JP2004343838A - Power output unit, control method thereof, and automobile - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To quickly cope with increase of a required torque which is required for a drive shaft while considering the output limit of a power storage device. <P>SOLUTION: An averaging rotational number of engine Netmp2 is calculated as the rotational number for smoothly changing the rotational number of an engine (S130). A temporary rotational number of engine Netmp3 is calculated as the rotational number for compatibilily of an increase limit to the increase in torque to a ring gear shaft as a drive shaft and an output limit Wout of a battery (S140-S170). The higher rotational number among them is set as a target rotational number Ne* of an engine (S180), for controlling the engine and two motors (S190-S230). Thus, an abrupt stepping on an accelerator pedal by a driver is coped by quick increasing of the rotational number of the engine within the range of output limit of the battery. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a power output device, a control method thereof, and a vehicle, and more particularly, to a power output device that outputs power to a drive shaft, a control method thereof, and a vehicle.
[0002]
[Prior art]
Conventionally, as a power output device of this type, power is supplied to an engine, a planetary gear in which a crankshaft of the engine is connected to a carrier and a ring gear is connected to a drive shaft mechanically connected to an axle, and a sun gear of the planetary gear. A motor having a first motor for inputting and outputting power and a second motor for inputting and outputting power to and from a driving shaft has been proposed (for example, see Patent Document 1). In this device, a target rotation speed and a target torque are set as target operation points of an engine capable of efficiently outputting necessary power based on a torque requested by a driver to a drive shaft. A torque command for the first motor is set by feedback control based on a deviation between the target rotation speed of the first motor calculated from the gear ratio of the planetary gear and the current rotation speed of the first motor. Then, the torque transmitted from the engine side to the drive shaft by the planetary gears is set to a torque command for the second motor that is insufficient for the required torque. Thus, the required torque is efficiently output to the drive shaft.
[0003]
[Patent Document 1]
JP-A-10-326115 (pages 20 and 21)
[0004]
[Problems to be solved by the invention]
In such a power output device, when the required torque required for the drive shaft suddenly increases, the operating point of the engine is changed to drive and control the engine and the first motor, and the torque transmitted from the engine side is insufficient. Is output from the second motor. Since the operating point of the engine cannot be changed suddenly due to a change in the number of revolutions, feedback control in the torque command of the first motor is also considered. For this reason, a sudden increase in the required torque often results in a sudden increase in the load by the second motor, and in many cases, the power generation of the first motor is delayed due to a delay in the increase in the rotation speed of the first motor. In consideration of the output limitation, there may be a case where the required torque cannot be quickly output to the drive shaft.
[0005]
An object of the power output apparatus and the control method of the present invention is to respond more rapidly to a sudden increase in required torque required for a drive shaft. Further, another object of the power output device and the control method thereof according to the present invention is to consider the output limitation of a power storage device such as a battery. An object of the present invention is to respond more rapidly to a sudden increase in required torque required for a drive shaft connected to an axle, and to consider an output limitation of a power storage device such as a battery.
[0006]
[Means for Solving the Problems and Their Functions and Effects]
The power output apparatus, the control method thereof, and the vehicle according to the present invention employ the following means in order to achieve at least a part of the above objects.
[0007]
The power output device of the present invention,
A power output device that outputs power to a drive shaft,
An internal combustion engine,
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least a part of the power from the internal combustion engine to the drive shaft with input / output of power and power;
An electric motor capable of inputting and outputting power to the drive shaft,
Power storage means capable of exchanging power with the power motive input / output means and the electric motor,
When the required driving force to the drive shaft suddenly increases, an operating point of the internal combustion engine for outputting a driving force according to the required driving force is set based on the required driving force and the output limitation of the power storage means. Operating point setting means for
The internal combustion engine, the power input / output means, and the electric motor are controlled such that the internal combustion engine is operated at the set operation point and a driving force corresponding to the required driving force is output to the drive shaft. And control means.
[0008]
In the power output device of the present invention, when the required driving force to the drive shaft increases rapidly, the power output device outputs a power corresponding to the required driving force based on the required driving force required for the driving shaft and the output limitation of the power storage means. Operating point of the internal combustion engine for the internal combustion engine and at least the power from the internal combustion engine and the internal combustion engine so that the driving force corresponding to the required driving force is output to the drive shaft at the set operating point. A power / power input / output unit that outputs a part to the drive shaft and a motor that inputs / outputs power to / from the drive shaft are controlled. Therefore, it is possible to set an operation point in consideration of the required driving force and the output limitation of the power storage means as the operation point of the internal combustion engine, so that it is possible to more quickly respond to the required driving force and to cope with the output limitation of the power storage means. can do. As a result, it is possible to quickly output a driving force corresponding to the required driving force to the drive shaft.
[0009]
In such a power output device according to the present invention, the operating point setting means may be means for setting an operating point of the internal combustion engine based on a degree of change in the required driving force. This makes it possible to quickly respond to a change in the required driving force.
[0010]
Further, in the power output device according to the present invention, the operating point setting means may calculate a first rotational speed of the internal combustion engine based on an increase limitation on an increase in driving force to the drive shaft and an output limitation of the power storage means. It may be a means for setting a rotation speed as a target rotation speed at an operation point of the internal combustion engine. With this configuration, the rotation speed based on the increase limitation with respect to the increase in the driving force to the drive shaft and the output limitation of the power storage means is set as the target rotation speed at the operation point of the internal combustion engine. The number of revolutions of the engine can be increased, and a driving force corresponding to the required driving force can be quickly output to the drive shaft.
