Wheel set motor control circuit, equipment and system

Abstract

The utility model relates to the technical field of motor control, and discloses a wheel set motor control circuit, device and system, and the wheel set motor control circuit integrates a walking motor and a direction motor. The wheel set motor control circuit comprises a signal acquisition module, a control module and a motor driving module, the control module is respectively connected with the signal acquisition module and the motor driving module; one end of the motor driving module is connected with the walking motor, and the other end of the motor driving module is connected with the direction motor. The scheme that the control module drives the direction motor and the walking motor at the same time is adopted, the steering wheel structure space is saved, and the control precision is improved.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a wheel set motor control circuit, device and system. Background Technology

[0002] Current products on the market generally suffer from shortcomings in both structure and performance. At the mechanical level, their designs are overly complex, resulting in lengthy assembly processes and extremely difficult maintenance. The extensive use of reducer transmission mechanisms and slewing support mechanisms not only increases the complexity of the mechanical system but also significantly reduces transmission efficiency and causes severe energy loss. Simultaneously, friction and vibration between mechanical parts lead to a substantial increase in operating noise, making it difficult to meet the requirements of applications with stringent noise control requirements.

[0003] In the field of software control, existing products also have drawbacks. Complex control logic design requires a large number of control components to achieve basic functions, increasing hardware costs and compromising system stability. Cumbersome control processes lead to operational difficulties, requiring professional personnel for debugging and maintenance, increasing labor and time costs. Furthermore, complex control schemes limit product upgrades and expansion, making it difficult to quickly adapt to diverse market demands. Utility Model Content

[0004] The purpose of this application is to provide a wheel set motor control circuit, device and system, which aims to solve the technical problems of traditional motors.

[0005] To achieve the above objectives, this application proposes a wheel set motor control circuit, which integrates a travel motor and a steering motor; the wheel set motor control circuit includes: a signal acquisition module, a control module, and a motor drive module;

[0006] The control module is connected to the signal acquisition module and the motor drive module respectively; one end of the motor drive module is connected to the walking motor, and the other end of the motor drive module is connected to the direction motor.

[0007] The signal acquisition module is used to acquire the direction signal of the direction motor and the position signal of the travel motor;

[0008] The control module is configured to receive the direction signal and the position signal, convert the direction signal into a direction command signal, and convert the position signal into a position command signal;

[0009] The motor drive module is used to receive the direction command signal to drive the direction motor, and to receive the position command signal to drive the walking motor.

[0010] In one embodiment, the signal acquisition module includes: an encoder;

[0011] The encoder employs a hollow structure surrounding the control module;

[0012] The encoder is used to acquire the direction signal of the direction motor and transmit the direction signal to the control module.

[0013] In one embodiment, the signal acquisition module further includes: a Hall effect device;

[0014] The Hall effect device is connected to the control module;

[0015] The Hall effect device is used to acquire and calculate the magnetic pole position signal of the rotor permanent magnet of the walking motor, and convert the magnetic pole position signal into the position signal of the walking motor.

[0016] In one embodiment, the motor drive module includes: a direction motor drive unit;

[0017] The direction motor drive unit is connected to the control module and the direction motor respectively;

[0018] The direction motor drive unit is used to receive the direction command signal from the control module to drive the direction motor.

[0019] In one embodiment, the motor drive module further includes: a walking motor drive unit;

[0020] The walking motor drive unit is connected to the control module and the walking motor respectively;

[0021] The walking motor drive unit is used to receive the position command signal from the control module to drive the walking motor.

[0022] In one embodiment, the wheel assembly motor control circuit further includes: a wiring harness adapter board;

[0023] The wire harness adapter plate has a hollow structure that surrounds the encoder and is on the same plane as the encoder.

[0024] The wiring harness adapter board connects the external power supply harness and the P12 signal harness, and integrates a Type-C serial port for programming.

[0025] In one embodiment, the wiring harness adapter board and the control module are connected via a P5 power wiring harness to protect the external power supply and the three-phase power wiring harness of the directional motor.

[0026] In one embodiment, the harness adapter board and the block are connected via an RS485 communication harness, a system control harness, a Type-C serial port programming port, and an upgrade harness.

[0027] In addition, to achieve the above objectives, this application also proposes a wheel set motor control device, which includes the wheel set motor control circuit described above.

