CN104648377A - Control device of hybrid vehicle - Google Patents

Control device of hybrid vehicle Download PDF

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Publication number
CN104648377A
CN104648377A CN201410662940.7A CN201410662940A CN104648377A CN 104648377 A CN104648377 A CN 104648377A CN 201410662940 A CN201410662940 A CN 201410662940A CN 104648377 A CN104648377 A CN 104648377A
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CN
China
Prior art keywords
sun
electrical motor
planet gear
mentioned
engine
Prior art date
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Granted
Application number
CN201410662940.7A
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Chinese (zh)
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CN104648377B (en
Inventor
伊藤芳辉
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Suzuki Motor Corp
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Suzuki Motor Corp
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Classifications

    • 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
    • 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
    • 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
    • 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
    • B60W10/08—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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—Speed
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0644—Engine speed
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/081—Speed
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/105—Output torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Provided is a control device of a hybrid vehicle. The output value of a motor is controlled to make the rotation speed of an engine be decelerated toward the rotation speed of a target engine, even though the differential rotation speed of a planetary gear mechanism is approximate to zero, the rotation speed of the engine is unchanged, so that the rotation speed of the engine is decelerated toward the rotation speed of the target engine to make the rotation speed of the engine stable. The control device (33) calculates the derived value, lost in the planetary gear mechanism (4), of the driving force of the engine (2), and calculates the output value of the motor (6, 7) based on the derived value.

Description

The control setup of motor vehicle driven by mixed power
Technical field
The present invention relates to the control setup of motor vehicle driven by mixed power, establish the control setup relating to the motor vehicle driven by mixed power possessing driving engine and electrical motor especially.
Background technology
In the past, in motor vehicle driven by mixed power, known following vehicle: by the 1st sun and planet gear and the 2nd sun and planet gear by the propulsive effort of the propulsive effort of driving engine, the propulsive effort of the 1st electrical motor travelled and the 2nd electrical motor to drive wheel transmission.
As the control setup of such motor vehicle driven by mixed power, such as, there is following prior art document.
prior art document
patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2006-262585 publication
Patent documentation 2: Japanese Unexamined Patent Publication 2012-171593 publication
In the hybrid electric vehicle and control method thereof of patent documentation 1, possesses power distribution integration mechanism (sun and planet gear: PG1, and reducing gear PG2), control the 1st electrical motor (MG1) and the 2nd electrical motor (MG2), expected value is become to make the propulsive effort being delivered to output shaft according to the operative condition of driving engine, power distribution integration mechanism (sun and planet gear: PG1, PG2) driving engine and the 1st electrical motor (MG1) is connected to, by the propulsive effort of this driving engine and the 1st electrical motor (MG1) to drive wheel transmission, reducing gear is connected to the 2nd electrical motor (MG2), by the propulsive effort of the 2nd electrical motor (MG2) to drive wheel transmission.
In addition, in this patent documentation 1, when carrying out controlling to make the output valve of the 2nd electrical motor (MG2) be near zero (0), the positive and negative reversion in direction of the torque produced in the 2nd electrical motor (MG2), therefore sometimes abnormal sound is sent from reducing gear etc., therefore under these circumstances, control the 2nd electrical motor (MG2), be in outside the scope near zero (0) to make the output valve of the 2nd electrical motor (MG2).
The hybrid vehicle of patent documentation 2 is in order to be set to the rotative speed of expectation by the output shaft being provided with drive wheel, according to the result target setting engine rotary speed of the rotative speed of output shaft, and, according to the torque (so-called controlled reset) of the rotative speed deviation control electrical motor of engine rotary speed and target engine rotative speed, reach this target engine rotative speed to make engine rotary speed.
Summary of the invention
the problem that invention will solve
But, in the past in the control setup of motor vehicle driven by mixed power, when the rotative speed of target engine rotative speed close to output shaft, the 1st sun and planet gear (PG1) be connected respectively with the 1st electrical motor (MG1) and the 2nd electrical motor (MG2) becomes to be integrated, close to the state of constant speed rotation with the 2nd sun and planet gear (PG2).When becoming such state, there is following unfavorable condition: engine rotary speed is subject to the impact of controlled reset, the 1st sun and planet gear (PG1) and the 2nd sun and planet gear (PG2), is absorbed in unsure state.
