24V/12V POWER TREE · SAFETY ENABLE · CAN · PIN MAP
R23 A方案第一版电气原理与电源树
工程边界：24V是A方案第一版设计情景，不是强制整机电压。最终保险、线径、继电器/接触器、阀线圈、DC/DC容量和针脚编号必须在实际控制器、负载、线束长度、环境温度和启动电流确定后计算。
一、电源树
| ID | 支路 | 标称 | 来源 | 保护 | 负载 | 状态 |
|---|---|---|---|---|---|---|
| P0 | Battery / Main DC | 24 VDC scenario | Battery + / chassis return | Main disconnect + main fuse sized after load study | P1–P6 | design scenario |
| P1 | Control ECU Power | 24 VDC switched + permanent memory where required | P0 | dedicated fused branch | VCU, RES ECU, CHS ECU, HMI/GW | design scenario |
| P2 | Safety Control Power | 24 VDC independent protected branch | P0 | dedicated fuse + safety enable chain | Safety ECU/relay, safety inputs, drive enables | design scenario |
| P3 | Valve / Actuator Power | 24 VDC high-current branch | P0 | separate fused zones VB1–VB5 | proportional valves, directional valves, actuators | design scenario |
| P4 | Sensor Power | 5 V / 8–12 V regulated as required by selected ECU/sensors | ECU regulated supplies / protected converters | current-limited ECU sensor supply or dedicated converter | pressure, position, speed, load, IMU sensors | hardware-dependent |
| P5 | 12 V Auxiliary | 12 VDC via DC/DC from 24 V scenario | P0 via DC/DC | fused converter input/output | 12 V HMI/accessory/camera/aux devices if required | optional design scenario |
| P6 | High-power Motor Drives | 24 VDC or separate hydraulic/electric drive source | P0 or dedicated power source | individual fuse/breaker/contactors | electric conveyors/fans if electric implementation selected | implementation-dependent |
R23建议控制ECU、安全控制、阀/执行器、传感器和12V辅助分别保护。这样某个阀线圈或辅助设备短路时，不应直接拉掉安全控制器和主控的供电。
二、保险/保护区域
| 区域 | 保护对象 | 选型规则 | 最终额定 |
|---|---|---|---|
| F-MAIN | whole machine low-voltage electrical system | size from worst-case continuous current, inrush, conductor ampacity and fault-clearing study | TBD |
| F-ECU | VCU/RES/CHS/HMI control electronics | use controller manufacturer supply-current limits and wire size; separate memory/wakeup feed if needed | TBD |
| F-SAFE | safety controller/relay and Safety Enable chain | independent protected branch; maintain safety function under non-safety branch faults | TBD |
| F-VB1 | feed/conveyor anti-block valve block | sum coil currents + driver limits + simultaneous duty | TBD |
| F-VB2 | cutter/fan drive control | depends on hydraulic valve coils or electric motor drive input current | TBD |
| F-VB3 | hood/vent actuators | actuator steady + stall/inrush + wire ampacity | TBD |
| F-VB4 | cross conveyor/bin unload | motor/valve duty and jam current | TBD |
| F-VB5 | leveling valve block | safety-related branch assessment and valve current | TBD |
| F-12V | 12 V DC/DC and auxiliary branch | converter input/output ratings and downstream loads | TBD |
所有最终保险值暂为TBD。控制器资料中的示例保险只能作为该具体硬件参考，不能直接复制到整机。
三、Safety Enable链
Battery/P2安全支路 → 急停/护罩输入 → Safety ECU/relay → Safety Enable → 刀辊/输送/卸料等危险驱动。
非安全VCU或CAN命令只能“请求”危险动作，最终使能必须经过安全链。安全控制器可采用双处理器/监督输出型硬件作为候选，但具体AgPL和诊断覆盖率仍需按ISO 25119风险分析确定。
四、CAN物理层
| 项目 | 规则 | 依据 |
