JP2003199206A - Electric vehicle drive control device, electric vehicle drive control method and program therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve accuracy in estimating electric machine torque in a full rotational speed region. <P>SOLUTION: An electric vehicle drive control device comprises: an electric machine rotational speed detection part that detects an electric machine rotational speed; an electric machine electrical output calculation means that calculates an electrical output to an electric machine; a change amount calculation processing means 92 that calculates the change amount of each of the electric machine rotational speed and the electrical output; and an estimation processing means 95 that estimates the electric machine torque based on the change amount and the electrical output. The accuracy in estimating the electric machine torque is improved in the full rotational speed region. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle drive control device, an electric vehicle drive control method, and a program thereof.

[0002]

2. Description of the Related Art Conventionally, a vehicle drive device mounted on an electric vehicle such as a hybrid vehicle or an electric vehicle, supplies an alternating current to a drive motor as an electric machine, and drives the drive motor. The torque of the drive motor, that is, the drive motor torque as the electric mechanical torque is transmitted to the drive wheels, and the drive force is generated in the drive wheels.

In the vehicle drive device, a vehicle control device is provided to control the entire electric vehicle, and a drive motor control device is provided to control the drive motor.
In the drive motor control device, by utilizing the fact that the current (q-axis current) supplied to the drive motor and the drive motor torque are in a proportional relationship, the feedback control by the current indirectly controls the feedback control by the drive motor torque. I am trying to do it. On the other hand, the drive motor torque is estimated, and drive is performed so as to eliminate the deviation between the estimated drive motor torque and the drive motor target torque representing the target value of the drive motor torque sent from the vehicle control device. It is also possible to directly perform the feedback control based on the motor torque. In this case, in order to estimate the drive motor torque, a first estimation method of estimating the drive motor torque based on an alternating current supplied to the drive motor (see Japanese Patent Laid-Open No. 6-284511), and A second estimation method is provided for estimating the drive motor torque based on the electrical output of the drive motor, that is, the AC power that represents the electrical output.

[0004]

However, in the above conventional vehicle drive device, in the case of the first estimation method,
Although the accuracy of estimating the drive motor torque is high in all regions of the rotation speed at which the drive motor is driven, that is, in the entire rotation speed region, for example, when the characteristics of the drive motor itself change due to demagnetization, The error between the estimated drive motor torque, that is, the estimated torque value and the actual drive motor torque, that is, the actual torque value becomes large.

In the case of the second estimation method, the error between the estimated torque value and the actual torque value does not increase even if the characteristics of the drive motor itself change. As shown in FIG. 23, there are two solutions in a region where the rotation speed of the drive motor is low, that is, in a low rotation speed region, and the accuracy of estimating the drive motor torque may be low. Do you get it.

The present invention solves the problems of the conventional vehicle drive device described above, and can improve the accuracy of estimating the electric machine torque in the entire rotational speed range, and the characteristics of the electric machine itself change. Also, it is an object of the present invention to provide an electric vehicle drive control device, an electric vehicle drive control method, and a program thereof in which an error between an estimated torque value and an actual torque value does not increase.

[0007]

To this end, in an electric vehicle drive control device of the present invention, an electric machine rotation speed detecting section for detecting an electric machine rotation speed and an electric machine for calculating an electric output to the electric machine. Electric output calculation processing means, change amount calculation processing means for calculating each change amount of the electric machine rotation speed and electric output, and estimation processing for estimating electric machine torque based on each change amount and electric output And means.

In another electric vehicle drive control device of the present invention, there is further provided an electric machine rotation speed judgment processing means for judging whether or not the electric machine rotation speed is lower than a threshold value. Then, the estimation processing means, when the electric machine rotation speed is lower than a threshold value, estimates the electric machine torque based on the change amount and the electrical output, and when the electric machine rotation speed is equal to or higher than the threshold value. Estimate the electromechanical torque based on the electrical output.

In still another electric vehicle drive control device of the present invention, an inverter is further arranged to drive the electric machine. The electric machine electrical output calculation processing means calculates the electric output based on the alternating current and voltage supplied from the inverter to the electric machine.

In still another electric vehicle drive control device of the present invention, an inverter is further arranged to drive the electric machine. Then, the electromechanical electrical output calculation processing means calculates the electrical output based on the direct current and voltage supplied to the inverter.

In still another electric vehicle drive control device of the present invention, the electric vehicle drive control device further includes an alternating current detecting portion for detecting an alternating current supplied to the electric machine. Then, the estimation processing means, the electric machine rotation speed is lower than a threshold value,
When at least one of the electric machine rotation speed and the electric output does not change, the electric machine torque is estimated based on the alternating current.

[0012] In still another electric vehicle drive control device of the present invention, the estimation processing means has the electric machine rotation speed lower than a threshold value, and at least one of the electric machine rotation speed and the electrical output. If it doesn't change,
The AC current is subjected to 3-phase / 2-phase conversion based on the position of the electric machine rotor, and the electric machine torque is estimated based on the AC current after the 3-phase / 2-phase conversion.

In still another electric vehicle drive control device of the present invention, an electric machine control processing means for driving the electric machine is further provided. The electric machine control processing means is arranged in the first control device. The electric machine rotation speed determination processing means, the electric machine electrical output calculation processing means, the change amount calculation processing means, and the estimation processing means are the first
Is arranged in a second control device, which is higher than the control device in FIG.

Still another electric vehicle drive control device of the present invention further includes a planetary gear unit including a sun gear, a ring gear and a carrier. The carrier is connected to the engine, the ring gear is connected to the drive wheels, and the sun gear is connected to the first electric machine. The rotation output from the ring gear and the second electric machine is transmitted to the drive wheels.

In the electric vehicle drive control method of the present invention, the electric machine rotation speed is detected, the electric output to the electric machine is calculated, and each change amount of the electric machine rotation speed and the electric output is calculated, The electromechanical torque is estimated based on the change amounts and the electric output.

In the program of the electric vehicle drive control method according to the present invention, the computer controls the electric machine electrical output calculation processing means for calculating the electric output to the electric machine, each change of the electric machine rotation speed and the electric output. It functions as a change amount calculation processing unit that calculates the amount and an estimation processing unit that estimates the electric mechanical torque based on each of the change amounts and the electrical output.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a functional block diagram of an electric vehicle drive control device according to the first embodiment of the present invention.

In the figure, 39 is a drive motor rotor position sensor as an electric machine rotation speed detecting section for detecting the rotation speed of a drive motor (not shown) as an electric machine, that is, a drive motor rotation speed as an electric machine rotation speed.
Reference numeral 93 is an electric output to the drive motor, that is, drive motor electric output calculation processing means as electric / mechanical electric output calculation processing means for calculating electric output, and 92 is the drive motor rotation speed and electric output. A change amount calculation processing unit for calculating each change amount, and 95 is an estimation processing unit for estimating an electric mechanical torque, that is, a drive motor torque, based on each change amount and an electrical output.

Next, a hybrid type vehicle as an electric vehicle having an engine, a generator and a drive motor will be described. It should be noted that the present invention is applicable to an electric vehicle that does not include an engine and a generator but includes only a drive motor as an electric vehicle, a parallel hybrid vehicle that does not include an generator and includes an engine and a drive motor, and the like. You can also

FIG. 2 is a conceptual diagram of a hybrid vehicle according to the first embodiment of the present invention.

In the figure, 11 is an engine (E / G) arranged on the first axis, and 12 is arranged on the first axis and is generated by driving the engine 11. An output shaft for outputting rotation, 13 is arranged on the first axis, and a planetary gear unit as a differential gear device for changing the speed of rotation input through the output shaft 12, and 14 for the planetary gear unit. 1 is an output shaft which is arranged on the axis line of the planetary gear unit 13 and outputs the rotation after shifting in the planetary gear unit 13, 15 is a first counter drive gear as an output gear fixed to the output shaft 14, and 16 is the first counter drive gear. 1 and is connected to the planetary gear unit 13 via a transmission shaft 17, and further the engine 1
1 is a generator (G) as a first electric machine that is differentially rotatable and mechanically connected to the motor 1.

The output shaft 14 has a sleeve-like shape and is arranged so as to surround the output shaft 12. The first counter drive gear 15 is arranged closer to the engine 11 than the planetary gear unit 13.

Then, the planetary gear unit 13
Is at least the sun gear S as the first gear element,
A pinion P meshing with the sun gear S, a ring gear R as a second gear element meshing with the pinion P, and a carrier CR as a third gear element rotatably supporting the pinion P are provided. , The sun gear S via the transmission shaft 17, the generator 16 and the ring gear R via the output shaft 14 and a predetermined gear train via a drive motor (M) 25 and a drive wheel 37 as a second electric machine. The carrier CR is connected to the engine 11 via the output shaft 12.
The drive motor 25 is arranged on a second axis parallel to the first axis, is differentially rotatably and mechanically connected to the engine 11 and the generator 16, and further has drive wheels 37. Mechanically linked with. Further, the carrier CR
And a case 10 of a hybrid type vehicle drive device as a vehicle drive device, a one-way clutch F is disposed, and the one-way clutch F is free when rotation in the forward direction from the engine 11 is transmitted to the carrier CR. When the reverse rotation is transmitted from the generator 16 or the drive motor 25 to the carrier CR, it is locked and the reverse rotation is prevented from being transmitted to the engine 11.

The generator 16 is connected to the transmission shaft 1
7, a rotor 21 rotatably arranged, a stator 22 arranged around the rotor 21, and a coil 23 wound around the stator 22. The generator 16 generates electric power by the rotation transmitted through the transmission shaft 17. The coil 23 is connected to a battery (not shown) and supplies current to the battery. A generator brake B is disposed between the rotor 21 and the case 10. By engaging the generator brake B, the rotor 21 is fixed and the rotation of the generator 16 is mechanically stopped. it can.

Reference numeral 26 is an output shaft which is disposed on the second axis and outputs the rotation of the drive motor 25.
A second counter drive gear 7 is an output gear fixed to the output shaft 26. The drive motor 25 is
A rotor 40 fixed to the output shaft 26 and rotatably arranged, and a stator 4 arranged around the rotor 40.
1 and a coil 42 wound around the stator 41.

The drive motor 25 generates a drive motor torque TM by U-phase, V-phase and W-phase currents which are AC currents supplied to the coil 42. for that reason,
The coil 42 is connected to the battery, and a direct current from the battery is converted into an alternating current and supplied to the coil 42.

In order to rotate the drive wheels 37 in the same direction as the rotation of the engine 11, a counter shaft 30 is arranged on a third axis parallel to the first and second axes, and the counter shaft 30 is provided. The shaft 30 is provided with a first counter driven gear 31 and the first counter driven gear 3
The second counter driven gear 32 having more teeth than 1 is fixed. The first counter driven gear 31 and the first counter drive gear 15 are connected to the second counter driven gear 31.
Counter driven gear 32 and the second counter drive gear 27 are meshed with each other, the rotation of the first counter drive gear 15 is reversed, and the first counter driven gear 31 is connected to the second counter drive gear 27.
Is inverted and transmitted to the second counter driven gear 32. Further, a diff pinion gear 33 having a smaller number of teeth than the first counter driven gear 31 is fixed to the counter shaft 30.

