Torque control method and device for dual-motor hybrid power system

Abstract

The invention discloses a torque control method and device for a dual-motor hybrid power system, and relates to the technical field of vehicle engineering, and the method comprises the steps that a hybrid power controller receives the requirement of a driver for driving torque; reducing the sum of the torques of the internal combustion engine, the first motor and the second motor to a target torque value by keeping the torque of the internal combustion engine constant and reducing the torques of the first motor and the second motor; increasing the torque of the first electric machine while reducing the torque of the internal combustion engine so that the sum of the torques of the internal combustion engine and the first electric machine is kept near zero; and the clutch device is switched from the closed state to the open state. According to the technical scheme, smooth switching of the working modes of the dual-motor hybrid power system can be achieved, the comfort degree in the driving process is improved, and high application value is achieved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle engineering technology, and in particular to a torque control method and device for a dual-motor hybrid system. Background Art

[0002] With the development of the new energy vehicle industry, hybrid vehicles and pure electric vehicles have become the two most popular types of new energy vehicles. As an important indicator for judging these two types of vehicles, the smoothness of power has become an important factor that cannot be ignored in the automobile production process. Because hybrid vehicles have multiple working modes, compared with pure electric vehicles, when switching working modes, there are inevitably some slight impacts or power delays, which leads to poor power smoothness of hybrid vehicles, which seriously restricts the development of hybrid vehicles. Therefore, the research and development of a simple and efficient method for improving the power smoothness of hybrid vehicles is imminent.

[0003] At present, most of the existing hybrid vehicles have a single motor structure, and the motor needs to switch back and forth between power generation and electric driving, which leads to low actual working efficiency of the motor, and it is difficult for the engine and the motor to generate electricity for a long time at a constant power, which seriously limits the function of the hybrid system; some hybrid vehicles with dual motor structures can get rid of some problems existing in the single motor structure, but the structure has the problem of long system response time, poor driving experience, and cannot adapt to changes in complex driving conditions; the reason for the long system response time is that the torque response of the dual motor hybrid system is slow, which leads to a long shift time for the vehicle. Therefore, based on this problem, this application proposes a torque control method and device for a dual motor hybrid system. Summary of the invention

[0004] Technical Purpose In order to solve the above problems, the purpose of the present invention is to provide a torque control method and device for a dual-motor hybrid system, which realizes the smooth switching of the working modes of the dual-motor hybrid system and improves the comfort of the driving process. The method and device have a wide range of application scenarios and can effectively avoid the problems of power shock or poor power following in hybrid vehicles, so that they can achieve or approach the driving smoothness of pure electric vehicles.

[0005] Technical Solution In order to achieve the above-mentioned objectives, the present invention provides a torque control method and device for a dual-motor hybrid system, which allocates the torque demand value of the motor and the torque demand value of the internal combustion engine according to the target torque value of the wheel, so that the sum of the dual-motor torques conforms to the expected torque decrease curve during the motor torque decrease process, and correspondingly increases the torque output of the motor during the internal combustion engine torque decrease process, thereby achieving smooth switching of the dual-motor hybrid system working mode and improving the driving comfort.

[0006] In a first aspect, the present invention provides a torque control method for a dual-motor hybrid system, comprising: The hybrid controller receives the driver's request for drive torque; By keeping the torque of the internal combustion engine constant and reducing the torques of the first motor and the second motor so that the sum of the torques of the internal combustion engine, the first motor and the second motor decreases to a target torque value; while reducing the torque of the internal combustion engine, increasing the torque of the first electric machine so that the sum of the torques of the internal combustion engine and the first electric machine remains near zero; Switch the clutch from the closed state to the open state.

[0007] Furthermore, the dual-motor hybrid system includes a first motor, a second motor, a hybrid controller, an internal combustion engine, a transmission and a clutch device; the first motor and the second motor are respectively deployed at two ends of the clutch device, the first motor, the internal combustion engine and the first end of the clutch device are connected through a transmission shaft and a gear set, and the second motor, the second end of the clutch device and the wheel half shaft are connected through a transmission shaft and a gear set.

[0008] Furthermore, the first motor and the second motor include a motor body and a motor controller, and the clutch device includes a clutch mechanical mechanism and an electro-hydraulic control device.

