DE102016224092A1 - Control for inputs of a summing gear - Google Patents

Abstract

The invention relates to a control device (1) for determining desired torques (M, M) of a first and a second drive source (4, 5) which are each rotationally coupled to one input (S, H) of a summation gear (2) to set a predetermined desired rotational speed (ω) at an output (T) of the summing gear (2), the control device (1) being designed, the rotational speed (ω, ω) at one of the two inputs (S, H) of the summing gear ( 2) by the desired torques (M, M) to regulate. The invention also relates to a drive device and a motor vehicle drive train with such a control device (1).

Description

The invention relates to a control device for determining a desired torque of a first and a second drive source, which are coupled to each other via a summation gear to apply a predetermined target rotational speed at an output of the summing gear. It also relates to a drive device with a summation gear and a motor vehicle drive train, each having such a control device.

Motor vehicle drive trains are known in which two drive sources, usually an internal combustion engine and an electric motor, are coupled to one another via a summing gear. The user of such a motor vehicle powertrain normally remains hidden as to how the torque applied at the output of the summation gear and the rotational speed there are composed of the individual torques and the individual rotational speeds of the drive sources. For the user, the total torque and / or the total rotational speed at the output of the summing gear is more important, because this is decisive for the driving speed and the acceleration of the motor vehicle. The user thus usually gives only the desired torque and / or the desired rotational speed at the output of the summing gear, in particular by setting an accelerator pedal position.

A desired rotational speed is specified in particular when the motor vehicle is to hold or set a certain speed. This is the case, for example, when the vehicle is operated with a cruise control or (partially) autonomously.

• • Häufig werden hierbei nicht systematisch die systeminhärenten mechanischen Kopplungen im Summiergetriebe berücksichtigt. Dies kann zu einer schlechten Stell- bzw. Regelgenauigkeit führen.
• • Häufig besitzen die Antriebsquellen untergeordnete Motorregler, beispielsweise realisiert auf einem separaten Motorsteuergerät. Dann können vom übergeordneten Regler, der die Verteilung der Drehmomente der einzelnen Antriebsquellen bestimmt, nicht tolerierbare Schwingungen angeregt werden, wenn er den Dynamiken der untergeordneten Motorregler nicht gerecht wird.
• • Üblicherweise tragen solche Algorithmen Einflüssen nicht systematisch Rechnung, die nicht genau vorhersagbar sind. Derartige Einflüsse resultieren beispielsweise aus Reibungen durch Bauteiltoleranzen oder Verschleiß oder aus nicht genau bekannten Umgebungsbedingungen, unter denen das System genutzt wird. Auch hieraus können eine ungenaue Stell- bzw. Regelgüte bis hin zu nicht tolerierbaren Schwingungen resultieren.
• • Üblicherweise werden keine Drehbeschleunigungen der Antriebsquellen berücksichtigt. Hierdurch verschlechtert sich die Regelgenauigkeit während schneller Änderungen der Drehgeschwindigkeiten der Antriebsquellen.
• • Um die zuvor genannten Nachteile zumindest näherungsweise zu kompensieren, werden die üblicherweise eingesetzten Algorithmen mittels zahlreicher Parameter, Kennlinien oder Kennfelder parametriert. Deren physikalische Bedeutung ist einem Applikateur allerdings nicht immer klar. Daher kann die Ermittlung dieser Parameter, Kennlinien und Kennfelder in der Praxis aufwändig und fehleranfällig und die Nebenwirkungen nicht immer ersichtlich sein.

The coupling of the drive sources results in two degrees of freedom in the adjustment of the voltage applied to the output of the summing gear torque and the local rotational speed. To determine the torques of the individual drive sources, algorithms are therefore used which, in addition to the setpoint torque specified by the user, take into account certain boundary conditions. However, the determination is not trivial due to the available degrees of freedom and the boundary conditions, which makes the creation and tuning of such an algorithm more difficult:

• • Frequently, the system-inherent mechanical couplings in the totaling gearbox are not systematically taken into account. This can lead to poor control accuracy.
• • Frequently, the drive sources have subordinate motor controllers, for example implemented on a separate engine control unit. Then, the higher-order controller, which determines the distribution of the torques of the individual drive sources, can induce intolerable oscillations if it does not do justice to the dynamics of the subordinate motor controllers.
• • Typically, such algorithms do not systematically account for influences that are not exactly predictable. Such influences result, for example, from friction due to component tolerances or wear or from unknown environmental conditions under which the system is used. Also from this an inaccurate control or regulation quality can result up to intolerable vibrations.
• • Usually no spin accelerations of the drive sources are considered. As a result, the control accuracy deteriorates during rapid changes in the rotational speeds of the drive sources.
• • In order to at least approximately compensate for the aforementioned disadvantages, the algorithms usually used are parameterized by means of numerous parameters, characteristic curves or characteristic diagrams. However, their physical significance is not always clear to an applicator. Therefore, the determination of these parameters, characteristics and maps in practice can be complex and prone to error and the side effects are not always apparent.

The object of the present invention is to improve the state of the art, in particular with regard to the mentioned problems.

This object is achieved by the features specified in the main claims. Preferred embodiments thereof are the dependent claims.

Accordingly, a control device for determining a desired torque of a first and a second drive source is proposed. The two drive sources are connected to each other via a summing gear. So you are drivingly connected to one input of the summing gear. With In other words, the drive sources can apply a torque and a rotational speed to the respective input of the summing gear.

The control device is designed to determine the individual desired torques of both drive sources so as to set a predetermined desired rotational speed at an output of the summation. The setpoint torques of the drive sources then cause the setpoint rotation speed to be set at the output of the summation gearbox. The output is normally followed by a corresponding sequential system for which the output torque and rotational speed are provided.

The output is used in particular for driving a machine or a vehicle. Accordingly, the sequential system is formed by the drive train of a driven by the summing gear machine or a vehicle. The output can therefore in particular form the input shaft of a motor vehicle transmission or be coupled to such an input shaft or be coupled via a coupling. The sequential system can in particular form a vehicle drive train.

The desired setpoint rotational speed for the output of the summing gear can be predefined in particular by a user or a higher-level control or regulation.

