CN115285048A - Control system and control method for charging storage battery and unmanned vehicle - Google Patents
Control system and control method for charging storage battery and unmanned vehicle Download PDFInfo
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- CN115285048A CN115285048A CN202211109092.8A CN202211109092A CN115285048A CN 115285048 A CN115285048 A CN 115285048A CN 202211109092 A CN202211109092 A CN 202211109092A CN 115285048 A CN115285048 A CN 115285048A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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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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- 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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- 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
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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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- Power Engineering (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a control system and a control method for charging a storage battery and an unmanned vehicle, and relates to the technical field of unmanned vehicles, wherein the system comprises the following components: the system comprises a vehicle control unit, a battery management system, a motor controller, a DCDC and a storage battery; the battery management module is connected with the motor controller through a first contactor to form a vehicle high-voltage main loop, the battery management module is connected with one end of the DCDC through a second contactor to form a DCDC high-voltage loop, and the other end of the DCDC is connected with a storage battery; the vehicle control unit is in communication connection with the battery management module, generates a corresponding control instruction according to the current state of the vehicle and the voltage of the storage battery, sends the control instruction to the battery management module, and controls the DCDC to charge the storage battery by monitoring the on-off state of the first contactor and the second contactor. By the mode, the storage battery can be charged without closing the vehicle high-voltage main loop in a non-high-voltage state, so that the safety of the whole vehicle can be improved, and the energy consumption of the vehicle can be reduced.
Description
Technical Field
The invention belongs to the technical field of unmanned vehicles, and particularly relates to a control system and a control method for charging a storage battery and an unmanned vehicle.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art that is already known to a person of ordinary skill in the art.
Along with the rapid development of the unmanned technology, the intelligent level of the vehicle is higher and higher, more intelligent devices are required to be added to the unmanned bus compared with the traditional new energy bus, and the low-voltage power consumption of the whole bus is correspondingly increased. The storage battery is used as a low-voltage power supply source for all electric appliances of the whole vehicle, and the vehicle must be ensured to have enough electric quantity to start the vehicle when being electrified every time.
Most new energy vehicles usually charge the storage battery through the DCDC after finishing the high voltage at present, however, aiming at a scene that unmanned vehicles frequently carry out vehicle intelligent debugging under a low-voltage environment or a scene that low-voltage power supplies are turned off, the vehicles are automatically awakened to monitor the state of the whole vehicle, the existing charging method may cause storage battery feeding.
Disclosure of Invention
In order to solve the problems, the invention provides a control system and a control method for charging a storage battery and an unmanned vehicle, which are used for avoiding storage battery feed, improving the safety of the whole vehicle and reducing the energy consumption of the vehicle under the specific scene that the vehicle is intelligently debugged in a low-voltage environment or the low-voltage power supply is turned off and the vehicle is automatically awakened to monitor the state of the whole vehicle.
In order to achieve the above object, the present invention mainly includes the following aspects:
in a first aspect, an embodiment of the present invention provides a control system for charging a storage battery, including: the system comprises a vehicle control unit, a battery management system, a motor controller, a DCDC and a storage battery; the battery management module is connected with the motor controller through a first contactor to form a vehicle high-voltage main loop, the battery management module is connected with one end of the DCDC through a second contactor to form a DCDC high-voltage loop, and the other end of the DCDC is connected with a storage battery;
the vehicle control unit is in communication connection with the battery management module, generates a corresponding control instruction according to the current state of the vehicle and the voltage of the storage battery, sends the control instruction to the battery management module, and controls the DCDC to charge the storage battery by monitoring the on-off states of the first contactor and the second contactor.
In one possible embodiment, after the vehicle control unit is activated, the vehicle START signal and the self-awakening state signal are received, and the state of the vehicle is determined according to the START signal and the self-awakening state signal.
In one possible implementation, if the self-awakening state signal is high level, the vehicle is determined to be in the self-awakening state; if the self-awakening state signal is at a low level and the START signal is at a high level, determining that the vehicle is in a high-voltage power-on state; and if the self-awakening state signal is at a low level and the START signal is at a low level, determining that the vehicle is in a low-voltage power-on state.
