1 2 3 4

A CO11 CO22 3CO3 4CO4 A

Component_1 Component_1 Component_1 Component_1

+24VDC
COJ4
J4 V+ COR1
R1 V- +12VDC COPS1
PS1 +5VDC
2 COU1
U1 1 7
2 PIJ402
PIR101 PIR102 PIPS101 +VIN +VOUT PIPS107
PIC10P PIC20 PIC30P PIC402
1
1
PIJ401
PF2512FKF7W0R05L
1
PIU101
IN OUT PIU103
3
COC1
C1
470uF
COC2
C2
COC3
C3
470uF
COC4
C4 PIR20
B
PIC60P COC6
C6 GND PIU102
2 PIC10N PIC201 100nF PIC30N PIC401 100nF COR2
R2
B
KF301-2P 2 5 470R
1000uF PIPS102 -VIN -VOUT PIPS105
PIC60N L7812CV
GND RKZE-1205S/HP
GND
GND GND_MCU PIR201 COD2
PID20A
GND D2

A
C
PID20C

GND_MCU

C C

+5VDC_IC
+12VDC COU2
U2

PIC502
COC5
1
PIU201 INPUT OUTPUT
3
PIU203
PIC90P COC9
C9
PIC702
COC7
PIR302 COR3
R3
C5 2 C7
GROUND PIU202
470uF
PIC501 100nF PIC90N PIC701 100nF 470R
L7805CV

PIR301
GND PID30A
GND COD3
D3
A
C

D Title D
PID30C
Size Number Revision
A
GND
Date: 4/13/2025 Sheet of
File: C:\Users\..\Power.SchDoc Drawn By:
1 2 3 4
 1 2 3 4

COJ
J
1
EN_A_MOTOR_A PIJ01
1
2
A EN_B_MOTOR_A PIJ02
2 A
3
+3.3VDC PIC1702
PIJ03
3
4
COC17
PIJ04
4
C17
PIC1701 100nF 1734598-4

GND_MCU
COJ1
J1
1
EN_A_MOTOR_B PIJ101 1
2
EN_B_MOTOR_B PIJ102 2
3
+3.3VDC PIJ103 3
4
PIJ104 4
PIC1802
COC18
C18 1734598-4
GND_MCU PIC1801 100nF

+3.3VDC
GND_MCU
B GND_MCU B
COJ3
J3 COU11
U11 COJ6
J6
19 1 38 01
19 PIJ3019 PIU1101
3V3 GND3 PIU11038
SCL
PIJ6001
01
18 2 37 02
18 PIJ3018 PIU1102
EN IO23 PIU11037
NLSCL
PIJ6002
02
17 3 36 SCL 03 +3.3VDC
17 PIJ3017
Sensor1 Sensor1 PIU1103
SENSOR_VP IO22 PIU11036 PIJ6003
03
16 4 35 04
16 PIJ3016
Sensor2 Sensor2 PIU1104
SENSOR_VN TXD0 PIU11035 PIJ6004
04
15
15
PIJ3015
Sensor3 Sensor3
5
PIU1105
IO34 RXD0
34
PIU11034
SDA 05
PIJ6005
05
PIC3102 GND_MCU
14 6 33 NLSDA
SDA 06 COJ7
J7 COC31
C31
14 PIJ3014
Sensor4 Sensor4 PIU1106
IO35 IO21 PIU11033 PIJ6006
06
13
13
PIJ3013
Sensor5 Sensor5
7
PIU1107
IO32 GND2
32
PIU11032
GND_MCU 07
PIJ6007
07 08
08
PIJ7008
PIC310 100nF
12 8 31 08 07
12 PIJ3012 PIU1108
IO33 IO19 PIU11031
EN_A_MOTOR_A EN_A_MOTOR_A PIJ6008
08 07 PIJ7007
11 9 30 09 06 SCL
11 PIJ3011 PIU1109
IO25 IO18 PIU11030
EN_B_MOTOR_A EN_B_MOTOR_A PIJ6009
09 06 PIJ7006
10 10 29 10 05 SDA
10 PIJ3010 PIU11010
IO26 IO5 PIU11029
EN_A_MOTOR_B EN_A_MOTOR_B PIJ6010
10 05 PIJ7005
09 11 28 11 04
09 PIJ3009 PIU11011 IO27 IO17 PIU11028 EN_B_MOTOR_B EN_B_MOTOR_B PIJ6011 11 04 PIJ7004
08 12 27 12 03
08 PIJ3008 PIU11012
IO14 IO16 PIU11027
PWM1 PWM1 PIJ6012
12 03 PIJ7003

