JP2005045879A - Power output unit and computer readable recording medium recording program for executing motor drive control in computer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a power output unit capable of controlling motor torque in a range causing no magnetic saturation. <P>SOLUTION: A control CPU 184 calculates a limit torque by multiplying a maximum torque by a torque limit coefficient depending on a signal STON from a start key. The limit torque is a torque which can be outputted from a motor generator MG1 when a DC power supply 30 is connected between two neutrals M1 and M2. The maximum torque is a torque which can be outputted from the motor generator MG1 when the DC power supply 30 is disconnected from between two neutrals M1 and M2. The torque limit coefficient is a decrement in the output torque from the motor generator MG1 when a DC current from the DC power supply 30 flows through three-phase coils 10 and 11. The control CPU 184 controls inverters 181 and 182 such that the motor generator MG1 is driven within the range of limit torque. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a power output apparatus, and more particularly to a power output apparatus using a double winding motor and a computer-readable recording medium on which a program for causing a computer to execute drive control of the motor is recorded.
[0002]
[Prior art]
Conventionally, as a power output device using a double winding motor, a power output device disclosed in Japanese Patent Application Laid-Open No. 2002-218793 is known. FIG. 19 is a schematic block diagram of a conventional power output apparatus. Referring to FIG. 19, conventional power output apparatus 300 includes a double-winding motor 310, a DC power supply 320, inverters 330 and 340, and a capacitor 350.
[0003]
Double winding motor 310 includes two three-phase coils 311 and 312. DC power supply 320 is connected between the neutral point of three-phase coil 311 and the neutral point of three-phase coil 312.
[0004]
Inverter 330 controls energization to three-phase coil 311. Inverter 340 controls energization to three-phase coil 312. Capacitor 350 and inverters 330 and 340 are connected in parallel between positive electrode bus 301 and negative electrode bus 302.
[0005]
Capacitor 350 is charged or discharged by making the potential difference between the neutral points of three-phase coils 311 and 312 smaller or larger than the voltage of DC power supply 320 by switching control of inverters 330 and 340. As a result, in the power output apparatus 300, the inverter input voltage can be adjusted within a wide range.
[0006]
[Patent Document 1]
JP 2002-218793 A
[0007]
[Problems to be solved by the invention]
However, in a conventional double-winding motor in which a DC power source is connected between neutral points, magnetic saturation is inevitable because the DC current flowing in the two three-phase coils increases when the rate of the boosting operation increases. A condition can arise.
[0008]
Therefore, an object of the present invention is to provide a power output apparatus capable of controlling motor torque within a range in which magnetic saturation does not occur.
[0009]
Another object of the present invention is to provide a computer-readable recording medium in which a program for causing a computer to execute motor drive control in a range where magnetic saturation does not occur is recorded.
[0010]
[Means for Solving the Problems and Effects of the Invention]
According to the present invention, the power output device includes a first inverter, a second inverter, a 2Y motor, a power source, and a control device. The 2Y motor uses as a stator a first three-phase motor coil that is energized and controlled by a first inverter and a second three-phase motor coil that is energized and controlled by a second inverter. The power source is connected between a first neutral point of the first three-phase motor coil and a second neutral point of the second three-phase motor coil. The control device calculates a limit torque that can be output by the 2Y motor when the power source is connected between the first neutral point and the second neutral point, and 2Y within a range of the calculated limit torque. The first and second inverters are controlled so that the motor is driven.
[0011]
In the power output apparatus according to the present invention, when the power source is connected between the first neutral point and the second neutral point, a direct current flows through the first and second three-phase motor coils. This direct current then saturates the magnetic circuit of the 2Y motor. The control device calculates the maximum torque that does not saturate the magnetic circuit, that is, the limit torque that can be actually output by the 2Y motor, and controls the first and second inverters so that the 2Y motor is driven within the limit torque range. To do.
[0012]
Therefore, according to the present invention, the motor torque of the 2Y motor can be controlled within a range in which magnetic saturation does not occur even when a direct current flows through the stator coil. That is, the motor output is not limited to the magnetic saturation, but the voltage saturation operation is maintained while the magnetic saturation phenomenon caused by the direct current flowing in the three-phase motor coil when performing the voltage boosting operation is related to the motor output. The deviation between the required motor output value and the actual output value can be reduced.
