CN116981582A - 混合动力车辆的控制方法以及控制装置 - Google Patents

混合动力车辆的控制方法以及控制装置 Download PDF

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Publication number
CN116981582A
CN116981582A CN202180095602.8A CN202180095602A CN116981582A CN 116981582 A CN116981582 A CN 116981582A CN 202180095602 A CN202180095602 A CN 202180095602A CN 116981582 A CN116981582 A CN 116981582A
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China
Prior art keywords
clutch
control
motor generator
torque
hybrid vehicle
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CN202180095602.8A
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English (en)
Inventor
友田幸辉
古闲雅人
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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Publication of CN116981582A publication Critical patent/CN116981582A/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • 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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • 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
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    • 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
    • B60K6/38—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 driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B60K6/38—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 driveline clutches
    • B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • B60K6/448—Electrical distribution type
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    • 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
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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Abstract

具有第1驱动源(内燃机(2)以及第1电动发电机(3))、第2驱动源(第2电动发电机(4))、第1离合器(9)以及第2离合器(12)。在空挡模式下，第1、第2离合器(9、12)为断开状态，通过第1电动发电机(3)的发电(16)而由第3电动发电机对后轮(15)进行驱动。在并行模式下，第1、第2离合器(9、12)为接合状态，第1、第2驱动源对前轮(1)进行驱动，第3电动发电机16对后轮(15)进行驱动。在从空挡模式向并行模式切换时，如果电池电力充分，则同时进行2个离合器(9、12)的前后旋转速度的同步控制。如果电池电力不充分，则依次进行2个同步控制。