[0009] Furthermore, the hybrid controller is used to realize the coordinated operation of the internal combustion engine, the first motor, the second motor and the clutch device in the hybrid system, and its existence forms include a vehicle control microcomputer, a separate control unit, a control unit hardware circuit shared with other control systems, and a controller hardware shared with the transmission control logic.

[0010] Furthermore, the disconnected state of the clutch device is a state when the torque of the clutch device is very small or zero.

[0011] Furthermore, the operating modes of the dual-motor hybrid system include parallel mode, series mode and pure electric mode, and the hybrid controller executes the logic of exiting the parallel mode and switching to the series mode or the pure electric mode, including controlling the torque of the first motor, the second motor and the internal combustion engine and switching the state of the clutch device; in the series mode, the transmission controls the hybrid system to control the output power of the second motor; in the parallel mode, the transmission controls the hybrid system to control the start of the internal combustion engine and engage with the clutch device to output the power of the internal combustion engine through the transmission.

[0012] Furthermore, the hybrid controller executes logic for exiting the parallel mode and switching to the series mode or the pure electric mode, specifically including: The first stage: the torque of the internal combustion engine is kept constant and the torques of the first motor and the second motor are reduced so that the sum of the torques of the internal combustion engine, the first motor and the second motor decreases to a target torque value; the sum of the torques of the first motor and the second motor conforms to an expected torque decrease curve; The second stage: while reducing the torque of the internal combustion engine, increasing the torque of the first motor so that the sum of the torques of the internal combustion engine and the first motor remains near zero; when the hybrid system switches to the series mode, the target value of the torque of the internal combustion engine is the torque value in the series mode, and when the hybrid system switches to the pure electric mode, the target value of the torque of the internal combustion engine is zero; The third stage: switching the clutch device from the closed state to the open state.

[0013] Furthermore, when the dual-motor hybrid system is in series mode, its clutch device is in a disconnected state, the second motor drives the wheels to rotate, and the wheels overcome the resistance to make the vehicle move forward or backward; the internal combustion engine, the first motor and the first end of the clutch device are in a rotating state, and the internal combustion engine drives the first motor to generate electricity; at this time, the first end of the clutch device and the second end of the clutch device are both in a rotating state.

[0014] Furthermore, in the series mode, the internal combustion engine is in operation, it outputs positive torque and drives the first motor to generate electricity; the first motor outputs negative torque as a load, maintaining a torque balance with the internal combustion engine so that the speed of the internal combustion engine and the first motor remains stable; the power generation power of the first motor is adjusted by balancing the size of the torque or breaking the balanced torque to reach a new speed; the output of the second motor drives the wheels to rotate to drive the wheels forward or backward, or the wheels are in a forward state, and the second motor outputs negative torque for braking; at this time, the clutch device is in a disconnected state, and its two ends do not transmit torque or transmit very small torque, and the speed of one end is not affected by the other end.

[0015] Furthermore, when the dual-motor hybrid system is in parallel mode, its clutch device is in a closed state, and the internal combustion engine, the first motor and the second motor jointly drive the wheels to rotate, and the wheels overcome the resistance to make the vehicle move forward or backward; at this time, there is torque transmission between the first end of the clutch device and the second end of the clutch device, and the speed difference between the two is very small or zero.

[0016] Furthermore, in the parallel mode, the internal combustion engine, the first motor, and the second motor jointly drive the wheels to move, and the clutch device transmits the torque of the front and rear components; at this time, the clutch device is in a closed state, and there is torque transmission at both ends of the clutch device and the torque is large.

[0017] Furthermore, when the dual-motor hybrid system is in pure electric mode, its clutch device is in a disconnected state, the second motor drives the wheels to rotate, and the wheels overcome the resistance to make the vehicle move forward or backward; the internal combustion engine, the first motor and the first end of the clutch device are in a stationary state.