[0011]
In the power output device according to the aspect of the present invention in which the first rotational speed is calculated, the operating point setting means may perform a smoothing process on a rotational speed of the internal combustion engine calculated from the required driving force. Means may be a means for setting a higher rotation speed between the first rotation speed and the first rotation speed as a target rotation speed at an operation point of the internal combustion engine. In this case, a higher rotation speed in the controllable range can be set as the target rotation speed at the operating point of the internal combustion engine. As a result, the rotation speed of the internal combustion engine can be rapidly increased, and a driving force corresponding to the required driving force can be quickly output to the drive shaft.
[0012]
Further, in the power output device according to the aspect of the present invention in which the first rotation speed is calculated, the operating point setting means includes a first driving force output to the drive shaft based on the power output from the power input / output means. And the second power output from the electric motor to the drive shaft is equal to the smaller of the increased-limited drive power and the required drive power. The first rotational speed is calculated based on the first driving force obtained from the relationship that the sum of the output first power and the second power input and output by the electric motor is equal to the output limit of the power storage means. Then, the operating point may be set. With this configuration, the first rotation speed is calculated as either the rotation speed within the limit range or the required rotation speed, so that the operation of the internal combustion engine can be promptly controlled at the operation point corresponding to the request. In the power output device according to the aspect of the present invention, when the target rotation speed of the internal combustion engine is set, the operating point setting means controls the electric power input / output means by using the set target rotation speed. The power output from the power motive input / output means calculated from the first driving force with respect to the relational expression of the target power to be output from the power motive output means when the power motive force is output is obtained by back calculation. The target speed may be calculated as the first speed. This makes it possible to smoothly control the electric power input means used for controlling the operation of the internal combustion engine.
[0013]
In the power output device of the present invention, the control means drives and controls the power / power input / output means under driving conditions set to operate the internal combustion engine at the set operating point, and the drive control The motor may be a means for controlling the driving of the electric motor such that a driving force that is a difference between the driving force acting on the driving shaft and the required driving force is output to the driving shaft. In this case, the required driving force can be output to the drive shaft. In the power output apparatus according to the aspect of the present invention, the control means may be means for controlling the driving of the electric motor within a range of an output limit of the power storage means. With this configuration, a driving force corresponding to the required power can be output to the driving shaft within the range of the output limitation of the power storage unit.
[0014]
In the power output device of the present invention, the power / power input / output means is connected to three axes of an output shaft of the internal combustion engine, the drive shaft, and a third shaft, and inputs / outputs to any two of the three shafts. The means may include a three-axis power input / output unit for inputting / outputting power to the remaining shaft based on the power and a generator for inputting / outputting power to / from the third shaft. The power input / output means has a first rotor attached to an output shaft of the internal combustion engine and a second rotor attached to the drive shaft. The first rotor and the second rotor The rotor motor may output at least a part of the power from the internal combustion engine to the drive shaft together with the input and output of the electric power by the electromagnetic action.
[0015]
The vehicle according to the present invention is a power output device according to any one of the above-described embodiments of the present invention, that is, a power output device that basically outputs power to a drive shaft, comprising: an internal combustion engine; Power power input / output means connected to a shaft and the drive shaft for outputting at least a part of power from the internal combustion engine to the drive shaft with input and output of power and power, and inputting and outputting power to the drive shaft A possible motor, a power storage unit capable of exchanging power with the power motive input / output unit and the motor, and when the required driving force to the drive shaft suddenly increases, the required driving force and the output limitation of the power storage unit. Operating point setting means for setting an operating point of the internal combustion engine for outputting a power corresponding to the required driving force based on the operating point; and operating the internal combustion engine at the set operating point and the required driving force. Drive corresponding to A power output device comprising: a control unit for controlling the internal combustion engine, the electric power input / output unit, and the electric motor such that a force is output to the drive shaft, wherein the drive shaft is mechanically connected to an axle. The point is that the vehicle travels.
[0016]
According to the vehicle of the present invention, since the power output device of the present invention is provided in any one of the above-described embodiments, the effect of the power output device of the present invention is achieved. The effect of being able to set operating points in consideration of the output limitation of the power supply, the effect of being able to quickly respond to the required driving force, the effect of being able to respond to the output limitation of the power storage means, and the driving corresponding to the required driving force The same effect as the effect that the force can be quickly output to the drive shaft can be obtained.
[0017]
A method of controlling a power output device according to the present invention includes the steps of: connecting an internal combustion engine to an output shaft and a drive shaft of the internal combustion engine; A power power input / output unit that outputs power to a shaft, a motor capable of inputting / outputting power to / from the drive shaft, and a power storage unit capable of exchanging power with the power / power input / output unit and the motor; A control method,
(A) operation of the internal combustion engine for outputting power according to the required driving force based on the required driving force and the output limitation of the power storage means when the required driving force to the drive shaft is rapidly increased; Set points,
(B) operating the internal combustion engine at the set operation point and outputting the driving force corresponding to the required driving force to the drive shaft; Is to be controlled.