Therefore, the invention reside in and the control setup of following motor vehicle driven by mixed power is provided: even if the differential rotative speed of sun and planet gear is close near zero (0), engine rotary speed also can be made to stablize.
for the scheme of dealing with problems
The present invention is the control setup of motor vehicle driven by mixed power, possesses: driving engine, its output drive strength; 2 sun and planet gears, itself and above-mentioned driving engine link; 2 electrical motors, it is connected respectively with above-mentioned 2 sun and planet gears; And output shaft, it is linked with above-mentioned driving engine and above-mentioned electrical motor by above-mentioned sun and planet gear, the control setup of above-mentioned motor vehicle driven by mixed power controls the output valve of above-mentioned electrical motor, the engine rotary speed of above-mentioned driving engine is restrained to target engine rotative speed, the feature of the control setup of above-mentioned motor vehicle driven by mixed power is, possesses control unit, above-mentioned control unit calculates the presumed value of the propulsive effort of the above-mentioned driving engine lost in above-mentioned sun and planet gear, calculates the output valve of above-mentioned electrical motor according to above-mentioned presumed value.
invention effect
The present invention estimates the propulsive effort of the driving engine lost in sun and planet gear and controls the output valve of electrical motor, even if so the differential rotative speed of sun and planet gear also can make engine rotary speed stablize near zero (0).
Accompanying drawing explanation
Fig. 1 is the System's composition figure possessing the control setup of 2 sun and planet gears of motor vehicle driven by mixed power.(embodiment)
Fig. 2 is the block diagram of the control setup of motor vehicle driven by mixed power.(embodiment)
Fig. 3 is the pie graph of the 1st sun and planet gear (PG1) and the 2nd sun and planet gear (PG2).(embodiment)
Fig. 4 is the alignment chart of the 1st sun and planet gear (PG1) in Fig. 3 and the 2nd sun and planet gear (PG2).(embodiment)
Fig. 5 is the diagram of circuit of the control of motor vehicle driven by mixed power.(embodiment)
Fig. 6 is the PG1 torque ratio key of the 1st sun and planet gear (PG1).(embodiment)
Fig. 7 is the sequential chart of the control of motor vehicle driven by mixed power.(embodiment)
Fig. 8 is the figure of the transmit mode of the propulsive effort that the 1st sun and planet gear (PG1) in Fig. 7 and the 2nd sun and planet gear (PG2) are shown.(embodiment)
Fig. 9 is the alignment chart of the 1st sun and planet gear (PG1) in Fig. 8 and the 2nd sun and planet gear (PG2).(embodiment)
Figure 10 is the System's composition figure of the control setup possessing 1 sun and planet gear.(variation)
description of reference numerals
1 vehicle (motor vehicle driven by mixed power)
2 driving engines (ENG)
The control setup of 3 vehicles
4 the 1st sun and planet gears (PG1)
5 the 2nd sun and planet gears (PG2)
6 the 1st electrical motors (MG1)
7 the 2nd electrical motors (MG2)
8 output shafts (OUT)
21 bent axles
33 hybrid power control modules (control unit)
37 differential rotative speed calculating sections
38 PG1 torque presumption units
39 MG1 correct torque calculating section
40 rotative speed deviation calculating sections
41 FB correct torque calculating section
42 the 1st operational parts
43 the 2nd operational parts
Detailed description of the invention
The present invention controls the output valve of electrical motor by estimating the propulsive effort of driving engine lost in sun and planet gear, even if thus the differential rotative speed realizing sun and planet gear close to the object also making engine rotary speed stable near zero (0).
Embodiment
Fig. 1 ~ Fig. 9 illustrates embodiments of the invention.
As shown in Figure 1, Figure 3, at motor vehicle driven by mixed power (hereinafter referred to as " being provided with in vehicle ") 1: the driving engine (being designated as on accompanying drawing " ENG ") 2 of output drive strength; And the control setup 3 of vehicle 1.