In one possible implementation mode, after the vehicle controller determines that the vehicle is in a high-voltage power-on state, the vehicle controller sends a high-voltage power-on instruction to the battery management system; whether the vehicle high-voltage main loop is electrified or not is judged by monitoring the on-off state of the first contactor, and when the vehicle high-voltage main loop is judged to be electrified, the DCDC is activated to charge the storage battery.
In one possible embodiment, the first contactor comprises a main positive contactor, a main negative contactor and a pre-charging contactor, and the pre-charging contactor is connected in parallel with the main positive contactor after being connected in series with a pre-charging resistor; and if the vehicle control unit monitors that the main positive contactor and the main negative contactor are closed and the pre-charging contactor is disconnected, the vehicle control unit judges that the power-on of the high-voltage main loop of the vehicle is finished.
In a possible implementation manner, when receiving a high-voltage power-on command sent by the vehicle control unit, the battery management module controls to close the main negative contactor, then to close the pre-charging contactor, and simultaneously detects the front and rear terminal voltages of the battery module, if the difference value between the front terminal voltage and the rear terminal voltage is less than a preset proportional threshold of the front terminal voltage, then to close the main positive contactor, and to open the pre-charging contactor after a preset time interval elapses.
In a possible implementation manner, after the vehicle controller determines that the vehicle is in a low-voltage power-on state, the vehicle controller obtains the voltage of the storage battery, closes the second contactor if the voltage of the storage battery is lower than a preset safety threshold, and activates the DCDC to charge the storage battery when the power-on of the DCDC high-voltage circuit is completed, and stops charging until the voltage of the storage battery reaches a first preset voltage threshold.
In a possible implementation manner, after the vehicle controller determines that the vehicle is in the self-awakening state, whether the storage battery needs to be charged is determined according to a comparison result of the voltage of the storage battery and a second preset voltage threshold; if the storage battery needs to be charged, determining the power-off delay time according to the current voltage of the storage battery; and starting timing when the self-activated DCDC charges the storage battery, and closing the DCDC and disconnecting the second contactor when the time reaches the power-off delay time.
In a second aspect, an embodiment of the present invention provides a method for controlling battery charging, which is based on the control system for battery charging described in any one of the possible implementations of the first aspect and the first aspect, and includes:
receiving a START signal and a self-awakening state signal, and judging the current state of the vehicle;
and generating a corresponding control instruction according to the current state of the vehicle and the voltage of the storage battery, sending the control instruction to the battery management module, and controlling the DCDC to charge the storage battery by monitoring the on-off states of the first contactor and the second contactor.
In a third aspect, an embodiment of the present invention provides an unmanned vehicle, including: the method comprises the following steps: a control system for charging a storage battery as set forth in the first aspect and any one of the possible embodiments of the first aspect, and a control method for charging a storage battery as set forth in the second aspect.
The above one or more technical solutions have the following beneficial effects:
the control system provided by the invention can avoid frequent and manual charging at high voltage for preventing the storage battery from feeding by adding the DCDC contactor in the high-voltage loop and monitoring the voltage of the storage battery in the full time domain, thereby saving a large amount of manpower and time, and simultaneously completing the charging of the storage battery without closing the high-voltage main loop of the vehicle in a non-high-voltage state, improving the safety of the whole vehicle and reducing the energy consumption of the vehicle.
And the vehicle control unit formulates different control strategies according to the current state of the vehicle, controls the BMS and the DCDC to charge the storage battery, ensures that the voltage of the storage battery is not lower than a safety threshold value all the time, ensures the normal work of vehicle intelligent equipment and improves the safety of the whole vehicle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a high-voltage schematic diagram of a control system for charging a battery according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for controlling battery charging according to a second embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
At present, most new energy vehicles charge the storage battery through the DCDC after adopting high voltage, however, aiming at unmanned vehicles, the charging method may cause storage battery feeding in a scene of vehicle intelligent debugging under a low-voltage environment frequently or a scene of self-awakening monitoring of the whole vehicle state by closing a low-voltage power supply. In order to solve the problem, embodiments of the present invention provide a control System for charging a storage Battery, where a high-voltage loop of the control System increases a DCDC contactor and monitors the voltage of the storage Battery in a full time domain, and a vehicle controller formulates different control strategies according to the current state of a vehicle, i.e., three states of high-voltage power-on, low-voltage power-on, and vehicle self-wake-up, and controls a Battery Management System (BMS) and a DCDC to charge the storage Battery, so that the voltage of the storage Battery is not lower than a safety threshold all the time, thereby ensuring that vehicle intelligent equipment normally operates, and improving the safety of the vehicle.
