Self-starting circuit of scooter controller

Abstract

The utility model is suitable for the field of scooter controllers, and provides a scooter controller self-starting circuit, which comprises an MCU (Microprogrammed Control Unit), the MCU adopts a U5 chip, the model of the U5 chip is TMS320F28034PNT, and a pin 11, a pin 12, a pin 13, a pin 14, a pin 16, a pin 17 and a pin 18 of the U5 chip are respectively connected with an ADCINA7, an ADCINA6, an ADCINA5, an ADCINA4, an ADCINA3, a BrakeCheck, an ADCINA1 and an ADCINA0; according to the utility model, the safety and the reliability are enhanced: a set of active safety system is additionally arranged on the basis of the existing braking system of the scooter and the wheelchair, and when the electric door lock is not opened but the scooter slides, the controller can be automatically started to control a power supply, so that the controller works, the braking measure is triggered, the high-speed scooter sliding is effectively prevented, and the safety and the reliability of the whole scooter are greatly improved; the braking logic is perfected; and the power supply stability is improved.

Description

Technical Field

[0001] This utility model belongs to the field of mobility scooter controllers, and in particular relates to a self-starting circuit for a mobility scooter controller. Background Technology

[0002] In today's rapidly developing technological landscape, the motor controller industry is fiercely competitive. Major manufacturers are committed to product diversification and differentiated innovation, continuously investing in technological research to improve product performance, user driving experience, and safety features. Currently, most elderly mobility scooters and wheelchairs use a single electronic or mechanical brake for parking. This design poses a safety hazard. When the scooter rolls away, the controller's active safety braking function cannot be effectively triggered and executed. Especially when the ignition is off, if the electronic brake fails (e.g., in manual mode) or the mechanical brake fails, it can easily lead to dangerous situations such as the scooter rolling away. Therefore, a self-starting circuit for the mobility scooter controller is needed to solve these problems. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a self-starting circuit for a mobility scooter controller to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A self-starting circuit for a mobility scooter controller includes an MCU, wherein the MCU uses a U5 chip, the model of which is TM3320F28034PNT. Pins 11, 12, 13, 14, 15, 16, 17, and 18 of the U5 chip are connected to ADCINA7, ADCINA6, ADCINA5, ADCINA4, ADCINA3, BrakeCheck, ADCINA1, and ADCINA0, respectively. ADCINA5 and ADCINA4 are connected to P+AD and ACCAD, respectively. Pins 23, 24, 25, 26, 27, 28, 29, 30, 45, 6, 5, and 48 of the U5 chip are connected to ADCINB0, ADCINB1, ADCINB2, ADCINB3, ADCINB4, ADCINB5, ADCINB6, ADCINB7, GPIO44, GPIO43, GPIO42, and BrakeCTRL, respectively.

[0006] Pins 22, 21, and 73 of the U5 chip are all grounded. Pins 20 and 19 of the U5 chip are both connected to C17 and C18. The two ends of C17 and C18 are connected to +3.3V and GND, respectively. Pin 9 of the U5 chip is connected to C22 and R20. C22 is grounded. R20 is connected to R19 and C23. The other end of R19 is connected to +3.3V. The other end of C23 is connected to GND. Pin 52 of the U5 chip is connected to one end of R21, X1, and C25. Pin 51 of the U5 chip is grounded, and C24 is connected to C25.

[0007] Pins 69, 68, 67, 66, 63, 50, 49, 43, 39, 65, 61, 47, 76, 77, 75, 46, 42, 41, 55, 78, 79, 1, 4, 44, 37, 31, 40, 34, 33, 32, 2, 3, 74, 59, 60, 58, 57, and 10 of the U5 chip are respectively connected to GPIO0, GPIO1, GPIO2, GPIO3, GPIO4, GPIO5, GPIO6, GPIO7, GPIO8, and GPIO9. GPIO10, GPIO11, GPIO12, GPIO13, GPIO14, GPIO15, GPIO16, GPIO17, GPIO18, Supply+, GPIO20, GPIO21, GPIO22, GPIO23, GPIO25, BR1, BR2, GPIO28, GPIO29, GPIO30, GPIO31, GPIO32, GPIO33, GPIO34, JTDI, JTMS, JTDO, JTCK, and JNRST are connected. Pin 10 of the U5 chip is connected to C26. JNRST is connected to R28. C26 is connected to R28. Both C26 and R28 are connected to GND.

