Torque distribution method, device and equipment of dual-motor power system and medium

Abstract

The invention provides a torque distribution method and device for a dual-motor power system, equipment and a medium, and the method comprises the steps: obtaining a multi-row and multi-column torque-rotating speed demand table of the dual-motor power system, and for each point in the torque-rotating speed demand table, carrying out the offline calculation of a first motor optimal torque of each point, a first motor optimal torque two-dimensional table is obtained based on the first motor optimal torque of each point, the torque-rotating speed demand table and the first motor optimal torque two-dimensional table are written into a target single-chip microcomputer, and the current rotating speed and torque output by the target single-chip microcomputer during operation are obtained; searching a corresponding target point in a torque-rotating speed demand table based on the current rotating speed and torque, searching a corresponding current first motor optimal torque in a first motor optimal torque two-dimensional table based on the target point, and calculating a corresponding second motor torque based on the first motor optimal torque, and carrying out torque distribution on the dual-motor power system based on the optimal torque of the first motor and the torque of the second motor.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and more specifically, to a torque distribution method, device, equipment and medium for a dual-motor power system. Background Art

[0002] With the rapid development of new energy vehicles, multi-motor drive systems have been increasingly used, among which dual-motor power systems are the most common. Dual-motor power systems are often used not only in pure electric vehicles but also in hybrid vehicles.

[0003] At present, in the existing dual-motor power system, the power of the two motors passes through their respective transmission mechanisms and then converges into the output shaft to output power. This involves the distribution of torque for the two motors under the single-chip microcomputer.

[0004] However, in existing dual-motor power systems, the torque distribution of the two motors often does not accurately consider losses and transmission efficiency. In addition, since torque distribution requires real-time calculations in a single-chip microcomputer, it occupies more computing resources and is difficult to quickly apply in a vehicle controller. Summary of the invention

[0005] In view of this, the purpose of the present application is to provide a torque distribution method, device, equipment and medium for a dual-motor power system, by offline calculating the optimal torque of the first motor corresponding to each point in the torque-speed demand table of the dual-motor power system to obtain a two-dimensional table of the optimal torque of the first motor, based on the current speed and torque of the dual-motor power system output by the single-chip microcomputer, as well as the torque-speed demand table and the two-dimensional table of the optimal torque of the first motor, to obtain the current optimal torque of the first motor and the second motor torque for matrix distribution, thereby proposing a torque distribution strategy, which reduces the loss of the dual-motor power system and improves the transmission efficiency, and at the same time, avoids occupying too many computing resources of the single-chip microcomputer through offline calculation, so that it can be quickly applied in the vehicle controller.

[0006] In a first aspect, an embodiment of the present application provides a torque distribution method for a dual-motor power system, which is applied to the dual-motor power system; the dual-motor power system includes a first motor and a second motor; the method includes:

[0007] Obtain a torque-speed demand table of multiple rows and columns of a dual-motor power system, and for each point in the torque-speed demand table, offline calculate the first motor optimal torque corresponding to each point, and obtain a corresponding first motor optimal torque two-dimensional table based on the first motor optimal torque of each point; wherein the torque-speed demand table includes a required torque and a required speed for each point;

[0008] Writing the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target single-chip microcomputer, and obtaining the current speed and torque of the dual-motor power system output by the target single-chip microcomputer during operation;

[0009] Finding a corresponding target point in the torque-speed demand table based on the current speed and torque of the dual-motor power system, and finding a corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point;

[0010] The corresponding second motor torque is calculated based on the current optimal torque of the first motor, and torque distribution is performed on the dual-motor power system based on the optimal torque of the first motor and the second motor torque.

[0011] In a possible implementation manner, the step of obtaining a multi-row and multi-column torque-speed demand table of a dual-motor power system includes:

[0012] Obtaining the torque range and speed range required by the dual-motor power system;

[0013] Dividing the torque range into a first number of equal parts and the speed range into a second number of equal parts to obtain a torque-speed demand table having a first number of rows and a second number of columns;

[0014] The torque and speed values ​​of a point in the torque-speed demand table are:

[0015]

[0016] Among them, x represents the x-th row where the point is located in the torque-speed demand table, y represents the y-th column where the point is located in the torque-speed demand table; Tout is the total output torque required by the dual-motor power system; Nout is the speed output by the dual-motor power system; Tmax represents the maximum value of the torque range, and Tmin represents the minimum value of the torque range; Nmax represents the maximum value of the speed range, and Nmin represents the minimum value of the speed range; m represents the first quantity; n represents the second quantity.

[0017] In a possible implementation manner, for each point in the torque-speed demand table, offline calculating the optimal torque of the first motor corresponding to each point includes:

[0018] Calculating a first motor speed and a second motor speed corresponding to a first target point in the torque-speed demand table, and calculating a final torque range of the first motor corresponding to the first target point based on the first motor speed and the second motor speed; the first target point is any point among all points in the torque-speed demand table;

[0019] The final torque range of the first motor is divided into a third number of equal parts to obtain a first motor torque of the first motor corresponding to each second target point in a fourth number of points, and the corresponding second motor torque of the second motor is calculated based on the first motor torque of the first motor; wherein the second target point is a fourth number of points obtained by dividing the final torque range of the first motor into a third number of equal parts; each second target point corresponds to a torque of the first motor after being divided into equal parts;

[0020] Obtain a first motor system loss table for the first motor and a second motor system loss table for the second motor, and calculate the optimal torque of the first motor at the first target point based on the first motor system loss table and the second motor system loss table, and the first motor torque, first motor speed and second motor torque, and second motor speed corresponding to the second target point.

[0021] In a possible implementation manner, the calculating, based on the first motor speed and the second motor speed, to obtain a final torque range of the first motor corresponding to the first target point includes:

[0022] Obtaining external characteristics of the first motor and the second motor, and respectively calculating an external characteristic torque range of the first motor and an external characteristic torque range of the second motor corresponding to the first target point based on the first motor speed, the second motor speed and the external characteristics of the first motor and the second motor;

[0023] Determine the required torque corresponding to the first target point in the torque-speed requirement table, and calculate the basic torque range of the first motor corresponding to the first target point that meets the target requirements based on the external characteristic torque range of the second motor and the required torque; wherein the target requirements include satisfying the required torque and the second motor not exceeding the external characteristic;

[0024] Based on the external characteristic torque range of the first motor, the external characteristic torque range of the second motor, and the basic torque range of the first motor, a final torque range of the first motor corresponding to the first target point is acquired.