A differential device 36 is arranged on a fourth axis parallel to the first to third axes.
The differential ring gear 35 of the differential device 36 and the differential pinion gear 33 are meshed with each other. Therefore, the rotation transmitted to the differential ring gear 35 is distributed by the differential device 36, and each drive wheel 3
7 is transmitted. Thus, not only the rotation generated by the engine 11 can be transmitted to the first counter driven gear 31, but also the rotation generated by the drive motor 25 can be transmitted to the second counter driven gear 32. Therefore, the hybrid vehicle can be driven by driving the engine 11 and the drive motor 25.

Reference numeral 38 is a generator rotor position sensor such as a resolver for detecting the position of the rotor 21, that is, the generator rotor position θG, and 39 is a resolver for detecting the position of the rotor 40, that is, the drive motor rotor position θM. The drive motor rotor position sensor 52 is an engine rotation speed sensor as an engine rotation speed detection unit that detects the rotation speed of the engine 11, that is, the engine rotation speed NE. Then, the detected generator rotor position θG is
The drive motor rotor position θM is sent to a vehicle controller (not shown) and a generator controller (not shown), and the drive motor rotor position θM is sent to the vehicle controller and a drive motor controller (not shown).

Next, the operation of the planetary gear unit 13 will be described.

FIG. 3 is an operation explanatory view of the planetary gear unit according to the first embodiment of the present invention, FIG. 4 is a vehicle speed diagram at the time of normal traveling in the first embodiment of the present invention, and FIG.
FIG. 4 is a torque diagram during normal traveling in the first embodiment of the present invention.

The planetary gear unit 13 (FIG. 2)
In the above, since the carrier CR is connected to the engine 11, the sun gear S is connected to the generator 16, and the ring gear R is connected to the drive motor 25 and the drive wheels 37 via the output shaft 14 and a predetermined gear train, respectively. The rotation speed, that is, the ring gear rotation speed NR and the rotation speed output to the output shaft 14, that is, the output shaft rotation speed are equal, the rotation speed of the carrier CR and the engine rotation speed NE are equal, and the rotation speed of the sun gear S is And the rotation speed of the generator 16, that is, the generator rotation speed NG becomes equal.
When the number of teeth of the ring gear R is ρ times (twice in the present embodiment) the number of teeth of the sun gear S, the relationship of (ρ + 1) · NE = 1 · NG + ρ · NR 2 is established. Therefore, the ring gear rotation speed N
Based on R and the generator rotation speed NG, the engine rotation speed NE NE = (1NG + ρNR) / (ρ + 1) (1) can be calculated. The equation (1) forms a rotational speed relational expression of the planetary gear unit 13.

Further, the torque of the engine 11, that is,
The engine torque TE, the torque generated in the ring gear R, that is, the ring gear torque TR, and the generator 1
The torque of No. 6, that is, the generator torque TG as the electromechanical torque has a relationship of TE: TR: TG = (ρ + 1): ρ: 1 (2) and receives reaction forces from each other. The equation (2) constitutes a torque relational expression of the planetary gear unit 13.

During normal traveling of the hybrid type vehicle, the ring gear R, the carrier CR and the sun gear S
Are all rotated in the positive direction, and as shown in FIG. 4, the ring gear rotation speed NR, the engine rotation speed NE, and the generator rotation speed NG all take positive values. Further, the ring gear torque TR and the generator torque TG
Can be obtained by proportionally dividing the engine torque TE by the torque ratio determined by the number of teeth of the planetary gear unit 13, and therefore, the ring gear torque TR and the generator torque TG are shown on the torque diagram shown in FIG.
The engine torque TE is obtained by adding and.

Next, a hybrid vehicle drive control device as an electric vehicle drive control device for controlling the hybrid vehicle drive device will be described.

FIG. 6 is a conceptual diagram of a hybrid type vehicle drive control device according to the first embodiment of the present invention.

In the figure, 10 is a case, 11 is an engine (E / G), 13 is a planetary gear unit, 16 is a generator (G), B is a generator brake for fixing the rotor 21 of the generator 16, 25 is a drive motor (M), 2
8 is an inverter as a generator inverter for driving the generator 16, 29 is an inverter as a drive motor inverter for driving the drive motor 25,
37 is a drive wheel, 38 is a generator rotor position sensor, 39 is a drive motor rotor position sensor, and 43 is a battery.
The inverters 28 and 29 are connected to a battery 43 via a power switch Sw, and the battery 43 supplies a direct current to the inverters 28 and 29 when the power switch Sw is on.

Then, on the inlet side of the inverter 28, a generator inverter voltage sensor 75 as a first DC voltage detector for detecting the DC voltage applied to the inverter 28, that is, the generator inverter voltage VG. , And a DC current supplied to the inverter 28, that is, a generator inverter current sensor 77 as a first DC current detecting unit for detecting the generator inverter current IG. Further, on the inlet side of the inverter 29, a drive motor inverter voltage sensor 7 as a second DC voltage detection unit for detecting a DC voltage applied to the inverter 29, that is, a drive motor inverter voltage VM.
6, and a drive motor inverter current sensor 78 as a second DC current detection unit is provided to detect the direct current supplied to the inverter 29, that is, the drive motor inverter current IM. The generator inverter voltage VG and the generator inverter current IG are sent to the vehicle controller 51 and the generator controller 47, and the drive motor inverter voltage VM and drive motor inverter current IM are sent to the vehicle controller 51 and the drive motor controller 49. Sent.
A smoothing capacitor C is connected between the battery 43 and the inverters 28 and 29.

The vehicle control device 51 is composed of a CPU, a recording device and the like (not shown), controls the entire hybrid vehicle drive device, and functions as a computer in accordance with various programs and data. The vehicle control device 51 is connected to the engine control device 46, the generator control device 47, and the drive motor control device 49. The engine control device 46 is a CP (not shown).
U, a recording device, etc., and sends instruction signals to the engine 11 such as throttle opening θ and valve timing in order to control the engine 11. In addition, the generator control device 4
Reference numeral 7 is composed of a CPU, a recording device, and the like (not shown), and sends a drive signal SG1 to the inverter 28 in order to control the generator 16. Then, the drive motor control device 49
Is composed of a CPU, a recording device and the like (not shown), and sends a drive signal SG2 to the inverter 29 in order to control the drive motor 25. The engine control device 46, the generator control device 47, and the drive motor control device 49 all function as a computer according to various programs, data, and the like. The engine control device 46, the generator control device 47, and the drive motor control device 49 are used to
In the above control device, the vehicle control device 51 constitutes a second control device positioned higher than the first control device.

The inverter 28 is driven according to the drive signal SG1, receives a DC current from the battery 43 during power running, generates AC currents IGU, IGV, IGW, and generates AC currents IGU, IGV, IGW. 16 and the alternating current IGU, I from the generator 16 during regeneration.
Upon receiving the GV and IGW, a direct current is generated and supplied to the battery 43.

The inverter 29 is driven according to the drive signal SG2, receives a DC current from the battery 43 during power running, generates AC currents IMU, IMV, IMW, and drives AC currents IMU, IMV, IMW. Two
5 and supplies an alternating current I from the drive motor 25 during regeneration.
Upon receiving the MU, IMV and IMW, a direct current is generated and supplied to the battery 43.

44 is the state of the battery 43,
That is, a battery remaining amount detecting device for detecting a battery remaining amount SOC as a battery state, 52 is an engine rotation speed sensor, 53 is a position of a shift lever (not shown) as speed selecting operation means, that is, a shift position SP is detected. A position sensor, 54 is an accelerator pedal, 55 is an accelerator switch as an engine load detection unit and an accelerator operation detection unit that detects an accelerator pedal position AP that represents the position (depression amount) of the accelerator pedal 54,
Reference numeral 61 is a brake pedal, 62 is a brake switch as a brake operation detection unit that detects a brake pedal position BP indicating the position (stepping amount) of the brake pedal 61, and 63.
Is an engine temperature sensor that detects the temperature tmE of the engine 11, 64 is the temperature of the generator 16, for example, the coil 23
A generator temperature sensor for detecting the temperature tmG of (FIG. 2), 6
Reference numeral 5 is a drive motor temperature sensor that detects the temperature of the drive motor 25, for example, the temperature tmM of the coil 42. The engine temperature sensor 63, the generator temperature sensor 64, and the drive motor temperature sensor 65 constitute a temperature detection unit.

Further, 66 to 69 are current sensors as an AC current detecting unit for detecting AC currents IGU, IGV, IMU, IMV, respectively, and 72 is a voltage for the battery 43 for detecting the battery voltage VB in the battery state. Battery voltage sensors as detection units, and 81 to 83 are voltage sensors as AC voltage detection units for detecting AC voltages VMU, VMV, and VMW, respectively. The battery voltage VB is controlled by the generator control device 47 and the drive motor control device 4
9 and the vehicle control device 51. Further, as the battery state, battery current, battery temperature, etc. can be detected. It should be noted that the battery remaining amount detection device 44, the battery voltage sensor 72, a battery current sensor (not shown),
A battery state sensor (not shown) or the like constitutes a battery state detector. Further, the currents IGU and IGV are supplied to the generator control device 47 and the vehicle control device 51, and the current IM
U and IMV are sent to the drive motor controller 49 and the vehicle controller 51. And the voltages VMU, VMV, VMW
Is sent to the vehicle control device 51.

The vehicle control device 51 sends an engine control signal to the engine control device 46, and causes the engine control device 46 to set the start / stop of the engine 11. Further, a vehicle speed calculation processing means (not shown) of the vehicle control device 51 performs a vehicle speed calculation process, reads the drive motor rotor position θM, calculates a change rate ΔθM of the drive motor rotor position θM, and calculates the change rate ΔθM and the output. The vehicle speed V is calculated based on the gear ratio γV in the torque transmission system from the shaft 26 to the drive wheels 37.

Then, the vehicle control device 51 controls the engine target rotation speed N indicating the target value of the engine rotation speed NE.
E ^* , a generator target torque TG ^* representing a target value of the generator torque TG, and a drive motor target torque TM ^* representing a target value of the drive motor torque TM are set, and the generator control device 47 sets the generator rotation speed. The drive motor controller 49 sets a drive motor torque correction value δTM which represents a correction value of the drive motor torque TM, and a generator target rotation speed NG ^* which represents a target value of NG.

Further, a generator rotation speed calculation processing means (not shown) of the generator control device 47 performs a generator rotation speed calculation process to read the generator rotor position θG,
The generator rotation speed NG is calculated by calculating the change rate ΔθG of the generator rotor position θG.

The drive motor rotation speed calculation processing means (not shown) of the drive motor control device 49 performs the drive motor rotation speed calculation processing, reads the drive motor rotor position θM, and obtains the change rate ΔθM of the drive motor rotor position θM. The drive motor rotation speed N is calculated.
Calculate M.

Since the generator rotor position θG and the generator rotation speed NG are proportional to each other and the drive motor rotor position θM, the drive motor rotation speed NM and the vehicle speed V are proportional to each other, the generator rotor position sensor 38 and The generator rotation speed calculation processing means is caused to function as a generator rotation speed detection unit that detects the generator rotation speed NG, or the drive motor rotor position sensor 39 and the drive motor rotation speed calculation processing means are operated as the drive motor rotation speed NM. It can also be made to function as a drive motor rotation speed detecting section for detecting the vehicle speed or as a vehicle speed detecting section for detecting the vehicle speed V.