As shown in fig. 1, the present embodiment provides a control system for charging a storage battery, including: the system comprises a vehicle control unit, a battery management system, a motor controller, a DCDC and a storage battery; the battery management module is connected with the motor controller through a first contactor to form a vehicle high-voltage main loop, the battery management module is connected with one end of the DCDC through a second contactor to form a DCDC high-voltage loop, and the other end of the DCDC is connected with a storage battery;
the vehicle control unit is in communication connection with the battery management module, generates a corresponding control command according to the current state of the vehicle and the voltage of the storage battery, sends the control command to the battery management module, and controls the DCDC to charge the storage battery by monitoring the on-off states of the first contactor and the second contactor.
In a specific implementation, as shown in fig. 1, the battery management system includes a battery module, the first contactor includes a main positive contactor K3, a main negative contactor K1, and a pre-charging contactor K2, and the pre-charging contactor K2 is connected in series with a pre-charging resistor and then connected in parallel with the main positive contactor K3. The positive end and the negative end of the battery module are connected with the motor controller MCU through the first contactor to form a vehicle high-voltage main loop; the second contactor includes DCDC contactor K4, and battery module's positive terminal and negative pole end pass through DCDC contactor K4, main negative contactor K1, are connected with DCDC's one end and form DCDC high-voltage loop, and DCDC's the other end is connected with the battery. And a diode is connected between the MCU and the current input end of the DCDC to ensure the forward circulation of current and ensure the normal work of the DCDC after the electrification of the vehicle high-voltage main loop is finished. Normally, the positive and negative terminals of the battery module are completely connected, but since the high voltage line is aged or dampened during long-time operation of the vehicle, there is a problem that the connection is lowered, an insulation detection module is further provided between the positive and negative terminals.
Further, after the vehicle control unit is activated, the vehicle START signal and the self-awakening state signal are received, and the current state of the vehicle is determined according to the START signal and the self-awakening state signal. Specifically, if the self-awakening state signal is at a high level, the vehicle is judged to be in a self-awakening state; if the self-awakening state signal is at a low level and the START signal is at a high level, determining that the vehicle is in a high-voltage power-on state; and if the self-awakening state signal is at a low level and the START signal is at a low level, determining that the vehicle is in a low-voltage power-on state.
After the vehicle controller judges that the vehicle is in a high-voltage power-on state, the vehicle controller simultaneously confirms that the vehicle has no serious fault and sends a high-voltage power-on instruction to the battery management system BMS; whether the vehicle high-voltage main loop is electrified or not is judged by monitoring the on-off state of the first contactor, and when the vehicle high-voltage main loop is judged to be electrified, the DCDC is activated to charge the storage battery, and the control is as follows: the vehicle control unit sends a high-voltage power-on instruction to the BMS, the BMS closes the main negative contactor K1, then closes the pre-charging contactor K2, the front end voltage and the rear end voltage of the battery module are detected simultaneously, if the difference value between the front end voltage and the rear end voltage is less than 15% of the front end voltage, the BMS closes the main positive contactor K3, the pre-charging contactor is disconnected after 1 second, the vehicle control unit judges the states of the main positive contactor K3, the main negative contactor K1 and the pre-charging contactor K2, if the K1 and the K3 are closed and the K2 is disconnected, the vehicle high-voltage main circuit is considered to be powered on and finished, the vehicle control unit sends a power-on instruction to the DCDC, the DCDC starts to work to charge the storage battery, at the moment, the driving motor and other high-voltage accessories are powered on, the vehicle normally runs, and the DCDC normally works.