[0025] In a possible implementation manner, the first motor optimal torque at the first target point is calculated based on the first motor system loss table and the second motor system loss table, and the first motor torque, the first motor speed, and the second motor torque, and the second motor speed corresponding to the second target point, including:

[0026] Obtaining the total motor loss of the dual-motor power system corresponding to the second target point based on the first motor system loss table and the second motor system loss table, and selecting a second target point with the minimum total motor loss in the total motor loss of the dual-motor power system corresponding to each second target point among the fourth number of points;

[0027] The first motor torque corresponding to the second target point is determined, and the first motor torque corresponding to the second target point is determined as the first motor optimal torque corresponding to the first target point.

[0028] In a possible implementation manner, obtaining the total motor loss of the dual-motor power system corresponding to the second target point based on the first motor system loss table and the second motor system loss table includes:

[0029] Calculating a first motor loss corresponding to each second target point based on the first motor system loss table, the first motor speed, and the first motor torque;

[0030] Calculating the second motor loss corresponding to each second target point based on the second motor system loss table, the second motor speed, and the second motor torque;

[0031] The first motor loss and the second motor loss are summed to obtain the total motor loss of the dual-motor power system corresponding to the second target point.

[0032] In a possible implementation, the dual-motor power system includes a first transmission mechanism and a second transmission mechanism, and the method further includes:

[0033] In response to the two transmission mechanisms being gearboxes, multiple transmission ratio combinations are calculated offline based on a first transmission ratio of the first transmission mechanism and a second transmission ratio of the second transmission mechanism, and a minimum total motor loss corresponding to each point in the torque-speed demand table under each transmission ratio combination is calculated;

[0034] The lowest total motor loss among all points is selected from the lowest total motor loss corresponding to each point, and a third target point and target transmission ratio combination corresponding to the lowest total motor loss are determined, the target transmission ratio combination is determined as the optimal transmission ratio combination corresponding to the third target point in the torque-speed demand table, and the transmission ratio of the dual-motor power system is allocated based on the optimal transmission ratio combination.

[0035] In a second aspect, an embodiment of the present application further provides a torque distribution device for a dual-motor power system, which is applied to the dual-motor power system; the dual-motor power system includes a first motor and a second motor; the device includes:

[0036] A first acquisition module is used to acquire a torque-speed demand table of multiple rows and columns of a dual-motor power system, and for each point in the torque-speed demand table, offline calculate the first motor optimal torque corresponding to each point, and obtain a corresponding first motor optimal torque two-dimensional table based on the first motor optimal torque of each point; wherein the torque-speed demand table includes a required torque and a required speed for each point;

[0037] A second acquisition module is used to write the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target single-chip microcomputer, and obtain the current speed and torque of the dual-motor power system output by the target single-chip microcomputer during operation;

[0038] a search module, configured to search for a corresponding target point in the torque-speed demand table based on the current speed and torque of the dual-motor power system, and search for a corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point;

[0039] The first allocation module is used to calculate the corresponding second motor torque based on the current first motor optimal torque, and to distribute torque to the dual-motor power system based on the first motor optimal torque and the second motor torque.

[0040] In a possible implementation manner, the first acquisition module is specifically configured to:

[0041] Obtaining the torque range and speed range required by the dual-motor power system;

[0042] Dividing the torque range into a first number of equal parts and the speed range into a second number of equal parts to obtain a torque-speed demand table having a first number of rows and a second number of columns;

[0043] The torque and speed values ​​of a point in the torque-speed demand table are:

[0044]

[0045] Among them, x represents the x-th row where the point is located in the torque-speed demand table, y represents the y-th column where the point is located in the torque-speed demand table; Tout is the total output torque required by the dual-motor power system; Nout is the speed output by the dual-motor power system; Tmax represents the maximum value of the torque range, and Tmin represents the minimum value of the torque range; Nmax represents the maximum value of the speed range, and Nmin represents the minimum value of the speed range; m represents the first quantity; n represents the second quantity.

[0046] In a possible implementation manner, the first acquisition module is specifically configured to:

[0047] Calculating a first motor speed and a second motor speed corresponding to a first target point in the torque-speed demand table, and calculating a final torque range of the first motor corresponding to the first target point based on the first motor speed and the second motor speed; the first target point is any point among all points in the torque-speed demand table;

[0048] The final torque range of the first motor is divided into a third number of equal parts to obtain a first motor torque of the first motor corresponding to each second target point in a fourth number of points, and the corresponding second motor torque of the second motor is calculated based on the first motor torque of the first motor; wherein the second target point is a fourth number of points obtained by dividing the final torque range of the first motor into a third number of equal parts; each second target point corresponds to a torque of the first motor after being divided into equal parts;

[0049] Obtain a first motor system loss table for the first motor and a second motor system loss table for the second motor, and calculate the optimal torque of the first motor at the first target point based on the first motor system loss table and the second motor system loss table, and the first motor torque, first motor speed and second motor torque, and second motor speed corresponding to the second target point.

[0050] In a possible implementation manner, the first acquisition module is specifically configured to:

[0051] Obtaining external characteristics of the first motor and the second motor, and respectively calculating an external characteristic torque range of the first motor and an external characteristic torque range of the second motor corresponding to the first target point based on the first motor speed, the second motor speed and the external characteristics of the first motor and the second motor;

[0052] Determine the required torque corresponding to the first target point in the torque-speed requirement table, and calculate the basic torque range of the first motor corresponding to the first target point that meets the target requirements based on the external characteristic torque range of the second motor and the required torque; wherein the target requirements include satisfying the required torque and the second motor not exceeding the external characteristic;

[0053] Based on the external characteristic torque range of the first motor, the external characteristic torque range of the second motor, and the basic torque range of the first motor, a final torque range of the first motor corresponding to the first target point is acquired.

[0054] In a possible implementation manner, the first acquisition module is specifically configured to:

[0055] Obtaining the total motor loss of the dual-motor power system corresponding to the second target point based on the first motor system loss table and the second motor system loss table, and selecting a second target point with the minimum total motor loss in the total motor loss of the dual-motor power system corresponding to each second target point among the fourth number of points;

[0056] The first motor torque corresponding to the second target point is determined, and the first motor torque corresponding to the second target point is determined as the first motor optimal torque corresponding to the first target point.

[0057] In a possible implementation manner, the first acquisition module is specifically configured to:

[0058] Calculating a first motor loss corresponding to each second target point based on the first motor system loss table, the first motor speed, and the first motor torque;

[0059] Calculating the second motor loss corresponding to each second target point based on the second motor system loss table, the second motor speed, and the second motor torque;

[0060] The first motor loss and the second motor loss are summed to obtain the total motor loss of the dual-motor power system corresponding to the second target point.

