CN104105629B - 混合动力车辆的控制装置 - Google Patents

混合动力车辆的控制装置 Download PDF

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Publication number
CN104105629B
CN104105629B CN201380000802.6A CN201380000802A CN104105629B CN 104105629 B CN104105629 B CN 104105629B CN 201380000802 A CN201380000802 A CN 201380000802A CN 104105629 B CN104105629 B CN 104105629B
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China
Prior art keywords
electromotor
torque
resonant frequency
torsion
rotating speed
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Expired - Fee Related
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CN201380000802.6A
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English (en)
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CN104105629A (zh
Inventor
金山武司
渡边正人
末永真郎
末永真一郎
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Toyota Motor Corp
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Toyota Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
    • F16D3/12—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted for accumulation of energy to absorb shocks or vibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/24—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B60K6/445—Differential gearing distribution type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/20—Reducing vibrations in the driveline
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
    • F16F15/12—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon
    • F16F15/121—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon using springs as elastic members, e.g. metallic springs
    • F16F15/123—Wound springs
    • F16F15/1232—Wound springs characterised by the spring mounting
    • F16F15/12326—End-caps for springs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
    • F16F15/12—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon
    • F16F15/121—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon using springs as elastic members, e.g. metallic springs
    • F16F15/123—Wound springs
    • F16F15/12353—Combinations of dampers, e.g. with multiple plates, multiple spring sets, i.e. complex configurations
    • F16F15/1236—Combinations of dampers, e.g. with multiple plates, multiple spring sets, i.e. complex configurations resulting in a staged spring characteristic, e.g. with multiple intermediate plates