The control device is in the present case designed to regulate the rotational speed at one of the two inputs of the summation by the corresponding desired torques, in particular in addition to the rotational speed at the output of the summation. This input is thus rotational speed controlled. The other of the inputs is thus non-rotational speed-controlled.

In other words, the control device adjusts the required rotational speeds at the output of the summing gear and at one of its inputs by determining suitable setpoint torques for the drive sources. These setpoint torques ensure that the inputs of the summing gear are (rotating) accelerated and, in the end, the required rotational speed at the output of the summing gear results from its forced coupling of the output to the inputs.

The control device preferably provides that the rotational speed of the output and one of the two inputs is controlled. By skillful division of the desired torques of the two drive sources namely a desired rotational speed at the rotational speed-controlled input and the output of the summing can be set exactly. The rotational speed for the other input then arises automatically, without separate rotational speed control. As a result, on the one hand, the individual desired torques of the drive sources can be easily determined, on the other hand, the rotational speed or a rotational speed curve of the rotational speed controlled input and output can be selected according to certain criteria (comfort, performance, energy consumption, etc.).

Since the rotational speeds of the inputs of the summing gear normally depend directly on the rotational speed of the respective drive source (e.g., output speed), the proposed control device can in particular directly control the rotational speed of one of the two drive sources. The rotational speed of the other drive source results from this then automatically, without the need for a regulation for this.

It is noted that a rotational speed is to be understood as meaning, in particular, an angular speed or a rotational speed or comparable variables.

It is also noted that the individual desired torques can be both positive and negative. A positive torque (also called drive torque) is used for acceleration or to the drive, while a negative torque (also called braking torque) for braking or for the output is used. Thus, the target torques of the drive sources may have different signs (positive or negative) if the drive sources are capable of doing so. Likewise, the predetermined target torque at the output can be positive, for example, to accelerate a motor vehicle, or it can be negative, for example, to decelerate a motor vehicle. By means of the control device, therefore, the rotational speed can be controlled in a downhill when one or both of the drive sources are in overrun mode.

At least one of the drive sources may be an e-machine. Also, at least one of the drive sources may be an internal combustion engine. Preferably, one of the drive sources is an electric motor and the other of the drive sources is an internal combustion engine. Preferably, the summation with the Drive sources so in particular a hybrid drive. However, it is also possible that both sources of power are e-machines or internal combustion engines. An electric motor can hereby optionally provide a positive torque or a negative torque, the former when the electric motor is operated in a motor mode, the latter when the electric motor is operated in a generator mode or short-circuit operation. Also, an internal combustion engine may selectively provide a positive torque or a negative torque, the former when the internal combustion engine is operated in a normal engine operation, the latter when the internal combustion engine is operated in a coasting operation. In overrun mode, a negative torque generated by the internal combustion engine can be adjusted by various measures, for example by a cylinder deactivation, engine dust brake or decompression brake.

The rotational speed-controlled input of the summing gear is preferably connected to an internal combustion engine. So he is driven by the internal combustion engine. The other (non-rotational speed controlled) input of the summing gear is then preferably connected to an electric motor. He is then driven by the electric motor. This allows the engine to be operated, for example, at an optimum rotational speed for the desired operating condition (e.g., optimal fuel consumption, optimum torque, optimum power).

To control the rotational speeds, the control device preferably has a Trajektorienfolgeregler. A rotational speed curve for the one input and for the output of the summing gear is thus predefined on the basis of a respective trajectory, which is then followed by the control. The trajectories are determined in particular by a trajectory generator. The trajectories may be oriented, for example, to comfort, energy consumption or performance. This results in a simple and flexible specification of the rotational speeds or the trajectories. The trajectories are predefined in particular by a setpoint rotational speed and a setpoint rotational acceleration for the one input and the output.

In particular, the control device systematically takes into account the mechanical coupling between the two drive sources and the following system at the output and thereby compensates for the dynamic torques occurring as a result of accelerations of the following system to improve the control accuracy. In addition, in particular, the control device explicitly takes into account the setpoint rotational acceleration of the rotational speed-controlled input. As a result, an improvement of the control accuracy is achieved with fast desired rotational speed changes.

The summing gear is preferably a planetary gear. This then has a sun gear, a ring gear and a bridge (also called planet carrier). At least one planetary gear meshing with the sun gear and / or the ring gear is rotatably arranged on the bridge. The planetary gear preferably comprises exactly these components: exactly one ring gear, exactly one sun gear, exactly one web, one or more planet wheels, which are rotatably arranged on the web and which mesh with the sun gear and / or the ring gear. The planetary gear can be designed as a plus or minus planetary gear. The design of the summing gear as a simple planetary gear results in a simple construction and easy ascertainability of the desired torques of the individual drive sources. Preferably, one of the two drive sources for driving the sun gear and the other of the two drive sources for driving the ring gear. The bridge then serves as the output of the summing gear. Thus, the sun gear forms one input of the summing gear, and the ring gear forms the other input of the summing gear, and the land forms the output of the summing gear.

Accordingly, therefore, one of the drive sources is rotatably connected to the sun gear and the other of the drive sources is rotatably connected to the ring gear. This rotary joint includes a direct coupling between the sun gear or ring gear and the corresponding drive source. It also includes indirect coupling via other drive components. In addition, it includes a releasable coupling between the sun gear or ring gear and the corresponding drive source, for example via a coupling. Sun gear and ring gear therefore need not always be coupled to the respective drive source. A temporary decoupling, especially if the respective drive source is not needed, is therefore possible. Then, the sun gear or ring gear can be selectively braked for example with a brake against a housing in order to adjust a rotational speed can. Such a brake may also be part of the respective drive source (e.g., engine brake, generator operation).

If one of the two drive sources for driving the sun gear and the other of the two drive sources for driving the ring gear, the predetermined target rotational speed should rest on the web of the planetary gear. In contrast to the sun gear, the desired torque of a Abut drive source, while at the ring gear to bear the target torque of the other drive source. The setpoint torques therefore always refer to the respective input of the planetary gear, because it is essential that they rest there.