[0061] In a possible implementation manner, the dual-motor power system includes a first transmission mechanism and a second transmission mechanism, and the torque distribution device of the dual-motor power system of the present application further includes:

[0062] a calculation module, configured to offline calculate a plurality of transmission ratio combinations based on a first transmission ratio of the first transmission mechanism and a second transmission ratio of the second transmission mechanism in response to the two transmission mechanisms being gearboxes, and calculate a minimum total motor loss corresponding to each point in the torque-speed demand table under each transmission ratio combination;

[0063] The second allocation module is used to select the lowest total motor loss among all points from the lowest total motor loss corresponding to each point and determine a third target point and a target transmission ratio combination corresponding to the lowest total motor loss, determine the target transmission ratio combination as the optimal transmission ratio combination corresponding to the third target point in the torque-speed demand table, and allocate transmission ratios for the dual-motor power system based on the optimal transmission ratio combination.

[0064] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the torque distribution method of the dual-motor power system as described in any one of the first aspects.

[0065] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the torque distribution method for a dual-motor power system described in any one of the first aspects are executed.

[0066] The embodiments of the present application provide a torque distribution method, device, equipment and medium for a dual-motor power system, which obtains a torque-speed demand table with multiple rows and columns for the dual-motor power system, and for each point in the torque-speed demand table, offline calculates the first motor optimal torque corresponding to each point, and obtains a corresponding first motor optimal torque two-dimensional table based on the first motor optimal torque of each point, writes the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target microcontroller, obtains the current speed and torque of the dual-motor power system output by the target microcontroller during operation, finds the corresponding target point in the torque-speed demand table based on the current speed and torque of the dual-motor power system, finds the corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point, calculates the corresponding second motor torque based on the current first motor optimal torque, and distributes torque to the dual-motor power system based on the first motor optimal torque and the second motor torque. In the present application, a two-dimensional table of the best torque of the first motor is obtained by offline calculating the best torque of the first motor corresponding to each point in the torque-speed demand table of the dual-motor power system, and the current speed and torque of the dual-motor power system output by the single-chip microcomputer, as well as the torque-speed demand table and the two-dimensional table of the best torque of the first motor are searched to obtain the current best torque of the first motor and the second motor torque for matrix distribution. Thus, a torque distribution strategy is proposed, which reduces the loss of the dual-motor power system and improves the transmission efficiency. At the same time, offline calculation avoids occupying too many computing resources of the single-chip microcomputer, so that it can be quickly applied in the vehicle controller.

[0067] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0069] Figure 1 is a flow chart of a torque distribution method for a dual-motor power system provided according to an embodiment of the present application;

[0070] Figure 2 is a flow chart of a torque distribution method for a dual-motor power system provided according to another embodiment of the present application;

[0071] Figure 3 is a schematic diagram of a dual-motor power system of one configuration;

[0072] Figure 4 is a structural schematic diagram of a torque distribution device of a dual-motor power system provided in an embodiment of the present application;

[0073] Figure 5 It is a structural schematic diagram of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0074] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0075] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0076] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0077] Taking into account the rapid development of new energy vehicles, multi-motor drive systems have been increasingly used, among which dual-motor power systems are the most common. Dual-motor power systems are often used not only in pure electric vehicles but also in hybrid vehicles.

[0078] At present, in the existing dual-motor power system, the power of the two motors passes through their respective transmission mechanisms and then merges into the output shaft to output power, which involves the distribution of torque of the two motors under the single-chip microcomputer. For example, the power of the two motors passes through their respective transmission mechanisms and then merges into the output shaft, and the output power is the following formula:

[0079] T out =T1·i1·η1+T2·i2·η2

[0080]

[0081] Among them, Tout is the total output torque required by the system, T1 and T2 are the torques of the two motors respectively, i1 and i2 are the transmission ratios of the two motors respectively, and n1 and n2 are the efficiencies of the two transmission mechanisms respectively. Nout is the output speed of the system, which is usually determined by the working conditions. N1 and N2 are the speeds of the two motors. It can be seen that when the output shaft speed is determined, the speeds of the two motors are determined; and when the system requires the output torque to be Tout, how to select the values ​​of T1 and T2 requires a certain strategy to allocate. It should be noted that the above symbol meanings apply to the entire text.

[0082] However, in existing dual-motor power systems, the torque distribution of the two motors often does not accurately consider losses and transmission efficiency. In addition, since torque distribution requires real-time calculations in a single-chip microcomputer, it occupies more computing resources and is difficult to quickly apply in a vehicle controller.

[0083] To address this problem, the present application provides a torque distribution method, device, equipment and medium for a dual-motor power system, which obtains a two-dimensional table of the best torque of the first motor by offline calculating the best torque of the first motor corresponding to each point in the torque-speed demand table of the dual-motor power system, and obtains the current best torque of the first motor and the second motor torque based on the current speed and torque of the dual-motor power system output by the single-chip microcomputer, the torque-speed demand table and the two-dimensional table of the best torque of the first motor for matrix distribution. Thus, a torque distribution strategy is proposed, which reduces the loss of the dual-motor power system and improves the transmission efficiency. At the same time, offline calculation avoids occupying too many computing resources of the single-chip microcomputer, so that it can be quickly applied in the vehicle controller.

[0084] Figure 1 1 is a flow chart of a torque distribution method for a dual-motor power system according to an embodiment of the present application. The torque distribution method for a dual-motor power system according to an embodiment of the present application is applied to a dual-motor power system; the dual-motor power system includes a first motor and a second motor. Figure 1 As shown, the torque distribution method of the dual-motor power system of the embodiment of the present application may specifically include:

[0085] S101. Obtain a torque-speed demand table with multiple rows and columns for the dual-motor power system, and for each point in the torque-speed demand table, offline calculate the optimal torque of the first motor corresponding to each point, and obtain a corresponding two-dimensional table of the optimal torque of the first motor based on the optimal torque of the first motor at each point.

[0086] S102, writing the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target microcontroller, and obtaining the current speed and torque of the dual-motor power system output by the target microcontroller during operation.

[0087] S103, based on the current speed and torque of the dual-motor power system, find the corresponding target point in the torque-speed demand table, and based on the target point, find the corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table.

[0088] S104: Calculate the corresponding second motor torque based on the current optimal torque of the first motor, and distribute torque to the dual-motor power system based on the optimal torque of the first motor and the torque of the second motor.

