A whole machine control strategy for a new energy four-wheel auxiliary transport device in a coal mine underground

Abstract

The present application belongs to the technical field of auxiliary transport equipment control, and aims to solve the problem of less control strategy function of traditional coal mine underground new energy auxiliary transport equipment. The present application provides a whole machine control strategy for coal mine underground new energy four-wheel auxiliary transport equipment, which comprises the following steps: performing low-voltage power-on of the whole machine of the auxiliary transport equipment; after the VCU, MCU and BMS system are self-checked and no fault is found, performing high-voltage power-on of the auxiliary transport equipment; the VCU detects whether the message sent by the BMS and the VCU through the bus is received, and performs jumping of the fault mode, the normal mode and the charging mode; after the auxiliary transport equipment operation is completed, the VCU sends a motor stop enable instruction to the MCU and a high-voltage power-off instruction to the BMS, the BMS disconnects the high-voltage relay, and the high-voltage power-off process is completed; then, low-voltage power-off of the auxiliary transport equipment is performed. The present application can significantly improve the driving stability and safety of the coal mine underground new energy auxiliary transport equipment when performing tasks.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of auxiliary transport equipment control, and particularly relates to a whole machine control strategy for a coal mine underground new energy four-wheel auxiliary transport equipment. BACKGROUND

[0002] The diesel auxiliary transport equipment in coal mines is widely criticized for its loud noise and serious pollution, and the new energy control of special auxiliary transport equipment in coal mines has become an inevitable development trend. Domestic coal mines have quietly emerged multi-wheel rim operation auxiliary transport equipment powered by lead-acid batteries and lithium batteries.

[0003] At the same time, the hinged structure of the special operation auxiliary transport equipment in coal mines can improve the maneuverability and steering maneuverability of the auxiliary transport equipment at low speed, and has strong terrain adaptability and task adaptability. Since the steering mechanism cancels the connection between the steering components of the walking mechanism of the auxiliary transport equipment, the space layout of the walking mechanism can be saved, and the space utilization rate of the walking mechanism layout of the auxiliary transport equipment can be increased.

[0004] Compared with the advantages of the hinged operation auxiliary transport equipment in coal mines, the current traditional coal mine new energy auxiliary transport equipment control strategy has less function, low precision, and deficiencies in adaptability, and cannot meet the high requirements of modern mining. SUMMARY

[0005] The present application provides a whole machine control strategy for a coal mine underground new energy four-wheel auxiliary transport equipment to solve at least one of the above technical problems in the prior art.

[0006] The present application adopts the following technical solution: a whole machine control strategy for a coal mine underground new energy four-wheel auxiliary transport equipment, comprising the following steps:

[0007] S1: the whole machine low-voltage power-on of the auxiliary transport equipment is performed, and the VCU, MCU and BMS system of the auxiliary transport equipment are self-checked;

[0008] S2: after the VCU, MCU and BMS system self-checking are fault-free, the high-voltage power-on of the auxiliary transport equipment is performed;

[0009] S3: after the high-voltage power-on process is completed, the VCU detects whether the message sent by the BMS and VCU through the bus is received; if the message is not received, the whole machine enters a fault mode and waits for the message to be received and sends the corresponding fault state to the instrument; if the message is received, the VCU detects the current connection state of the whole machine and the high-voltage charger, and jumps to the normal mode and the charging mode;

[0010] S4: In normal mode, VCU collects the current accelerator pedal, brake pedal signal and sensor signal of the auxiliary transport equipment, judges the running state of the auxiliary transport equipment; and based on the three-level walking mechanism power adjustment algorithm, sends the required torque command to the MCU of each auxiliary transport equipment walking mechanism wheel edge, controls the normal driving of the auxiliary transport equipment;

[0011] In the charging mode, the BMS system controls the charging relay to be closed, and the auxiliary transport equipment is charged; after the charging process is completed, the connection between the whole machine and the high-voltage charger is disconnected, and the normal mode and the charging mode are returned to step S3 for switching;

[0012] S5: After the auxiliary transport equipment operation is completed, the VCU sends a motor stop enable command to the MCU, and sends a high-voltage power-down command to the BMS, and the BMS disconnects the high-voltage relay, and the high-voltage power-down process is completed; then the low-voltage power-down of the auxiliary transport equipment is performed.