In the present embodiment, the engine speed NE is detected by the engine speed sensor 52, but the engine speed NE can be calculated by the engine control unit 46. Further, in the present embodiment, the vehicle speed V is calculated by the vehicle speed calculation processing means based on the drive motor rotor position θM. However, the ring gear rotation speed NR is detected and based on the ring gear rotation speed NR. The vehicle speed V can be calculated, or the vehicle speed V can be calculated based on the rotation speed of the drive wheels 37, that is, the drive wheel rotation speed. In that case, a ring gear rotation speed sensor, a drive wheel rotation speed sensor, and the like are provided as the vehicle speed detection unit.

Next, the operation of the hybrid type vehicle drive control device having the above construction will be described.

FIG. 7 is a first main flow chart showing the operation of the hybrid vehicle drive control device according to the first embodiment of the present invention, and FIG. 8 is a hybrid vehicle drive control according to the first embodiment of the present invention. 9 is a second main flowchart showing the operation of the apparatus, FIG. 9 is a third main flowchart showing the operation of the hybrid vehicle drive control apparatus according to the first embodiment of the present invention, and FIG. 10 is the first embodiment of the present invention. Showing a first vehicle required torque map in the embodiment of the present invention, FIG. 11 is a diagram showing a second vehicle required torque map of the first embodiment of the present invention, and FIG. 12 is the first embodiment of the present invention. FIG. 13 is a diagram showing an engine target operating state map in FIG. 13, and FIG. 13 is a diagram showing an engine drive region map in the first embodiment of the present invention. 10, 11 and 13, the horizontal axis represents the vehicle speed V, the vertical axis represents the vehicle required torque TO ^* , the horizontal axis represents the engine rotational speed NE, and the vertical axis represents the engine torque TE. .

First, the initialization processing means (not shown) of the vehicle control device 51 (FIG. 6) performs initialization processing to set various variables as initial values. Next, the vehicle control device 51 reads the accelerator pedal position AP from the accelerator switch 55 and the brake pedal position BP from the brake switch 62. Then, the vehicle speed calculation processing means reads the drive motor rotor position θM, and the drive motor rotor position θM.
Of the vehicle speed V is calculated based on the change rate ΔθM and the gear ratio γV.

Subsequently, the vehicle request torque determination processing means (not shown) of the vehicle control device 51 performs the vehicle request torque determination process, and when the accelerator pedal 54 is depressed, it is recorded in the recording device of the vehicle control device 51. Figure 1
When the brake pedal 61 is depressed with reference to the first vehicle request torque map of 0, the accelerator pedal position AP and the brake are referred to with reference to the second vehicle request torque map of FIG. 11 recorded in the recording device. A vehicle required torque TO ^* required to drive the hybrid vehicle is set in advance corresponding to the pedal position BP and the vehicle speed V.

Next, the vehicle control device 51 determines whether the vehicle required torque TO ^* is larger than the drive motor maximum torque TMmax preset as the rating of the drive motor 25. Then, the vehicle request torque TO
^{When *} is larger than the drive motor maximum torque TMmax,
The vehicle control device 51 determines whether the engine 11 is stopped, and when the engine 11 is stopped, a sudden acceleration control processing means (not shown) of the vehicle control device 51
Sudden acceleration control processing is performed to drive the motor 25 and the generator 16.
To drive the hybrid vehicle.

Further, when the vehicle required torque TO ^* is less than or equal to the drive motor maximum torque TMmax, and when the vehicle required torque TO ^* is larger than the drive motor maximum torque TMmax and the engine 11 is not stopped, the vehicle control device is described. A driver request output calculation processing means (not shown) 51 performs a driver request output calculation process and multiplies the vehicle request torque TO ^* by the vehicle speed V to obtain the driver request output PD PD = TO ^* V. calculate.

Next, the battery charging / discharging request output calculation processing means (not shown) of the vehicle control device 51 performs a battery charging / discharging request output calculation process, reads the battery remaining amount SOC from the battery remaining amount detecting device 44, and The battery charge / discharge required output PB is calculated based on the battery remaining amount SOC.

Subsequently, the vehicle request output calculation processing means (not shown) of the vehicle control device 51 performs the vehicle request output calculation processing, and adds the driver request output PD and the battery charge / discharge request output PB, Vehicle required output P
Calculate O PO = PD + PB.

Next, the engine target operating condition setting processing means (not shown) of the vehicle control device 51 performs the engine target operating condition setting process, and the engine target operating condition of FIG. 12 recorded in the recording device of the vehicle control device 51. Lines PO1 and PO representing the vehicle required output PO by referring to the state map
The points A1 to A3 and Am at which 2, ..., And the optimum fuel consumption curve L at which the efficiency of the engine 11 is highest at the accelerator pedal positions AP1 to AP6 intersect are determined as the operating points of the engine 11 in the engine target operating state. The engine torques TE1 to T at the operating point
E3 and TEm are determined as an engine target torque TE ^* that represents a target value of the engine torque TE, engine rotation speeds NE1 to NE3 and NEm at the operating points are determined as engine target rotation speed NE ^* , and the engine target rotation speed NE is determined. Send ^* to the engine controller 46.

Then, the engine control device 46 refers to the engine drive region map of FIG. 13 recorded in the recording device of the engine control device 46 to judge whether the engine 11 is placed in the drive region AR1. . In FIG. 13, AR1 is a drive region in which the engine 11 is driven,
AR2 is a stop region where the drive of the engine 11 is stopped, and AR3 is a hysteresis region. Further, LE1 is a line where the stopped engine 11 is started,
LE2 is a line in which the driving of the driven engine 11 is stopped. It should be noted that the line LE1 is moved to the right in FIG. 13 as the battery remaining amount SOC is larger, the driving area AR1 is narrowed, and the battery remaining amount S is increased.
The smaller the OC, the more the OC is moved to the left,
The drive area AR1 is widened.

When the engine 11 is not driven even though the engine 11 is placed in the drive area AR1, the engine start control processing means (not shown) of the engine control device 46 performs the engine start control processing. , Start the engine 11. Further, when the engine 11 is driven even though the engine 11 is not placed in the drive area AR1, the engine stop control processing means (not shown) of the engine control device 46 performs the engine stop control processing to perform the engine stop control processing. Stop driving.
When the engine 11 is not placed in the drive area AR1 and the engine 11 is not driven, the drive motor target torque calculation processing means (not shown) of the vehicle control device 51 performs the drive motor target torque calculation processing, determined to calculate the vehicle request torque tO ^* as drive motor target torque TM ^*, and sends this drive motor target torque TM ^* to the drive motor controller 49. The drive motor control processing means (not shown) of the drive motor control device 49 performs drive motor control processing and torque control of the drive motor 25. The drive motor control processing means constitutes an electric machine control processing means for driving the drive motor 25, and the electric machine control processing means performs the electric machine control processing.

Further, when the engine 11 is placed in the drive area AR1 and the engine 11 is driven, the engine control processing means (not shown) of the engine control device 46 performs the engine control processing and executes a predetermined method. The engine 11 is controlled by.

Next, the generator target rotation speed calculation processing means (not shown) of the generator control device 47 performs the generator target rotation speed calculation processing. Specifically, the drive motor rotor position sensor 39 determines the drive motor rotor position θM. Read,
The drive motor rotor position θM and the output shaft 26 (FIG. 2)
To the ring gear R, the ring gear rotation speed NR is calculated based on the gear ratio γR, the engine target rotation speed NE ^* determined in the engine target operating state setting process is read, and the ring gear rotation speed NR and the engine target rotation speed NE ^* are read ^. Based on the above, the generator target rotational speed NG ^* is calculated by the rotational speed relational expression (1),
decide.

By the way, when the hybrid type vehicle having the above-mentioned structure is driven by driving the engine 11 and the drive motor 25 and the generator rotation speed NG is low, the power consumption becomes large and the power generation efficiency of the generator 16 becomes large. Becomes lower, and the fuel economy of the hybrid vehicle becomes worse accordingly. Therefore, when the absolute value of the generator target rotation speed NG ^* is smaller than the predetermined rotation speed, the generator brake B is engaged and the generator 16 is mechanically stopped to improve the fuel consumption.

Therefore, the generator control device 47 is
It is determined whether or not the absolute value of the generator target rotation speed NG ^* is equal to or higher than a predetermined first rotation speed Nth1 (for example, 500 [rpm]). When the absolute value of the generator target rotation speed NG ^* is equal to or higher than the first rotation speed Nth1, the generator control device 47 determines whether the generator brake B is released. When the generator brake B is released, the generator rotation speed control processing means (not shown) of the generator control device 47 performs the generator rotation speed control processing to control the torque of the generator 16. Also,
When the generator brake B is not released, the generator brake release control processing means (not shown) of the generator control device 47 performs the generator brake release control process to release the generator brake B.

By the way, the vehicle control device 51 determines the generator target torque TG ^* , and the drive motor control device 49 controls the torque of the generator 16 based on the generator target torque TG ^* , thereby performing a predetermined power generation. When the machine torque TG is generated, as described above, the engine torque TE, the ring gear torque TR, and the generator torque T.
Since Gs receive reaction forces from each other, the generator torque TG is converted into the ring gear torque TR and output from the ring gear R.

Then, as the ring gear torque TR is output from the ring gear R, the generator rotation speed NG fluctuates, and when the ring gear torque TR fluctuates, the fluctuated ring gear torque TR is transmitted to the drive wheels 37, The driving feeling of the hybrid type vehicle is deteriorated. Therefore, the generator 1 accompanying the fluctuation of the generator rotation speed NG
The ring gear torque TR is calculated in consideration of the torque corresponding to 6 inertias (inertia of the rotor 21 and the rotor shaft).

Therefore, the ring gear torque calculation processing means (not shown) of the vehicle control device 51 performs a ring gear torque calculation processing, reads the generator target torque TG ^* , and then the generator target torque TG ^* and the sun gear S.
The ring gear torque TR is calculated based on the ratio of the number of teeth of the ring gear R to the number of teeth of.

That is, the inertia of the generator 16 is set to In
G and the angular acceleration (rotational change rate) of the generator 16 is αG, the torque applied to the sun gear S, that is, the sun gear torque TS, is the torque equivalent component (inertia torque ⁾ of the inertia target InG to the generator target torque TG ^*. ) TGI TGI = InGαG is added, and TS = TG ^* + TGI = TG ^* + InGαG (3) The torque equivalent component TGI normally takes a negative value in the acceleration direction during acceleration of the hybrid vehicle and a positive value in the acceleration direction during deceleration of the hybrid vehicle. The angular acceleration αG is the generator rotation speed N.
It is calculated by differentiating G.

The number of teeth of the ring gear R is the sun gear S.
If ρ times the number of teeth of the ring gear torque TR
Is ρ times the sun gear torque TS, so TR = ρ · TS = ρ · (TG ^* + TGI) = ρ · (TG ^* + InG · αG) (4) In this way, the ring gear torque TR can be calculated from the generator target torque TG ^* and the torque equivalent component TGI.

Therefore, the drive shaft torque estimation processing means (not shown) of the drive motor control device 49 performs the drive shaft torque estimation processing, and the torque at the output shaft 26 is based on the generator target torque TG ^* and the torque equivalent component TGI. That is, the drive shaft torque TR / OUT is estimated.
That is, the drive shaft torque estimation processing means calculates and estimates the drive shaft torque TR / OUT based on the ring gear torque TR and the ratio of the number of teeth of the second counter drive gear 27 to the number of teeth of the ring gear R. .