    • F16F15/12366—Combinations of dampers, e.g. with multiple plates, multiple spring sets, i.e. complex configurations resulting in a staged spring characteristic, e.g. with multiple intermediate plates acting on multiple sets of springs
    • F16F15/12373—Combinations of dampers, e.g. with multiple plates, multiple spring sets, i.e. complex configurations resulting in a staged spring characteristic, e.g. with multiple intermediate plates acting on multiple sets of springs the sets of springs being arranged at substantially the same radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
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Abstract

本发明提供一种在发动机和电动机之间的动力传递路径中设有减震装置的混合动力车辆中，能够抑制发动机起动时的扭转共振的装置。在减震装置（38）的负向扭转角中，设有多个针对发动机转速（Ne）的共振频率（f），在发动机起动时，在发动机转速（Ne）上升过程中，控制电动机扭矩（Tm1）来切换共振频率（f），由此能够避免发动机转速（Ne）和与共振频率（f）对应的转速一致的情况。因此，能够避免发动机起动中的扭转共振，从而提高了驾驶性能。

Description

混合动力车辆的控制装置
技术领域
本发明涉及混合动力车辆的控制装置，尤其涉及发动机起动时的控制。
背景技术
广为人知一种具有在发动机和电动机之间的动力传递路径中夹插有减震装置的构造的混合动力车辆。专利文献1所记载的混合动力驱动装置用减震器就是其中一例。在这种减震装置中，例如也如专利文献2所记载的那样，一般地，为了在车辆运转中的发动机旋转域中抑制扭转共振，会设定减震特性以便使共振旋转域在车辆运转时的发动机旋转域以下。另外，在专利文献3中记载了通过使减震装置的扭转特性阶段性地变化来减小扭转刚性从低扭矩域向高扭矩域变动的内容。
专利文献1:日本特开2002-13547号公报
专利文献2:日本特开2012-62912号公报
专利文献3:日本特开2012-67877号公报
发明内容
然而，在混合动力车辆中，当发动机起动时会从电动机赋予提升发动机转速的启动扭矩。此时，当发动机转速上升时，如果发动机转速和与共振频率对应的转速一致则会产生扭转共振，从而产生振动或噪声、驾驶性能恶化。尤其是在混合动力车辆中，由于车辆行驶过程中发动机的起动以及停止频繁地反复进行，因此该问题更突出。其中，在专利文献3中尽管记载了通过使扭转特性阶段性地变化来防止驾驶性能恶化的内容，但是对于在发动机起动时能够抑制扭转共振的具体内容则并没有公开。
本发明是以以上的情形为背景而完成的，其目的在于，提供一种在 具有被夹插至发动机与电动机之间的动力传递路径的减震装置的混合动力车辆中，能够抑制发动机起动时的扭转共振的装置。
用于实现上述目的第1发明的要旨在于，(a)在发动机和电动机之间的动力传递路径中设有减震装置，(b)在该减震装置中，从该发动机向该电动机传递驱动力的正向的扭转和从该电动机向该发动机传递驱动力的负向的扭转的扭转特性不同，(c)利用所述电动机使所述发动机的旋转上升来起动该发动机的混合动力车辆，该混合动力车辆的控制装置的特征在于，(d)所述减震装置的负向的扭转具有扭转刚性根据所述扭转角的不同而不同的多个扭转特性，(e)在发动机起动时，根据发动机转速分开使用所述多个扭转特性来使发动机转速上升。
如此，减震装置的负向的扭转特性具有扭转刚性根据扭转角的不同而不同的多个扭转特性，在发动机起动时，根据发动机转速分开使用所述多个扭转特性来使发动机转速上升，由此在发动机转速上升过程中，能够避免发动机转速和与共振频率对应的转速一致的情况。因此，能够避免发动机转速上升过程中的扭转共振，提高了驾驶性能。
另外，优选，(a)所述减震装置在所述负向的扭转中，具有成为第1共振频率的第1扭转特性和成为比该第1共振频率高的第2共振频率的第2扭转特性，(b)当发动机开始起动时，以成为所述第2扭转特性的扭转角使所述发动机的转速上升，(c)当所述发动机转速成为高于与所述第1共振频率对应的转速并且低于与所述第2共振频率对应的转速的转速时，降低所述电动机的电动机扭矩，以成为所述第1扭转特性的扭转角使所述发动机的转速上升。如此，在发动机起动开始的时刻，减震装置是成为第2扭转特性的扭转角，因此与共振频率对应的转速变高，发动机转速不会到达该转速。另外，如果发动机转速超过与第1共振频率对应的转速，成为低于与第2共振频率对应的转速的转速，则降低电动机扭矩使发动机转速以成为第1扭转特性的扭转角上升，因此发动机转速高于与第1共振频率对应的转速，随着发动机转速的上升而远离与该第1共振频率对应的转速。这样，在发动机起动过程中能够避免发动机转速和与共振频率对应的转速一致的情况，因此能够避免发动机起动时的扭转共振，提高了驾驶性能。
