Distributed unmanned aerial vehicle battery intelligent charging system and control method thereof

Abstract

This invention provides a distributed intelligent charging system for drone batteries and its control method. The main controller is responsible for overall system scheduling, data aggregation, human-machine interaction, and external communication. Each independent charging module corresponds to one drone battery and has independent I2C communication, temperature acquisition, heating, charge / discharge control units, multi-variable coupled adaptive closed-loop control units, and intelligent balancing control units. The battery status acquisition network achieves high-speed and reliable communication between master and slave modules via an RS485 differential bus. This invention addresses the problems of single-channel faults affecting the entire charging system, poor scalability, lack of independent communication mechanisms preventing accurate monitoring of each battery's status, uniform charge / discharge current leading to overcharging / undercharging of some batteries and shortening battery life, and inconsistent battery status before performances increasing safety hazards during formation flight.

Description

Technical Field

[0001] This invention belongs to the technical field, specifically relating to a distributed intelligent charging system for drone batteries and its control method. Background Technology

[0002] The centralized charging solution currently used for drone swarm performances simplifies the charging process to some extent, but it has gradually revealed several problems in actual use, restricting the efficiency and safety of swarm operations:

[0003] A single point of failure affects the entire system, resulting in low system reliability.

[0004] Centralized charging typically relies on a single master control channel or a limited number of parallel interfaces. If any interface or central controller fails, the charging process for the entire battery pack will be interrupted or even halted. During intensive performances, this design can prevent the entire battery pack from being ready in time, severely impacting performance schedules. Furthermore, the system has poor scalability; adding new batteries or replacing them with different models often requires adjustments to the overall charging architecture, hindering flexible adjustments to the formation size and technological iterations.

[0005] Battery status monitoring is lacking, and management relies on manual intervention.

[0006] Existing solutions lack independent communication and identification mechanisms for each battery, making it impossible to obtain key data such as voltage, internal resistance, temperature, and cycle count of individual batteries in real time and accurately. The charging process is often "one-size-fits-all," and the management system cannot differentiate based on the actual health status of each battery, making it difficult to detect battery performance degradation and anomalies in a timely manner, increasing potential risks.

[0007] The crude charging and discharging strategy leads to severe reduction in battery life:

[0008] Using a fixed charging and discharging current uniformly cannot adapt to the needs of batteries with different aging levels and initial capacities. Some batteries may experience accelerated electrolyte depletion and bulging due to prolonged overcharging, while others may suffer from reduced range due to incomplete charging, resulting in unbalanced performance across the entire battery pack. Over time, this significantly shortens the overall lifespan of the battery pack, not only increasing maintenance costs but also wasting resources.

[0009] Inconsistent battery conditions before the performance pose a significant safety hazard.

[0010] Due to a lack of meticulous management, the actual charge and health status of each battery may vary significantly before each performance. During formation flying, some batteries may experience premature voltage drop, causing drones to lose power, stall, or break formation, and in severe cases, even lead to collisions or crashes. This safety hazard caused by uneven battery status is particularly prominent in large-scale outdoor performances and dense formation combinations.

[0011] The existence of these problems highlights the shortcomings of current centralized charging solutions in terms of intelligence, reliability, and security, and also points to the development direction of the next generation of drone swarm charging systems, which should be modular, communicable, and intelligently managed. Summary of the Invention

[0012] This invention provides a distributed intelligent charging system for drone batteries and its control method to solve the problems in the background art.

[0013] This invention is achieved through the following technical solution:

[0014] A distributed intelligent charging system for drone batteries, the system comprising a main controller, 50 independent charging modules, and a battery status acquisition network;

[0015] The main controller is responsible for overall system scheduling, data aggregation, human-computer interaction, and external communication.

[0016] The independent charging module: each module corresponds to one drone battery, and each module has an independent I2C communication, temperature acquisition, heating, charging and discharging control unit, multi-variable coupling adaptive closed-loop control unit and intelligent equalization control unit;

[0017] The battery status acquisition network achieves high-speed and reliable communication between master and slave modules via an RS485 differential bus.

[0018] Furthermore, the main controller is connected to each independent charging module through a battery status acquisition network, so that the main controller's instructions are sent to the charging and discharging control unit of the independent charging module through the battery status acquisition network. At the same time, the temperature information collected by each independent charging module is sent to the battery status acquisition network through I2C communication and then transmitted to the main controller through the battery status acquisition network.

[0019] Furthermore, the multivariable coupled adaptive closed-loop control unit is used to acquire battery state parameters collected by the BMS, module operating parameters uploaded by each charging module, and environmental parameters acquired by the environmental acquisition unit, to construct a multivariable joint closed-loop adjustment algorithm model, and dynamically adjust the charging and discharging control parameters based on the real-time acquired full-dimensional parameters.

[0020] Furthermore, the multivariable coupled adaptive closed-loop control unit is pre-configured with a low-temperature adaptive control branch, a normal-temperature high-efficiency fast-charging control branch, a high-temperature graded current reduction control branch, and an over-temperature graded safety shutdown branch.

[0021] The low-temperature adaptive control branch is used to adaptively adjust the preheating power and preheating cutoff threshold based on the battery's current SOC, internal resistance and real-time temperature rise gradient when the battery is in a dynamically tuned low-temperature range, while matching a stepped ramp-up charging current adapted to the battery's low-temperature electrochemical characteristics.

[0022] The room temperature high-efficiency fast charging control branch is used to lock the maximum high-efficiency charging current that matches the current state of the battery when the battery is in the dynamically tuned room temperature optimal working range, and at the same time perform a pre-judgment current fine adjustment based on the temperature change rate.

[0023] The high-temperature graded current reduction control branch is used to perform graded continuous linear current reduction adjustment based on two-dimensional parameters of absolute temperature and temperature rise rate when the battery is in a dynamically tuned high-temperature warning range. At the same time, it is linked with the intelligent equalization control unit to adjust the power distribution of each charging module.

[0024] The over-temperature graded safety shutdown branch is used to first shut down non-core charging modules through address coding when the battery temperature exceeds the highest safety threshold. If the temperature does not drop back to the safe range, the main charging circuit is then cut off.

[0025] Furthermore, the address encoding includes the independent physical address and logical address of the corresponding charging module. The main controller performs communication link verification through the physical address and performs dynamic allocation and priority scheduling of charging tasks through the logical address.

[0026] Furthermore, the intelligent equalization control unit is used to issue point-to-point independent control commands to the corresponding charging modules through the address encoding based on the module power allocation coefficient output by the multivariable coupled adaptive closed-loop control unit and the battery pack status corresponding to each charging module, thereby realizing differentiated charging and discharging control of different charging modules and multi-module collaborative equalization.

