Control circuit of single-MCU double-hub motor

Abstract

The utility model provides a control circuit of a single-MCU double-hub motor, which comprises a power supply connected with a power supply voltage adjusting circuit, and the output end of the power supply voltage adjusting circuit is in power supply connection with an MCU main control circuit and a motor signal acquisition circuit. The input end of the MCU main control circuit is connected with the output end of the motor signal acquisition circuit and the output end of the magnetic coding positioning detection circuit, the input end of the MCU main control circuit is further connected with a terminal control module, and the output end of the MCU main control circuit is connected with the input end of the hub motor driving circuit and the input end of the active safety control circuit. The output end of the hub motor drive circuit is in drive connection with the hub motor, and the input end of the magnetic positioning detection circuit is electrically connected with the hub motor. The double-hub motor control circuit has the beneficial effects that the complexity and the hardware cost of the double-hub motor control circuit can be reduced, and the stability, the control precision, the service life and the environmental protection performance of the double-hub motor control circuit are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of control circuits, and particularly relates to a control circuit for a single MCU and dual hub motors. Background Art

[0002] In the context of the rapid development of current industrial automation and robotics, unprecedented high requirements are imposed on the accuracy and stability of motion control systems. Traditional systems applied to the control of dual hub motors often rely on redundant control architectures, such as multiple processor cores, field-programmable gate arrays (FPGAs), or combinations of multiple control units, aiming to achieve independent and refined control of two hub motors. Although these methods meet the control requirements to a certain extent, they are also accompanied by a series of inherent challenges and limitations. These problems mainly include the complexity of the hardware architecture, the coupling of control mechanisms, high manufacturing and operation costs, and the resulting performance bottlenecks. These challenges not only hinder the penetration rate and application efficiency of such systems in the market but also limit their further expansion in the field of high-performance motion control.

[0003] Currently, dual hub motor systems on the market generally have multiple problems and defects:

[0004] 1. Hardware cost and complexity. Traditional dual hub motor control systems often rely on high-end hardware such as multi-core processors or FPGAs to achieve independent control of dual motors. However, this design method not only raises the hardware cost but also exacerbates the complexity of the system architecture, thereby increasing the difficulty of maintenance and upgrade.

[0005] 2. Control coupling and stability. Under the existing technical framework, the control between dual hub motors often has mutual influence, that is, the dynamic change of one motor may interfere with the normal operation of the other motor. This coupling leads to the complication of control logic and reduces the overall stability and control accuracy of the system.

[0006] 3. Maintenance and debugging challenges. The complex and coupled system structure poses higher requirements for maintenance and debugging work, increasing the dependence on professional talents and special tools, directly raising the operation cost, and prolonging the downtime maintenance cycle of the equipment. Content of the Utility Model

[0007] To solve the problems in the prior art, the utility model provides a control circuit for a single MCU dual hub motor. By setting a power supply, a power voltage adjustment circuit, an MCU main control circuit, a hub motor drive circuit, a magnetic encoder positioning detection circuit, an active safety control circuit, and a motor signal acquisition circuit that cooperate with each other in the control circuit of the single MCU dual hub motor, the complexity and hardware cost of the dual hub motor control circuit can be reduced, and the stability, control accuracy, service life, and environmental protection performance of the dual hub motor control circuit can be improved, solving the problems in the prior art that the traditional dual hub motor control system generally has a high hardware cost and complexity, low overall stability and control accuracy, and high maintenance difficulty.

