1 2 VIN C11 C8 C12 7 5 2 3 0.1uF/50V 10uF/50V 10uF/50V U2 VIN ENA NC NC PH BOOT VSENSE GND PAD TPS5430DDAR 开关稳压 器 103 C3 8 1 4 6 0 L1 D2 + C7 220uF/16V +12 10K R3 1.1k R6 GND A GND 3 +12 电源转换 24V-12V 12V-5V 5V-3.3V 4 +5 5 6 7 8 U1 IN SD NC NC DAP 4 8 2 7 9 OUT ADJ BYP GND 5 6 1 3 C6 C5 0.1uf/25V 10uf/25V GND LP3878MR-ADJ 低压差稳压器 C1 1.2nf C13 103 12K R4 C4 106/10V 3K R7 Vadj=1V GND +3.3_MCU R1 +3.3 0 L2 1K R5 C9 C10 GND 1 2 R2 4.7K 3 7 U3 OUT NC PG PAD IN GND EN 6 5 4 LP5912-3.3DRVT 低压差稳压器 +5 C2 10uF/10V GND 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 U5 V_BAT PC13/TAMPER-RTC PC14/OSC32_IN PC15/OSC32_OUT PD0/OSC_IN PD1/OSC_OUT NRST PC0/ADC12_IN10 PC1/ADC12_IN11 PC2/ADC12_IN12 PC3/ADC12_IN13 VSSA VDDA PA0/WKUP/UART2_CTS/ADC12_IN0/TIM2_CH1_ETR PA1/UART2_RTS/ADC12_IN1/TIM2_CH2 PA2/UART2_TX/ADC12_IN2/TIM2_CH3 PA3/UART2_RX/ADC12_IN3/TIM2_CH4 VSS_4 VDD_4 PA4/SPI1_NSS/UART2_CK/ADC12_IN4 PA5/SPI1_SCK/ADC12_IN5 PA6/SPI1_MISO/ADC12_IN6/TIM3_CH1 PA7/SPI1_MOSI/TIM8_CH1N/ADC12_IN7/TIM3_CH2 PC4/ADC12_IN14 PC5/ADC12_IN15 PB0/ADC12_IN8/TIM3_CH3/TIM8_CH2N PB1/ADC12_IN9/TIM3_CH4/TIM8_CH3N PB2/BOOT1 PB10/I2C2_SCL/UART3_TX PB11/I2C2_SDA/UART3_RX VSS_1 VDD_1 VDD_3 VSS_3 PB9/TIM4_CH4 PB8/TIM4_CH3 BOOT0 I2C1_SDA/TIM4_CH2/PB7 I2C1_SCL/TIM4_CH1/PB6 I2C1_SMBAI/PB5 NJTRST/PB4 JTDO/PB3 TIM3_ETR/PD2 PC12 PC11 PC10 JTDI/PA15 JTCK/SWCLK/PA14 VDD_2 VSS_2 JTMS/SWDIO/PA13 UART1_RTS/USBDP/CAN_TX/TIM1_ETR/PA12 UART1_CTS/USBDM/CAN_RX/TIM1_CH4/PA11 UART1_RX/TIM1_CH3/PA10 UART1_TX/TIM1_CH2/PA9 UART1_CK/TIM1_CH1/MCO/PA8 PC9/TIM8_CH4 PC8/TIM8_CH3 PC7/TIM8_CH2 PC6/TIM8_CH1 SPI2_MOSI/TIME1_CH3N/PB15 SPI2_MISO/UART3_RTS/TIME1_CH2N/PB14 SPI2_SCK/UART3_CTS/TIME1_CH1N/PB13 SPI2_NSS/I2C2_SMBAI/UART3_CK/TIME1_BKIN/PB12 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 GND SWCLK +3.3_MCU SWDIO CAN1_TX_MCU CAN1_RX_MCU TIM1_CH3_PA10 TIM1_CH2_PA9 TIM1_CH1_PA8 TIM8_CH3_PC8 TIM8_CH2_PC7 STM32F103RET6 USART2_TX_PA2 USART2_RX_PA3 P2 0 1 2 3 USART GND GND +3.3 H2 C30 104 C31 106 5 4 3 2 1 TIM1_CH3_PA10 TIM1_CH2_PA9 TIM1_CH1_PA8 +5 Encoder R25 2.7K R26 2.7K R27 2.7K 高电压，高边电流检 测 U4 VIN R8 5 100 3 V+ OUT -IN +24_motor 4 +IN V- LTC6101BHS5 1 2 ADC2_IN11_PC1 VIN R10 3k C14 104 D3 +3.3_MCU GND R11 1K GND C17 VIN 104 GND GND G=30 +24_motor R9 0.01Ω C15 1000uF/50V GND +12 TIM8_CH2_PC7 TIM8_CH2N_PB0 R161k R171k C22 C23 D4 U6 VCC HIN LIN COM 1 2 3 4 IRS21867S VB HO VS LO GND +12 TIM8_CH3_PC8 TIM8_CH3N_PB1 R231k R241k C27 C28 D5 U7 VCC HIN LIN COM 1 2 3 4 IRS21867S VB HO VS LO GND 8 7 6 5 8 7 6 5 R13 10Ω + C21 1uF/35V R18 10Ω R21 10Ω + C26 1uF/35V R28 10Ω +24_motor K2 K3 C20 104 R15 100 M+ C24 104 R19 100 GND +24_motor K4 K5 M- C25 104 R22 100 C29 104 R31 100 GND P1 2 1 2 1 Motor GND C16 20P +3.3_MCU X1 8M C18 20P +3.3_MCU ADC2_IN11_PC1 RESET_MCU2 R12 10K Switch C19 106 GND +3.3_MCU USART2_TX_PA2 USART2_RX_PA3 +3.3_MCU GND R14 L3 1K GND B TIM8_CH2N_PB0 TIM8_CH3N_PB1 R20 1K GND GND +3.3_MCU +3.3 SWCLK SWDIO R30 10K R29 10K GND 1 2 3 4 5 H1 VCC D- D+ ID GND USB +3.3 C D +3.3_MCU C33 104 C34 104 C35 104 C36 104 C37 104 C38 104 GND +3.3 R32 4.7K R33 4.7K GND CAN1_TX_MCU CAN1_RX_MCU R34 R35 22R 22R C32 104 +5 U8 S TX RX REF 8 1 4 5 VDD CANH CANL GND 3 7 6 2 R36 120R/NC CAN_P CAN_N SN65HVD1050DR CAN 控制器 GND P3 1 2 3 4 输入 1 2 3 4 VIN CAN_N CAN_P GND 1 2 3 4 5 6 7 8 Title Size A3 Date: File: Number Revision 2019/1/16 C:\Users\cqy\Desktop\直流电机驱动器.SchDoc Sheet of Drawn By: A B C D