A control method for a dual-motor propulsion system

Abstract

The present invention relates to the technical field of electric motor control or regulation, and specifically to a dual-motor propulsion system control method. The present invention first obtains the voltage data, temperature data, and speed data of each motor in the dual motors, and after segmenting the data, analyzes the output characteristics of each time segment of the motor from multiple angles of voltage, temperature, and speed; further, based on the usage of the motor and the initial mechanical performance differences of the motor, accurately evaluate the current corrected output relative value of the motor, and finally adjust the output power of the motor based on the current corrected output relative value of the two motors to balance the dual motor output. The present invention comprehensively considers various parameters during motor operation, the angle of use wear, and the angle of difference in the initial mechanical performance of the motor, accurately measures the relative characteristics of the output power of the dual motors, and then performs precise regulation to ensure system stability.

Description

Technical Field

[0001] The present invention relates to the technical field of electric motor control or regulation, and in particular to a dual-motor propulsion system control method. Background Art

[0002] The motor system is generally composed of two motors of the same model, but due to the influence of manufacturing process and manufacturing level, the actual parameters of the two motors will still be different from the design parameters; at the same time, during the actual operation of the motor, factors such as body heating and material wear will cause parameter changes. The above problems often occur in the manufacturing and operation of the dual-motor system, which will lead to unbalanced distribution of the output power of the two motors in the system. When the dual motors are running, the different output power of the two motors will cause overload shutdown or even damage to the equipment, so it is necessary to adjust the output power of the motor in time according to the various operating data of the motor.

[0003] The traditional method of adjusting the output power of the motor mainly relies on the changes in a single type of data during the operation of the motor. This method is too one-sided in judging the output power of the motor, and there are errors in the judgment of the output power of the motor, which leads to low control accuracy of the dual-motor propulsion system, which is not conducive to the stable and safe operation of the system. Summary of the invention

[0004] In order to solve the technical problem that the conventional judgment of the motor operation state is too one-sided and affects the motor control accuracy, the purpose of the present invention is to provide a dual-motor propulsion system control method, and the technical solution adopted is as follows:

[0005] A dual-motor propulsion system control method, the method comprising:

[0006] Obtain the voltage data, temperature data and speed data of each motor in the dual motors; select any motor as the target motor;

[0007] According to the variation characteristics of the voltage data of the target motor, the voltage data, the temperature data and the speed data are segmented; according to the fluctuation characteristics of the voltage data, the temperature data and the speed data in each time segment, the output characteristic value of the target motor in each time segment is obtained;

[0008] According to the statistical characteristics of the output characteristic values ​​of the target motor history and the output characteristic values ​​of the current time segment, the initial output relative value of the target motor at the current time segment is obtained; according to the output characteristic values ​​of the first time segment of the two motors, the initial output relative value of the target motor at the current time segment is corrected to obtain the corrected output relative value of the target motor at the current time segment;

[0009] The output power of the two motors is adjusted based on the current relative value of the corrected outputs of the two motors.

[0010] Furthermore, the method for segmenting the voltage data, the temperature data and the speed data according to the change characteristics of the voltage data of the target motor includes:

[0011] The extreme value points of the voltage data of the target motor are obtained, and the time points corresponding to the adjacent extreme value points are used as a time segment. The voltage data is divided into different segments in different time segments; and the temperature data and the speed data are segmented in the same time segments.

[0012] Furthermore, the method for obtaining the output characteristic value includes:

[0013] Select any time segment of the target motor as a target time segment; sum and normalize the temperature data in the target time segment to obtain the sum and normalize the sum as a first characteristic parameter;

[0014] Taking the slope between the voltage data at two endpoints of the target time segment as a second characteristic parameter;

[0015] Normalizing the sum of the slopes of all the speed data in the target time segment and the product of the speed data to obtain the third characteristic parameter;

[0016] The product of the first characteristic parameter, the second characteristic parameter and the third characteristic parameter is used as the output characteristic value of the target motor in the target time segment.

[0017] Furthermore, the method for obtaining the initial output relative value includes:

[0018] The ratio of the current output characteristic value of the target motor to the sum of the output characteristic values ​​is used as the current initial output relative value of the target motor.