[0018]
According to the power output device control method of the present invention, when the required driving force to the drive shaft increases rapidly, the required driving force is determined based on the required driving force required for the drive shaft and the output limitation of the power storage means. Operating points of the internal combustion engine for outputting the generated power, the internal combustion engine is operated at the set operating points and the driving force corresponding to the required driving force is output to the drive shaft. Control the electric power input / output means for outputting at least a part of the power from the drive shaft to the drive shaft and the electric motor for inputting / outputting the power to the drive shaft. Can be set in consideration of the operation point. As a result, it is possible to respond more quickly to the required driving force and to cope with the output limitation of the power storage means, and to quickly output the driving force corresponding to the required driving force to the drive shaft.
[0019]
In the control method of the power output device according to the present invention, the step (a) is calculated as a rotation speed of the internal combustion engine from an increase limitation on an increase in driving force to the drive shaft and an output limitation of the power storage means. It may be a step of setting the first rotation speed as a target rotation speed at an operation point of the internal combustion engine.
With this configuration, the rotation speed based on the increase limitation with respect to the increase in the driving force to the drive shaft and the output limitation of the power storage means is set as the target rotation speed at the operation point of the internal combustion engine. The number of revolutions of the engine can be increased, and a driving force corresponding to the required driving force can be quickly output to the drive shaft.
[0020]
In the control method for a power output device according to the aspect of the present invention in which the first rotational speed is calculated, the step (a) may include a step of performing a smoothing process on the rotational speed of the internal combustion engine calculated from the required driving force. It may be a step of setting a larger rotation speed of the two rotation speeds and the first rotation speed as a target rotation speed at an operation point of the internal combustion engine. In this case, a higher rotation speed in the controllable range can be set as the target rotation speed at the operating point of the internal combustion engine. As a result, the rotation speed of the internal combustion engine can be rapidly increased, and a driving force corresponding to the required driving force can be quickly output to the drive shaft.
[0021]
In the control method for a power output device according to the aspect of the present invention, in which the first rotation speed is calculated, the step (a) may include the step of: The relationship that the sum of the first driving force and the second driving force output from the electric motor to the driving shaft is equal to the increased limited driving force, and the first power input / output by the power input / output means. The operating point is set by calculating the first rotation speed based on the first driving force obtained from the relationship that the sum of the second electric power input and output by the electric motor is equal to the output limit of the electric storage means. Step. With this configuration, the first rotation speed is calculated as either the rotation speed within the limit range or the required rotation speed, so that the operation of the internal combustion engine can be promptly controlled at the operation point corresponding to the request.
[0022]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, embodiments of the present invention will be described using examples. FIG. 1 is a configuration diagram schematically showing the configuration of a hybrid vehicle 20 equipped with a power output device according to one embodiment of the present invention. As shown in the figure, the hybrid vehicle 20 of the embodiment includes an engine 22, a three-shaft power distribution integration mechanism 30 connected to a crankshaft 26 as an output shaft of the engine 22 via a damper 28, and a power distribution integration mechanism. A motor MG1 capable of generating electricity connected to the mechanism 30, a reduction gear 35 attached to a ring gear shaft 32a as a drive shaft connected to the power distribution integration mechanism 30, and a motor MG2 connected to the reduction gear 35; A hybrid electronic control unit 70 for controlling the entire power output device.
[0023]
The engine 22 is an internal combustion engine that outputs power using a hydrocarbon-based fuel such as gasoline or light oil, and an engine electronic control unit (hereinafter referred to as an engine ECU) that inputs signals from various sensors that detect the operating state of the engine 22. ) 24, operation control such as fuel injection control, ignition control, intake air amount adjustment control, and the like. The engine ECU 24 is in communication with the hybrid electronic control unit 70, controls the operation of the engine 22 according to a control signal from the hybrid electronic control unit 70, and, if necessary, transmits data on the operating state of the engine 22 to the hybrid electronic control unit. Output to the unit 70.
[0024]
The power distribution and integration mechanism 30 includes a sun gear 31 of an external gear, a ring gear 32 of an internal gear arranged concentrically with the sun gear 31, a plurality of pinion gears 33 meshing with the sun gear 31 and meshing with the ring gear 32, A carrier 34 that holds the plurality of pinion gears 33 so as to rotate and revolve freely is provided, and is configured as a planetary gear mechanism that performs a differential action by using the sun gear 31, the ring gear 32, and the carrier 34 as rotating elements. In the power distribution and integration mechanism 30, the carrier 34 is connected to the crankshaft 26 of the engine 22, the sun gear 31 is connected to the motor MG1, and the ring gear 32 is connected to the reduction gear 35 via a ring gear shaft 32a. When functioning as a generator, the power from the engine 22 input from the carrier 34 is distributed to the sun gear 31 and the ring gear 32 according to the gear ratio. When the motor MG1 functions as an electric motor, the engine input from the carrier 34 is used. The power from the motor 22 and the power from the motor MG1 input from the sun gear 31 are integrated and output to the ring gear 32 side. The power output to the ring gear 32 is finally output from the ring gear shaft 32a to the drive wheels 63a and 63b of the vehicle via the gear mechanism 60 and the differential gear 62.