Description

混合动力车辆的控制方法以及控制装置
技术领域
本发明涉及一种混合动力车辆，其具有：第1驱动源及第2驱动源；以及2个离合器，其进行上述驱动源与驱动轮之间的断开/接合，在车辆的行驶中能够进行使得第1、第2驱动源这两者与驱动轮断开的空挡模式、和使得第1、第2驱动源这两者与驱动轮连接的并行模式之间的切换。
背景技术
在专利文献1中公开了如下结构，即，作为串联混合动力车的一个方式，具有：第1离合器，其进行与发电用电机连接的内燃机与驱动轮之间的断开/接合；以及第2离合器，其进行行驶用电机与驱动轮之间的断开/接合，通过上述2个离合器的切换而切换为串联混合动力模式和发动机直接连结模式。在各模式下，一个离合器变为接合状态，另一个离合器变为断开状态。因此，例如关于从发动机直接连结模式向串联混合动力模式切换，进行至此为止处于断开状态的第2离合器的前后旋转速度的同步控制，在旋转速度同步时将第2离合器接合，接下来进行2个驱动源之间的转矩的变换而使得第1离合器的传递转矩接近零，然后将第1离合器断开。即，依次进行2个离合器的切换控制。
这样，如果依次进行2个离合器的切换控制，则模式切换的响应性较低。
专利文献1：日本特开2020-131880号公报
发明内容
本发明所涉及的混合动力车辆的控制方法或控制装置具有：第1驱动源；第2驱动源；第1离合器，其进行上述第1驱动源与驱动轮之间的断开/接合；以及第2离合器，其进行上述第2驱动源与上述驱动轮之间的断开/接合，
在车辆的行驶中，能够进行上述第1、第2驱动源这两者与上述驱动轮断开的空挡模式、与上述第1、第2驱动源这两者与上述驱动轮连接的并行模式之间的切换，其中，
实施如下2个切换控制中的至少一者：第1切换控制，在从上述空挡模式向上述并行模式切换时，在至少一部分期间同时进行上述第1离合器的前后旋转速度的同步控制和上述第2离合器的前后旋转速度的同步控制；以及第2切换控制，在从上述并行模式向上述空挡模式切换时，在至少一部分期间同时进行使得上述第1离合器的传递转矩接近零的控制和使得上述第2离合器的传递转矩接近零的控制。
这样在至少一部分期间同时进行2个离合器的切换控制而提高模式切换的响应性。
附图说明
图1是表示本发明所涉及的混合动力车辆的一个实施例的动力传动系统的结构的说明图。
图2是表示针对车速及目标驱动力的各行驶模式的运转区域的特性图。
图3是表示空挡模式下的转矩传递路径的说明图。
图4是表示并行模式下的转矩传递路径的说明图。
图5是表示从空挡模式向并行模式切换时的控制的流程图。
图6是表示从并行模式向空挡模式切换时的控制的流程图。
图7是从空挡模式向并行模式切换时的时序图。
图8是从并行模式向空挡模式切换时的时序图。
图9是表示不具有等待弹簧机构的情况下的从并行模式向空挡模式切换时的控制的流程图。
图10是不具有等待弹簧机构的情况下的从并行模式向空挡模式切换时的时序图。
具体实施方式
下面，基于附图对本发明的一个实施例详细进行说明。图1是表示应用本发明的混合动力车辆的动力传动系统的一个结构例的说明图。该实施例将本发明应用于对后轮进行电机驱动的形式的四轮驱动车，作为前轮侧的驱动源而具有2个驱动源。而且，能够选择仅利用后轮行驶、或者利用四轮行驶。
即，作为前轮1的驱动源，具有第1驱动源及第2驱动源，第1驱动源包含：内燃机2；以及始终与上述内燃机2联动的第1电动发电机3。第2驱动源由第2电动发电机4构成。第1电动发电机3是主要用于发电的电动发电机，第2电动发电机4是主要用于行驶的电动发电机。作为第1驱动源的输出轴的第1电动发电机3的旋转轴与分动器5的第1输入轴6直接连结。作为第2驱动源的第2电动发电机4的旋转轴与分动器5的第2输入轴7直接连结。
分动器5具有与前轮1连接的输出轴10，第1输入轴6构成为能够经由齿轮列8以及介于该齿轮列8中的第1离合器9而将转矩传递至输出轴10。第2输入轴7构成为能够经由齿轮列11以及介于该齿轮列11中的第2离合器12而将转矩传递至输出轴10。第1离合器9以及第2离合器12均是齿轮选择器支撑于中间轴13的爪式离合器，在一个实施例中，具有用于使齿轮选择器执行动作的致动器以及等待弹簧机构。此外，在图示例子中，齿轮列8包含齿轮比不同的高速侧和低速侧的2个齿轮的组合，第1离合器9选择性地与任一者接合，但高速和低速的选择并非本发明的要部，因此下面将与任一者(例如高速侧)接合简称为“接合”。
