CN113991801A - Charging and discharging control system and method for high-voltage lead-acid power battery pack for AGV - Google Patents
Charging and discharging control system and method for high-voltage lead-acid power battery pack for AGV Download PDFInfo
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- CN113991801A CN113991801A CN202111373734.0A CN202111373734A CN113991801A CN 113991801 A CN113991801 A CN 113991801A CN 202111373734 A CN202111373734 A CN 202111373734A CN 113991801 A CN113991801 A CN 113991801A
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- 239000002253 acid Substances 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000007599 discharging Methods 0.000 title claims description 34
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 238000009413 insulation Methods 0.000 claims description 15
- 238000012423 maintenance Methods 0.000 claims description 15
- 230000003993 interaction Effects 0.000 claims description 7
- 238000012790 confirmation Methods 0.000 claims description 6
- 230000010354 integration Effects 0.000 abstract description 2
- 238000010438 heat treatment Methods 0.000 description 2
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
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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
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/14—Preventing excessive discharging
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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
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/15—Preventing overcharging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/08—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/18—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for batteries; for accumulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/00714—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Secondary Cells (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a charge-discharge control system and method of a high-voltage lead-acid power battery pack for an AGV (automatic guided vehicle), wherein the system comprises a low-voltage storage battery, a power switch, an ignition switch, a whole vehicle controller, a resistor, a high-voltage lead-acid power battery box, an all-in-one controller and a direct-current charging seat; the invention realizes the integration of the total voltage detection, the charge-discharge relay control and adhesion detection, the charge-discharge current detection, the charge-discharge beam temperature detection and the charge-discharge control of the high-voltage lead-acid power battery pack for the AGV, ensures the charge-discharge safety of the high-voltage lead-acid power battery pack and improves the driving safety of the AGV.
Description
Technical Field
The invention relates to a high-voltage power battery pack for an AGV, in particular to a charging and discharging control system and method of the high-voltage lead-acid power battery pack for the AGV.
Background
With the development of the AGV technology, the AGV using environment is developing from indoor to outdoor, and the load is also developing from light load to heavy load of dozens of tons to hundreds of tons. At present, outdoor heavy-load material transport AGV mostly adopts a new energy wheel type chassis structure, and energy sources mostly adopt lithium iron phosphate batteries. The lithium iron phosphate battery has high requirement on the charging temperature and can be charged at the temperature of more than 0 ℃, and although a heating module is arranged in the battery pack, the temperature is low, the heating rate is low, the charging current is low when the temperature is low, so that the charging process is long when the ambient temperature is lower than 0 ℃, and the AGV operation is influenced. If the energy source adopts a lead-acid battery pack, the problem of low-temperature charging can be solved, but the safety of charging and discharging control of the high-voltage lead-acid battery pack cannot be ensured without a proper charging and discharging control system of the high-voltage lead-acid battery pack.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a charging and discharging control system of a high-voltage lead-acid power battery pack for an AGV.
The invention also provides a control method of the charge and discharge control system of the high-voltage lead-acid power battery pack for the AGV.