[0018] Furthermore, in the pure electric mode, the first motor and the internal combustion engine are at a standstill, and their rotation speeds are zero; the second motor outputs force to drive the wheels to rotate to drive the wheels forward or backward, or the wheels are in a forward state, and the second motor outputs negative torque for braking; at this time, the clutch device is in a disconnected state, and the rotation speed of the first end of the clutch device is zero. When the vehicle is at a standstill, the rotation speed of the second end of the clutch device is zero, and when the vehicle is running, the rotation speed of the second end of the clutch device is faster.

[0019] Furthermore, the driver's demand for driving torque is determined according to the distance the driver steps on the accelerator pedal, and the target torque value of the wheel is obtained according to the driver's demand for driving torque, and the torque demand value of the motor and the torque demand value of the internal combustion engine are allocated according to the target torque value of the wheel; it realizes the smooth switching of the working mode of the dual-motor hybrid system and improves the comfort of the driving process; it can effectively avoid the problem of power shock or poor power follow-up in hybrid vehicles, so that it can reach or approach the driving smoothness of pure electric vehicles.

[0020] Furthermore, the torque demand value of the motor and the torque demand value of the internal combustion engine are allocated according to the target operating mode switched by the hybrid system.

[0021] Furthermore, the hybrid controller controls the internal combustion engine, the first motor and the second motor to increase and decrease torque, and controls the clutch device to open and close operations in a manner including a communication command method and a wire connection electrical signal command method.

[0022] Furthermore, the method also includes a torque vector control step, which independently controls the torque output of each motor in the dual-motor hybrid system according to the vehicle's driving state and feedback from the road surface; it improves the controllability and stability of the driving process by dynamically adjusting the driving torque when the vehicle turns; when necessary, more torque is distributed to a single wheel to enhance the vehicle's dynamic performance; when all-wheel drive is not required, the vehicle is controlled to operate in front-wheel drive mode to reduce the vehicle's energy consumption.

[0023] Furthermore, the method also includes an automatic speed change control step, which flexibly adjusts the torque output of the motor according to driving needs by coordinating the working states of the motor and the internal combustion engine, and makes shifting decisions based on the engine load, vehicle speed and accelerator pedal position; it intelligently adjusts the output of the power source according to driving conditions, providing better acceleration performance and power response; it enables the engine to always operate in the optimal efficiency range, and at the same time uses the motor drive under low load conditions to improve the fuel economy of the entire vehicle; it reduces the sense of frustration during gear shifting and provides a smoother driving experience.

[0024] In a second aspect, the present invention further provides a torque control device for a dual-motor hybrid system, comprising one or more processors for executing the aforementioned torque control method for the dual-motor hybrid system.

[0025] In a third aspect, the present invention further provides a computer device, comprising a processor and a memory, wherein the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the computer device executes the torque control method of the aforementioned dual-motor hybrid system.

[0026] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the torque control method of the dual-motor hybrid system described above is implemented.

[0027] The present invention distributes the torque demand value of the motor and the torque demand value of the internal combustion engine according to the target torque value of the wheel, so that the sum of the torques of the dual motors conforms to the expected torque drop curve during the motor torque drop process, and the torque output of the motor is correspondingly increased during the internal combustion engine torque drop process; the torque output of each motor in the dual motor hybrid system is independently controlled according to the driving state of the vehicle and the feedback of the road surface; by coordinating the working state of the motor and the internal combustion engine, the torque output of the motor is flexibly adjusted according to driving needs, and the shifting decision is made based on the engine load, vehicle speed and accelerator pedal position. The method and device realize the smooth switching of the working mode of the dual motor hybrid system, improve the comfort of the driving process, and the method and device have a wide range of application scenarios, which can effectively avoid the problems of power shock or poor power follow-up in hybrid vehicles, so that it can reach or approach the driving smoothness of pure electric vehicles.

[0028] Beneficial Effects By implementing the torque control method and device of the dual-motor hybrid system provided by the present invention, the following technical effects are achieved: (1) The torque demand value of the motor and the torque demand value of the internal combustion engine are allocated according to the target torque value of the wheel, so that the sum of the torques of the two motors conforms to the expected torque reduction curve during the reduction of the motor torque, and the torque output of the motor is correspondingly increased during the reduction of the internal combustion engine torque; it realizes the smooth switching of the working mode of the dual-motor hybrid system, improves the comfort of the driving process; it can effectively avoid the problem of power shock or poor power follow-up in hybrid vehicles, so that it can achieve or approach the driving smoothness of pure electric vehicles.