[0013]
Preferably, the control device multiplies the maximum torque that the 2Y motor can output when the power source is disconnected from between the first neutral point and the second neutral point by multiplying the limit torque by the limit coefficient. Calculate. The limiting coefficient is a coefficient for removing, from the maximum torque, a decrease in torque output from the 2Y motor when a direct current from the power source flows through the first and second three-phase motor coils.
[0014]
The direct current flowing through the first and second three-phase motor coils reduces the maximum torque that can be output by the 2Y motor. The control device calculates a limit torque that can be actually output by the 2Y motor by removing a decrease in torque that can be output by the direct current from the maximum torque of the 2Y motor. Then, the control device calculates the limit torque by multiplying the maximum torque by the limit coefficient.
[0015]
Therefore, according to the present invention, a torque range in which magnetic saturation does not occur can be easily calculated.
[0016]
Preferably, the control device holds the first and second maps, and sets a limiting coefficient corresponding to the motor applied voltage applied to the 2Y motor, the DC current flowing through the 2Y motor, and the motor rotation speed of the 2Y motor. The maximum torque corresponding to the motor applied voltage and the motor speed is extracted from the second map, and the limit torque is calculated by multiplying the extracted maximum torque by the extracted limit coefficient.
[0017]
The control device extracts the maximum torque and the limiting coefficient from the map, and calculates the limiting torque by multiplying the extracted maximum torque by the extracted limiting coefficient.
[0018]
Therefore, according to the present invention, a torque range in which magnetic saturation does not occur can be calculated quickly and easily.
[0019]
Preferably, the 2Y motor is a power generation motor connected to the internal combustion engine.
Therefore, according to the present invention, power can be generated within a range in which magnetic saturation does not occur.
[0020]
Preferably, the 2Y motor is a drive motor coupled to the drive wheels.
Therefore, according to the present invention, the drive wheels can be driven within a range where magnetic saturation does not occur.
[0021]
Preferably, the 2Y motor includes a power generation motor and a drive motor. The power generation motor includes a first three-phase motor coil as a stator and is coupled to the internal combustion engine. The drive motor includes a second three-phase motor coil as a stator and is coupled to the drive wheels.
[0022]
Therefore, according to the present invention, a 2Y motor that can be driven within a range in which magnetic saturation does not occur can be constituted by two motors.
[0023]
According to the present invention, the computer-readable recording medium storing a program for causing the computer to execute drive control of the 2Y motor including the first and second three-phase motor coils is the first three-phase motor. A first step of calculating a limit torque that can be output by the 2Y motor when a power source is connected between the first neutral point of the coil and the second neutral point of the second three-phase motor coil; A first inverter that controls energization of the first three-phase motor coil and a second inverter that controls energization of the second three-phase motor coil so that the 2Y motor is driven within the calculated limit torque range. A computer-readable recording medium recording a program for causing a computer to execute a second step of control.
[0024]
The program calculates a limit torque that the magnetic circuit does not saturate, that is, the 2Y motor can actually output, and controls the first and second inverters so that the 2Y motor is driven within the range of the limit torque.
[0025]
Therefore, according to the present invention, the motor torque of the 2Y motor can be controlled within a range where magnetic saturation does not occur.
[0026]
Preferably, in the first step, a limiting coefficient for removing from the maximum torque a reduction in torque output by the 2Y motor when a direct current from the power source flows through the first and second three-phase motor coils. A first sub-step for detecting, and a second sub-step for detecting a maximum torque that the 2Y motor can output when the power source is disconnected from between the first neutral point and the second neutral point. And a third sub-step in which a result obtained by multiplying the detected maximum torque by the detected limiting coefficient is used as the limiting torque.
[0027]
The program calculates a limiting torque obtained by multiplying the maximum torque by a limiting coefficient to eliminate a decrease in output torque when a direct current flows through the first and second three-phase motor coils.
[0028]
Therefore, according to the present invention, a torque range that does not cause magnetic saturation can be easily calculated.
[0029]
Preferably, the first sub-step extracts a limiting coefficient corresponding to the motor applied voltage applied to the 2Y motor, the direct current flowing through the 2Y motor, and the motor rotation speed of the 2Y motor from the first map. In the second sub-step, the maximum torque corresponding to the motor applied voltage and the motor rotation speed is extracted from the second map.