Since the generator target torque TG ^* is set to zero (0) when the generator brake B is engaged, the ring gear torque TR has a proportional relationship with the engine torque TE. Therefore, when the generator brake B is engaged, the drive shaft torque estimation processing means reads the engine torque TE from the engine control device 46 and uses the torque relational expression (2) to calculate the ring gear based on the engine torque TE. The torque TR is calculated, and the drive shaft torque TR / OUT is estimated based on the ring gear torque TR and the ratio of the number of teeth of the second counter drive gear 27 to the number of teeth of the ring gear R.

Subsequently, the drive motor target torque calculation processing means performs the drive motor target torque calculation processing and subtracts the drive shaft torque TR / OUT from the vehicle required torque TO ^* to obtain the drive shaft torque TR / OUT. Then, the excess or deficiency is calculated and determined as the drive motor target torque TM ^* .

Then, the drive motor control processing means is
The drive motor control process is performed, the torque of the drive motor 25 is controlled based on the determined drive motor target torque TM ^* , and the drive motor torque TM is controlled.

When the absolute value of the generator target rotation speed NG ^* is smaller than the first rotation speed Nth1, the generator control device 47 determines whether the generator brake B is engaged. When the generator brake B is not engaged, the generator brake engagement control processing means (not shown) of the generator control device 47 performs the generator brake engagement control process to engage the generator brake B. Let

Subsequently, the drive motor torque estimation processing means (not shown) as the electric machine torque estimation processing means of the vehicle control device 51 performs the drive motor torque estimation processing as the electric machine torque estimation processing to estimate the drive motor torque TM. To do.

Next, the flowchart will be described. In step S1, initialization processing is performed. Step S2 The accelerator pedal position AP and the brake pedal position BP are read. In step S3, the vehicle speed V is calculated. In step S4, the vehicle required torque TO ^* is determined. Step S5 ^{: It} is judged whether the vehicle required torque TO ^* is larger than the drive motor maximum torque TMmax. If the vehicle required torque TO ^* is larger than the drive motor maximum torque TMmax, the vehicle required torque TO ^* is entered in step S6 ^.
Is less than the drive motor maximum torque TMmax, the process proceeds to step S8. In step S6, it is determined whether the engine 11 is stopped. If the engine 11 is stopped, the process proceeds to step S7, and if it is not stopped (driven), the process proceeds to step S8. In step S7, the rapid acceleration control process is performed. In step S8, the driver request output PD is calculated. In step S9, the battery charge / discharge request output PB is calculated. In step S10, the vehicle required output PO is calculated. Step S11 The operating point of the engine 11 is determined. In step S12, it is determined whether the engine 11 is placed in the drive area AR1. If the engine 11 is placed in the drive area AR1, the process proceeds to step S13, and if not, the process proceeds to step S14. In step S13, it is determined whether the engine 11 is driven. If the engine 11 is being driven, step S17 is performed. If not, step S1 is performed.
Go to 5. In step S14, it is determined whether the engine 11 is driven. If the engine 11 is being driven, step S16 is performed. If the engine 11 is not being driven, step S2 is performed.
Go to 6. In step S15, engine start control processing is performed. In step S16, engine stop control processing is performed. In step S17 engine control processing is performed. In step S18, the generator target rotation speed NG ^* is determined. In step S19, it is determined whether the absolute value of the generator target rotation speed NG ^* is equal to or higher than the first rotation speed Nth1. Generator target rotation speed NG ^* of the step S20 when the absolute value is the first rotation speed Nth1 above, the generator absolute value of the target rotation speed NG ^* is the first rotation speed Nth1
If it is smaller, the process proceeds to step S21. In step S20, it is determined whether the generator brake B is released. When the generator brake B is released, the process proceeds to step S23, and when not released, the process proceeds to step S24. In step S21, it is determined whether the generator brake B is engaged. If the generator brake B is engaged, the process proceeds to step S28, and if not, the process proceeds to step S22. In step S22, the generator brake engagement control process is performed. In step S23, the generator rotation speed control process is performed. In step S24, the generator brake release control process is performed. In step S25, the drive shaft torque TR / OUT is estimated. In step S26, the drive motor target torque TM ^* is determined. In step S27, drive motor control processing is performed. In step S28, the drive motor torque estimation process is performed, and the process ends.

Next, the subroutine of the rapid acceleration control process in step S7 of FIG. 7 will be described.

FIG. 14 is a diagram showing a subroutine of the rapid acceleration control process in the first embodiment of the invention.

First, the sudden acceleration control processing means reads the vehicle request torque TO ^* and sets the drive motor maximum torque TMmax to the drive motor target torque TM ^* . Subsequently, a generator target torque calculation processing means (not shown) of the vehicle control device 51 (FIG. 6) performs a generator target torque calculation processing, and a difference torque between the vehicle required torque TO ^* and the drive motor target torque TM ^*. calculating a [Delta] T, the amount is insufficient in the drive motor maximum torque TMmax, which is a driving motor target torque TM ^* is calculated as the generator target torque TG ^*, determined, the electric generator target torque TG ^* to the generator control unit 47 send.

Then, the drive motor control processing means is
Drive motor control processing is performed, and drive motor target torque TM
The torque of the drive motor 25 is controlled based on ^* . Further, a generator torque control processing means (not shown) of the generator control device 47 performs a generator torque control process, and controls the torque of the generator 16 based on the generator target torque TG ^* .

Next, the flowchart will be described. Step S7-1: Read the vehicle required torque TO ^* . In step S7-2, the drive motor maximum torque TMmax is set to the drive motor target torque TM ^* . In step S7-3, the generator target torque TG ^* is calculated. In step S7-4, drive motor control processing is performed. Step S7-5 Perform the generator torque control process and return.

Next, step S27 of FIG. 9 and FIG.
The subroutine of the drive motor control process in step S7-4 of step S7-4 will be described.

FIG. 15 is a diagram showing a subroutine of the drive motor control process in the first embodiment of the invention.

First, the drive motor control processing means reads the drive motor target torque TM ^* . Subsequently, the drive motor rotation speed calculation processing means reads the drive motor rotor position θM and calculates the change rate ΔθM of the drive motor rotor position θM to calculate the drive motor rotation speed N.
Calculate M. Then, the drive motor control processing means reads the battery voltage VB.

Next, the drive motor control processing means determines the drive motor target torque TM ^* and the drive motor rotation speed N.
Based on M and the battery voltage VB, a drive motor control current command value map (not shown) recorded in the recording device of the drive motor control device 49 (FIG. 6) is referred to, and d-axis current command values IMd ^* and q. The axis current command value IMq ^* is calculated and determined. The d-axis current command value IMd ^* and the q-axis current command value IMq ^{* form} an AC current command value for the drive motor 25.

Further, the drive motor control processing means reads the currents IMU and IMV from the current sensors 68 and 69 and calculates the current IMW IMW = IMU-IMV based on the currents IMU and IMV. The current IMW can be detected by a current sensor as well as the currents IMU and IMV.

Subsequently, the AC current calculation processing means of the drive motor control processing means performs AC current calculation processing, performs 3-phase / 2-phase conversion, and based on the drive motor rotor position θM, the currents IMU, IMV, IMW. Is an alternating current d
The d-axis current IMd and the q-axis current IMq are calculated by converting the axial current IMd and the q-axis current IMq. Then, the AC voltage command value calculation processing means of the drive motor control processing means performs an AC voltage command value calculation processing, and the d
Voltage command values VMd ^* and VMq ^* are calculated based on the axis current IMd and the q-axis current IMq, and the d-axis current command value IMd ^* and the q-axis current command value IMq ^* . Also,
The drive motor control processing means performs two-phase / 3-phase conversion and converts the voltage command values VMd ^* and VMq ^* into the voltage command value VMU.
^* , VMV ^* , VMW ^* , and the voltage command value VMU
^* , VMV ^* , VMW ^* based on the pulse width modulation signal S
U, SV, SW are calculated, and the pulse width modulation signals SU, S are calculated.
V and SW are output to drive processing means (not shown) of the drive motor control device 49. The drive processing means performs drive processing to obtain pulse width modulation signals SU, S
The drive signal SG2 is sent to the inverter 2 based on V and SW.
Send to 9. The voltage command values VMd ^* and VMq ^{* form} an AC voltage command value for the drive motor 25.

Next, the flowchart will be described.
In this case, step S27 and step S7-4
Since the same processing is performed in step S7-4, step S7-4 will be described. Step S7-4-1 Read the drive motor target torque TM ^* . Step S7-4-2 Read the drive motor rotor position θM. Step S7-4-3: The drive motor rotation speed NM is calculated. Step S7-4-4 The battery voltage VB is read. Step S7-4-5 d-axis current command value IMd ^* and q
Determine the axis current command value IMq ^* . Step S7-4-6 The currents IMU and IMV are read. Step S7-4-7 Three-phase / two-phase conversion is performed. Step S7-4-8 Voltage command values VMd ^* , VMq ^*
To calculate. Step S7-4-9 Two-phase / 3-phase conversion is performed. Step S7-4-10 Pulse width modulation signals SU, S
Outputs V and SW and returns.

Next, the subroutine of the generator torque control process in step S7-5 of FIG. 14 will be described.

FIG. 16 is a diagram showing a subroutine of the generator torque control process in the first embodiment of the invention.

First, the generator torque control processing means
Read the generator target torque TG ^* . Then, the generator rotation speed calculation processing means reads the generator rotor position θG and changes the rate Δθ of the generator rotor position θG.
The generator rotation speed NG is calculated by calculating G. Then, the generator torque control processing means reads the battery voltage VB.

Next, the generator torque control processing means
Based on the generator target torque TG ^* , the generator rotation speed NG and the battery voltage VB, the generator control device 47.
Referring to a current command value map (not shown) for controlling the generator recorded in the recording device (FIG. 6), the d-axis current command value IG
The d ^* and q-axis current command value IGq ^* are calculated and determined.
The d-axis current command value IGd ^* and the q-axis current command value IG
An alternating current command value for the generator 16 is formed by q ^* .

Further, the generator torque control processing means is
The currents IGU and IGV are read from the current sensors 66 and 67, and the current IGW IGW = IGU-IGV is calculated based on the currents IGU and IGV. The current IGW can be detected by a current sensor as well as the currents IGU and IGV.

Subsequently, the AC current calculation processing means of the generator torque control processing means performs AC current calculation processing, and 3
Phase / two-phase conversion is performed, and the currents IGU, IGV, and IGW are converted into the d-axis current IGd and the q-axis current IGq based on the generator rotor position θG.
The d and q axis currents IGq are calculated. Then, the AC voltage command value calculation processing means of the generator torque control processing means,
AC voltage command value calculation processing is performed, and the d-axis current IGd and the q-axis current IGq, and the d-axis current command value IGd ^*.
And the voltage command value V based on the q-axis current command value IGq ^*
Gd ^* and VGq ^* are calculated. Further, the generator torque control processing means performs a two-phase / three-phase conversion to obtain a voltage command value V
Gd ^* , VGq ^* are voltage command values VGU ^* , VGV ^* , V
Converted to GW ^* , the voltage command values VGU ^* , VGV ^* , V
The pulse width modulation signals SU, SV, SW are calculated based on GW ^* , and the pulse width modulation signals SU, SV, SW are output to drive processing means (not shown) of the generator control device 47. The drive processing means performs drive processing, and based on the pulse width modulation signals SU, SV, SW, a drive signal SG
1 is sent to the inverter 28. The voltage command value VG
An AC voltage command value for the generator 16 is configured by d ^* and VGq ^* .

