graph LR
subgraph "输入整流与预稳压"
A[三相380VAC] --> B[EMI滤波器]
B --> C[三相整流桥]
C --> D[直流母线电容]
D --> E[预稳压电感]
E --> F[开关节点]
F --> G["VBM17R15SE \n 700V/15A"]
G --> H[稳压输出48VDC]
I[预稳压控制器] --> J[栅极驱动器]
J --> G
H -->|电压反馈| I
end
subgraph "制动能量回收电路"
K[关节电机] --> L[再生制动能量]
L --> M[三相整流]
M --> N[升压转换器]
N --> O[储能电容]
O --> P[母线电压]
Q[制动控制信号] --> R[回收控制电路]
R --> N
P -->|电压检测| R
end
subgraph "保护网络"
S[母线电容] --> T[RCD缓冲]
U[预稳压MOSFET] --> V[RC吸收]
W[栅极驱动] --> X[TVS保护]
T --> G
V --> G
X --> J
end
style G fill:#e8f5e8,stroke:#4caf50,stroke-width:2px
style N fill:#bbdefb,stroke:#1976d2,stroke-width:2px
关节电机驱动拓扑详图
graph TB
subgraph "三相全桥逆变器"
A[48VDC输入] --> B[U相上桥]
A --> C[V相上桥]
A --> D[W相上桥]
B --> E["VBN1101N \n 100V/100A"]
C --> F["VBN1101N \n 100V/100A"]
D --> G["VBN1101N \n 100V/100A"]
E --> H[U相输出]
F --> I[V相输出]
G --> J[W相输出]
H --> K["VBN1101N \n 100V/100A"]
I --> L["VBN1101N \n 100V/100A"]
J --> M["VBN1101N \n 100V/100A"]
K --> N[功率地]
L --> N
M --> N
end
subgraph "栅极驱动与保护"
O[MCU PWM信号] --> P[隔离驱动器]
subgraph "U相驱动电路"
direction LR
U_DRIVER[驱动器芯片]
U_RGON[栅极电阻Rg_on]
U_RGOFF[栅极电阻Rg_off]
U_TVS[TVS保护]
end
P --> U_DRIVER
U_DRIVER --> U_RGON
U_RGON --> E
U_DRIVER --> U_RGOFF
U_RGOFF --> K
U_TVS --> U_DRIVER
end
subgraph "电流检测与保护"
H --> Q[电流采样电阻]
I --> R[电流采样电阻]
J --> S[电流采样电阻]
Q --> T[差分放大器]
R --> T
S --> T
T --> U[高速比较器]
U --> V[过流保护]
V --> W[故障锁存]
W --> X[关断信号]
X --> P
end
subgraph "电机与传感器"
H --> Y[永磁同步电机]
I --> Y
J --> Y
Y --> Z[光电编码器]
Y --> AA[旋转变压器]
Y --> BB[扭矩传感器]
Z --> MCU[主控MCU]
AA --> MCU
BB --> MCU
end
style E fill:#e3f2fd,stroke:#2196f3,stroke-width:2px
style K fill:#e3f2fd,stroke:#2196f3,stroke-width:2px
辅助电源与智能负载管理拓扑详图
graph LR
subgraph "多级电源管理"
A[48VDC输入] --> B[DC-DC转换器]
B --> C[12V电源域]
B --> D[5V电源域]
D --> E[3.3V电源域]
C --> F["VBA1328负载开关"]
D --> G["VBA1328负载开关"]
E --> H["VBA1328负载开关"]
end
subgraph "智能负载开关通道"
subgraph "CPU核心供电通道"
I[MCU GPIO] --> J[电平转换]
J --> K["VBA1328输入"]
K --> L[双N-MOS阵列]
VCC_12V[12V输入] --> L
L --> M[CPU核心电源]
end
subgraph "传感器供电通道"
N[MCU GPIO] --> O[电平转换]
O --> P["VBA1328输入"]
P --> Q[双N-MOS阵列]
VCC_5V[5V输入] --> Q
Q --> R[高耗能传感器]
end
subgraph "驱动器保持通道"
S[MCU GPIO] --> T[电平转换]
T --> U["VBA1328输入"]
U --> V[双N-MOS阵列]
VCC_12V_2[12V输入] --> V
V --> W[关节驱动器]
end
end
subgraph "状态监控"
X[负载电流检测] --> Y[ADC]
Z[温度监测] --> Y
AA[电压监测] --> Y
Y --> MCU[主控MCU]
MCU --> BB[功率状态决策]
BB --> I
BB --> N
BB --> S
end
style L fill:#fff3e0,stroke:#ff9800,stroke-width:2px
style Q fill:#fff3e0,stroke:#ff9800,stroke-width:2px
style V fill:#fff3e0,stroke:#ff9800,stroke-width:2px
热管理与电磁兼容拓扑详图
graph TB
subgraph "三级散热系统"
A["一级: 强制风冷/液冷"] --> B["关节驱动MOSFET"]
C["二级: 被动散热片"] --> D["母线预稳压MOSFET"]
E["三级: PCB敷铜自然散热"] --> F["负载管理IC"]
G[温度传感器NTC] --> H[MCU温度监控]
H --> I[风扇PWM控制]
H --> J[液冷泵控制]
I --> K[冷却风扇]
J --> L[液冷泵]
end
subgraph "PCB热设计优化"
M[金属基板/IMS板] --> B
N[翅片散热器] --> D
O[2oz加厚铜箔] --> P[所有大电流路径]
Q[散热过孔阵列] --> R[内部接地层]
P --> Q
Q --> M
end
subgraph "电磁兼容设计"
S[直流母线CLC滤波器] --> T[传导EMI抑制]
U[共模磁环] --> V[三相输出端]
W[最小环路面积<1cm²] --> X[高di/dt路径]
Y[屏蔽双绞线] --> Z[电机动力线]
AA[随机PWM调制] --> BB[辐射EMI抑制]
CC[完整法拉第笼] --> DD[金属结构件]
end
subgraph "可靠性增强"
EE[RC缓冲电路] --> FF[开关管过冲吸收]
GG[TVS管阵列] --> HH[相线对地浪涌]
II[快恢复二极管] --> JJ[并联体二极管]
KK[精密采样电阻] --> LL[过流保护<1μs]
MM[在线监测Rds(on)] --> NN[器件老化预测]
OO[电流波形分析] --> PP[轴承磨损诊断]
end
style B fill:#e3f2fd,stroke:#2196f3,stroke-width:2px
style D fill:#e8f5e8,stroke:#4caf50,stroke-width:2px
style F fill:#fff3e0,stroke:#ff9800,stroke-width:2px
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