A method, apparatus, equipment and medium for torque distribution in a dual-motor power system

Abstract

The application provides a torque distribution method, device, equipment and medium of a dual-motor power system, the method comprising: obtaining a multi-row and multi-column torque-speed demand table of the dual-motor power system, for each point in the torque-speed demand table, offline calculating the first motor optimal torque of each point, obtaining a first motor optimal torque two-dimensional table based on the first motor optimal torque of each point, writing the torque-speed demand table and the first motor optimal torque two-dimensional table into a target single-chip microcomputer, obtaining the current speed and torque output by the target single-chip microcomputer during operation, finding the corresponding target point in the torque-speed demand table based on the current speed and torque, and finding the corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point, calculating the corresponding second motor torque based on the first motor optimal torque, and distributing the torque of the dual-motor power system based on the first motor optimal torque and the second motor torque.

Description

Technical Field

[0001] This 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 Technology

[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. They are not only used in pure electric vehicles, but also frequently used in hybrid vehicles.

[0003] Currently, in existing dual-motor power systems, the power from the two motors is combined into the output shaft after passing through their respective transmission mechanisms, thereby outputting power. This involves the distribution of torque between the two motors under a microcontroller.

[0004] However, in existing dual-motor power systems, the torque distribution between the two motors often does not accurately take into account losses and transmission efficiency. In addition, since torque distribution needs to be performed in real time in a microcontroller, it consumes a lot of computing resources, making it difficult to apply quickly in vehicle controllers. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a torque distribution method, device, equipment, and medium for a dual-motor power system. By offline calculation of the optimal torque of the first motor corresponding to each point in the torque-speed demand table of the dual-motor power system, a two-dimensional table of the optimal torque of the first motor is obtained. Based on the current speed and torque of the dual-motor power system output by the microcontroller, as well as the torque-speed demand table and the two-dimensional table of the optimal torque of the first motor, the current optimal torque of the first motor and the torque of the second motor are retrieved for matrix distribution. Thus, a torque distribution strategy is proposed, which reduces the losses of the dual-motor power system, improves transmission efficiency, and avoids excessive consumption of microcontroller computing resources through offline calculation, thereby enabling rapid application in vehicle controllers.

[0006] In a first aspect, embodiments of this application provide a torque distribution method for a dual-motor power system, applied to a dual-motor power system; the dual-motor power system includes a first motor and a second motor; the method includes:

[0007] A multi-row, multi-column torque-speed demand table for a dual-motor power system is obtained. For each point in the torque-speed demand table, the optimal torque of the first motor corresponding to each point is calculated offline, and a corresponding two-dimensional table of optimal torque of the first motor is obtained based on the optimal torque of the first motor at each point. The torque-speed demand table includes the required torque and required speed for each point.

[0008] Write the torque-speed requirement table and the optimal torque two-dimensional table of the first motor 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;

[0009] Based on the current speed and torque of the dual-motor power system, the corresponding target point is found in the torque-speed demand table, and based on the target point, the corresponding current optimal torque of the first motor is found in the optimal torque two-dimensional table of the first motor.

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

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

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

[0013] 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 to obtain a torque-speed demand table with a first number of rows and a second number of columns.

[0014] The torque and speed values ​​at one point in the torque-speed demand table are as follows:

[0015]

[0016] Where x represents the x-th row of the torque-speed demand table, and y represents the y-th column of the torque-speed demand table; Tout is the total output torque required by the dual-motor power system; Nout is the output speed of 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; and n represents the second quantity.

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

[0018] Calculate the first motor speed and the second motor speed corresponding to the first target point in the torque-speed requirement 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 points in the torque-speed requirement table;

[0019] The final torque range of the first motor is divided into a third number of equal parts to obtain the first motor torque of the first motor corresponding to each second target point in the fourth number of points, and the 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 the 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 the torque of the first motor after the division.

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

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

[0022] Obtain the external characteristics of the first motor and the second motor. 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, calculate 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.

[0023] Determine the required torque corresponding to the first target point in the torque-speed requirement table. Based on the external characteristic torque range of the second motor and the required torque, calculate the basic torque range of the first motor corresponding to the first target point that meets the target requirements. The target requirements include meeting the required torque and the second motor not exceeding its external characteristics.

[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, the final torque range of the first motor corresponding to the first target point is obtained.