• M_h,soll= das Soll-Drehmoment der mit dem Hohlrad verbundenen Antriebsquelle,
• M_s,soll= das Soll-Drehmoment der mit dem Sonnenrad verbundenen Antriebsquelle, M_t= das auf den Steg von dem Folgesystem eingeprägte Ist-Drehmoment (= Lastdrehmoment),
• ω_h,soll= die Soll-Drehgeschwindigkeit (Winkelgeschwindigkeit) des Hohlrads,
• ω_̇h,soll= die Soll-Drehbeschleunigung (Winkelbeschleunigung) des Hohlrads,
• ω_t,soll= die Soll-Drehgeschwindigkeit (Winkelgeschwindigkeit) des Stegs,
• ω̇_t,soll= die Soll-Drehbeschleunigung (Winkelbeschleunigung) des Stegs,
• ω_s,soll= die Soll-Drehgeschwindigkeit (Winkelgeschwindigkeit) des Sonnenrads,
• ω_̇s,soll= die Soll-Drehbeschleunigung (Winkelbeschleunigung) des Sonnenrads,
• ω_t= die Ist-Drehgeschwindigkeit (Winkelgeschwindigkeit) des Stegs,
• ω_h= die Ist-Drehgeschwindigkeit (Winkelgeschwindigkeit) des Hohlrads,
• ω_s= die Ist-Drehgeschwindigkeit (Winkelgeschwindigkeit) des Sonnenrads,
• i₀= die Standübersetzung des Summier- bzw. Planetengetriebes,
• J_s= das Trägheitsmoment des Sonnenrads und der mit dem Sonnenrad mitbeschleunigten Trägheiten, also insbesondere die bei einer Drehbeschleunigung des Sonnenrads mitbeschleunigten Trägheiten der mit dem Sonnenrad verbundenen Antriebsquelle,
• J_t= das Trägheitsmoment des Stegs und der mit dem Steg mitbeschleunigten Trägheiten des Folgesystems,
• J_h= das Trägheitsmoment des Hohlrads und der mit dem Hohlrad mitbeschleunigten Trägheiten, also insbesondere die bei einer Drehbeschleunigung des Sonnenrads mitbeschleunigten Trägheiten der mit dem Hohlrad verbundenen Antriebsquelle,
• k_P,1, k_I,1, k_P,2, k_I,2= jeweils eine Reglerverstärkung, über die insbesondere eines Regelkreisdynamik, also die Aggressivität des Reglers, justiert werden kann,
• dτ= differentieller Zuwachs der Zeit τ,
• u₁, u₂= Reglereingang.

The following is based on a summation gear designed as a planetary gear. Where:

• M _{h, should} = the target torque of the drive source connected to the ring gear,
• M _{s, soll} = the setpoint torque of the drive source connected to the sun gear, M _t = the actual torque (= load torque) impressed onto the bridge by the following system,
• ω _{h, soll} = the target rotational speed (angular velocity) of the ring gear,
• ω _{̇h, soll} = the setpoint rotational acceleration (angular acceleration) of the ring gear,
• ω _{t, soll} = the target rotational speed (angular velocity) of the web,
• ω̇ _{t, soll} = the setpoint rotational acceleration (angular acceleration) of the web,
• ω _{s, soll} = the target rotational speed (angular velocity) of the sun gear,
• ω _{̇s, soll} = the target angular acceleration (angular acceleration) of the sun gear,
• ω _t = the actual rotational speed (angular velocity) of the web,
• ω _h = the actual rotational speed (angular speed) of the ring gear,
• ω _s = the actual rotational speed (angular velocity) of the sun gear,
• i ₀ = the stand ratio of the summation or planetary gear,
• J _s = the moment of inertia of the sun gear and of the inertia mitbeschleunigten with the sun, ie in particular mitbeschleunigten at a rotational acceleration of the sun gear inertia of the connected to the sun gear drive source,
• J _t = the moment of inertia of the web and the web-accelerated inertia of the following system,
• J _h = the moment of inertia of the ring gear and of the inertia mitbeschleunigten with the ring gear, ie in particular mitbeschleunigten at a rotational acceleration of the sun gear inertia of the drive gear connected to the ring gear,
• k _{P, 1} , k _{I, 1} , k _{P, 2} , k _{I, 2} = in each case a controller gain, via which in particular a control loop dynamics, ie the aggressiveness of the controller, can be adjusted,
• dτ = differential increase of time τ,
• u ₁ , u ₂ = controller input.

oder mit der Form (2): $$\left(\begin{array}{c}{M}_{h\text{,}soll}\\ M_{s\text{,}soll}\end{array}\right)=R\left(\begin{array}{c}{u}_1\\ u_2\\ M_t\end{array}\right)\text{,}$$

wobei Q ∈ ℝ^{2× 2} bzw. R ∈ ℝ²× ³, also Matrizen, sind und wobei die Reglereingänge u₁ und u₂: ℝ → ℝ. Damit berechnet die Regelvorrichtung also die einzelnen Soll-Drehmomente M_h,soll und M_s,soll der beiden Antriebsquellen.Preferably, the control device comprises a regulator, either with the shape ( 1 ): $$\left(\begin{array}{c}{M}_{H\text{.}sOll}\\ M_{s\text{.}sOll}\end{array}\right)=Q\left(\begin{array}{c}{u}_1\\ u_2\end{array}\right)\text{.}$$

or with the form ( 2 ): $$\left(\begin{array}{c}{M}_{H\text{.}sOll}\\ M_{s\text{.}sOll}\end{array}\right)=R\left(\begin{array}{c}{u}_1\\ u_2\\ M_t\end{array}\right)\text{.}$$

where Q ∈ ℝ ^{2 × 2} or R ∈ ℝ ² × ³ , ie matrices, and where the controller inputs u ₁ and u _{2 are} : ℝ → ℝ. Thus, the control device thus calculates the individual desired torques M _{h, soll} and M _{s, should} the two drive sources.

The control device can output the desired torques of the drive sources or values equivalent thereto as control signals to the two drive sources. On the basis of curves, maps or other functions can then be determined from these desired torques, the respective required control signals for the drive sources. This determination can be made either in the control device itself or in subordinate control devices of the drive sources.