[0008] Pins 7 and 8 of the U5 chip are connected to both ends of C27, pins 53 and 54 of the U5 chip are connected to both ends of C28, pins 8, 53, C27, and C28 of the U5 chip are all grounded, pins 71 and 72 of the U5 chip are connected to C29, C29 and pin 71 of the U5 chip are both grounded, pin 35 of the U5 chip is connected to one end of C30 and C31, pins 36 and 70 of the U5 chip are connected to the other end of C30 and C31, and pins 36, 70, C30, and C31 of the U5 chip are all connected to +3.3V.

[0009] GPIO13 is connected to R5 and Q9 via a 3.3K resistor R5. The other two ends of Q9 are connected to +5V and R11 and D3 respectively. D3 is connected to C2 and R12. C2 and R12 are connected to R7 and Q12 respectively. R7 is connected to Q12 via R9. R5, R11, and Q12 are grounded. R7 and R9 are both connected to Q10. Q10 is connected to R10. R10 is connected to C9 and... Zener diode ZD1 is connected, and both C9 and Zener diode ZD1 are grounded. C2 and R7 are connected to Q10, C1, C12, R6, and Q11. R6 is connected to R4, R3, R17, and ACC. R4 and R3 are both connected to Q8. R3 and R17 are both connected to ACC. ACC is connected to S1. R17 is connected to C11, R18, and ACC_AD. C11 and R18 are connected to GND.

[0010] Q8 is connected to R15, P+, E1, and K1. E1 is grounded. R15 is connected to R16, C10, and P+AD. R16 and C10 are grounded. K1 is connected to BAT+. BAT+ is connected to S1. BAT+ is the power input terminal and is connected to the external power supply of the mobility scooter. K1 is connected to D4, D1, and Q4. D4 is connected to +15V. Q4 is connected to R2 and R1. R1 is connected to GPIO10. Q4 and R2 are both grounded. One end of C3 and C4 is connected to U1. The other end of C3, C4, and U1 is grounded. The other end of U1 is connected to C7, C8, +5V, and U3. U2 is connected to C7, C8, U3, C13, and C14. U3 is connected to C13, C14, and +3.3V.

[0011] E1 and P+ are connected to Q1, Q2 and Q3. Q1, Q2 and Q3 are connected to Q5, Q6 and Q7 respectively. Q5, Q6 and Q7 are all connected to R14, which is grounded. Q1 and Q5 are connected to U-UP and U-DOWN respectively. Q1, Q2 and Q3 are connected to the MOTOR. Q5, Q6 and Q7 are connected to the MOTOR. The MOTOR is connected to the electronic brake unit. The electronic brake unit is connected to the Brake-CTRL.

[0012] In a further technical solution, the power supply for the mobility scooter is a lead-acid battery or a lithium-ion battery.

[0013] In a further technical solution, Q8 is set as a P-MOS transistor, and Q8 adopts Infineon IRFR9120NTRPBF, VDDS=-100V, RDSON=0.48Ω, ID=-6.6A.

[0014] In a further technical solution, Q11 is set as a power controller switching transistor, and Q11 is selected as ON Semiconductor MJD112G, VCE=100V, Ic=2A.

[0015] In a further technical solution, the Zener diode ZD1 is selected as BZX84-C24, with a voltage regulation platform of 24V.

[0016] In a further technical solution, the MCU is selected as a single-chip microcomputer suitable for brushless motor control.

[0017] In a further technical solution, U1 is selected from ST's L7815C, with a minimum input voltage of 17V and a maximum input voltage of 35V.