[0025] In one possible implementation, the step of 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, first motor speed, and second motor torque and second motor speed corresponding to the second target point, includes:

[0026] Based on the first motor system loss table and the second motor system loss table, the total motor loss of the dual-motor power system corresponding to the second target point is obtained. Among the fourth number of points, 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.

[0027] Determine the torque of the first motor corresponding to the second target point, and set the torque of the first motor corresponding to the second target point as the optimal torque of the first motor corresponding to the first target point.

[0028] In one possible implementation, 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] Based on the first motor system loss table, the first motor speed and the first motor torque, calculate the first motor loss corresponding to each second target point;

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

[0031] The total motor loss of the dual-motor power system corresponding to the second target point is obtained by summing the first motor loss and the second motor loss.

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

[0033] When both transmission mechanisms are 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;

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

[0035] Secondly, embodiments of this application also provide a torque distribution device for a dual-motor power system, applied to a dual-motor power system; the dual-motor power system includes a first motor and a second motor; the device includes:

[0036] The first acquisition module is used to acquire a multi-row, multi-column torque-speed demand table of the dual-motor power system. For each point in the torque-speed demand table, the optimal torque of the first motor corresponding to each point is calculated offline, and a corresponding two-dimensional table of optimal torque of the first motor is obtained based on the optimal torque of the first motor at each point. The torque-speed demand table includes the required torque and required speed for each point.

[0037] The second acquisition module is used to write the torque-speed requirement table and the first motor optimal torque two-dimensional table into a preset target microcontroller, and to acquire the current speed and torque of the dual-motor power system output by the target microcontroller during operation;

[0038] The lookup module 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 optimal torque of the first motor in the two-dimensional table of optimal torque of the first motor based on the target point;

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

[0040] In one possible implementation, the first acquisition module is specifically used for:

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

[0042] 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 to obtain a torque-speed demand table with a first number of rows and a second number of columns.

[0043] The torque and speed values ​​at one point in the torque-speed demand table are as follows:

[0044]

[0045] Where x represents the x-th row of the torque-speed demand table, and y represents the y-th column of the torque-speed demand table; Tout is the total output torque required by the dual-motor power system; Nout is the output speed of 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; and n represents the second quantity.

[0046] In one possible implementation, the first acquisition module is specifically used for:

[0047] Calculate the first motor speed and the second motor speed corresponding to the first target point in the torque-speed requirement 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 points in the torque-speed requirement table;

[0048] The final torque range of the first motor is divided into a third number of equal parts to obtain the first motor torque of the first motor corresponding to each second target point in the fourth number of points, and the 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 the 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 the torque of the first motor after the division.

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

[0050] In one possible implementation, the first acquisition module is specifically used for:

[0051] Obtain the external characteristics of the first motor and the second motor. 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, calculate 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.

[0052] Determine the required torque corresponding to the first target point in the torque-speed requirement table. Based on the external characteristic torque range of the second motor and the required torque, calculate the basic torque range of the first motor corresponding to the first target point that meets the target requirements. The target requirements include meeting the required torque and the second motor not exceeding its external characteristics.

[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, the final torque range of the first motor corresponding to the first target point is obtained.

[0054] In one possible implementation, the first acquisition module is specifically used for:

[0055] Based on the first motor system loss table and the second motor system loss table, the total motor loss of the dual-motor power system corresponding to the second target point is obtained. Among the fourth number of points, 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.

[0056] Determine the torque of the first motor corresponding to the second target point, and set the torque of the first motor corresponding to the second target point as the optimal torque of the first motor corresponding to the first target point.

[0057] In one possible implementation, the first acquisition module is specifically used for:

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

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

[0060] The total motor loss of the dual-motor power system corresponding to the second target point is obtained by summing the first motor loss and the second motor loss.

[0061] In one possible implementation, the dual-motor power system includes a first transmission mechanism and a second transmission mechanism. The torque distribution device for the dual-motor power system of this application further includes:

[0062] The calculation module is used to calculate multiple transmission ratio combinations offline based on the first transmission ratio of the first transmission mechanism and the second transmission ratio of the second transmission mechanism when the two transmission mechanisms are gearboxes, and to calculate the 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 corresponding to the lowest total motor loss at each point, 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 requirement table, and allocate the transmission ratio of the dual-motor power system based on the optimal transmission ratio combination.

[0064] Thirdly, embodiments of this application provide an electronic device, including: a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. 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 for a dual-motor power system as described in any of the first aspects.