[0027] A control method for a distributed intelligent charging system for drone batteries, the control method using the aforementioned distributed intelligent charging system for drone batteries, the control method comprising the following steps:

[0028] Step 1: A distributed independent addressing control architecture based on unique address coding. Each charging module is configured with an independent physical address and logical address. The main controller realizes point-to-point independent control of a single charging module through address coding, and builds a multi-module collaborative intelligent balancing strategy on this basis.

[0029] S1: System power-on initialization, the main controller completes communication handshake with BMS and each charging module, verifies the unique address code of each charging module, and establishes a point-to-point communication link;

[0030] S2: Synchronous acquisition of all-dimensional parameters: The main controller acquires battery status parameters collected by the BMS, module operating parameters uploaded by each charging module, and environmental parameters acquired by the environmental acquisition unit;

[0031] S3: Multivariable Coupled Adaptive Calculation: The main controller dynamically tunes the charging and discharging control parameters based on real-time collected full-dimensional parameters through the built-in multivariable joint closed-loop adjustment algorithm model. The charging and discharging control parameters include preheating start / stop threshold, optimal charging current value, current reduction protection gradient, protection action boundary, and module power allocation coefficient.

[0032] S4: Safety threshold verification: Determine whether the battery temperature has triggered the maximum safe over-temperature threshold. If yes, execute the over-temperature graded protection process; otherwise, proceed to S5.

[0033] S5: Dynamic matching and control of temperature range: Based on the dynamically tuned temperature threshold, the temperature range of the battery is determined, and the corresponding control branch is matched to perform charge and discharge regulation. The control branch includes a low temperature adaptive control branch, a normal temperature high-efficiency fast charging control branch, and a high temperature graded current reduction control branch.

[0034] S6: Point-to-point command issuance and equalization control: The main controller issues point-to-point independent control commands to the corresponding charging modules through unique address codes based on the tuned module power allocation coefficient and the output commands of the corresponding control branches, so as to realize differentiated charging and discharging control of different charging modules and multi-module collaborative equalization.

[0035] S7: Closed-loop feedback and cutoff judgment: Determine whether the charging cutoff condition is met. If not, return to step S2 to execute the next round of closed-loop adjustment; if yes, execute the normal shutdown process and end the charging and discharging.

[0036] Furthermore, the over-temperature graded protection process in S4 is specifically as follows:

[0037] S41: The main controller first shuts down non-core charging modules through address encoding to reduce the total output power of the system;

[0038] S42: Monitor the battery temperature in real time and determine whether the temperature has dropped back to the safe range; if yes, return to step S2; if no, execute the highest level of safety shutdown, cut off the main charging circuit, trigger a fault alarm, and end the charging and discharging process.

[0039] Furthermore, the execution logic of the low-temperature adaptive control branch of S5 is as follows: based on the current SOC, internal resistance and real-time temperature rise gradient of the battery, the preheating power and preheating cutoff threshold are adaptively adjusted, while matching the step-by-step ramp-up charging current adapted to the low-temperature electrochemical characteristics of the battery.

[0040] The execution logic of the normal temperature high-efficiency fast charging control branch of S5 is as follows: lock the maximum high-efficiency charging current that matches the current state of the battery, and at the same time perform pre-judgment current fine-tuning based on the temperature change rate.

[0041] The execution logic of the high-temperature graded current reduction control branch of S5 is as follows: based on the dual-dimensional parameters of absolute temperature and temperature rise rate, graded continuous linear current reduction adjustment is performed, and the power distribution of each charging module is adjusted in conjunction with the adjustment.

[0042] Furthermore, the entire charging and discharging control process is a real-time continuous closed-loop adjustment. After each control command is executed, it returns to the parameter acquisition step S3 to readjust the control parameters. There are no fixed control thresholds or levels, thus achieving full-cycle adaptive adjustment.

[0043] The beneficial effects of this invention are:

[0044] The single-channel failure of this invention does not affect other channels, and the system availability reaches 99.9%.

[0045] The closed-loop temperature control of this invention completely avoids overheating during charging and discharging, reducing the risk of battery fire.

[0046] The intelligent balancing strategy of this invention reduces the formation battery preparation time by 40%.

[0047] This invention fully records the charge and discharge curves of each battery, providing data support for battery life prediction. Attached Figure Description

[0048] Figure 1 This is the overall system architecture diagram of the present invention.

[0049] Figure 2 This invention relates to a multivariable coupled adaptive temperature closed-loop charge and discharge control strategy.

[0050] Figure 3 This is a timing diagram for battery charging management control of the present invention.

[0051] Figure 4 This is the schematic diagram of the 24V to 5V switching power supply circuit of the present invention.

[0052] Figure 5 This is the RS-485 communication interface circuit A of the present invention.

[0053] Figure 6 This is the RS-485 communication interface circuit B of the present invention.

[0054] Figure 7 This is a schematic diagram of the minimum system and peripheral interface circuit of the microcontroller of the present invention.

[0055] Figure 8This invention relates to the RS-485 communication interface circuit C.

[0056] Figure 9 This is a schematic diagram of the AC input detection and enable control signal circuit of the present invention.

[0057] Figure 10 This is a schematic diagram of the microcontroller peripheral interface and clock circuit of the present invention.

[0058] Figure 11 This is a schematic diagram of the interface connection and protection circuit of the present invention.

[0059] Figure 12 This is a schematic diagram of the bidirectional buck-boost power management circuit of the present invention.

[0060] Figure 13 This is a schematic diagram of the reverse connection protection and ideal diode control circuit for the battery input terminal (BAT+) of the present invention.

[0061] Figure 14 This is a schematic diagram of the 5V power supply step-down and management circuit of the present invention.

[0062] Figure 15 This is a schematic diagram of the microcontroller (MCU) minimum system and communication interface circuit of the present invention.

[0063] Figure 16 This is a schematic diagram of the blade battery interface and I2C communication protection circuit of the present invention.

[0064] Figure 17 This is a schematic diagram of the RS485 differential communication interface circuit of the present invention.

[0065] Figure 18 This is a schematic diagram of the protection and filtering circuit for the serial communication (UART / TTL) interface of the present invention.

[0066] Figure 19 This is a schematic diagram of the power input and switch drive control circuit of the heating module (Heater) of the present invention.