The technical scheme provided by the invention is as follows: a charge-discharge control system of a high-voltage lead-acid power battery pack for an AGV is characterized by comprising a low-voltage power supply, a power switch, an ignition switch, a whole vehicle controller, a resistor, a high-voltage lead-acid power battery box, an all-in-one controller and a direct-current charging seat;
the low-voltage storage battery, the power switch, the ignition switch, the whole vehicle controller, the resistor, the high-voltage lead-acid power battery box, the all-in-one controller and the direct-current charging seat are fixed on the AGV body;
the high-voltage lead-acid power battery box consists of a high-voltage lead-acid power battery pack, a voltage transmitter, a current transmitter, a high-voltage relay, a fuse, a maintenance switch and a box body; the high-voltage lead-acid power battery pack, the voltage transmitter, the current transmitter, the high-voltage relay, the fuse and the maintenance switch are fixed in the box body;
the high-voltage lead-acid power battery pack is formed by connecting a plurality of 12V lead-acid batteries in series and in parallel; the high-voltage input positive and negative electrodes of the voltage transmitter are respectively and electrically connected with the positive and negative electrodes of the high-voltage lead-acid power battery pack in a high-voltage mode; the contact end of the high-voltage relay consists of a group of high-voltage main contacts and a group of auxiliary contacts, the high-voltage main contacts and the group of auxiliary contacts are in a linkage state, and the auxiliary contacts are used for detecting the adhesion of the high-voltage contacts; the fuse is used for ensuring the safety of charging and discharging of the high-voltage lead-acid power battery pack and preventing overload; the maintenance switch is used for cutting off the output of the high-voltage lead-acid power battery pack when the AGV is maintained, so that the safety is ensured;
the anode of the high-voltage lead-acid power battery pack is electrically connected to a high-voltage positive input port of the all-in-one controller through a fuse and a maintenance switch; the negative pole of the high-voltage lead-acid power battery pack is connected to a high-voltage negative input port of the all-in-one controller through a current transmitter and a high-voltage main contact of a high-voltage relay;
the low-voltage storage battery is electrically connected with the ignition switch, the vehicle control unit, the resistor, the all-in-one controller, the voltage transmitter and the current transmitter through the power switch to provide a low-voltage power supply for the low-voltage storage battery;
the ignition switch is electrically connected with the whole vehicle controller and the all-in-one controller at low voltage; the ignition switch is provided with three gears of OFF, ON and ST, wherein the ON gear is used for awakening the whole vehicle controller and the all-in-one controller, and the ST gear is used for sending a high-voltage lead-acid power battery pack discharge signal to the whole vehicle controller;
the whole vehicle controller is electrically connected with a voltage transmitter and a current transmitter in the high-voltage lead-acid power battery box at low voltage; the whole vehicle controller realizes voltage detection of the high-voltage lead-acid power battery pack through a voltage transmitter; the vehicle controller realizes the current detection of the high-voltage lead-acid power battery pack through the current transducer;
the vehicle control unit is electrically connected with the control end of the high-voltage relay and the auxiliary contact end at low voltage, so that the actuation control and adhesion detection of the high-voltage relay are realized;
the vehicle control unit is electrically connected with the low voltage of the all-in-one controller and is used for attraction control of a charging relay in the power distribution module of the all-in-one controller during charging; the whole vehicle controller is connected with the low-voltage CAN line of the all-in-one controller and is used for issuing commands and feeding back states between the whole vehicle controller and the all-in-one controller during discharging;
the DC + and DC-ports of the direct-current charging seat are electrically connected with the high voltage of the all-in-one controller;
the port A + of the direct-current charging seat is electrically connected with a low-voltage storage battery through a diode and is used for providing a low-voltage power supply for the system by the charging pile during charging; the port A + of the direct-current charging seat is electrically connected with the whole vehicle controller and the all-in-one controller at low voltage and is used for awakening the whole vehicle controller and the all-in-one controller during charging; the S + and S-ports of the direct-current charging seat are connected with a low-voltage CAN (controller area network) line of the vehicle controller, and the direct-current charging seat is used for exchanging charging information of the vehicle controller and the charging pile during charging; the direct-current charging seat T1+, the T2+ and the T-port are electrically connected with the low-voltage end of the whole vehicle controller and are used for detecting the temperature of a charging high-voltage wire harness during charging; and the port of the DC charging seat CC2 is electrically connected with the low voltage of the whole vehicle controller and is used for confirming the connection of a charging gun during charging.
Preferably, the vehicle control unit is provided with a voltage analog quantity detection interface, a resistance analog quantity detection interface, a high-level awakening interface and a high-low level output interface, and is used for charging and discharging control and battery pack SOC estimation of the high-voltage lead-acid power battery pack.
Preferably, the output types of the voltage transmitter and the current transmitter are voltage type.