[0065] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the torque distribution method for the dual-motor power system described in any one of the first aspects.

[0066] This application provides a torque distribution method, apparatus, device, and medium for a dual-motor power system. The method involves obtaining a multi-row, multi-column torque-speed demand table for the dual-motor power system. For each point in the torque-speed demand table, the optimal torque of the first motor corresponding to each point is calculated offline. Based on the optimal torque of the first motor at each point, a corresponding two-dimensional table of optimal torque for the first motor is obtained. The torque-speed demand table and the two-dimensional table of optimal torque for the first motor are written into a preset target microcontroller. The current speed and torque of the dual-motor power system output by the target microcontroller during operation are obtained. Based on the current speed and torque of the dual-motor power system, the corresponding target point is found in the torque-speed demand table. Based on the target point, the corresponding current optimal torque of the first motor is found in the two-dimensional table of optimal torque for the first motor. Based on the current optimal torque of the first motor, the corresponding torque of the second motor is calculated. Finally, torque distribution is performed on the dual-motor power system based on the optimal torque of the first motor and the torque of the second motor. This application proposes a torque allocation strategy that reduces losses in the dual-motor power system and improves transmission efficiency. Furthermore, offline calculation avoids excessive computational resources on the microcontroller, allowing for rapid application in vehicle controllers.

[0067] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0068] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0069] Figure 1 This is a flowchart of a torque distribution method for a dual-motor power system provided according to an embodiment of this application;

[0070] Figure 2 This is a flowchart of a torque distribution method for a dual-motor power system according to another embodiment of this application;

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

[0072] Figure 4 This is a schematic diagram of the torque distribution device of the dual-motor power system provided in the embodiments of this application;

[0073] Figure 5 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0075] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

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

[0077] With the rapid development of new energy vehicles, multi-motor drive systems have been increasingly used, with dual-motor power systems being the most common. They are not only used in pure electric vehicles, but also frequently used in hybrid vehicles.

[0078] Currently, in existing dual-motor power systems, the power from the two motors passes through their respective transmission mechanisms and then merges into the output shaft to output power. This involves the torque distribution between the two motors under a microcontroller. For example, if the power from the two motors passes through their respective transmission mechanisms and then merges into the output shaft, the output power can be calculated using the following formula:

[0079] T out =T1·i1·η1+T2·i2·η2

[0080]

[0081] Where Tout is the total output torque required by the system, T1 and T2 are the torques of the two motors, i1 and i2 are the transmission ratios of the two motors, and n1 and n2 are the efficiencies of the two transmission mechanisms. Nout is the output speed of the system, which is usually determined by the operating conditions. N1 and N2 are the speeds of the two motors. It can be seen that when the output shaft speed is fixed, the speeds of the two motors are also fixed; however, when the system requires an output torque of Tout, the values ​​of T1 and T2 need to be allocated using a specific strategy. It should be noted that the above symbols apply throughout the entire text.

[0082] However, in existing dual-motor power systems, the torque distribution between the two motors often does not accurately take into account losses and transmission efficiency. In addition, since torque distribution needs to be performed in real time in a microcontroller, it consumes a lot of computing resources, making it difficult to apply quickly in vehicle controllers.

[0083] To address this issue, this application provides a torque allocation method, apparatus, device, and medium for a dual-motor power system. By offline calculation of the optimal torque of the first motor corresponding to each point in the torque-speed demand table of the dual-motor power system, a two-dimensional table of the optimal torque of the first motor is obtained. Based on the current speed and torque of the dual-motor power system output by the microcontroller, as well as the torque-speed demand table and the two-dimensional table of the optimal torque of the first motor, the current optimal torque of the first motor and the torque of the second motor are retrieved for matrix allocation. Thus, a torque allocation strategy is proposed, reducing losses in the dual-motor power system and improving transmission efficiency. Simultaneously, offline calculation avoids excessive consumption of microcontroller computing resources, allowing for rapid application in vehicle controllers.

[0084] Figure 1 This is a flowchart illustrating a torque distribution method for a dual-motor power system according to an embodiment of this application. The torque distribution method for a dual-motor power system according to this 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 in this application embodiment may specifically include:

[0085] S101. Obtain the multi-row, multi-column torque-speed demand table of the dual-motor power system. For each point in the torque-speed demand table, calculate the optimal torque of the first motor corresponding to each point offline, and obtain the corresponding two-dimensional table of optimal torque of the first motor based on the optimal torque of the first motor at each point.