[0018] In a further technical solution, Q4, Q9, and Q12 are configured as transistors. Q4, Q9, and Q12 are selected from Changjing's MMBT5551, with VCEO=160V, IC=600mA, and HFE minimum 50, which meets the requirements. Q10 is selected from Changjing's MMBT5401, with VCEO=-150V, IC=-600mA, and HFE minimum 50, which also meets the requirements.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] This utility model enhances safety and reliability: based on the existing braking system of mobility scooters and wheelchairs, an active safety system is added. When the vehicle rolls away even though the ignition switch is not turned on, the controller can be automatically activated to control the power supply, causing the controller to work and triggering braking measures, effectively preventing high-speed rolling away and greatly improving the safety and reliability of the entire vehicle.

[0021] This utility model improves the braking logic: by monitoring and judging various parameters through the MCU, a more intelligent and precise braking control logic is realized. It can not only cooperate with the electronic brake to achieve reasonable braking during normal driving, but also respond quickly in case of abnormal vehicle slippage and take emergency braking measures to ensure the safety of users in all aspects.

[0022] This invention improves power supply stability: the carefully designed voltage regulation and filtering components in the circuit ensure the stability of the power supply under different voltage input conditions, providing a stable and reliable power supply for the MCU and other control circuits, and guaranteeing the overall stability and reliability of the controller.

[0023] To more clearly illustrate the structural features and effects of this utility model, the following detailed description of this utility model is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0024] Figure 1 This is the circuit diagram of the MCU of this utility model;

[0025] Figure 2 This is the voltage detection circuit diagram of this utility model. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0027] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.

[0028] like Figure 1 and Figure 2 As shown, this utility model embodiment provides a self-starting circuit for a mobility scooter controller, including an MCU. The MCU is a single-chip microcomputer suitable for brushless motor control (multiple ST and TI single-chip microcomputers suitable for brushless motor control can be selected, and the power supply voltage can be 5V or 3.3V), to realize signal transmission and circuit control.

[0029] The MCU uses a U5 chip, model number TM3320F28034PNT. Pins 11, 12, 13, 14, 15, 16, 17, and 18 of the U5 chip are connected to ADCINA7, ADCINA6, ADCINA5, ADCINA4, ADCINA3, BrakeCheck, ADCINA1, and ADCINA0, respectively. ADCINA5 and ADCINA4 are connected to P+AD and ACCAD, respectively. Pins 23, 24, 25, 26, 27, 28, 29, 30, 45, 6, 5, and 48 of the U5 chip are connected to ADCINB0, ADCINB1, ADCINB2, ADCINB3, ADCINB4, ADCINB5, ADCINB6, ADCINB7, GPIO44, GPIO43, GPIO42, and BrakeCTRL, respectively, for acquiring and processing analog signals and controlling the electronic brake.

[0030] Pins 22, 21, and 73 of the U5 chip are all grounded, and pins 20 and 19 of the U5 chip are connected to C17 and C18 to achieve functions such as power filtering.

[0031] The two ends of C17 and C18 are connected to +3.3V and GND respectively. Pin 9 of the U5 chip is connected to C22 and R20. C22 is grounded. R20 is connected to R19 and C23. The other end of R19 is connected to +3.3V. The other end of C23 is connected to GND. Pin 52 of the U5 chip is connected to one end of R21, X1 and C25. Pin 51 of the U5 chip is connected to ground of C24, C25 and X1. C24 is connected to C25.

[0032] Pins 69, 68, 67, 66, 63, 50, 49, 43, 39, 65, 61, 47, 76, 77, 75, 46, 42, 41, 55, 78, 79, 1, 4, 44, 37, 31, 40, 34, 33, 32, 2, 3, 74, 59, 60, 58, 57, and 10 of the U5 chip are respectively connected to GPIO0, GPIO1, GPIO2, GPIO3, GPIO4, GPIO5, GPIO6, GPIO7, GPIO8, and GPIO9. GPIO10, GPIO11, GPIO12, GPIO13, GPIO14, GPIO15, GPIO16, GPIO17, GPIO18, Supply+, GPIO20, GPIO21, GPIO22, GPIO23, GPIO25, BR1, BR2, GPIO28, GPIO29, GPIO30, GPIO31, GPIO32, GPIO33, GPIO34, JTDI, JTMS, JTDO, JTCK, and JNRST are connected. Pin 10 of the U5 chip is connected to C26. JNRST is connected to R28. C26 is connected to R28. Both C26 and R28 are connected to GND.