[0013] Preferably, the switching of the normal mode and the charging mode is based on:

[0014] If the auxiliary transport equipment is connected to the high-voltage charger and the auxiliary transport equipment is not in the charging mode at this time, a charging request is sent to the BMS, and the whole machine state is switched to the charging mode; if the auxiliary transport equipment is not connected to the high-voltage charger and the auxiliary transport equipment is not in the normal mode at this time, a high-voltage power-on request is sent to the BMS, and the whole machine state is switched to the normal mode.

[0015] Preferably, the three-level walking mechanism power adjustment algorithm comprises the following steps:

[0016] S421: VCU obtains the total torque required by the auxiliary transport equipment according to the depth of the accelerator or brake pedal pressed by the operator of the auxiliary transport equipment, calculates the control torque that should be distributed to the four wheel edges according to the vertical load of the walking mechanism sensor of each auxiliary transport equipment, and sends the control torque to the MCU of each wheel edge, so that the motor controls the tire rotation to complete the first walking mechanism power adjustment;

[0017] S422: After the auxiliary transport equipment starts driving by receiving the torque, the real-time vehicle speed information of the auxiliary transport equipment is collected and sent to the VCU, and at the same time, the real-time slip ratio of the four auxiliary transport equipment walking mechanisms is calculated by the tire slip ratio controller, and the control torque that the left front, left rear, right front and right rear motors should output is calculated by the walking mechanism power adjustment controller, which is compared with the motor control torque distributed according to the vertical load of the auxiliary transport equipment walking mechanism, and the wheel edge torque is redistributed again to complete the second walking mechanism power adjustment;

[0018] S423: After the torque is redistributed twice, the excess torque distributed to a certain wheel edge is redistributed to the remaining wheel edges that need torque, and is sent to the MCU unit of the corresponding control motor to complete the third distribution of the whole walking mechanism power adjustment algorithm.

[0019] Preferably, the fault state of the whole machine is divided into three levels, two levels and one level from low to high according to the severity; wherein the third level fault includes motor temperature, electronic control unit temperature, battery cell voltage and temperature, power battery SOC and output voltage and current reaching the set fault value; the second level fault includes vehicle speed sensor signal interruption, sensor message loss and partial motor power loss; the first level fault is the acceleration sensor fault, brake fault, MCU and BMS message loss.

[0020] Preferably, when the third level fault occurs, the auxiliary operation equipment can maintain driving, and the output power of the whole machine and the torque of each motor are limited; when the second level fault occurs, the auxiliary operation equipment cannot maintain normal driving, the power of the control motor and the opposite motor at the fault occurrence position is completely interrupted, and the average walking mechanism power adjustment mode is adopted to control the low-speed driving of the auxiliary operation equipment; when the first level fault occurs, the auxiliary operation equipment cannot drive, the VCU interrupts the whole machine power output and continuously sends a high-voltage power-off signal to the BMS, and the instrument prompts the driver to stop the machine urgently.

[0021] Preferably, the whole machine control strategy further includes a micro-motion mode, which is used for the low-speed large-torque output scene of the auxiliary operation equipment during the carrying operation of the auxiliary operation equipment in the coal mine underground operation, and the speed of the auxiliary operation equipment is set to an upper limit after entering the micro-motion mode.

[0022] Preferably, when the whole machine low-voltage power-on of the auxiliary operation equipment is performed, the starting key signal is in the 'READY' gear, at this time, the whole machine low-voltage circuit is connected, the VCU, MCU and BMS system are powered on and self-checked, the vehicle instrument panel indicator light is full bright, and the sub-control strategy fault light is full bright; after the self-checking is completed, the fault light is extinguished, and the communication between the control units is started.

[0023] Preferably, when the auxiliary operation equipment high-voltage power-on is performed, the starting key signal is in the 'ON' gear, the auxiliary operation equipment driver presses the start / stop key of the auxiliary operation equipment, the VCU sends a high-voltage power-on instruction to the auxiliary operation equipment, the high-voltage power supply circuit is connected, and the auxiliary operation equipment waits for the gear signal and the pedal signal.