另外，优选，所述减震装置在负向的扭转中至少具有2个扭转特性， 与扭转角小的扭转特性相比，扭转角大的扭转特性相对于发动机转速的共振频率高。如此，在发动机开始起动的时刻虽然会输出大扭矩，但是此时共振频率高，因此与共振频率对应的发动机转速变成高值。另外，如果发动机转速上升，则不需要大扭矩从而扭矩降低，但是由于该扭矩的降低，共振频率被切换到低值。此时，通过使发动机转速高于相对于该共振频率的转速，能够避免发动机转速和与共振频率对应的转速一致的情况。
另外，优选，当发动机起动开始时，按照使得传递至所述减震装置的扭矩不低于预先设定的、所述减震装置的扭转特性成为所述第2扭转特性的下限扭矩的方式来控制所述电动机扭矩。如此，在发动机起动开始的最初，减震装置的扭转特性被维持在第2扭转特性的状态，相对于发动机转速与共振频率对应的转速被设定成较高的值。因此，在发动机起动开始的最初就能够使发动机转速远离与共振频率对应的转速。
另外，优选，当所述发动机转速成为比所述第2共振频率所对应的转速低规定值的转速时，按照使得传递至所述减震装置的扭矩低于预先设定的、所述减震装置的扭转特性成为所述第1扭转特性的上限扭矩的方式来控制所述电动机扭矩。如此，当发动机转速成为比和第2共振频率对应的转速低规定值的转速时，减震装置的扭转特性被切换到第1扭转特性，因此发动机转速高于相对于第1共振频率的转速。因此，即使发动机转速进一步地上升，也能够避免和与共振频率对应的转速一致的情况。
另外，优选，与所述第1共振频率对应的发动机转速以及与所述第2共振频率对应的发动机转速均被设定成低于所述发动机的怠速转速的值。如此，在发动机驱动过程中，发动机转速不会成为与共振频率对应的转速，因此能够避免发动机驱动中的扭转共振的产生。
另外，优选，相对于发动机转速的共振频率是将扭转共振产生的发动机转速换算成频率后的值。换言之，在发动机转速和与该共振频率对应的转速一致的情况下，产生扭转共振。
附图说明
图1是说明应用了本发明的混合动力车辆的车辆用驱动装置的概要 构成图。
图2是详细表示图1的减震装置的构造的图。
图3是在图2的减震装置中放大表示螺旋弹簧周边的放大图。
图4是表示图2的减震装置的扭转特性的图。
图5是表示发动机起动时的控制动作的时序图。
图6是说明图1的电子控制装置的控制动作的主要部分，具体地是说明发动机起动时的控制动作的流程图。
具体实施方式
以下，参照附图详细地说明本发明的实施例。其中，在以下的实施例中图被适当简化或者变形，各部分的尺寸比以及形状等未必就被准确地描绘。
实施例
图1是说明应用了本发明的混合动力车辆8(车辆8)的车辆用驱动装置10的概要构成图。车辆用驱动装置10含有发动机24、动力传递装置12、在发动机24和动力传递装置12之间设置的后述的减震装置38而构成。在图1中，该车辆用驱动装置10使得车辆8中，作为主驱动源的发动机24的扭矩借助后述的减震装置38以及行星齿轮装置26传递给车轮侧输出轴14，从该车轮侧输出轴14借助差动齿轮装置16向左右一对驱动轮18传递扭矩。另外，在该车辆用驱动装置10中，设有能够选择性地执行输出用于行驶的驱动力的牵引控制以及用于回收能量的再生控制的第2电动机MG2，该第2电动机MG2借助自动变速器22与上述车轮侧输出轴连结。因此，从第2电动机MG2向车轮侧输出轴传递的输出扭矩根据在该自动变速器22中设定的变速比γs(=第2电动机MG2的转速Nmg2/车轮侧输出轴的转速Nout)而增减。
在第2电动机MG2和驱动轮18之间的动力传递路径中夹设的自动变速器22被构成为能够成立变速比γs比1大的多个档，在从第2电动机MG2输出扭矩的牵引时能够增大该扭矩向车轮侧输出轴传递，因此 第2电动机MG2被构成为更低容量或者小型化。由此，例如在车轮侧输出轴的转速Nout伴随着高车速增大的情况下，为了将第2电动机MG2的运转效率维持在良好状态，减小变速比γs来降低第2电动机MG2的转速(以下，称为“第2电动机转速”)Nmg2，或者在车轮侧输出轴的转速Nout降低了的情况下，增大变速比γs来增大第2电动机转速Nmg2。
上述动力传递装置12具备第1电动机MG1以及第2电动机MG2而构成，将发动机24的扭矩向驱动轮18传递。上述发动机24是汽油发动机或者柴油发动机等使燃料燃烧来输出动力的公知的内燃机，被构成为利用以微型计算机为主体的未图示的发动机控制用的电子控制装置100(E-ECU)，来电控制节气门开度、进气量、燃料供给量、点火正时等运转状态。在上述电子控制装置100中被分别供给来自对作为加速踏板的操作量亦即加速器开度Acc进行检测的加速操作量传感器AS、用于对有无制动踏板的操作进行检测的制动器传感器BS、对曲轴36的曲轴角所对应的发动机转速Ne进行检测的曲轴角传感器43、对第1电动机MG1的第1电动机转速Nmg1进行检测的第1分解器44、对第2电动机MG2的第2电动机转速Nmg2进行检测的第2分解器46、对与车速V对应的车轮侧输出轴14的转速Nout进行检测的输出轴转速传感器48等的检测信号。