The regulator with the form ( 1 ) is advantageous in that it requires very few arithmetic operations, ie can be implemented particularly efficiently in a control unit or microcontroller. In this case, the load torque M _{t of} the following system acting as a result of the actual rotational acceleration of the web is implicitly taken into account by the integral components of the controller inputs u ₁ , u ₂ , so that a very good control accuracy is already achieved with sufficiently slow variable load torque M _t .

The regulator of the form ( 2 ) explicitly takes into account the load torque M _{t of} the web. This thus allows, with still a small number of required arithmetic operations, a further improved control accuracy, especially for fast spins.

• • Es werden Sensorsignale oder Signale anderer Steuergeräte erfasst (beispielsweise Signale für die Fahrzeugneigung, Fahrzeuglängsgeschwindigkeit, Drehgeschwindigkeiten der Räder, Bremspedalposition oder Bremszylinderdruck) und hieraus ein Schätzwert für das Lastdrehmoment errechnet.
• • Das Lastdrehmoment M_t des Stegs wird durch einen Zustandsbeobachter geschätzt und an den Regler ausgegeben. Hierdurch kann eine gleichzeitig rausch- und phasenverzugsarme Schätzung erreicht werden.

The load torque M _{t of} the web can be determined in addition to a measurement, for example, as follows:

• • Detects sensor signals or signals from other ECUs (such as vehicle tilt, vehicle speed, wheel rotational speed, brake pedal position or brake cylinder pressure signals) and calculates an estimate of the load torque.
• • The load torque M _{t of} the bar is estimated by a state observer and output to the controller. As a result, a simultaneously noise and phase delay estimation can be achieved.

The choice of the matrices Q and R and the regulator input u ₂ depends systematically on whether the rotational speed of the sun gear or the ring gear is controlled, as will be explained below. Independent of this, however, is the regulator input u ₁ . This is always, both for controllers ( 1 ) and controls ( 2 ), regardless of whether the sun gear or ring gear is speed-controlled: $$u_1={\dot{\omega }}_{t\text{.}sOll}-k_{P\text{,1}}\left({\omega }_t-{\omega }_{t\text{.}sOll}\right)-k_{I\text{,1}}{\displaystyle \int {\omega }_t-{\omega }_{t\text{.}sOll}d\tau \text{,}}$$

The regulation of the rotational speed of the output of the summing gear, ie in this case of the web, results from the term (ω _t - _{ωt, soll} ) in the regulator _input u ₁ .

• • bei einem Regler der Form (1): $$Q=\left(\begin{array}{cc}-\frac{i_0{\mathrm{<figure-callout\; id="1"\; label="J\; t"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">J</figure-callout>}}_t}{1-i_0}-\frac{\left(1-i_0\right)J_h}{i_0}& \frac{J_h}{i_0}\\ \frac{{\mathrm{<figure-callout\; id="1"\; label="J\; t"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">J</figure-callout>}}_t}{1-i_0}& J_s\end{array}\right)$$
  
• • bei einem Regler der Form (2): $$R=\left(\begin{array}{ccc}-\frac{i_0{\mathrm{<figure-callout\; id="1"\; label="J\; t"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">J</figure-callout>}}_t}{1-i_0}-\frac{\left(1-i_0\right)J_h}{i_0}& \frac{{\mathrm{<figure-callout\; id="0"\; label="J\; h\; i"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">J</figure-callout>}}_h}{i_{}}& -\frac{{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">i</figure-callout>}}_0}{1-i_0}\\ \frac{{\mathrm{<figure-callout\; id="1"\; label="J\; t"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">J</figure-callout>}}_t}{1-i_0}& J_s& \frac{1}{1-i_0}\end{array}\right)$$
  
• • mit dem Reglereingang u₂ (für beide Reglerformen): $${\mathrm{<figure-callout\; id="2"\; label="u"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">u</figure-callout>}}_2={\dot{\omega }}_{s\text{,}soll}-k_{P\text{,2}}\left({\omega }_s-{\omega }_{s\text{,}soll}\right)-k_{I\text{,2}}{\displaystyle \int {\omega }_s-{\omega }_{s\text{,}soll}d\tau \text{.}}$$
  

When the controller is used to control the speed of rotation of the sun gear, the following applies:

• • with a regulator of the form ( 1 ): $$Q=\left(\begin{array}{cc}-\frac{i_0{J}_t}{1-i_0}-\frac{\left(1-i_0\right)J_H}{i_0}& \frac{J_H}{i_0}\\ \frac{J_t}{1-i_0}& J_s\end{array}\right)$$
  
• • with a regulator of the form ( 2 ): $$R=\left(\begin{array}{ccc}-\frac{i_0{J}_t}{1-i_0}-\frac{\left(1-i_0\right)J_H}{i_0}& \frac{J_H}{i_0}& -\frac{{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">i</figure-callout>}}_0}{1-i_0}\\ \frac{J_t}{1-i_0}& J_s& \frac{1}{1-i_0}\end{array}\right)$$
  
• • with the controller input u ₂ (for both controller forms): $$u_2={\dot{\omega }}_{s\text{.}sOll}-k_{P\text{2}}\left({\omega }_s-{\omega }_{s\text{.}sOll}\right)-k_{I\text{2}}{\displaystyle \int {\omega }_s-{\omega }_{s\text{.}sOll}d\tau \text{,}}$$
  

• • bei einem Regler der Form (1): $$Q=\left(\begin{array}{cc}-\frac{i_0{\mathrm{<figure-callout\; id="1"\; label="J\; t"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">J</figure-callout>}}_t}{1-i_0}& J_{\mathrm{<figure-callout\; id="1"\; label="h\; J\; t"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">h</figure-callout>}}& \\ \frac{J_t}{}\frac{{}_{}}{1-{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">i</figure-callout>}}_0}+\left(1-i_0\right)J_s& i_0{J}_s\end{array}\right)$$
  
• • bei einem Regler der Form (2): $$R=\left(\begin{array}{ccc}-\frac{i_0{\mathrm{<figure-callout\; id="1"\; label="J\; t"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">J</figure-callout>}}_t}{1-i_0}& J_h& -\frac{{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">i</figure-callout>}}_0}{1-i_0}\\ \frac{{\mathrm{<figure-callout\; id="1"\; label="J\; t"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">J</figure-callout>}}_t}{1-{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">i</figure-callout>}}_0}+\left(1-i_0\right)J_s& i_0{J}_s& \frac{1}{1-i_0}\end{array}\right)$$
  