[0028] In addition, to achieve the above objectives, this application also proposes a wheel set motor control system, which includes the wheel set motor control circuit described above.

[0029] This application proposes a wheel assembly motor control circuit that integrates a travel motor and a steering motor. The control circuit includes a signal acquisition module, a control module, and a motor drive module. The control module is connected to both the signal acquisition module and the motor drive module. One end of the motor drive module is connected to the travel motor, and the other end is connected to the steering motor. The signal acquisition module acquires the direction signal from the steering motor and the position signal from the travel motor. The control module receives the direction signal and the position signal, converts the direction signal into a direction command signal, and converts the position signal into a position command signal. The motor drive module receives the direction command signal to drive the steering motor and receives the position command signal to drive the travel motor. This application adopts a scheme where the control module simultaneously drives both the steering motor and the travel motor, saving space in the steering wheel structure and improving control accuracy. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the first embodiment of the wheel assembly motor control circuit proposed in this application;

[0031] Figure 2 This is a schematic diagram of the module of the second embodiment of the wheel assembly motor control circuit proposed in this application;

[0032] Figure 3 This is a circuit connection diagram of the third embodiment of the wheel assembly motor control circuit proposed in this application.

[0033] Explanation of icon numbers:

[0034] label name label name 100 Signal acquisition module 600 Wire Harness Adapter Board 200 Control module 700 P12 signal harness 300 Motor drive module 800 P5 power harness 400 encoder 900 Type-C serial port programming port 500 Hall devices 1000 External power supply 310 Directional motor drive unit 1100 RS485 communication harness 320 Walking motor drive unit 20 Directional motor 10 Walking motor Detailed Implementation

[0035] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0037] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0038] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0039] Reference Figure 1 , Figure 1 This is a schematic diagram of a first embodiment of the wheel assembly motor control circuit proposed in this application. Figure 1 This application presents a first embodiment of the wheel assembly motor control circuit.

[0040] The wheel set motor control circuit integrates a walking motor 10 and a steering motor 20; the wheel set motor control circuit includes: a signal acquisition module 100, a control module 200, and a motor drive module 300.

[0041] It should be understood that the wheel set motor control circuit integrates the control functions of the travel motor 10 and the direction motor 20, and achieves effective control of the two motors through a single circuit system.

[0042] The control module 200 is connected to the signal acquisition module 100 and the motor drive module 300 respectively; one end of the motor drive module 300 is connected to the walking motor 10, and the other end of the motor drive module 300 is connected to the direction motor 20.

[0043] It should be noted that the wheel assembly motor control circuit consists of a signal acquisition module 100, a control module 200, and a motor drive module 300. These three modules are interconnected and work together to complete the entire motor control process. The control module 200 acts as the central hub, connected to both the signal acquisition module 100 and the motor drive module 300. The signals acquired by the signal acquisition module 100 are transmitted to the control module 200, and the command signals processed by the control module 200 are transmitted to the motor drive module 300. The motor drive module 300 is directly connected to the travel motor 10 and the steering motor 20, with one end connected to the travel motor 10 and the other end connected to the steering motor 20, thus translating the commands from the control module 200 into actual motor drive operations.

[0044] The signal acquisition module 100 is used to acquire the direction signal of the direction motor 20 and the position signal of the walking motor 10.

[0045] It should be understood that the signal acquisition module 100 functions to acquire the direction signal of the steering motor 20 and the position signal of the travel motor 10. These signals reflect the current state of the motors, such as the rotation direction of the steering motor 20 and the position of the travel motor 10.

[0046] The control module 200 is used to receive the direction signal and the position signal, convert the direction signal into a direction command signal, and convert the position signal into a position command signal.

[0047] It should be noted that the control module 200 receives direction and position signals from the signal acquisition module 100. The received signals are converted, with the direction signal converted into a direction command signal and the position signal converted into a position command signal. This conversion is to ensure that the signals can be recognized by the motor drive module 300 and that corresponding operations can be performed.

[0048] The motor drive module 300 is used to receive the direction command signal to drive the direction motor 20, and to receive the position command signal to drive the walking motor 10.