[0086] S102. Write the torque-speed requirement table and the two-dimensional table of the optimal torque of the first motor into the preset target microcontroller, and obtain 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 optimal torque of the first motor in the optimal torque two-dimensional table of the first motor.

[0088] S104. Calculate the corresponding torque of the second motor based on the current optimal torque of the first motor, and distribute the torque of 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 allocation method of the above-mentioned dual-motor power system, the optimal torque of the first motor is obtained by calculating the optimal torque of the first motor corresponding to each point in the torque-speed demand table of the dual-motor power system offline. Based on the current speed and torque of the dual-motor power system output by the microcontroller, as well as the torque-speed demand table and the optimal torque of the first motor in the two-dimensional table, the current optimal torque of the first motor and the torque of the second motor are found for matrix allocation. Thus, a torque allocation strategy is proposed, which reduces the loss of the dual-motor power system and improves the transmission efficiency. At the same time, the offline calculation avoids occupying too much computing resources of the microcontroller, so it can be quickly applied in the vehicle controller.

[0090] The exemplary steps described above in the embodiments of this application are illustrated below with specific examples:

[0091] S101, obtain the multi-row, multi-column torque-speed demand table of 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 optimal torque of the first motor based on the optimal torque of the first motor at each point.

[0092] In this embodiment, the torque-speed demand table is a table of torque and speed requirements for the dual-motor power system. The torque-speed demand table is a multi-row, multi-column table containing multiple points. Each point in the table has its required torque and required speed. The optimal torque of the first motor is the torque of the first motor corresponding to the minimum total system loss. A two-dimensional table of the optimal torque of the first motor includes the optimal torque of the first motor at each point. The points in the two-dimensional table of the optimal torque of the first motor correspond to the points in the torque-speed demand table. The multi-row, multi-column torque-speed demand table of the dual-motor power system is obtained. For each point in the torque-speed demand table, the optimal torque of the first motor corresponding to each point is calculated offline. Based on the optimal torque of the first motor at each point, a corresponding two-dimensional table of the optimal torque of the first motor is obtained for subsequent processing.

[0093] In some implementations, when obtaining a multi-row, multi-column torque-speed demand table for a dual-motor power system, the required torque range and speed range of 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 to obtain a torque-speed demand table with a first number of rows and a second number of columns. For example, if the required torque range of 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 an m-row, n-column torque-speed demand table.

[0094] The torque and speed values ​​for a point in the torque-speed demand table (i.e., the point in row x and column y of the torque-speed demand table) are as follows:

[0095]

[0096] Where x represents the x-th row of the torque-speed demand table, and y represents the y-th column of the torque-speed demand table; Tout is the total output torque required by the dual-motor power system; Nout is the output speed of 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; and n represents the second quantity.

[0097] Therefore, offline computation does not consume too much computing resources of the microcontroller and can be effectively applied in most microcontrollers.

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

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

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

[0101] In this embodiment, the target point is the point in the torque-speed demand table that matches the current speed and torque. Based on 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. Then, based on the target point, the target point is located in the first motor optimal torque two-dimensional table. The first motor optimal torque at this 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 was adopted to reduce the consumption of microcontroller computing resources.

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

[0104] In this embodiment of the application, the current torque of the second motor 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 torque of the second motor, 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 the dual-motor torque distribution strategy with the minimum total motor loss.

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

[0107] The torque distribution method for a dual-motor power system provided in this application embodiment obtains a multi-row, multi-column torque-speed demand table for the dual-motor power system. For each point in the torque-speed demand table, the optimal torque of the first motor corresponding to each point is calculated offline. Based on the optimal torque of the first motor at each point, a corresponding two-dimensional table of optimal torque of the first motor is obtained. The torque-speed demand table and the two-dimensional table of optimal torque of the first motor are written into a preset target microcontroller. The current speed and torque of the dual-motor power system output by the target microcontroller during operation are obtained. Based on the current speed and torque of the dual-motor power system, the corresponding target point is found in the torque-speed demand table. Based on the target point, the corresponding current optimal torque of the first motor is found in the two-dimensional table of optimal torque of the first motor. Based on the current optimal torque of the first motor, the corresponding torque of the second motor is calculated. Finally, the torque of the dual-motor power system is distributed based on the optimal torque of the first motor and the torque of the second motor. The torque allocation method for a dual-motor power system in this application obtains a two-dimensional table of the optimal torque of the first motor by calculating the optimal torque of the first motor for each point in the torque-speed demand table of the dual-motor power system offline. Based on the current speed and torque of the dual-motor power system output by the microcontroller, as well as the torque-speed demand table and the two-dimensional table of the optimal torque of the first motor, the current optimal torque of the first motor and the torque of the second motor are found for matrix allocation. Thus, a torque allocation strategy is proposed, which reduces the loss of the dual-motor power system and improves the transmission efficiency. At the same time, the offline calculation avoids occupying too much computing resources of the microcontroller, so it can be quickly applied in the vehicle controller.