Control setup 3 possesses: as the sun and planet gear linked with driving engine 2 is such as the 1st sun and planet gear (being designated as on accompanying drawing " PG1 ") the 4, the 2nd sun and planet gear (being designated as on accompanying drawing " PG2 ") 5 of 2 in this embodiment; As the 1st electrical motor (being designated as on accompanying drawing " MG1 ") the 6, the 2nd electrical motor (being designated as on accompanying drawing " MG2 ") 7 of 2 electrical motors be connected respectively with the 1st sun and planet gear 4, the 2nd sun and planet gear 5; And the output shaft (axle drive shaft) (being designated as on accompanying drawing " OUT ") 8 of driving engine 2 and the 1st electrical motor 6, the 2nd electrical motor 7 is linked by the 1st sun and planet gear 4, the 2nd sun and planet gear 5.
As shown in Figure 3, Figure 4, the 1st sun and planet gear 4, the 2nd sun and planet gear 5 are connected to output shaft 8 by output transmission mechanism 9 and differential attachment 10.Export transmission mechanism 9 to possess: the output gear 11 being connected to the 1st sun and planet gear 4; Engage, be installed on the 1st countershaft-gear 13 of one end of tween drive shaft 12 with this output gear 11; And the other end being installed on tween drive shaft 12, the 2nd countershaft-gear 15 that engages with the final gear 14 of differential attachment 10.Differential attachment 10 is connected to the output shaft 8,8 being provided with drive wheel 16,16.Final gear 14 and the 2nd countershaft-gear 15 form reducing gear.
In the alignment chart of the 1st sun and planet gear 4 shown in Fig. 4, the 2nd sun and planet gear 5, A=Zs/Zr.At this, Zs is the sun wheel number of teeth, and Zr is the gear ring number of teeth.
As shown in Figure 1, the 1st sun and planet gear 4 possesses: the 1st sun wheel 17; The 1st miniature gears 18 engaged with the 1st sun wheel 17; The 1st gear ring 19 engaged with the 1st miniature gears 18; And the 1st pinion carrier 20 to link with the 1st miniature gears 18.
1st sun wheel 17 is connected to the 1st electrical motor 6.
1st pinion carrier 20 is connected to the bent axle 21 of driving engine 2.
Free-wheel clutch 22 is provided with in the midway of this bent axle 21.This free-wheel clutch 22 prevents bent axle 21 from rotating in the opposite direction.
As shown in Figure 1, the 2nd sun and planet gear 5 possesses: the 2nd sun wheel 23; The 2nd miniature gears 24 engaged with the 2nd sun wheel 23; The 2nd gear ring 25 engaged with the 2nd miniature gears 24; And link the 2nd pinion carrier 26 of the 2nd miniature gears 24 and the 1st gear ring 19.
2nd sun wheel 23 is connected to the bent axle 21 of driving engine 2.
2nd gear ring 25 is connected to the 2nd electrical motor 7.
1st electrical motor 6 comprises the 1st rotor 27 and the 1st stator 28 that are connected to the 1st sun wheel 17.2nd electrical motor 7 comprises the 2nd rotor 29 and the 2nd stator 30 that are connected to the 2nd gear ring 25.
As shown in Figure 3, Figure 4, in the 1st sun and planet gear 4, the 2nd sun and planet gear 5, bent axle 21 is connected to the 1st pinion carrier 20 of the 1st sun and planet gear 4.In addition, be provided with free-wheel clutch 22 in the midway of bent axle 21, free-wheel clutch 22 prevents bent axle 21 from rotating in the opposite direction.
In addition, the 1st electrical motor 6 is only connected to the 1st sun wheel 17 of the 1st sun and planet gear 4.In addition, the 1st electrical motor 6 is used as electrical generator when common vehicle travels both travelling for generating and vehicle.
And the 2nd electrical motor 7 is only connected to the 2nd gear ring 25 of the 2nd sun and planet gear 5.In addition, the 2nd electrical motor 7 is used as electric drive motor when common vehicle travels both travelling for generating and vehicle.
As shown in Figure 1, control setup 3 possesses: be connected to the 1st stator 28, control the 1st inverter 31 of the action of the 1st electrical motor 6; Be connected to the 2nd stator 30, control the 2nd inverter 32 of the action of the 2nd electrical motor 7; And be connected to the hybrid power control module as control unit (being designated as on accompanying drawing " HCM ") 33 of the 1st inverter 31 and the 2nd inverter 32.
In addition, the 1st inverter 31 and the 2nd inverter 32 are connected to battery 34.This battery 34 is connected to Battery control module (being designated as on accompanying drawing " BCM ") 35, utilizes the control signal from this Battery control module 35 to control the voltage of supply the 1st inverter 31, the 2nd inverter 32.