[0030]
The program calculates the limit torque by extracting the maximum torque and the limit coefficient from the map.
[0031]
Therefore, according to the present invention, a torque range in which magnetic saturation does not occur can be calculated quickly and easily.
[0032]
Preferably, the second step controls a first sub-step and a second sub-step so as to output the determined command torque, and a fourth sub-step for determining the command torque of the 2Y motor within the limit torque range. And a fifth substep.
[0033]
The program controls the driving of the 2Y motor so as not to cause magnetic saturation.
Therefore, according to the present invention, the actual output torque of the 2Y motor can be maximized.
[0034]
Furthermore, according to the present invention, a computer-readable recording of a program for causing a computer to execute drive control of a power generation motor composed of a 2Y motor and a drive motor connected to a drive wheel is connected to an internal combustion engine. Possible recording media include a first neutral point of the first three-phase motor coil whose power is included in the power generation motor and a second neutral point of the second three-phase motor coil included in the power generation motor. A first step of calculating a limit torque that can be output by the power generation motor when connected between the first and third phase motor coils so that the power generation motor is driven within the range of the calculated limit torque A second step of controlling the first inverter for energization control and the second inverter for energization control of the second three-phase motor coil, so that the drive motor is driven within the maximum torque range A third third third computer readable recording medium recording a program for executing the steps on a computer for controlling the inverter for energization control of the 3-phase motor coils included in the rotating motor.
[0035]
The program controls to drive the power generation motor within the limit torque range, and controls to drive the drive motor within the maximum torque range.
[0036]
Therefore, according to the present invention, it is possible to generate power in a torque range in which magnetic saturation does not occur and drive the drive wheels.
[0037]
Furthermore, according to the present invention, a computer-readable recording medium storing a program for causing a computer to execute drive control with a drive motor connected to an internal combustion engine and a drive wheel and connected to a drive wheel. The possible recording medium includes a first step of calculating a command torque for driving the generator motor within the range of the maximum torque, and a first of the first three-phase motor coils included in the drive motor. A second step of calculating a limit torque that the drive motor can output when connected between the neutral point and the second neutral point of the second three-phase motor coil included in the drive motor; The first inverter that controls energization of the first three-phase motor coil and the second inverter that controls energization of the second three-phase motor coil so that the driving motor is driven within the calculated limit torque range. A third step for controlling the barter, and a fourth step for controlling a third inverter for energizing the third three-phase motor coil included in the power generation motor so that the power generation motor outputs a command torque. Is a computer-readable recording medium on which a program for causing a computer to execute is recorded.
[0038]
The program controls to drive the power generation motor within the range of the maximum torque, and controls to drive the drive motor within the range of the limit torque.
[0039]
Therefore, according to the present invention, it is possible to generate power in a torque range in which magnetic saturation does not occur and drive the drive wheels.
[0040]
Furthermore, according to the present invention, a computer readable recording of a program for causing a computer to execute drive control of a 2Y motor including a power generation motor connected to an internal combustion engine and a drive motor connected to a drive wheel. The recording medium has a power source between a first neutral point of the first three-phase motor coil included in the power generation motor and a second neutral point of the second three-phase motor coil included in the drive motor. A first step of calculating a first limit torque that can be output by the power generation motor when connected to the second, and a second step of calculating a first command torque of the power generation motor within a range of the first limit torque A third step of calculating a second limit torque that can be output by the drive motor when the power source is connected between the first neutral point and the second neutral point; Drive mode within the limit torque range of 2 A fourth step of calculating the second command torque of the first motor, and a fifth inverter for controlling the first inverter that controls energization of the first three-phase motor coil such that the motor for power generation outputs the first command torque. And a fifth step for controlling the second inverter for controlling the energization of the second three-phase motor coil so that the drive motor outputs the second command torque. A recorded computer-readable recording medium.
[0041]
The program calculates the limit torque of the power generation motor and the limit torque of the drive motor, and controls to drive the power generation motor and the drive motor within the range of the calculated limit torque.
[0042]
Therefore, according to the present invention, it is possible to generate power in a torque range that does not cause magnetic saturation and to drive the drive wheels.
[0043]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated.