[0067] Figure 20 This is a schematic diagram of the hardware address configuration and ambient temperature detection circuit of the present invention. Detailed Implementation

[0068] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0069] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0070] It should also be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0071] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0072] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0073] Implementation Method 1

[0074] This embodiment provides a distributed intelligent charging system for drone batteries, the system including a main controller, 50 independent charging modules, and a battery status acquisition network;

[0075] The main controller is responsible for overall system scheduling, data aggregation, human-computer interaction, and external communication.

[0076] The independent charging module: each module corresponds to one drone battery, and each module has an independent I2C communication, temperature acquisition, heating, charging and discharging control unit, multi-variable coupling adaptive closed-loop control unit and intelligent equalization control unit;

[0077] The battery status acquisition network achieves high-speed and reliable communication between master and slave modules via an RS485 differential bus.

[0078] Furthermore, the main controller is connected to each independent charging module through a battery status acquisition network, so that the main controller's instructions are sent to the charging and discharging control unit of the independent charging module through the battery status acquisition network. At the same time, the temperature information collected by each independent charging module is sent to the battery status acquisition network through I2C communication and then transmitted to the main controller through the battery status acquisition network.

[0079] At the same time, the main controller allows charging modules at different addresses to run different charging curves independently, enabling parallel and coordinated operation of fast charging and trickle charging maintenance. This ensures overall charging efficiency while improving battery pack consistency and lifespan, overcoming the technical shortcomings of traditional centralized charging or simple mode switching that cannot balance efficiency and balance.

[0080] Furthermore, the multivariable coupled adaptive closed-loop control unit is used to acquire battery state parameters collected by the BMS, module operating parameters uploaded by each charging module, and environmental parameters acquired by the environmental acquisition unit, to construct a multivariable joint closed-loop adjustment algorithm model, and dynamically adjust the charging and discharging control parameters based on the real-time acquired full-dimensional parameters.

[0081] Furthermore, the battery status parameters include the temperature of individual cells, the overall temperature of the battery module, the current SOC, SOH, and DC internal resistance of the battery; the module operating parameters include the operating temperature of the charging power module and the module output current and voltage; the environmental parameters include the ambient temperature and the real-time temperature change rate.

[0082] The charge and discharge control parameters include preheating start / stop threshold, optimal charging current value, current reduction protection gradient, protection action boundary, and module power allocation coefficient;

[0083] Furthermore, the multivariable coupled adaptive closed-loop control unit is pre-configured with a low-temperature adaptive control branch, a normal-temperature high-efficiency fast-charging control branch, a high-temperature graded current reduction control branch, and an over-temperature graded safety shutdown branch.

[0084] The low-temperature adaptive control branch is used to adaptively adjust the preheating power and preheating cutoff threshold based on the battery's current SOC, internal resistance and real-time temperature rise gradient when the battery is in a dynamically tuned low-temperature range, while matching a stepped ramp-up charging current adapted to the battery's low-temperature electrochemical characteristics.

[0085] The room temperature high-efficiency fast charging control branch is used to lock the maximum high-efficiency charging current that matches the current state of the battery when the battery is in the dynamically tuned room temperature optimal working range, and at the same time perform a pre-judgment current fine adjustment based on the temperature change rate.

[0086] The high-temperature graded current reduction control branch is used to perform graded continuous linear current reduction adjustment based on two-dimensional parameters of absolute temperature and temperature rise rate when the battery is in a dynamically tuned high-temperature warning range. At the same time, it is linked with the intelligent equalization control unit to adjust the power distribution of each charging module.

[0087] Furthermore, the graded continuous linear current reduction regulation executed by the high-temperature graded current reduction control branch has a current reduction rate that is positively correlated with the temperature rise rate and negatively correlated with the current state of equilibrium (SOH) of the battery, thereby achieving continuous and smooth adjustment of the charging current, rather than fixed-level switching.

[0088] The over-temperature graded safety shutdown branch is used to first shut down non-core charging modules through address coding when the battery temperature exceeds the highest safety threshold. If the temperature does not drop back to the safe range, the main charging circuit is then cut off.

[0089] Furthermore, the address encoding includes the independent physical address and logical address of the corresponding charging module. The main controller performs communication link verification through the physical address and performs dynamic allocation and priority scheduling of charging tasks through the logical address.

[0090] Furthermore, the intelligent equalization control unit is used to issue point-to-point independent control commands to the corresponding charging modules through the address encoding based on the module power allocation coefficient output by the multivariable coupled adaptive closed-loop control unit and the battery pack status corresponding to each charging module, thereby realizing differentiated charging and discharging control of different charging modules and multi-module collaborative equalization.

[0091] Furthermore, the intelligent equalization control unit is also used to acquire in real time the SOC, SOH, internal resistance, temperature, and voltage deviation status information of the battery packs corresponding to each charging module, and dynamically allocate the working mode and output power of each charging module according to the preset charging priority model; issue fast charging replenishment mode instructions to the charging modules corresponding to battery packs with low power and good health status, and issue trickle maintenance mode instructions to the charging modules corresponding to battery packs with near full charge, poor consistency, or high aging degree, so as to realize the parallel and collaborative work of charging modules at different addresses operating independently with different charging curves at the same time.

[0092] Main controller: It adopts an APM32E103CET6 microcontroller and is equipped with a 2.4-7 inch display screen to show the charging status of each group; and saves and uploads the data status of each group to the server through external modules such as WIFI and Bluetooth.

[0093] Charging module: Uses SC8815 charging management chip + PY32F003F18U6T microcontroller, supports wide voltage / current input (12-24V) and wide voltage / current output (12-24V).

[0094] Communication bus: RS485 differential communication is adopted, and each module is equipped with a TVS diode for surge protection;

[0095] Communication sub-line: It adopts I2C communication to communicate with the BMS-BQ4050 of each battery, so as to realize full control of the cell status;

[0096] Temperature acquisition: NTC 10KΩ thermistor with an accuracy class of 1% is used;

[0097] Multivariable Coupled Adaptive Temperature Closed-Loop Charge-Discharge Control Strategy:

[0098] Low-temperature adaptive preheating and charging stage: When the battery is in the low-temperature range, the system no longer uses the on-off preheating triggered by a fixed threshold. Instead, it adaptively adjusts the preheating power and preheating cutoff threshold based on the battery's current SOC, internal resistance and real-time temperature rise gradient. At the same time, it matches the step-by-step ramp-up charging current that is fully adapted to the battery's low-temperature electrochemical characteristics. This avoids damage to the battery by charging with high current at low temperatures, while significantly shortening the low-temperature preheating time and reducing ineffective energy consumption.