Battery control module 35 is connected to the 1st inverter 31, the 2nd inverter 32 and hybrid power control module 33.
And hybrid power control module 33 is connected to the engine control module (being designated as on accompanying drawing " ECM ") 36 controlling driving engine 2.
Control setup 3 controls the output valve of such as the 1st electrical motor 6 as electrical motor, restrains to target engine rotative speed to make the engine rotary speed of driving engine 2.
Hybrid power control module 33 as the control unit of control setup 3 calculates the presumed value of the propulsive effort of the driving engine 2 lost in the 1st sun and planet gear 4, the 2nd sun and planet gear 5, calculates the output valve of the 1st electrical motor 6 as electrical motor according to this presumed value.
Therefore, as shown in Figure 2, hybrid power control module 33 possesses: differential rotative speed calculating section 37; Be connected to the PG1 torque presumption unit 38 of this differential rotative speed calculating section 37; Input MG1 reference torque and the MG1 being connected to PG1 torque presumption unit 38 corrects torque calculating section 39; Rotative speed deviation calculating section 40; The FB being connected to this rotative speed deviation calculating section 40 corrects torque calculating section 41; Input MG1 reference torque and be connected to the 1st operational part 42 that FB corrects torque calculating section 41; And be connected to the 2nd operational part 43 of the 1st operational part 42 and MG1 correction torque calculating section 39.
Differential rotative speed calculating section 37 inputs the MG1 rotative speed of the 1st electrical motor 6 and the MG2 rotative speed of the 2nd electrical motor 7, calculates differential rotative speed.
PG1 torque presumption unit 38 inputs the differential rotative speed calculated by differential rotative speed calculating section 37, the PG1 torque of presumption the 1st sun and planet gear 4.
MG1 corrects torque calculating section 39 and inputs the PG1 torque and MG1 reference torque that are estimated by PG1 torque presumption unit 38, and the MG1 calculating the 1st electrical motor 6 corrects torque.
Rotative speed deviation calculating section 40 inputs actual engine rotary speed and target engine rotative speed, calculates rotative speed deviation.
FB corrects torque calculating section 41 and inputs the rotative speed deviation calculated by rotative speed deviation calculating section 40, and the FB calculating controlled reset corrects torque.
1st operational part 42 inputs the FB calculated by FB correction torque calculating section 41 and corrects torque and MG1 reference torque, above-mentioned torque is added the torque obtained and exports to the 2nd operational part 43.
2nd operational part 43 is in this embodiment using the torque calculated by the 1st operational part 42 with correct by MG1 MG1 that torque calculating section 39 calculates and correct torque and be added and obtain value and export to the 1st inverter 31 as the MG1 torque instruction value of the 1st electrical motor 6.
In addition, as shown in Figure 6, hybrid power control module 33 possesses PG1 torque ratio key.In this PG1 torque ratio key, determine the PG1 torque ratio of the 1st sun and planet gear 4 according to the differential rotative speed calculated based on the MG1 rotative speed of the 1st sun and planet gear 4 and the MG2 rotative speed of the 2nd sun and planet gear 5.
Then, be described according to the control of diagram of circuit to this embodiment of Fig. 5.
As shown in Figure 5, when the program of hybrid power control module 33 starts (steps A 01), first obtain each signal (steps A 02).In this steps A 02, hybrid power control module 33 obtains signal in order to calculate the MG1 torque instruction value of the 1st electrical motor 6 from each sensor.
Further, differential rotative speed (steps A 03) is calculated.In this steps A 03, differential rotative speed calculating section 37 calculates differential rotative speed based on the MG1 rotative speed of the 1st electrical motor 6 and the MG2 rotative speed of the 2nd electrical motor.Particularly, differential rotative speed=MG1 rotative speed-MG2 rotative speed.
Then, the PG1 torque (steps A 04) of the 1st sun and planet gear 4 is estimated.In this steps A 04, PG1 torque presumption unit 38 calculates PG1 torque ratio by PG1 torque ratio key (with reference to Fig. 6) according to differential rotative speed.This PG1 torque ratio becomes the presumed value of the propulsive effort of the driving engine 2 lost in the 1st sun and planet gear 4, the 2nd sun and planet gear 5.
