Sound like something in intermittently applying your brakes. Do you by chance use your left foot on the brake pedal? I've seen people burn up their brake pads because they rest their left foot on the pedal.
Check that the emergency brake cable and pin is not pulled.
Find a mobile RV tech to come pull the wheels and inspect the brakes to make sure nothing is broken.
as said earlier, turn the gain way down on the controller or snip the brake wire between the 7 pin and the axle. Then drive carefully to an RV shop to get it repaired.