[0033] Pins 7 and 8 of the U5 chip are connected to both ends of C27, pins 53 and 54 of the U5 chip are connected to both ends of C28, pins 8, 53, C27, and C28 of the U5 chip are all grounded, pins 71 and 72 of the U5 chip are connected to C29, C29 and pin 71 of the U5 chip are both grounded, pin 35 of the U5 chip is connected to one end of C30 and C31, pins 36 and 70 of the U5 chip are connected to the other end of C30 and C31, and pins 36, 70, C30, and C31 of the U5 chip are all connected to +3.3V.

[0034] GPIO13 is connected to R5 and Q9 via a 3.3K resistor R5. The other two ends of Q9 are connected to +5V and R11 and D3 respectively. D3 is connected to C2 and R12. C2 and R12 are connected to R7 and Q12 respectively. R7 is connected to Q12 via R9. R5, R11, and Q12 are grounded. R7 and R9 are both connected to Q10. Q10 is connected to R10. R10 is connected to C9 and... Zener diode ZD1 is connected, and both C9 and Zener diode ZD1 are grounded. C2 and R7 are connected to Q10, C1, C12, R6, and Q11. R6 is connected to R4, R3, R17, and ACC. R4 and R3 are both connected to Q8. R3 and R17 are both connected to ACC. ACC is connected to S1. R17 is connected to C11, R18, and ACC_AD. C11 and R18 are connected to GND.

[0035] Q8 is connected to R15, P+, E1, and K1. E1 is grounded. R15 is connected to R16, C10, and P+AD. R16 and C10 are grounded. K1 is connected to BAT+. BAT+ is connected to S1. BAT+ is the power input terminal and is connected to the external power supply of the mobility scooter. K1 is connected to D4, D1, and Q4. D4 is connected to +15V. Q4 is connected to R2 and R1. R1 is connected to GPIO10. Q4 and R2 are both grounded. One end of C3 and C4 is connected to U1. The other end of C3, C4, and U1 is grounded. The other end of U1 is connected to C7, C8, +5V, and U3. U2 is connected to C7, C8, U3, C13, and C14. U3 is connected to C13, C14, and +3.3V.

[0036] E1 and P+ are connected to Q1, Q2, and Q3. Q1, Q2, and Q3 are connected to Q5, Q6, and Q7 respectively. Q5, Q6, and Q7 are all connected to R14, which is grounded. Q1 and Q5 are connected to U-UP and U-DOWN respectively. Q1, Q2, and Q3 are connected to the MOTOR. Q5, Q6, and Q7 are connected to the MOTOR. The MOTOR is connected to the electronic brake unit, which is connected to the Brake-CTRL.

[0037] In this embodiment, when the ignition switch is opened, power supplies at each level are established according to predetermined logic to enable the controller to work normally; when the ignition switch is closed and the vehicle is running, the control power supply can be activated through a specific mechanism to ensure safety.

[0038] Specifically, the power supply for the mobility scooter uses lead-acid batteries or lithium-ion batteries, with an actual voltage range of 19~29V; (if other rated voltages are selected, the voltage withstand requirements of other components need to be adjusted accordingly).

[0039] Specifically, Q8 is a P-MOS transistor, specifically an Infineon IRFR9120NTRPBF transistor with VDDS = -100V, RDSON = 0.48Ω, and ID = -6.6A (the maximum power supply voltage is 29V, and the current limiting value fully meets the requirements).

[0040] Specifically, Q11 is set as the power controller switching transistor, and Q11 is selected as ON Semiconductor MJD112G, VCE=100V, Ic=2A; (in this system, it meets the withstand voltage and current requirements, and there are no strict requirements for the amplification factor and amplification linearity).

