graph LR
subgraph "三相高压输入级"
A["果园380VAC输入"] --> B["雷击浪涌保护器"]
B --> C["EMI滤波器"]
C --> D["三相整流桥"]
D --> E["PFC电感"]
E --> F["PFC开关节点"]
F --> G["VBM19R05S \n 900V/5A"]
G --> H["高压直流母线 \n 540VDC"]
I["PFC控制器"] --> J["隔离栅极驱动器"]
J --> G
H -->|电压反馈| I
end
subgraph "多路辅助电源"
H --> K["反激变换器"]
K --> L["VBM19R05S \n 900V/5A"]
L --> M["高频变压器"]
M --> N["次级整流"]
N --> O["48V输出 \n (伺服总线)"]
N --> P["24V输出 \n (移动底盘)"]
N --> Q["12V/5V输出 \n (控制电路)"]
R["反激控制器"] --> S["驱动器"]
S --> L
end
subgraph "输入保护与滤波"
T["输入保险丝"] --> B
U["X/Y电容"] --> C
V["共模电感"] --> C
W["压敏电阻阵列"] --> B
end
style G fill:#e8f5e8,stroke:#4caf50,stroke-width:2px
style L fill:#e8f5e8,stroke:#4caf50,stroke-width:2px
伺服关节驱动拓扑详图
graph LR
subgraph "三相全桥逆变器"
A["48V伺服总线"] --> B["直流母线电容"]
B --> C["U相上桥臂"]
B --> D["V相上桥臂"]
B --> E["W相上桥臂"]
subgraph "U相桥臂"
C --> FU["VBGL1803 \n 80V/150A"]
FU --> GU["U相输出"]
HU["VBGL1803 \n 80V/150A"] --> GU
HU --> I["功率地"]
end
subgraph "V相桥臂"
D --> FV["VBGL1803 \n 80V/150A"]
FV --> GV["V相输出"]
HV["VBGL1803 \n 80V/150A"] --> GV
HV --> I
end
subgraph "W相桥臂"
E --> FW["VBGL1803 \n 80V/150A"]
FW --> GW["W相输出"]
HW["VBGL1803 \n 80V/150A"] --> GW
HW --> I
end
end
subgraph "伺服驱动控制"
J["伺服控制器 \n (DSP/MCU)"] --> K["三相PWM生成"]
K --> L["高电流栅极驱动器"]
L --> FU
L --> HU
L --> FV
L --> HV
L --> FW
L --> HW
M["电流检测"] --> GU
M --> GV
M --> GW
M --> N["高精度ADC"]
N --> J
O["编码器接口"] --> P["关节绝对编码器"]
P --> J
end
subgraph "电机连接与保护"
GU --> Q["伺服电机U相"]
GV --> R["伺服电机V相"]
GW --> S["伺服电机W相"]
T["缓冲电路"] --> FU
U["过流保护"] --> FU
V["温度检测"] --> FU
end
style FU fill:#e3f2fd,stroke:#2196f3,stroke-width:2px
末端执行器驱动拓扑详图
graph LR
subgraph "夹爪力控系统"
A["24V电源"] --> B["输入滤波"]
B --> C["VBA3316D半桥 \n (通道1)"]
C --> D["夹爪电机正转"]
E["VBA3316D半桥 \n (通道2)"] --> F["夹爪电机反转"]
G["力传感器"] --> H["ADC"]
H --> I["力控算法"]
I --> J["PWM调制"]
J --> K["半桥驱动器"]
K --> C
K --> E
subgraph "VBA3316D内部结构"
direction TB
M["VCC(12-24V)"] --> N["高端N-MOS \n 30V/8A"]
N --> O["输出节点"]
P["低端N-MOS \n 30V/8A"] --> O
P --> Q["GND"]
R["高端输入"] --> N
S["低端输入"] --> P
end
end
subgraph "剪切器控制系统"
T["24V电源"] --> U["输入滤波"]
U --> V["VBA3316D半桥 \n (剪切控制)"]
V --> W["剪切电机"]
X["位置传感器"] --> Y["位置反馈"]
Y --> Z["剪切算法"]
Z --> AA["PWM控制"]
AA --> BB["驱动器"]
BB --> V
end
subgraph "安全保护机制"
CC["电流检测"] --> DD["过流保护"]
EE["温度监测"] --> FF["热保护"]
GG["机械限位"] --> HH["位置保护"]
DD --> II["故障锁存"]
FF --> II
HH --> II
II --> JJ["紧急关断"]
JJ --> C
JJ --> V
end
style C fill:#fff3e0,stroke:#ff9800,stroke-width:2px
style V fill:#fff3e0,stroke:#ff9800,stroke-width:2px
点击下载：VBM19R05S规格书
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