[0019] Furthermore, the method for obtaining the corrected output relative value includes:

[0020] Taking the ratio of the output characteristic value of the target motor in the first time segment to the maximum value of the output characteristic values ​​of the two motors in the first time segment as a correction coefficient;

[0021] The current initial output relative value of the target motor is corrected according to the correction coefficient to obtain the current corrected output relative value of the target motor.

[0022] Furthermore, the calculation method of the corrected output relative value includes:

[0023] The product of the correction coefficient and the current initial output relative value of the target motor is used as the current corrected output relative value of the target motor.

[0024] Furthermore, the method for adjusting the output power of the motors based on the current corrected output relative values ​​of the two motors includes:

[0025] The motor corresponding to the minimum value of the current relative values ​​of the corrected outputs of the two motors is used as the motor to be adjusted, and the other motor is used as the reference motor;

[0026] The difference between the relative values ​​of the corrected outputs of the reference motor and the motor to be adjusted is used as the numerator, the absolute value of the relative value of the corrected outputs of the motor to be adjusted is used as the denominator, and the ratio is used as the speed adjustment degree;

[0027] The speed of the motor to be adjusted is adjusted according to the speed adjustment degree.

[0028] Furthermore, the method for adjusting the speed of the motor to be adjusted according to the speed adjustment degree includes:

[0029] The speed adjustment degree is normalized and summed with a constant 1 to obtain a speed adjustment coefficient; the product of the speed of the motor to be adjusted before the current correction and the speed adjustment coefficient is used as the adjustment target speed.

[0030] Furthermore, when adjusting the speed of the motor, the preset motor MAP diagram must be followed.

[0031] Furthermore, the voltage data, temperature data and rotation speed data are collected at the same frequency.

[0032] The present invention has the following beneficial effects:

[0033] The present invention first obtains the voltage data, temperature data and speed data of each motor in the dual motor, which is convenient for the subsequent analysis of the running state of the motor from different parameter angles and provides a basis for data analysis; further, according to the change characteristics of the voltage data of the target motor, the voltage data, temperature data and speed data are segmented, which is more conducive to analyzing the working state of the motor at different time stages; further, in order to avoid the deviation of the motor state evaluation by a single parameter, according to the fluctuation characteristics of the voltage data, temperature data and speed data in each time segment, the output characteristic value of the target motor in each time segment is obtained by integrating multiple parameter angles, characterizing the power output state of the target motor in each time segment, and preparing for the subsequent motor in the current working state; further, the output characteristic value of the current time segment is preliminarily corrected from the perspective of motor wear and consumption, and the initial output relative value of the target motor is obtained; further, the initial output relative value of the target motor is corrected from the perspective of the initial mechanical performance of the motor, and the corrected output relative value of the target motor is obtained; finally, the output power of the motor is adjusted based on the current corrected output relative value of the two motors. The present invention comprehensively measures the relative characteristics of the output power of the dual motors by combining multiple parameters, the wear angle and the difference angle of the initial mechanical performance of the motor when the motor is running, and then accurately controls and controls to ensure the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A flow chart of a dual-motor propulsion system control method provided by one embodiment of the present invention;

[0036] Figure 2 A schematic structural diagram of a dual-motor propulsion system provided by one embodiment of the present invention;

[0037] Figure 3 A motor MAP diagram is provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of a dual-motor propulsion system control method proposed by the present invention, its specific implementation, structure, features and effects, in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0039] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0040] The specific scheme of the dual-motor propulsion system control method provided by the present invention is described in detail below with reference to the accompanying drawings.

[0041] See also Figure 1 , which shows a flow chart of a dual-motor propulsion system control method provided by an embodiment of the present invention, specifically comprising:

[0042] Step S1: Obtain voltage data, temperature data and speed data of each motor in the dual motors; select any motor as the target motor.

[0043] The dual motor system works on the principle of two independent electric motors working simultaneously, which greatly improves the efficiency, responsiveness and reliability of the propulsion system. Figure 2 , which shows a schematic structural diagram of a dual-motor propulsion system provided by an embodiment of the present invention; Figure 2 It includes three-phase AC busbars A, B and C, motor and , load, controller and inverter; the controller receives speed signal, voltage signal and temperature signal, outputs control signal PWM1 and control signal PWM2 for controlling the motor; the inverter receives the control signal to control the motor; the motor obtains grid power from the three-phase AC bus and does work on the load.