[0025]
Each of the motors MG1 and MG2 is configured as a well-known synchronous generator motor that can be driven as a generator and can also be driven as a motor, and exchanges power with the battery 50 via the inverters 41 and 42. Power line 54 connecting inverters 41 and 42 and battery 50 is configured as a positive bus and a negative bus shared by inverters 41 and 42, and supplies power generated by one of motors MG 1 and MG 2 to another. It can be consumed by a motor. Therefore, battery 50 is charged and discharged by electric power generated from one of motors MG1 and MG2 or insufficient electric power. If it is assumed that the electric power balance is balanced by the motors MG1 and MG2, the battery 50 is not charged or discharged. The motors MG1 and MG2 are both driven and controlled by a motor electronic control unit (hereinafter referred to as a motor ECU) 40. The motor ECU 40 detects signals necessary for controlling the driving of the motors MG1 and MG2, for example, signals from rotation position detection sensors 43 and 44 for detecting the rotation positions of the rotors of the motors MG1 and MG2 and detection by a current sensor (not shown). The motor ECU 40 outputs a switching control signal to the inverters 41 and 42, for example. The motor ECU 40 communicates with the hybrid electronic control unit 70, controls the driving of the motors MG1 and MG2 according to the control signal from the hybrid electronic control unit 70, and outputs data on the operating state of the motors MG1 and MG2 as necessary. Output to the hybrid electronic control unit 70.
[0026]
The battery 50 is managed by a battery electronic control unit (hereinafter referred to as a battery ECU) 52. A signal necessary for managing the battery 50, such as a voltage between terminals from a voltage sensor (not shown) provided between terminals of the battery 50, a power line 54 connected to an output terminal of the battery 50, The charging / discharging current from the attached current sensor (not shown), the battery temperature Tb from the temperature sensor 51 attached to the battery 50, and the like are input. If necessary, data on the state of the battery 50 is communicated to the hybrid electronic device. Output to the control unit 70. The battery ECU 52 also calculates the remaining capacity (SOC) based on the integrated value of the charge / discharge current detected by the current sensor to manage the battery 50.
[0027]
The hybrid electronic control unit 70 is configured as a microprocessor having a CPU 72 as a center. In addition to the CPU 72, a ROM 74 for storing a processing program, a RAM 76 for temporarily storing data, an input / output port (not shown) Port. The hybrid electronic control unit 70 includes an ignition signal from an ignition switch 80, a shift position SP from a shift position sensor 82 that detects an operation position of a shift lever 81, and an accelerator pedal position sensor 84 that detects the amount of depression of an accelerator pedal 83. , The brake pedal position BP from a brake pedal position sensor 86 that detects the amount of depression of the brake pedal 85, the vehicle speed V from a vehicle speed sensor 88, and the like are input via input ports. As described above, the hybrid electronic control unit 70 is connected to the engine ECU 24, the motor ECU 40, and the battery ECU 52 via the communication port, and exchanges various control signals and data with the engine ECU 24, the motor ECU 40, and the battery ECU 52. ing.
[0028]
In the hybrid vehicle 20 of the embodiment configured as described above, the required torque to be output to the ring gear shaft 32a as the drive shaft is calculated based on the accelerator opening Acc and the vehicle speed V corresponding to the amount of depression of the accelerator pedal 83 by the driver. Then, the operation of engine 22, motor MG1, and motor MG2 is controlled such that the required power corresponding to the required torque is output to ring gear shaft 32a. As the operation control of the engine 22, the motor MG1, and the motor MG2, the operation of the engine 22 is controlled so that the power corresponding to the required power is output from the engine 22, and all of the power output from the engine 22 is transmitted to the power distribution integration mechanism 30. And the torque conversion operation mode for driving and controlling the motors MG1 and MG2 so that the torque is converted by the motor MG1 and the motor MG2 and output to the ring gear shaft 32a. The operation of the engine 22 is controlled so that the corresponding power is output from the engine 22, and all or a part of the power output from the engine 22 with the charging and discharging of the battery 50 is partially or completely converted to the power distribution and integration mechanism 30, the motor MG 1, and the motor The required power accompanies the ring gear shaft 32 with torque conversion by the MG2. Charge / discharge operation mode in which the motor MG1 and the motor MG2 are drive-controlled so as to be output to the motor drive mode in which the operation of the engine 22 is stopped and the power corresponding to the required power from the motor MG2 is output to the ring gear shaft 32a. and so on.
[0029]
Next, the operation of the hybrid vehicle 20 according to the embodiment configured as described above, particularly, the operation when the driver depresses the accelerator pedal 83 rapidly while the hybrid vehicle 20 is running at a relatively medium to low speed will be described. FIG. 2 shows an example of a drive control routine executed by the hybrid electronic control unit 70 during this operation. This routine is repeatedly executed every predetermined time (for example, every 8 msec) from when the driver depresses the accelerator pedal 83 suddenly. It should be noted that the determination as to the conditions under which this routine is executed when the driver suddenly depresses the accelerator pedal 83 can be made in various ways, for example, based on the difference between the previous and current accelerator opening Acc. .
[0030]
When the drive control routine is executed, the CPU 72 of the hybrid electronic control unit 70 firstly reads the accelerator opening Acc from the accelerator pedal position sensor 84, the vehicle speed V from the vehicle speed sensor 88, the rotational speeds Nm1, of the motors MG1, MG2. A process for inputting data necessary for control such as Nm2 is executed (step S100).
Here, the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 are calculated based on the rotational positions of the rotors of the motors MG1 and MG2 detected by the rotational position detection sensors 43 and 44, and are input from the motor ECU 40 via communication. To do.