[0024] Preferably, when the auxiliary operation equipment high-voltage power-off is performed, the driver presses the start / stop key, the VCU sends a motor stop enable instruction to the MCU and a high-voltage power-off instruction to the BMS, the BMS disconnects the high-voltage relay, and the high-voltage power-off process is completed; then the driver turns the key to the 'OFF' gear in turn, and the whole machine control strategy low-voltage power-off is completed.

[0025] Preferably, in the charging mode, the battery charging information is sent to the VCU through the CAN bus and displayed on the instrument, and if a fault signal is received, the charging mode is immediately exited.

[0026] Compared with the prior art, the present application has the following beneficial effects:

[0027] The application proposes a new coal mine auxiliary transport equipment control strategy, a model-based system development method, integrates the dynamics model of coal mine auxiliary transport equipment, the walking mechanism power adjustment algorithm, the control mode design, and the fault diagnosis and fault-tolerant control mechanism, which can significantly improve the driving stability and safety of the coal mine new energy auxiliary transport equipment when performing tasks.

[0028] The application is suitable for various coal mine new energy multi-wheel auxiliary transport equipment, and has important significance for improving the overall efficiency of coal mine operation. By using the control strategy proposed in the application, the coal mine new energy multi-wheel auxiliary transport equipment can significantly improve the driving stability, power and poor environment passability of the auxiliary transport equipment in the complex and changeable mine environment, prolong the service life of the auxiliary transport equipment, and improve the reliability and safety of completing tasks.

[0029] The application can ensure the driving safety of the auxiliary transport equipment by designing the working state and mode of the coal mine new energy multi-wheel auxiliary transport equipment; realize real-time state monitoring of the auxiliary transport equipment, collect different sensors and input and output signals, and real-time monitor the speed, acceleration, lateral and longitudinal inclination angle, and key parameters such as slip ratio and vertical load of each tire of the controlled auxiliary transport equipment; design a micro-motion mode to meet the requirements of the coal mine auxiliary transport equipment carrying task; complete the three-level dynamic walking mechanism power adjustment algorithm of the auxiliary transport equipment, control and adjust the torque output of the multi-wheel rim according to the algorithm, and ensure the best traction and stability of the auxiliary transport equipment under complex road conditions; and design a fault diagnosis module to classify the fault conditions of the auxiliary transport equipment and ensure driving safety in special scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0031] Figure 1 is a whole machine control strategy design diagram;

[0032] Figure 2 is a walking mechanism power adjustment control strategy flowchart. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the application are described clearly and completely in combination with the drawings in the embodiments of the application. Obviously, the described embodiments are only some embodiments of the application, not all embodiments. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0034] It should be noted that the structures, proportions, sizes, etc. shown in the drawings of the present specification are merely used to illustrate the content disclosed in the present specification, to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present application can be implemented, and therefore do not have technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects and purposes that can be achieved by the present application, should fall within the scope of the technical content disclosed by the present application. It should be noted that in the present specification, relationship terms such as first and second are merely used to distinguish one entity from another entity, and do not necessarily require or imply any actual relationship or order between the entities.

[0035] An embodiment of the present application is provided:

[0036] As shown in Figure 1 , Figure 2 , the design of the control strategy in the present application includes development and definition of the working mode of the new energy auxiliary transport equipment in the coal mine underground, whole machine power-on and power-off control, auxiliary transport equipment three-level walking mechanism power adjustment algorithm, and auxiliary transport equipment fault diagnosis. The overall control strategy structure is shown in the accompanying Figure 1 , and includes the following steps:

[0037] S1: Perform whole machine low voltage power-on of the auxiliary transport equipment, and the VCU, MCU and BMS system of the auxiliary transport equipment self-check;

[0038] When performing whole machine low voltage power-on of the auxiliary transport equipment, the start key signal is in the "READY" position. At this time, the whole machine low voltage circuit is connected, the VCU, MCU and BMS system are powered on and self-checked, the vehicle instrument panel indicator lights are all on, and the sub-control strategy fault lights are all on. After the self-check is completed, the fault lights are extinguished, and the communication between the control units begins. This state corresponds to the initialization power-on mode.