[0089] In the torque distribution method of the dual-motor power system, the optimal torque of the first motor corresponding to each point in the torque-speed demand table of the dual-motor power system is calculated offline to obtain a two-dimensional table of the optimal torque of the first motor. The current speed and torque of the dual-motor power system output by the single-chip microcomputer, as well as the torque-speed demand table and the two-dimensional table of the optimal torque of the first motor are searched to obtain the current optimal torque of the first motor and the torque of the second motor for matrix distribution. Thus, a torque distribution strategy is proposed, which reduces the loss of the dual-motor power system and improves the transmission efficiency. At the same time, offline calculation avoids occupying too many computing resources of the single-chip microcomputer, so that it can be quickly applied in the vehicle controller.

[0090] The above exemplary steps of the embodiment of the present application are described below with reference to specific examples:

[0091] S101, obtain a torque-speed demand table with multiple rows and columns for the dual-motor power system, calculate the optimal torque of the first motor corresponding to each point in the torque-speed demand table offline, and obtain the corresponding two-dimensional table of the optimal torque of the first motor based on the optimal torque of the first motor at each point.

[0092] In an embodiment of the present application, the torque-speed demand table is a demand table of torque and speed required by the dual-motor power system. The torque-speed demand table is a multi-row and multi-column table, which includes multiple points. The torque-speed demand table includes the required torque and required speed for each point. The optimal torque of the first motor is the torque of the first motor corresponding to the minimum total system loss. The two-dimensional table of the best torque of the first motor includes the best torque of the first motor at each point. The points in the two-dimensional table of the best torque of the first motor correspond to the points in the torque-speed demand table. The multi-row and multi-column torque-speed demand table of the dual-motor power system is obtained, and for each point in the torque-speed demand table, the best torque of the first motor corresponding to each point is calculated offline, and the corresponding two-dimensional table of the best torque of the first motor is obtained based on the best torque of the first motor at each point for subsequent processing.

[0093] In some embodiments, when obtaining a multi-row and multi-column torque-speed demand table of a dual-motor power system, the torque range and speed range required by the dual-motor power system are obtained; the torque range is divided into a first number of equal parts, and the speed range is divided into a second number of equal parts, so as to obtain a torque-speed demand table of a first number of rows and a second number of columns. For example, the torque range required by the dual-motor power system is Tmin-Tmax, and the speed range is Nmin-Nmax. The torque range is divided into m equal parts, and the speed range is divided into n equal parts, thereby forming a torque-speed demand table of m rows and n columns.

[0094] Among them, the torque and speed values ​​of a point in the torque-speed demand table (i.e., a point in the xth row and yth column of the torque-speed demand table) are:

[0095]

[0096] Among them, x represents the xth row of the point in the torque-speed demand table, y represents the yth column of the point in the torque-speed demand table; Tout is the total output torque required by the dual-motor power system; Nout is the speed output by the dual-motor power system; Tmax represents the maximum value of the torque range, and Tmin represents the minimum value of the torque range; Nmax represents the maximum value of the speed range, and Nmin represents the minimum value of the speed range; m represents the first quantity; n represents the second quantity.

[0097] Therefore, through offline calculation, it does not occupy too many calculation resources of the microcontroller and can be effectively applied in most microcontrollers.

[0098] S102, writing the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target microcontroller, and obtaining the current speed and torque of the dual-motor power system output by the target microcontroller during operation.

[0099] In an embodiment of the present application, the torque-speed demand table and the first motor optimal torque two-dimensional table obtained in step S101 are written into a preset target microcontroller, and the current speed and torque of the dual-motor power system output by the running target microcontroller are obtained for subsequent processing.

[0100] S103, based on the current speed and torque of the dual-motor power system, find the corresponding target point in the torque-speed demand table, and based on the target point, find the corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table.

[0101] In the embodiment of the present application, the target point is the point in the torque-speed demand table that matches the current speed and torque. According to the current speed and torque of the dual-motor power system obtained in step S102, the target point matching the current speed and torque is found in the torque-speed demand table, and the target point is located in the first motor optimal torque two-dimensional table based on the target point. The first motor optimal torque of the target point in the first motor optimal torque two-dimensional table is the current first motor optimal torque, that is, the corresponding first motor optimal torque is found for subsequent processing. It should be noted that the target point and the current first motor optimal torque can be found online in real time.

[0102] Therefore, a method combining offline optimization calculation and online real-time table lookup is adopted to reduce the occupation of microcontroller computing resources.

[0103] S104: Calculate the corresponding second motor torque based on the current optimal torque of the first motor, and distribute torque to the dual-motor power system based on the optimal torque of the first motor and the torque of the second motor.

[0104] In the embodiment of the present application, the corresponding current second motor torque is calculated based on the current optimal torque of the first motor obtained in step S103, and the torque distribution of the dual-motor power system is performed based on the current optimal torque of the first motor and the second motor torque, thereby completing the torque distribution of the dual-motor power system.

[0105] It should be noted that the corresponding dual-motor torque distribution strategy is determined based on the optimal torque of the first motor and the torque of the second motor, so as to complete the torque distribution of the dual-motor power system based on the dual-motor torque distribution strategy; wherein the dual-motor torque distribution strategy represents a dual-motor torque distribution strategy with the smallest total motor loss.

[0106] Therefore, this application proposes a dual-motor torque distribution strategy with minimal total motor loss. This strategy adopts a method that combines offline optimization calculation and online real-time table lookup, which can reasonably distribute the dual-motor torque to minimize the total loss of the system. The application of this distribution strategy can effectively reduce energy consumption.

[0107] The torque distribution method for a dual-motor power system provided in an embodiment of the present application obtains a torque-speed demand table with multiple rows and columns for the dual-motor power system, and for each point in the torque-speed demand table, offline calculates the first motor optimal torque corresponding to each point, and obtains a corresponding first motor optimal torque two-dimensional table based on the first motor optimal torque of each point, writes the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target single-chip microcomputer, obtains the current speed and torque of the dual-motor power system output by the target single-chip microcomputer during operation, finds the corresponding target point in the torque-speed demand table based on the current speed and torque of the dual-motor power system, and finds the corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point, calculates the corresponding second motor torque based on the current first motor optimal torque, and distributes torque to the dual-motor power system based on the first motor optimal torque and the second motor torque. The torque distribution method of the dual-motor power system of the present application obtains a two-dimensional table of the best torque of the first motor by offline calculating the best torque of the first motor corresponding to each point in the torque-speed demand table of the dual-motor power system, and searches the current best torque of the first motor and the second motor based on the current speed and torque of the dual-motor power system output by the single-chip microcomputer, the torque-speed demand table and the two-dimensional table of the best torque of the first motor to obtain the current best torque of the first motor and the second motor torque for matrix distribution. Thus, a torque distribution strategy is proposed, which reduces the loss of the dual-motor power system and improves the transmission efficiency. At the same time, offline calculation avoids occupying too many computing resources of the single-chip microcomputer, so that it can be quickly applied in the vehicle controller.