[0041] Specifically, the Zener diode ZD1 is selected as BZX84-C24, with a voltage regulation platform of 24V; (This system uses a 24V power supply, and the corresponding voltage regulation platform can meet the requirements. If other power supply voltages are used, Zener diodes with other voltage platforms can be selected to adapt to the requirements of the subsequent power supply circuit).

[0042] Specifically, (you can choose from various ST and TI microcontrollers suitable for brushless motor control, and the power supply voltage can be either 5V or 3.3V);

[0043] Specifically, U1 uses ST's L7815C, with a minimum input voltage of 17V and a maximum input voltage of 35V; (the ACC to 15V power supply chip can be either an LDO or a DC-DC power supply chip, and the input voltage range can be adjusted according to actual needs)

[0044] Specifically, Q4, Q9, and Q12 are transistors. Q4, Q9, and Q12 are MMBT5551 transistors from Changjing, with VCEO=160V, IC=600mA, and HFE minimum of 50, which meets the requirements. Q10 is MMBT5401 transistors from Changjing, with VCEO=-150V, IC=-600mA, and HFE minimum of 50, which also meets the requirements.

[0045] Specifically, the withstand voltage of other resistors, capacitors, and diodes only needs to be greater than the power supply voltage. When the power supply voltage is 24V, the withstand voltage of the capacitor should be 50V. (The actual resistance and capacitance values ​​of the resistors and capacitors need to be adjusted according to the actual power supply voltage and circuit.)

[0046] Working principle and usage process of this invention:

[0047] When the power switch is open (state 1): Power switch S1 is open, the gate of Q8 (P-MOS transistor, Infineon IRFR9120NTRPBF) is at a high level, VGS=0V, the MOS is not conducting, and the ACC current will not flow from the MOS transistor to the inverter circuit bus power supply P+.

[0048] At this time, the power supply voltage charges C2 after passing through the current-limiting resistor R6 and the filter capacitors C1 and C12. C2 is approximately short-circuited. The current forms a loop through the base of the NPN transistor Q12 (MMBT5551) via R12, and then through R7 and R9 to the collector of Q11 (On Semiconductor MJD112G). Q12's collector is turned on. The base of the PNP transistor Q10 (MMBT5401) is connected in parallel with R7. The voltage difference at the base of the collector generates current, turning on the collector of Q10.

[0049] The current flows through the current-limiting resistor R10, the filter capacitor C9, and the Zener diode ZD1 (BZX84-C24) in reverse to form a voltage regulator circuit, clamping the voltage at the base of Q11 at 24V.

[0050] Because the base-emitter junction of the transistor has a voltage drop of about 0.7V, the emitter voltage of Q11 is 24 - 0.7V = 23.3V. When the power supply voltage fluctuates, the Zener diode ZD1 acts as a clamp to ensure that the emitter voltage of Q11 is stable, so that the subsequent power supply chip U1 (minimum operating voltage 17V) can work normally. After the 15V power supply is established, the subsequent 5V power supply is established in sequence to power the MCU and other control circuits.

[0051] After the MCU is working normally, GPIO13 outputs a high level, which turns on the be and ce of Q9 (MMBT5551), and the anode of diode D3 receives a high level and turns on, which in turn turns on the be of R12-Q12, maintaining power supply stability.

[0052] At the same time, GPIO10 outputs a high level, which turns on the collector and emitter of transistor Q4 (MMBT5551), activates relay K1, and connects P+ and BAT+. BAT+ supplies power to the inverter circuit, and the controller can normally control the drive of the brushless motor.

[0053] Diode D1 is used to provide freewheeling current to the coil when the relay is disconnected, preventing back electromotive force from damaging other components. The electronic holding brake is enabled when power is off and disabled when power is on.

[0054] When the vehicle is in operation, its control valve is set to "automatic". When the accelerator starts the motor, the Brake-CTRL output signal of the MCU disables the electronic brake and the motor runs normally. When the accelerator returns to the starting position or the ignition switch is closed, the electronic brake is enabled and the motor is braked. If the control valve is set to "manual", the brake is disabled and the vehicle may roll on a slope when the ignition switch is closed.