[0029] (2) The torque output of each motor in the dual-motor hybrid system is independently controlled based on the vehicle's driving status and road feedback. The driving torque is dynamically adjusted when the vehicle turns, thereby improving the handling and stability of the driving process. When necessary, more torque is distributed to a single wheel to enhance the vehicle's dynamic performance. When all-wheel drive is not required, the vehicle is controlled to operate in front-wheel drive mode, thereby reducing the vehicle's energy consumption.

[0030] (3) By coordinating the working status of the motor and the internal combustion engine, the torque output of the motor is flexibly adjusted according to driving needs, and the gear shifting decision is made based on the engine load, vehicle speed and accelerator pedal position. It intelligently adjusts the output of the power source according to driving conditions, providing better acceleration performance and power response. It keeps the engine running in the optimal efficiency range, and uses the motor drive under low load conditions to improve the fuel economy of the vehicle. It reduces the sense of frustration during gear shifting and provides a smoother driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to make the torque control method and system of the dual-motor hybrid system of the present invention more obvious and easy to understand, the drawings required for use in the specific implementation of the present invention are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram showing a torque control method of a dual-motor hybrid system; Figure 2 A schematic diagram showing the structure of a dual-motor hybrid system; Figure 3 Schematic diagram showing the torque alternation method for a dual-motor hybrid system to exit parallel mode. DETAILED DESCRIPTION

[0033] Embodiment 1: The torque control method of the dual-motor hybrid system is as follows Figure 1 As shown in Figure 2, the structure of the dual-motor hybrid system is as follows: Figure 2 As shown, the dual-motor hybrid system includes a first motor, a second motor, a hybrid controller, an internal combustion engine, a transmission and a clutch device; the first motor and the second motor are respectively deployed at two ends of the clutch device, the first motor, the internal combustion engine and the first end of the clutch device are connected by a transmission shaft and a gear set, and the second motor, the second end of the clutch device and the wheel half shaft are connected by a transmission shaft and a gear set.

[0034] The torque alternation method for the dual-motor hybrid system to exit the parallel mode is as follows: Figure 3 As shown in the figure, the horizontal axis is the time axis, which illustrates the relative size and change relationship of each torque curve in the first stage, the second stage and the third stage; wherein, the target torque is higher than the height marked in the figure for the internal combustion engine torque, which does not mean that the target torque is larger than the internal combustion engine torque. The value of the target torque in the first stage is higher than that in the second stage, which means that the target torque in the first stage is larger than that in the second stage.

[0035] For example, in the example of the hybrid system exiting the parallel mode and switching to the pure electric mode, the hybrid controller senses the following operating conditions: the throttle is 40%, the vehicle speed is 60km / h, and the driver releases the throttle to 0%. When the combined torque of the power source drops to 100Nm, it controls the hybrid system to exit the parallel mode and switch to the pure electric mode. At this time, the output torque of the internal combustion engine is 150Nm, the first motor is -50Nm, the second motor is 0Nm, the transmission torque of the multi-plate wet clutch is 100Nm, and the comprehensive torque target value of the 0% throttle power source is -50Nm; the hybrid controller controls the torque of the internal combustion engine to remain unchanged at 150Nm through the communication bus, and controls the torque of the first motor to decrease from -50Nm to -150Nm within 0.3 seconds through the communication bus, and controls the torque of the second motor to decrease from 0Nm to -50Nm through the communication bus; at this time, the combined torque of the internal combustion engine, the first motor and the second motor is -50Nm, and the transmission torque of the multi-plate wet clutch is 0Nm, and the first stage ends here.

[0036] The hybrid controller controls the torque of the internal combustion engine to decrease from 150Nm to 0Nm within 0.4 seconds, controls the torque of the first motor to increase from -150Nm to 0Nm, the transmission torque of the multi-plate wet clutch is 0 Nm, and controls the torque of the second motor to remain unchanged at -50Nm. The second stage ends here. At this time, the comprehensive torque of the power source is -50Nm.