|---|---|---|
| CAN-A backbone | real-time machine control CAN; VCU–RES–CHS–local nodes | ISO11783/J1939-style CAN architecture |
| CAN-B backbone | HMI/GNSS/diagnostics/data; lower criticality traffic | ISO11783-style information/diagnostic network |
| Termination | 120 Ω nominal at each end of main backbone; target total bus resistance about 60 Ω when powered down | Danfoss XL104 CAN installation guidance |
| Terminator tolerance | 110–130 Ω acceptable range per referenced Danfoss controller guidance | Danfoss XL104 |
| Topology | avoid star wiring; keep stubs short and define backbone endpoints in CAD harness drawing | mobile CAN good practice / selected controller manual |
| Dedicated ISOBUS/CAN port | if later implementing ISOBUS, reserve dedicated CAN port where controller architecture allows | Danfoss XL104 recommendation |
| Shield/ground | implement per chosen controller/transceiver and harness architecture; do not bond shields arbitrarily at multiple points | hardware-specific |
参考移动控制器资料，CAN主干两端采用120Ω nominal终端，110–130Ω为参考允许范围；断电后两个120Ω并联约60Ω。终端必须位于主干两端，不要随意做星形拓扑。
五、传感器供电与接地
| ID | 用途 | 规则 |
|---|---|---|
| GND-ECU | ECU power returns | dedicated low-impedance return to defined power-star / battery return; avoid using random chassis joints as sole signal return |
| GND-SENS | sensor reference ground | use ECU sensor-ground/reference for analog sensors; do not share high-current valve return path |
| GND-VALVE | valve/actuator current return | route separately from sensor ground to power return point |
| CHASSIS-BOND | EMC/chassis bonding | define intentional bonding points and shield termination strategy after ECU/harness hardware selection |
5V/可调3–12V传感器电源由最终ECU或专用转换器提供。模拟压力、位置等信号必须使用干净的传感器参考地，避免与比例阀、马达的大电流回流共线。
六、逻辑针脚分配
| 连接器 | 逻辑针 | 功能 | 类型 | 来源 | 最终针号 |
|---|---|---|---|---|---|
| VCU-C1 | BAT+ | permanent battery supply / KL30 equivalent | power | P1 | TBD after ECU selection |
| VCU-C1 | IGN/Wake | switched ignition/wakeup / KL15 equivalent | digital power input | P1 | TBD |
| VCU-C1 | GND | power ground / KL31 equivalent | power return | GND-ECU | TBD |
| VCU-C1 | CAN-A-H/L | real-time machine CAN | CAN | CAN-A | TBD |
| VCU-C1 | CAN-B-H/L | HMI/diagnostics CAN | CAN | CAN-B | TBD |
| RES-C1 | S01-S11 | residue subsystem sensors | analog/digital/frequency/CAN | P4 / sensors | TBD |
| RES-C2 | A01-A10 | residue subsystem outputs | PWM/digital/CAN to local drivers | P3/P6 | TBD |
| CHS-C1 | S12-S14 | IMU/leveling/speed inputs | CAN/analog | P4 | TBD |
| CHS-C2 | A11 | leveling valve command | PWM/current-control/CAN | P3 | TBD |
| SAFE-C1 | E-STOP-A/B | dual-channel emergency-stop inputs if risk analysis requires | hardwired safety input | P2 | TBD |
| SAFE-C1 | GUARD-A/B | guard/interlock safety inputs | hardwired safety input | P2 | TBD |
| SAFE-C2 | SAFE-EN | safety enable to hazardous drives/valves | safety output | P2 | TBD |
| AUX-C1 | 12V-AUX | optional 12 V devices | power | P5 | TBD |
R23故意不提前锁死具体Deutsch/TE针号。选定VCU、RES ECU、Safety ECU后，再根据制造商数据表冻结真实针脚、电流能力和连接器型号。