[0039] S2: After the VCU, MCU and BMS system self-checking are fault-free, perform high voltage power-on of the auxiliary transport equipment;

[0040] When the auxiliary transport equipment is powered on, the start key signal is in the "ON" position, the auxiliary transport equipment driver presses the start / stop key of the auxiliary transport equipment, the VCU sends a high voltage power-on instruction to the auxiliary transport equipment, the high voltage power supply circuit is connected, and the auxiliary transport equipment waits for the gear signal and the pedal signal. This state corresponds to the auxiliary transport equipment start mode.

[0041] S3: When the high-voltage current process is completed, the VCU detects whether the messages sent by the BMS and the VCU through the bus are received; if the messages are not received, the whole machine enters a fault mode and waits for receiving the messages and sending the corresponding fault state to the instrument; if the messages are received, the VCU detects the connection state of the whole machine and the high-voltage charger, and jumps to the normal mode and the charging mode;

[0042] In this embodiment, the fault diagnosis system is designed as follows: the fault states of the whole machine are divided into three levels, two levels and one level from low to high according to the severity; the third level fault includes motor temperature, electronic control unit temperature, battery cell voltage and temperature, power battery SOC and output voltage and current reaching the set fault value, which affects the torque output and power output of the whole machine; when the third level fault occurs, the auxiliary operation equipment can maintain driving, and the output power of the whole machine and the torque of each motor are limited. The second level fault includes vehicle speed sensor signal interruption, sensor message loss and partial motor power loss, which affects the operation of the whole machine walking mechanism power adjustment control algorithm; when the second level fault occurs, the auxiliary operation equipment cannot maintain normal driving, the power of the control motor and the opposite motor at the fault location is completely interrupted, and the average walking mechanism power adjustment method is used to control the auxiliary operation equipment to drive at low speed. The first level fault is the acceleration sensor fault, the brake fault, the MCU and BMS message loss and other serious faults that seriously affect the driving safety of the auxiliary operation equipment; when the first level fault occurs, the auxiliary operation equipment cannot drive, the VCU interrupts the power output of the whole machine and continuously sends a high-voltage power-off signal to the BMS, and the instrument prompts the driver to stop the machine urgently. The specific fault content is set according to different bus message data, and the corresponding fault code is written in the communication protocol.

[0043] The jump of the normal mode and the charging mode is based on:

[0044] If the auxiliary operation equipment is connected to the high-voltage charger and the auxiliary operation equipment is not in the charging mode at this time, a charging request is sent to the BMS, and the state of the whole machine jumps to the charging mode; if the auxiliary operation equipment is not connected to the high-voltage charger and the auxiliary operation equipment is not in the normal mode at this time, a high-voltage power-on request is sent to the BMS, and the state of the whole machine jumps to the normal mode.

[0045] S4: In the normal mode, the VCU collects the current acceleration pedal, brake pedal signal and sensor signal of the auxiliary operation equipment, judges the running state of the auxiliary operation equipment, and sends the required torque command to the MCU of each auxiliary operation equipment walking mechanism wheel edge based on the third level walking mechanism power adjustment algorithm, to control the auxiliary operation equipment to drive normally; this state corresponds to the control mode.

[0046] The steps of the third level walking mechanism power adjustment algorithm include:

[0047] S421: VCU obtains the total torque required by the auxiliary transport equipment according to the depth of the accelerator or brake pedal pressed by the auxiliary transport equipment operator, calculates the control torque that should be distributed to the four wheel edges according to the vertical load returned by the walking mechanism sensor of each auxiliary transport equipment, and sends the control torque to the MCU of each wheel edge to control the tire rotation to complete the first walking mechanism power adjustment;

[0048] S422: After the auxiliary transport equipment receives the torque and starts driving, the real-time vehicle speed information of the auxiliary transport equipment is collected and sent to the VCU, at the same time, the real-time slip ratio of the four auxiliary transport equipment walking mechanisms is calculated by the tire slip ratio controller, the control torque that should be output by the left front, left rear, right front and right rear motors is calculated by the walking mechanism power adjustment controller according to the slip ratio, and the control torque is compared with the motor control torque distributed according to the vertical load of the auxiliary transport equipment walking mechanism, the wheel edge torque is redistributed again, and the second walking mechanism power adjustment is completed.

