used to control the on and off of the battery system to the external output, the charging relay is used to control the start and off of the charging, the pre-charging branch is used to perform corresponding protection on the discharging relay K3, the automatic charging relay K5 is used to control the input in the automatic charging pair, and the manual charging relay K4 is used to control the input in the automatic manual charging pair. The manual charging A+ interface and the manual charging A-interface are used for distinguishing manual charging and automatic charging messages.
The charging and discharging processes of the battery system are as follows:
the power supply mode of the discharging loop is as follows: after the automatic charging relay K5 is closed, the BMS power supply interface and the KEY ON are conducted, the lithium battery power management module 2 senses the input of a KEY, then the pre-charging relay K1 is closed for pre-charging, the pre-charging time is 500ms, and after the pre-charging is completed, the discharging relay K3 is closed, so that the whole power-ON process is completed.
Automatic charging: in the key-on state, only the charging message of the charging CAN is detected, the unique signal of automatic charging is considered to be detected, the automatic charging relay K5 is closed after the operation lasts for 1S, the 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. In the automatic charging process, the discharging relay K3 must be kept stationary, because the maintenance of the charging message needs to rely on the whole vehicle to forward.
And (3) manual charging: in the key-on state, an A+ signal and a message of a charging CAN are detected, an automatic charging signal is detected, a manual charging relay K4 is closed after the automatic charging signal lasts for 1S, and manual interactive charging is performed, if the key-on state is not available, the A+ CAN activate the lithium battery power management module 2, and a plurality of lithium battery power management modules 2 detect the charging message in the state, the manual charging process is also considered to be entered, and once a discharging fault occurs, the charging and electricity supplementing CAN be performed without opening a switch.
A charge and discharge signal anti-shake method adopting the battery system comprises the following steps:
discharge hardware signal anti-shake strategy: in order to prevent the jitter of the discharge power-up signal, after the switch KEY ON of the lithium battery power management module 2 is closed, firstly judging the time from the falling edge of the last KEY ON to the rising edge of the KEY ON; if the time from the last falling edge to the rising edge is longer than 2 seconds, the pre-charging is normally carried out and then the power is supplied; if the time from the last falling edge to the rising edge is less than 2 seconds, the power-on response is not performed, and even if the interval time reaches 2 seconds, the power-on response is still not performed; in this state, if the charging response is to be obtained, the discharging relay K3 needs to be turned off again, and is powered on again after the falling edge occurs for 2 seconds, so that the power-on response is performed, and thus, the short hardware power failure in the operation process can be prevented, further, the frequent shake of the total positive relay is avoided, and the charging flow can be maintained.
Charging hardware signal anti-shake strategy: in the automatic charging process of the key, if the charging message signal is detected to disappear for 3S, the charging is considered to be ended, a charging ending flow is entered, the automatic charging relay K5 is cut off after the current is reduced to 0 within 0.200 milliseconds when the charging current is requested, and the automatic charging relay K5 is prevented from being cut off under 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 charging is not responded after the charging is achieved for 10 seconds, the state that the charging message is not detected lasts for 10 seconds or more, and the charging message is detected to respond to the charging; that is, if the 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, responding 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.
Further, in the executing process of the anti-shake strategy of the charging hardware signal, if the charging hardware signal is in a charging state without turning on a key signal, in the process of not responding to charging, the charging is responded only by turning on the key, so that the charging smoothness is ensured.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (1)
1. The charge and discharge signal anti-shake method is characterized by comprising the following steps of:
Discharge hardware signal anti-shake strategy: closing a switch KEY ON of the lithium battery power management module; judging the time from the falling edge of the last KEY ON to the rising edge of the last KEY ON; if the time from the last falling edge to the rising edge is longer than 2 seconds, the pre-charging is normally carried out and then the power is supplied; if the time from the last falling edge to the rising edge is less than 2 seconds, the power-on response is not performed; when the discharging relay K3 is closed again and is powered on again after the falling edge occurs for 2 seconds, the power-on response is carried out;
charging hardware signal anti-shake strategy: in the automatic charging process of the key, if the charging message signal is detected to disappear for 3S, the charging is considered to be ended, a charging ending flow is entered, the automatic charging relay K5 is cut off after the current is reduced to 0 within 0.200 milliseconds when the charging current is requested, and the automatic charging relay K5 is prevented from being cut off under load;
If the time interval between the last charge message and the next charge message is less than 10 seconds, the next charge message is not subjected to charge response;
If the time interval between the last charge message and the next charge message is more than or equal to 10 seconds, the next charge message is responded in a charging way;
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 anti-shake strategy of the charging hardware signal, if the charging hardware signal is in a charging state without key-on signal, in the process of not responding to charging, the charging is responded only by key-on;
The charge-discharge signal anti-shake method is realized through an AGV battery system, the AGV battery system comprises a lithium battery module for supplying power, a lithium battery external output control module for controlling 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 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 management module, and the lithium battery power 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;
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 and 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; the pre-charging circuit comprises a pre-charging relay K1 and a pre-charging circuit R1;
the manual charging control module of the lithium battery comprises a manual charging relay K4 and a manual charging interface group, wherein the manual charging relay K4 is respectively and electrically connected with the lithium battery module and the manual charging interface group, and the manual charging interface group is electrically connected with the lithium battery power supply management module; 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 electrically connected with the lithium battery power management module, and the manual charging interface is electrically connected with the manual charging relay K4 and the lithium battery power management module respectively;
The lithium battery automatic charging control module comprises an automatic charging relay K5 and an automatic charging interface group, wherein the automatic charging relay K5 is respectively and 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; 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 management module, and the automatic charging interface is respectively connected with the automatic charging relay K5 and the lithium battery power management module;
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 management module.
Priority Applications (1)
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