[0049] It should be understood that the motor drive module 300 receives direction command signals from the control module 200, and drives the direction motor 20 according to these signals, thereby controlling the rotation direction of the direction motor 20 and other operations. Simultaneously, it receives position command signals to drive the travel motor 10, thereby controlling the running position of the travel motor 10 and other related operations.

[0050] This embodiment proposes a wheel assembly motor control circuit, which integrates a travel motor 10 and a steering motor 20. The wheel assembly motor control circuit includes a signal acquisition module 100, a control module 200, and a motor drive module 300. The control module 200 is connected to both the signal acquisition module 100 and the motor drive module 300. One end of the motor drive module 300 is connected to the travel motor 10, and the other end is connected to the steering motor 20. The signal acquisition module 100 is used to acquire the direction signal of the steering motor 20 and the position signal of the travel motor 10. The control module 200 is used to receive the direction signal and the position signal, convert the direction signal into a direction command signal, and convert the position signal into a position command signal. The motor drive module 300 is used to receive the direction command signal to drive the steering motor 20 and receive the position command signal to drive the travel motor 10. This application adopts a scheme where the control module 200 simultaneously drives the steering motor 20 and the travel motor 10, saving steering wheel structure space and improving control accuracy.

[0051] Reference Figure 2 , Figure 2 This is a schematic diagram of a first embodiment of the wheel assembly motor control circuit proposed in this application. A second embodiment of the wheel assembly motor control circuit of this application is proposed based on the first embodiment.

[0052] The signal acquisition module 100 includes: an encoder 400;

[0053] The encoder 400 has a hollow structure surrounding the control module 200.

[0054] It should be understood that the encoder 400 adopts a hollow structure. This hollow structure is likely designed specifically to surround the control module 200. The hollow structure allows for a unique layout relationship with the control module 200 without affecting its normal operation, facilitating signal acquisition and transmission.

[0055] The encoder 400 is used to collect the direction signal of the direction motor 20 and transmit the direction signal to the control module 200.

[0056] It should be noted that the main function of encoder 400 is to acquire the direction signal of directional motor 20. The direction signal of directional motor 20 is of great significance to the operation and control of the entire system. For example, in some equipment that requires precise control of the direction of motion, the direction of directional motor 20 determines the movement trajectory or operation direction of the equipment.

[0057] It should be understood that after the encoder 400 acquires the direction signal, it will transmit it to the control module 200. The control module 200 may make further decisions and operations based on the received direction signal, such as adjusting the operating parameters of other related equipment and controlling subsequent execution actions, thereby achieving effective control of the entire system.

[0058] The signal acquisition module 100 also includes a Hall effect device 500.

[0059] It should be understood that the Hall effect device 500 is specifically designed for operation on the permanent magnet of the rotor of the walking motor 10, and can accurately acquire the magnetic pole position signal of the permanent magnet. Since the magnetic pole position is closely related to the operating state of the motor, acquiring this signal is crucial for understanding the motor's working condition.

[0060] The Hall effect device 500 is connected to the control module 200.

[0061] It should be noted that the Hall effect device 500 is connected to the control module 200, and this connection establishes a channel for information transmission. The position signal of the walking motor 10, acquired and converted by the Hall effect device 500, can be transmitted to the control module 200 in a timely manner.

[0062] The Hall effect device 500 is used to collect and calculate the magnetic pole position signal of the rotor permanent magnet of the walking motor 10, and convert the magnetic pole position signal into the position signal of the walking motor 10.

[0063] It should be noted that the Hall effect device 500 does not simply collect magnetic pole position signals, but also has the ability to convert them into position signals of the walking motor 10. This conversion is essential because the magnetic pole position signal may exist in a specific form, and converting it into a motor position signal allows it to be more directly understood and utilized by the control module 200, enabling effective control of the walking motor 10.

[0064] It should be understood that after receiving the position signal from the Hall device 500, the control module 200 can perform various control operations on the walking motor 10 based on these signals, such as adjusting the motor speed and direction. This connection enables the entire system to work in a coordinated manner, ensuring that the walking motor 10 operates as expected.

[0065] The motor drive module 300 includes: a direction motor drive unit 310;

[0066] The direction motor drive unit 310 is connected to the control module 200 and the direction motor 20, respectively.