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

[0109] S301, calculate the first motor speed and the second motor speed corresponding to the first target point in the torque-speed requirement 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.

[0110] In this embodiment, the first target point is any point in the torque-speed requirement table, specifically any point in the x-th row and y-th column of the 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 requirement table are calculated, and the final torque range of the first motor corresponding to the first target point is calculated based on these speeds for subsequent processing. It should be noted that the calculation can start from the point in the 1st row and 1st column of the torque-speed requirement table as the first target point.

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

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

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

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

[0115] For example, based on the first motor speed N1(1), the second motor speed N2(1), and the external characteristics of the motor, calculate the range of external characteristic torque (T) of the first motor corresponding to the first target point (1). 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 on, based on the external characteristic torque range (T) of the second motor 2_ min1(1)-T 2_ max1(1)): The required torque Tout(1) corresponding to the first target point in the torque-speed requirement table is used to calculate the basic torque range (T) of the first motor that simultaneously satisfies the required torque and the second motor does not exceed the external characteristics of the first motor. 1_ min2(1)-T 1_ max2(1)):

[0121]

[0122] Finally, combining the aforementioned external characteristic torque range (T) of the first motor 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)) yields the final torque range (T) of the first motor corresponding to the first target point. 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, the final torque range of the first motor is divided into a third number of equal parts to obtain the first motor torque of the first motor corresponding to each second target point in the fourth number of points, and the second motor torque of the corresponding second motor is calculated based on the first motor torque of the first motor.

[0126] In this embodiment, 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 the torque of the first motor after the division. The final torque range of the first motor corresponding to the first target point obtained in step S201 is divided into a third number of equal parts to obtain the first motor torque of the first motor corresponding to each second target point in the fourth number of points. The second motor torque of the corresponding second motor is calculated based on the first motor torque of the first motor. Here, the fourth number is the third number plus 1.

[0127] For example, the final torque range (T) of the first motor corresponding to the first target point. 1_ min(1)-T 1_ Max(1) is divided into K equal parts, k = 1, 2, ..., K, K+1, to obtain the fourth quantity, i.e., the torque after k+1 equal parts, which is also the torque T of the first motor corresponding to the k+1 second target points. 1_k (1):

[0128]

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

[0130]

[0131] S203, obtain the first motor system loss table of the first motor and the second motor system loss table of the second motor. Based on the first motor system loss table and the second motor system loss table, as well as the first motor torque, first motor speed and second motor torque and second motor speed corresponding to the second target point, calculate the optimal torque of the first motor at the first target point.

[0132] In this embodiment of the application, the first motor system loss table of the first motor and the second motor system loss table of the second motor are obtained. 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. Thus, the optimal torque of the first motor at each point in the torque-speed requirement table is calculated to obtain a two-dimensional table of the optimal torque of the first motor.

[0133] In some implementations, 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. From a fourth number of points, the second target point with the minimum total motor loss corresponding to each second target point is selected. The first motor torque corresponding to the second target point is determined, and this first motor torque is defined as the optimal first motor torque corresponding to the first target point. Thus, the optimal first motor torque corresponding to each point in the torque-speed requirement table can be obtained.

[0134] Optionally, based on the first motor system loss table, the first motor speed, and the first motor torque, calculate the first 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, calculate the second motor loss corresponding to each second target point; sum the first motor losses and the second motor losses to obtain the total motor loss of the dual-motor power system corresponding to the second target point. For example, calculate the first motor loss and the second motor loss corresponding to each of the above k+1 second target points according to the respective system loss tables of the first and second motors, and sum them to obtain the total motor system loss corresponding to each of the k+1 second target points. Select the first motor torque corresponding to the second target point with the minimum total motor system loss as the optimal first motor torque of the first motor corresponding to the first target point in the torque-speed requirement 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. Then, the torque-speed demand table and the two-dimensional table of the optimal torque of the first motor are written into the microcontroller. During actual operation, the optimal torque table of the first motor is looked up according to the current actual output shaft speed and torque 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 two motors.