In addition, the MG1 calculating the 1st electrical motor 6 corrects torque (steps A 05).In this steps A 05, MG1 corrects torque calculating section 39 and the absolute value of the MG1 reference torque of the 1st electrical motor 6 is multiplied by the above-mentioned PG1 correction torque ratio calculated, thus calculates MG1 correction torque.
And, calculate rotative speed deviation (steps A 06).In this steps A 06, rotative speed deviation calculating section 40 calculates actual engine rotary speed and the rotative speed deviation of target engine rotative speed.
Then, calculate feedback (FB) and correct torque (steps A 07).In this steps A 07, FB corrects rotative speed deviation that torque operational part 41 calculates based on above-mentioned, FB proportional gain and FB gain correction coefficient and calculates FB and correct torque.Particularly, FB corrects torque=rotating deviation × FB proportional gain × FB gain correction coefficient.In addition, FB proportional gain is the value utilizing experiment etc. to preset.
Further, the MG1 torque instruction value (steps A 08) of the 1st electrical motor 6 is calculated.In this steps A 08, utilize the 1st operational part 42 of hybrid power control module 33, the 2nd operational part 43 MG1 reference torque and FB to be corrected torque and MG1 and correct torque and be added, calculate MG1 torque instruction value.
In addition, the MG1 torque instruction value that this calculates by hybrid power control module 33 exports to the 1st inverter 31.Further, the 1st inverter 31 exports output valve as control signal based on MG1 torque instruction value to the 1st electrical motor 6.
Further, return information (steps A 09).
Then, be described according to the control of sequential chart to this embodiment of Fig. 7.
Fig. 7 exemplifies as one the acceleration mode that target engine rotative speed increases gradually.
As shown in Figure 7, under acceleration mode, the propulsive effort of driving engine 2 is controlled to make the rotative speed of output shaft 8 to rise.In addition, the propulsive effort of the 1st electrical motor 6 and the 2nd electrical motor 7 is added with the value of the output of driving engine 2 by the 1st sun and planet gear 4 and the 2nd sun and planet gear 5.
Particularly, be connected to the 1st electrical motor 6 for the 1st sun and planet gear the 4,1st sun wheel 17, in addition, the 1st pinion carrier 20 is connected to the bent axle 21 of driving engine 2.Further, the propulsive effort from the 1st sun and planet gear 4 is transmitted to output shaft 8 by the 1st gear ring 19.
On the other hand, the 2nd sun and planet gear the 5,2nd sun wheel 23 is connected to the bent axle 21 of driving engine 2, in addition, the 2nd gear ring 25 is connected to the 2nd electrical motor 7.Further, the propulsive effort from the 2nd sun and planet gear 5 is transmitted to output shaft 8 by the 2nd pinion carrier 26.
At this, be configured to, the 1st gear ring 19 of the 1st sun and planet gear 4 and the 2nd pinion carrier 26 of the 2nd sun and planet gear 5 rotate integrally.Thus, the propulsive effort produced in the 1st sun and planet gear 4 and the 2nd sun and planet gear 5 merges when exporting to the 1st gear ring 19 or the 2nd pinion carrier 26, transmits to output shaft 8.
In addition, when negative value got by the differential rotative speed (MG1 rotative speed-MG2 rotative speed) of the MG1 rotative speed of the 1st electrical motor 6 and the MG2 rotative speed of the 2nd electrical motor 7 (, when MG2 rotative speed is faster than MG1 rotative speed), output shaft 8 rotates with the speed higher than the bent axle 21 of driving engine 2, therefore by the 1st sun and planet gear 4, the bent axle 21 of driving engine 2 is rotated.Therefore, the 1st sun and planet gear 4 can produce the torque for making the bent axle 21 of driving engine 2 rotate, and therefore, actual engine rotary speed is in the state higher than target engine rotative speed.
Therefore, in existing controlled reset, make the MG1 reference torque of the 1st electrical motor 6 correct torque with negative FB and be added, with the rising of the supplementary engine rotary speed caused due to this loss torque.
On the other hand, differential rotative speed (MG1 rotative speed-MG2 rotative speed) get on the occasion of time (, when MG1 rotative speed is faster than MG2 rotative speed), output shaft 8 is the rotation that speed is lower than the bent axle 21 of driving engine 2, therefore utilizes the bent axle 21 of driving engine 2 to rotate.Therefore, the 1st sun and planet gear 4 can produce the torque for making output shaft 8 rotate, and therefore, actual engine rotary speed is in the state lower than target engine rotative speed.