• • mit dem Reglereingang u₂ (für beide Reglerformen): $${\mathrm{<figure-callout\; id="2"\; label="u"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">u</figure-callout>}}_2={\dot{\omega }}_{h\text{,}soll}-k_{P\mathrm{,2}}\left({\omega }_h-{\omega }_{h\text{,}soll}\right)-k_{I\mathrm{,2}}{\displaystyle \int {\omega }_h-{\omega }_{h\text{,}soll}d\tau \text{.}}$$
  

If the controller is used to control the speed of rotation of the ring gear, then:

• • with a regulator of the form ( 1 ): $$Q=\left(\begin{array}{cc}-\frac{i_0{J}_t}{1-i_0}& J_H\\ \frac{J_t}{1-{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">i</figure-callout>}}_0}+\left(1-i_0\right)J_s& i_0{J}_s\end{array}\right)$$
  
• • with a regulator of the form ( 2 ): $$R=\left(\begin{array}{ccc}-\frac{i_0{J}_t}{1-i_0}& J_H& -\frac{{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">i</figure-callout>}}_0}{1-i_0}\\ \frac{J_t}{1-{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="DE102016224092A1\_0018.png"\; state="\{\{state\}\}">i</figure-callout>}}_0}+\left(1-i_0\right)J_s& i_0{J}_s& \frac{1}{1-i_0}\end{array}\right)$$
  
• • with the controller input u ₂ (for both controller forms): $$u_2={\dot{\omega }}_{H\text{.}sOll}-k_{P2}\left({\omega }_H-{\omega }_{H\text{.}sOll}\right)-k_{I2}{\displaystyle \int {\omega }_H-{\omega }_{H\text{.}sOll}d\tau \text{,}}$$
  

The regulation of the rotational speed of the sun gear or the ring gear results from the term (ω _s - ω _{s, soll} ) or (ω _h - ω _{h, soll} ) in the respective controller input u ₂ .

By taking into account the desired target rotational acceleration of the output (land) and the respective input (sun gear or ring gear), ie not just the desired target rotational speed, the control accuracy is improved during rapid acceleration of the drive sources. Such a controller, which takes into account not only the desired characteristics of the controlled variable, but also the time derivatives of the desired characteristics, is also referred to as trajectory sequence controller. The regulators of the form ( 1 ) and ( 2 ) are so Trajektorienfolgeregler.

The control device may include a Trajektoriengenerator to determine the target rotational speeds and target spins at the output (web) and at the input to be controlled (sun or ring gear) and output to the controller, in detail to the controller inputs u ₁ and u ₂ , For this purpose, it determines mutually compatible nominal rotational speeds and nominal rotational accelerations.

The trajectory generator can preferably be realized by a so-called state variable filter or by a filter bank with mutually compatible low-pass filters and differentiating filters. The state variable filter or the filter bank then determines from any desired specifications for the rotational speed to be controlled a differentiable set course (setpoint rotational speed) with a time derivation (setpoint rotational acceleration) compatible therewith.

In addition to the moments of inertia of the ring gear and the sun gear and the state ratio of the planetary gear, the proposed controller have only four other parameters, namely the controller gains k _{P, 1} , k _{I, 1} , k _{P, 2} , k _{I, 2} . In most cases, the moments of inertia and stand translation are known with high accuracy. This considerably simplifies the application of the controller to the practical application.

The required moments of inertia can for example be calculated in advance or empirically determined or estimated. The state translation of the planetary gear results in a known manner the size ratios of ring gear, sun gear and planet or from the associated rotational speed ratios using the so-called Willis equation.

• • Kraftfahrzeugneigung: Aus der Neigung des Fahrzeugs in Längsrichtung kann ein Schätzwert für das infolge der Hangabtriebskraft am Ausgang des Summiergetriebes resultierende Lastdrehmoment errechnet werden.
• • Fahrzeuglängsgeschwindigkeit bzw. Drehgeschwindigkeiten der Räder: Hieraus können Schätzwerte für das infolge der Windwiderstandskraft des Kraftfahrzeugs und des Rollwiderstands am Ausgang des Summiergetriebes resultierende Lastdrehmoment errechnet werden.
• • Bremspedalposition bzw. Bremszylinderdruck: Hieraus kann ein Schätzwert für das infolge des Bremsvorgangs am Ausgang des Summiergetriebes wirkende Lastdrehmoment errechnet werden, insbesondere unter Verwendung der Fahrzeuglängsgeschwindigkeit bzw. Drehgeschwindigkeiten der Räder.

To determine the load torque M _t , the control device can detect sensor signals or signals from other control devices which correspond to the load torque or from which the load torque can be calculated. For this purpose, mathematical models for the load torque as a function of the detected signals can be contained in the control device, for example in the form of characteristic curves, characteristic diagrams or other functions. If the successor system is a motor vehicle transmission, the following particularly relevant signals are mentioned:

• • Vehicle inclination: the longitudinal inclination of the vehicle can be used to estimate the load torque resulting from the downforce at the output of the totalizer.
• • Vehicle longitudinal speed or speeds of rotation of the wheels: From this estimates can be calculated for the resulting due to the wind resistance of the motor vehicle and the rolling resistance at the output of the summing gear load torque.
• • Brake pedal position or brake cylinder pressure: From this, an estimated value for the load torque acting as a result of the braking process at the output of the summing gear can be calculated, in particular using the vehicle longitudinal speed or rotational speeds of the wheels.

In a particularly advantageous embodiment, methods for estimating unknown portions of the load torque are used, for example by means of state observers.

The proposed regulators can be contained in the volatile or non-volatile memory of a microprocessor or in the form of a hardware component, for example a configurable logic component (FPGA, CPLD, etc.) or an application-specific integrated circuit (ASIC). The calculations taking place in the controllers can be time-controlled, for example cyclically or event-controlled.

In addition to the control device and a drive device is proposed. The drive device is comprising a summation gear, in particular a planetary gear with (as described above) a first input for the first drive source and a second input for the second drive source and an output at which a sum torque of the drive sources can be tapped. The drive device also has the proposed control device. Thus, the desired torques of the two drive sources are determined.