[0031]
When the data is input in this manner, the required torque Tr * to be output to the ring gear shaft 32a as the drive shaft connected to the drive wheels 63a and 63b as the torque required for the vehicle based on the input accelerator opening Acc and vehicle speed V. And the required power Pe * to be output from the engine 22 (step S110). In the embodiment, the required torque Tr * is determined in advance by storing the relationship between the accelerator opening Acc, the vehicle speed V, and the required torque Tr * in the ROM 74 as a required torque setting map. Is given, the corresponding required torque Tr * is derived and set from the stored map. FIG. 3 shows an example of the required torque setting map. The required power Pe * can be calculated as a value obtained by multiplying the set required torque Tr * by the rotation speed Nr of the ring gear shaft 32a, and adding a required charge / discharge amount Pb * of the battery 50 and a loss. Note that the rotation speed Nr of the ring gear shaft 32a can be obtained by multiplying the vehicle speed V by a conversion coefficient k, or by dividing the rotation speed Nm2 of the motor MG2 by the gear ratio Gr of the reduction gear 35. The required charge / discharge amount Pb * can be set by the remaining capacity (SOC) of the battery 50, the accelerator opening Acc, and the like.
[0032]
When the required torque Tr * and the required power Pe * are set, the provisional engine rotation speed Netmp1 and the provisional engine torque Tetmp1 are set based on the set required power Pe * and an operation line for operating the engine 22 efficiently (step). S130). FIG. 4 shows an example of an operation line of the engine 22 and how to set the provisional engine rotation speed Netmp1 and the provisional engine torque Tetmp1. As shown in the figure, the provisional engine speed Netmp1 and the provisional engine torque Tetmp1 can be obtained from the intersection of the operating line and a curve with a constant required power Pe * (Te × Ne). Subsequently, a smoothed engine speed Netmp2 obtained by performing a smoothing process on the set temporary engine speed Netmp1 using the previous target speed Ne * is calculated (step S130). The smoothed engine speed Netmp2 is calculated to smoothly change the speed Ne of the engine 22. Note that the annealing process is a known process, and a description thereof will be omitted.
[0033]
Next, the smaller of the torque obtained by adding the change torque Tset set as the torque change restriction to the torque currently output to the ring gear shaft 32a as the drive shaft and the required torque Tr * is expressed by the following equation (1). ) To calculate the temporary driving torque Tr1 * (step S140). In the equation (1), “previous Tm2 *” is a torque command of the motor MG2 set in the previous drive control routine, “previous Tm1 *” is a torque command of the motor MG1 set in the previous drive control routine, “Gr” is the gear ratio of the reduction gear 35 (the number of revolutions of the motor MG1 / the number of revolutions of the ring gear shaft 32a), and “ρ” is the gear ratio of the power distribution and integration mechanism 30 (the number of teeth of the sun gear / the number of teeth of the ring gear). It is. FIG. 5 shows an example of an alignment chart for mechanically explaining the rotation speed and the torque of the rotating element of the power distribution and integration mechanism 30. In the figure, the left S axis indicates the rotation speed of the sun gear 31 which is the rotation speed Nm1 of the motor MG1, the C axis indicates the rotation speed of the carrier 34 which is the rotation speed Ne of the engine 22, and the R axis indicates the rotation speed of the motor MG2. The rotation speed Nr of the ring gear 32 obtained by multiplying the number Nm2 by the gear ratio Gr of the reduction gear 35 is shown.
Two thick arrows on the R axis indicate the torque transmitted from the engine 22 to the ring gear shaft 32a when the engine 22 is steadily operated at the operating point of the target rotation speed Ne * and the target torque Te *. And the torque Tm2 * output from the motor MG2 acts on the ring gear shaft 32a via the reduction gear 35. The two terms in the parentheses on the right side of the equation (1) act on the ring gear shaft 32a in a state where the driving is performed using the torque command Tm1 * and the target torque Te * set when this routine was executed last time. It can be seen that the torque (previous Tm2 * · Gr-previous Tm1 * / ρ) is added to the changed torque Tset.
[0034]
(Equation 1)
Tr1 * = min (Tr *, previous Tm2 * .Gr-previous Tm1 * / ρ + Tset) (1)
[0035]
Subsequently, using the calculated temporary drive torque Tr1 * and the output limit Wout of the battery 50, the temporary motor torques Tm1tmp and Tm2tmp of the motors MG1 and MG2 are calculated from the following equations (2) and (3) (step S150). . Here, equation (2) is a relation in which the sum of the power input and output by the motor MG1 and the motor MG2 plus the loss is equal to the output limit Wout of the battery 50, and equation (3) is The relationship is such that the sum of the torques output by the motor MG2 to the ring gear shaft 32a as the drive shaft is equal to the temporary drive torque Tr1 *. Note that the output limit Wout of the battery 50 can be obtained from the temperature Tb of the battery 50, the remaining capacity (SOC), and the like.