上述第1电动机MG1(本发明的电动机)例如是同步电动机，被构成为选择性地产生作为使驱动扭矩Tm1产生的电动机的功能和作为发电机的功能，借助逆变器30与电池、电容器等蓄电装置32连接。从而，通过利用以微型计算机为主体的未图示的电动发电机控制用的电子控制装置100(MG-ECU)控制该逆变器30，来控制第1电动机MG1的电动机扭矩Tm1。
行星齿轮装置26是具备太阳轮S0、相对于该太阳轮S0被配置在同心圆上的齿圈R0以及将与这些太阳轮S0以及齿圈R0啮合的小齿轮P0支承成自由自转并且自由公转的托架CA0作为三个旋转构件来产生公知的差动作用的单级小齿轮型行星齿轮机构。行星齿轮装置26与发动机24以及自动变速器22同心地设置。行星齿轮装置26以及自动变速器22构成为相对于中心线对称，因此在图1中省略它们的下半部分。
在本实施例中，发动机24的曲轴36借助减震装置38以及动力传递轴39与行星齿轮装置26的托架CA0连结。与此相对，太阳轮S0与第1电动机MG1连结，齿圈R0与车轮侧输出轴连结。该托架CA0作为输入构件发挥功能，太阳轮S0作为反作用力构件发挥功能，齿圈R0作为输出构件发挥功能。
在上述行星齿轮装置26中，如果相对于被输入至托架CA0的发动机24的输出扭矩，由第1电动机MG1产生的反力扭矩Tm1被输入太阳轮S0，则成为输出构件的齿圈R0展现出直达扭矩，因此第1电动机MG1作为发电机发挥功能。另外，当齿圈R0的转速即车轮侧输出轴14的转速(输出轴转速)Nout一定时，通过使第1电动机MG1的转速Nmg1上下变化，就能够使发动机24的转速(发动机转速)Ne连续地(无级地)变化。
本实施例的所述自动变速器22由一组拉维奈尔赫型行星齿轮机构构成。即在自动变速器22中，设有第1太阳轮S1和第2太阳轮S2，该第1太阳轮S1与分级齿轮P1的大径部啮合，并且该分级齿轮P1的小径部与小齿轮P2啮合，该小齿轮P2与和所述各太阳轮S1、S2同心地配置的齿圈R1(R2)啮合。上述各小齿轮P1、P2被共通的托架CA1(CA2)分别保持成自由地自转并且自由地公转。另外，第2太阳轮S2与小齿轮P2啮合。
所述第2电动机MG2被所述电动发电机控制用的电子控制装置100(MG-ECU)借助逆变器40而控制，由此作为电动机或者发电机发挥功能，调节或者设定辅助用输出扭矩或者再生扭矩。第2太阳轮S2与该第2电动机MG2连结，上述托架CA1与车轮侧输出轴连结。第1太阳轮S1和齿圈R1与各小齿轮P1、P2一起构成与双小齿轮型行星齿轮装置相当的机构，另外第2太阳轮S2和齿圈R1与小齿轮P2一起构成与单级小齿轮型行星齿轮装置相当的机构。
而且，在自动变速器22中设有为了选择性地固定第1太阳轮S1而在该第1太阳轮S1与作为非旋转部件的壳体42之间设置的第1制动器B1和为了选择性地固定齿圈R1而在该齿圈R1和壳体42之间设置的第2制动器B2。这些制动器B1、B2是利用摩擦力来产生制动力的所谓的摩擦接合装置，可以采用多板形式的接合装置或者带形式的接合装 置。而且，这些制动器B1、B2分别被构成为根据液压缸等制动器B1用液压致动器、制动器B2用液压致动器而产生的接合压力来使该扭矩容量连续地变化。
以上那样构成的自动变速器22构成为，第2太阳轮S2作为输入构件发挥功能，另外托架CA1作为输出构件发挥功能，如果接合第1制动器B1则变速比γsh比1大的高速档H成立，如果不是接合第1制动器B1而是接合第2制动器B2，则变速比γsl比该高速档H的变速比γsh大的低速档L成立。即，自动变速器22是2级变速器，这些变速档H以及L之间的变速是基于车速V、要求驱动力(或者加速操作量)等的行驶状态来执行的。更具体而言，预先将变速档区域规定为映射(变速线图)，并控制成根据检测到的运转状态来设定任意变速档。
图2是详细表示图1的减震装置38的构造的图，图2的(a)表示减震装置38的截面图，图2的(b)表示减震装置38的主视图。其中，图2的(a)与图2的(b)的X-X截面图对应，在图2的(b)中一部分以截面图表示。
减震装置38被设置成以轴心C为中心在发动机24和行星齿轮装置26之间能够进行动力传递。另外，第1电动机MG1与行星齿轮装置26以能够进行动力传递的方式连结，因此减震装置38被设置在发动机24和第1电动机MG1之间的动力传递路径上。其中，图1所示的动力传递轴39在减震装置38的内周部(轮毂58)花键嵌合。
减震装置38含有能够绕旋转轴心C旋转的一对盘板56、能够绕与该盘板56相同旋转轴心C相对旋转的轮毂58、被夹插在盘板56与轮毂58之间并且能够在盘板56和轮毂58之间进行动力传递地连结的由弹簧钢构成的螺旋弹簧62a、62b以及在盘板56和轮毂58之间产生滞后扭矩的滞后机构64而构成。
盘板56由左右一对圆盘状的第1盘板66(以下，称为“第1盘66”)以及第2盘板68(以下称为“第2盘68”)构成，在将螺旋弹簧62a、62b以及轮毂58在这些盘66、68中沿着轴向夹入的状态下，外周部由铆钉70相互缔结成不能相对旋转。在第1盘66中，用于收纳螺旋弹簧62a、62b的开口孔在周方向等角度间隔地形成4个。另外，第2盘68中，用于收纳螺旋弹簧62a、62b的开口孔也在周方向在与第1盘66的开口 孔相同的位置等角度间隔地形成4个。而且，由第1盘66的开口孔以及第2盘68的开口孔形成的空间中收纳螺旋弹簧62a、62b。
在本实施例中，由第1盘66的开口孔和第2盘68的开口孔形成的空间形成4个，在该空间中螺旋弹簧62a以及螺旋弹簧62b交替地各被收纳2个。其中，螺旋弹簧62b由大径的螺旋弹簧以及在该大径的螺旋弹簧的内部收纳的小径的螺旋弹簧构成。在本实施例中，将这些大径的螺旋弹簧以及小径的螺旋弹簧都定义为“螺旋弹簧62b”。