The invention discloses a control method of a charge and discharge control system of a high-voltage lead-acid power battery pack for an AGV, which is characterized by comprising the following steps of:
a, discharging: turning on a power switch, and outputting power to the vehicle control unit, the resistor, the all-in-one controller, the voltage transmitter and the current transmitter by the low-voltage storage battery; the ignition switch is turned to an ON gear, the whole vehicle controller and the all-in-one controller are waken up to work, and self-checking is carried out; after the self-checking is passed, the ignition switch is twisted to an ST gear to send a high-voltage lead-acid power battery pack discharge signal to the vehicle control unit, the vehicle control unit controls the high-voltage relay to be attracted, meanwhile, a discharge instruction is sent to a relevant module of the all-in-one controller through a CAN line, and high-voltage direct current of the high-voltage lead-acid power battery pack is transmitted to the relevant module of the all-in-one controller, so that the discharge control of the high-voltage lead-acid power battery pack is realized; during discharging, the vehicle controller detects the total voltage and current of the high-voltage lead-acid power battery pack in real time through the voltage transmitter and the current transmitter to ensure that the voltage and the current are in a reasonable range; meanwhile, the relevant discharging modules of the all-in-one controller feed back the state of the whole vehicle controller in real time through the CAN lines, so that the normal work of the power distribution and discharging modules in the all-in-one controller is ensured;
b, charging: a charging gun of a national standard direct current charging pile is inserted into a direct current charging seat, after detecting that a CC1 charging gun connection confirmation signal is normal, the charging pile provides an auxiliary power supply for a charging and discharging control system through an A + port and an A-port, a vehicle control unit and an all-in-one controller wake up to work, and after detecting that a CC2 charging gun connection confirmation signal is normal, the vehicle control unit performs highest charging voltage and charging current data interaction with the direct current charging pile through an S + port and an S-port; after the data interaction is successful, the direct current charging pile performs high-voltage loop insulation detection; after the insulation detection of the direct current charging pile is passed, the vehicle control unit controls the high-voltage relay and the charging relay to be attracted and carries out the insulation detection of the whole vehicle through an insulation detection module in the all-in-one controller, after the insulation detection of the whole vehicle is passed, the direct current charging pile control device enters a charging stage after detecting that the voltage of the high-voltage lead-acid power battery pack is normal, and after the output voltage of the charging pile reaches the voltage of the high-voltage lead-acid power battery pack, the charging voltage and the charging current are adjusted according to the charging requirement of the high-voltage lead-acid power battery pack sent by the vehicle in real time, and the charging states are mutually exchanged; when the charging end condition is reached, the vehicle control unit starts to send a 'battery management system end charging message', the charging pile periodically sends a 'charger end charging message', and controls the charger to stop charging; and after the output of the charger is stopped, the vehicle controller controls the high-voltage relay to be disconnected, and the charging is finished.
The invention has the beneficial effects that: 1. the charging and discharging control of the high-voltage lead-acid battery pack is realized by utilizing abundant input and output ports of the vehicle control unit, and the charging and discharging safety of the high-voltage lead-acid battery pack for the AGV is ensured; 2. the vehicle controller controls the vehicle motion, and simultaneously gives consideration to the charge and discharge control of the high-voltage lead-acid power battery pack, so that the control integration is realized, and the control convenience is improved; 3. the components of the high-voltage lead-acid battery pack charge and discharge control system for the AGV are mainly universal components of a universal new energy vehicle, and are easy to obtain and implement.
Drawings
FIG. 1 is a schematic diagram of the compositional connections of the present invention.
In the figure: 1 low-voltage storage battery, 2 power switches, 3 ignition switches, 4 vehicle control units, 5 resistors, 6 high-voltage lead-acid power battery boxes, 61 high-voltage lead-acid power battery packs, 62 voltage transmitters, 63 current transmitters, 64 high-voltage relays, 65 fuses, 66 maintenance switches, 67 box bodies, 7 all-in-one controllers, 71 charging relays and 8 direct-current charging seats.
Detailed Description
The technical solutions described in the present application are further described below with reference to the accompanying drawings.