Next, the flowchart will be described. Step S7-5-1: Read the generator target torque TG ^* . Step S7-5-2 Read the generator rotor position θG. Step S7-5-3 The generator rotation speed NG is calculated. Step S7-5-4 Read the battery voltage VB. Step S7-5-5 d-axis current command value IGd ^* and q
Determine the axis current command value IGq ^* . Step S7-5-6 The currents IGU and IGV are read. Step S7-5-7 Three-phase / two-phase conversion is performed. Step S7-5-8 Voltage command values VGd ^* , VGq ^*
To calculate. Step S7-5-9 Two-phase / 3-phase conversion is performed. Step S7-5-10 Pulse width modulation signals SU, S
Outputs V and SW and returns.

Next, the subroutine of the engine start control process in step S15 of FIG. 8 will be described.

FIG. 17 is a diagram showing a subroutine of engine start control processing according to the first embodiment of the present invention.

First, the engine start control processing means is
The throttle opening θ is read and the throttle opening θ is 0
When it is [%], the vehicle speed V calculated by the vehicle speed calculation processing means is read, and the driving point of the engine 11 (FIG. 6) determined in the engine target driving state setting processing is read.

Subsequently, the generator target rotation speed calculation processing means performs the generator target rotation speed calculation processing, reads the drive motor rotor position θM, and reads the drive motor rotor position θM and the gear ratio, as described above. The ring gear rotation speed NR is calculated based on γR, the engine target rotation speed NE ^* at the operating point is read, and based on the ring gear rotation speed NR and the engine target rotation speed NE ^* , the rotation speed relational expression (1) is used. , Calculate and determine the generator target rotation speed NG ^* .

Next, the engine control device 46 compares the engine rotation speed NE with a preset starting rotation speed NEth1 to determine whether the engine rotation speed NE is higher than the starting rotation speed NEth1. Then, when the engine rotation speed NE is higher than the start rotation speed NEth1, the engine start control processing means determines that the engine 1
At 1, fuel injection and ignition are performed.

Subsequently, the generator rotation speed control processing means performs the generator rotation speed control processing on the basis of the generator target rotation speed NG ^* to increase the generator rotation speed NG, and accordingly the engine rotation speed. Increase NE.

Then, the drive motor control device 49 is
Drive as performed in steps S25-S27
Estimate the shaft torque TR / OUT and drive motor target torque
TM ^*Is determined and drive motor control processing is performed.

Further, the engine start control processing means is
The throttle opening θ is adjusted so that the engine speed NE becomes the engine target speed NE ^* . Next, the engine start control processing means determines the generator torque T in order to determine whether the engine 11 is normally driven.
G is the motoring torque T associated with the start of the engine 11.
Determine if it is smaller than Eth, generator torque TG
Is smaller than the motoring torque TEth and waits for a predetermined time to elapse.

When the engine rotational speed NE is equal to or lower than the starting rotational speed NEth1, the generator rotational speed control processing means performs the generator rotational speed control processing based on the generator target rotational speed NG ^* , and then, The drive motor control device 49 estimates the drive shaft torque TR / OUT, determines the drive motor target torque TM ^* , and performs the drive motor control process, as in steps S25 to S27.

Next, the flowchart will be described.
In step S15-1, it is determined whether the throttle opening θ is 0%. If the throttle opening θ is 0%, the process proceeds to step S15-3, and if it is not 0%, the process proceeds to step S15-2. Step S15-2 The throttle opening θ is set to 0%, and the process returns to step S15-1. Step S15-3 The vehicle speed V is read. Step S15-4 The operating point of the engine 11 is read. In step S15-5, the generator target rotation speed NG ^* is determined. Step S15-6: It is determined whether the engine rotation speed NE is higher than the starting rotation speed NEth1. If the engine rotational speed NE is higher than the starting rotational speed NEth1, step S15-11 is performed. If the engine rotational speed NE is lower than or equal to the starting rotational speed NEth1, step S15-.
Proceed to 7. Step S15-7 A generator rotation speed control process is performed. In step S15-8, the drive shaft torque TR / OUT is estimated. Step S15-9: The drive motor target torque TM ^* is determined. Step S15-10 The drive motor control process is performed, and the process returns to step S15-1. Step S15-11 Fuel injection and ignition are performed. Step S15-12 A generator rotation speed control process is performed. In step S15-13, the drive shaft torque TR / OUT is estimated. Step S15-14: The drive motor target torque TM ^* is determined. Step S15-15 A drive motor control process is performed. Step S15-16: Adjust the throttle opening θ. Step S15-17: It is determined whether the generator torque TG is smaller than the motoring torque TEth. When the generator torque TG is smaller than the motoring torque TEth, the process proceeds to step S15-18, and the generator torque TG
Is greater than or equal to the motoring torque TEth, the process returns to step S15-11. Step S15-18: Wait for a predetermined time to elapse, and return when the time elapses.

Next, step S23 of FIG. 9 and FIG.
The subroutine of the generator rotation speed control processing in steps S15-7 and S15-12 of will be described.

FIG. 18 is a diagram showing a subroutine of the generator rotation speed control process in the first embodiment of the invention.

First, the generator rotation speed control processing means reads the generator target rotation speed NG ^* , reads the generator rotation speed NG, and at the same time the generator target rotation speed NG.
PI control is performed based on the difference rotation speed ΔNG between ^* and the generator rotation speed NG, and the generator target torque TG ^* is calculated. In this case, the larger the differential rotation speed ΔNG, the larger the generator target torque TG ^* , and the positive / negative is also taken into consideration.

Subsequently, the generator torque control processing means performs the generator torque control processing of FIG.
The torque control shown in FIG. 6 is performed.

Next, the flowchart will be described.
In this case, step S23 and step S15
Since the same processing is performed in -7 and S15-12,
The step S15-7 will be described. Step S15-7-1 Read the generator target rotation speed NG ^* . Step S15-7-2 The generator rotation speed NG is read. In step S15-7-3, the generator target torque TG ^* is calculated. Step S15-7-4 Performs generator torque control processing, and returns.

Next, the subroutine of the engine stop control process in step S16 of FIG. 8 will be described.

FIG. 19 is a diagram showing a subroutine of engine stop control processing according to the first embodiment of the present invention.

First, the generator control device 47 (FIG. 6)
Determines whether the generator brake B is released. And the generator brake B is not released,
When it is engaged, the generator brake release control processing means performs the generator brake release control processing to release the generator brake B.

When the generator brake B is released, the engine stop control processing means stops fuel injection and ignition in the engine 11 and sets the throttle opening θ to 0%.

Subsequently, the engine stop control processing means reads the ring gear rotation speed NR, and the ring gear rotation speed NR and the engine target rotation speed NE ^* (0
[Rpm]), the generator target rotational speed NG ^* is determined by the rotational speed relational expression (1). Then, after the generator rotation speed control processing means performs the generator rotation speed control processing of FIG. 18, the drive motor control device 49
As in steps S25-S27,
The drive shaft torque TR / OUT is estimated, the drive motor target torque TM ^* is determined, and drive motor control processing is performed.

Next, the generator control device 47 determines whether the engine rotation speed NE is less than or equal to the stop rotation speed NEth2. If the engine rotation speed NE is less than or equal to the stop rotation speed NEth2, Switching is stopped and the generator 16 is shut down.

Next, the flowchart will be described.
Step S16-1: It is judged whether the generator brake B is released. If the generator brake B is released, the process proceeds to step S16-3, and if not, the process proceeds to step S16-2. In step S16-2, the generator brake release control process is performed. Step S16-3 Stop fuel injection and ignition. Step S16-4 The throttle opening θ is set to 0 [%]. In step S16-5, the generator target rotation speed NG ^* is determined. Step S16-6 A generator rotation speed control process is performed. In step S16-7, the drive shaft torque TR / OUT is estimated. In step S16-8, the drive motor target torque TM ^* is determined. In step S16-9, drive motor control processing is performed. Step S16-10: It is determined whether the engine rotation speed NE is equal to or lower than the stop rotation speed NEth2. If the engine rotation speed NE is less than or equal to the stop rotation speed NEth2, the process proceeds to step S16-11, and if the engine rotation speed NE is greater than the stop rotation speed NEth2, the process returns to step S16-5. Step S16-11 Stop switching for the generator 16 and return.

Next, the subroutine of the generator brake engagement control processing in step S22 of FIG. 9 will be described.

FIG. 20 is a diagram showing a subroutine of the generator brake engagement control processing according to the first embodiment of the present invention.

First, the generator brake engagement control processing means changes the generator brake request for requesting engagement of the generator brake B (FIG. 6) from OFF to ON, and the generator target rotation speed NG ^*. Is set to 0 [rpm] and the generator rotation speed control processing means performs the generator rotation speed control processing of FIG.
5 to S27, the drive shaft torque TR
/ OUT is estimated, the drive motor target torque TM ^* is determined, and drive motor control processing is performed.

Next, the generator brake engagement control processing means judges whether or not the absolute value of the generator rotation speed NG is smaller than a predetermined second rotation speed Nth2 (for example, 100 [rpm]), The absolute value of the generator speed NG is the second
If the rotation speed is less than Nth2, the generator brake B
Engage. Subsequently, the drive motor control device 49
As in steps S25-S27,
The drive shaft torque TR / OUT is estimated, the drive motor target torque TM ^* is determined, and drive motor control processing is performed.

When a predetermined time elapses while the generator brake B is engaged, the generator brake engagement control processing means stops switching for the generator 16 and shuts down the generator 16. .

Next, the flowchart will be described. Step S22-1 The generator target rotation speed NG ^{* is set} to 0.
Set [rpm]. In step S22-2, the generator rotation speed control process is performed. Step S22-3: Estimate the drive shaft torque TR / OUT. In step S22-4, the drive motor target torque TM ^* is determined. Step S22-5 A drive motor control process is performed. Step S22-6: It is judged whether the absolute value of the generator rotation speed NG is smaller than the second rotation speed Nth2.
The absolute value of the generator rotation speed NG is the second rotation speed Nth2.
When it is smaller, the process proceeds to step S22-7, and when the absolute value of the generator rotation speed NG is the second rotation speed Nth2 or more, the process returns to step S22-2. Step S22-7 Engage the generator brake B. In step S22-8, the drive shaft torque TR / OUT is estimated. Step S22-9: The drive motor target torque TM ^* is determined. Step S22-10 A drive motor control process is performed. Step S22-11: It is determined whether or not a predetermined time has passed, and if the predetermined time has passed, step S22-1
2, the process returns to step S22-7 if not elapsed. Step S22-12 Stop switching for the generator 16 and return.

Next, the subroutine of the generator brake release control processing in step S24 of FIG. 9 and step S16-2 of FIG. 19 will be described.

FIG. 21 is a diagram showing a subroutine of the generator brake release control process in the first embodiment of the invention.

In the generator brake engagement control process, a predetermined engine torque TE is applied as a reaction force to the rotor 21 of the generator 16 while the generator brake B (FIG. 6) is engaged, so If the brake B is simply released, the generator torque TG and the engine torque TE change greatly as the engine torque TE is transmitted to the rotor 21, and a shock occurs.

