Abstract: Aiming at the problem of insufficient speed synchronization accuracy and slow synchronization response of dual hub motors under unbalanced load conditions, the speed loop compensated PID cross-coupling control method and current loop compensated PID cross-coupling control method are proposed. First, the mathematical model of the dual hub motors is established, and the dual closed-loop six-step square wave control method is adopted. Based on this model, the speed-loop compensated PID cross-coupling control method is used instead of the single-gain cross-coupling control to improve the speed synchronization accuracy. Under the unbalanced load conditions of both motors, the current-loop compensated PID cross-coupling control method is used to further improve the speed synchronization accuracy, while the synchronization response time is accelerated. The torque accuracy is also improved. The correctness and effectiveness of the proposed control strategy is proved by simulation and experimental results.