另外，同样地，在图示例子中，在中间轴13与输出轴10之间具有齿轮比不同的高速侧和低速侧的2个齿轮的组合，利用中间轴13上的第3离合器14选择任一者。然而，高速和低速的选择并非本发明的要部，因此下面对始终选择一者(例如高速侧)进行说明。
因此，第1离合器9对第1驱动源(内燃机2以及第1电动发电机3)与前轮1之间进行断开/接合，第2离合器12对作为第2驱动源的第2电动发电机4与前轮1之间进行断开/接合。
另外，在图示例子中，作为对后轮15进行驱动的第3驱动源而具有第3电动发电机16，该第3电动发电机16基本上始终经由齿轮列17而与后轮15联动。
第1、第2、第3电动发电机3、4、16分别经由未图示的逆变器装置而与电池18连接。在实施例的混合动力车辆中，具有根据驾驶者的请求等而进行动力传动系统整体的控制的动力传动系统控制器21，该动力传动系统控制器21经由电机控制器22而进行各电动发电机3、4、16的控制。并且，动力传动系统控制器21经由发动机控制器23而对内燃机2进行控制，经由变速器控制器24而对分动器5的各离合器9、12、14进行控制。
图2是表示将车速(横轴)及目标驱动力(纵轴)设定为参数的行驶模式的区域的特性图，如图所示，大致区分为区域(a)的空挡模式、区域(b)的并行模式、区域(c)的ICE模式以及区域(d)的串联模式。本实施例设为对象的切换控制是空挡模式(a)与请求大于该空挡模式(a)的驱动力的并行模式(b)之间的切换。
此外，ICE模式(c)是利用内燃机2的输出和后轮15侧的第3电动发电机16而行驶的模式，串联模式(d)是通过第1电动发电机3的发电对第2电动发电机4及第3电动发电机16进行驱动而行驶的模式。
图3是表示空挡模式下的转矩传递路径的说明图。在该空挡模式下，第1离合器9以及第2离合器12这两者处于断开状态。此外，如前所述，第3离合器14是任意的，例如与高速侧接合。因此，未对前轮1进行驱动。另一方面，利用第3电动发电机16对后轮15进行驱动，由此使得车辆行驶。
另外，内燃机2对第1电动发电机3进行驱动，对电池18或者第3电动发电机16供给发电所得的电力。
图4是表示并行模式下的转矩传递路径的说明图。在该并行模式下，第1离合器9以及第2离合器12这两者处于接合状态，第3离合器14例如与高速侧接合。由此，利用第1驱动源(内燃机2以及第1电动发电机3)和第2驱动源(第2电动发电机4)这两者对前轮1进行驱动。同时，利用第3电动发电机16对后轮15进行驱动。因此，变为四轮驱动行驶。此外，第1驱动源中的第1电动发电机3控制为较低电平的再生状态，作为与内燃机2的输出相应的第1驱动源整体而变为正驱动力。
根据图2明确可知，例如随着目标驱动力(请求驱动力)的增减而在行驶中切换这种空挡模式及并行模式。优选这种切换的响应性较高。特别地，在驾驶者踩踏加速器踏板而从空挡模式向并行模式转变的情况下，如果在短时间内未完成行驶模式切换，则车辆的加速响应性不充分。
在从空挡模式向并行模式切换中，第1离合器9以及第2离合器12这两者从断开状态向接合状态切换。对于该切换，由于第1离合器9以及第2离合器12是爪式离合器，因此通过对各自的前后旋转速度进行同步控制并在同步的阶段使致动器执行动作而进行该切换。利用第1电动发电机3而进行第1离合器9的前后旋转速度的同步控制。利用第2电动发电机4而进行第2离合器12的前后旋转速度的同步控制。在本实施例中，为了提高行驶模式切换的响应性，以电池18的电力充分为条件而同时开始2个同步控制。在电力不充分的情况下，为了避免由2个同步控制重复引起的电力过度降低，依次进行2个同步控制。
在从并行模式向空挡模式切换中，第1离合器9以及第2离合器12这两者从接合状态向断开状态切换。该切换通过使得第1离合器9以及第2离合器12各自的传递转矩接近零而进行。在第1离合器9以及第2离合器12具有等待弹簧机构的情况下，如果预先将致动器向断开侧切换，则此后在传递转矩大致变为零的阶段通过等待弹簧机构而自然地变为断开状态。利用第1电动发电机3而进行使第1离合器9的传递转矩接近零的控制。利用第2电动发电机4而进行使第2离合器12的传递转矩接近零的控制。在本实施例中，为了提高行驶模式切换的响应性，同时开始2个控制。