[0036]
(Equation 2)
Nm2 · Tm2tmp + Nm1 · Tm1tmp + Last Loss = Wout (2)
Tm2tmp · Gr−Tm1tmp / ρ = Tr1 * (3)
[0037]
Then, when the target rotation speed Nm1 * is set, the motor in the feedback control for rotating the motor MG1 at the target rotation speed Nm1 * based on the deviation between the target rotation speed Nm1 * and the current rotation speed Nm1 *. The provisional motor rotation speed Nm1tmp is calculated by back-calculating the relational expression shown in the following expression (4) for obtaining the torque command Tm1 * to be output from the MG1 using the provisional motor torque Tm1tmp instead of the torque command Tm1 * (step S160). An expression using the provisional motor torque Tm1tmp and the provisional motor rotation speed Nm1tmp is shown as Expression (5). Here, the function PID in the equations (4) and (5) is constituted by a proportional term, an integral term or a derivative term in the feedback control.
[0038]
[Equation 3]
Tm1 * = previous Tm1 * + PID (Nm1, Nm1 *) (4)
Tm1tmp = Previous Tm1 * + PID (Nm1, Nm1tmp) (5)
[0039]
When the provisional motor rotation speed Nm1tmp is calculated in this manner, the following expression (6) is obtained using the calculated provisional motor rotation speed Nm1tmp, the current rotation speed Nr of the ring gear shaft 32a (Nm2 / Gr), and the gear ratio ρ of the power distribution and integration mechanism 30. Is used to calculate the provisional engine speed Netmp3 (step S170). The processing in steps S140 to S170 is performed by setting the provisional engine speed as the number of revolutions of the engine 22 to achieve both the limitation on the increase in the torque to the ring gear shaft 32a as the drive shaft (change torque Tset is equivalent) and the limitation on the output Wout of the battery 50. This can be said to be a process of calculating the rotation speed Netmp3.
[0040]
(Equation 4)
Netmp3 = Nm1tmp · ρ / (1 + ρ) + (Nm2 / Gr) / (1 + ρ) (6)
[0041]
Then, by comparing the smoothed engine speed Netmp2 calculated in step S130 with the calculated temporary engine speed Netmp3, the larger one is set as the target speed Ne * of the engine 22 and the target speed set with the required power Pe *. The target torque Te * is calculated by dividing by the number Ne * (step S180), and the set target rotation speed Ne *, the rotation speed Nr of the ring gear shaft 32a (Nm2 / Gr), and the gear ratio ρ of the power distribution integration mechanism 30 are used. Then, the target rotation speed Nm1 * of the motor MG1 is calculated by the following expression (7), and the torque command Tm1 * of the motor MG1 is calculated by the above expression (4) using the calculated target rotation speed Nm1 * (step S190). . As described above, the smoothed engine rotation speed Netmp2 and the provisional engine rotation speed Netmp3 increase the rotation speed for smoothly changing the rotation speed Ne of the engine 22, the increase in the torque to the ring gear shaft 32a, and the increase in the battery 50. Since the rotation speed is equivalent to the rotation speed for satisfying the output limit Wout, the larger rotation speed is set as the target rotation speed Ne * of the engine 22 to increase the rotation speed of the engine 22 relatively smoothly and quickly. You can do it.
[0042]
(Equation 5)
Nm1 * = Ne * · (1 + ρ) / ρ−Nm2 / (Gr · ρ) (7)
[0043]
Next, the difference between the output limit Wout of the battery 50 and the calculated torque command Tm1 * of the motor MG1 multiplied by the current rotation speed Nm1 of the motor MG1 is determined by the rotation of the motor MG2. By dividing by the number Nm2, a torque limit Tmax as an upper limit of the torque that may be output from the motor MG2 is calculated by the following equation (8) (step S200), and the required torque Tr *, the torque command Tm1 *, and the power distribution integration are calculated. Using the gear ratio ρ of the mechanism 30, a temporary motor torque Tm2tmp as a torque to be output from the motor MG2 is calculated by equation (9) (step S210), and the calculated torque limit Tmax is compared with the temporary motor torque Tm2tmp. The smaller one is set as the torque command Tm2 * of the motor MG2 (step S220). As a result, the torque command Tm2 * of the motor MG2 is set as the torque required to output the required torque Tr * requested by the driver to the ring gear shaft 32a within the range of the output limitation of the battery 50. Can be.
[0044]
(Equation 6)
Tmax = (Wout−Tm1 * · Nm1) / Nm2 (8)
Tm2tmp = (Tr * + Tm1 * / ρ) / Gr (9)
[0045]
When the target rotation speed Ne * and the target torque Te * of the engine 22 and the target rotation speed Nm1 * and the torque command Tm1 * of the motor MG1 and the torque command Tm2 * of the motor MG2 are set in this manner, the target rotation speed Ne * and the target The torque Te * is transmitted to the engine ECU 24, and the target rotation speed Nm1 * of the motor MG1, the torque command Tm1 *, and the torque command Tm2 * of the motor MG2 are transmitted to the motor ECU 40 (step S230), and the drive control routine ends. . The engine ECU 24 that has received the target rotation speed Ne * and the target torque Te * performs fuel injection control and the like on the engine 22 such that the engine 22 is operated at an operation point indicated by the target rotation speed Ne * and the target torque Te *. Control such as ignition control is performed. Further, motor ECU 40 having received target rotation speed Nm1 *, torque command Tm1 *, and torque command Tm2 * operates inverter 41 such that motor MG1 is driven by torque command Tm1 * and motor MG2 is driven by torque command Tm2 *. , 42 are controlled.