轮毂58由具备在内周部花键嵌合动力传递轴39的内周齿轮的圆筒状的基部58a和从该基部58a的外周面沿着径向延伸的圆盘状的轮缘部58b构成。轮缘部58b中在周向以等角度间隔形成4个弹簧收纳孔58c。在该弹簧收纳孔58c中收纳螺旋弹簧62a、62b。
在此，在螺旋弹簧62a中，在扭矩未被传递到减震装置38的状态下，从其两端保持螺旋弹簧62a的一对弹簧片72a和轮缘部58b相抵接的状态下被收纳在弹簧收纳孔58c中。另一方面，在螺旋弹簧62b中，在保持螺旋弹簧62b的一对弹簧片72b和轮缘部58b之间，形成规定间隙。因此，在减震装置38的扭转角θ到达规定的扭转角θ之前，使轮毂58(轮缘部58b)和保持螺旋弹簧62b的弹簧片72b不抵接。
图3是放大表示由图2的(b)的单点划线D围成的部位即螺旋弹簧62b周边的放大截面图。如图3所示，从螺旋弹簧62b的两端夹入并保持螺旋弹簧62b的一对弹簧片72b和轮毂58(轮缘部58b)之间形成的间隙L以非对称的方式形成。具体地，在图3中，在上方侧(顺时针侧)形成的弹簧片72b和轮缘部58b之间的间隙L1被形成得小于在下方侧(逆时针侧)形成的间隙L2。由此，在图3中，在轮毂58相对于螺旋弹簧62b逆时针相对旋转的情况下轮缘部58b(轮毂58)和弹簧片72b相抵接的扭转角θ1(与间隙L1对应)小于轮缘部58b(轮毂58)相对于螺旋弹簧62b顺时针相对旋转的情况下轮缘部58b和弹簧片72b相抵接的扭转角θ2(与间隙L2对应)。
在如此地构成的减震装置38中，如果盘板56以轴心C为中心逆时针旋转，则螺旋弹簧62a、62b的一端被按压，螺旋弹簧62a、62b也同样地以轴心C为中心逆时针公转。而且，螺旋弹簧62a的另一端按压轮 缘部58b(轮毂58)，由此轮毂58逆时针旋转。另外，如果扭转角θ到达规定值θ2，则螺旋弹簧62b的另一端也借助弹簧片72b与轮缘部58b(轮毂58)抵接，螺旋弹簧62b也将轮毂58向逆时针侧按压。因此，轮毂58通过螺旋弹簧62a、62b而绕逆时针旋转。此时，螺旋弹簧62a、62b一边发生弹性变形一边传递动力，由此由于扭矩变动而产生的冲击被螺旋弹簧62a、62b吸收。其中，在本实施例中，盘板56与发动机24以能够进行动力传递的方式连结，如果从发动机24朝向第1电动机MG1侧传递驱动力，则传递使盘板56逆时针旋转的扭矩。当从该发动机24向第1电动机MG1侧传递驱动力时减震装置38向正向扭转。即，减震装置38以正扭转角θ扭转。
另外，如果轮毂58以轴心C为中心逆时针旋转，则螺旋弹簧62a的一端被按压，螺旋弹簧62a以轴心C为中心逆时针公转。从而，螺旋弹簧62a的另一端按压盘板56，盘板56以轴心C为中心逆时针旋转。另外，如果扭转角θ到达规定值θ1，则轮缘部58b(轮毂58)借助弹簧片72b与螺旋弹簧62b的一端抵接，并且螺旋弹簧62b的另一端绕逆时针按压盘板56。因此，盘板56通过螺旋弹簧62a、62b而逆时针旋转。其中，在从第1电动机MG1向发动机24传递使发动机24驱动的方向的驱动力的情况下，从轮毂58侧传递使该轮毂58绕逆时针旋转的扭矩。当从该第1电动机MG1向发动机24传递使发动机24驱动的方向的驱动力时减震装置38向负向扭转。即，减震装置38以负的扭转角θ扭转。
图4表示减震装置38的减震扭转特性。在图4中横轴表示轮毂58和盘板56之间的相对旋转角即扭转角θ，纵轴表示施加给减震装置38的扭矩T(Nm)。另外，正的扭转角θ与发动机24驱动时的扭转角，即从盘板56侧传递使减震装置38绕逆时针旋转的扭矩时的扭转角对应。另一方面，负的扭转角θ与从轮毂58侧(动力传递轴39侧)传递使减震装置38逆时针旋转的扭矩时的扭转角对应。其中，减震装置38具备滞后机构64，在图4中省略该滞后扭矩。
如图4所示，正的扭转角θ随着从发动机24侧传递的驱动力(驱动扭矩)增加而增加。而且，如果正的扭转角θ到达规定值θ2，则螺旋弹簧62b与轮毂58抵接，因此减震装置38的刚性变高，扭矩相对于扭转角θ的斜率进一步地变大。即，如果成为扭转角θ1，则螺旋弹簧62a、 62b的扭转刚性从刚性K1切换到比该刚性K1大的扭转刚性K2。
另外，负的扭转角随着从轮毂58侧传递的驱动力(驱动扭矩)增加而增加。而且，如果负的扭转角θ到达规定值θ1，则轮毂58与螺旋弹簧62b抵接，因此减震装置38的刚性变高，扭矩相对于扭转角θ的斜率进一步地变大。即，如果变成扭转角θ2，则螺旋弹簧62a、62b的扭转刚性从刚性K1切换到比该刚性K1大的扭转刚性K2。因此，在减震装置38的负扭转中，扭转刚性根据扭转角θ变化，因此具有根据扭转角θ，相对于发动机转速Ne的共振频率不同的2个扭转特性。具体地，减震装置38在负扭转中，具有在扭转角θ小于规定值θ1时成为共振频率f1的第1扭转特性B和在规定值θ1以上时成为比共振频率f1高的共振频率f2的第2扭转特性A。扭转角θ大的一方与扭转角θ小的一方相比共振频率f高，这是因为如果扭转角θ增加到规定值θ1则轮毂58与螺旋弹簧62b相抵接，减震装置38的扭转刚性变高。其中，相对于该发动机转速Ne的共振频率f是将扭转共振产生的发动机转速Ne换算成驱动系统的共振频率f后的值，当发动机转速Ne变成与该共振频率f对应的转速时产生扭转共振。另外，共振频率f1与本发明的第1共振频率对应，共振频率f2与本发明的第2共振频率对应，在本实施例中，这些共振频率f1、f2均被设定成低于发动机24的怠速转速Nidle的值。