接下来，按照图5的流程图对行驶中从空挡模式向并行模式切换时的控制流程进行说明。
此外，在图5等流程图以及图7等时序图中，将第1离合器9、第2离合器12分别简记作“CL1”、“CL2”，将第1电动发电机3、第2电动发电机4、第3电动发电机16分别简记作“MG1”、“MG2”、“MG3”。另外，内燃机2简记作“ICE”。
如果在空挡模式下在行驶中接收到向并行模式切换指令，则开始向并行模式的模式切换(步骤1、2)。首先，在步骤3中判定能够从电池18输出的电力是否达到充分的电平，如果为NO则进入步骤19，如果为YES则进入步骤4以后的步骤。步骤3的判定基准例如设定为，同时进行2个离合器9、12的前后旋转速度的同步控制所需的电力的1/2。
在步骤4中，同时开始第1离合器9以及第2离合器12的前后旋转速度的同步控制。如前所述，分别利用第1电动发电机3及第2电动发电机4而进行。接下来，在步骤5中，判定各自的同步是否同时完毕。
在2个同步同时完毕的情况下，先将第2离合器12接合，接下来将第1离合器9接合(步骤6、7)。先进行第2离合器12的接合而能够获得较多的基于第1电动发电机3的发电量。此外，如果同时使两者接合，则基于转矩变动的冲击增大，并非为优选。如果上述2个离合器9、12的接合完毕，则在第1电动发电机3、第2电动发电机4以及第3电动发电机16之间进行转矩的变换(步骤8)。即，使各自的转矩逐渐变化而最终设为并行模式下的各自的目标转矩。如果该转矩的变换完毕，则一系列模式切换的处理完毕(步骤9)。
如果在步骤5中为NO，则在步骤10中判定第2离合器12的前后旋转速度的同步是否先完毕。如果在步骤10中为YES，则在将第2离合器12接合(步骤11)的基础上等待第1离合器9的前后旋转速度的同步的完毕(步骤12)。如果同步完毕，则将第1离合器9接合(步骤13)，然后进行转矩的变换(步骤14)。
如果在步骤10中为NO，则在将第1离合器9接合(步骤15)的基础上等待第2离合器12的前后旋转速度的同步的完毕(步骤16)。如果同步完毕，则将第2离合器12接合(步骤17)，然后进行转矩的变换(步骤18)。
即，在同时开始的2个同步控制中任一者的同步先完毕时，先进行已完毕的离合器接合。由此，未产生不必要的等待时间。
在步骤3中判定为电力不充分时，进入步骤19以后的步骤，依次进行2个同步控制。首先利用第2电动发电机4开始第2离合器12的前后旋转速度的同步控制(步骤19)。如果同步完毕(步骤20)，则将第2离合器12接合(步骤21)，进行所需的转矩的变换(步骤22)。
接下来，利用第1电动发电机3开始第1离合器9的前后旋转速度的同步控制(步骤23)。如果同步完毕(步骤24)，则将第1离合器9接合(步骤25)，进行所需的转矩的变换(步骤26)。
这样，在电力不充分而依次进行2个同步控制的情况下，与第1离合器9相比先进行第2离合器12的同步/接合。由此，能够将基于第1电动发电机3的发电量确保为相对较大。
图7的时序图表示从空挡模式向并行模式切换的一个例子。详细而言，在图5的流程图中，是按照步骤1→步骤2→步骤3→步骤4→步骤5→步骤7→步骤8→步骤9的顺序进行处理的情况下的例子。即，是同时开始2个同步控制并且2个同步同时完毕的例子。
在图7中，从上栏起依次分别示出了行驶模式、第2离合器12的前后的转速(旋转速度)、第2离合器12的位置(断开/接合)、第1离合器9的前后的转速(旋转速度)、第1离合器9的位置(断开/接合)、第1电动发电机3以及第2电动发电机4的控制模式(是转速控制还是转矩控制)、内燃机2以及第1、第2、第3电动发电机3、4、16的转矩。在行驶模式一栏中记载有当前的行驶模式以及请求的行驶模式，附图的下方为空挡模式，上方为并行模式。在第1离合器9的位置一栏以及第2离合器12的位置一栏记载有致动器的位置和实际的齿轮选择器的位置，附图的下方为断开位置，上方为接合位置。在表示第1电动发电机3以及第2电动发电机4的控制模式一栏中，下方表示转矩控制，上方表示转速控制。另外，在表示转矩一栏中，比零的值更靠上方的是动力运行，下方是再生。
在图7的例子中，在时间t1发出从空挡模式向并行模式切换的指令，同时，开始进行利用了第1电动发电机3以及第2电动发电机4的第1离合器9以及第2离合器12的前后旋转速度的同步控制。此外，对第1电动发电机3以及第2电动发电机4进行转速控制。
