graph LR
subgraph "三相全桥驱动拓扑"
A[直流母线] --> B["上桥臂 \n VBMB16R20SE"]
B --> C[电机U相]
A --> D["上桥臂 \n VBMB16R20SE"]
D --> E[电机V相]
A --> F["上桥臂 \n VBMB16R20SE"]
F --> G[电机W相]
H[伺服电机] --> C
H --> E
H --> G
C --> I["下桥臂 \n VBMB16R20SE"]
E --> J["下桥臂 \n VBMB16R20SE"]
G --> K["下桥臂 \n VBMB16R20SE"]
I --> L[功率地]
J --> L
K --> L
end
subgraph "驱动与控制回路"
M[伺服控制器] --> N[PWM发生器]
N --> O[死区控制]
O --> P[栅极驱动器 \n IRS21864]
P --> B
P --> D
P --> F
P --> I
P --> J
P --> K
Q[电流采样] --> R[ADC转换]
R --> M
S[编码器接口] --> M
end
subgraph "保护与散热"
T[过流检测] --> U[比较器]
U --> V[故障锁存]
V --> W[关断信号]
W --> P
X[散热器] --> B
X --> D
X --> F
Y[温度传感器] --> Z[热管理MCU]
Z --> AA[风扇控制]
end
style B fill:#e8f5e8,stroke:#4caf50,stroke-width:2px
style I fill:#e8f5e8,stroke:#4caf50,stroke-width:2px
安全制动控制拓扑详图
graph TB
subgraph "高侧制动控制回路"
A[直流电源] --> B["VBE25R04 \n -500V/-4A"]
B --> C[制动器线圈]
C --> D[功率地]
E[快恢复二极管] -->|并联续流| C
end
subgraph "驱动与电平转换"
F[安全MCU] --> G[GPIO输出]
G --> H[电平转换电路]
subgraph H ["电平转换"]
direction LR
I[NPN三极管]
J[上拉电阻]
K[栅极电阻]
end
H --> B
L[RC滤波] --> B
end
subgraph "状态监测与保护"
M[线圈电流检测] --> N[ADC]
N --> F
O[线圈电压检测] --> P[比较器]
P --> Q[故障诊断]
Q --> F
R[温度监测] --> F
end
subgraph "安全冗余设计"
S[冗余MCU] --> T[看门狗]
T --> F
U[双通道控制] --> B
V[状态反馈] --> W[安全继电器]
W --> X[紧急断电]
end
style B fill:#ffebee,stroke:#f44336,stroke-width:2px
辅助电源与传感器管理拓扑详图
graph LR
subgraph "双路负载智能开关"
A[辅助MCU] --> B[GPIO1]
A --> C[GPIO2]
B --> D["VBA4670 Ch1 \n -60V/-5A"]
C --> E["VBA4670 Ch2 \n -60V/-5A"]
F[12V电源] --> D
F --> E
D --> G[力传感器]
E --> H[安全光幕]
G --> I[地]
H --> I
end
subgraph "电源分配网络"
J[24V主电源] --> K[DC-DC转换器]
K --> L[12V域]
K --> M[5V域]
K --> N[3.3V域]
subgraph "传感器供电"
O["VBA4670"]
P["VBA4670"]
Q["VBA4670"]
end
L --> O
M --> P
M --> Q
O --> R[编码器]
P --> S[通信模块]
Q --> T[显示单元]
end
subgraph "热管理与布局"
U[SOP8封装] --> V[底部散热焊盘]
W[PCB敷铜] --> V
X[热过孔] --> W
Y[空气流动] --> U
end
subgraph "EMC与保护"
Z[栅极电阻] --> D
AA[ESD保护] --> G
AB[TVS阵列] --> F
AC[π型滤波] --> J
end
style D fill:#e3f2fd,stroke:#2196f3,stroke-width:2px
style O fill:#e3f2fd,stroke:#2196f3,stroke-width:2px
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