The vehicle control unit acquires the voltage of the storage battery after judging that the vehicle is in a low-voltage power-on state, closes the second contactor if the voltage of the storage battery is lower than a preset safety threshold, activates the DCDC to charge the storage battery when the power-on of the DCDC high-voltage loop is completed until the voltage of the storage battery reaches a first preset voltage threshold, and specifically controls the following steps: the whole vehicle controller collects the storage battery voltage U in real time through a hard wire signal, if the storage battery voltage U is smaller than or equal to 22V, the whole vehicle controller sends a DCDC contactor closing instruction, the BMS closes the main negative contactor K1 after receiving the DCDC contactor closing instruction, the whole vehicle controller detects that the K1 is closed, then the hard wire outputs a high level to control the closure of the DCDC contactor K4, the whole vehicle controller detects the state of the K4, after the K4 is closed, the DCDC high-voltage circuit is considered to be powered on and completed, the whole vehicle controller sends a starting instruction to the DCDC, the DCDC starts to work to charge the storage battery, the whole vehicle controller sends a DCDC shutdown instruction every 10 minutes, and meanwhile the storage battery voltage is detected. If the voltage U of the storage battery is less than 27v, the whole vehicle controller sends the DCDC starting command again, and the DCDC continues to work; if the voltage U of the storage battery is larger than 27V, the whole vehicle controller sends a DCDC shutdown instruction, the control pin outputs a suspension disconnection K4 after 1 second, and meanwhile, the DCDC contactor disconnection instruction is sent, the BMS disconnects the K1 contactor, and when the voltage U of the storage battery is lower than 22V again, the DCDC high-voltage loop is closed again to charge the storage battery.
After the vehicle controller judges that the vehicle is in the self-awakening state, whether the storage battery is charged or not is judged according to the comparison result of the voltage of the storage battery and a second preset voltage threshold value; if the storage battery is charged, determining the power-off delay time according to the current voltage of the storage battery; and the self-activated DCDC starts timing for charging the storage battery, and when the time reaches the power-off delay time, the DCDC is closed and the second contactor is disconnected.
In specific implementation, the unmanned vehicle has a high requirement on the safety of the whole vehicle, the BMS is set to be self-awakened every 2 hours when the low-voltage power supply of the vehicle is turned off, and then other components of the whole vehicle are activated to monitor whether each intelligent device is abnormal. After the vehicle controller judges that the vehicle is in a self-awakening state, whether the storage battery needs to be charged or not is judged according to the voltage U of the storage battery, and the control is as follows: in the self-awakening state, if the voltage U of the storage battery is greater than 25V, the whole vehicle controller does not process the voltage U, after 30 seconds, the BMS exits from the self-awakening state, and the low-voltage power supply of the whole vehicle is powered off; if the voltage U of the storage battery is less than 25V, the vehicle control unit sends a delayed power-off request to the BMS, the power-off time t is determined according to the current voltage of the storage battery, and the calculation formula is as follows:
in order to avoid that the vehicle is in a self-awakening state for a long time, the final delayed power-off time is not more than 15 minutes, namely the power-off delay time T = MIN { T,15}, wherein MIN { } returns to the minimum value of the power-off time T and 15; after the vehicle control unit sends a power-off delay request, a DCDC contactor closing instruction is sent after 2 seconds, the BMS closes the main and negative contactors K1, after the K1 is closed, the vehicle control unit then outputs a high-level closed DCDC contactor K4 through a hard wire, after the K4 is closed, the vehicle control unit sends a starting instruction to the DCDC, and the DCDC charges a storage battery; and meanwhile, the whole vehicle controller starts timing, after the time reaches the power-off delay time T, the whole vehicle controller sends a DCDC shutdown instruction, the control pin outputs a suspension disconnection K4 after 1 second, and simultaneously sends a DCDC contactor disconnection instruction, the BMS disconnects the K1 contactor, and stops sending a power-off delay request to the BMS after 2 seconds, the BMS exits from a self-awakening state, and the whole vehicle low-voltage power supply is powered off.
Example two
Based on the above control system for battery charging, an embodiment of the present invention further provides a control method for battery charging, including:
receiving a START signal and a self-awakening state signal, and judging the current state of the vehicle;
and generating a corresponding control command according to the current state of the vehicle and the voltage of the storage battery, sending the control command to the battery management module, and controlling the DCDC to charge the storage battery by monitoring the on-off states of the first contactor and the second contactor.
In specific implementation, as shown in fig. 2, the vehicle states include a high-voltage power-on state, a low-voltage power-on state and a self-wake-up state, and the vehicle controller controls the DCDC to charge the storage battery by using different control strategies according to different states. The method for controlling battery charging provided in this embodiment is based on the foregoing system for controlling battery charging, and therefore specific implementation of the method for controlling battery charging can be found in the foregoing section of the embodiment of the system for controlling battery charging, which is not described herein again.