As shown in fig. 1, a charge-discharge control system of a high-voltage lead-acid power battery pack for an AGV comprises a low-voltage power supply 1, a power switch 2, an ignition switch 3, a vehicle control unit 4, a resistor 5, a high-voltage lead-acid power battery box 6, an all-in-one controller 7 and a dc charging base 8;
fixing a low-voltage storage battery 1, a power switch 2, an ignition switch 3, a vehicle control unit 4, a resistor 5, a high-voltage lead-acid power battery box 6, an all-in-one controller 7 and a direct-current charging seat 8 on an AGV body;
the vehicle control unit 4 is a conventional controller of a new energy vehicle, has voltage analog quantity detection, resistance analog quantity detection, high-level awakening and high-low level output interfaces, and can be used for charging and discharging control and SOC estimation of a high-voltage lead-acid power battery pack;
the direct current charging seat 8 is a national standard charging seat and meets the high-voltage charging safety requirement;
the high-voltage lead-acid power battery box 6 consists of a high-voltage lead-acid power battery pack 61, a voltage transmitter 62, a current transmitter 63, a high-voltage relay 64, a fuse 65, a maintenance switch 66 and a box body 67; the high-voltage lead-acid power battery pack 61, the voltage transducer 62, the current transducer 63, the high-voltage relay 64, the fuse 65 and the maintenance switch 66 are fixed in the box body 67; the output types of the voltage transducer 62 and the current transducer 63 are voltage type;
the high-voltage lead-acid power battery pack 61 is formed by connecting a plurality of 12V lead-acid batteries in series and in parallel; the high-voltage input positive and negative electrodes of the voltage transmitter 62 are respectively in high-voltage electric connection with the positive and negative electrodes of the high-voltage lead-acid power battery pack 61; the contact end of the high-voltage relay 64 consists of a group of high-voltage main contacts and a group of auxiliary contacts, the high-voltage main contacts and the auxiliary contacts are in a linkage state, and the auxiliary contacts are used for detecting the adhesion of the high-voltage contacts; the fuse 65 is used for ensuring the safety of charging and discharging of the high-voltage lead-acid power battery pack 61 and preventing overload; the maintenance switch 66 is used for cutting off the output of the high-voltage lead-acid power battery 61 group during AGV maintenance, so that the safety is ensured;
the positive electrode of the high-voltage lead-acid power battery pack 61 is electrically connected with a high-voltage positive input port of the multi-in-one controller 7 through a fuse 65 and a maintenance switch 66; the negative pole of the high-voltage lead-acid power battery pack 61 is connected to a high-voltage negative input port of the multi-in-one controller 7 through a current transducer 63 and a high-voltage main contact of a high-voltage relay 64;
the low-voltage storage battery 1 is electrically connected with the ignition switch 3, the vehicle control unit 4, the resistor 5, the all-in-one controller 7, the voltage transmitter 62 and the current transmitter 63 at low voltage through the power switch 2 to provide low-voltage power for the low-voltage storage battery;
the ignition switch 3 is electrically connected with the whole vehicle controller 4 and the all-in-one controller 7 at low voltage; the ignition switch 3 is provided with three gears of OFF, ON and ST, wherein the ON gear is used for awakening the whole vehicle controller 4 and the all-in-one controller 7, and the ST gear is used for sending a discharge signal of the high-voltage lead-acid power battery pack 61 to the whole vehicle controller 4;
the vehicle control unit 4 is electrically connected with a voltage transducer 62 and a current transducer 63 in the high-voltage lead-acid power battery box 6 at low voltage; the vehicle control unit 4 realizes voltage detection of the high-voltage lead-acid power battery pack 61 through the voltage transmitter 62; the vehicle control unit 4 realizes current detection of the high-voltage lead-acid power battery pack 61 through the current transducer 63;
the vehicle control unit 4 is electrically connected with the control end of the high-voltage relay 64 and the auxiliary contact end at low voltage, so that the attraction control and adhesion detection of the high-voltage relay 64 are realized;
the vehicle control unit 4 is electrically connected with the all-in-one controller 7 at low voltage and is used for attraction control of a charging relay 71 in a power distribution module of the all-in-one controller 7 during charging; the whole vehicle controller 4 is connected with the low-voltage CAN line of the all-in-one controller 7 and is used for issuing commands and feeding back states between the whole vehicle controller 4 and the all-in-one controller 7 during discharging;
the DC port and the DC-port of the DC charging seat 8 are electrically connected with the high voltage of the all-in-one controller 7;
the port 8A + of the direct current charging seat is electrically connected with the low-voltage storage battery 1 through a diode and is used for providing a low-voltage power supply for the system by a charging pile during charging; the port of the direct current charging seat 8A + is electrically connected with the vehicle control unit 4 and the all-in-one controller 7 at low voltage and is used for awakening the vehicle control unit 4 and the all-in-one controller 7 during charging; the direct current charging seat 8S + and S-port is connected with a low-voltage CAN (controller area network) line of the vehicle control unit 4 and used for interaction of charging information of the vehicle control unit 4 and a charging pile during charging; the direct current charging seat 8T 1+, the T2+ and the T-port are electrically connected with the low voltage of the whole vehicle controller 4 and used for detecting the temperature of a charging high-voltage wire harness during charging; and the port of the direct current charging seat 8 CC2 is electrically connected with the low voltage of the whole vehicle controller 4 and is used for confirming the connection of a charging gun during charging.