[0099] Stable fast charging at room temperature: When the battery is in the optimal operating range at room temperature, the system locks the maximum efficient charging current that matches the current state of the battery. At the same time, through the pre-prediction mechanism of temperature change rate, the charging current parameters are finely adjusted in advance to avoid frequent current reduction actions caused by temperature changes. Under the premise of ensuring battery safety, the fast charging capability is maximized.

[0100] High-Temperature Graded Continuous Current Reduction Protection Stage: When the battery enters the high-temperature warning range, the current reduction / forced shutdown logic of the existing technology with a fixed temperature range is completely abandoned. Based on the dual-dimensional core parameters of absolute temperature and temperature rise rate, graded continuous linear current reduction adjustment is performed. At the same time, it can be linked with the unique address encoding architecture of the charging module of this invention to perform point-to-point dynamic power allocation and mode adjustment for the corresponding charging module. While avoiding the risk of thermal runaway from the root, it maximizes the continuity of the charging process and solves the technical pain point of frequent charging interruption in conventional solutions.

[0101] Over-temperature graded safety shutdown phase: The system will only execute a graded shutdown strategy when the temperature exceeds the preset maximum safety threshold. It will first shut down non-core charging modules and then gradually shut down the main circuit, rather than directly and forcibly cutting off the total charging circuit, thus further ensuring the safety and stability of the system and battery.

[0102] This control strategy completely solves the common industry pain points of traditional fixed segmented temperature control schemes, such as protection lag and the inability to balance efficiency and safety, through real-time closed-loop feedback of all parameters and dynamic tuning of adaptive parameters. It achieves the optimal balance between charging safety, charging efficiency and battery cycle life in the entire temperature range, and has outstanding substantive features and significant technological progress compared with conventional technical means in this field.

[0103] Intelligent balancing strategy:

[0104] The main controller summarizes all battery SOC (remaining power) and SOH (state of health) data in real time;

[0105] To meet the demands of performance tasks, the charging priority is automatically adjusted. This means that the charging is intelligently adjusted according to the battery cell specifications, such as high current charging for low-charge batteries and low current charging for high-charge batteries, to ensure that the SOC deviation of all batteries is less than 2%.

[0106] It supports switching between "fast charging" and "trickle-down maintenance" modes to extend battery cycle life.

[0107] Implementation Method 2

[0108] This embodiment provides a control method for a distributed intelligent charging system for drone batteries. The control method uses the distributed intelligent charging system for drone batteries as described in Embodiment 1, and includes the following steps:

[0109] S1: System power-on initialization, the main controller completes communication handshake with BMS and each charging module, verifies the unique address code of each charging module, and establishes a point-to-point communication link;

[0110] S2: Synchronous acquisition of all-dimensional parameters: The main controller acquires battery status parameters collected by the BMS, module operating parameters uploaded by each charging module, and environmental parameters acquired by the environmental acquisition unit;

[0111] S3: Multivariable Coupled Adaptive Calculation: The main controller dynamically tunes the charging and discharging control parameters based on real-time collected full-dimensional parameters through the built-in multivariable joint closed-loop adjustment algorithm model. The charging and discharging control parameters include preheating start / stop threshold, optimal charging current value, current reduction protection gradient, protection action boundary, and module power allocation coefficient.

[0112] Specifically, S3 is a multivariable joint closed-loop regulation algorithm model that abandons the preset logic of fixed temperature threshold and fixed current level. It takes battery safety boundary, optimal charging efficiency and longest battery cycle life as optimization goals. Based on real-time input of full-dimensional parameters, it dynamically updates the charging and discharging control parameters to achieve continuous closed-loop regulation of the charging and discharging process in the full temperature range.

[0113] The multivariable joint closed-loop regulation algorithm model is a multi-input multi-output strongly coupled adaptive closed-loop model. It takes real-time collected battery SOC, internal resistance, temperature, temperature rise gradient, current, voltage, and SOH as inputs, and takes preheating start-stop threshold, optimal charging current, current reduction protection gradient, protection action boundary, and module power allocation coefficient as outputs. The optimal parameters are solved online through time-varying coupled weight matrix, time-varying bias vector, error back gradient update, and constrained cost function to satisfy closed-loop convergence and safety boundary constraints, and realize adaptive tuning under all operating conditions.

[0114] S4: Safety threshold verification: Determine whether the battery temperature has triggered the maximum safe over-temperature threshold. If yes, execute the over-temperature graded protection process; otherwise, proceed to S5.

[0115] S5: Dynamic matching and control of temperature range: Based on the dynamically tuned temperature threshold, the temperature range of the battery is determined, and the corresponding control branch is matched to perform charge and discharge regulation. The control branch includes a low temperature adaptive control branch, a normal temperature high-efficiency fast charging control branch, and a high temperature graded current reduction control branch.

[0116] S6: Point-to-point command issuance and equalization control: The main controller issues point-to-point independent control commands to the corresponding charging modules through unique address codes based on the tuned module power allocation coefficient and the output commands of the corresponding control branches, so as to realize differentiated charging and discharging control of different charging modules and multi-module collaborative equalization.

[0117] S7: Closed-loop feedback and cutoff judgment: Determine whether the charging cutoff condition is met. If not, return to step S2 to execute the next round of closed-loop adjustment; if yes, execute the normal shutdown process and end the charging and discharging.

[0118] Furthermore, the over-temperature graded protection process in S4 is specifically as follows:

[0119] The S41 main controller first shuts down non-core charging modules through address encoding, thereby reducing the total output power of the system;

[0120] S42 monitors the battery temperature in real time and determines whether the temperature has dropped back to a safe range; if yes, return to step S2; if no, execute the highest level of safety shutdown, disconnect the main charging circuit, trigger a fault alarm, and end the charging and discharging process.

[0121] Furthermore, the execution logic of the low-temperature adaptive control branch of S5 is as follows: based on the current SOC, internal resistance and real-time temperature rise gradient of the battery, the preheating power and preheating cutoff threshold are adaptively adjusted, while matching the step-by-step ramp-up charging current adapted to the low-temperature electrochemical characteristics of the battery.

[0122] The execution logic of the normal temperature high-efficiency fast charging control branch of S5 is as follows: lock the maximum high-efficiency charging current that matches the current state of the battery, and at the same time perform pre-judgment current fine-tuning based on the temperature change rate.

[0123] The execution logic of the high-temperature graded current reduction control branch of S5 is as follows: based on the dual-dimensional parameters of absolute temperature and temperature rise rate, graded continuous linear current reduction adjustment is performed, and the power distribution of each charging module is adjusted in conjunction with the adjustment.