[0067] It should be understood that the steering motor drive unit 310 is connected to both the control module 200 and the steering motor 20. This connection lays the foundation for the transmission of information and energy.

[0068] The direction motor drive unit 310 is used to receive the direction command signal from the control module 200 to drive the direction motor 20.

[0069] It should be noted that the steering motor drive unit 310 has a receiving function, which can receive direction command signals from the control module 200. These direction command signals are a type of control information issued by the control module 200, and their purpose is to control the running direction of the steering motor 20.

[0070] It should be understood that after receiving the direction command signal from the control module 200, the main function of the steering motor drive unit 310 is to drive the steering motor 20. This means that it must convert the received command signal into a suitable electrical signal or energy form, so that the steering motor 20 operates in the direction required by the command. For example, if the direction command signal requires the steering motor 20 to rotate clockwise, the steering motor drive unit 310 must process this signal and output the corresponding current or voltage to drive the steering motor 20 to rotate clockwise.

[0071] The motor drive module 300 further includes: a walking motor drive unit 320;

[0072] The walking motor drive unit 320 is connected to the control module 200 and the walking motor 10, respectively.

[0073] It should be noted that the walking motor drive unit 320 is located in the middle of the entire system. One end of it is connected to the control module 200, and the other end is connected to the walking motor 10. This connection allows the control module 200 and the walking motor 10 to exchange information and energy through the walking motor drive unit 320.

[0074] It should be understood that the control module 200 sends a position command signal, which is transmitted to the walking motor drive unit 320 via a connection line. Then, the walking motor drive unit 320 generates corresponding driving capability based on the received position command signal to drive the walking motor 10. This is like a commander (control module 200) issuing an instruction, and the messenger (walking motor drive unit 320) receiving the instruction and then driving the executor (walking motor 10) to act.

[0075] The walking motor drive unit 320 is used to receive the position command signal from the control module 200 to drive the walking motor 10.

[0076] It should be noted that the control module 200 is responsible for generating the position command signal. This signal is the starting point of the entire driving process, and it contains relevant information such as the position that the walking motor 10 should reach. For example, in an autonomous navigation robot system, the control module 200 may calculate the position that the walking motor 10 should reach at each moment according to a preset path planning algorithm, and then convert this information into a position command signal.

[0077] It should be understood that the walking motor drive unit 320, as an intermediate conversion and drive unit, plays a crucial role in connecting the upstream and downstream components. On one hand, it receives position command signals from the control module 200, which may be low-voltage signals or digital signals of a specific format. On the other hand, it converts these signals into electrical energy or a suitable drive signal form capable of driving the walking motor 10. For example, if the walking motor 10 is a DC motor, the walking motor drive unit 320 may convert the received signal into a suitable DC voltage and current to drive the motor to rotate.

[0078] It should be noted that the walking motor 10 is the final actuator. After receiving the drive signal from the walking motor drive unit 320, it will perform operations such as rotation or movement according to the instructions. For example, in a wheeled robot, the rotation of the walking motor 10 will drive the wheels to rotate, thereby realizing the robot's walking action.

[0079] This embodiment proposes a wheel assembly motor control circuit, which integrates a travel motor 10 and a steering motor 20. The wheel assembly motor control circuit includes a signal acquisition module 100, a control module 200, and a motor drive module 300. The control module 200 is connected to both the signal acquisition module 100 and the motor drive module 300. One end of the motor drive module 300 is connected to the travel motor 10, and the other end is connected to the steering motor 20. The signal acquisition module 100 is used to acquire the direction signal of the steering motor 20 and the position signal of the travel motor 10. The control module 200 is used to receive the direction signal and the position signal, convert the direction signal into a direction command signal, and convert the position signal into a position command signal. The motor drive module 300 is used to receive the direction command signal to drive the steering motor 20 and receive the position command signal to drive the travel motor 10. This application adopts a scheme where the control module 200 simultaneously drives the steering motor 20 and the travel motor 10, saving steering wheel structure space and improving control accuracy.

[0080] Reference Figure 3 , Figure 3This is a circuit connection diagram of the first embodiment of the wheel set motor control circuit proposed in this application. A third embodiment of the wheel set motor control circuit of this application is proposed based on the first and second embodiments.

