Abstract: This paper takes the typical rigid connection of dual-motor coaxial connection as the object, focusing on the mathematical model of the coaxial connection of dual motors and the traditional control method. A dual-motor master-slave structure model predictive torque control (MPDTC) optimization control strategy is proposed for the torque dynamic and steady-state balance problem under dual-motor master-slave control. This strategy introduces error feedback, the master-slave torque unification method and the master-slave motor torque difference limit, respectively. The deep optimization configuration forms a novel fusion cost function for model prediction, and finally achieves a consistent torque error effect in stages. The results demonstrate that the proposed master-slave control strategy can further suppress the steady-state torque ripple and it can reduce the dynamic torque difference under the load mutation and the system parameter perturbation. This control strategy realizes the torque balance between the two motors and the overall improvement of the system dynamic performance.