[0124] According to the cell specifications, intelligent charging adjustment, i.e., resource allocation such as high current charging for low-capacity batteries and low current charging for high-capacity batteries, is achieved through software control. The circuit principle is referenced below. Figure 2 Monitor battery temperature, control voltage and current, and report to the main controller. Figure 5 The main control unit receives data from 50 batteries via communication and then aggregates and coordinates the data. The location of each battery can be clearly determined based on the communication port and the address of the connected device.

[0125] Furthermore, in S6, the main controller also dynamically allocates the working mode and output power of each charging module based on the SOC, SOH, internal resistance, temperature, and voltage deviation status information of the battery pack corresponding to each charging module through a preset charging priority model; it issues fast charging replenishment mode commands to the charging modules corresponding to battery packs with low power and good health status, and issues trickle maintenance mode commands to the charging modules corresponding to battery packs with near full charge, poor consistency, or high aging degree, so as to realize the parallel collaborative work of charging modules at different addresses operating independently with different charging curves at the same time.

[0126] Furthermore, the entire charging and discharging control process is a real-time continuous closed-loop adjustment. After each control command is executed, it returns to the parameter acquisition step S3 to readjust the control parameters. There are no fixed control thresholds or levels, thus achieving full-cycle adaptive adjustment.

[0127] A distributed independent addressing control architecture based on unique address coding is used, where each charging module is configured with an independent physical and logical address. The main controller achieves point-to-point independent control of individual charging modules through address coding, and on this basis, a multi-module collaborative intelligent balancing strategy is built. Figure 2 Address configuration, and Figure 5 The three communication ports are addressed to 20 batteries in columns 01~05 (5 channels per PCB), 11~15, 21~25, and 31~25.

[0128] Figure 4 This is the schematic diagram of a 24V to 5V switching power supply (DC-DC step-down) circuit:

[0129] The system employs a buck topology to convert the input +24V DC voltage into a stable 5V DC output (5VDC). From the input perspective, after the +24V power supply is connected, it first passes through diode ZD1 for unidirectional input, preventing the 24V voltage and BAT+ voltage from mutually sinking. Simultaneously, the voltage divider network consisting of N-channel MOSFET Q1, R21, and R22, along with D2 and the power switch, work together to achieve power-on control when AC power is connected without a battery. Capacitors C14 and C15 are responsible for absorbing surge spikes to prevent Q1 from being overvoltage avalanche breakdown. When the button is pressed, the signal is pulled low through D2, triggering the input power supply and enable (EN) of the main control chip U1 to start the power supply.

[0130] The core control chip of the circuit is U1 (MK9118B), a DC-DC buck controller. Pin 9 (VIN) is the chip's power input, pin 4 (EN) receives the power-on signal, and pin 8 (SW) is the internal MOSFET output. Additionally, pin 7 (BOOT) is connected to C2 and R3 to form a bootstrap network to drive the internal high-side MOSFET; pin 2 (OC / LDO) is connected to C6 (4.7uF) to stabilize the 3.3V voltage; pin 3 (OC / RT) sets the switching frequency via R4; pins 5 (FB) and 2 (VOS) are used for feedback and voltage detection; and pin 1 is the ground terminal. In the power conversion and output filtering section, U1 uses the FB voltage (the circuit monitors the 5V output through a voltage divider sampling network composed of R8 (160KΩ), R9 (510KΩ), and C7 (30pF)) feedback and frequency PWM to drive the internal MOS to store energy in the power inductor L4 (47uH), and smooths the high-frequency pulse voltage to DC 5V through filter capacitors such as EC2 and C4. At the same time, the RC damping network composed of R1 and C1 is used to absorb voltage spikes at the inductor end, and D1 acts as a freewheeling or protection diode.

[0131] Figure 5 It is an RS-485 communication interface circuit: used to convert the TTL / CMOS serial port signal of the microcontroller (MCU) into an RS-485 differential signal to achieve long-distance communication with strong anti-interference capability.

[0132] In the MCU interface and control logic section, the main control chip U3 (BL485B, an RS-485 transceiver) is connected to the MCU on its left side. Pin 1 (RO, receive output) is connected to the MCU's PB11 pin via the M-RX network, used to receive bus data and send it to the MCU; pin 4 (DI, transmit input) is connected to the MCU's transmit end via the M-TX network; pins 2 (RE, receive enable, active low) and 3 (DE, transmit enable, active high) are directly connected and controlled by the MCU, used to switch transmit / receive modes (half-duplex communication). Pin 8 (VCC) of the chip is connected to a 3.3V power supply, and pin 5 (GND) is grounded. R20 (10KΩ pull-up resistor), C16 (1uF decoupling capacitor), and R49 (10KΩ pull-down resistor) are connected in parallel at the power supply end to stabilize the power and configure the pin states.

[0133] In the RS-485 bus bias and termination matching section, pins 6 (line A) and 7 (line B) of the chip form a differential communication bus. Line A is pulled up via R49 (10KΩ), and line B is pulled down via R14 (10KΩ). The function of these two bias resistors is to artificially establish a stable differential voltage (making the potential of line A higher than that of line B) when the bus is idle (no device sending data), ensuring that the receiver can stably identify the logic idle state and preventing garbled characters due to interference. In addition, a PTC (marked as PTC-SMD0603-010-33V-Luhai) is connected in series with both lines A and B to protect the interface in case of short circuit or overcurrent.

[0134] In the interface protection and output section, a matching resistor R23 is connected between lines A and B to balance the bus voltage signal for multi-machine communication. Simultaneously, both lines A and B are connected to a ZD6 (WS15M2T-B), a bidirectional TVS diode (transient voltage suppressor) with an operating voltage of 15V, used to absorb high-voltage surges in the differential mode direction, clamping the voltage within a safe range and providing comprehensive protection against damage to the back-end transceiver chips. Finally, the processed MA and MB signals are output through terminals and connected to the external inverter and battery pack network.

[0135] Figure 6 and Figure 5 Same principle.

[0136] Figure 7 This is the schematic diagram of the minimum system and peripheral interface circuit of the microcontroller: This circuit, as the core of the main control unit, is responsible for the system's logic control, communication scheduling, and peripheral device driving.

[0137] In the power supply and decoupling filtering section, the chip's power supply pins (VDD, VDDA) are connected to a 3.3V voltage. The analog power is filtered by the L2 ferrite bead and equipped with protection devices such as D11. Near each power supply pin, a 0.1uF decoupling capacitor (such as C8, C9, C11, C18, etc.) is connected in parallel to ground to filter out high-frequency noise and stabilize the chip's power supply.