[0008] The control circuit for a single MCU dual hub motor provided by the utility model includes a power supply, a power voltage adjustment circuit, an MCU main control circuit, a hub motor drive circuit, a magnetic encoder positioning detection circuit, an active safety control circuit, and a motor signal acquisition circuit. The output end of the power supply is connected to the input end of the power voltage adjustment circuit. The output end of the power voltage adjustment circuit is connected to the MCU main control circuit and the motor signal acquisition circuit for power supply. The input end of the MCU main control circuit is connected to the output ends of the motor signal acquisition circuit and the magnetic encoder positioning detection circuit. The input end of the MCU main control circuit is also connected to a terminal control module. The output end of the MCU main control circuit is connected to the input ends of the hub motor drive circuit and the active safety control circuit. The output end of the hub motor drive circuit is connected to the hub motor for driving. There are two sets each of the hub motor, the hub motor drive circuit, the magnetic encoder positioning detection circuit, and the motor signal acquisition circuit. The input end of the magnetic encoder positioning detection circuit is electrically connected to the hub motor. The MCU main control circuit can automatically control the hub motor drive circuit to drive the hub motor to operate according to the information collected by the motor signal acquisition circuit, the information fed back by the magnetic encoder positioning detection circuit, the information fed back by the active safety control circuit, and the information input by the terminal control module.

[0009] The present utility model is further improved. A microprocessor U16 is provided in the MCU main control circuit. The microprocessor U16 has 100 pins. The 6th and 100th pins of the microprocessor U16 are connected to the output end of the power voltage adjustment circuit. The 16th, 20th, 22nd, 25th, and 53rd pins of the microprocessor U16 are connected to the output end of the motor signal acquisition circuit. The 91st, 92nd, 21st, and 34th pins of the microprocessor U6 are connected to the output end of the magnetic encoder positioning detection circuit. The 45th pin of the microprocessor U6 is connected to the input end of the active safety control circuit. The 39th, 40th, 41st, 42nd, 43rd, and 44th pins of the microprocessor U6 are connected to the input end of the in-wheel motor drive circuit. The 82nd, 83rd, 97th, and 98th pins of the microprocessor U6 are connected to the output end of the terminal control module.

[0010] The present utility model is further improved. The power voltage adjustment circuit is provided with a voltage adjustment chip U14, a resistor R165, and an inductor L2. Among them, the voltage adjustment chip U14 has 7 pins. The 2nd pin of the voltage adjustment chip U14 is connected to the output end of the power supply. The 3rd pin of the voltage adjustment chip U14 is connected to one end of the inductor L2. The 5th pin of the voltage adjustment chip U14 is connected to one end of the resistor R165. The other end of the inductor L2 is connected to the other end of the resistor R165, the 6th and 100th pins of the microprocessor U16, and the motor signal acquisition circuit.

[0011] For further improvement of the present utility model, the hub motor drive circuit is provided with a drive chip U1, a drive chip U2, a drive chip U3, a resistor R2, a resistor R9, a resistor R14, a resistor R21, a resistor R26 and a resistor R36. Among them, the drive chip U1 has 8 pins, the drive chip U2 has 8 pins, and the drive chip U3 has 8 pins. The first pin of the drive chip U1, the first pin of the drive chip U2, and the first pin of the drive chip U3 are connected to the output terminal of the power supply. The second pin of the drive chip U1 is connected to the 40th pin of the microprocessor U6 through the resistor R2. The third pin of the drive chip U1 is connected to the 39th pin of the microprocessor U6 through the resistor R9. The second pin of the drive chip U2 is connected to the 42nd pin of the microprocessor U6 through the resistor R14. The third pin of the drive chip U2 is connected to the 41st pin of the microprocessor U6 through the resistor R21. The second pin of the drive chip U3 is connected to the 44th pin of the microprocessor U6 through the resistor R26. The third pin of the drive chip U3 is connected to the 43rd pin of the microprocessor U6 through the resistor R36. The sixth pin of the drive chip U1, the sixth pin of the drive chip U2, and the sixth pin of the drive chip U3 are connected to the hub motor for driving.