07 13 26 13 02
07 PIJ3007 PIU11013
IO12 IO4 PIU11026
PWM2 PWM2 PIJ6013
13 02 PIJ7002
06 NLGND0MCU
GND_MCU 14 25 14 01
06 PIJ3006 PIU11014 GND1 IO0 PIU11025 PIJ6014 14 01 PIJ7001
05 15 24 15
05 PIJ3005 PIU11015
IO13 IO2 PIU11024
PWM3 PWM3 PIJ6015
15
04 16 23 16 TS-108-X-A-1
04 PIJ3004 PIU11016 SD2 IO15 PIU11023 PWM4 PWM4 PIJ6016 16
C 03 17 22 17 C
03 PIJ3003 PIU11017 SD3 SD1 PIU11022 PIJ6017 17
02 18 21 18
02 PIJ3002 PIU11018 CMD SD0 PIU11021 PIJ6018 18
01 19 20 19
01 PIJ3001 PIU11019 EXT_5V CLK PIU11020 PIJ6019 19 COJ2
J2
TSW-120-08-T-S-LC ESP32-DEVKITC-32U TSW-120-08-T-S-LC 01
Sensor5 PIJ2001 01
PIC1902 Sensor4
02
PIJ2002 02
+5VDC COC19
C19 03
Sensor3 PIJ2003 03
PIC1901 100nF
Sensor2
04
PIJ2004 04
05
Sensor1 PIJ2005 05
06
+3.3VDC PIJ2006 06
GND_MCU 07
PIJ2007 07
PIC20 2
COC20
C20 MTSW-107-22-L-S-380
PIC20 1 100nF
GND_MCU

GND_MCU

D Title D

Size Number Revision

A
Date: 4/13/2025 Sheet of
File: C:\Users\..\Controller.SchDoc Drawn By:
1 2 3 4
 1 2 3 4 5 6

A A

Driver Cho Động Cơ A Driver Cho Động Cơ B

+12VDC COD1
D1 +12VDC COD4
D4
COC8
C8 PID10A PID10C COC10
C10 PID40A PID40C
+12VDC +12VDC
GND PIC802 PIC801
SS34 GND PIC1002 PIC1001
SS34
COU3
U3
4.7uF
PIC1 01 COU4
U4
4.7uF
PIC1201
COR4
R4 8
PIU308
C11
COC11 COR5
R5 8
PIU408
C12
COC12
PWM1 PIR402 PIR401
2
PIU302
COU5
U5 PIC1 02 1uF
PWM3 PIR502 PIR501
2
PIU402
COU6
U6 PIC120 1uF
1 VCC
PIU501
VB 8
PIU508
S1A 1
PIU601
VCC VB 8
PIU608
S1B
4.7k 6 2PIU502 7 4.7k 6 2PIU602 7
PIU306
IN HO PIU507
MOS_H1A PIU406
IN HO PIU607
MOS_H1B
3
PIU303
7
PIU307
PIR601 COR6
R6
3
PIU503 SD
4PIU504 COM
VS
LO
6
PIU506
5
PIU505 MOS_L1A
3
PIU403
7
PIU407
PIR701 COR7
R7
3PIU603
4PIU604 COM
SD VS
LO
6
PIU606
5
PIU605 MOS_L1B
B 1 5 +12VDC 1 5 +12VDC B
PIU301 NC PIU305
4.7k
PIU401 NC PIU405
4.7k
GND_MCU 4 IR2104SPBF GND_MCU 4 IR2104SPBF
PIU304
NC PIU404
NC
TLP250 TLP250

GND PIR602 GND

GND PIR702 GND

GND GND

+12VDC COD7
D7
C13
COC13 PID70A PID70C
+12VDC
GND PIC1302 PIC1301 SS34
U7
COU7
4.7uF
PIC1401
+12VDC COD8
D8 R8
COR8 8
PIU708
C14
COC14
COC15
C15 PID80A PID80C PWM4 PIR802 PIR801
2
PIU702
COU8
U8 PIC1402 1uF
+12VDC 1 8
GND PIC1502 PIC1501 SS34 PIU801 VCC VB PIU808 S2B
COU9
U9
4.7uF
PIC1601 4.7k 6
PIU706
2PIU802
IN HO
7
PIU807 MOS_H2B

PWM2
COR9
PIR902
R9
PIR901
2
PIU902
8
PIU908
U10
COU10 PIC1602
C16
COC16
1uF
S2A
3
PIU703
7
PIU707
PIR10 COR10
R10
3PIU803
4PIU804
SD
COM
VS
LO
6
PIU806
5
PIU805 MOS_L2B
1 8 1 5 +12VDC
4.7k
PIU1001 VCC VB PIU1008 PIU701 NC PIU705
4.7k
6 2 7 GND_MCU 4 IR2104SPBF
PIU906 PIU1002
IN HO PIU1007
MOS_H2A PIU704
NC
C
3
PIU903
7
PIU907
PIR10 COR11
R11
4
3
PIU1003 SD

PIU1004 COM
VS
LO
6
PIU1006
5
PIU1005 MOS_L2A
TLP250 C

GND_MCU
1
PIU901
4
PIU904
NC
NC
5
PIU905
4.7k
+12VDC
IR2104SPBF GND PIR102 GND

TLP250

GND PIR102 GND

GND

GND

D D

1 2 3 4 5 6
 1 2 3 4

A A

Mạch đo dòng, áp, công suất đầu vào

+3.3VDC

PIR3602 COR36
R36
4.7k PIR3702 COR37
R37
COU12
U12 4.7k

PIR3601
B
2
PIU1202
3
SDA1
PIU1203 SCL1
SDA2
SCL2
7
PIU1207
6
PIU1206
PIR3701 SDA
SCL
B
+3.3VDC
+5VDC_IC
1
PIU1201
VDD1 VDD2
8
PIU1208
PIC2901
+5VDC_IC 4
PIU1204
GND1 GND2
5
PIU1205
COC29
C29
COR38
R38 PIC2902 100nF
PIR3801 PIR3802