When the charge and discharge control system of the high-voltage lead-acid power battery pack for the AGV is used, the charge and discharge control of the high-voltage lead-acid power battery pack can be safely realized according to needs.
The invention discloses a control method of a charge and discharge control system of a high-voltage lead-acid power battery pack for AGV, which specifically comprises the following steps:
a, discharging: turning on the power switch 2, outputting power to the vehicle control unit 4, the resistor 5, the all-in-one controller 7, the voltage transmitter 62 and the current transmitter 63 by the low-voltage storage battery 1; the ignition switch 3 is turned to an ON gear, the vehicle control unit 4 and the all-in-one controller 7 are awakened to work, and self-checking is carried out; after the self-checking is passed, the ignition switch 3 is turned to the ST gear to send a discharge signal of the high-voltage lead-acid power battery pack 61 to the vehicle control unit 4, the vehicle control unit 4 controls the high-voltage relay 64 to suck, and simultaneously sends a discharge instruction to the relevant module of the all-in-one controller 7 through the CAN line, and the high-voltage direct current of the high-voltage lead-acid power battery pack 61 is transmitted to the relevant module of the all-in-one controller 7, so that the discharge control of the high-voltage lead-acid power battery pack 61 is realized; during discharging, the vehicle controller 4 detects the total voltage and current of the high-voltage lead-acid power battery pack 61 in real time through the voltage transducer 62 and the current transducer 63, so as to ensure that the voltage and the current are in a reasonable range; meanwhile, the relevant discharging module of the all-in-one controller 7 feeds back the state to the vehicle control unit 4 in real time through a CAN line, so that the normal work of the power distribution and discharging module in the all-in-one controller 7 is ensured;
b, charging: the charging gun of the national standard direct current charging pile is inserted into the direct current charging seat 8, after the charging pile detects that a CC1 charging gun connection confirmation signal is normal, an auxiliary power supply is provided for a charging and discharging control system through an A + port and an A-port, the vehicle control unit 4 and the all-in-one controller 7 are wakened up to work, and after the vehicle control unit 4 detects that a CC2 charging gun connection confirmation signal is normal, the highest charging voltage and charging current data interaction is carried out with the direct current charging pile through an S + port and an S-port; after the data interaction is successful, the direct current charging pile performs high-voltage loop insulation detection; after the insulation detection of the direct-current charging pile passes, the vehicle control unit 4 controls the high-voltage relay 64 and the charging relay 71 to be attracted and carries out the insulation detection of the whole vehicle through an insulation detection module in the all-in-one controller 7, after the insulation detection of the whole vehicle passes, the direct-current charging pile control device enters a charging stage after detecting that the voltage of the high-voltage lead-acid power battery pack 61 is normal, and after the output voltage of the charging pile reaches the voltage of the high-voltage lead-acid power battery pack 61, the charging voltage and the charging current are adjusted according to the charging requirement of the high-voltage lead-acid power battery pack 61 sent by the vehicle in real time, and the charging states are mutually exchanged; when the charging end condition is reached, the vehicle control unit 4 starts to send a 'battery management system end charging message', and the charging pile periodically sends a 'charger end charging message', and controls the charger to stop charging; after the charger stops outputting, the vehicle control unit 4 controls the high-voltage relay 64 to be disconnected, and charging is completed.