In addition, a motor vehicle drive train is proposed in addition to the control device. This is comprising: an internal combustion engine as the first drive source and an electric machine as the second drive source, and the proposed drive device with the control device. The control device is used to determine the desired torques of the two drive sources, while controlling the rotational speed of one of the two drive sources, in particular of the internal combustion engine.

• • Hohe Stellgenauigkeit auch bei unbekannten und zeitlich variierenden Drehmomenten bzw. Trägheiten des Folgesystems.
• • Verbesserte Genauigkeit bei schnellen Beschleunigungen.
• • Der Regler benötigt nur wenige Messsignale.
• • Der Regler benötigt nur wenige Rechenoperationen.
• • Der Applikationsaufwand ist gering.

The proposed control device is characterized by the following advantages:

• • High positioning accuracy even with unknown and time-varying torques or inertias of the following system.
• • Improved accuracy with fast accelerations.
• • The controller requires only a few measuring signals.
• • The controller requires only a few arithmetic operations.
• • The application effort is low.

The control device may in particular be designed as or in a control unit. In particular, it can be constructed from hardware and / or software modules. Such a control unit may be a higher-level motor vehicle control unit, to which individual control units for the drive sources are subordinate.

In the following the invention will be explained in more detail with reference to a figure, from which further preferred embodiments and features of the invention can be removed. The figure shows a schematic representation of a drive device with a control device.

The drive device has in addition to the control device 1 a summation gear designed as a planetary gear 2 on. In the figure, for the sake of clarity, only the upper half of the summation gear is shown 2 shown. The summing gear 2 is made up of a sun wheel S a ring gear H and a bridge (planet carrier) T together. In addition, it has at least one planetary gear P on the bridge T is rotatably arranged. In the present case, the planetary gear meshes with both the sun gear S , as well as the ring gear H , Alternatively, the planetary gear P with one of ring gear H and sun gear S while meshing with another planetary gear, in turn with the other of the ring gear H and sun gear S meshes. The summing gear 2 can therefore be designed as a plus planetary or as a minus planetary gear.

In the present case, the bridge serves T as output of the summation gear 2 , Accordingly, the bridge T with a sequential system 3 connected. This may be, in particular, a single-stage or multi-stage motor vehicle transmission, together with the associated residual output-side drive train. The sun wheel S and the ring gear H are present in each case as the input of the summing gear 2 , Accordingly, the sun gear S with a first drive source 4 , For example, an electric motor or an internal combustion engine, connected and thereby rotatable, and the ring gear H is with a second drive source 5 , For example, an electric motor or an internal combustion engine, connected and thereby rotatable. The drive source 4 thus causes a torque and a rotational speed ω _s on the sun gear S , The drive source 5 causes a torque and a rotational speed ω _h at the ring gear H ,

The summing gear 2 has the status translation i ₀ . This results in a known manner from the size ratios of ring gear H , Sun wheel S and planetary gear P or from the rotational speed ratios between the inputs H . S as well as the output T using the so-called Willis equation.

The control device 1 determined per drive sources 4 . 5 a target torque M _{h, should} , M _{s, should} , by a predetermined target rotational speed ω _t, to the web T of the summation gear 2 adjust. The setpoint torques M _{h, soll} , M _{s, should} cause the inputs H . S be accelerated accordingly, so that at the exit T the target rotational speed ω _{t, should be} adjusted. The desired torques M _{h, should} , M _{s, should} , M _{t, should} each be positive (ie serve for propulsion) or be negative (ie serve for braking). The desired rotational speed ω _{t, should} be predetermined from the outside, for example by a user.

To set the desired torques M _{h, should} , M _{s, should} by the drive sources 4 . 5 For example, these each have a corresponding adjustment 6 . 7 on. These are in particular each an individual control unit, which ensures that the respective desired torque M _{h, should} , M _{s, should} from the drive source 4 . 5 is set. For this purpose, it can either control or regulate the respective desired torque M _{h, soll} , M _s . For this purpose, for example, maps, curves, etc. can be used. One or both of the adjustment devices 6 . 7 can also be part of the control device 1 be.

The control device 1 In the present case, it is also designed for the rotational speed ω _h , ω _s at one of the two inputs S . H of the summation gear 2 to regulate. The respective other of the rotational speeds ω _h , ω _s then arises automatically from this regulation. This regulation also takes place in that the regulating device 1 per drive source 4 . 5 a corresponding desired torque M _{h, should} , M _{s, shall be} determined and to the associated adjustment 6 . 7 outputs. Thus, in the present case by the control device 1 at the same time the rotational speed ω _{t of} the web T , as well as either the rotational speed ω _{h of} the ring gear H or the rotational speed ω _{s of} the sun gear S regulated.

• • einen Zwischenwert für die Soll-Drehgeschwindigkeit des Stegs T ω_t,soll* und
• • eine Soll-Drehbeschleunigung des Stegs T ω̇_t,soll, sowie entweder
• • eine Soll-Drehgeschwindigkeit des Sonnenrads α_s,soll und
• • eine Soll-Drehbeschleunigung des Sonnenrads ω̇_s,soll, oder
• • eine Soll-Drehgeschwindigkeit des Hohlrads ω_h,soll und
• • eine Soll-Drehbeschleunigung ω̇_h,soll des Hohlrads, je nachdem wessen Drehgeschwindigkeit ω_h, ω_s geregelt wird. D.h. neben den SollWerten ω_t,soll* und ω̇_t,soll ermittelt der Trajektoriengenerator 8 bei der Regelung der Drehgeschwindigkeit ω_h des Hohlrads H die Soll-Werte ω_h,soll und ω̇_h,soll und bei Regelung der Drehgeschwindigkeit ω_s des Sonnenrads S die entsprechenden Soll-Werte ω_s,soll und ω̇_s,soll.