Therefore, in the engine control device 46, the engine torque TE transmitted to the rotor 21 is estimated or calculated, and the generator brake release control processing means generates a torque corresponding to the estimated or calculated engine torque TE. That is, the engine torque equivalent is read, and the engine torque equivalent is read as the generator target torque TG ^*.
Set as. Subsequently, after the generator torque control processing means performs the generator torque control processing of FIG. 16, the drive motor control device 49 estimates the drive shaft torque TR / OUT as performed in steps S25 to S27. Then, the drive motor target torque TM ^* is determined, and drive motor control processing is performed.

When a predetermined time elapses after the generator torque control processing is started, the generator brake release control processing means releases the generator brake B, and the generator target rotational speed NG ^* becomes 0 [. After setting [rpm], the generator rotation speed control processing means performs the generator rotation speed control processing of FIG. Subsequently, the drive motor control device 49
As in steps S25-S27,
The drive shaft torque TR / OUT is estimated, the drive motor target torque TM ^* is determined, and drive motor control processing is performed. The engine torque TE is equivalent to the engine torque TE.
Is estimated or calculated by learning the torque ratio of the generator torque TG to.

Next, the flowchart will be described.
In this case, step S24 and step S16
-2, the same processing is performed, so step S24
Will be described. In step S24-1, the engine torque equivalent amount is set in the generator target torque TG ^* . In step S24-2, generator torque control processing is performed. Step S24-3: Estimate the drive shaft torque TR / OUT. In step S24-4, the drive motor target torque TM ^* is determined. Step S24-5 A drive motor control process is performed. Step S24-6: It is judged whether or not a predetermined time has passed. If the predetermined time has elapsed, step S24-7
If not, the process returns to step S 24-2. Step S24-7 The generator brake B is released. Step S24-8 Set 0 for generator target rotation speed NG ^*
Set [rpm]. Step S24-9 Perform a generator rotation speed control process. Step S24-10: Estimate the drive shaft torque TR / OUT. Step S24-11 The drive motor target torque TM ^* is determined. Step S24-12 The drive motor control process is performed, and the process returns.

Next, the subroutine of the drive motor torque estimation processing in step S28 of FIG. 9 will be described.

FIG. 22 is a diagram showing a subroutine of drive motor torque estimation processing in the first embodiment of the present invention.
FIG. 23 is a diagram showing a drive motor torque estimation map in the first embodiment of the present invention. In FIG. 23, the horizontal axis represents electric power PM and the vertical axis represents drive motor torque TM. In this case, the power PM is common to the AC power PMac and the DC power PMdc.

By the way, the vehicle control device 51 (FIG. 6)
In the above, the drive motor torque TM is estimated, and the estimated drive motor torque TM and the drive motor target torque T
Feedback control by the drive motor torque TM is performed so as to eliminate the deviation from M ^* . Then, in order to estimate the drive motor torque TM, the drive motor 2
A first estimation method for estimating the drive motor torque TM based on the AC currents IMU, IMV, and IMW supplied to the drive motor 5, and the drive motor based on the AC power PMac representing the electrical output to the drive motor 25. A second estimation method for estimating the torque TM is provided.

However, in the case of the first estimation method, the accuracy of estimating the drive motor torque TM is high in the entire rotation speed region of the drive motor 25, but, for example, due to demagnetization, the characteristics of the drive motor 25 itself. When changes in the value of, the error between the estimated torque value TMe and the actual torque value increases.

In the case of the second estimation method, even if the characteristics of the drive motor 25 itself change, the estimated torque value TMe
Error does not increase with the actual torque value, but in the low rotation speed region of the drive motor 25, the AC power PM
There may be two values of the drive motor torque TM corresponding to ac, and the accuracy of estimating the drive motor torque TM will be low.

That is, as shown in FIG. 23, the second
In the estimation method of, the lines La to Lg are
Drive motor rotation speed NM is 3000, 1000, 70
Power PM (AC power PMac or DC power P at 0, 500, 300, 100, 50 [rpm])
The relationship between Mdc) and the drive motor torque TM is shown. As indicated by lines Lc to Lg, the drive motor rotation speed N
When M becomes low, the same electric power PM is used to drive motor torque TM
There will be two. For example, in the case of the line Lg, when the value of the electric power PM is PM1, the value of the drive motor torque TM is two, TM1 and TM2. That is, there are two solutions for the drive motor torque TM. Therefore, it is assumed that the drive motor torque T is based on the electric power PM.
Even if M is estimated, the accuracy of estimating the drive motor torque TM will be low.

Therefore, in the second estimating method, if the value is lower than that, the accuracy of estimating the driving motor torque TM becomes low, and the driving motor rotation speed NM, for example, 1000.
[Rpm] is set as a threshold value (switching rotation speed) NMth.

Then, the drive motor torque estimation processing means, the drive motor rotation speed NM calculated by the drive motor rotation speed calculation processing means, the d-axis current IMd and the q-axis current IMq which are alternating currents, and the AC voltage VM detected by the voltage sensors 81 to 83
Read U, VMV, VMW.

Next, the drive motor electrical output calculation processing means 93 (FIG. 1) as the electromechanical electrical output calculation processing means of the drive motor torque estimation processing means uses the drive motor as the electromechanical electrical output calculation processing. Electrical output calculation processing is performed, and three-phase / two-phase conversion is performed, and the voltages VMU, VM
V and VMW are converted into AC voltage d-axis voltage VMd and q-axis voltage VMq, and AC power is converted based on the d-axis current IMd and q-axis current IMq, and d-axis voltage VMd and q-axis voltage VMq. PMac PMac = VMd * IMd + VMq * IMq is calculated.

In this embodiment, the voltages VMU, VMV and V detected by the voltage sensors 81 to 83 are used.
The MW is converted into the d-axis voltage VMd and the q-axis voltage VMq, but when the voltage sensors 81 to 83 are not provided, the drive motor electrical output calculation processing means 93.
Reads the voltage command values VMd ^* , VMq ^* calculated in the drive motor control process, and reads the d-axis current IM
d and q axis current IMq, and voltage command values VMd ^* , V
It is also possible to calculate AC power PMac PMac = VMd ^* .IMd + VMq ^* .IMq based on Mq ^* . Further, the drive motor electrical output calculation processing means 93, based on the voltages VMU, VMV, VMW and the currents IMU, IMV, IMW, AC power PMac PMac = VMU · IMU + VMV · IMV + VMW ·
IMW can also be calculated.

Subsequently, the drive motor rotation speed judgment processing means as the electric machine rotation speed judgment processing means of the drive motor torque estimation processing means performs the drive motor rotation speed judgment processing as the electric machine rotation speed judgment processing to drive the motor. Whether or not the motor 25 is driven in the low rotation speed region is determined by whether or not the drive motor rotation speed NM is lower than the threshold value NMth.

Then, the drive motor 25 is driven in the low rotation speed region, and the drive motor rotation speed NM is equal to the threshold value NMt.
When it is lower than h, the drive motor torque TM is estimated based on the change in the AC power PMac when the drive motor rotation speed NM changes.

Therefore, the change amount calculation processing means 92 of the drive motor torque estimation processing means performs the change amount calculation processing, and each change amount ΔNM of the drive motor rotation speed NM and the AC power PMac within a predetermined time τ. , ΔP Mac is calculated. Subsequently, the estimation processing means 95 of the drive motor torque estimation processing means performs estimation processing to obtain the change amount ΔN.
The determination value ε1 ε1 = ΔNM · ΔPMac for estimating the drive motor torque TM is calculated by multiplying M and ΔPMac.

Then, the estimation processing means 95 refers to the first drive motor torque estimation map previously recorded in the recording device of the vehicle control device 51, and the judgment value ε1 takes a positive value, ε1> 0. 23, as shown by the direction of arrow f1 in FIG.
As the drive motor rotation speed NM was changed and increased, the AC power PMac was changed and increased.
Alternatively, it can be seen that the AC power PMac changes and becomes smaller as the drive motor rotation speed NM changes and becomes lower. Therefore, the estimation processing means 95 calculates a positive solution of the two solutions as the estimated torque value TMe.

When the judgment value ε1 takes a negative value and ε1 <0, as shown by the arrow f2 direction in FIG.
As the drive motor rotation speed NM changed and became higher, the AC power PMac changed and became smaller.
Alternatively, it can be seen that as the drive motor rotation speed NM changes and decreases, the AC power PMac changes and increases. Therefore, the estimation processing means 95 calculates the negative solution of the two solutions as the estimated torque value TMe.

When the judgment value ε1 is zero,
The estimation processing means 95 avoids the estimation because the estimation of the drive motor torque TM is impossible.

On the other hand, the drive motor 25 is not driven in the low rotation speed region, and the drive motor rotation speed NM is equal to the threshold value NMt.
If h or more, there is only one solution for the drive motor torque TM, so the estimation processing means 95 refers to the first drive motor torque estimation map and refers to the drive motor corresponding to the AC power PMac. The value of the torque TM is calculated as the estimated torque value TMe.

In the first drive motor torque estimation map, the drive motor output loss PML of the drive motor 25 is shown.
The drive motor torque TM including is calculated and recorded in advance.

As described above, when the drive motor rotation speed NM is lower than the threshold value NMth, one of the two solutions is calculated as the estimated torque value TMe, and the estimated torque value TMe is calculated.
Since the drive motor torque TM is estimated by, the drive motor torque TM can be estimated by the second estimation method in the entire rotation speed range. Therefore, the accuracy of estimating the drive motor torque TM can be increased in the entire rotation speed range. In the second estimation method, the drive motor 2 is demagnetized due to the demagnetization of a permanent magnet (not shown) arranged on the rotor 40 of the drive motor 25.
Even if the characteristic of 5 itself changes, the error between the estimated torque value TMe and the actual torque value does not increase.

Next, the flowchart will be described. Step S28-1 Drive motor rotation speed NM, d-axis current IMd, q-axis current IMq, and alternating voltage VMU, V
Read MV and VMW. Step S28-2 Three-phase / two-phase conversion is performed. In step S28-3, the AC power PMac is calculated. Step S28-4 The drive motor rotation speed NM is the threshold value N
It is determined whether it is lower than Mth. When the drive motor rotation speed NM is lower than the threshold value NMth, step S28-
If the drive motor rotation speed NM is equal to or higher than the threshold value NMth, the process proceeds to step S28-5. In step S28-5, the estimated torque value TMe is calculated based on the AC power PMac. Step S28-6 Change amounts ΔNM and Δ of the drive motor rotation speed NM and the AC power PMac within a predetermined time τ.
Calculate PMac. Step S28-7 Change amount ΔNM, ΔP in the judgment value ε1
Set the value multiplied by Mac. In step S28-8, the judgment value ε1 is judged. Judgment value ε
If 1 takes a positive value (ε1> 0), step S28-
If the determination value ε1 takes a negative value (ε1 <0), the process proceeds to step S28-10. If the determination value ε1 is zero (ε1 = 0), the process proceeds to step S28-11. Step S28-9 A positive solution of the two solutions is calculated as the estimated torque value TMe. Step S28-10 A negative solution of the two solutions is calculated as the estimated torque value TMe. Step S28-11 Avoid the estimation. Step S28-12: The estimated torque value TMe is set in the drive motor torque TM and the process returns.

In the present embodiment, the first drive motor torque estimation map is referred to, and the AC power P
The drive motor torque TM is estimated in correspondence with Mac, but the drive motor torque TM has a positive value and the second drive motor torque estimation map (not shown).
It is also possible to use a third drive motor torque estimation map (not shown) in which the drive motor torque TM takes a negative value.