[0012] For further improvement of the present utility model, the magnetic encoder positioning detection circuit is provided with a positioning chip U12. The positioning chip U12 has 17 pins. The fourth pin of the positioning chip U12 is connected to a 5V voltage source. The first, second, sixth, seventh, ninth, tenth, fourteenth, and fifteenth pins of the positioning chip U12 are connected to the hub motor. The third, fifth, eleventh, and thirteenth pins of the positioning chip U12 are respectively connected to the 91st, 92nd, 34th, and 21st pins of the microprocessor U6.

[0013] For further improvement of the present utility model, the active safety control circuit is provided with a safety chip T1, a safety chip T2, a resistor R214 and a resistor R215. Among them, both the safety chip T1 and the safety chip T2 have 8 pins. The seventh pin of the safety chip T1 is connected to the output terminal of the power supply through the resistor R214. The seventh pin of the safety chip T2 is connected to the output terminal of the power supply through the resistor R215. The eighth pin of the safety chip T1 and the eighth pin of the safety chip T2 are connected to the 45th pin of the microprocessor U6. The first, second, fifth, and sixth pins of the safety chip T1 are connected to the hub motor. The first, second, fifth, and sixth pins of the safety chip T2 are connected to the hub motor.

[0014] The present utility model is further improved. The motor signal acquisition circuit is provided with a resistor R184, a resistor R190, a resistor R191, a resistor R192 and a resistor R193. Among them, one end of the resistor R184 is connected to the hub motor, and the other end is connected to the 16th pin of the microprocessor U6. One end of the resistor R190, one end of the resistor R191, one end of the resistor R192 and one end of the resistor R193 are connected to the other end of the inductor L2. The other end of the resistor R190 is connected to the 20th pin of the microprocessor U6. The other end of the resistor R191 is connected to the 25th pin of the microprocessor U6. The other end of the resistor R192 is connected to the 22nd pin of the microprocessor U6. The other end of the resistor R193 is connected to the 53rd pin of the microprocessor U6.

[0015] The present utility model is further improved. The model of the microprocessor U6 is STM32G473VET6. The model of the voltage regulation chip U14 is ZTP7173S. The models of the driver chips U1, U2 and U3 are all FD2103. The model of the positioning chip U12 is GC26L32S. The models of the security chips T1 and T2 are both HH62P-JQX13F.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows: A control circuit for a single MCU and dual hub motors is provided. By setting a power supply, a power voltage regulation circuit, an MCU main control circuit, a hub motor drive circuit, a magnetic encoder positioning detection circuit, an active safety control circuit and a motor signal acquisition circuit that cooperate with each other in the control circuit of the single MCU and dual hub motors, the MCU main control circuit can automatically control the hub motor drive circuit to drive the hub motor to operate according to the information collected by the motor signal acquisition circuit, the information fed back by the magnetic encoder positioning detection circuit, the information fed back by the active safety control circuit and the information input by the terminal control module, which can reduce the complexity and hardware cost of the dual hub motor control circuit, improve the stability, control accuracy, service life and environmental protection performance of the dual hub motor control circuit, and solve the problems of high hardware cost and complexity, low overall stability and control accuracy, and high maintenance difficulty in the traditional dual hub motor control system in the prior art. Description of the Drawings

[0017] In order to more clearly illustrate the solutions in the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a principle block diagram of a control circuit for a single MCU and dual hub motors of the present utility model;

[0019] Figure 2 It is a circuit diagram of the MCU main control circuit of the present utility model;

[0020] Figure 3 It is a circuit diagram of the power supply voltage adjustment circuit of the present utility model;

[0021] Figure 4 It is a circuit diagram of the hub motor drive circuit of the present utility model;

[0022] Figure 5 It is a circuit diagram of the magnetic encoder positioning detection circuit of the present utility model;

[0023] Figure 6 It is a circuit diagram of the active safety control circuit of the present utility model;

[0024] Figure 7 It is a circuit diagram of the motor signal acquisition circuit of the present utility model. Detailed implementation manners

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of this application or the above drawings are used to distinguish different objects and not to describe a specific order.