[0049] S423: After the torque is redistributed twice, the excess torque distributed to a certain wheel edge is redistributed to the remaining wheel edges that lack torque, and is sent to the MCU unit of the corresponding control motor to complete the third distribution of the whole walking mechanism power adjustment algorithm.

[0050] In the charging mode, the BMS system controls the charging relay to be closed, and the auxiliary transport equipment is charged. In the charging mode, the battery charging information is sent to the VCU through the CAN bus and displayed on the instrument. If a fault signal is received, the charging mode is exited immediately. After the charging process is completed, the connection between the whole machine and the high-voltage charger is disconnected, and the normal mode and the charging mode are returned to step S3 for switching.

[0051] The whole machine control strategy also includes a micro-motion mode, which is used for the low-speed and high-torque output scene of the auxiliary transport equipment during the coal mine operation. The speed of the auxiliary transport equipment is set to an upper limit after entering the micro-motion mode.

[0052] S5: After the auxiliary transport equipment operation is completed, the driver presses the start / stop key, the VCU sends a motor stop enable instruction to the MCU, and a high-voltage power-down instruction to the BMS. The BMS disconnects the high-voltage relay, and the high-voltage power-down process is completed. Then the driver turns the key to the "OFF" position, and the low-voltage power-down of the whole machine control strategy is completed. This state corresponds to the shutdown waiting mode.

[0053] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any changes or replacements within the technical range disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A whole-machine control strategy for new energy four-wheel auxiliary transportation equipment in coal mines, characterized in that, Includes the following steps: S1: Power on the auxiliary equipment at low voltage, and simultaneously perform self-tests on the auxiliary equipment's VCU, MCU, and BMS systems; S2: After the VCU, MCU and BMS systems have completed their self-tests without faults, the auxiliary equipment will be powered on. S3: After the high-voltage power-on process is completed, the VCU checks whether it has received messages sent by the BMS and VCU through the bus; If no message is received, the entire unit enters a fault mode and waits in a loop to receive a message and send the corresponding fault status to the instrument. If a message is received, the VCU detects the current connection status of the entire unit with the high-voltage charger and switches between normal mode and charging mode. The switching between normal mode and charging mode is based on the following: if the auxiliary equipment is connected to the high-voltage charger and is not in charging mode at the time, a charging request is sent to the BMS, and the entire unit switches to charging mode. If the auxiliary equipment is not connected to the high-voltage charger and is not in normal mode at the time, a high-voltage power-on request is sent to the BMS, and the entire unit switches to normal mode. S4: In normal mode, the VCU collects the current accelerator pedal, brake pedal, and sensor signals of the auxiliary transport equipment to determine the operating status of the auxiliary transport equipment; and based on the three-level walking mechanism power adjustment algorithm, sends the required torque command to the MCU at the wheel side of each auxiliary transport equipment's walking mechanism to control the normal driving of the auxiliary transport equipment. The steps of the three-stage walking mechanism power adjustment algorithm include: S421: The VCU obtains the total torque required by the auxiliary transport equipment based on the depth of the accelerator or brake pedal pressed by the operator. Based on the vertical load data returned by the sensors of each auxiliary transport equipment's walking mechanism, it calculates the control torque to be distributed to the four wheel sides and sends it to the MCU of each wheel side. The motor controls the tire rotation to complete the first power adjustment of the walking mechanism. S422: After the auxiliary transport equipment receives torque and starts to travel, the real-time speed information of the auxiliary transport equipment is collected and sent to the VCU. At the same time, the slip rate controller of each tire calculates the real-time slip rate of the four auxiliary transport equipment walking mechanisms. The walking mechanism power adjustment controller calculates the control torque that the four motors of left front, left rear, right front, and right rear should output based on the slip rate. It compares the control torque with the motor control torque distributed according to the vertical load of the auxiliary transport equipment walking mechanism and redistributes the wheel-side torque to complete the second walking mechanism power adjustment. S423: After the second torque distribution, the excess torque allocated to a certain wheel side is redistributed to the other wheel sides where the required torque is insufficient. This is then sent to the MCU unit of the corresponding control motor to complete the third distribution of the entire walking mechanism power adjustment algorithm. In charging mode, the BMS system controls the charging relay to close and charge the auxiliary equipment; after the charging process is completed, the connection between the whole machine and the high-voltage charger is disconnected, and the system returns to step S3 to switch between normal mode and charging mode. S5: After the auxiliary equipment finishes its operation, the VCU sends a motor stop enable command to the MCU and a high-voltage power-down command to the BMS. The BMS disconnects the high-voltage relay, and the high-voltage power-down process ends. Then, the low-voltage power-down of the auxiliary equipment is executed.