Based on the approximated curve of the first drive motor torque estimation map, a power / torque relational expression representing the relationship between the AC power PMac and the drive motor torque TM is set in advance, and the power / torque is set. The drive motor torque TM can also be estimated based on the relational expression.

In the present embodiment, the alternating current power PMac representing the electric output to the drive motor 25.
Although the drive motor torque TM is estimated based on the above, the drive motor torque TM can be estimated based on the DC power PMdc that represents the electrical output to the drive motor 25.

Next, a second embodiment of the present invention in which the drive motor torque TM is estimated based on the DC power PMdc will be described.

FIG. 24 is a diagram showing a subroutine of drive motor torque estimation processing according to the second embodiment of the present invention.

In this case, the drive motor torque estimation processing means reads the drive motor rotation speed NM calculated by the drive motor rotation speed calculation processing means, the drive motor inverter voltage VM and the drive motor inverter current IM.

Next, the drive motor electrical output calculation processing means 93 (FIG. 1) as the electromechanical electrical output calculation processing means of the drive motor torque estimation processing means uses the drive motor as the electromechanical electrical output calculation processing. An electrical output calculation process is performed, and DC power PMdc PMdc = VM · IM is calculated based on the drive motor inverter voltage VM and the drive motor inverter current IM.

Subsequently, the drive motor rotation speed judgment processing means as the electric machine rotation speed judgment processing means of the drive motor torque estimation processing means performs the drive motor rotation speed judgment processing as the electric machine rotation speed judgment processing to drive the motor. Whether or not the motor 25 (FIG. 6) is driven in the low rotation speed range is determined by the drive motor rotation speed NM.
Judge whether it is lower or not. When the drive motor 25 is driven in the low rotation speed region and the drive motor rotation speed NM is lower than the threshold NMth, the drive motor torque TM is calculated based on the change in the DC power PMdc when the drive motor rotation speed NM changes. presume.

Therefore, the change amount calculation processing means 92 of the drive motor torque estimation processing means performs the change amount calculation processing, and each change amount ΔNM of the drive motor rotation speed NM and the DC power PMdc within a predetermined time τ. , ΔPMdc is calculated. Subsequently, the estimation processing means 95 of the drive motor torque estimation processing means performs estimation processing to obtain the change amount ΔN.
The determination value ε2 ε2 = ΔNM · ΔPMdc for estimating the drive motor torque TM is calculated by multiplying M and ΔPMdc.

Then, the estimation processing means 95 refers to the first drive motor torque estimation map previously recorded in the recording device of the vehicle control device 51, and the judgment value ε2 takes a positive value, ε2> 0. 23, as shown by the direction of arrow f1 in FIG.
As the drive motor rotation speed NM changed and became higher, the DC power PMdc changed and became larger,
Alternatively, it can be seen that the DC power PMdc changes and becomes smaller as the drive motor rotation speed NM changes and becomes lower. Therefore, the estimation processing means 95 calculates a positive solution of the two solutions as the estimated torque value TMe.

When the judgment value ε2 takes a negative value and ε2 <0, as shown by the direction of arrow f2 in FIG.
As the drive motor rotation speed NM changed and increased, the DC power PMdc changed and decreased,
Alternatively, it can be seen that the DC power PMdc changes and increases as the drive motor rotation speed NM changes and decreases. Therefore, the estimation processing means 95 calculates the negative solution of the two solutions as the estimated torque value TMe.

When the judgment value ε2 is zero,
The estimation processing means 95 avoids the estimation because the estimation of the drive motor torque TM is impossible.

On the other hand, the drive motor 25 is not driven in the low rotation speed region, and the drive motor rotation speed NM is equal to the threshold value NMt.
If h or more, there is only one solution for the drive motor torque TM, so the estimation processing unit 95 refers to the first drive motor torque estimation map and refers to the drive motor corresponding to the DC power PMdc. The value of the torque TM is calculated as the estimated torque value TMe.

In the first drive motor torque estimation map, the drive motor output loss PML of the drive motor 25 is shown.
The drive motor torque TM including is calculated and recorded in advance.

By the way, in the drive motor control processing, three-phase / 2-phase conversion is performed, and the currents IMU, IMV, I
MW is converted to d-axis current IMd and q-axis current IMq,
Voltage command values VMd ^* and VMq ^* are calculated based on the d-axis current IMd and the q-axis current IMq, and the d-axis current command value IMd ^* and the q-axis current command value IMq ^* . In the present embodiment, in order to calculate the DC power PMdc, the d-axis current IMd and the q-axis current IM calculated in the drive motor control process are calculated.
Does not require q. Therefore, the drive motor torque TM can be estimated independently of the drive motor control processing. Further, the drive motor torque TM can be estimated even when the current sensors 68, 69 for detecting the currents IMU, IMV, IMW necessary for performing the drive motor control process have an abnormality. Further, in the present embodiment, in the vehicle control device 51 as the second control device, which is higher than the drive motor control device 49 as the first control device that performs the drive motor control process as the electric machine control process, The motor inverter voltage VM and the drive motor inverter current IM are read, and the DC power P
Since Mdc is calculated, even if an abnormality occurs in the drive motor control device 49, the drive motor torque TM
Can be estimated. Instead of the vehicle control device 51, a monitoring control device, another control device, or the like can be used.

Next, the flowchart will be described. Step S28-21: The drive motor rotation speed NM, the drive motor inverter voltage VM, and the drive motor inverter current IM are read. Step S28-22: DC power PMdc is calculated. Step S28-23: It is judged whether or not the drive motor rotation speed NM is lower than the threshold value NMth. If the drive motor rotation speed NM is lower than the threshold NMth, step S28.
If the drive motor rotation speed NM is equal to or higher than the threshold value NMth at -25, the process proceeds to step S28-24. In step S28-24, the estimated torque value TMe is calculated based on the DC power PMdc. Step S28-25: Each change amount ΔNM of the drive motor rotation speed NM and the DC power PMdc within a predetermined time τ,
Calculate ΔPMdc. Step S28-26 Change amounts ΔNM, Δ in the determination value ε2
The value multiplied by PMdc is set. Step S28-27 The judgment value ε2 is judged. When the determination value ε2 takes a positive value (ε2> 0), step S28
If the determination value ε2 has a negative value at −28 (ε2 <0), the determination value ε2 is zero (ε2 =) at step S28-29.
If it is 0), the process proceeds to step S28-30. Step S28-28 A positive solution of the two solutions is calculated as the estimated torque value TMe. Step S28-29 The negative solution of the two solutions is calculated as the estimated torque value TMe. Step S28-30 Avoid the estimation. In step S28-31, the estimated torque value TMe is set in the drive motor torque TM and the process returns.

In the first and second embodiments, when the judgment values ε1 and ε2 are zero, the estimation processing means 95 estimates that the drive motor torque TM cannot be estimated. Therefore, when at least one of the drive motor rotation speed NM and the power PM (AC power PMac and DC power PMdc) does not change, the drive motor torque TM can be estimated. Can not.

Therefore, the present invention is designed so that the drive motor torque TM can be estimated even when at least one of the drive motor rotation speed NM and the power PM (AC power PMac and DC power PMdc) does not change. The third embodiment will be described.

FIG. 25 is a diagram showing a subroutine of drive motor torque estimation processing in the third embodiment of the invention.

In this case, the drive motor torque estimation processing means has the drive motor rotation speed NM calculated by the drive motor rotation speed calculation processing means, the d-axis current IMd and the q-axis current IMq which are alternating currents, and the The AC voltages VMU, VMV, and VMW detected by the voltage sensors 81 to 83 (FIG. 6) are read.

Next, the drive motor electrical output calculation processing means 93 (FIG. 1) as the electromechanical electrical output calculation processing means of the drive motor torque estimation processing means uses the drive motor as the electromechanical electrical output calculation processing. Electrical output calculation processing is performed, and three-phase / two-phase conversion is performed, and the voltages VMU, VM
V and VMW are converted into AC voltage d-axis voltage VMd and q-axis voltage VMq, and AC power is converted based on the d-axis current IMd and q-axis current IMq, and d-axis voltage VMd and q-axis voltage VMq. Calculate PMac.

Subsequently, the drive motor rotation speed judgment processing means as the electric machine rotation speed judgment processing means of the drive motor torque estimation processing means performs the drive motor rotation speed judgment processing as the electric machine rotation speed judgment processing to drive the motor. Whether or not the motor 25 is driven in the low rotation speed region is determined by whether or not the drive motor rotation speed NM is lower than the threshold value NMth.

When the drive motor 25 is driven in the low rotation speed region and the drive motor rotation speed NM is lower than the threshold value NMth, the drive motor is driven based on the change in the AC power PMac when the drive motor rotation speed NM changes. Torque T
Estimate M.

Therefore, the change amount calculation processing means 92 of the drive motor torque estimation processing means performs the change amount calculation processing, and each change amount ΔNM of the drive motor rotation speed NM and the AC power PMac within a predetermined time τ. , ΔP Mac is calculated. Subsequently, the estimation processing means 95 of the drive motor torque estimation processing means performs estimation processing to obtain the change amount ΔN.
The determination value ε1 for estimating the drive motor torque TM is calculated by multiplying M and ΔPMac.

Then, the estimation processing means 95 refers to the first drive motor torque estimation map recorded in advance in the recording device of the vehicle control device 51, and the judgment value ε1 takes a positive value, ε1> 0. 23, as shown by the direction of arrow f1 in FIG.
As the drive motor rotation speed NM was changed and increased, the AC power PMac was changed and increased.
Alternatively, it can be seen that the AC power PMac changes and becomes smaller as the drive motor rotation speed NM changes and becomes lower. Therefore, the estimation processing means 95 calculates a positive solution of the two solutions as the estimated torque value TMe.

When the judgment value ε1 takes a negative value and ε1 <0, as shown by the arrow f2 direction in FIG.
As the drive motor rotation speed NM changed and became higher, the AC power PMac changed and became smaller.
Alternatively, it can be seen that as the drive motor rotation speed NM changes and decreases, the AC power PMac changes and increases. Therefore, the estimation processing means 95 calculates the negative solution of the two solutions as the estimated torque value TMe.

When the judgment value ε1 is zero,
The estimation processing means 95 estimates the drive motor torque TM by the first estimation method.

That is, the estimation processing means 95 calculates the estimated torque value TMe TMe = (k1 + k2 · IMd) · IMq (5) based on the d-axis current IMd and the q-axis current IMq which are alternating currents. The estimated torque value TMe is calculated and the drive motor torque T is calculated.
By setting M, the drive motor torque TM is estimated. In the equation (5), k1 and k2 are constants, and the constants k1 and k2 are set in consideration of the counter electromotive voltage multiplier, the inductance, the loss, the temperature characteristic, etc. in the drive motor 25.

On the other hand, the drive motor 25 is not driven in the low rotation speed region, and the drive motor rotation speed NM is equal to the threshold value NMt.
If h or more, there is only one solution, so the estimation processing unit 95 refers to the first drive motor torque estimation map and determines the value of the drive motor torque TM corresponding to the AC power PMac. It is calculated as an estimated torque value TMe.

As described above, when the judgment value ε1 is zero, the estimation processing means 95 is adapted to estimate the drive motor torque TM by the first estimation method, so that the drive motor rotation speed NM or The drive motor torque TM can be estimated even when at least one of the AC power PMac does not change.