EXAMPLE III
An embodiment of the present invention further provides an unmanned vehicle, including: the control system for charging the storage battery according to the first embodiment and the control method for charging the storage battery according to the second embodiment are adopted.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A control system for charging a battery, comprising: the system comprises a vehicle control unit, a battery management system, a motor controller, a DCDC and a storage battery; the battery management module is connected with the motor controller through a first contactor to form a vehicle high-voltage main loop, the battery management module is connected with one end of the DCDC through a second contactor to form a DCDC high-voltage loop, and the other end of the DCDC is connected with a storage battery;
the vehicle control unit is in communication connection with the battery management module, generates a corresponding control instruction according to the current state of the vehicle and the voltage of the storage battery, sends the control instruction to the battery management module, and controls the DCDC to charge the storage battery by monitoring the on-off states of the first contactor and the second contactor.
2. The battery charging control system according to claim 1, wherein the vehicle control unit receives a vehicle START signal and a self-awakening status signal after being activated, and determines the current state of the vehicle according to the START signal and the self-awakening status signal.
3. The battery charging control system according to claim 2, wherein if the self-awakening state signal is high, it is determined that the vehicle is in the self-awakening state; if the self-awakening state signal is at a low level and the START signal is at a high level, determining that the vehicle is in a high-voltage power-on state; and if the self-awakening state signal is at a low level and the START signal is at a low level, determining that the vehicle is in a low-voltage power-on state.
4. The battery charging control system according to claim 3, wherein the vehicle control unit sends a high voltage power-on command to the battery management system after determining that the vehicle is in a high voltage power-on state; and judging whether the electrification of the vehicle high-voltage main loop is finished or not by monitoring the on-off state of the first contactor, and activating the DCDC to charge the storage battery when judging that the electrification of the vehicle high-voltage main loop is finished.
5. The battery charging control system of claim 4, wherein said first contactor comprises a main positive contactor, a main negative contactor, and a pre-charge contactor, said pre-charge contactor being connected in series with a pre-charge resistor and then in parallel with said main positive contactor; and if the vehicle controller monitors that the main positive contactor and the main negative contactor are closed and the pre-charging contactor is disconnected, the vehicle controller judges that the power-on of the high-voltage main loop of the vehicle is completed.
6. The battery charging control system of claim 4, wherein the battery management module, upon receiving a high voltage power-on command from the vehicle controller, controls to close the main negative contactor, then closes the pre-charging contactor, and simultaneously detects the voltages at the front and rear ends of the battery module, if the difference between the voltages at the front and rear ends is less than a predetermined ratio threshold of the voltage at the front end, then closes the main positive contactor, and opens the pre-charging contactor after a predetermined time interval.
7. The battery charging control system according to claim 3, wherein the vehicle control unit obtains the voltage of the battery after determining that the vehicle is in the low-voltage power-on state, closes the second contactor if the voltage of the battery is lower than a preset safety threshold, activates the DCDC to charge the battery when the power-on of the DCDC high-voltage circuit is completed, and stops charging until the voltage of the battery reaches the first preset voltage threshold.
8. The battery charging control system according to claim 3, wherein the vehicle control unit determines whether the battery needs to be charged according to a comparison result between the voltage of the battery and a second preset voltage threshold after determining that the vehicle is in the self-awakening state; if the storage battery needs to be charged, determining the power-off delay time according to the current voltage of the storage battery; and starting timing when the DCDC is activated to charge the storage battery, closing the DCDC when the time reaches the power-off delay time, and disconnecting the second contactor.
9. A control method of charging a storage battery based on the control system of charging a storage battery according to any one of claims 1 to 8, characterized by comprising:
receiving a START signal and a self-awakening state signal, and judging the current state of the vehicle;
and generating a corresponding control instruction according to the current state of the vehicle and the voltage of the storage battery, sending the control instruction to the battery management module, and controlling the DCDC to charge the storage battery by monitoring the on-off states of the first contactor and the second contactor.
10. An unmanned vehicle, comprising: a control system for charging a storage battery according to any one of claims 1 to 8, and a control method for charging a storage battery using the storage battery according to claim 9.
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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