[0026] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0027] In order to enable those skilled in the technical field to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0028] Such as Figure 1-7As shown in the figure, a control circuit for a single MCU and dual hub motors provided by the present utility model includes a power supply, a power voltage adjustment circuit, an MCU main control circuit, a hub motor drive circuit, a magnetic encoder positioning detection circuit, an active safety control circuit, and a motor signal acquisition circuit. The output terminal of the power supply is connected to the input terminal of the power voltage adjustment circuit. The output terminal of the power voltage adjustment circuit is connected to the MCU main control circuit and the motor signal acquisition circuit for power supply. The input terminal of the MCU main control circuit is connected to the output terminals of the motor signal acquisition circuit and the magnetic encoder positioning detection circuit. The input terminal of the MCU main control circuit is also connected to a terminal control module. The output terminal of the MCU main control circuit is connected to the input terminals of the hub motor drive circuit and the active safety control circuit. The output terminal of the hub motor drive circuit is connected to drive the hub motor. There are two sets each for the hub motor, the hub motor drive circuit, the magnetic encoder positioning detection circuit, and the motor signal acquisition circuit. The input terminal of the magnetic encoder positioning detection circuit is electrically connected to the hub motor. In this embodiment, the MCU main control circuit can automatically control the hub motor drive circuit to drive the hub motor to operate according to the information collected by the motor signal acquisition circuit, the information feedback by the magnetic encoder positioning detection circuit, the information feedback by the active safety control circuit, and the information input by the terminal control module, which can reduce the complexity and hardware cost of the dual hub motor control circuit and improve the stability, control accuracy, service life, and environmental protection performance of the dual hub motor control circuit.

[0029] As Figure 2 shown, a microprocessor U16 is provided in the MCU main control circuit. The model of the microprocessor U6 is STM32G473VET6. The microprocessor U16 has 100 pins. The 6th and 100th pins of the microprocessor U16 are connected to the output terminal of the power voltage adjustment circuit. The 16th, 20th, 22nd, 25th, and 53rd pins of the microprocessor U16 are connected to the output terminal of the motor signal acquisition circuit. The 91st, 92nd, 21st, and 34th pins of the microprocessor U6 are connected to the output terminal of the magnetic encoder positioning detection circuit. The 45th pin of the microprocessor U6 is connected to the input terminal of the active safety control circuit. The 39th, 40th, 41st, 42nd, 43rd, and 44th pins of the microprocessor U6 are connected to the input terminal of the hub motor drive circuit. The 82nd, 83rd, 97th, and 98th pins of the microprocessor U6 are connected to the output terminal of the terminal control module. In this embodiment, the MCU main control circuit is used to automatically control the hub motor drive circuit to drive the hub motor to operate according to the information collected by the motor signal acquisition circuit, the information feedback by the magnetic encoder positioning detection circuit, the information feedback by the active safety control circuit, and the information input by the terminal control module.

[0030] As Figure 3As shown in the figure, the power supply voltage adjustment circuit is provided with a voltage adjustment chip U14, a resistor R165, and an inductor L2. Among them, the model of the voltage adjustment chip U14 is ZTP7173S. The voltage adjustment chip U14 has 7 pins. The second pin of the voltage adjustment chip U14 is connected to the output terminal of the power supply. The third pin of the voltage adjustment chip U14 is connected to one end of the inductor L2. The fifth pin of the voltage adjustment chip U14 is connected to one end of the resistor R165. The other end of the inductor L2 is connected to the other end of the resistor R165, the 6th and 100th pins of the microprocessor U16, and the motor signal acquisition circuit. In this embodiment, the power supply voltage adjustment circuit is used to supply power to the MCU main control circuit and the motor signal acquisition circuit for operation.