[0081] The wheel assembly motor control circuit also includes: a wire harness adapter plate 600;

[0082] The wire harness adapter plate 600 has a hollow structure that surrounds the encoder 400 and is on the same plane as the encoder 400.

[0083] It should be understood that the wiring harness adapter board 600 adopts a hollow structure surrounding the encoder 400 and is on the same plane as the encoder 400. This layout helps to achieve reasonable wiring and signal transmission within a limited space, while maintaining a relatively compact connection between the components. The hollow structure is likely to avoid interference with the internal wiring of the wiring harness adapter board 600 and the normal operation of the encoder 400, and to facilitate physical installation with other components.

[0084] The wire harness adapter board 600 connects the external power supply 1000 wire harness and the P12 signal wire harness 700, and integrates a Type-C serial port programming port 900.

[0085] It should be noted that connecting the external power supply 1000 harness enables the external power source to provide the necessary electrical energy to the entire wheelset motor control circuit. The power supply harness is responsible for transmitting electrical energy from the power source to the circuit, and the harness adapter board 600, as an intermediate connection hub, ensures stable power transmission. Connecting the P12 signal harness 700, which may be used to transmit specific control or feedback signals, the harness adapter board 600 converts these signals, ensuring accurate signal transmission in the circuit, thereby achieving effective control of the wheelset motor.

[0086] It should be understood that a Type-C serial port for programming is integrated. This port facilitates the programming of the wheel motor control circuit. Through the Type-C serial port, the written control program or updated program code can be written into the relevant control chip or circuit module, thereby enabling adjustments, optimizations, or repairs to the wheel motor's functions.

[0087] The wiring harness adapter board 600 and the control module 200 protect the external power supply 1000 and the three-phase power harness of the direction motor 20 through the P5 power wiring harness 800.

[0088] It should be noted that the wiring harness adapter board 600 and the control module 200 are connected via the P5 power wiring harness 800, which serves to protect the external power supply 1000. The external power supply 1000 is the energy source for the entire system and may experience voltage fluctuations, current overloads, etc. The P5 power wiring harness 800 protects it, preventing power supply failures from affecting the operation of the entire system. Simultaneously, this wiring harness also protects the three-phase power wiring harness of the steering motor 20. The normal operation of the steering motor 20 relies on the three-phase power wiring harness for power transmission. The protection of the P5 power wiring harness 800 ensures that the steering motor 20 can stably receive appropriate power, thereby guaranteeing the normal operation of the motor, such as accurately controlling direction.

[0089] The wiring harness adapter board 600 is connected to the block via RS485 communication harness 1100, system control harness, Type-C serial port programming port 900, and upgrade harness.

[0090] It should be understood that this connection is established between the wire harness adapter board 600 and the control module 200, meaning that the control module 200 can effectively manage and monitor the power transmission between the external power supply 1000 and the steering motor 20 through the wire harness adapter board 600. The control module 200 may adjust the power distribution or cut off abnormal power transmission paths through the wire harness adapter board 600 according to system requirements, such as different operating modes or fault detection conditions.

[0091] It should be noted that the RS485 communication harness 1100 is used to establish a communication connection between the harness adapter board 600 and the control module 200. RS485 is a commonly used industrial communication standard with advantages such as strong anti-interference capability and long transmission distance. Through this harness, the harness adapter board 600 and the control module 200 can exchange data. For example, the control module 200 can obtain the status information of the device connected to the harness adapter board 600, or send control commands to it.

[0092] It should be understood that the system control harness also connects the harness adapter board 600 and the control module 200, and it is mainly used to transmit system control signals. These signals may include various control commands such as start, stop, and reset, and are the key signal transmission channel for achieving coordinated operation of the entire system. For example, when the system needs to start, the control module 200 can send a start signal to the harness adapter board 600 through the system control harness, thereby triggering the connected devices to start working; when a system fault occurs, a reset signal can also be sent through this harness, and other operations can be performed.

[0093] It should be noted that the Type-C serial port programming and upgrade harness is used for programming and upgrading. The Type-C interface is characterized by its versatility and high-speed transmission. Through this harness, the control module 200 can transmit new program code to the device connected to the harness adapter board 600, realizing the device's program update. During the long-term operation of the system, software vulnerabilities may be discovered or new functions may need to be added. This harness allows for convenient program upgrades to the device without requiring large-scale hardware modifications, improving the system's maintainability and scalability.