[0044] In the embodiment of the present invention, considering that the motor is in different states and under different loads, the various parameters of the motor will show different changes. The embodiment of the motor state by a single parameter is relatively one-sided, and the expression of the motor mechanical characteristics is not accurate enough, which is easy to produce errors. The various parameters of the motor affect each other. For example, when the load borne by the current motor increases, the motor temperature increases, the coil internal resistance increases, the current decreases, the torque decreases, and the rotor speed decreases; when the motor voltage increases, the magnetic field generated is stronger, the torque becomes larger, the output power also increases, and the load increases; when the load is constant, the motor speed and output power are proportional. In order to expand the analysis angle of the motor output power, analysis is performed from multiple angles of motor voltage, speed and temperature to improve the control accuracy of the dual-motor propulsion system.

[0045] In one embodiment of the present invention, voltage data, temperature data and speed data of each motor in the dual motors are obtained through a voltage signal sensor, an infrared temperature sensor and a speed sensor; and any one motor is selected as the target motor.

[0046] It should be noted that, in one embodiment of the present invention, the collection frequency of voltage data, temperature data and rotational speed data is consistent, all set to 10 seconds each time, the unit of voltage data is volt (V), the unit of temperature data is degree Celsius (℃), and the unit of rotational speed data is revolutions per second (r / s); the use of the above sensors is a technical means well known to those skilled in the art and will not be repeated here.

[0047] Step S2: segment the voltage data, temperature data and speed data according to the change characteristics of the voltage data of the target motor; obtain the output characteristic value of the target motor in each time segment according to the fluctuation characteristics of the voltage data, temperature data and speed data in each time segment.

[0048] Taking into account the differences in the working status of the motor at different time stages, directly analyzing the global data is likely to ignore the details of the local data, which is not conducive to accurately obtaining the working status of the motor for adjustment, and the data needs to be segmented; considering that when the motor load changes, various parameters will change, and the voltage change is more obvious and rapid, so according to the changing characteristics of the voltage data of the target motor, the voltage data, temperature data and speed data are segmented.

[0049] Preferably, in one embodiment of the present invention, considering that the extreme points are the demarcation points where data fluctuations are obvious and the data changes between adjacent extreme points are consistent, the extreme points of the voltage data of the target motor are obtained, and the corresponding time points between adjacent extreme points are taken as a time segment, and the voltage data is divided into different segments in different time segments; the temperature data and the speed data are segmented in the same time segments.

[0050] It should be noted that, in one embodiment of the present invention, the voltage data of the target motor is curve-fitted, the horizontal axis is the time axis, the vertical axis is the data axis, the voltage-time curve is smoothed using the Douglas Peuker algorithm, and then the extreme point in the smoothed voltage-time curve is used as a segmentation point, the voltage-time curve before smoothing is segmented, different time segments are obtained, and the voltage data, temperature data and speed data are segmented. Curve fitting and Douglas Peuker algorithm are well known to those skilled in the art and will not be described in detail.

[0051] When the motor is in different states and bears different loads, the various parameters of the motor will show different changes. In order to avoid deviations in the motor state assessment based on a single parameter, the voltage data, temperature data and speed data are integrated. According to the fluctuation characteristics of the voltage data, temperature data and speed data in each time segment, the output characteristic value of the target motor in each time segment is obtained to characterize the power output state of the target motor in each time segment, so as to prepare for the subsequent acquisition of the motor's current working state and regulation of the motor's output power.

