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The transverse momentum <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mo>(</mo><msub><mi>p</mi><mi>T</mi></msub><mo>)</mo></mrow></semantics></math></inline-formula> spectra of charged particles measured in Au + Au collisions from the beam energy scan (BES) program, Cu + Cu collisions at <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msqrt><msub><mi>s</mi><mrow><mi>N</mi><mi>N</mi></mrow></msub></msqrt><mo>=</mo><mn>62.4</mn></mrow></semantics></math></inline-formula>, 200 GeV at the RHIC and Pb + Pb, Xe + Xe collisions at the LHC are investigated in the framework of Tsallis thermodynamics. The theory can describe the experimental data well for all the collision systems, energies and centralities investigated. The collision energy and centrality dependence of the Tsallis distribution parameters, i.e., the temperature <i>T</i> and the nonextensive parameter <i>q</i>, for the A + A collisions are also studied and discussed. A novel scaling between the temperature divided by the natural logarithm of collision energy <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mo>(</mo><mi>T</mi><mo>/</mo><mo form="prefix">ln</mo><msqrt><mi>s</mi></msqrt><mo>)</mo></mrow></semantics></math></inline-formula> and the nonextensive parameter <i>q</i> is presented.