2. The overall control strategy for a new energy four-wheel auxiliary transport equipment in coal mines according to claim 1, characterized in that: The fault status of the whole machine is divided into three levels, two levels and one level according to the severity from low to high. The three level faults include motor temperature, electronic control unit temperature, battery cell voltage and temperature, power battery SOC and output voltage and current reaching the set fault values; the two level faults include vehicle speed sensor signal interruption, sensor message loss and partial motor power loss; the one level faults are acceleration sensor failure, braking failure, MCU and BMS message loss.

3. The overall control strategy for a new energy four-wheel auxiliary transport equipment in coal mines according to claim 2, characterized in that: When a Level 3 fault occurs, the auxiliary transport equipment can continue to run, but the overall output power and torque of each motor are limited. When a Level 2 fault occurs, the auxiliary transport equipment cannot maintain normal operation, and the power of the control motor and the opposite motor at the fault location is completely interrupted. The power adjustment method of the average travel mechanism is used to control the auxiliary transport equipment to run at low speed. When a Level 1 fault occurs, the auxiliary transport equipment cannot run. The VCU interrupts the overall power output and continuously sends a high-voltage power-down signal to the BMS. The instrument prompts the driver to stop the machine immediately.

4. The overall control strategy for a new energy four-wheel auxiliary transport equipment in coal mines according to claim 1, characterized in that: The overall control strategy also includes a micro-motion mode, which is used for low-speed, high-torque output scenarios when auxiliary transport equipment in underground coal mines is carrying out transport operations. After entering the micro-motion mode, an upper limit is set on the speed of the auxiliary transport equipment.

5. The overall control strategy for a new energy four-wheel auxiliary transportation equipment in coal mines according to claim 1, characterized in that: When the auxiliary transport equipment is powered on under low voltage, the start key signal is in the "READY" position. At this time, the low voltage circuit of the whole machine is connected, and the VCU, MCU and BMS systems perform power-on self-test. All the indicator lights on the vehicle's instrument panel are on, and all the sub-control strategy fault lights are on. After the self-test is completed, the fault lights go out, and communication between control units begins.

6. The overall control strategy for a new energy four-wheel auxiliary transportation equipment in coal mines according to claim 1, characterized in that: When the auxiliary transport equipment is powered on, the start key signal is in the "ON" position. The operator of the auxiliary transport equipment presses the start / stop button of the auxiliary transport equipment, and the VCU sends a high-voltage power-on command to the auxiliary transport equipment. The high-voltage power supply circuit is connected, and the auxiliary transport equipment waits for the gear position signal and pedal signal.

7. The overall control strategy for a new energy four-wheel auxiliary transportation equipment in coal mines according to claim 1, characterized in that: When the auxiliary equipment is powered down under high voltage, the driver presses the start / stop button. The VCU sends a motor stop enable command to the MCU and a high voltage power-down command to the BMS. The BMS disconnects the high voltage relay, and the high voltage power-down process ends. Afterward, the driver turns the key to the "OFF" position in sequence, and the overall machine control strategy is completed under low voltage power-down.

8. The overall control strategy for a new energy four-wheel auxiliary transport equipment in coal mines according to claim 1, characterized in that: In charging mode, battery charging information is sent to the VCU via the CAN bus and displayed on the instrument panel. If a fault signal is received, the charging mode will be exited immediately.

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