[0052] Preferably, in one embodiment of the present invention, any time segment of the target motor is selected as the target time segment; considering that the higher the temperature of the motor when it is working, the higher the load of the motor and the greater the output power, the temperature data in the target time segment is summed and normalized as the first characteristic parameter; considering that the larger the slope between the two ends of the time segment, the faster the voltage increases and the greater the power output, and the smaller the slope is negative, the faster the voltage decreases and the smaller the output power, so the slope between the voltage data at the two endpoints of the target time segment is used as the second characteristic parameter; considering that the larger the speed, the greater the power output of the motor, the larger the slope of the speed data, the stronger the trend of increasing output power, so the sum of the slope of all speed data in the target time segment and the product of the speed data is normalized and used as the third characteristic parameter;

[0053] The product of the first characteristic parameter, the second characteristic parameter and the third characteristic parameter is used as the output characteristic value of the target motor in the target time segment. The larger the output characteristic value, the greater the output power of the target motor in the target time segment obtained from the three perspectives of voltage, temperature and speed, which represents the working state of the target motor in the target time segment.

[0054] It should be noted that the method of obtaining the slope is a technical means well known to those skilled in the art. In one embodiment of the present invention, the derivative of the data point on the data curve can be obtained as the slope by fitting the data curve; when the sum of the temperature data is normalized, it can be normalized by the maximum value of the sum of the temperature data corresponding to all time segments, the sum of the temperature data in the target time segment is used as the numerator, the maximum value of the sum of the temperature data corresponding to all time segments is used as the denominator, and the ratio is used as the normalization result; when the sum of the slope of all the speed data in the target time segment and the product of the speed data is normalized, it can be normalized by The function is normalized.

[0055] Step S3: According to the statistical characteristics of the historical output characteristic values ​​of the target motor and the output characteristic values ​​of the current time segment, the current initial output relative value of the target motor is obtained; according to the output characteristic values ​​of the first time segment of the two motors, the initial output relative value of the target motor in the current time segment is corrected to obtain the current corrected output relative value of the target motor.

[0056] Taking into account that the motor will wear out as it continues to run, and the larger the output characteristic value, the higher the output power of the motor, the greater the wear on the motor, and the lower the power conversion efficiency or capacity of the motor. Therefore, based on the statistical characteristics of the output characteristic value of the target motor and the output characteristic value of the current time segment, the current initial output relative value of the target motor is obtained, and the current output characteristic value is preliminarily corrected.

[0057] Preferably, in one embodiment of the present invention, it is considered that the larger the sum of the current output characteristic values ​​of the target motor is, the larger the load of the target motor in each time segment of operation, the larger the output power, the greater the wear on the motor, the smaller the mechanical characteristics, and the lower the power conversion efficiency; under the same conditions, the smaller the mechanical characteristics of the motor, the more difficult it is to effectively convert electrical energy into output power, and the lower the current effective output power; therefore, the ratio of the current output characteristic value of the target motor to the sum of the output characteristic values ​​is used as the current initial output relative value of the target motor.

[0058] It should be noted that when the motor output power increases, the temperature increases, the speed increases, and the slope of the speed data is greater than zero, the first characteristic parameter and the third characteristic parameter are larger; when the motor output power decreases, the temperature decreases, the speed decreases, and the slope of the speed data is less than zero, the first characteristic parameter and the third characteristic parameter are smaller, so the absolute value of the sum of the output characteristic values ​​of all increased output powers must be greater than the absolute value of the sum of the output characteristic values ​​of all reduced output powers, and the sum of the current output characteristic values ​​must be greater than zero.

[0059] In other embodiments of the present invention, the output feature value may be normalized, such as Normalize the function or the maximum and minimum values, and then obtain the initial output relative value.

[0060] In the embodiment of the present invention, the differences in the manufacture or installation of the motors are also taken into consideration, resulting in differences in the mechanical properties of the two motors. The better the mechanical properties of the motor, the greater the load that can be shared, the greater the output power of the motor in the initial time segment of operation, and the greater the output characteristic value. Therefore, based on the output characteristic values ​​of the first time segment of the two motors, the current initial output relative value of the target motor is corrected, and the initial output relative value is further corrected from the perspective of the mechanical properties of the motor to obtain the current corrected output relative value of the target motor, which is convenient for comparing the corrected output relative values ​​of the two motors in the current time segment, and then making accurate adjustments.

[0061] The first time segment of each motor is the time segment with the smallest time sequence among all the historical time segments at the current moment, and the current time segment is the time segment at the current moment.