[0108] Further, such as Figure 2As shown, the step S101 in the above embodiment of "for each point in the torque-speed demand table, offline calculating the optimal torque of the first motor corresponding to each point" may include the following steps:

[0109] S301, calculating a first motor speed and a second motor speed corresponding to a first target point in a torque-speed requirement table, and obtaining a final torque range of the first motor corresponding to the first target point based on the first motor speed and the second motor speed.

[0110] In the embodiment of the present application, the first target point is any point among all the points in the torque-speed demand table, that is, any point in the xth row and yth column among all the points in the torque-speed demand table. The first motor speed and the second motor speed are the speeds of the first motor and the second motor corresponding to the first target point. The first motor speed and the second motor speed corresponding to the first target point in the torque-speed demand table are calculated, and the final torque range of the first motor corresponding to the first target point is calculated based on the first motor speed and the second motor speed for subsequent processing. It should be noted that the calculation can be started from the point in the 1st row and the 1st column of the torque-speed demand table as the first target point.

[0111] For example, for any point in the torque-speed demand table, for example, point (1) in the first row and first column is the first target point (1), the torque and speed of the point (1) are Tout(1) and Nout(1) respectively. The speeds of the two motors at this time are calculated to obtain the first motor speed N1(1) and the second motor speed N2(1):

[0112] N1(1)=i1N out (1)

[0113] N2(1)=i2N out (1)

[0114] Optionally, when the final torque range of the first motor corresponding to the first target point is calculated based on the first motor speed and the second motor speed, the external characteristics of the first motor and the second motor are obtained, and the external characteristic torque range of the first motor and the external characteristic torque range of the second motor corresponding to the first target point are calculated respectively based on the first motor speed, the second motor speed and the external characteristics of the first motor and the second motor; the required torque corresponding to the first target point in the torque-speed requirement table is determined, and the basic torque range of the first motor corresponding to the first target point that meets the target requirements is calculated based on the external characteristic torque range and the required torque of the second motor; based on the external characteristic torque range of the first motor, the external characteristic torque range of the second motor and the basic torque range of the first motor, the final torque range of the first motor corresponding to the first target point is obtained. Among them, the target requirements include meeting the required torque and the second motor not exceeding the external characteristics. It should be noted that the torque range can be determined by calculating the maximum and minimum values ​​of the torque.

[0115] For example, according to the first motor speed N1(1) and the second motor speed N2(1) and the external characteristics of the motor, the external characteristic torque range (T 1_ min1(1)-T 1_ max1(1)) and the external characteristic torque range of the second motor (T 2_ min1(1)-T 2_ max1(1)):

[0116] T 1_max1 (1) = f 1max (N1(1))

[0117] T 1_min1 (1) = f 1min (N1(1))

[0118] T 2_max1 (1) = f 2max (N2(1))

[0119] T 2_min1 (1) = f 2min (N2(1))

[0120] Continuing, according to the external characteristic torque range of the second motor (T 2_ min1(1)-T 2_ max1(1)) and the required torque Tout(1) corresponding to the first target point in the torque-speed requirement table, calculate the basic torque range (T of the first motor) that satisfies the required torque and the second motor does not exceed the external characteristics 1_ min2(1)-T 1_ max2(1)):

[0121]

[0122] Finally, combined with the external characteristic torque range of the first motor (T 1_ min1(1)-T 1_ max1(1)), the external characteristic torque range of the second motor (T 2_ min1(1)-T 2_ max1(1)) and the basic torque range of the first motor (T 1_ min2(1)-T 1_ max2(1)), and obtain the final torque range of the first motor corresponding to the first target point (T 1_ min(1)-T 1_ max(1)):

[0123] T 1_max (1) = min(T 1_max1 (1),T 1_max2 (1));

[0124] T 1_min (1) = max(T 1_min1 (1),T 1_min2 (1));

[0125] S202, dividing the final torque range of the first motor into a third number of equal parts, obtaining a first motor torque of the first motor corresponding to each second target point in a fourth number of points, and calculating a corresponding second motor torque of the second motor based on the first motor torque of the first motor.

[0126] In the embodiment of the present application, the second target point is a fourth number of points obtained by equally dividing the final torque range of the first motor by the third number, each second target point corresponds to a torque of the first motor after being equally divided, the final torque range of the first motor corresponding to the first target point obtained in step S201 is equally divided by the third number, the first motor torque of the first motor corresponding to each second target point in the fourth number of points is obtained, and the second motor torque of the corresponding second motor is calculated based on the first motor torque of the first motor. The fourth number is the third number plus 1.

[0127] For example, the final torque range (T 1_ min(1)-T 1_ max(1)) is divided into K equal parts, k=1, 2, ...K, K+1, to obtain a fourth number, i.e., k+1 equally divided torques, i.e., the first motor torque T of the first motor corresponding to the k+1 second target point. 1_k (1):

[0128]

[0129] Continue to calculate the second motor torque of the second motor corresponding to each of the k+1 second target points:

[0130]

[0131] S203, obtaining a first motor system loss table of the first motor and a second motor system loss table of the second motor, and calculating the optimal torque of the first motor at the first target point based on the first motor system loss table and the second motor system loss table, as well as the first motor torque, the first motor speed and the second motor torque, and the second motor speed corresponding to the second target point.

[0132] In the embodiment of the present application, the first motor system loss table of the first motor and the second motor system loss table of the second motor are obtained, and based on the first motor system loss table and the second motor system loss table, as well as the first motor torque and the second motor torque corresponding to the second target point obtained in step S202, and the first motor speed and the second motor speed corresponding to the second target point, the optimal torque of the first motor at the first target point is calculated, thereby calculating the optimal torque of the first motor for each point in the torque-speed demand table, so as to obtain a two-dimensional table of the optimal torque of the first motor.