It should be understood that technical features not described in detail in the specification belong to the prior art. Although the present invention has been described with respect to the above embodiments, the above embodiments are merely illustrative and not restrictive, and those skilled in the art can now appreciate that many more modifications can be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. A charge-discharge control system of a high-voltage lead-acid power battery pack for an AGV is characterized by comprising a low-voltage power supply (1), a power switch (2), an ignition switch (3), a whole vehicle controller (4), a resistor (5), a high-voltage lead-acid power battery box (6), an all-in-one controller (7) and a direct-current charging seat (8);
the AGV comprises a AGV body, a low-voltage storage battery (1), a power switch (2), an ignition switch (3), a whole vehicle controller (4), a resistor (5), a high-voltage lead-acid power battery box (6), an all-in-one controller (7) and a direct-current charging seat (8), wherein the AGV body is fixedly provided with the AGV body;
the high-voltage lead-acid power battery box (6) consists of a high-voltage lead-acid power battery pack (61), a voltage transducer (62), a current transducer (63), a high-voltage relay (64), a fuse (65), a maintenance switch (66) and a box body (67); the high-voltage lead-acid power battery pack (61), the voltage transducer (62), the current transducer (63), the high-voltage relay (64), the fuse (65) and the maintenance switch (66) are fixed in the box body (67);
the high-voltage lead-acid power battery pack (61) is formed by connecting a plurality of 12V lead-acid batteries in series and in parallel; the high-voltage input positive and negative electrodes of the voltage transducer (62) are respectively in high-voltage electric connection with the positive and negative electrodes of the high-voltage lead-acid power battery pack (61); the contact end of the high-voltage relay (64) consists of a group of high-voltage main contacts and a group of auxiliary contacts, the high-voltage main contacts and the auxiliary contacts are in a linkage state, and the auxiliary contacts are used for detecting the adhesion of the high-voltage contacts; the fuse (65) is used for ensuring the safety of charging and discharging of the high-voltage lead-acid power battery pack (61) and preventing overload; the maintenance switch (66) is used for cutting off the output of the high-voltage lead-acid power battery pack (61) during AGV maintenance, so that the safety is ensured;
the positive electrode of the high-voltage lead-acid power battery pack (61) is electrically connected to a high-voltage positive input port of the all-in-one controller (7) through a fuse (65) and a maintenance switch (66) in a high-voltage manner; the negative pole of the high-voltage lead-acid power battery pack (61) is connected to a high-voltage negative input port of the multi-in-one controller (7) through a current transmitter (63) and a high-voltage main contact of a high-voltage relay (64);
the low-voltage storage battery (1) is electrically connected with the ignition switch (3), the whole vehicle controller (4), the resistor (5), the all-in-one controller (7), the voltage transmitter (62) and the current transmitter (63) through the power switch (2) at low voltage to provide a low-voltage power supply for the low-voltage storage battery;
the ignition switch (3) is electrically connected with the whole vehicle controller (4) and the all-in-one controller (7) at low voltage; the ignition switch (3) is provided with three gears of OFF, ON and ST, the ON gear is used for awakening the whole vehicle controller (4) and the all-in-one controller (7), and the ST gear is used for sending a discharge signal of the high-voltage lead-acid power battery pack (61) to the whole vehicle controller (4);
the whole vehicle controller (4) is electrically connected with a voltage transmitter (62) and a current transmitter (63) in the high-voltage lead-acid power battery box (6) at low voltage; the whole vehicle controller (4) realizes voltage detection of the high-voltage lead-acid power battery pack (61) through a voltage transmitter (62); the vehicle control unit (4) realizes current detection of the high-voltage lead-acid power battery pack (61) through a current transducer (63);
the whole vehicle controller (4) is electrically connected with the control end of the high-voltage relay (64) and the auxiliary contact end at low voltage, so that the attraction control and adhesion detection of the high-voltage relay (64) are realized;
the vehicle control unit (4) is electrically connected with the all-in-one controller (7) at low voltage and is used for attraction control of a charging relay (71) in a power distribution module of the all-in-one controller (7) during charging; the whole vehicle controller (4) is connected with the low-voltage CAN line of the all-in-one controller (7) and is used for issuing commands and feeding back states between the whole vehicle controller (4) and the all-in-one controller (7) during discharging;
the DC + and DC-ports of the direct current charging seat (8) are electrically connected with the high voltage of the all-in-one controller (7);
the A + port of the direct current charging seat (8) is electrically connected with the low-voltage storage battery (1) through a diode and is used for providing a low-voltage power supply for the system by the charging pile during charging; the port A + of the direct-current charging seat (8) is electrically connected with the whole vehicle controller (4) and the all-in-one controller (7) at low voltage and is used for awakening the whole vehicle controller (4) and the all-in-one controller (7) during charging; the S + and S-port of the direct current charging seat (8) is connected with a low-voltage CAN (controller area network) of the vehicle control unit (4) and used for exchanging charging information of the vehicle control unit (4) and the charging pile during charging; the direct-current charging seat (8) is electrically connected with the T1+, the T2+ and the T-port at low voltage of the whole vehicle controller (4) and is used for detecting the temperature of a charging high-voltage wire harness during charging; and the CC2 port of the direct current charging seat (8) is electrically connected with the low voltage of the whole vehicle controller (4) and is used for confirming the connection of a charging gun during charging.