[0062] Preferably, in one embodiment of the present invention, considering that the smaller the output characteristic value of the first time segment of the target motor of the two motors is relative to the other motor, the worse the mechanical performance of the target motor is, the lower the current ability or efficiency of converting output power is, the smaller the current output power is, and the lower the output relative value is, the ratio of the output characteristic value of the first time segment of the target motor to the maximum value of the output characteristic values ​​of the first time segment of the two motors is used as the correction coefficient;

[0063] The current initial output relative value of the target motor is corrected according to the correction coefficient, and the corrected output relative value of the target motor in the current time segment is obtained.

[0064] Preferably, in one embodiment of the present invention, the smaller the correction coefficient is, the smaller the output characteristic value of the first time segment of the target motor is, the worse the mechanical performance of the target motor is, and the more it is necessary to reduce the initial output relative value of the target motor. Therefore, the product of the correction coefficient and the current initial output relative value of the target motor is used as the current corrected output relative value of the target motor.

[0065] Step S4: adjusting the output power of the motors based on the current corrected relative output values ​​of the two motors.

[0066] When dual motors are running, different output powers of the two motors may cause overload, shutdown or even damage to the equipment. To avoid such problems, it is necessary to compare the current output powers of the two motors and then make adjustments. Therefore, the output power of the motors is adjusted based on the current corrected output relative values ​​of the two motors to ensure the smooth and safe operation of the dual motor propulsion system.

[0067] Preferably, in one embodiment of the present invention, the output power of the motor with smaller output power is increased by increasing the rotation speed of the motor with smaller output power, so that the output of the dual motors is balanced; the motor corresponding to the minimum value of the current corrected output relative values ​​of the two motors is used as the motor to be adjusted, and the other motor is used as the reference motor;

[0068] In order to measure the extent to which the speed of the motor to be adjusted needs to be adjusted, the difference between the relative values ​​of the corrected outputs of the reference motor and the motor to be adjusted is used as the numerator, the absolute value of the relative value of the corrected output of the motor to be adjusted is used as the denominator, and the ratio is used as the speed adjustment degree; by calculating the relative difference, the output power difference between the two motors can be more accurately reflected, thereby providing more detailed adjustment guidance, and adjusting the speed of the motor to be adjusted according to the speed adjustment degree.

[0069] Preferably, in one embodiment of the present invention, the speed adjustment degree is normalized and summed with a constant 1 to obtain a speed adjustment coefficient; the speed of the motor to be adjusted before the current correction multiplied by the speed adjustment coefficient is used as the adjustment target speed. Normalization can be performed by maximum and minimum value normalization.

[0070] It should be noted that the motor MAP diagram is a graphic that describes the motor's performance. It shows the motor's performance parameters under different working conditions, such as speed, torque, and power. When adjusting the motor's speed, you must follow the preset motor MAP diagram. After determining the target speed, adjust the speed in steps of 1 revolution per second to ensure safe operation of the motor. Figure 3 , which shows a motor MAP diagram provided by an embodiment of the present invention. Figure 3 It includes three dimensions: torque / Nm, speed / rpm and efficiency / percentage.

[0071] In one embodiment of the present invention, the motor output power is adjusted and maintenance of the motor is also included. When the speed adjustment coefficient is greater than 1.9, the motor needs to be maintained and the working environment of the motor needs to be cleaned; or a maintenance cycle is set for regular maintenance; after each maintenance, the time point when the motor resumes working is used as a new starting point, and the analysis of various monitoring data is restarted.

[0072] In summary, the present invention aims at the technical problem that the traditional judgment of the motor operating state is too one-sided, which affects the accuracy of motor control, and proposes a control method for a dual-motor propulsion system. The present invention first obtains the voltage data, temperature data and speed data of each motor in the dual motors, and then analyzes the output characteristics of the motor from multiple angles of voltage, temperature and speed after segmenting the data; further, based on the usage of the motor and the initial mechanical performance difference of the motor, the relative value of the current corrected output of the motor is accurately evaluated, and finally the output power of the motor is adjusted based on the current relative value of the corrected output of the two motors to balance the output of the dual motors. The present invention comprehensively considers various parameters during motor operation, the angle of use and the angle of difference in the initial mechanical performance of the motor, accurately measures the relative characteristics of the output power of the dual motors, and then performs precise regulation to ensure the stability of the system.