[0055] When the ignition switch is closed and the vehicle is not rolling (State 2): When the ignition switch S1 is closed, there is no rolling, and the control power supply is not activated;

[0056] When the ignition switch is closed and the vehicle is rolling (state 3): When the ignition switch S1 is closed, the vehicle rolls and reaches a certain speed (motor speed needs to be measured), the brushless motor generates back electromotive force, causing a high voltage to appear at the P+ terminal;

[0057] When the P+ voltage reaches approximately 18.4V (considering the minimum input voltage of U1 is 17V, the MOS body diode voltage drop is 0.7V, and the Q11be electrode voltage drop is 0.7V), the parasitic diode of MOS transistor Q8 conducts, and the current flows through the current-limiting resistors R4 and R6, causing the ACC voltage to rise. This process is equivalent to the state when the ignition switch is turned on, activating the controller's power supply and enabling the controller to enter normal working state. The relay is energized, and P+ and BAT+ conduct, with BAT+ supplying power to the inverter circuit.

[0058] The MCU combines information such as acceleration throttle opening and closing degree, motor speed, motor current, electronic brake status, and power supply voltage sampling to determine that the slippage is an abnormal action. After that, it outputs a control signal to turn on the lower bridge of the inverter circuit at the same time, short-circuiting the three-phase windings of the motor to achieve motor lock-up braking or trigger other emergency braking measures to avoid danger caused by prolonged high-speed slippage.

[0059] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A self-starting circuit for a mobility scooter controller, comprising an MCU, characterized in that: The MCU uses a U5 chip, model number TM3320F28034PNT. Pins 11, 12, 13, 14, 15, 16, 17, and 18 of the U5 chip are connected to ADCINA7, ADCINA6, ADCINA5, ADCINA4, ADCINA3, BrakeCheck, ADCINA1, and ADCINA0, respectively. ADCINA5 and ADCINA4 are connected to P+AD and ACCAD, respectively. Pins 23, 24, 25, 26, 27, 28, 29, 30, 45, 6, 5, and 48 of the U5 chip are connected to ADCINB0, ADCINB1, ADCINB2, ADCINB3, ADCINB4, ADCINB5, ADCINB6, ADCINB7, GPIO44, GPIO43, GPIO42, and BrakeCTRL, respectively. Pins 22, 21, and 73 of the U5 chip are all grounded. Pins 20 and 19 of the U5 chip are both connected to C17 and C18. The two ends of C17 and C18 are connected to +3.3V and GND, respectively. Pin 9 of the U5 chip is connected to C22 and R20. C22 is grounded. R20 is connected to R19 and C23. The other end of R19 is connected to +3.3V. The other end of C23 is connected to GND. Pin 52 of the U5 chip is connected to one end of R21, X1, and C25. Pin 51 of the U5 chip is grounded, and C24 is connected to C25. Pins 69, 68, 67, 66, 63, 50, 49, 43, 39, 65, 61, 47, 76, 77, 75, 46, 42, 41, 55, 78, 79, 1, 4, 44, 37, 31, 40, 34, 33, 32, 2, 3, 74, 59, 60, 58, 57, and 10 of the U5 chip are respectively connected to GPIO0, GPIO1, GPIO2, GPIO3, GPIO4, GPIO5, GPIO6, GPIO7, GPIO8, and GPIO9. GPIO10, GPIO11, GPIO12, GPIO13, GPIO14, GPIO15, GPIO16, GPIO17, GPIO18, Supply+, GPIO20, GPIO21, GPIO22, GPIO23, GPIO25, BR1, BR2, GPIO28, GPIO29, GPIO30, GPIO31, GPIO32, GPIO33, GPIO34, JTDI, JTMS, JTDO, JTCK, and JNRST are connected. Pin 10 of the U5 chip is connected to C26. JNRST is connected to R28. C26 is connected to R28. Both C26 and R28 are connected to GND. Pins 7 and 8 of the U5 chip are connected to both ends of C27, pins 53 and 54 of the U5 chip are connected to both ends of C28, pins 8, 53, C27, and C28 of the U5 chip are all grounded, pins 71 and 72 of the U5 chip are connected to C29, C29 and pin 71 of the U5 chip are both grounded, pin 35 of the U5 chip is connected to one end of C30 and C31, pins 36 and 70 of the U5 chip are connected to the other end of C30 and C31, and pins 36, 70, C30, and C31 of the U5 chip are all connected to +3.3V. GPIO13 is connected to R5 and Q9 via a 3.3K resistor R5. The other two ends of Q9 are connected to +5V and R11 and D3 respectively. D3 is connected to C2 and R12. C2 and R12 are connected to R7 and Q12 respectively. R7 is connected to Q12 via R9. R5, R11, and Q12 are grounded. R7 and R9 are both connected to Q10. Q10 is connected to R10. R10 is connected to C9 and... Zener diode ZD1 is connected, and both C9 and Zener diode ZD1 are grounded. C2 and R7 are connected to Q10, C1, C12, R6, and Q11. R6 is connected to R4, R3, R17, and ACC. R4 and R3 are both connected to Q8. R3 and R17 are both connected to ACC. ACC is connected to S1. R17 is connected to C11, R18, and ACC_AD. C11 and R18 are connected to GND. Q8 is connected to R15, P+, E1, and K1. E1 is grounded. R15 is connected to R16, C10, and P+AD. R16 and C10 are grounded. K1 is connected to BAT+. BAT+ is connected to S1. BAT+ is the power input terminal and is connected to the external power supply of the mobility scooter. K1 is connected to D4, D1, and Q4. D4 is connected to +15V. Q4 is connected to R2 and R1. R1 is connected to GPIO10. Q4 and R2 are both grounded. One end of C3 and C4 is connected to U1. The other end of C3, C4, and U1 is grounded. The other end of U1 is connected to C7, C8, +5V, and U3. U2 is connected to C7, C8, U3, C13, and C14. U3 is connected to C13, C14, and +3.3V. E1 and P+ are connected to Q1, Q2 and Q3. Q1, Q2 and Q3 are connected to Q5, Q6 and Q7 respectively. Q5, Q6 and Q7 are all connected to R14, which is grounded. Q1 and Q5 are connected to U-UP and U-DOWN respectively. Q1, Q2 and Q3 are connected to the MOTOR. Q5, Q6 and Q7 are connected to the MOTOR. The MOTOR is connected to the electronic brake unit. The electronic brake unit is connected to the Brake-CTRL.