[0133] In some embodiments, the total motor loss of the dual-motor power system corresponding to the second target point is obtained based on the first motor system loss table and the second motor system loss table, and the second target point with the smallest total motor loss is selected from the total motor loss of the dual-motor power system corresponding to each second target point in the fourth number of points; the first motor torque corresponding to the second target point is determined, and the first motor torque corresponding to the second target point is determined as the first motor optimal torque corresponding to the first target point. In this way, the first motor optimal torque corresponding to each point in the torque-speed demand table can be obtained.

[0134] Optionally, based on the first motor system loss table, the first motor speed and the first motor torque, the first motor loss corresponding to each second target point is calculated; based on the second motor system loss table, the second motor speed and the second motor torque, the second motor loss corresponding to each second target point is calculated; the first motor loss and the second motor loss are summed to obtain the total motor loss of the dual-motor power system corresponding to the second target point. For example, the first motor loss and the second motor loss corresponding to each of the k+1 second target points are calculated according to the respective system loss tables of the first motor and the second motor, and the sums are performed to obtain the total motor system loss corresponding to each of the k+1 second target points. The first motor torque corresponding to the second target point with the smallest total motor system loss is selected as the first motor optimal torque of the first motor corresponding to the first target point in the torque-speed demand table.

[0135] Therefore, by repeating the above calculation steps, the optimal torque of the first motor corresponding to all points in the torque-speed demand table can be obtained, forming a two-dimensional table of the optimal torque of the first motor of the first motor, and then the torque-speed demand table and the two-dimensional table of the optimal torque of the first motor are written into the single-chip microcomputer. During actual operation, according to the current actual output shaft speed and torque, the optimal torque table of the first motor is searched to obtain the current optimal torque of the first motor, and then the torque of the second motor is calculated, thereby completing the torque distribution of the dual motors.

[0136] It should be noted that in the above torque distribution strategy, there is no specific provision for the transmission ratio, i.e., the transmission ratio i1 of the first motor and the transmission ratio i2 of the second motor. When i1 and i2 take different values, they actually represent dual-motor power systems with different system configurations. Therefore, the torque distribution strategy can be applied to dual-motor power systems with various configurations. For example, it can be applied to Figure 3 The dual-motor power system of the configuration shown, the dual-motor power system after the clutch, is actually i2=1, i1=transmission ratio.

[0137] Therefore, the torque distribution strategy can also be used in a variety of dual-motor power system configurations, with a wide range of applications.

[0138] Furthermore, the dual-motor power system includes a first transmission mechanism and a second transmission mechanism. In response to the two transmission mechanisms being gearboxes, multiple transmission ratio combinations are calculated offline based on the first transmission ratio of the first transmission mechanism and the second transmission ratio of the second transmission mechanism, and the minimum total motor loss corresponding to each point in the torque-speed demand table under each transmission ratio combination is calculated; the lowest total motor loss among all points is selected from the minimum total motor loss corresponding to each point, and the third target point and target transmission ratio combination corresponding to the lowest total motor loss are determined, and the target transmission ratio combination is determined as the optimal transmission ratio combination corresponding to the third target point in the torque-speed demand table.

[0139] Optionally, when multiple transmission ratio combinations are calculated offline based on the first transmission ratio and the second transmission ratio, a fifth number of first transmission ratios of the first transmission mechanism and a sixth number of second transmission ratios of the second transmission mechanism are determined respectively, and a seventh number of transmission ratio combinations are obtained based on the fifth number of first transmission ratios and the sixth number of second transmission ratios, wherein the seventh number of transmission ratio combinations is the product of the fifth number and the sixth number.

[0140] It should be noted that when the two transmission mechanisms are gearboxes, that is, i1\i2 are variable transmission ratios. Assuming that i1 has p transmission ratios and i2 has q transmission ratios, the aforementioned torque offline calculation method can also be applied to calculate the minimum total motor loss corresponding to each point in the torque-speed demand table under pq transmission ratio combinations (considering the torque limit and speed limit of the motor, some inappropriate transmission ratio combinations can be eliminated first), and then select the transmission ratio combination corresponding to the lowest total motor loss as the optimal transmission ratio combination for this point in the torque-speed demand table.

[0141] Therefore, the transmission ratio of the dual-motor power system can be allocated based on the optimal transmission ratio combination, realizing further expansion of the allocation strategy in the gear selection strategy of the dual-motor. In short, not only the optimal torque distribution strategy of the dual-motor can be realized, but also the optimal gear strategy of the dual-motor can be further realized.

[0142] It should be noted that the torque distribution method of a dual-motor power system of the present application is also a torque and transmission ratio distribution method of a dual-motor power system.

[0143] Figure 4 is a structural schematic diagram of a torque distribution device of a dual-motor power system provided in an embodiment of the present application; the torque distribution device of a dual-motor power system provided in an embodiment of the present application is applied to a dual-motor power system; the dual-motor power system includes a first motor and a second motor; Figure 4 As shown, the torque distribution device 400 of the dual-motor power system of the embodiment of the present application may specifically include:

[0144] The first acquisition module 401 is used to obtain a torque-speed demand table with multiple rows and columns for the dual-motor power system, and for each point in the torque-speed demand table, offline calculate the optimal torque of the first motor corresponding to each point, and obtain the corresponding two-dimensional table of the optimal torque of the first motor based on the optimal torque of the first motor at each point; wherein the torque-speed demand table includes the required torque and required speed for each point.

[0145] The second acquisition module 402 is used to write the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target microcontroller, and obtain the current speed and torque of the dual-motor power system output by the target microcontroller during operation.

[0146] The search module 403 is used to find the corresponding target point in the torque-speed demand table based on the current speed and torque of the dual-motor power system, and to find the corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point.

[0147] The first allocation module 404 is used to calculate the corresponding second motor torque based on the current first motor optimal torque, and to distribute torque to the dual-motor power system based on the first motor optimal torque and the second motor torque.

[0148] In a possible implementation manner, the first acquisition module is specifically configured to:

[0149] Obtain the torque range and speed range required by the dual-motor power system;

[0150] Divide the torque range into a first number of equal parts and the speed range into a second number of equal parts to obtain a torque-speed demand table having a first number of rows and a second number of columns;

[0151] The torque and speed values ​​for a point in the torque-speed demand table are:

[0152]

[0153] Among them, x represents the xth row of the point in the torque-speed demand table, y represents the yth column of the point in the torque-speed demand table; Tout is the total output torque required by the dual-motor power system; Nout is the speed output by the dual-motor power system; Tmax represents the maximum value of the torque range, and Tmin represents the minimum value of the torque range; Nmax represents the maximum value of the speed range, and Nmin represents the minimum value of the speed range; m represents the first quantity; n represents the second quantity.

