As one significant component of the Electric‐Driven System of xEV (all types of electric vehicles), motor controllers have been widely applied and researched. However, the performance of controllers based on Si IGBT is limited due to the characteristics of semiconductors, while the volume and weight of SiC MOSFET modules limit the power density of controllers. Therefore, a scheme for motor controllers based on paralleled discrete SiC MOSFET devices is exhibited in this paper. First, the paper analyzes the current sharing problem of paralleled devices, which is a critical problem limiting the efficiency and power density of the controller. Furthermore, according to the analysis results, a comprehensive optimized scheme for motor controller design is proposed from three aspects of device parameter selection, circuit symmetrical layout, and spatial structure design. The design effectively improves the power density and efficiency of the controller. Finally, this paper carries out simulation analysis and mechanical back‐to‐back tests based on an actual prototype, verifying the effectiveness of the proposed scheme. The test results show that the rated power of the motor controller is up to 200 kW, the power density is more than 50 kW/L (and 50 kW/kg), and the peak efficiency is up to 99.3%.

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Currently, the body balance control algorithm of a quadruped robot executing trot gait motion is more complex and computationally intensive, which is not conducive to improving the real-time control performance of the robot. This paper proposes a six-dimensional spatial mechanics decoupling algorithm to enhance the balance control accuracy during trot gait while optimizing the computational effort. A 6 × 6 matrix is established to describe the relationship between six ground reaction forces of the diagonal supporting leg and six spatial forces and torques controlling robot degrees of freedom, which is optimized to reach the full rank. Decoupling calculation is adopted to obtain required ground reaction forces by matrix inverse operation, and forces are converted to joint motor torques utilizing the Jacobian matrix. The trajectory of the swing leg foot is generated based on cubic interpolation, and the robot motion speed is adjusted by selecting the landing point. This paper also proposes a region intervention control method based on center of mass projection to regulate the moving speed while ensuring the balance of the robot. Finally, the algorithm is verified by simulation using open source software Webots. The results show that when the robot moves at an average speed of 0.5 m/s, the lateral displacement change of the robot is less than 0.009 m, the height change is less than 0.003 m, and the rotating angles around the x, y, and z axes are less than 0.0036 rad, 0.0013 rad, and 0.001 rad, respectively.