[0046]
According to the hybrid vehicle 20 of the embodiment described above, the rotation speed (smoothed engine rotation speed Netmp2) for smoothly changing the rotation speed Ne of the engine 22 and the increase in the torque to the ring gear shaft 32a as the drive shaft are reduced. The larger of the rotation speed (temporary engine rotation speed Netmp3) for satisfying both the increase limitation and the output limitation Wout of the battery 50 is set as the target rotation speed Ne * of the engine 22, and the engine 22 and the motors MG1 and MG2 are set. Since the control is performed, it is possible to respond to a sudden depression of the accelerator pedal 83 by the driver by increasing the rotation speed of the engine 22 relatively smoothly and quickly. That is, it is possible to promptly respond to the driver's sudden depression of the accelerator pedal 83 and also to respond to the output limitation Wout of the battery 50. Moreover, since the torque command Tm2 * of the motor MG2 is set until the output limit Wout of the battery 50 is reached, the torque (requested torque Tr *) required by the driver can be quickly output to the ring gear shaft 32a as the drive shaft. it can.
[0047]
In the hybrid vehicle 20 of the embodiment, the larger one of the smoothed engine speed Netmp2 and the temporary engine speed Netmp3 is set as the target speed Ne * of the engine 22 to control the engine 22 and the motors MG1 and MG2. However, if it is supposed that the smooth change of the rotation speed Ne of the engine 22 is completely performed when responding to the sudden depression of the accelerator pedal 83 by the driver, the increase in the torque is more important than the provisional engine. The engine speed 22 is set as the target speed Ne * of the engine 22 so as to achieve both the speed limit Netp3, that is, the speed limit Wout for increasing the torque to the ring gear shaft 32a as the drive shaft and the output limit Wout of the battery 50. Or the motors MG1 and MG2 may be controlled.
[0048]
In the hybrid vehicle 20 of the embodiment, in the process of calculating the provisional engine rotation speed Netmp3, the provisional motor rotation speed Nm1tmp is calculated by performing an inverse calculation using the provisional motor torque Tm1tmp in the relational expression of the feedback control by the PID control. The feedback control is not limited to the PID control, but may be, for example, feedback control by PI control without a differential term, or feedback control by proportional control without an integral term.
[0049]
In the hybrid vehicle 20 of the embodiment, the power of the motor MG2 is changed by the reduction gear 35 and output to the ring gear shaft 32a. However, as illustrated in the hybrid vehicle 120 of the modified example of FIG. May be output to an axle (an axle connected to the wheels 64a and 64b in FIG. 6) different from an axle to which the ring gear shaft 32a is connected (an axle to which the drive wheels 63a and 63b are connected).
[0050]
In the hybrid vehicle 20 of the embodiment, the power of the engine 22 is output to the ring gear shaft 32a as the drive shaft connected to the drive wheels 63a and 63b via the power distribution and integration mechanism 30, but a modification of FIG. The hybrid vehicle 220 includes an inner rotor 232 connected to the crankshaft 26 of the engine 22, and an outer rotor 234 connected to a drive shaft that outputs power to the drive wheels 63a and 63b. May be provided with a pair rotor motor 230 that transmits a part of the power to the drive shaft and converts the remaining power into electric power.
[0051]
As described above, the embodiments of the present invention have been described using the examples. However, the present invention is not limited to these examples, and may be implemented in various forms without departing from the gist of the present invention. Obviously you can get it.
[Brief description of the drawings]
FIG. 1 is a configuration diagram schematically showing the configuration of a hybrid vehicle 20 equipped with a power output device according to one embodiment of the present invention.
FIG. 2 is a flowchart illustrating an example of a drive control routine executed by a hybrid electronic control unit 70 of the embodiment.
FIG. 3 is an explanatory diagram showing an example of a required torque setting map.
FIG. 4 is an explanatory diagram showing an example of an operation line of an engine 22 and setting of a provisional engine rotation speed Netmp1 and a provisional engine torque Tetmp1.
FIG. 5 is an explanatory diagram showing an example of an alignment chart for mechanically explaining rotating elements of the power distribution and integration mechanism 30;
FIG. 6 is a configuration diagram schematically showing a configuration of a hybrid vehicle 120 according to a modified example.
FIG. 7 is a configuration diagram schematically illustrating a configuration of a hybrid vehicle 220 according to a modified example.
[Explanation of symbols]
20, 120, 220 Hybrid vehicle, 22 engine, 24 Engine electronic control unit (engine ECU), 26 crankshaft, 28 damper, 30 power distribution integrated mechanism, 31 sun gear, 32 ring gear, 32a ring gear shaft, 33 pinion gear, 34 carrier , 35,135 reduction gear, 40 motor electronic control unit (motor ECU), 41, 42 inverter, 43, 44 rotation position detection sensor, 50 battery, 51 temperature sensor, 52 battery electronic control unit (battery ECU), 54 Power line, 60 gear mechanism, 62 differential gear, 63a, 63b, 64a, 64b drive wheel, 70 hybrid electronic control unit, 72 CPU, 74 ROM, 76 RAM, 80 ignition switch, 81 shift lever Chromatography, 82 shift position sensor, 83 accelerator pedal, 84 an accelerator pedal position sensor, 85 brake pedal, 86 a brake pedal position sensor, 88 vehicle speed sensor, 230 pair-rotor motor, 232 an inner rotor 234 outer rotor, MG1, MG2 motor.