In the first estimation method, the estimation processing means 95 refers to a fourth drive motor torque estimation map (not shown) previously recorded in the recording device of the vehicle control device 51, and refers to the d-axis current. It is also possible to estimate the drive motor torque TM corresponding to IMd and the q-axis current IMq.

In the present embodiment, when the judgment value ε1 is zero, the estimation processing means 95 estimates the drive motor torque TM by the first estimation method. In the second embodiment, the drive motor torque TM can be estimated by the first estimation method when the determination value ε2 is zero.

Next, the flowchart will be described. Step S28-41 Drive motor rotation speed NM, d-axis current IMd, q-axis current IMq, and AC voltage VMU,
Read VMV and VMW. Step S28-42: Three-phase / two-phase conversion is performed. In step S28-43, the AC power PMac is calculated. Step S28-44: It is determined whether or not the drive motor rotation speed NM is lower than the threshold value NMth. If the drive motor rotation speed NM is lower than the threshold NMth, step S28.
If the drive motor rotation speed NM is equal to or higher than the threshold value NMth at -46, the process proceeds to step S28-45. In step S28-45, the estimated torque value TMe is calculated based on the AC power PMac. Step S28-46 Each change amount ΔNM of the drive motor rotation speed NM and the AC power PMac within a predetermined time τ,
Calculate ΔP Mac. Step S28-47 Change amount ΔNM, Δ in the judgment value ε1
Set the value multiplied by PMac. Step S28-48: The judgment value ε1 is judged. When the determination value ε1 takes a positive value (ε1> 0), step S28
If the determination value ε1 takes a negative value at −49 (ε1 <0), the determination value ε1 is zero (ε1 =) at step S28-50.
If it is 0), the process proceeds to step S28-51. Step S28-49 A positive solution of the two solutions is calculated as the estimated torque value TMe. Step S28-50 The negative solution of the two solutions is calculated as the estimated torque value TMe. Step S28-51 d-axis current IMd and q-axis current I
The estimated torque value TMe is calculated based on Mq. Step S28-52: Set the estimated torque value TMe to the drive motor torque TM and return.

In each of the above embodiments, the drive motor torque TM is estimated for the drive motor 25 as the second electric machine. However, for the generator 16 as the first electric machine, The torque TG can also be estimated.

In addition, in the second and third embodiments,
When the determination values ε1 and ε2 are zero, the estimation processing unit 95 uses the first estimation method to determine the drive motor torque T.
Although M is estimated, the judgment values ε1, ε
Even when 2 takes a positive value or a negative value, the estimation processing means 95 uses the first estimation method to drive the motor torque TM.
Can be estimated.

The present invention is not limited to the above-mentioned embodiments, but can be variously modified within the scope of the present invention, and they are not excluded from the scope of the present invention.

[0187]

As described above in detail, according to the present invention, in the electric vehicle drive control device, the electric machine rotation speed detecting section for detecting the electric machine rotation speed and the electric output to the electric machine are provided. Electric machine electrical output calculation processing means for calculating, change amount calculation processing means for calculating each change amount of the electric machine rotation speed and electric output, and electric machine torque based on each change amount and electric output Estimating processing means for estimating.

In this case, since the electromechanical torque is estimated on the basis of the change amounts of the electric machine rotation speed and the electric output and the electric output, the electric machine torque is estimated in the entire rotation speed region. It is possible to increase the accuracy of the operation. Further, even if the characteristics of the electric machine itself change due to the demagnetization of the permanent magnets arranged in the rotor of the electric machine, the error between the estimated torque value and the actual torque value does not increase.

In another electric vehicle drive control device of the present invention, an inverter is further arranged to drive the electric machine. Then, the electromechanical electrical output calculation processing means calculates the electrical output based on the direct current and voltage supplied to the inverter.

In this case, the DC current calculated in the drive motor control process is not required to calculate the DC power representing the electric output. Therefore, the electric machine torque can be estimated independently of the drive motor control processing. In addition, the electromechanical torque can be estimated even when an abnormality occurs in the alternating current detection unit for detecting a direct current in the drive motor control process.

In still another electric vehicle drive control device of the present invention, an electric machine control processing means for driving the electric machine is further provided. The electric machine control processing means is arranged in the first control device. The electric machine rotation speed determination processing means, the electric machine electrical output calculation processing means, the change amount calculation processing means, and the estimation processing means are the first
Is arranged in a second control device, which is higher than the control device in FIG.

In this case, the electric machine control processing means is arranged in the first control device, and the electric machine rotation speed determination processing means, the electric machine electrical output calculation processing means, the change amount calculation processing means and the estimation processing means are provided. , The second control device, which is higher than the first control device, is disposed, so that the electric machine torque can be estimated even if an abnormality occurs in the first control device.

[Brief description of drawings]

FIG. 1 is a functional block diagram of an electric vehicle drive control device according to a first embodiment of the present invention.

FIG. 2 is a conceptual diagram of a hybrid vehicle according to the first embodiment of the present invention.

FIG. 3 is an operation explanatory diagram of the planetary gear unit according to the first embodiment of the present invention.

FIG. 4 is a vehicle speed diagram during normal traveling in the first embodiment of the present invention.

FIG. 5 is a torque diagram during normal traveling according to the first embodiment of the present invention.

FIG. 6 is a conceptual diagram of a hybrid-type vehicle drive control device according to the first embodiment of the present invention.

FIG. 7 is a first main flowchart showing the operation of the hybrid vehicle drive control device in the first embodiment of the present invention.

FIG. 8 is a second main flowchart showing the operation of the hybrid vehicle drive control device according to the first embodiment of the present invention.

FIG. 9 is a third main flowchart showing the operation of the hybrid vehicle drive control device according to the first embodiment of the present invention.

FIG. 10 is a diagram showing a first vehicle demand torque map according to the first embodiment of the present invention.

FIG. 11 is a diagram showing a second vehicle required torque map in the first embodiment of the present invention.

FIG. 12 is a diagram showing an engine target operating state map according to the first embodiment of the present invention.

FIG. 13 is a diagram showing an engine drive region map according to the first embodiment of the present invention.

FIG. 14 is a diagram showing a subroutine of sudden acceleration control processing according to the first embodiment of the present invention.

FIG. 15 is a diagram showing a subroutine of drive motor control processing according to the first embodiment of the present invention.

FIG. 16 is a diagram showing a subroutine of a generator torque control process according to the first embodiment of the present invention.

FIG. 17 is a diagram showing a subroutine of engine start control processing according to the first embodiment of the present invention.

FIG. 18 is a diagram showing a subroutine of a generator rotation speed control process according to the first embodiment of the present invention.

FIG. 19 is a diagram showing a subroutine of engine stop control processing according to the first embodiment of the present invention.

FIG. 20 is a diagram showing a subroutine of generator brake engagement control processing in the first embodiment of the present invention.

FIG. 21 is a diagram illustrating a subroutine of a generator brake release control process according to the first embodiment of the present invention.

FIG. 22 is a diagram showing a subroutine of drive motor torque estimation processing according to the first embodiment of the present invention.

FIG. 23 is a diagram showing a drive motor torque estimation map in the present invention.

FIG. 24 is a diagram showing a subroutine of drive motor torque estimation processing according to the second embodiment of the present invention.

FIG. 25 is a diagram showing a subroutine of drive motor torque estimation processing in the third embodiment of the invention.

[Explanation of symbols]

11 engine 13 Planetary gear unit 16 generator 25 drive motor 29 inverter 37 drive wheels 39 Drive motor rotor position sensor 46 Engine control unit 47 Generator control device 49 Drive motor controller 51 Vehicle control device 68, 69 Current sensor 92 Change amount calculation processing means 93 drive motor electrical output calculation processing means 95 Estimating processing means CR carrier R ring gear S Sun Gear

Continued front page    F term (reference) 5H115 PC06 PG04 PI16 PI24 PU08                       PU24 PU25 PV09 QN03 QN09                       QN24 QN28 RB26 RE01 RE02                       RE03 RE06 RE20 SE02 SE03                       TB01 TI01 TI02 TI05 TI06                       TI10 TO04 TO05 TO12 TO13                       TO21 TO23 TO30

Claims (10)

[Claims] 1. An electric machine rotation speed detecting section for detecting an electric machine rotation speed, an electric machine electrical output calculation processing means for calculating an electric output to an electric machine, and the electric machine rotation speed and the electric output. An electric vehicle drive control device comprising: a change amount calculation processing unit that calculates each change amount; and an estimation processing unit that estimates an electric mechanical torque based on each change amount and an electrical output. 2. The electric machine rotation speed judgment processing means for judging whether or not the electric machine rotation speed is lower than a threshold value, and the estimation processing means, when the electric machine rotation speed is lower than a threshold value, The electric vehicle according to claim 1, wherein the electric machine torque is estimated based on the change amount and the electric output, and the electric machine torque is estimated based on the electric output when the electric machine rotation speed is equal to or higher than a threshold value. Drive controller. 3. An inverter is provided to drive the electric machine, and the electric machine electrical output calculation processing means is arranged to operate the electric machine based on an alternating current and a voltage supplied from the inverter to the electric machine. The electric vehicle drive control device according to claim 1, which calculates an output. 4. An inverter is arranged to drive the electric machine, and the electric machine electric output calculation processing means calculates the electric output based on a direct current and a voltage supplied to the inverter. The electric vehicle drive control device according to claim 1 or 2. 5. An alternating current detection unit for detecting an alternating current supplied to the electric machine, and the estimation processing means has the electric machine rotation speed lower than a threshold value, the electric machine rotation speed and the electric current. The electric vehicle drive control device according to claim 1, wherein the electric machine torque is estimated based on the alternating current when at least one of the outputs does not change. 6. The estimation processing means, when the electric machine rotation speed is lower than a threshold value and at least one of the electric machine rotation speed and the electrical output does not change, the electric machine rotor for the alternating current. 3 based on position
The electric vehicle drive control device according to claim 5, wherein the electric / mechanical torque is estimated based on the alternating current after the phase / 2 phase conversion is performed and the 3-phase / 2 phase conversion is performed. 7. The electric machine control processing means for driving the electric machine is provided, and the electric machine control processing means is disposed in the first control device, and the electric machine rotation speed determination processing means, the electric machine. 7. The electric motor according to claim 1, wherein the electric output calculation processing means, the change amount calculation processing means, and the estimation processing means are arranged in a second control device which is higher than the first control device. Vehicle drive control device. 8. A planetary gear unit comprising a sun gear, a ring gear and a carrier, wherein the carrier is connected to an engine, the ring gear is connected to a drive wheel, and the sun gear is connected to a first electric machine.
The electric vehicle drive control device according to any one of claims 1 to 7, wherein rotation output from the electric machine is transmitted to drive wheels. 9. An electric machine rotation speed is detected, an electric output to the electric machine is calculated, each change amount of the electric machine rotation speed and the electric output is calculated, and the change amount and the electric output are calculated. An electric vehicle drive control method comprising estimating an electric machine torque based on the electric machine torque. 10. A computer, an electric machine electrical output calculation processing means for calculating an electric output to an electric machine, a change amount calculation processing means for calculating each change amount of the electric machine rotation speed and the electric output, and A program for an electric vehicle drive control method, which is caused to function as an estimation processing unit that estimates an electric mechanical torque based on each of the change amounts and the electrical output.