In addition, in Fig. 7 (c), the torque that the 1st sun and planet gear 4 gives output shaft 18 is expressed as negative value.Now, in controlled reset, make the MG1 reference torque of the 1st electrical motor 6 and positive FB correct torque and be added, with the decline of supplementary engine rotary speed.
In addition, when the value near zero (0) got by differential rotative speed (MG1 rotative speed-MG2 rotative speed) (, when 1st sun and planet gear 4 rotates with roughly the same speed with the 2nd sun and planet gear 5), engine rotary speed, as shown in the dotted line (engine rotary speed of prior art) of Fig. 7 (a), is in an unsure state.This unsure state results from as follows: when engine rotary speed reaches target engine rotative speed (time t1), and controlled reset is due to its control lag, and the torque of the 1st electrical motor 6 is corrected as the state lower than MG1 reference torque.Namely, ideally, when time t1, the correcting value of controlled reset becomes zero (0), the torque of the 1st electrical motor 6 becomes MG1 reference torque, but in fact, be corrected to the value making engine rotary speed decline in a short period of time, therefore engine rotary speed can decline (time t2).So perform controlled reset, the torque carrying out correcting to make the 1st electrical motor 6 declines.But owing to again there is the delay controlled, actual engine rotary speed can higher than target engine rotative speed (time t3).Consequently, continued to perform controlled reset before engine rotary speed converges on target engine rotative speed, can fluctuation be caused.
And, 1st sun and planet gear 4 and the 2nd sun and planet gear 5 rotate with the rotative speed close to constant speed, therefore described above, when engine rotary speed becomes unsure state due to the controlled reset of the 1st electrical motor 6, produce the power that will turn back to stable constant speed state.Therefore, as mentioned above, the amplitude of fluctuation can be increased.
Therefore, in this embodiment, in order to suppress the engine rotary speed of this instability, the PG1 torque ratio of the 1st sun and planet gear 4 is calculated, according to the MG1 torque of this PG1 torque ratio adjustment the 1st electrical motor 6.
The transmit mode of the 1st sun and planet gear 4 under the condition of Fig. 7 shown in Fig. 8 and the propulsive effort of the 2nd sun and planet gear 5.
As shown in Figure 8, in this case, the 1st electrical motor 6 plays a role as electrical generator.2nd electrical motor 7 plays a role as electric drive motor.
Further, in order to engine rotary speed is brought up to target engine rotative speed, the 2nd electrical motor 7 produces propulsive effort (shown in the F1 of Fig. 8), to assist driving engine 2.
Further, the 1st electrical motor 6 only utilizes this propulsive effort (shown in the F2 of Fig. 8) to rotate.In addition, the electric power produced provides to the 2nd electrical motor 7.
In addition, in the alignment chart shown in Fig. 9, A=Zs/Zr.At this, Zs is the sun wheel number of teeth, and Zr is the gear ring number of teeth.
When forming as mentioned above, in this embodiment, control the output valve of 1st electrical motor 6 as electrical motor corresponding to the presumed value of the propulsive effort of the driving engine 2 lost in the 1st sun and planet gear 4, the 2nd sun and planet gear 5, therefore, even if the differential rotative speed of the MG2 rotative speed of the MG1 rotative speed of the 1st sun and planet gear 4 and the 2nd sun and planet gear 5 is close near zero (0), engine rotary speed also can not change, easily make engine rotary speed to the convergence of target engine rotative speed, engine rotary speed can be made to stablize.
The control setup 3 possessing 1 sun and planet gear is shown as variation in Figure 10.
As shown in Figure 10, control setup 3 possesses: as the sun and planet gear 4 being equivalent to the 1st sun and planet gear of above-described embodiment of 1 sun and planet gear; And being connected to the 1st electrical motor 6, the 2nd electrical motor 7 of this sun and planet gear 4, driving engine 2 and the 1st electrical motor 6, the 2nd electrical motor 7 are linked by sun and planet gear 4 and output shaft (axle drive shaft) (being designated as on accompanying drawing " OUT ") 8.
Sun and planet gear 4 possesses: sun wheel 17; The miniature gears 18 engaged with this sun wheel 17; The gear ring 19 engaged with this miniature gears 18; And the pinion carrier 20 to link with miniature gears 18.