[0044]
[Embodiment 1]
FIG. 1 is a schematic block diagram of a power output apparatus according to the first embodiment. Referring to FIG. 1, a power output apparatus 100 according to Embodiment 1 includes a power transmission gear 111, a drive shaft 112, a differential gear 114, motor generators MG1 and MG2, a planetary gear 120, and a power takeout gear 128. A chain belt 129, an engine 150, resolvers 139, 149, 159, a damper 157, and a control device 180.
[0045]
Crankshaft 156 of engine 150 is connected to planetary gear 120 and motor generators MG1, MG2 via damper 157. The damper 157 suppresses the amplitude of torsional vibration of the crankshaft 156 of the engine 150 and connects the crankshaft 156 to the planetary gear 120.
[0046]
The power take-out gear 128 is connected to the power transmission gear 111 via the chain belt 129. The power take-out gear 128 receives power from a ring gear (not shown) of the planetary gear 120 and transmits the received power to the power transmission gear 111 via the chain belt 129. The power transmission gear 111 transmits power to the drive wheels via the drive shaft 112 and the differential gear 114.
[0047]
With reference to FIG. 2, planetary gear 120 and motor generators MG1, MG2 will be described in detail. The planetary gear 120 includes a sun gear 121 coupled to a hollow sun gear shaft 125 passing through the center of the carrier shaft 127, a ring gear 122 coupled to a ring gear shaft 126 coaxial with the carrier shaft 127, and the sun gear 121. A plurality of planetary pinion gears 123 that are arranged between the ring gear 122 and revolve while rotating on the outer periphery of the sun gear 121, and are coupled to the ends of the carrier shaft 127, and support the rotation shafts of the planetary pinion gears 123. And a planetary carrier 124.
[0048]
In this planetary gear 120, the sun gear shaft 125, the ring gear shaft 126, and the carrier shaft 127, which are coupled to the sun gear 121, the ring gear 122, and the planetary carrier 124, respectively, serve as power input / output shafts, and one of the three shafts. When the power input / output to / from the two axes is determined, the power input / output to the remaining one axis is determined based on the determined power input / output to the two axes.
[0049]
The sun gear shaft 125, the ring gear shaft 126, and the carrier shaft 127 are provided with resolvers 139, 149, and 159 that detect the respective rotation angles θs, θr, and θc.
[0050]
A power take-out gear 128 for taking out power is coupled to the ring gear 122. The power take-out gear 128 is connected to the power transmission gear 111 by a chain belt 129, and power is transmitted between the power take-out gear 128 and the power transmission gear 111.
[0051]
Motor generator MG1 is configured as a synchronous motor generator, and includes a rotor 132 having a plurality of permanent magnets 135 on an outer peripheral surface, and a stator 133 around which a three-phase coil 134 that forms a rotating magnetic field is wound. The three-phase coil 134 includes two three-phase coils as will be described later.
[0052]
Rotor 132 is coupled to sun gear shaft 125 that is coupled to sun gear 121 of planetary gear 120. The stator 133 is formed by laminating thin plates of non-oriented electrical steel plates, and is fixed to the case 119. This motor generator MG1 operates as an electric motor that rotationally drives the rotor 132 by the interaction between the magnetic field generated by the permanent magnet 135 and the magnetic field formed by the three-phase coil 134, and the magnetic field generated by the permanent magnet 135 and the rotation of the rotor 132 are It operates as a generator that generates electromotive force at both ends of the three-phase coil 134 by interaction.
[0053]
Motor generator MG2 includes a rotor 142 having a plurality of permanent magnets 145 on the outer peripheral surface, and a stator 143 wound with a three-phase coil 144 that forms a rotating magnetic field. The rotor 142 is coupled to a ring gear shaft 126 coupled to the ring gear 122 of the planetary gear 120, and the stator 143 is fixed to the case 119. The stator 143 is also formed by laminating thin sheets of non-oriented electrical steel sheets. The motor generator MG2 also operates as an electric motor or a generator, similarly to the motor generator MG1.
[0054]
Referring again to FIG. 1, the control device 180 detects the signal STON from the start key 186, the rotation angle θs of the sun gear shaft 125 from the resolver 139, the rotation angle θr of the ring gear shaft 126 from the resolver 149, and from the resolver 159. Rotation angle θc of the carrier shaft 127, accelerator pedal position (accelerator pedal depression amount) AP from the accelerator pedal position sensor 164a, brake pedal position (brake pedal depression amount) BP from the brake pedal position sensor 165a, shift position sensor Shift position SP from 185, motor currents MCRT11 and 12 from two current sensors (not shown) attached to motor generator MG1, and current sensor (shown) attached to motor generator MG2. It receives motor current MCRT2 from without). The signal STON is a signal indicating that the power output apparatus 100 is turned on.