[0094] This embodiment proposes a wheel assembly motor control circuit, which integrates a travel motor 10 and a steering motor 20. The wheel assembly motor control circuit includes a signal acquisition module 100, a control module 200, and a motor drive module 300. The control module 200 is connected to both the signal acquisition module 100 and the motor drive module 300. One end of the motor drive module 300 is connected to the travel motor 10, and the other end is connected to the steering motor 20. The signal acquisition module 100 is used to acquire the direction signal of the steering motor 20 and the position signal of the travel motor 10. The control module 200 is used to receive the direction signal and the position signal, convert the direction signal into a direction command signal, and convert the position signal into a position command signal. The motor drive module 300 is used to receive the direction command signal to drive the steering motor 20 and receive the position command signal to drive the travel motor 10. This application adopts a scheme where the control module 200 simultaneously drives the steering motor 20 and the travel motor 10, saving steering wheel structure space and improving control accuracy.

[0095] Furthermore, to achieve the above objectives, this application also proposes a wheel set motor control device, which includes the wheel set motor control circuit described above. Since the wheel set motor control device employs all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0096] Furthermore, to achieve the above objectives, this application also proposes a wheel assembly motor control system, which includes the wheel assembly motor control circuit described above. Since the wheel assembly motor control system employs all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0097] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0098] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A wheel group motor control circuit, characterized by, The wheel assembly motor control circuit integrates a walking motor and a steering motor; the wheel assembly motor control circuit includes: a signal acquisition module, a control module, and a motor drive module; The control module is connected to the signal acquisition module and the motor drive module respectively; one end of the motor drive module is connected to the walking motor, and the other end of the motor drive module is connected to the direction motor. The signal acquisition module is used to acquire the direction signal of the direction motor and the position signal of the travel motor; The control module is configured to receive the direction signal and the position signal, convert the direction signal into a direction command signal, and convert the position signal into a position command signal; The motor drive module is used to receive the direction command signal to drive the direction motor, and to receive the position command signal to drive the walking motor.

2. The wheel pack motor control circuit of claim 1, wherein, The signal acquisition module includes: an encoder; The encoder employs a hollow structure surrounding the control module; The encoder is used to acquire the direction signal of the direction motor and transmit the direction signal to the control module.

3. The wheel pack motor control circuit of claim 1, wherein, The signal acquisition module further includes: a Hall effect device; The Hall effect device is connected to the control module; The Hall effect device is used to acquire and calculate the magnetic pole position signal of the rotor permanent magnet of the walking motor, and convert the magnetic pole position signal into the position signal of the walking motor.

4. The wheel pack motor control circuit of claim 1, wherein, The motor drive module includes: a direction motor drive unit; The direction motor drive unit is connected to the control module and the direction motor respectively; The direction motor drive unit is used to receive the direction command signal from the control module to drive the direction motor.

5. The wheel pack motor control circuit of claim 1, wherein, The motor drive module further includes: a walking motor drive unit; The walking motor drive unit is connected to the control module and the walking motor respectively; The walking motor drive unit is used to receive the position command signal from the control module to drive the walking motor.

6. The wheel pack motor control circuit of claim 2, wherein, The wheel assembly motor control circuit also includes: a wiring harness adapter board; The wire harness adapter plate has a hollow structure that surrounds the encoder and is on the same plane as the encoder. The wiring harness adapter board connects the external power supply harness and the P12 signal harness, and integrates a Type-C serial port for programming.

7. The wheel set motor control circuit of claim 6, wherein, The wiring harness adapter board and the control module are connected via the P5 power wiring harness to protect the external power supply and the three-phase power wiring harness of the directional motor.

8. The wheel pack motor control circuit of claim 6, wherein, The wiring harness adapter board is connected to the control module via an RS485 communication harness, a system control harness, a Type-C serial port for programming, and an upgrade harness.

9. A wheel group motor control device characterized by comprising: The wheel set motor control device includes the wheel set motor control circuit as described in any one of claims 1 to 8.

10. A wheel pack motor control system, characterized by, The wheel assembly motor control system includes the wheel assembly motor control circuit as described in any one of claims 1 to 8.

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