如图4所示，扭转角θ2大于扭转角θ1。这是由于在图3中示出的间隙L2大于间隙L1而造成的。这样，在减震装置38中，在正的扭转角(正向的扭转)和负的扭转角(负向的扭转)扭转特性不同。具体地，在负的扭转角，从扭转刚性K1向扭转刚性K2切换的扭转角θ1与在正的扭转角中切换的扭转角θ2相比小了扭转角△θ。
回到图1，电子控制装置100包含具有例如CPU、RAM、ROM、输入输出接口等的所谓的微型计算机而构成，CPU通过一边利用RAM的临时存储功能一边按照预先在ROM中存储的程序来进行信号处理，执行混合动力车辆8的各种控制。例如，电子控制装置100执行发动机24的输出控制、第1电动机MG1以及第2电动机MG2的驱动控制以及再生控制、自动变速器22的变速控制等，根据需要分成发动机控制用、电动机控制用、液压控制用(变速控制用)等而构成。
另外，电子控制装置100从功能上包含基于车辆8的行驶状态来判 定从电动机行驶向发动机行驶的切换、即判定发动机24的起动的发动机起动判定部102(发动机起动判定单元)，以及执行发动机24的起动控制的发动机起动控制部104(发动机起动控制单元)。
发动机起动判定部102在电动机行驶中，基于车辆的行驶状态是否满足规定的条件，来判定从电动机行驶向发动机行驶的切换判定，换言之判定发动机24的起动。发动机起动控制部102例如基于预先设定的由车速V和加速器开度Acc构成的表示电动机行驶和发动机行驶的行驶区域的行驶模式映射，在车辆的行驶状态从电动机行驶区域向发动机行驶区域切换了时，判断为为了向发动机行驶切换而使发动机24起动。
发动机起动控制部104在基于发动机起动判定部102判断出发动机24的起动时被执行。发动机起动控制部104通过从第1电动机MG1输出使发动机24启动的扭矩Tm1(使发动机转速上升的扭矩)，在提升发动机转速Ne使之上升到能够自主运转的转速后，使发动机24燃烧来起动发动机24。其中，第1电动机MG1借助行星齿轮装置26与减震装置38连结，因此第1电动机MG1的电动机扭矩Tm1被变换成基于行星齿轮装置26的传动比而算出的启动扭矩T并被传递给减震装置38。
然而，在车辆8中，为了在发动机24的常用转速域不产生扭转共振，被设定成在比发动机24的怠速转速低的转速产生扭转共振。因此，在发动机起动时使发动机转速Ne上升的过度期，通过与车辆8的共振频率对应的发动机转速。此时，产生扭转共振，易于产生由于振动而导致的冲击、杂音。另外，例如在极低温时，发动机24的摩擦变大，因此在发动机起动时易于滞留于与共振频率对应的转速。并且，在混合动力车辆8中，发动机24的起动以及停止被频繁地反复进行，该问题益发显著。
为了化解该问题，发动机起动控制部104在发动机起动时，根据发动机转速Ne将减震装置38所具有的多个(在本实施例中为2个)扭转特性分开使用，由此来抑制扭转共振的产生。以下，说明发动机起动控制部104的具体控制。
在发动机起动中，从第1电动机MG1借助行星齿轮装置26以及减震装置38向发动机24传递使发动机转速上升的启动扭矩T。此时，在 减震装置38中，从轮毂58侧传递启动扭矩T，在减震装置38中成为负的扭转角θ。即，在发动机起动时，利用该负的扭转角区域的扭转特性。
发动机起动控制部104在发动机起动开始的最初提高第1电动机MG1的扭矩Tm1，使传递至减震装置38的启动扭矩T变高。具体地，控制成比减震装置38的扭转角θ与规定值θ1相比大的扭矩T2大的扭矩被传递至减震装置38。因此，减震装置38的扭转特性成为第2扭转特性A。此时，驱动系统的共振频率f成为基于扭转刚性K2的共振频率f2。而且，发动机转速Ne上升，发动机转速Ne高于与共振频率f1对应的转速Nf1，并且在与共振频率f2相比低了规定值α的转速区域，发动机起动控制部104维持启动扭矩T大于扭矩T2的状态。并且，如果发动机转速Ne接近与共振频率f2对应的转速Nf2，则在到达与该共振频率f2对应的转速Nf2之前，发动机起动控制部104控制第1电动机MG1的扭矩Tm1来降低传递至减震装置38的启动扭矩T。具体地，在成为扭转角θ小于规定值θ1的扭矩T1以下之前降低启动扭矩T。此时，减震装置38的扭转特性变成第1扭转特性B，共振频率f成为小于共振频率f2的共振频率f1。与该共振频率f1对应的发动机转速Nf1成为低于转速Nf2的转速。因此，在发动机转速Ne通过与共振频率f1对应的转速Nf1的状态下，如果降低启动扭矩T来使共振频率f从共振频率f2向共振频率f1切换，则发动机转速Ne变得高于与共振频率f1对应的转速Nf1，如果发动机转速Ne进一步地上升则发动机转速Ne远离与共振频率f对应的转速。即，可避免发动机转速Ne与共振频率f对应的转速一致的情况。
利用图5所示的发动机起动时的时序图来说明上述发动机起动控制。如果判定为发动机24起动，则从第1电动机MG1输出启动扭矩来开始发动机转速Ne的上升。在此，在发动机转速Ne从零上升时，需要大的启动扭矩，发动机起动控制部104如果开始发动机起动，则为了使传递至减震装置38的启动扭矩T大于扭矩T2，输出第1电动机MG1的扭矩Tm1。与其相关联地，减震装置38的扭转特性变成第2扭转特性A(共振频率f2)。
如果第1电动机MG1开始发动机转速Ne的上升，则判定发动机转 速Ne是否接近与基于扭转刚性K1的共振频率f1对应的发动机转速Nf1。具体地，判定发动机转速Ne是否超过了比发动机转速Nf1低了预先设定的规定值β的值(=Nf1-β)。其中，规定值β是预先通过实验适当地求出的值，是考虑了发动机转速Ne到达转速Nf1为止的时间等的余量。