[0154] In a possible implementation manner, the first acquisition module is specifically configured to:

[0155] Calculate the first motor speed and the second motor speed corresponding to the first target point in the torque-speed demand table, and calculate the final torque range of the first motor corresponding to the first target point based on the first motor speed and the second motor speed; the first target point is any point among all the points in the torque-speed demand table;

[0156] The final torque range of the first motor is divided into a third number of equal parts to obtain a first motor torque of the first motor corresponding to each second target point in the fourth number of points, and the corresponding second motor torque of the second motor is calculated based on the first motor torque of the first motor; wherein the second target point is a fourth number of points obtained by dividing the final torque range of the first motor into a third number of equal parts; each second target point corresponds to a torque of the first motor after being divided into equal parts;

[0157] Obtain a first motor system loss table for the first motor and a second motor system loss table for the second motor, and calculate the optimal torque of the first motor at the first target point based on the first motor system loss table and the second motor system loss table, as well as the first motor torque, the first motor speed and the second motor torque, and the second motor speed corresponding to the second target point.

[0158] In a possible implementation manner, the first acquisition module is specifically configured to:

[0159] Obtaining external characteristics of the first motor and the second motor, and calculating the external characteristic torque range of the first motor and the external characteristic torque range of the second motor corresponding to the first target point respectively based on the speed of the first motor, the speed of the second motor and the external characteristics of the first motor and the second motor;

[0160] Determine the required torque corresponding to the first target point in the torque-speed requirement table, and calculate the basic torque range of the first motor corresponding to the first target point that meets the target requirements based on the external characteristic torque range and the required torque of the second motor; wherein the target requirements include satisfying the required torque and the second motor not exceeding the external characteristic;

[0161] Based on the external characteristic torque range of the first motor, the external characteristic torque range of the second motor and the basic torque range of the first motor, a final torque range of the first motor corresponding to the first target point is obtained.

[0162] In a possible implementation manner, the first acquisition module is specifically configured to:

[0163] Based on the first motor system loss table and the second motor system loss table, and the first motor torque and the second motor torque corresponding to the second target point, the optimal torque of the first motor at the first target point is calculated, including:

[0164] Obtaining a total motor loss of the dual-motor power system corresponding to the second target point based on the first motor system loss table and the second motor system loss table, and selecting a second target point with the smallest total motor loss from the total motor loss of the dual-motor power system corresponding to each second target point in the fourth number of points;

[0165] The first motor torque corresponding to the second target point is determined, and the first motor torque corresponding to the second target point is determined as the first motor optimal torque corresponding to the first target point.

[0166] In a possible implementation manner, the first acquisition module is specifically configured to:

[0167] Calculate the first motor loss corresponding to each second target point based on the first motor system loss table, the first motor speed, and the first motor torque;

[0168] Calculating the second motor loss corresponding to each second target point based on the second motor system loss table, the second motor speed and the second motor torque;

[0169] The first motor loss and the second motor loss are summed to obtain the total motor loss of the dual-motor power system corresponding to the second target point. In a possible implementation, the dual-motor power system includes a first transmission mechanism and a second transmission mechanism, and the torque distribution device of the dual-motor power system of the present application further includes:

[0170] a calculation module, for offline calculating a plurality of transmission ratio combinations based on a first transmission ratio of the first transmission mechanism and a second transmission ratio of the second transmission mechanism in response to the two transmission mechanisms being gearboxes, and calculating a minimum total motor loss corresponding to each point in the torque-speed demand table under each transmission ratio combination;

[0171] The second allocation module is used to select the lowest total motor loss among all points from the lowest total motor loss corresponding to each point and determine the third target point and target transmission ratio combination corresponding to the lowest total motor loss, determine the target transmission ratio combination as the optimal transmission ratio combination corresponding to the third target point in the torque-speed demand table, and allocate transmission ratios for the dual-motor power system based on the optimal transmission ratio combination.

[0172] The torque distribution device of the dual-motor power system provided in the embodiment of the present application obtains a torque-speed demand table with multiple rows and columns for the dual-motor power system, and for each point in the torque-speed demand table, offline calculates the first motor optimal torque corresponding to each point, and obtains the corresponding first motor optimal torque two-dimensional table based on the first motor optimal torque of each point, writes the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target single-chip microcomputer, obtains the current speed and torque of the dual-motor power system output by the target single-chip microcomputer during operation, finds the corresponding target point in the torque-speed demand table based on the current speed and torque of the dual-motor power system, and finds the corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point, calculates the corresponding second motor torque based on the current first motor optimal torque, and distributes torque to the dual-motor power system based on the first motor optimal torque and the second motor torque. The torque distribution device of the dual-motor power system of the present application obtains a two-dimensional table of the best torque of the first motor by offline calculating the best torque of the first motor corresponding to each point in the torque-speed demand table of the dual-motor power system, and obtains the current best torque of the first motor and the second motor torque based on the current speed and torque of the dual-motor power system output by the single-chip microcomputer, the torque-speed demand table and the two-dimensional table of the best torque of the first motor for matrix distribution. Thus, a torque distribution strategy is proposed, which reduces the loss of the dual-motor power system and improves the transmission efficiency. At the same time, offline calculation avoids occupying too many computing resources of the single-chip microcomputer, so that it can be quickly applied in the whole vehicle controller.

[0173] like Figure 5 As shown, an electronic device 500 provided in an embodiment of the present application includes: a processor 501, a memory 502 and a bus, wherein the memory 502 stores machine-readable instructions executable by the processor 501. When the electronic device is running, the processor 501 communicates with the memory 502 through the bus, and the processor 501 executes the machine-readable instructions to perform the steps of the torque distribution method of the dual-motor power system as described above.

[0174] Specifically, the above-mentioned memory 502 and processor 501 can be general-purpose memories and processors, which are not specifically limited here. When the processor 501 runs the computer program stored in the memory 502, it can execute the torque distribution method of the above-mentioned dual-motor power system.

[0175] Corresponding to the torque distribution method of the above-mentioned dual-motor power system, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the torque distribution method of the above-mentioned dual-motor power system are executed.