Claims (15)

A power output device that outputs power to a drive shaft,
An internal combustion engine,
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least a part of the power from the internal combustion engine to the drive shaft with input / output of power and power;
An electric motor capable of inputting and outputting power to the drive shaft,
Power storage means capable of exchanging power with the power motive input / output means and the electric motor,
When the required driving force to the drive shaft suddenly increases, an operating point of the internal combustion engine for outputting a driving force according to the required driving force is set based on the required driving force and the output limitation of the power storage means. Operating point setting means for
The internal combustion engine, the power input / output means, and the electric motor are controlled such that the internal combustion engine is operated at the set operation point and a driving force corresponding to the required driving force is output to the drive shaft. And a control means. The power output device according to claim 1, wherein the operating point setting means is means for setting an operating point of the internal combustion engine based on a degree of change in the required driving force. The operating point setting means sets a first rotation speed calculated as a rotation speed of the internal combustion engine from an increase limit with respect to an increase in driving force to the drive shaft and an output limit of the power storage unit at an operation point of the internal combustion engine. 3. The power output device according to claim 1, wherein the power output device is means for setting the target rotation speed. The operating point setting means is configured to determine whether the rotation speed of the internal combustion engine calculated from the required driving force is greater than the second rotation speed and the first rotation speed by operating the internal combustion engine. 4. The power output device according to claim 3, wherein the power output device is means for setting the target rotation speed at a point. The operating point setting means determines that a sum of a first driving force output to the drive shaft based on the power output from the electric power input / output means and a second driving force output from the electric motor to the drive shaft is A relationship that is equal to a smaller driving force of the limited driving force that has been increased and the required driving force, and a sum of first power input / output by the power input / output means and second power input / output by the electric motor. 5. The power according to claim 3, wherein the operation point is set by calculating the first rotation speed based on the first driving force obtained from the relationship that is equal to the output limitation of the power storage unit. 6. Output device. The operating point setting means outputs the power power input / output means from the power power output means when performing the feedback control using the set target speed when the target speed of the internal combustion engine is set. Using the power output from the power power input / output means calculated from the first driving force with respect to the relational expression of power target power as the target power, the target rotation speed obtained by back calculation as the first rotation speed The power output device according to claim 5, which is a means for calculating. The control means drives and controls the electric power input / output means under driving conditions set to operate the internal combustion engine at the set operating point, and a driving force acting on the drive shaft by the driving control. The power output device according to any one of claims 1 to 6, wherein the power output device is means for driving and controlling the electric motor such that a driving force that is a difference between the required driving force and the driving force is output to the driving shaft. The power output device according to claim 7, wherein the control unit is a unit that controls the driving of the electric motor within a range of an output limit of the power storage unit. The power / power input / output means is connected to the output shaft of the internal combustion engine, the drive shaft, and a third shaft, and outputs the remaining shaft based on the power input / output to any two of the three shafts. 9. The power output device according to claim 1, further comprising a three-axis power input / output unit for inputting / outputting power to / from the power source, and a generator for inputting / outputting power to / from the third shaft. The power / power input / output means includes a first rotor attached to an output shaft of the internal combustion engine, and a second rotor attached to the drive shaft. The power output device according to any one of claims 1 to 8, wherein the power output device is a paired rotor motor that outputs at least a part of power from the internal combustion engine to the drive shaft together with input and output of power by electromagnetic action with the rotor. . An automobile, comprising: the power output device according to claim 1, wherein the drive shaft travels while being mechanically connected to an axle. An internal combustion engine, and power power input / output means connected to an output shaft and a drive shaft of the internal combustion engine and outputting at least a part of power from the internal combustion engine to the drive shaft with input and output of power and power, An electric motor capable of inputting and outputting power to the drive shaft, and a power storage device capable of exchanging electric power with the electric power input / output unit and the electric motor, and a control method of a power output device including:
(A) operation of the internal combustion engine for outputting power according to the required driving force based on the required driving force and the output limitation of the power storage means when the required driving force to the drive shaft is rapidly increased; Set points,
(B) operating the internal combustion engine at the set operation point and outputting the driving force corresponding to the required driving force to the drive shaft; Control method of the power output device for controlling the power. In the step (a), a first rotation speed calculated as a rotation speed of the internal combustion engine at an operating point of the internal combustion engine from an increase limit for an increase in the driving force to the drive shaft and an output limit of the power storage means is determined. 13. The control method for a power output device according to claim 12, wherein the setting is performed as a target rotation speed. The step (a) includes the step of operating the internal combustion engine to calculate a larger one of the second rotation speed and the first rotation speed obtained by performing a smoothing process on the rotation speed of the internal combustion engine calculated from the required driving force. 14. The control method for a power output device according to claim 13, wherein the step is a step of setting the target rotation speed at a point. In the step (a), the sum of a first driving force output to the drive shaft based on the power output from the power / power input / output unit and a second driving force output to the drive shaft from the electric motor is determined by the step (a). The relationship of being equal to the limited driving force that has been increased and the sum of the first electric power input / output by the electric power input / output means and the second electric power input / output by the electric motor is equal to the output limitation of the electric storage means. The control method for a power output device according to claim 13 or 14, wherein the step of calculating the first rotational speed based on the relationship and the first driving force obtained from the relationship and setting the operating point is performed.

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