在时间t2，第1离合器9以及第2离合器12这两者的同步同时完毕，因此如前所述，先进行第2离合器12的接合。在第2离合器12的接合之后，在时间t3进行第1离合器9的接合。而且，在第1离合器9的接合之后，在时间t4至时间t5的期间进行第1、第2、第3电动发电机3、4、16之间的所需的转矩的变换。在最初的空挡模式下，通过第3电动发电机16对后轮15的驱动而使车辆行驶。在切换后的并行模式下，利用第1驱动源(内燃机2以及第1电动发电机3)以及第2驱动源(第2电动发电机4)对前轮1进行驱动，并且利用第3电动发电机16对后轮15进行驱动。
这样同时并行地进行2个同步控制而提高行驶模式切换的响应性。特别是在随着车辆的目标驱动力的增大而从空挡模式向并行模式切换时，车辆的加速响应性提高。
此外，在图7的例子中，在进行同步控制的时间t1～t2的区间而第1电动发电机3变为动力运行状态，但还有可能根据条件而变为再生状态。
接下来，按照图6的流程图对行驶中从并行模式向空挡模式切换时的控制流程进行说明。如果在并行模式下在行驶中接收到向空挡模式切换指令(步骤31)，则使第1离合器9以及第2离合器12的致动器同时向断开位置移动(步骤32)。第1离合器9以及第2离合器12如前所述具有等待弹簧机构，因此在传递转矩起作用的基础下，即使将致动器断开而实际上齿轮选择器也不移动，在传递转矩基本变为0时，齿轮选择器自然地移动，离合器9、12变为断开状态。
接下来，在步骤33中开始转矩的变换。详细而言，以使得第1离合器9的传递转矩接近零的方式使第1驱动源(内燃机2以及第1电动发电机3)的转矩逐渐降低，同样地，以使得第2离合器12的传递转矩接近零的方式使作为第2驱动源的第2电动发电机4的转矩逐渐降低。此外，以维持车辆整体的驱动力的方式使得第3电动发电机16的转矩逐渐增加。
在这样使得各离合器9、12的传递转矩接近零的过程中，判定第1离合器9或者第2离合器12实际上是否已断开(步骤34)。此外，作为离合器断开的检测，可以利用传感器检测爪式离合器的齿轮选择器的位置，或者可以根据转矩变化等而检测离合器断开。
在接下来的步骤35中，判定第1离合器9以及第2离合器12这两者是否已同时断开。如果同时断开，则将第1、第2、第3电动发电机3、4、16的转矩立即设为各自的目标转矩(步骤36)。此外，在转变为空挡模式之后，第2电动发电机4的目标转矩变为零，第1电动发电机3的目标转矩变为用于发电的负值，第3电动发电机16的目标变为行驶所需的正值。在各自达到目标转矩的阶段，一系列模式切换的处理完毕(步骤37)。
在第2离合器12先变为断开状态的情况下(步骤35中为NO，步骤38中为YES)，进入步骤39，立即将第2电动发电机4的转矩设为目标转矩即零，并且以抵消与该第2离合器12的断开相伴的转矩阶梯差的方式，使第3电动发电机16的转矩阶梯式地增加。
然后，等待第1离合器9变为断开状态(步骤40)，如果第1离合器9断开，则将第1电动发电机3的转矩以及第3电动发电机16的转矩设为上述目标转矩(步骤41)。在分别达到目标转矩的阶段，一系列模式切换的处理完毕(步骤37)。
在第1离合器9先变为断开状态的情况下(步骤35中为NO，步骤38中为NO)，进入步骤42，立即将第1电动发电机3的转矩设为目标转矩(用于发电的负值)，并且以抵消与该第1离合器9的断开相伴的转矩阶梯差的方式，使第3电动发电机16的转矩阶梯式地增加。
然后，等待第2离合器12变为断开状态(步骤43)，如果第2离合器12断开，则将第2电动发电机4的转矩以及第3电动发电机16的转矩设为上述目标转矩(步骤44)。在分别达到目标转矩的阶段，一系列模式切换的处理完毕(步骤37)。
图8的时序图表示从并行模式向空挡模式切换的一个例子。详细而言，在图6的流程图中，是按照步骤31→步骤32→步骤33→步骤34→步骤35→步骤38→步骤39→步骤40→步骤41→步骤37的顺序进行处理的情况下的例子。即，是第2离合器12比第1离合器9先变为断开状态的例子。
在图8的例子中，在时间t1发出从并行模式向空挡模式切换的指令，将第1离合器9以及第2离合器12的致动器向断开侧切换。同时，利用第1电动发电机3以及第2电动发电机4开始使第1离合器9以及第2离合器12的传递转矩接近零的控制。第3电动发电机16以维持车辆整体的驱动力的方式逐渐增加。此外，对第1电动发电机3以及第2电动发电机4进行转矩控制。