[0176] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0177] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0178] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0179] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the deployment method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0180] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A torque distribution method for a dual-motor power system, applied to a dual-motor power system; the dual-motor power system comprises a first motor and a second motor; characterized in that: The method comprises: Obtain a torque-speed demand table of multiple rows and columns of a dual-motor power system, and for each point in the torque-speed demand table, offline calculate the first motor optimal torque corresponding to each point, and obtain a corresponding first motor optimal torque two-dimensional table based on the first motor optimal torque of each point; wherein the torque-speed demand table includes a required torque and a required speed for each point; Writing the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target single-chip microcomputer, and obtaining the current speed and torque of the dual-motor power system output by the target single-chip microcomputer during operation; Finding a corresponding target point in the torque-speed demand table based on the current speed and torque of the dual-motor power system, and finding a corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point; The corresponding second motor torque is calculated based on the current optimal torque of the first motor, and torque distribution is performed on the dual-motor power system based on the optimal torque of the first motor and the second motor torque.

2. The method according to claim 1, characterized in that The method of obtaining a multi-row and multi-column torque-speed demand table of the dual-motor power system includes: Obtaining the torque range and speed range required by the dual-motor power system; Divide the torque range into a first number of equal parts and the speed range into a second number of equal parts to obtain a torque-speed demand table having a first number of rows and a second number of columns; The torque and speed values ​​of a point in the torque-speed demand table are: Among them, x represents the x-th row where the point is located in the torque-speed demand table, y represents the y-th column where the point is located in the torque-speed demand table; Tout is the total output torque required by the dual-motor power system; Nout is the speed output by the dual-motor power system; Tmax represents the maximum value of the torque range, and Tmin represents the minimum value of the torque range; Nmax represents the maximum value of the speed range, and Nmin represents the minimum value of the speed range; m represents the first quantity; n represents the second quantity.

3. The method according to claim 1, characterized in that The offline calculation of the optimal torque of the first motor corresponding to each point in the torque-speed demand table includes: Calculating a first motor speed and a second motor speed corresponding to a first target point in the torque-speed demand table, and calculating a final torque range of the first motor corresponding to the first target point based on the first motor speed and the second motor speed; the first target point is any point among all points in the torque-speed demand table; The final torque range of the first motor is divided into a third number of equal parts to obtain a first motor torque of the first motor corresponding to each second target point in a fourth number of points, and the corresponding second motor torque of the second motor is calculated based on the first motor torque of the first motor; wherein the second target point is a fourth number of points obtained by dividing the final torque range of the first motor into a third number of equal parts; each second target point corresponds to a torque of the first motor after being divided into equal parts; Obtain a first motor system loss table for the first motor and a second motor system loss table for the second motor, and calculate the optimal torque of the first motor at the first target point based on the first motor system loss table and the second motor system loss table, and the first motor torque, first motor speed and second motor torque, and second motor speed corresponding to the second target point.

4. The method according to claim 3, characterized in that The calculating the final torque range of the first motor corresponding to the first target point based on the first motor speed and the second motor speed includes: Obtaining external characteristics of the first motor and the second motor, and respectively calculating an external characteristic torque range of the first motor and an external characteristic torque range of the second motor corresponding to the first target point based on the first motor speed, the second motor speed and the external characteristics of the first motor and the second motor; Determine the required torque corresponding to the first target point in the torque-speed requirement table, and calculate the basic torque range of the first motor corresponding to the first target point that meets the target requirements based on the external characteristic torque range of the second motor and the required torque; wherein the target requirements include satisfying the required torque and the second motor not exceeding the external characteristic; Based on the external characteristic torque range of the first motor, the external characteristic torque range of the second motor, and the basic torque range of the first motor, a final torque range of the first motor corresponding to the first target point is acquired.

5. The method according to claim 3, characterized in that: The calculating the first motor optimal torque of the first target point based on the first motor system loss table and the second motor system loss table, and the first motor torque, the first motor speed and the second motor torque, and the second motor speed corresponding to the second target point includes: Obtaining the total motor loss of the dual-motor power system corresponding to the second target point based on the first motor system loss table and the second motor system loss table, and selecting a second target point with the minimum total motor loss in the total motor loss of the dual-motor power system corresponding to each second target point among the fourth number of points; The first motor torque corresponding to the second target point is determined, and the first motor torque corresponding to the second target point is determined as the first motor optimal torque corresponding to the first target point.

6. The method according to claim 5, characterized in that The obtaining the total motor loss of the dual-motor power system corresponding to the second target point based on the first motor system loss table and the second motor system loss table includes: Calculating a first motor loss corresponding to each second target point based on the first motor system loss table, the first motor speed, and the first motor torque; Calculating a second motor loss corresponding to each second target point based on the second motor system loss table, the second motor speed, and the second motor torque; The first motor loss and the second motor loss are summed to obtain the total motor loss of the dual-motor power system corresponding to the second target point.

7. The method according to claim 5, characterized in that The dual-motor power system includes a first transmission mechanism and a second transmission mechanism, and the method further includes: In response to the two transmission mechanisms being gearboxes, multiple transmission ratio combinations are calculated offline based on a first transmission ratio of the first transmission mechanism and a second transmission ratio of the second transmission mechanism, and a minimum total motor loss corresponding to each point in the torque-speed demand table under each transmission ratio combination is calculated; The lowest total motor loss among all points is selected from the lowest total motor loss corresponding to each point, and a third target point and target transmission ratio combination corresponding to the lowest total motor loss are determined, the target transmission ratio combination is determined as the optimal transmission ratio combination corresponding to the third target point in the torque-speed demand table, and the transmission ratio of the dual-motor power system is allocated based on the optimal transmission ratio combination.

8. A torque distribution device for a dual-motor power system, applied to a dual-motor power system; The dual-motor power system comprises a first motor and a second motor; characterized in that: The device comprises: A first acquisition module is used to acquire a torque-speed demand table of multiple rows and columns of a dual-motor power system, and for each point in the torque-speed demand table, offline calculate the first motor optimal torque corresponding to each point, and obtain a corresponding first motor optimal torque two-dimensional table based on the first motor optimal torque of each point; wherein the torque-speed demand table includes a required torque and a required speed for each point; A second acquisition module is used to write the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target single-chip microcomputer, and obtain the current speed and torque of the dual-motor power system output by the target single-chip microcomputer during operation; a search module, configured to search for a corresponding target point in the torque-speed demand table based on the current speed and torque of the dual-motor power system, and search for a corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point; The first allocation module is used to calculate the corresponding second motor torque based on the current first motor optimal torque, and to distribute torque to the dual-motor power system based on the first motor optimal torque and the second motor torque.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the torque distribution method for the dual-motor power system as described in any one of claims 1 to 7 are performed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the torque distribution method for a dual-motor power system as described in any one of claims 1 to 7.

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