The control device 1 has a trajectory generator 8th , This is designed to be a trajectory for the rotational speed ω _{t of} the web T as well as for the speed-controlled input H or S to determine, ie for the rotational speed ω _h , ω _{s of} the sun gear S or the ring gear H (depending on whose rotational speed is controlled ω _h , ω _s ). By the trajectory of the actual value ω _t to the predetermined target value ω _{t, should be} introduced. For this purpose, the trajectory generator 8 determines:

• • an intermediate value for the setpoint rotation speed of the web T ω _{t, shall} * and
• • a setpoint rotational acceleration of the web T ω̇ _{t, should} , as well as either
• • a target rotational speed of the sun gear α _{s, soll} and
• • a target rotational acceleration of the sun gear ω̇ _{s, soll} , or
• • a target rotational speed of the ring gear ω _{h, soll} and
• • A target rotational acceleration ω̇ _{h, should} the ring gear, depending on whose rotational speed ω _h , ω _{s is} controlled. That is, in addition to the setpoint values ω _{t, should} * and ω̇ _{t, to be} determined by the trajectory generator 8th in the regulation of the rotational speed ω _{h of} the ring gear H the desired values ω _{h, soll} and ω̇ _{h, soll} and in controlling the rotational speed ω _{s of} the sun gear S the corresponding desired values ω _{s, soll} and ω̇ _{s, should.}

Alternatively, by a higher-level control, for example. Another controller, directly mutually compatible nominal curves of ω _{t, should} * and ω̇ _{t, should} and ω _{h, soll,} ω̇ _{h, soll} or ω _{s, soll} , ω̇ _{s, should} to the control device 1 be handed over. In this case, so is the trajectory generator 8th already contained in the superimposed control and it is not a trajectory generator 8th in the control device 1 self required.

The control device 1 also has a regulator 9 , The trajectory generator 8th transfers the determined setpoint values ω _{t, soll} *, ω̇ _{t, soll} and ω _{s, soll} , ω̇ _{s, soll} or ω _{h, soll} , ω̇ _h, to the controller 9 , The regulator 9 has the form described above ( 1 ) or form ( 2 ), with the respectively associated controller inputs u ₁ , u ₂ . Depending on which of the inputs S . H of the summation gear 2 Therefore, the associated Martrix Q or R and the associated controller input u _{2 are} in use.

The of the trajectory generator 8th determined values ω _{t, shall} *, ω̇ _{t, should} serve to determine the controller input u ₁ and the values ω _{s, soll} , ω̇ _{s, soll} or ω _{h, soll} , ω̇ _{h, should} serve to determine the controller input u ₂ . In addition, as stated above, the actual rotational speed ω _{t of} the web flows into this determination T (for the determination of u ₁ ) and the actual rotational speed ω _s , ω _{h of} the ring gear H or the sun gear S (for the determination of u ₂ ). This also results in the regulation of the respective rotational speed ω _t , ω _s , ω _h .

The for the control device 1 So for the controller 9 and / or the trajectory generator 8th , required actual values, such as ω _s , ω _h , ω _t , M _t , can be measured in particular. There are then corresponding sensors in or on the summation 2 provided, for example, rotational speed sensors or rotational acceleration sensors or torque sensors. Alternatively, these can be determined in another way. In particular, they can be estimated, for example with a corresponding state observer. They can also be partly measured or estimated and partly calculated from it, for example by means of the Willis equation. For example, the actual value for ω _t can be calculated from the actual values for ω _s , ω _h per Willis equation. A measurement or estimated value of the actual rotational acceleration ω̇ _t can therefore also be calculated by the Willis equation from the measured or estimated actual rotational accelerations ω̇ _h and ω̇ _s .

From the proposed concept, there are a number of advantages, with a high positioning accuracy and low application costs stand out particularly.

LIST OF REFERENCE NUMBERS

1

control device

2

Totalizer, planetary gear

3

tracking system

4

a drive source

5

a drive source

6

adjustment

7

adjustment

8th

trajectory

9

regulator

H

ring gear

S

sun

T

web

Claims (10)

Control device (1) for determining desired torques (M _{h, soll} , M _{s, soll} ) of a first and a second drive source (4, 5) which are each rotationally coupled to one input (S, H) of a summation (2) to set a predetermined target rotational speed (ω _{t, soll} ) at an output (T) of the summation gear (2), wherein the control device (1) is executed, the rotational speed (ω _s , ω _h ) at one of the two inputs ( S, H) of the summation gear (2) by the desired torques (M _{h, soll} , M _{s, soll} ) to regulate. Regulating device (1) after Claim 1 , wherein the control device (1) is designed by determining corresponding desired torques (M _{h, soll} , M _{s, soll} ) both • the rotational speed (ω _s , ω _h ) at one of the two inputs (S, H) of the summation (2) to regulate, and • to regulate the rotational speed (ω _t ) at the output (T) of the summing gear (2). Regulating device (1) after Claim 2 , with a Trajektorienfolgeregler (9) for controlling the rotational speeds (ω _s , ω _h , ω _t ). Control device (1) according to one of the preceding claims, wherein the summation gear (2) is a planetary gear, comprising a sun gear (S), a ring gear (H) and a web (T) on which at least one with the sun gear (S) and / or the ring gear (H) meshing planetary gear (P) is rotatably arranged. Regulating device (1) after Claim 4 in which the sun gear (S) forms one input of the summing gear (2) and the ring gear (H) forms the other input of the summing gear (2) and the web (T) forms the output of the summing gear (2). Regulating device (1) after Claim 5 , with a regulator (9) of the form $$\left(\begin{array}{c}{M}_{H\text{.}sOll}\\ M_{s\text{.}sOll}\end{array}\right)=Q\left(\begin{array}{c}{u}_1\\ u_2\end{array}\right)\text{.}$$

in which $$u_1={\dot{\omega }}_{t\text{.}sOll}-k_{P\mathrm{,1}}\left({\omega }_t-{\omega }_{t\text{.}sOll}\right)-k_{I\mathrm{,1}}{\displaystyle \int {\omega }_t-{\omega }_{t\text{.}sOll}d\tau \text{.}}$$

and either $$Q=\left(\begin{array}{cc}-\frac{i_0{J}_t}{1-i_0}-\frac{\left(1-i_0\right)J_H}{i_0}& \frac{J_H}{i_0}\\ \frac{J_t}{1-i_0}& J_s\end{array}\right)$$