[0037] The hybrid power controller controls the hydraulic clamping pressure of the multi-plate wet clutch to drop from 3 bar to 0 bar within 0.2 seconds. At this time, there is no torque transmission between the master and slave plates of the clutch, that is, the torque capacity is 0, and the clutch switches from the closed state to the open state.

[0038] Embodiment 2: On the basis of the above-mentioned embodiment, an example of realizing the hybrid system exiting the parallel mode and switching to the series mode is given. The hybrid controller senses the following working conditions: the throttle is 60%, the vehicle speed is 40km / h, the driver releases the throttle to 10%, and the comprehensive torque target value of the power source is calculated to be 50Nm; when the comprehensive torque of the power source drops to 100Nm, it controls the hybrid system to exit the parallel mode and switch to the series mode. At this time, the output torque of the internal combustion engine is 200Nm, the first motor is -150Nm, the second motor is 50Nm, and the transmission torque of the electromagnetic clutch is 100Nm; the output torque of the internal combustion engine is controlled to decrease from 200Nm to 195Nm within 0.2 seconds through the communication bus, and the torque of the first motor is controlled to remain unchanged at -145Nm through the communication bus. At this time, the transmission torque of the electromagnetic clutch is 50Nm, and the torque of the second motor is controlled to decrease from 50Nm to 0Nm through the communication bus, and the first stage ends.

[0039] The hybrid controller controls the output torque of the internal combustion engine to decrease from 195Nm to 100Nm, controls the torque of the first motor to increase from -145Nm to -100Nm, the transmission torque of the electromagnetic clutch is 0Nm, and the torque of the second motor increases from 0Nm to 50Nm. The second stage ends here. At this time, the comprehensive torque of the power source is 50Nm.

[0040] The hybrid controller controls the working current of the electromagnetic clutch to drop to 0 within 0.1 seconds. At this time, there is no torque transmission between the master and slave plates of the clutch, and the clutch switches from the closed state to the open state.

[0041] Embodiment 3: Based on the above embodiments, the method adds an automatic speed change control step, which compensates for manufacturing errors and wear by learning the actual position deviations of the clutch and the shift mechanism; First, the mathematical model of the hybrid system is established, denoted as , including engine 、Motor , Hydraulic system and torque converter ; Through the control strategy based on fuzzy logic, the system required torque and vehicle speed are estimated, and the working point of the engine and motor and the system gear are output. The control strategy based on fuzzy logic is expressed by the following formula:

[0042] in, It represents the corrected motor output torque; represents a fuzzy logic function; It represents the corrected required torque; Indicates the corrected supercapacitor status; Indicates the corrected vehicle speed; Indicates the corrected throttle opening; Indicates the corrected torque converter efficiency.

[0043] Taking the optimal efficiency of the torque converter as the control target, the optimal shift point is determined by analyzing the efficiency curve of the torque converter under different throttle openings.

[0044] When starting and driving at low speed, the large torque output characteristics of the motor are used to avoid starting slippage of the clutch, thereby achieving ideal starting characteristics. The motor output torque control is expressed by the following formula:

[0045] in, Indicates the corrected motor torque; Indicates the corrected torque coefficient; Indicates the corrected current.

[0046] The automatic control of the vehicle is realized through the fuzzy logic control strategy. The fuzzy control rule is expressed as:

[0047] in, Represents the revised fuzzy control rule base.

[0048] Coordinate the power distribution between different power sources based on the vehicle's power requirements, the operating status of the power system, and the differences in work efficiency, transient response characteristics, load capacity, etc.

[0049] For example, suppose you have the following values ​​for the input variables: , , , and ; Fuzzy logic rules include: Rule 1, if is high and is high, then High; Rule 2, if is low and If it is high, then is in; Rule 3, if is high, then is high; The definitions of "high", "medium", and "low" in fuzzy sets include: For high demand torque; For high SOC; For low vehicle speed; For high throttle opening; For high torque converter efficiency; Assume that "medium" and "high" of motor torque output are defined as: is the torque output of the middle motor; For high motor torque output; According to rules 1 and 2, For the middle, rule 3 yields is high, and is determined by the maximum membership principle. It will be high, i.e. 250Nm.