[0031] As Figure 4 shown in the figure, the hub motor drive circuit is provided with drive chips U1, U2, U3, resistors R2, R9, R14, R21, R26, and R36. Among them, the models of the drive chips U1, U2, and U3 are all FD2103. The drive chip U1 has 8 pins, the drive chip U2 has 8 pins, and the drive chip U3 has 8 pins. The first pin of the drive chip U1, the first pin of the drive chip U2, and the first pin of the drive chip U3 are connected to the output terminal of the power supply. The second pin of the drive chip U1 is connected to the 40th pin of the microprocessor U6 through the resistor R2. The third pin of the drive chip U1 is connected to the 39th pin of the microprocessor U6 through the resistor R9. The second pin of the drive chip U2 is connected to the 42nd pin of the microprocessor U6 through the resistor R14. The third pin of the drive chip U2 is connected to the 41st pin of the microprocessor U6 through the resistor R21. The second pin of the drive chip U3 is connected to the 44th pin of the microprocessor U6 through the resistor R26. The third pin of the drive chip U3 is connected to the 43rd pin of the microprocessor U6 through the resistor R36. The sixth pins of the drive chips U1, U2, and U3 are connected to the hub motor for driving. In this embodiment, the hub motor drive circuit is used to drive the hub motor to operate.

[0032] As Figure 5 shown in the figure, the magnetic encoder positioning detection circuit is provided with a positioning chip U12. The model of the positioning chip U12 is GC26L32S. The positioning chip U12 has 17 pins. The fourth pin of the positioning chip U12 is connected to a 5V voltage source. The 1st, 2nd, 6th, 7th, 9th, 10th, 14th, and 15th pins of the positioning chip U12 are connected to the hub motor. The 3rd, 5th, 11th, and 13th pins of the positioning chip U12 are respectively connected to the 91st, 92nd, 34th, and 21st pins of the microprocessor U6. In this embodiment, the magnetic encoder positioning detection circuit is used to detect the state of the hub motor and feedback it to the MCU main control circuit.

[0033] As shown Figure 6 in the figure, the active safety control circuit is provided with a safety chip T1, a safety chip T2, a resistor R214 and a resistor R215. Among them, the models of the safety chip T1 and the safety chip T2 are both HH62P-JQX13F. The safety chip T1 and the safety chip T2 both have 8 pins. The 7th pin of the safety chip T1 is connected to the output end of the power supply through the resistor R214, and the 7th pin of the safety chip T2 is connected to the output end of the power supply through the resistor R215. The 8th pin of the safety chip T1 and the 8th pin of the safety chip T2 are connected to the 45th pin of the microprocessor U6. The 1st, 2nd, 5th, and 6th pins of the safety chip T1 are connected to the hub motor, and the 1st, 2nd, 5th, and 6th pins of the safety chip T2 are connected to the hub motor. In this embodiment, the active safety control circuit is used to actively stop the operation of the hub motor.

[0034] As shown Figure 7 in the figure, the motor signal acquisition circuit is provided with a resistor R184, a resistor R190, a resistor R191, a resistor R192 and a resistor R193. Among them, one end of the resistor R184 is connected to the hub motor, and the other end is connected to the 16th pin of the microprocessor U6. One end of the resistor R190, one end of the resistor R191, one end of the resistor R192, and one end of the resistor R193 are connected to the other end of the inductor L2. The other end of the resistor R190 is connected to the 20th pin of the microprocessor U6. The other end of the resistor R191 is connected to the 25th pin of the microprocessor U6. The other end of the resistor R192 is connected to the 22nd pin of the microprocessor U6. The other end of the resistor R193 is connected to the 53rd pin of the microprocessor U6. In this embodiment, the motor signal acquisition circuit is used to acquire the operation information of the hub motor, including voltage and temperature.