and u ₂ = ω̇ _{s, shall} - k _{P, 2} (ω _s - ω _{s, soll} ) - k _{I, 2} ∫ω _s - ω _{s, shall} dτ, if the controller (9) the rotational speed (ω _s ) of Sonnenrads (S) regulates, or $$Q=\left(\begin{array}{cc}-\frac{i_0{J}_t}{1-i_0}& J_H\\ \frac{J_t}{1-i_0}+\left(1-i_0\right)J_s& i_0{J}_s\end{array}\right)$$

and u ₂ = ω̇ _{̇h, let} - k _{P, 2} (ω _h - ω _{h, soll} ) - k _{I, 2} ∫ω _h - ω _h, dτ should, if the controller (9) the rotational speed (ω _h ) of the Ring gear (H) regulates, each with M _{h, soll} = the target torque of the ring gear (H) connected to the drive source (5), M _{s, soll} = the target torque of the sun gear (S) connected to the drive source (4 ), ω _{h, soll} = the desired rotational speed of the ring gear (H), ω̇ _{h, soll} = the target rotational acceleration of the ring gear (H), ω _{t, soll} = the target rotational speed of the web (T), ω̇ _{t, should} = the target rotational acceleration of the web (T), ω _{s, soll} = the target rotational speed of the sun gear (S), ω̇ _{s, soll} = the target rotational acceleration of the sun gear (S), ω _t = the actual rotational speed of Web (T), ω _h = the actual rotational speed of the ring gear (H), ω _s = the actual rotational speed of the sun gear (S), i ₀ = the stationary ratio of the summation (2), J _h = the moment of inertia of the ring gear ( H) and the mitbeschleu with the ring gear (H) inertial moments, J _t = the moment of inertia of the web (T) and the inertia of a following system (3) accelerated with the web (T), J _s = the moment of inertia of the sun gear (S) and the inertia accelerated by the sun gear (S), k _{P, 1.} k _{I, 1,} k _{P, 2} , k _{I, 2} = one controller gain each. Regulating device (1) after Claim 5 , with a regulator of shape $$\left(\begin{array}{c}{M}_{H\text{.}sOll}\\ M_{s\text{.}sOll}\end{array}\right)=R\left(\begin{array}{c}{u}_1\\ u_2\\ M_t\end{array}\right)\text{.}$$

in which $$u_1={\dot{\omega }}_{t\text{.}sOll}-k_{P\mathrm{,1}}\left({\omega }_t-{\omega }_{t\text{.}sOll}\right)-k_{I\mathrm{,1}}{\displaystyle \int {\omega }_t-{\omega }_{t\text{.}sOll}d\tau \text{.}}$$

and either $$R=\left(\begin{array}{ccc}-\frac{i_0{J}_t}{1-i_0}-\frac{\left(1-i_0\right)J_H}{i_0}& \frac{J_H}{i_0}& -\frac{i_0}{1-i_0}\\ \frac{J_t}{1-i_0}& J_s& \frac{1}{1-i_0}\end{array}\right)$$

and u ₂ = ω̇ _{s, shall} - k _{P, 2} (ω _s - ω _{s, soll} ) - k _{I, 2} ∫ω _s - ω _{s, shall} dτ, if the controller (9) the rotational speed (ω _s ) of Sonnenrads (S) regulates, or $$R=\left(\begin{array}{ccc}-\frac{i_0{J}_t}{1-i_0}& J_H& -\frac{i_0}{1-i_0}\\ \frac{J_t}{1-i_0}+\left(1-i_0\right)J_s& i_0{J}_s& \frac{1}{1-i_0}\end{array}\right)$$

and u ₂ = ω̇ _{h, shall} - k _{P, 2} (ω _h - ω _{h, soll} ) - k _{I, 2} ∫ω _h - ω _h, dτ should, if the controller (9) the rotational speed (ω _h ) of Ring gear (H) regulates, each with M _{h, soll} = the target torque of the ring gear (H) connected to the drive source (4, 5), M _{s, soll} = the target torque of the sun gear (S) connected to the drive source (4, 5), M _t = the actual torque impressed on the web (T) by the following system (3); ω _{h, soll} = the target rotational speed of the ring gear (H), ω̇ _{h, soll} = the target rotational acceleration of the ring gear (H), ω _{t, soll} = the target rotational speed of the web (T), ω̇ _{t, soll} = the target rotational acceleration of the web (T), ω _{s, soll} = the target rotational speed of the sun gear (S), ω̇ _{s, soll} = the target rotational acceleration of the sun gear (S), ω _t = the actual rotational speed of the web ( T), ω _h = the actual rotational speed of the ring gear (H), ω _s = the actual rotational speed of the sun gear (S), i ₀ = the stationary ratio of the summation gear (2), J _h = the moment of inertia of the ring gear (H) and with the ring gear (H) mitbeschleunigten inertia, J _t = the moment of inertia of the web (T) and with the web (T) mitbeschleunigten inertias of a following system (3), J _s = the moment of inertia of the sun gear (S) and with the sun gear (S) mitbeschleunigten inertias, k _{P, 1} , k _{I, 1} , k _{P, 2} , k _{I, 2} = each one controller gain. Regulating device (1) after Claim 6 or 7 , with a trajectory generator (8), which is designed, the target rotational speeds (ω _{s, soll} , _{ωh, soll} , ω _{t, soll} ) and the target rotational accelerations (ω̇ _{s, soll} , ω̇ _{h, soll} , ω̇ _{t, soll} ) of the web (T) and • either the ring gear (H) • or the sun gear (S) to determine and the controller (9) to specify. Regulating device (1) according to one of Claims 6 to 8th , With a state observer, which is designed to estimate the web (T) of the following system (3) impressed actual torque M _t and the controller (9) to specify. Drive device, in particular for a motor vehicle drive train, comprising a summing gear (2) with a first input (S, H) for a first drive source (4) and with a second input (S, H) for a second drive source (5) and with an output (T), on which a total torque of the drive sources (4, 5) can be tapped, characterized by a control device (1) according to one of the preceding claims. 11. Motor vehicle drive train with an internal combustion engine as a first drive source (4, 5) and with an electric motor as a second drive source (4, 5), characterized by a drive device according to Claim 10 ,

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