[0136] It should be noted that the torque distribution strategy described above does not specify the transmission ratios, i.e., the transmission ratio i1 of the first motor and the transmission ratio i2 of the second motor. Different values ​​of i1 and i2 represent different configurations of the dual-motor power system. Therefore, this torque distribution strategy can be applied to various configurations of dual-motor power systems. For example, it can be applied to systems such as... Figure 3 The dual-motor power system with the configuration shown, after the clutch, is actually i2=1, i1=the gearbox transmission ratio.

[0137] Therefore, the torque distribution strategy can also be applied to various 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. The minimum total motor loss corresponding to each point in the torque-speed requirement table for 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. The target transmission ratio combination is determined as the optimal transmission ratio combination corresponding to the third target point in the torque-speed requirement table.

[0139] Optionally, when calculating multiple transmission ratio combinations offline based on the first and second transmission ratios, a fifth type of first transmission ratio for the first transmission mechanism and a sixth type of second transmission ratio for the second transmission mechanism are determined respectively. Based on the fifth type of first transmission ratio and the sixth type of second transmission ratio, a seventh type of transmission ratio combination is obtained. The seventh type of transmission ratio combination is the product of the fifth and sixth types.

[0140] It should be noted that when both transmission mechanisms are gearboxes, i.e., i1 and i2 have variable transmission ratios. Assuming i1 has p transmission ratios and i2 has q transmission ratios, the aforementioned offline torque calculation method can be applied to calculate the minimum total motor loss corresponding to each point in the torque-speed requirement table under pq transmission ratio combinations (considering the torque and speed limitations of the motor, some unsuitable transmission ratio combinations can be eliminated first). Then, the transmission ratio combination corresponding to the lowest total motor loss is selected as the optimal transmission ratio combination for that point in the torque-speed requirement table.

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

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

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

[0144] The first acquisition module 401 is used to acquire a multi-row, multi-column torque-speed demand table of the dual-motor power system. For each point in the torque-speed demand table, the optimal torque of the first motor corresponding to each point is calculated offline, and a corresponding two-dimensional table of optimal torque of the first motor is obtained based on the optimal torque of the first motor at each point. 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 the preset target microcontroller, and to acquire the current speed and torque of the dual-motor power system output by the target microcontroller during operation.

[0146] The lookup 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 optimal torque of the first motor in the two-dimensional table of optimal torque of the first motor based on the target point.

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

[0148] In one possible implementation, the first acquisition module is specifically used for:

[0149] Obtain the torque 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 with a first number of rows and a second number of columns.

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

[0152]

[0153] Where x represents the x-th row of the torque-speed demand table, and y represents the y-th column of the torque-speed demand table; Tout is the total output torque required by the dual-motor power system; Nout is the output speed of 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; and n represents the second quantity.

[0154] In one possible implementation, the first acquisition module is specifically used for:

[0155] Calculate the first motor speed and the second motor speed corresponding to the first target point in the torque-speed requirement 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 points in the torque-speed requirement table;

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

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

[0158] In one possible implementation, the first acquisition module is specifically used for:

[0159] Obtain the external characteristics of the first motor and the second motor. 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, calculate 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.

[0160] Determine the required torque corresponding to the first target point in the torque-speed requirement table. Based on the external characteristic torque range and required torque of the second motor, calculate the basic torque range of the first motor corresponding to the first target point that meets the target requirements. The target requirements include meeting the required torque and the second motor not exceeding its external characteristics.

[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, the final torque range of the first motor corresponding to the first target point is obtained.

[0162] In one possible implementation, the first acquisition module is specifically used for:

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

[0164] Based on the first motor system loss table and the second motor system loss table, the total motor loss of the dual-motor power system corresponding to the second target point is obtained. Among the fourth number of points, 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.

[0165] Determine the torque of the first motor corresponding to the second target point, and set the torque of the first motor corresponding to the second target point as the optimal torque of the first motor corresponding to the first target point.