在图5中t1时刻，如果发动机转速Ne到达转速(Nef1-β)，则判断为发动机转速Ne接近了与共振频率f1对应的转速Nf1，发动机起动控制部104按照启动扭矩T不低于预先设定的扭矩T2的方式来控制第1电动机MG1的扭矩Tm1。即，设定启动扭矩T的下限防护（guard）值(扭矩T2)，启动扭矩T被维持在扭矩T2。该扭矩T2是预先适当地求出的值，如图4所示，被设定成减震装置38的扭转特性成为第2扭转特性A的值，即成为共振频率f2的值。因此，在t1时刻，控制成如果发动机转速Ne超过转速(Nef1-β)，则启动扭矩T不为扭矩T2以下，共振频率f成为基于扭转刚性K2而决定的共振频率f2。该共振频率f2是高于基于扭转刚性K1而决定的共振频率f1的值，与该共振频率f2对应的转速Nf2也成为高于与共振频率f1对应的转速Nf1的值。由此，即使发动机转速Ne上升，通过了与共振频率f1对应的转速Nf1，由于共振频率f成为高于共振频率f1的共振频率f2，因此也不会产生扭转共振。其中，扭矩T2与本发明的下限扭矩对应。
如果发动机转速Ne进一步地上升，变得高于与共振频率f1对应的转速Nf1，接近与共振频率f2对应的发动机转速Nf2，则发动机起动控制部104降低启动扭矩。具体地，当发动机转速Ne到达了比与共振频率f2对应的发动机转速Nf2低了预先设定的规定值α的值(=Nf2-α)时，判定为接近了发动机转速Nf2。此时，发动机起动控制部104使启动扭矩降低到比图4所示的扭矩T1低的值。该扭矩T1是预先适当地求出的值，如图4所示，被设定成减震装置38的扭转特性成为第1扭转特性B的值，即成为共振频率f1的值。另外，规定值α是预先适当地求出的值，是考虑了发动机转速Ne从转速(Nf2-α)至到达转速Nf2为止的时间等的余量。其中，扭矩T1与本发明的上限扭矩对应。
图5的t2时刻表示发动机转速Ne到达了转速(Nf2-α)的时刻。从该t2时刻起降低启动扭矩T，被控制在低于扭矩T1的值。因此，减震装 置38的扭转特性成为第1扭转特性B，共振频率f成为共振频率f1。在此，在t2时刻，发动机转速Ne高于与共振频率f1对应的转速Nf1，因此即使发动机转速Ne进一步地上升，也不会与共振频率f对应的发动机转速Ne一致。因此，在发动机起动时，可避免发动机转速Ne与扭转共振产生的转速一致，可避免扭转共振的产生。
图6是说明电子控制装置100的控制动作的主要部分，具体地是说明发动机起动时的控制动作的流程图，例如以数msec至数十msec程度的极短周期时间反复执行。
首先，在与发动机起动判定部102对应的步骤S1(以下，省略步骤)中，判定是否输出了发动机24的起动要求。在S1否定的情况下，结束本程序。在S1肯定的情况下，在与发动机起动控制部104对应的S2，通过从第1电动机MG1传递启动扭矩T，开始发动机24的启动。在与发动机起动控制部104对应的S3，判定发动机转速Ne是否位于比与共振频率f1对应的发动机转速Nf1低了规定值β的值(=Nf1-β)和比与共振频率f2对应的发动机转速Nf2低了规定值α的值(Nef2-α)之间的转速域(Nf2-α>Ne>Nf1-β)。在S3否定的情况下，结束本程序。在S3肯定的情况下，在与发动机起动控制部104对应的S4，为了使被传递至减震装置38的启动扭矩T维持在扭矩T2以上而设定下限防护，控制电动机MG1的扭矩Tm1。在与发动机起动控制部104对应的S5，判定发动机转速Ne是否超过了比与共振频率f2对应的发动机转速Nf2低了规定值α的值(=Nf2-α)。在S5否定的情况下，结束本程序。另一方面，在S5肯定的情况下，为了使启动扭矩T成为扭矩T1以下而降低扭矩，将共振频率f从频率f2向频率f1切换。由此，变成发动机转速Ne高于与共振频率f1对应的转速Nf1的状态，即使发动机转速Ne进一步地上升也不会产生扭转共振。
如上述那样，根据本实施例，减震装置38的负向扭转特性根据扭转角不同而具有扭转刚性不同的多个扭转特性，在发动机起动时，根据发动机转速Ne来分开使用所述多个扭转特性从而使发动机转速Ne上升，由此在发动机转速Ne上升过程中，能够避免发动机转速Ne和与共振频率f对应的转速一致。因此，可避免发动机转速Ne上升过程中的扭转共振，能够提高驾驶性能。
另外，根据本实施例，在发动机起动开始的时刻，减震装置38变成成为第2扭转特性A的扭转角，因此与共振频率f对应的转速变高，发动机转速Ne不会到达该转速。另外，当发动机转速Ne超过与第1共振频率f1对应的转速Nf1，变成低于与第2共振频率f2对应的转速Nf2的转速，则降低电动机扭矩Tm1以成为第1扭转特性B的扭转角来使发动机转速Ne上升，因此发动机转速Ne高于与第1共振频率f1对应的转速Nf1，随着发动机转速Ne上升而从与该第1共振频率f1对应的转速Nf1远离。这样，在发动机起动中可避免发动机转速Ne和与共振频率f对应的转速一致，因此能够避免发动机起动时的扭转共振，提高了驾驶性能。
另外，根据本实施例，减震装置38在负向扭转具有至少2个扭转特性，扭转角θ大的一方与扭转角θ小的一方相比，相对于发动机转速Ne的共振频率f高。如此，虽然在发动机起动开始的时刻输出大的扭矩，但是此时共振频率f变高，因此与共振频率f对应的发动机转速Ne变成高的值。另外，如果发动机转速Ne上升，虽然变成不需要大扭矩，从而降低扭矩，但是根据该扭矩的降低共振频率f被切换成低值f1。此时，发动机转速Ne高于相对于该共振频率f1的转速Nf1，可避免发动机转速Ne和与共振频率f对应的转速一致。
