The old idea was a latched relay, at around 56 volt it would reduce the charge rate, So a fork lift may start charging at 100A as the battery becomes part charged the current starts to drop, but at 56 volt the relay will reduce current to maybe 10A and start a timer, after 1/2 hour it then switches off.
The 1/2 hour is called an equalizing charge and it lets low cells catch up to high cells. This means the battery needs topping up once charged. The use of valve regulated lead acid (VRLA) means you can't top up batteries so the so called 3 stage charger has been replaced with 7 stage chargers an pulse chargers.
In the old days we had problems with golf trollies, people would fit car batteries instead of traction batteries, and the user would find he soon got down to 14 holes rather than 18 before batteries failed, and would try to return the batteries. However using a car battery instead of traction invalidated the warranty which upset them some what.
So what type of lead acid are you using? What AH are you using, using 54 volt fixed voltage would in fullness of time recharge the batteries, but how long are they on charge, be it fork lift, or milk float the aim was to recharge within 10 hours, if you have 24 hours it becomes easier.