2. The system for controlling charging and discharging of the high-voltage lead-acid power battery pack for the AGV according to claim 1, wherein the vehicle control unit (4) is provided with a voltage analog quantity detection interface, a resistance analog quantity detection interface, a high level awakening interface, and a high and low level output interface, and is used for controlling charging and discharging of the high-voltage lead-acid power battery pack and estimating the SOC of the battery pack.
3. The system for controlling charging and discharging of the high-voltage lead-acid power battery pack for the AGV according to claim 1, wherein the output types of the voltage transmitter (62) and the current transmitter (63) are voltage type.
4. The control method of the high-voltage lead-acid power battery pack charge-discharge control system for the AGV according to any one of claims 1 to 3, characterized by comprising the steps of:
a, discharging: turning on a power switch (2), outputting power to the whole vehicle controller (4), the resistor (5), the all-in-one controller (7), the voltage transducer (62) and the current transducer (63) by the low-voltage storage battery (1); the ignition switch (3) is turned to an ON gear, the whole vehicle controller (4) and the all-in-one controller (7) are waken up to work, and self-checking is carried out; after the self-checking is passed, the ignition switch (3) is twisted to the ST gear to send a discharge signal of the high-voltage lead-acid power battery pack (61) to the vehicle control unit (4), the vehicle control unit (4) controls the high-voltage relay (64) to be attracted, meanwhile, a discharge instruction is sent to a relevant module of the all-in-one controller (7) through the CAN line, and high-voltage direct current of the high-voltage lead-acid power battery pack (61) is transmitted to the relevant module of the all-in-one controller (7) to realize discharge control of the high-voltage lead-acid power battery pack (61); during discharging, the whole vehicle controller (4) detects the total voltage and current of the high-voltage lead-acid power battery pack (61) in real time through the voltage transmitter (62) and the current transmitter (63) to ensure that the voltage and the current are in a reasonable range; meanwhile, the relevant discharging modules of the all-in-one controller (7) feed back the state to the whole vehicle controller (4) in real time through a CAN line, so that the normal work of the power distribution and discharging modules in the all-in-one controller (7) is ensured;
b, charging: a charging gun of a national standard direct current charging pile is inserted into a direct current charging seat (8), after the charging pile detects that a CC1 charging gun connection confirmation signal is normal, an auxiliary power supply is provided for a charging and discharging control system through an A + port and an A-port, a whole vehicle controller (4) and an all-in-one controller (7) are wakened up to work, and after the whole vehicle controller (4) detects that a CC2 charging gun connection confirmation signal is normal, the highest charging voltage and charging current data interaction is carried out with the direct current charging pile through an S + port and an S-port; after the data interaction is successful, the direct current charging pile performs high-voltage loop insulation detection; after the insulation detection of the direct-current charging pile passes, the vehicle control unit (4) controls the high-voltage relay (64) and the charging relay (71) to be attracted and performs the insulation detection of the whole vehicle through an insulation detection module in the all-in-one controller (7), after the insulation detection of the whole vehicle passes, the direct-current charging pile control device enters a charging stage after detecting that the voltage of the high-voltage lead-acid power battery pack (61) is normal, and after the output voltage of the charging pile reaches the voltage of the high-voltage lead-acid power battery pack (61), the charging voltage and the charging current are adjusted according to the charging requirement of the high-voltage lead-acid power battery pack (61) sent by the vehicle in real time, and the charging states are exchanged; when the charging end condition is reached, the vehicle control unit (4) starts to send a 'battery management system end charging message', and the charging pile periodically sends a 'charger end charging message', and controls the charger to stop charging; after the output of the charger is stopped, the vehicle control unit (4) controls the high-voltage relay (64) to be disconnected, and charging is completed.
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