[0035] As can be seen from the above, the present invention provides a control circuit for a single MCU and dual hub motors. By setting a power supply, a power supply voltage adjustment circuit, an MCU main control circuit, a hub motor drive circuit, a magnetic encoder positioning detection circuit, an active safety control circuit and a motor signal acquisition circuit that cooperate with each other in the control circuit of the single MCU and dual hub motors, the MCU main control circuit can automatically control the hub motor drive circuit to drive the hub motor to operate according to the information collected by the motor signal acquisition circuit, the information fed back by the magnetic encoder positioning detection circuit, the information fed back by the active safety control circuit, and the information input by the terminal control module. It can reduce the complexity and hardware cost of the dual hub motor control circuit, improve the stability, control accuracy, service life and environmental protection performance of the dual hub motor control circuit, and solve the problems of high hardware cost and complexity, low overall stability and control accuracy, and high maintenance difficulty in the traditional dual hub motor control system in the prior art.

[0036] The above-described specific embodiments are the preferred embodiments of the present utility model, and do not limit the specific implementation scope of the present utility model. The scope of the present utility model includes but is not limited to these specific embodiments. All equivalent changes made in accordance with the present utility model are within the protection scope of the present utility model.

Claims

1. A control circuit for a single MCU dual-hub motor, characterized in that: The invention comprises a power supply, a power supply voltage adjustment circuit, an MCU main control circuit, a wheel hub motor drive circuit, a magnetic encoder positioning detection circuit, an active safety control circuit and a motor signal acquisition circuit, wherein the output end of the power supply is connected to the input end of the power supply voltage adjustment circuit, the output end of the power supply voltage adjustment circuit is connected to the MCU main control circuit and the motor signal acquisition circuit for power supply, the input end of the MCU main control circuit is connected to the output end of the motor signal acquisition circuit and the output end of the magnetic encoder positioning detection circuit, the input end of the MCU main control circuit is also connected to a terminal control module, and the output end of the MCU main control circuit is connected to the wheel hub The input end of the motor drive circuit and the input end of the active safety control circuit are connected, the output end of the hub motor drive circuit is connected to the hub motor drive, the hub motor, the hub motor drive circuit, the magnetic encoding positioning detection circuit and the motor signal acquisition circuit are each provided with two groups, the input end of the magnetic encoding positioning detection circuit is electrically connected to the hub motor, and the MCU main control circuit can automatically control the hub motor drive circuit to drive the hub motor to operate according to the information collected by the motor signal acquisition circuit, the information fed back by the magnetic encoding positioning detection circuit, the information fed back by the active safety control circuit, and the information input by the terminal control module.

2. The control circuit of the single MCU dual-hub motor according to claim 1, characterized in that: A microprocessor U16 is provided in the MCU main control circuit, and the microprocessor U16 is provided with 100 pins. The 6th and 100th pins of the microprocessor U16 are connected to the output end of the power supply voltage adjustment circuit, the 16th, 20th, 22nd, 25th and 53rd pins of the microprocessor U16 are connected to the output end of the motor signal acquisition circuit, the 91st, 92nd, 21st and 34th pins of the microprocessor U6 are connected to the output end of the magnetic encoding positioning detection circuit, the 45th pin of the microprocessor U6 is connected to the input end of the active safety control circuit, the 39th, 40th, 41st, 42nd, 43rd and 44th pins of the microprocessor U6 are connected to the input end of the hub motor drive circuit, and the 82nd, 83rd, 97th and 98th pins of the microprocessor U6 are connected to the output end of the terminal control module.

3. The control circuit of the single MCU dual-hub motor according to claim 2, characterized in that: The power supply voltage adjustment circuit is provided with a voltage adjustment chip U14, a resistor R165 and an inductor L2, wherein the voltage adjustment chip U14 is provided with 7 pins, the second pin of the voltage adjustment chip U14 is connected to the output end of the power supply, the third pin of the voltage adjustment chip U14 is connected to one end of the inductor L2, the fifth pin of the voltage adjustment chip U14 is connected to one end of the resistor R165, and the other end of the inductor L2 is connected to the other end of the resistor R165, the 6th and 100th pins of the microprocessor U16, and the motor signal acquisition circuit.