[0166] In one possible implementation, the first acquisition module is specifically used for:

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

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

[0169] The total motor loss of the dual-motor power system corresponding to the second target point is obtained by summing the losses of the first motor and the second motor. In one possible implementation, the dual-motor power system includes a first transmission mechanism and a second transmission mechanism. The torque distribution device of the dual-motor power system of this application further includes:

[0170] The calculation module is used to calculate multiple transmission ratio combinations offline based on the first transmission ratio of the first transmission mechanism and the second transmission ratio of the second transmission mechanism when the two transmission mechanisms are gearboxes, and to calculate the 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 corresponding to the lowest total motor loss at each point, and determine the third target point and target transmission ratio combination corresponding to the lowest total motor loss. The target transmission ratio combination is determined as the optimal transmission ratio combination corresponding to the third target point in the torque-speed requirement table, and the transmission ratio is allocated to the dual-motor power system based on the optimal transmission ratio combination.

[0172] The torque distribution device for a dual-motor power system provided in this application embodiment obtains a multi-row, multi-column torque-speed demand table for the dual-motor power system. For each point in the torque-speed demand table, the optimal torque of the first motor corresponding to each point is calculated offline. Based on the optimal torque of the first motor at each point, a corresponding two-dimensional table of optimal torque of the first motor is obtained. The torque-speed demand table and the two-dimensional table of optimal torque of the first motor are written into a preset target microcontroller. The current speed and torque of the dual-motor power system output by the target microcontroller during operation are obtained. Based on the current speed and torque of the dual-motor power system, the corresponding target point is found in the torque-speed demand table. Based on the target point, the corresponding current optimal torque of the first motor is found in the two-dimensional table of optimal torque of the first motor. Based on the current optimal torque of the first motor, the corresponding torque of the second motor is calculated. Based on the optimal torque of the first motor and the torque of the second motor, the torque is distributed to the dual-motor power system. The torque distribution device for the dual-motor power system of this application obtains a two-dimensional table of the optimal torque of the first motor by calculating the optimal torque of the first motor for each point in the torque-speed demand table of the dual-motor power system offline. Based on the current speed and torque of the dual-motor power system output by the microcontroller, as well as the torque-speed demand table and the two-dimensional table of the optimal torque of the first motor, the current optimal torque of the first motor and the torque of the second motor are found 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, the offline calculation avoids occupying too much computing resources of the microcontroller, so it can be quickly applied in the vehicle controller.

[0173] like Figure 5 As shown in the embodiment of this application, an electronic device 500 includes a processor 501, a memory 502, and a bus. The memory 502 stores machine-readable instructions that can be executed by the processor 501. When the electronic device is running, the processor 501 communicates with the memory 502 via the bus. The processor 501 executes the machine-readable instructions to perform the steps of the torque distribution method of the dual-motor power system described above.

[0174] Specifically, the memory 502 and processor 501 mentioned above can be general-purpose memory and processor, without any specific limitations. When the processor 501 runs the computer program stored in the memory 502, it can execute the torque distribution method of the dual-motor power system mentioned above.

[0175] Corresponding to the torque distribution method of the dual-motor power system described above, this application embodiment also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the torque distribution method of the dual-motor power system described above.

[0176] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, 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 displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

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

[0178] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0179] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the deployment methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0180] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A torque distribution method of 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: acquiring a multi-row and multi-column torque-speed demand table of a double-motor power system, calculating, for each point in the torque-speed demand table, a first motor optimal torque corresponding to the point offline, and obtaining 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 comprises a demand torque and a demand speed of each point; the calculation of the first motor optimal torque corresponding to each point in the torque-speed demand table comprises: 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 in 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 corresponding to each second target point in a fourth number of points, and a second motor torque of the second motor corresponding to the first motor torque is calculated based on the first motor torque; wherein the second target point is the 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 an equalized first motor torque; acquiring a first motor system loss table of the first motor and a second motor system loss table of the second motor, and 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, the second motor speed corresponding to the second target point; writing the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target single-chip, and acquiring the current speed and torque of the double-motor power system output by the target single-chip during operation; finding a corresponding target point in the torque-speed demand table based on the current speed and torque of the double-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; calculating a corresponding second motor torque based on the current first motor optimal torque, and distributing torque to the double-motor power system based on the first motor optimal torque and the second motor torque.