[0138] In the clock, reset, and boot configuration section, pins 5 and 6 (OSC_IN / OUT) are connected to a high-speed external crystal oscillator (HSE) and related load capacitors to provide the main clock for the system; pin 7 (NRST) forms the reset circuit and is pulled down through C10 (0.1uF); pin 44 (BOOT0) is pulled down to ground through R10 (10KΩ) to configure the chip to boot from the main flash memory (Flash).

[0139] In the debugging and communication interface section, PA13 (SWDIO) and PA14 (SWCLK) of the chip are led out to the header to form the SWD serial debugging interface for program download and debugging; at the same time, PB11 (USART3_RX) and PB10 (USART3_TX) are led out to connect to the RX / TX of U3 for data interaction with the RS-485 communication chip.

[0140] In the keypad input and peripheral control section, pin PA1 is connected to the UP button (with D9 protection), and pin PA0 is connected to the ENTER button (with D10 protection) for user interaction input; pin PA9 drives an LED indicator through current-limiting resistor R13; PA11 (CAN_RX) and PA12 (CAN_TX) are brought out for CAN bus communication; pins PB12, PB13, and PB14 are multi-channel RS485 transceiver enable pins. Additionally, VBAT (pin 1) is used for backup domain power supply, and PC14 / PC15 bring out a 32.768kHz low-speed external crystal oscillator (LSE) interface.

[0141] Figure 8 and Figure 5 Same principle.

[0142] Figure 9 This is the schematic diagram of the AC input detection and enable control signal circuit: When the mains power is connected, the bidirectional inverter will generate a +24V power supply signal. After the transistor level conversion and logic processing, it generates the AC_INPUT detection signal and the AC_EN enable control signal when the mains power is not connected and the battery is connected, which is judged to be discharging. It is usually used by the main control system to monitor the AC power status and switch the inverter charging and discharging functions.

[0143] In the AC input detection section, the +24V power supply drives the transistor Q2 (LMBT5551LT1G) to pull down the MCU's upper-level signal through a series voltage divider network composed of diode D5 (LBAS21HT1G), R47 (100KΩ), and R48 (100KΩ), so that the MCU can determine the presence of the AC signal through the level signal. In the enable control section, the MCU output signal EN_AC is isolated by diode D4 (LBAS21HT1G) and then drives the NPN transistor Q3 (LMBT5551LT1G) to pull down the AC_EN control signal through a voltage divider and current limiting network composed of R29 (10KΩ) and R30 (100KΩ). The bidirectional inverter automatically powers on after detecting the pull-down of the AC_EN signal.

[0144] Figure 10 This is a schematic diagram of the microcontroller's peripheral interface and clock circuit: protection and level conversion circuits for two sets of UART serial communication interfaces, as well as high-speed and low-speed external clock oscillation circuits. This circuit is used to ensure stable communication between the main control chip and external modules, and to provide a precise clock reference for the system.

[0145] In the serial communication and ESD protection section, the circuit is configured with two independent UART interfaces (UT3 and UT1). The TX (M-TX) and RX (M-RX) signals of the UT3 interface are connected to the external interface (E-TX / E-RX) through series resistors R26 and R28 (100Ω / 1%), respectively, and bidirectional TVS diodes ZD7 and ZD8 (MM8Z5V6ALT1G) are connected in parallel for electrostatic discharge (ESD) protection. At the same time, the front stage of the signal line is also pulled up by resistors R25 and R27 (10KΩ / 1%) for further current limiting or configuration of pull-up / pull-down states. Similarly, the TX (M-UT1_TX) and RX (M-UT1_RX) of the UT1 interface are also current-limited and pulled up by R32 and R46, R53 and R63 (100Ω / 1% and 10KΩ / 1%), and are equipped with ZD5 (MM8Z5V6ALT1G) bidirectional TVS diodes to discharge surge voltage, providing comprehensive protection for the main control pins from external interference damage.

[0146] In the external clock oscillation circuit section, the high-speed external clock (HSE) channel is connected to Y1 (8MHz crystal oscillator), with its two ends connected to the OSC_IN and OSC_OUT pins respectively. Load capacitors C25 and C26 (12pF / 50V) are connected in parallel to ground to provide the main clock source for the system. The low-speed external clock (OSC32) channel is connected to Y2 (32.768KHz crystal oscillator), with its two ends connected to the OSC32_IN and OSC32_OUT pins. Load capacitors C27 and C28 (12pF / 50V) are connected in parallel to ground to ground. This is typically used to provide a precise, low-power timing reference for the MCU's internal RTC (Real-Time Clock) module.

[0147] Figure 11 This is a schematic diagram of the interface connection and protection circuit: used to connect the external display module and the AC power communication terminal, and to realize the physical connection between the main control signal and the peripheral device.

[0148] This is a schematic diagram of an interface connection and protection circuit, mainly including the pin definitions and peripheral protection components for the 2.4-inch display interface (P3) and the AC power / communication interface (P4). This circuit is used to connect the external display module to the AC power communication terminal and realize the physical connection between the main control signal and the peripheral device.

[0149] In the display interface (P3) section, pin header P3 is used to connect to the 2.4-inch display. Its pin definitions include the SPI communication interface (pin 3 SCK, pin 4 MOSI, pin 6 MISO), pin 5 reset signal (RESET), and pin 7 chip select signal (CS). To prevent damage to the main control pins from external insertion / removal or electrostatic discharge, a ZD16 (MMBZ5V6ALT1G) bidirectional TVS diode is connected in parallel between the RESET and CS signal lines and grounded to discharge transient surge voltages. Additionally, pin 2 is connected to a 5VDC power supply to power the display.

[0150] In the AC communication interface (P4) section, pin P4 is labeled AC_COMM and is used to connect AC power supply modules. Its pins include pin 6 for the AC enable signal (AC_EN), pins 4 and 5 for RS-485 differential communication signals (MA, MB), pin 1 for the photovoltaic / voltage detection signal (PV), and pin 2 for +24V DC power supply. Pin 3 is grounded (P-). Based on the preceding circuitry, AC_EN is used to control the AC side modules, while MA / MB are used for battery or inverter network communication.

[0151] Figure 12 This is a schematic diagram of a bidirectional buck-boost power management circuit: The circuit is based on the SC8815 bidirectional buck-boost controller, and is equipped with MOSFET power transistors, gate drivers and external protection devices. It is mainly used to realize bidirectional charging and discharging management between the adapter (VBUS) and the battery (VBAT).