在时间t2，第2离合器12先变为断开状态，第2电动发电机4的转矩变为零。为了抵消转矩阶梯差，第3电动发电机16的转矩同时阶梯式地增加。
然后，在时间t3，第2离合器12变为断开状态，第1电动发电机3的转矩变为作为目标转矩的负值。此时也为了抵消转矩阶梯差，同时使得第3电动发电机16的转矩阶梯式地增加。最终在时间t4完成模式切换。
这样，同时开始使得第1离合器9的传递转矩接近零的控制、以及使得第2离合器12的传递转矩接近零的控制，至少在一部分期间并行执行两者而提高从并行模式向空挡模式的行驶模式切换的响应性。
接下来，参照图9的流程图以及图10的时序图对第1离合器9以及第2离合器12不具有等待弹簧机构的第2实施例的从并行模式向空挡模式切换时的控制进行说明。
在图9的流程图中，如果在并行模式下在行驶中接收到向空挡模式切换指令(步骤51)，则在步骤52中开始转矩的变换。详细而言，以使得第1离合器9的传递转矩接近零的方式使第1驱动源(内燃机2以及第1电动发电机3)的转矩逐渐降低，同样地，以使得第2离合器12的传递转矩接近零的方式使作为第2驱动源的第2电动发电机4的转矩逐渐降低。此外，以维持车辆整体的驱动力的方式使得第3电动发电机16的转矩逐渐增加。
这样在使各离合器9、12的传递转矩接近零的过程中，反复判定第1离合器9或者第2离合器12的传递转矩是否小于针对各自而设定的规定转矩(G1，G2)(步骤53)。这里，各自的规定转矩G1、G2设定为使得各离合器断开时产生的车辆的加速度(G)达到不会对乘员造成不和谐感的水平。
在接下来的步骤54中，判定第1离合器9以及第2离合器12的传递转矩这两者是否同时小于规定转矩G1、G2。在同时小于规定转矩的情况下，进入步骤55，将第1离合器9的致动器控制于断开位置。接下来，在确认到第2离合器12的传递转矩小于规定转矩G2(步骤56)的基础上，将第2离合器12的致动器控制于断开位置(步骤57)。
第1离合器9以及第2离合器12不具有等待弹簧机构，因此根据致动器的动作使齿轮选择器执行动作并断开。在各自断开时，传递转矩充分降低，因此车辆中产生的冲击较小。此外，将第1离合器9先断开而将基于第1电动发电机3的发电量确保为相对较大。
在第1离合器9的传递转矩先小于规定转矩G1的情况下(步骤54中为NO，步骤58中为YES)，同上所述，进入步骤55，将第1离合器9的致动器控制于断开位置。接下来，等待第2离合器12的传递转矩小于规定转矩G2(步骤56)，在小于规定转矩G2的阶段，将第2离合器12的致动器控制于断开位置(步骤57)。
在第2离合器12的传递转矩先小于规定转矩G2的情况下(步骤54中为NO，步骤58中为NO)，将第2离合器12的致动器控制于断开位置(步骤59)的基础上，等待第1离合器9的传递转矩小于规定转矩G1(步骤60)。在小于规定转矩G1的阶段，将第1离合器9的致动器控制断开位置(步骤61)。
图10的时序图表示第1离合器9的传递转矩先小于规定转矩的情况下的例子。详细而言，在图9的流程图中，是按照步骤51→步骤52→步骤53→步骤54→步骤58→步骤55→步骤56→步骤57的顺序进行处理的情况下的例子。
在图10的例子中，在时间t1，发出从并行模式向空挡模式切换的指令，利用第1电动发电机3以及第2电动发电机4同时开始使第1离合器9以及第2离合器12的传递转矩接近零的控制。第3电动发电机16以维持车辆整体的驱动力的方式逐渐增加。此外，对第1电动发电机3以及第2电动发电机4进行转矩控制。
在时间t2，第1离合器9的传递转矩小于规定转矩G1，将第1离合器9的致动器控制于断开位置。如果在时间t3检测到第1离合器9的断开，则第1电动发电机3的转矩变为作为目标转矩的负值。此外，在图示例子中，为了抵消转矩阶梯差，同时使第3电动发电机16的转矩阶梯式地增加。
然后，在时间t4，第2离合器12的传递转矩小于规定转矩G2，将第2离合器12的致动器控制于断开位置。如果在时间t5检测到第2离合器12的断开，则第2电动发电机4的转矩变为作为目标转矩的0。此外，在图示例子中，为了抵消转矩阶梯差，同时使第3电动发电机16的转矩阶梯式地增加。最终在时间t6完成模式切换。
这样，同时开始使得第1离合器9的传递转矩接近零的控制以及使得第2离合器12的传递转矩接近零的控制，在至少一部分期间并行执行两者而提高从并行模式向空挡模式的行驶模式切换的响应性。