Sun wheel 17 is connected to the 1st electrical motor 6.
Pinion carrier 20 is connected to the bent axle 21 of driving engine 2.
Gear ring 25 is connected to the 2nd electrical motor 7.
1st electrical motor 6 comprises the 1st rotor 27 and the 1st stator 28 that are connected to sun wheel 17.2nd electrical motor 7 comprises the 2nd rotor 29 and the 2nd stator 30 that are connected to gear ring 25.
In sun and planet gear 4, bent axle 21 is connected to the pinion carrier 20 of sun and planet gear 4.
1st electrical motor 6 is only connected to the sun wheel 17 of sun and planet gear 4.In addition, the 1st electrical motor 6 is used as electrical generator when common vehicle travels both travelling for generating and vehicle.
2nd electrical motor 7 is only connected to the gear ring 25 of sun and planet gear 4.In addition, the 2nd electrical motor 7 is used as electric drive motor when common vehicle travels both travelling for generating and vehicle.
As shown in Figure 1, control setup 3 possesses: be connected to the 1st stator 28, control the 1st inverter 31 of the action of the 1st electrical motor 6; Be connected to the 2nd stator 30, control the 2nd inverter 32 of the action of the 2nd electrical motor 7; And be connected to the hybrid power control module as control unit (being designated as on accompanying drawing " HCM ") 33 of the 1st inverter 31 and the 2nd inverter 32.
In addition, the 1st inverter 31 and the 2nd inverter 32 are connected to battery 34.This battery 34 is connected to Battery control module (being designated as on accompanying drawing " BCM ") 35, utilizes the control signal from this Battery control module 35 to control the voltage of supply the 1st inverter 31, the 2nd inverter 32.
Battery control module 35 is connected to the 1st inverter 31, the 2nd inverter 32 and hybrid power control module 33.
And hybrid power control module 33 is connected to the engine control module (being designated as on accompanying drawing " ECM ") 36 controlling driving engine 2.
About hybrid power control module 33, because be the formation identical with the situation of above-described embodiment, at this, the description thereof will be omitted.
Control setup 3 controls the output valve of such as the 1st electrical motor 6 as electrical motor, restrains to target engine rotative speed to make the engine rotary speed of driving engine 2.
Hybrid power control module 33 calculates the presumed value of the propulsive effort of the driving engine 2 lost in sun and planet gear 4, calculates the output valve of such as the 1st electrical motor 6 as electrical motor according to this presumed value.
According to this variation, the sun wheel 17 of sun and planet gear 4 is connected to the 1st electrical motor 6, and the gear ring 25 of sun and planet gear 4 is connected to the 2nd electrical motor 7, so when the differential rotative speed (MG1 rotative speed-MG2 rotative speed) of the 1st electrical motor 6 and the 2nd electrical motor 7 is in the scope of regulation, be subject to the impact of controlled reset, engine rotary speed easily changes.Further, be also that feedback gain is suppressed less in this case, the variation of engine rotary speed can be suppressed thus.
Consequently, in the formation of this variation, the action effect identical with the situation of the formation of above-described embodiment is also played.
In addition, in the present invention, the output valve of the 1st electrical motor 6 and/or the output valve of the 2nd electrical motor 7 can also be controlled.
industrial utilizability
Control setup of the present invention is not limited to motor vehicle driven by mixed power, also can be applied to other the elec. vehicle such as electronlmobil.

Claims (1)

1. a control setup for motor vehicle driven by mixed power, possesses: driving engine, its output drive strength; Sun and planet gear, itself and above-mentioned driving engine link; Electrical motor, it is connected with above-mentioned sun and planet gear; And output shaft, it is linked with above-mentioned driving engine and above-mentioned electrical motor by above-mentioned sun and planet gear, the control setup of above-mentioned motor vehicle driven by mixed power controls the output valve of above-mentioned electrical motor, the engine rotary speed of above-mentioned driving engine is restrained to target engine rotative speed, the feature of the control setup of above-mentioned motor vehicle driven by mixed power is, possesses control unit, above-mentioned control unit calculates the presumed value of the propulsive effort of the above-mentioned driving engine lost in above-mentioned sun and planet gear, calculates the output valve of above-mentioned electrical motor according to above-mentioned presumed value.
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