[0055]
Controller 180 drives motor generators MG1 and MG2 by controlling the current flowing through three-phase coils 134 and 144 of motor generators MG1 and MG2 based on these received signals.
[0056]
FIG. 3 shows an electric circuit diagram of the main part of the power output apparatus 100. Referring to FIG. 3, motive power output apparatus 100 includes motor generators MG <b> 1 and MG <b> 2, current sensors 12 to 14 and 31, DC power supply 30, voltage sensors 32 and 51, capacitor 50, and inverters 181 to 183. , And a control CPU (Central Processing Unit) 184.
[0057]
The inverters 181 to 183 and the control CPU 184 constitute the control device 180 shown in FIG.
[0058]
Motor generator MG1 includes two three-phase coils 10 and 11. The two three-phase coils 10 and 11 constitute a three-phase coil 134 shown in FIG. That is, motor generator MG1 is a double-winding motor (also referred to as “2Y motor”) having two three-phase coils 10 and 11 wired in a Y shape.
[0059]
DC power supply 30 is connected between neutral point M1 of three-phase coil 10 and neutral point M2 of three-phase coil 11.
[0060]
Inverter 181 includes a U-phase arm 15, a V-phase arm 16, and a W-phase arm 17. U-phase arm 15, V-phase arm 16 and W-phase arm 17 are provided in parallel between power supply line 1 and earth line 2.
[0061]
U-phase arm 15 includes NPN transistors Q 1 and Q 2 connected in series between power supply line 1 and earth line 2. V-phase arm 16 includes NPN transistors Q3 and Q4 connected in series between power supply line 1 and earth line 2. W-phase arm 17 includes NPN transistors Q5 and Q6 connected in series between power supply line 1 and earth line 2.
[0062]
NPN transistors Q1, Q3, and Q5 have collectors connected to power supply line 1 and emitters connected to the collectors of NPN transistors Q2, Q4, and Q6, respectively. The emitters of NPN transistors Q2, Q4 and Q6 are connected to earth line 2. Further, diodes D1 to D6 that flow current from the emitter side to the collector side are connected between the emitters and collectors of the NPN transistors Q1 to Q6, respectively.
[0063]
Inverter 182 includes a U-phase arm 18, a V-phase arm 19, and a W-phase arm 20. U-phase arm 18, V-phase arm 19 and W-phase arm 20 are the same as U-phase arm 15, V-phase arm 16 and W-phase arm 17 of inverter 181, respectively. Therefore, NPN transistors Q7 to Q12 are the same as NPN transistors Q1 to Q6, respectively, and diodes D7 to D12 are the same as diodes D1 to D6, respectively.
[0064]
An intermediate point of each phase arm of inverter 181 is connected to each phase end of each phase coil of three-phase coil 10 of motor generator MG1, and an intermediate point of each phase arm of inverter 182 is the three-phase coil 11 of motor generator MG1. Are connected to each phase end of each phase coil. That is, one end of the three coils of the U-phase, V-phase, and W-phase of the three-phase coil 10 is commonly connected to the neutral point M1, and the other end of the U-phase coil is at the intermediate point between the NPN transistors Q1 and Q2. The other end of the V-phase coil is connected to the intermediate point of the NPN transistors Q3 and Q4, and the other end of the W-phase coil is connected to the intermediate point of the NPN transistors Q5 and Q6. Also, one end of the three coils of the U-phase, V-phase, and W-phase of the three-phase coil 11 is commonly connected to the neutral point M2, and the other end of the U-phase coil is at the intermediate point between the NPN transistors Q7 and Q8. The other end of the V-phase coil is connected to the intermediate point of the NPN transistors Q9 and Q10, and the other end of the W-phase coil is connected to the intermediate point of the NPN transistors Q11 and Q12.
[0065]
Inverter 183 includes a U-phase arm 21, a V-phase arm 22, and a W-phase arm 23. U-phase arm 21, V-phase arm 22 and W-phase arm 23 are the same as U-phase arm 15, V-phase arm 16 and W-phase arm 17 of inverter 181, respectively. Therefore, NPN transistors Q13 to Q18 are the same as NPN transistors Q1 to Q6, respectively, and diodes D13 to D18 are the same as diodes D1 to D6, respectively.
