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No, for a given cell capacity, two 12V flooded lead-acid batteries in series are electrically the same as one 24V battery or four six volt batteries, etc. The charge voltage really is a function of volts per cell, and in this case, 2.58 is about the upper limit for your 12 total cells.

31 volts is at the high edge of charge voltage for a flooded 24V battery. If it doesn't go higher, and if you keep an eye on the electrolyte level, you should be OK. You can find lots of information on the web, of course. Here's some: http://www.solarnavigator.net/battery_charging.htm The...