[0073] It should be noted that the sequence of the above embodiments of the present invention is for description only and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0074] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A dual-motor propulsion system control method, characterized in that: The method comprises: Obtain the voltage data, temperature data and speed data of each motor in the dual motors; select any motor as the target motor; According to the variation characteristics of the voltage data of the target motor, the voltage data, the temperature data and the speed data are segmented; according to the fluctuation characteristics of the voltage data, the temperature data and the speed data in each time segment, the output characteristic value of the target motor in each time segment is obtained; According to the statistical characteristics of the output characteristic values ​​of the target motor history and the output characteristic values ​​of the current time segment, the initial output relative value of the target motor at the current time segment is obtained; according to the output characteristic values ​​of the first time segment of the two motors, the initial output relative value of the target motor at the current time segment is corrected to obtain the corrected output relative value of the target motor at the current time segment; Adjusting the output power of the motors based on the current relative values ​​of the corrected outputs of the two motors; The method for obtaining the output characteristic value comprises: Select any time segment of the target motor as a target time segment; sum and normalize the temperature data in the target time segment to obtain the sum and normalize the sum as a first characteristic parameter; Taking the slope between the voltage data at two endpoints of the target time segment as a second characteristic parameter; Normalizing the sum of the slopes of all the speed data in the target time segment and the product of the speed data to obtain the third characteristic parameter; taking the product of the first characteristic parameter, the second characteristic parameter and the third characteristic parameter as the output characteristic value of the target motor in the target time segment; The method for obtaining the initial output relative value comprises: The ratio of the output characteristic value of the target motor in the current time segment to the sum of the output characteristic values ​​of the target motor in all historical time segments is used as the initial output relative value of the target motor in the current time segment; The method for obtaining the corrected output relative value comprises: Taking the ratio of the output characteristic value of the target motor in the first time segment to the maximum value of the output characteristic values ​​of the two motors in the first time segment as a correction coefficient; Correct the current initial output relative value of the target motor according to the correction coefficient to obtain the current corrected output relative value of the target motor; The calculation method of the corrected output relative value includes: The product of the correction coefficient and the current initial output relative value of the target motor is used as the current corrected output relative value of the target motor; The first time segment of each motor is the time segment with the smallest time sequence among all the historical time segments at the current moment, and the current time segment is the time segment at the current moment.

2. A dual-motor propulsion system control method according to claim 1, characterized in that: The method for segmenting the voltage data, the temperature data and the speed data according to the change characteristics of the voltage data of the target motor includes: The extreme value points of the voltage data of the target motor are obtained, and the time points corresponding to the adjacent extreme value points are used as a time segment. The voltage data is divided into different segments in different time segments; and the temperature data and the speed data are segmented in the same time segments.

3. A dual-motor propulsion system control method according to claim 1, characterized in that: The method for adjusting the output power of the motors based on the current relative values ​​of the corrected outputs of the two motors comprises: The motor corresponding to the minimum value of the current relative values ​​of the corrected outputs of the two motors is used as the motor to be adjusted, and the other motor is used as the reference motor; The difference between the relative values ​​of the corrected outputs of the reference motor and the motor to be adjusted is used as the numerator, the absolute value of the relative value of the corrected outputs of the motor to be adjusted is used as the denominator, and the ratio is used as the speed adjustment degree; The speed of the motor to be adjusted is adjusted according to the speed adjustment degree.

4. A dual-motor propulsion system control method according to claim 3, characterized in that: The method for adjusting the speed of the motor to be adjusted according to the speed adjustment degree includes: The speed adjustment degree is normalized and summed with a constant 1 to obtain a speed adjustment coefficient; the product of the speed of the motor to be adjusted before the current correction and the speed adjustment coefficient is used as the adjustment target speed.

5. A dual-motor propulsion system control method according to claim 3, characterized in that: When adjusting the motor speed, the preset motor MAP diagram must be followed.

6. A dual-motor propulsion system control method according to claim 1, characterized in that: The voltage data, temperature data and rotation speed data are collected at the same frequency.

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