[0152] In the input protection and filtering section, a fuse F1 (32V / 5A) is connected in series at the left 32V / 5A input port for overcurrent protection, and a TVS diode ZD1 (SMAJ33CA) is connected in parallel to absorb high-voltage surges. In the core control and power conversion section, the central U1 (SC8815 controller) is the core of the circuit. Its left side connects to the current sampling resistor (SNS1P / SNS1N) and the power MOSFET drive pins (HD1 / LD1 / SW1 / BT1) on the VBUS side, and its right side connects to the current sampling resistor (SNS2P / SNS2N) and the corresponding MOSFET drive pins (HD2 / LD2 / SW2 / BT2) on the VBAT side. The bottom of the chip has pins for feedback (FB), compensation (COMP), analog detection input (ADIN), and AC adapter detection (ACIN / INDET). Four NMOS transistors (Q3-Q6) form an H-bridge topology, working with the power inductor L1 to achieve bidirectional buck-boost conversion.

[0153] Figure 13 This is the battery's secondary undervoltage protection circuit: primarily preventing battery over-discharge failure. The battery input voltage BAT1+ is divided by R61 and R64. When the voltage is greater than the set value, Q16 drives Q15 to output the BAT+ voltage; when the voltage is lower than the set value, the BAT+ voltage is turned off.

[0154] Figure 14 It is a 5V power supply circuit: The solution mainly consists of a buck topology circuit formed by the ASP1509-5V step-down chip, L3, D4, and C34, which steps down the dual power inputs of 24V+ and BAT+ to 5V.

[0155] Figure 15 It is a sub-module for single-cell charging and discharging, address and temperature protection and management control within the system; it is mainly based on the chip U2 (PY32F003F18U6T)R; it communicates with U1 (SC8815) I2C (PA6 / PA7) and the enable pin (PA12 / PA5) to control the charging voltage and current and the discharging voltage and current; it samples the temperature status through ADC (PA1) and determines the battery address position (PF1 / PF2) and temperature status based on the DIP switch pulling down the IO level signal; it then communicates with the BMS in the battery pack through I2C (PA2 / PA3) to obtain the cell status and perform fine control; finally, it communicates with the main controller through UART (PB6 / PB7) to RS485 and reports module information.

[0156] Figure 16This is the schematic diagram of the blade battery connection interface and I2C communication protection circuit: with P3 (blade battery connector) as the core, it is equipped with PTC self-resetting fuse, TVS diode, MOSFET level conversion / protection network, diode array and key detection circuit. It is mainly used to realize safe physical connection, communication and status detection between the main controller (such as APM32 microcontroller) and the battery module.

[0157] In the I2C communication interface protection section, external I2C signal lines E_SDA and E_SCL are led out on the left side of the circuit. These signal lines are connected to VCC via 100KΩ pull-up resistors (R29, R30) and level shifting or signal isolation is achieved through 2N7002K N-channel MOSFETs (Q9, Q10). Simultaneously, dual Zener / TVS diodes (D5, SMDBZ5V6ALT1G) are connected in parallel on the SDA and SCL lines to absorb transient high voltages and provide ESD protection. Furthermore, the SDA / SCL lines are current-limited via R30 and R37, further enhancing surge protection and electrostatic discharge (ESD) capabilities.

[0158] Figure 17 This is the schematic diagram of the RS485 differential communication interface circuit: the MCU's UART signal is converted into an A / B signal through the U3 (TPT8485) RS485 transceiver; and communicates with the main control board.

[0159] Figure 18 This is a schematic diagram of the protection and filtering circuit for the serial communication (UART / TTL) interface: It is used for the preprocessing of serial communication signals (UT1_RX, UT1_TX) between the main control chip and external modules. Through pull-up, series current limiting and TVS tube anti-static protection, the stability and safety of the communication signal are ensured.

[0160] Combined with the preceding circuitry, this module serves as a signal bridge between the internal main control unit and the peripheral communication modules, forming a complete embedded system communication and protection link.

[0161] Figure 19 This is the schematic diagram of the power input and switch drive control circuit of the heating module: a P-channel MOSFET (Q12) is used as the core power switch to work with the heating film. The working process is that the MCU drives the transistor (Q13) to control the Q12 switch for heating. The circuit integrates secondary overcurrent protection such as fuse F3 (32V / 3A) and ZD6 (18VTVS tube) for surge protection. The power supply is mainly provided by the 24V generated by the inverter. The main function of the entire circuit is to heat and charge the battery at low temperatures.

[0162] Figure 20This is the schematic diagram of the hardware address configuration and ambient temperature detection circuit: The circuit is divided into two independent functional modules, left and right, which are used to configure the physical address of the device through resistor combinations and to collect the ambient temperature through thermistors. It mainly works with the main control chip (such as PY32F030) to realize device identification and temperature monitoring.

[0163] In the hardware address configuration section (left-hand circuit), test point DV1 is pulled down by resistor R35 (100KΩ), and simultaneously connected in parallel with resistor R68 (five channels are integrated on one board; different resistance values ​​represent different address locations: addresses 1~5 and NC / 80K / 60K / 40K / 20K / 1%) and capacitor C28 (0.1uF) to ground. This node outputs an add signal to the main controller's ADC or GPIO pin. The MCU sets the address via the ADC value; this module is used to set the device's RS485 physical address or device number.

[0164] In the ambient temperature detection section (right-hand circuit), test point DV1 (possibly another test point designation) is pulled down by resistor R34 (100KΩ) and connected to ground via RT2 (a thermistor, labeled 100K-3950, meaning its resistance is 100KΩ at 25℃, and its B value is 3950). A decoupling capacitor C29 (0.1uF) is connected in parallel at the node, and the MOD_TEP signal (remarked as ambient temperature) is output. This is a typical NTC thermistor voltage divider temperature measurement circuit. The resistance of RT2 changes with the ambient temperature, causing the voltage at the MOD_TEP node to change accordingly. The main controller acquires this voltage through the ADC pin to calculate the current ambient temperature.

[0165] Combined with the preceding circuitry, this module serves as the system's sensing and configuration input, working in conjunction with the main control logic, RS485 communication, and heating drive. After acquiring the device address and temperature data, the main control unit can upload this data to the host computer via RS485, or control the heating module (such as the aforementioned HEATER circuit) based on temperature feedback, thus forming a complete closed-loop control system.