以上对本发明的一个实施例详细进行了说明，但本发明并不限定于上述实施例，可以进行各种变更。例如在上述实施例中，以利用第3电动发电机16驱动后轮15的四轮驱动车为例进行了说明，但在例如以空挡模式进行惯性行驶的情况下，也可以应用上述空挡模式与并行模式之间的切换，因此本发明并不限定于四轮驱动车。

Claims (12)

1.一种混合动力车辆的控制方法，该混合动力车辆具有：第1驱动源；第2驱动源；第1离合器，其进行上述第1驱动源与驱动轮之间的断开/接合；以及第2离合器，其进行上述第2驱动源与上述驱动轮之间的断开/接合，
在车辆的行驶中，能够进行上述第1、第2驱动源这两者与上述驱动轮断开的空挡模式和上述第1、第2驱动源这两者与上述驱动轮连接的并行模式之间的切换，其中，
实施如下2个切换控制中的至少一者：第1切换控制，在从上述空挡模式向上述并行模式切换时，在至少一部分期间同时进行上述第1离合器的前后旋转速度的同步控制和上述第2离合器的前后旋转速度的同步控制；以及第2切换控制，在从上述并行模式向上述空挡模式切换时，在至少一部分期间同时进行使得上述第1离合器的传递转矩接近零的控制和使得上述第2离合器的传递转矩接近零的控制。
2.根据权利要求1所述的混合动力车辆的控制方法，其中，
在上述第1切换控制中，通过上述第1驱动源所包含的第1电动发电机的控制而进行上述第1离合器的前后旋转速度的同步控制，通过上述第2驱动源所包含的第2电动发电机的控制而进行上述第2离合器的前后旋转速度的同步控制。
3.根据权利要求2所述的混合动力车辆的控制方法，其中，
在电池电力相对较高的情况下，在至少一部分期间同时进行2个同步控制，在电池电力相对较低的情况下，依次进行2个同步控制。
4.根据权利要求2或3所述的混合动力车辆的控制方法，其中，
在至少一部分期间同时进行2个同步控制的情况下，先将同步先完毕的离合器接合。
5.根据权利要求4所述的混合动力车辆的控制方法，其中，
在2个同步控制中两者的同步同时完毕的情况下，先将上述第2离合器接合。
6.根据权利要求3所述的混合动力车辆的控制方法，其中，
在电池电力相对较低而依次进行2个同步控制的情况下，先进行上述第2离合器侧的同步控制以及接合。
7.根据权利要求1所述的混合动力车辆的控制方法，其中，
在上述第2切换控制中，同时开始使得上述第1离合器的传递转矩接近零的控制、以及使得上述第2离合器的传递转矩接近零的控制。
8.根据权利要求7所述的混合动力车辆的控制方法，其中，
在上述第1离合器以及上述第2离合器具有致动器和等待弹簧机构的情况下，在开始使得各自的传递转矩接近零的控制的同时使各致动器向断开侧执行动作。
9.根据权利要求7所述的混合动力车辆的控制方法，其中，
在上述第1离合器以及上述第2离合器不具有等待弹簧机构而通过致动器执行动作的情况下，在传递转矩小于针对各离合器而设定的规定转矩时将该离合器断开。
10.根据权利要求9所述的混合动力车辆的控制方法，其中，
在传递转矩在上述第1离合器及上述第2离合器中同时小于各自的规定转矩的情况下，先将上述第1离合器断开。
11.根据权利要求8至10中任一项所述的混合动力车辆的控制方法，其中，
混合动力车辆具有对第2驱动轮进行驱动的第3电动发电机，
在上述第1离合器断开时以及上述第2离合器断开时，以抵消与离合器断开相伴的转矩阶梯差的方式使上述第3电动发电机的转矩阶梯式地增加。
12.一种混合动力车辆的控制装置，该混合动力车辆具有：第1驱动源；第2驱动源；第1离合器，其进行上述第1驱动源与驱动轮之间的断开/接合；以及第2离合器，其进行上述第2驱动源与上述驱动轮之间的断开/接合，
在车辆的行驶中，能够进行上述第1、第2驱动源这两者与上述驱动轮断开的空挡模式和上述第1、第2驱动源这两者与上述驱动轮连接的并行模式之间的切换，其中，
实施如下2个切换控制中的至少一者：第1切换控制，在从上述空挡模式向上述并行模式切换时，在至少一部分期间同时进行上述第1离合器的前后旋转速度的同步控制和上述第2离合器的前后旋转速度的同步控制；以及第2切换控制，在从上述并行模式向上述空挡模式切换时，在至少一部分期间同时进行使得上述第1离合器的传递转矩接近零的控制和使得上述第2离合器的传递转矩接近零的控制。
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