COR39
R39 4.7k GND ADUM1250ARZ GND_MCU
PIR3901 PIR3902
GND
+5VDC_IC
4.7k COR40
R40 COU13
U13
5
PIR4001 PIR4002 VS PIU1305

470R
COR41
R41 2
PIU1302
A0
V+
PIR4101 PIR4102
1
PIU1301 A1
PIC30 1
V- 4 COC30
C30
PIU1304
SCL
470R 8
PIU1308 VIN+
PIC30 2 100nF
C 7 C
PIU1307 VIN-
3
PIU1303 SDA
6
GND PIU1306

INA219AID

GND

D Title D

Size Number Revision

A
Date: 4/13/2025 Sheet of
File: C:\Users\..\BMS.SchDoc Drawn By:
1 2 3 4
 1 2 3 4 5 6

A A

H_Bridge cho MOTOR A H_Bridge cho MOTOR B

+24VDC
+24VDC

B B
2

2
PIQ102 PIR140 PIR150 PIQ20 PIR160 PIR170

2
COR12 Q1
COQ1 PIQ302 PID60C COR13 Q2
COQ2 PIQ402 PID1 0C
R12 R13
1 IRF3205PBF COR14
R14 Q3
COQ3 COD6
D6 COR15
R15 1 IRF3205PBF COR16
R16 Q4
COQ4 COD11
D11 COR17
R17
PIR1202 PIR1201 PIQ101
COR18
R18
IRF3205PBFSS36 PIR1302 PIR1301 PIQ201
COR19
R19
IRF3205PBFSS36
PIR201 PIQ103 100R 1 100R
PIR210 PIQ203 100R 1 100R
3

3
PIR1802 PIR1801 PIQ301 PIR1902 PIR1901 PIQ401

MOS_H1A150R PIR201 PIQ30 PID60A MOS_H1B150R PIR2301 PIQ403 PID1 0A

3
R20
COR20 PID50C MOS_H2A150R R21
COR21 PID120C MOS_H2B150R
1k COD5
D5
SS36 PIR1402 COR22
R22
1k PIR1502 1k COD12
D12
SS36 PIR1602 COR23
R23
1k PIR1702
PIC210
PID50A PIC2 01 PIC2301 PID120A PIC2401 C21
COC21
PIR20 COC22
C22 COC23
C23
PIR210 COC24
C24 PIC2102 10nF
PIC2 02 PIC2302 PIC2402
10nF
PIR20 10nF 10nF
PIR230
NLMOTOR01A
MOTOR_1A MOTOR_2A NLMOTOR01B
MOTOR_1B MOTOR_2B
S1A S2A S1B S2B
PIR2401 COR24
R24 PIR2601 PIR2501 COR25
R25 PIR2701
100R COR26
R26 100R COR27
R27
2

2
PIQ502 COQ5
Q5
PIQ602 COQ6
Q6
100R PIQ702 COQ7
Q7
PIQ802 Q8
COQ8
100R
R28
COR28
IRF3205PBF
R29
COR29 PID10 C
IRF3205PBF
R30
COR30
IRF3205PBF
R31
COR31 PID130C
IRF3205PBF
PIR2802 PIR2801
1
PIQ501
PID90C
COD9 PIR240 PIR2902 PIR2901
1
PIQ601
COD10
D10
PIR3002 PIR3001
1
PIQ701
PID140C
COD14 PIR250 PIR3102 PIR3101
1
PIQ801
COD13
D13
C PIQ503 D9 PIQ603 SS36 PIQ703 D14 PIQ803 SS36 C
PIR3201 PIR301 PIR260 PIR3401 PIR3501 PIR270
3

3
MOS_L1A150R SS36 MOS_L2A150R PID10 A MOS_L1B150R SS36 MOS_L2B150R PID130A
R32
COR32 PID90A R33
COR33 PIC2501 R34
COR34 PID140A R35
COR35 PIC2601
1k PIC2701 1k COC25
C25 1k PIC2801 1k COC26
C26
COC27
C27 PIC2502 10nF COC28
C28 PIC2602 10nF
PIC2702 10nF PIC2802 10nF
PIR320 PIR302 PIR3402 PIR3502

GND GND
COJ8
J8 COJ9
J9
MOTOR_1A 1
PIJ801 1
MOTOR_1B 1
PIJ901 1

MOTOR_2A 2
NLMOTOR02A PIJ802 MOTOR_2B 2
NLMOTOR02B PIJ902
2 2
KF301-2P KF301-2P

D D

Title

Size Number Revision

B
Date: 4/13/2025 Sheet of
File: C:\Users\..\H_Bridge.SchDoc Drawn By:
1 2 3 4 5 6