2. The method of claim 1, wherein, The acquisition of the multi-row and multi-column torque-speed demand table of the double-motor power system comprises: acquiring a torque range and a speed range required by the double-motor power system; dividing the torque range into a first number of equal parts, and dividing the speed range into a second number of equal parts to obtain a torque-speed demand table with a first number of rows and a second number of columns; wherein the torque and speed values of a point in the torque-speed demand table are: Wherein, 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 output speed of the dual-motor power system; Tmax represents the maximum value of the torque range, Tmin represents the minimum value of the torque range; Nmax represents the maximum value of the speed range, Nmin represents the minimum value of the speed range; m represents the first quantity; n represents the second quantity.

3. The method of claim 2, wherein, 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, comprising: Obtaining the external characteristics of the first motor and the second motor, based on the first motor speed, the second motor speed and the external characteristics of the first motor and the second motor, respectively 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; Determining the demand torque corresponding to the first target point in the torque-speed demand table, based on the external characteristic torque range of the second motor and the demand torque, calculating the basic torque range of the first motor corresponding to the first target point meeting the target requirement; wherein the target requirement includes meeting the demand 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, the final torque range of the first motor corresponding to the first target point is obtained.

4. The method of claim 2, wherein, The first motor optimal torque of 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 and the second motor torque corresponding to the second target point, comprising: Based on the first motor system loss table and the second motor system loss table, the motor total loss of the dual-motor power system corresponding to the second target point is obtained, and the second target point with the minimum motor total loss is selected from the motor total loss of the dual-motor power system corresponding to each second target point in the fourth quantity of points; Determining the first motor torque corresponding to the second target point, the first motor torque corresponding to the second target point is determined as the first motor optimal torque corresponding to the first target point.

5. The method of claim 4, wherein, The motor total 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, comprising: 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 motor total loss of the dual-motor power system corresponding to the second target point.

6. The method of claim 4, wherein, The double-motor power system comprises a first transmission mechanism and a second transmission mechanism, and the method further comprises: in response to the two transmission mechanisms being gearboxes, a plurality of 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 the lowest motor total loss corresponding to each point in the torque-speed demand table under each transmission ratio combination is calculated; the lowest motor total loss among all points is selected from the lowest motor total loss corresponding to each point, and a third target point and a target transmission ratio combination corresponding to the lowest motor total loss are determined, the target transmission ratio combination is determined as the best transmission ratio combination corresponding to the third target point in the torque-speed demand table, and transmission ratio distribution is performed on the double-motor power system based on the best transmission ratio combination.

7. A torque distribution device of a dual-motor power system, applied to a dual-motor power system. The double-motor power system comprises a first motor and a second motor; characterized in that, The device comprises: a first acquisition module configured to acquire a plurality of rows and columns of a torque-speed demand table of a double-motor power system, calculate a first motor optimal torque corresponding to each point in the torque-speed demand table offline, 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 comprises a demand torque and a demand speed of each point; the first acquisition module is specifically configured to: calculate a first motor speed and a second motor speed corresponding to a first target point in the torque-speed demand table, and calculate 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 in all points of 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 each second target point corresponding to a fourth number of points, and a second motor torque of the second motor corresponding to the first motor torque of the first motor is calculated based on the first motor torque; wherein the second target point is the 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 an equalized first motor torque; a first motor system loss table of the first motor and a second motor system loss table of the second motor are acquired, and the first motor optimal torque of 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; a second acquisition module configured to write the torque-speed demand table and the first motor optimal torque two-dimensional table into a preset target single-chip microcomputer, and acquire a current speed and torque of the double-motor power system output by the target single-chip microcomputer during operation; a searching module configured to find a corresponding target point in the torque-speed demand table based on the current speed and torque of the double-motor power system, and find a corresponding current first motor optimal torque in the first motor optimal torque two-dimensional table based on the target point. The first distribution module is configured to calculate a corresponding second motor torque based on the current first motor optimal torque, and to distribute the torque of the dual-motor power system based on the first motor optimal torque and the second motor torque.

8. An electronic device, comprising: The application further provides a computer readable storage medium having stored thereon a computer program, wherein the computer program is run by a processor to perform the steps of the torque distribution method of the dual-motor power system according to any one of claims 1 to 6. The application further provides a computer readable storage medium having stored thereon a computer program, wherein the computer program is run by a processor to perform the steps of the torque distribution method of the dual-motor power system according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The application further provides a computer readable storage medium having stored thereon a computer program, wherein the computer program is run by a processor to perform the steps of the torque distribution method of the dual-motor power system according to any one of claims 1 to 6.

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