[0166] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A distributed intelligent charging system for drone batteries, characterized in that, The system includes a main controller, 50 independent charging modules, and a battery status acquisition network. The main controller is responsible for overall system scheduling, data aggregation, human-computer interaction, and external communication. The independent charging module: each module corresponds to one drone battery, and each module has an independent I2C communication, temperature acquisition, heating, charging and discharging control unit, multi-variable coupling adaptive closed-loop control unit and intelligent equalization control unit; The battery status acquisition network achieves high-speed and reliable communication between master and slave modules via an RS485 differential bus.

2. The system according to claim 1, characterized in that, The main controller is connected to each independent charging module through a battery status acquisition network, so that the main controller’s instructions are sent to the charging and discharging control unit of the independent charging module through the battery status acquisition network. At the same time, the temperature information collected by each independent charging module is sent to the battery status acquisition network through I2C communication and then transmitted to the main controller through the battery status acquisition network.

3. The system according to claim 1, characterized in that, The multivariable coupled adaptive closed-loop control unit is used to acquire battery status parameters collected by the BMS, module operating parameters uploaded by each charging module, and environmental parameters acquired by the environmental acquisition unit, to construct a multivariable joint closed-loop adjustment algorithm model, and dynamically adjust the charging and discharging control parameters based on the real-time acquired full-dimensional parameters.

4. The system according to claim 3, characterized in that, The multivariable coupled adaptive closed-loop control unit is pre-configured with a low-temperature adaptive control branch, a normal-temperature high-efficiency fast-charging control branch, a high-temperature graded current reduction control branch, and an over-temperature graded safety shutdown branch. The low-temperature adaptive control branch is used to adaptively adjust the preheating power and preheating cutoff threshold based on the battery's current SOC, internal resistance and real-time temperature rise gradient when the battery is in a dynamically tuned low-temperature range, while matching a stepped ramp-up charging current adapted to the battery's low-temperature electrochemical characteristics. The room temperature high-efficiency fast charging control branch is used to lock the maximum high-efficiency charging current that matches the current state of the battery when the battery is in the dynamically tuned room temperature optimal working range, and at the same time perform a pre-judgment current fine adjustment based on the temperature change rate. The high-temperature graded current reduction control branch is used to perform graded continuous linear current reduction adjustment based on two-dimensional parameters of absolute temperature and temperature rise rate when the battery is in a dynamically tuned high-temperature warning range. At the same time, it is linked with the intelligent equalization control unit to adjust the power distribution of each charging module. The over-temperature graded safety shutdown branch is used to first shut down non-core charging modules through address coding when the battery temperature exceeds the highest safety threshold. If the temperature does not drop back to the safe range, the main charging circuit is then cut off.

5. The system according to claim 4, characterized in that, The address encoding includes the independent physical address and logical address of the corresponding charging module. The main controller performs communication link verification through the physical address and performs dynamic allocation and priority scheduling of charging tasks through the logical address.

6. The system according to claim 1, characterized in that, The intelligent equalization control unit is used to issue point-to-point independent control commands to the corresponding charging modules through address encoding based on the module power allocation coefficient output by the multivariable coupled adaptive closed-loop control unit and the battery pack status corresponding to each charging module, so as to realize differentiated charging and discharging control of different charging modules and multi-module collaborative equalization.

7. A control method for a distributed intelligent charging system for unmanned aerial vehicle (UAV) batteries, characterized in that, The control method uses the distributed drone battery intelligent charging system as described in any one of claims 1-6, and the control method includes the following steps: S1: System power-on initialization, the main controller completes communication handshake with BMS and each charging module, verifies the unique address code of each charging module, and establishes a point-to-point communication link; S2: Synchronous acquisition of all-dimensional parameters: The main controller acquires battery status parameters collected by the BMS, module operating parameters uploaded by each charging module, and environmental parameters acquired by the environmental acquisition unit; S3: Multivariable Coupled Adaptive Calculation: The main controller dynamically tunes the charging and discharging control parameters based on real-time collected full-dimensional parameters through the built-in multivariable joint closed-loop adjustment algorithm model. The charging and discharging control parameters include preheating start / stop threshold, optimal charging current value, current reduction protection gradient, protection action boundary, and module power allocation coefficient. S4: Safety threshold verification: Determine whether the battery temperature has triggered the maximum safe over-temperature threshold. If yes, execute the over-temperature graded protection process; otherwise, proceed to S5. S5: Dynamic matching and control of temperature range: Based on the dynamically tuned temperature threshold, the temperature range of the battery is determined, and the corresponding control branch is matched to perform charge and discharge regulation. The control branch includes a low temperature adaptive control branch, a normal temperature high-efficiency fast charging control branch, and a high temperature graded current reduction control branch. S6: Point-to-point command issuance and equalization control: The main controller issues point-to-point independent control commands to the corresponding charging modules through unique address codes based on the tuned module power allocation coefficient and the output commands of the corresponding control branches, so as to realize differentiated charging and discharging control of different charging modules and multi-module collaborative equalization. S7: Closed-loop feedback and cutoff judgment: Determine whether the charging cutoff condition is met. If not, return to step S2 to execute the next round of closed-loop adjustment; if yes, execute the normal shutdown process and end the charging and discharging.

8. The control method according to claim 7, characterized in that, The over-temperature graded protection process in S4 is as follows: S41: The main controller first shuts down non-core charging modules through address encoding to reduce the total output power of the system; S42: Monitor the battery temperature in real time and determine whether the temperature has dropped back to the safe range; if yes, return to step S2; if no, execute the highest level of safety shutdown, cut off the main charging circuit, trigger a fault alarm, and end the charging and discharging process.

9. The control method according to claim 7, characterized in that, The execution logic of the low-temperature adaptive control branch of S5 is as follows: based on the current SOC, internal resistance and real-time temperature rise gradient of the battery, the preheating power and preheating cutoff threshold are adaptively adjusted, while matching the step-by-step ramp-up charging current adapted to the low-temperature electrochemical characteristics of the battery. The execution logic of the normal temperature high-efficiency fast charging control branch of S5 is as follows: lock the maximum high-efficiency charging current that matches the current state of the battery, and at the same time perform pre-judgment current fine-tuning based on the temperature change rate. The execution logic of the high-temperature graded current reduction control branch of S5 is as follows: based on the dual-dimensional parameters of absolute temperature and temperature rise rate, graded continuous linear current reduction adjustment is performed, and the power distribution of each charging module is adjusted in conjunction with the adjustment.

10. The control method according to claim 7, characterized in that, The entire charging and discharging control process is a real-time continuous closed-loop adjustment. After each control command is executed, it returns to the parameter acquisition step S3 to readjust the control parameters. There are no fixed control thresholds or levels, thus achieving full-cycle adaptive adjustment.

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