另外，根据本实施例，如果发动机起动开始，则按照传递至减震装置38的启动扭矩T不低于减震装置38的扭转特性成为第2扭转特性A的预先设定的扭矩T2的方式，来控制电动机扭矩Tm1。如此，在发动机起动开始的最初，减震装置38的扭转特性维持在第2扭转特性的状态，相对于发动机转速Ne与共振频率对应的转速被设定成高的值。因此，在发动机起动开始的最初，能够使发动机转速Ne从与共振频率对应的转速远离。
另外，根据本实施例，如果发动机转速Ne变成比与第2共振频率f2对应的转速Nf2低了规定值α的转速(Nf2-α)，则按照传递至减震装置38的启动扭矩T低于减震装置38的扭转特性成为第1扭转特性B的预先设定的上限扭矩T1的方式来控制电动机扭矩Tm1。如此，如果发动机转速Ne变成比与第2共振频率f2对应的转速Nf2低了规定值α的转速(Nf2-α)，则减震装置38的扭转特性被切换成第1扭转特性B， 因此发动机转速Ne高于相对于第1共振频率f1的转速Nf1。因此，能够避免发动机转速Ne进一步上升而和与共振频率f对应的转速Nf一致。
另外，根据本实施例，与第1共振频率f1对应的转速Nf1以及与第2共振频率f2对应的转速Nf2均被设定成低于发动机24的怠速转速的值。如此，发动机驱动中，发动机转速Ne不会成为与共振频率对应的转速，因此能够避免发动机驱动中的扭转共振的产生。
以上，基于附图详细地说明本发明的实施例，但是本发明在其他的方式中也能够应用。
例如，在前述的实施例中，减震装置38在负扭转角时，扭转特性具有第1扭转特性B以及第2扭转特性A这2个扭转特性，但是这是一个例子，也可以是切换成3级以上的构造。另外，对于本发明，如果是具有多个扭转特性的减震装置就能够应用，对于实现多个扭转特性的具体构造不受本实施例限定。
另外，在前述的实施例中，第1电动机MG1借助作为差动机构发挥功能的行星齿轮装置26与减震装置38连结，但是未必一定要被限定成该构成，也可以是电动机直接与减震装置连结的构成。即，对于本发明，只要是在发动机和电动机之间以能够进行动力传递的方式设置减震装置的构成，就能够适当地应用。
另外，在前述的实施例中，当发动机转速Ne变成转速(Nf1-β)，则控制成启动扭矩T在扭矩T2以上，但也可以控制成从发动机起动开始的时刻起启动扭矩在扭矩T2以上。
其中，上述的内容至多就是一个实施方式，本发明基于本领域技术人员的知识能够以添加了各种变更、改进后的方式实施。
图中符号说明：
8:混合动力车辆；24:发动机；38:减震装置；100:电子控制装置(控制装置)；MG1:第1电动机(电动机)；f1:共振频率(第1共振频率)；f2:共振频率(第2共振频率)。

Claims (7)

1.一种混合动力车辆的控制装置，所述混合动力车辆(8)在发动机(24)和电动机(MG1)之间的动力传递路径中设有减震装置(38)，
在该减震装置中，从该发动机向该电动机传递驱动力的正向的扭转和从该电动机向该发动机传递驱动力的负向的扭转的扭转特性不同，
利用所述电动机使所述发动机的转速上升来起动该发动机，所述混合动力车辆的控制装置(100)的特征在于，
所述减震装置的负向的扭转特性具有扭转刚性根据扭转角的不同而不同的多个扭转特性，
在发动机起动时，根据发动机转速分开使用所述多个扭转特性来使发动机转速上升。
2.根据权利要求1所述的混合动力车辆的控制装置，其特征在于，
所述减震装置在所述负向的扭转中具有成为第1共振频率(f1)的第1扭转特性和成为比该第1共振频率高的第2共振频率(f2)的第2扭转特性，
当发动机开始起动时，以成为所述第2扭转特性的扭转角使所述发动机的转速上升，
当所述发动机转速成为高于与所述第1共振频率对应的转速并且低于与所述第2共振频率对应的转速的转速时，降低电动机的电动机扭矩，以成为所述第1扭转特性的扭转角使所述发动机的转速上升。
3.根据权利要求1所述的混合动力车辆的控制装置，其特征在于，
所述减震装置在负向的扭转中至少具有两个扭转特性，
与扭转角小的扭转特性相比，扭转角大的扭转特性相对于发动机转速的共振频率高。
4.根据权利要求2所述的混合动力车辆的控制装置，其特征在于，
所述减震装置在负向的扭转中至少具有两个扭转特性，
与扭转角小的扭转特性相比，扭转角大的扭转特性相对于发动机转速的共振频率高。
5.根据权利要求2至4中任一项所述的混合动力车辆的控制装置，其特征在于，
当发动机开始起动时，按照使得传递至所述减震装置的扭矩不低于预先设定的、所述减震装置的扭转特性成为所述第2扭转特性的下限扭矩的方式来控制所述电动机扭矩。
6.根据权利要求2至4中任一项所述的混合动力车辆的控制装置，其特征在于，
当所述发动机转速成为比所述第2共振频率所对应的转速低规定值的转速时，按照使得传递至所述减震装置的扭矩低于预先设定的、所述减震装置的扭转特性成为所述第1扭转特性的上限扭矩的方式来控制所述电动机扭矩。
7.根据权利要求5所述的混合动力车辆的控制装置，其特征在于，
当所述发动机转速成为比所述第2共振频率所对应的转速低规定值的转速时，按照使得传递至所述减震装置的扭矩低于预先设定的、所述减震装置的扭转特性成为所述第1扭转特性的上限扭矩的方式来控制所述电动机扭矩。
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