4. The control circuit of the single MCU dual-hub motor according to claim 3 is characterized in that: The hub motor drive circuit is provided with a drive chip U1, a drive chip U2, a drive chip U3, a resistor R2, a resistor R9, a resistor R14, a resistor R21, a resistor R26 and a resistor R36, wherein the drive chip U1 is provided with 8 pins, the drive chip U2 is provided with 8 pins, the drive chip U3 is provided with 8 pins, the first pin of the drive chip U1, the first pin of the drive chip U2, and the first pin of the drive chip U3 are connected to the output end of the power supply, the second pin of the drive chip U1 is connected to the 40th pin of the microprocessor U6 through the resistor R2, and the third pin of the drive chip U1 is connected to the output end of the power supply through the resistor R 9 is connected to the 39th pin of the microprocessor U6, the 2nd pin of the driving chip U2 is connected to the 42nd pin of the microprocessor U6 through the resistor R14, the 3rd pin of the driving chip U2 is connected to the 41st pin of the microprocessor U6 through the resistor R21, the 2nd pin of the driving chip U3 is connected to the 44th pin of the microprocessor U6 through the resistor R26, the 3rd pin of the driving chip U3 is connected to the 43rd pin of the microprocessor U6 through the resistor R36, the 6th pin of the driving chip U1, the 6th pin of the driving chip U2, and the 6th pin of the driving chip U3 are connected to the hub motor drive.

5. The control circuit of the single MCU dual-hub motor according to claim 4, characterized in that: The magnetic encoding positioning detection circuit is provided with a positioning chip U12, and the positioning chip U12 is provided with 17 pins. The 4th pin of the positioning chip U12 is connected to a 5V voltage source, the 1st, 2nd, 6th, 7th, 9th, 10th, 14th and 15th pins of the positioning chip U12 are connected to the hub motor, and the 3rd, 5th, 11th and 13th pins of the positioning chip U12 are respectively connected to the 91st, 92nd, 34th and 21st pins of the microprocessor U6.

6. The control circuit of the single MCU dual-hub motor according to claim 5, characterized in that: The active safety control circuit is provided with a safety chip T1, a safety chip T2, a resistor R214 and a resistor R215, wherein the safety chip T1 and the safety chip T2 are both provided with 8 pins, the 7th pin of the safety chip T1 is connected to the output end of the power supply through the resistor R214, the 7th pin of the safety chip T2 is connected to the output end of the power supply through the resistor R215, the 8th pin of the safety chip T1 and the 8th pin of the safety chip T2 are connected to the 45th pin of the microprocessor U6, the 1st, 2nd, 5th and 6th pins of the safety chip T1 are connected to the hub motor, and the 1st, 2nd, 5th and 6th pins of the safety chip T2 are connected to the hub motor.

7. The control circuit of the single MCU dual-hub motor according to claim 6, characterized in that: The motor signal acquisition circuit is provided with a resistor R184, a resistor R190, a resistor R191, a resistor R192 and a resistor R193, wherein one end of the resistor R184 is connected to the hub motor, and the other end is connected to the 16th pin of the microprocessor U6, one end of the resistor R190, one end of the resistor R191, one end of the resistor R192, and one end of the resistor R193 are connected to the other end of the inductor L2, the other end of the resistor R190 is connected to the 20th pin of the microprocessor U6, the other end of the resistor R191 is connected to the 25th pin of the microprocessor U6, the other end of the resistor R192 is connected to the 22nd pin of the microprocessor U6, and the other end of the resistor R193 is connected to the 53rd pin of the microprocessor U6.

8. The control circuit of the single MCU dual-hub motor according to claim 7, characterized in that: The model of the microprocessor U6 is STM32G473VET6, the model of the voltage adjustment chip U14 is ZTP7173S, the models of the driver chip U1, the driver chip U2 and the driver chip U3 are all FD2103, the model of the positioning chip U12 is GC26L32S, and the model of the security chip T1 and the security chip T2 are both HH62P-JQX13F.

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