2. The self-starting circuit of the mobility scooter controller according to claim 1, characterized in that: The mobility scooter is powered by either a lead-acid battery or a lithium-ion battery.

3. The self-starting circuit of the mobility scooter controller according to claim 1, characterized in that: Q8 is a P-MOS transistor, specifically an Infineon IRFR9120NTRPBF transistor with VDDS = -100V, RDSON = 0.48Ω, and ID = -6.6A.

4. The self-starting circuit of the mobility scooter controller according to claim 1, characterized in that: Q11 is set as the power controller switching transistor. Q11 is selected from ON Semiconductor MJD112G, VCE=100V, Ic=2A.

5. The self-starting circuit of the mobility scooter controller according to claim 1, characterized in that: The Zener diode ZD1 is selected as BZX84-C24, with a Zener voltage platform of 24V.

6. The self-starting circuit of the mobility scooter controller according to claim 1, characterized in that: The MCU is a single-chip microcontroller suitable for brushless motor control.

7. The self-starting circuit of the mobility scooter controller according to claim 1, characterized in that: The U1 is selected from ST's L7815C, with a minimum input voltage of 17V and a maximum input voltage of 35V.

8. The self-starting circuit of the mobility scooter controller according to claim 1, characterized in that: Q4, Q9, and Q12 are transistors. Q4, Q9, and Q12 are MMBT5551 transistors from Changjing, with VCEO=160V, IC=600mA, and HFE minimum of 50, which meets the requirements. Q10 is MMBT5401 transistors from Changjing, with VCEO=-150V, IC=-600mA, and HFE minimum of 50, which also meets the requirements.

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