[0050] The effects of the automatic speed change control steps are shown in Table 1: Table 1. Summary of the effects of automatic speed control steps

[0051] As shown in Table 1, the torque control method of the dual-motor hybrid system after the automatic speed control step is optimized can provide greater torque output when the vehicle starts to accelerate, improving the vehicle's power performance; at the same time, it provides a smoother driving experience during sudden deceleration and gear shifting; in addition, this step also helps to improve fuel economy and battery state stability; this shows that the automatic speed control step can effectively improve the torque control method of the dual-motor hybrid system when the hybrid system switches working modes. The vehicle's power smoothness.

[0052] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable non-transient storage media containing computer-usable program code.

[0053] The present invention can provide computer program instructions to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce means for implementing the system.

[0054] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions of the system.

[0055] These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions of the system.

Claims

1. A torque control method for a dual-motor hybrid system, characterized in that: include: The hybrid controller receives the driver's request for drive torque; By keeping the torque of the internal combustion engine constant and reducing the torques of the first motor and the second motor so that the sum of the torques of the internal combustion engine, the first motor and the second motor decreases to a target torque value; while reducing the torque of the internal combustion engine, increasing the torque of the first electric machine so that the sum of the torques of the internal combustion engine and the first electric machine remains near zero; Switch the clutch from the closed state to the open state.

2. The torque control method of the dual-motor hybrid system according to claim 1, characterized in that: The dual-motor hybrid system includes a first motor, a second motor, a hybrid controller, an internal combustion engine, a transmission and a clutch device; the first motor and the second motor are respectively deployed at two ends of the clutch device, the first motor, the internal combustion engine and the first end of the clutch device are connected through a transmission shaft and a gear set, and the second motor, the second end of the clutch device and the wheel half shaft are connected through a transmission shaft and a gear set.

3. The torque control method of the dual-motor hybrid system according to claim 2, characterized in that: The operating modes of the dual-motor hybrid system include a parallel mode, a series mode and a pure electric mode, and the hybrid controller executes logic for exiting the parallel mode and switching to the series mode or the pure electric mode, including controlling the torque of the first motor, the second motor and the internal combustion engine and switching the state of the clutch device; In series mode, the transmission controls the hybrid system to control the second motor to output power; in parallel mode, the transmission controls the hybrid system to start the internal combustion engine and engage with the clutch device to output the power of the internal combustion engine through the transmission.

4. The torque control method of the dual-motor hybrid system according to claim 1, characterized in that: The driver's demand for driving torque is determined according to the distance the driver presses the accelerator pedal, and the target torque value of the wheel is obtained according to the driver's demand for driving torque, and the torque demand value of the motor and the torque demand value of the internal combustion engine are allocated according to the target torque value of the wheel.

5. The torque control method of the dual-motor hybrid system according to claim 4, characterized in that: The torque demand value of the motor and the torque demand value of the internal combustion engine are allocated according to the target operating mode switched by the hybrid system.

6. The torque control method of the dual-motor hybrid system according to claim 1, characterized in that: The method also includes a torque vector control step, which independently controls the torque output of each motor in the dual-motor hybrid system according to the driving state of the vehicle and feedback from the road surface.

7. The torque control method of the dual-motor hybrid system according to claim 1, characterized in that: The method also includes an automatic speed change control step, which flexibly adjusts the torque output of the motor according to driving requirements by coordinating the working states of the motor and the internal combustion engine, and makes a gear shift decision based on the engine load, vehicle speed and accelerator pedal position.

8. A torque control device for a dual-motor hybrid system, characterized in that: It includes a first motor, a second motor, a hybrid controller, an internal combustion engine, a transmission, a clutch device and one or more processors, and the processor is used to execute the torque control method of the dual-motor hybrid system as described in any one of claims 1-7.

9. A computer device comprising a processor and a memory, wherein the processor is connected to the memory, and the memory is used to store a computer program, wherein: The processor is used to execute the computer program stored in the memory so that the computer device executes the torque control method of the dual-motor hybrid system according to any one of claims 1-7.

10. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, characterized in that: When the computer program is executed, the torque control method of the dual-motor hybrid system according to any one of claims 1 to 7 is implemented.

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