[0066]
An intermediate point of each phase arm of inverter 183 is connected to each phase end of each phase coil of motor generator MG2. That is, motor generator MG2 is a three-phase permanent magnet motor. The specific connection method between the intermediate point of each phase arm of inverter 183 and each phase end of each phase coil of motor generator MG2 is as follows: the intermediate point of each phase arm of inverter 181 and each phase end of three-phase coil 10 It is the same as the connection method.
[0067]
Capacitor 50 is connected in parallel to inverters 181 to 183 between power supply line 1 and earth line 2.
[0068]
Current sensor 12 detects motor current MCRT11 flowing through three-phase coil 10 of motor generator MG1, and outputs the detected motor current MCRT11 to control CPU 184. Current sensor 13 detects motor current MCRT12 flowing through three-phase coil 11 of motor generator MG1, and outputs the detected motor current MCRT12 to control CPU 184. Current sensor 14 detects motor current MCRT2 flowing through each phase coil of motor generator MG2, and outputs the detected motor current MCRT2 to control CPU 184.
[0069]
The DC power source 30 is composed of a secondary battery such as nickel metal hydride or lithium ion. The current sensor 31 detects the battery current BCRT input / output to / from the DC power supply 30 and outputs the detected battery current BCRT to the control CPU 184. The voltage sensor 32 detects the DC voltage Vb output from the DC power supply 30, and outputs the detected DC voltage Vb to the control CPU 184.
[0070]
Capacitor 50 smoothes a DC voltage applied between power supply line 1 and earth line 2 and supplies the smoothed DC voltage to inverters 181 to 183. The voltage sensor 51 detects the voltage Vc across the capacitor 50 and outputs the detected voltage Vc to the control CPU 184.
[0071]
The inverter 181 converts the DC voltage supplied from the capacitor 50 into an AC voltage based on the signal PWMI1 from the control CPU 184, and applies it to each phase coil of the three-phase coil 10. The inverter 182 converts the DC voltage supplied from the capacitor 50 into an AC voltage based on the signal PWMI2 from the control CPU 184, and applies it to each phase coil of the three-phase coil 11. Thereby, inverters 181 and 182 drive motor generator MG1. When DC power supply 30 is connected between neutral point M1 and neutral point M2, inverters 181 and 182 have DC currents output from DC power supply 30 in accordance with signals PWMI1 and PWMI2, respectively. Is passed through each phase coil of the three-phase coils 10 and 11.
[0072]
Further, inverter 181 converts the AC voltage generated in three-phase coil 10 into a DC voltage in accordance with signal PWMC 1 from control CPU 184 and supplies it to capacitor 50. The inverter 182 converts the AC voltage generated in the three-phase coil 11 into a DC voltage according to the signal PWMC2 from the control CPU 184, and supplies it to the capacitor 50. When DC power supply 30 is connected between neutral point M1 and neutral point M2, inverters 181 and 182 step down the DC voltage from capacitor 50 in accordance with signals PWMC1 and PWMC2, respectively. The DC power supply 30 is charged by the stepped-down DC voltage.
[0073]
Inverter 183 converts DC voltage from capacitor 50 into AC voltage in accordance with signal PWMI3 from control CPU 184 to drive motor generator MG2, and motor generator MG2 generates power in response to signal PWMC3 from control CPU 184. The AC voltage is converted into a DC voltage and supplied to the capacitor 50.
[0074]
The control CPU 184 calculates a voltage difference between the DC voltage Vc from the voltage sensor 51 and the DC voltage Vb from the voltage sensor 32 to obtain a motor applied voltage applied to the motor generator MG1. Control CPU 184 also calculates the motor rotation speed of motor generator MG1 based on rotation angle θs from resolver 139. Then, based on battery current MCRT from current sensor 31, calculated motor applied voltage, and calculated motor rotation speed, control CPU 184 causes DC power supply 30 to have neutral point M1 and neutral point by a method described later. When connected to M2, motor generator MG1 calculates a limit torque Tlim1 that can actually be output.
[0075]
Based on the accelerator pedal position AP from the accelerator pedal position sensor 164a, the brake pedal position BP from the brake pedal position sensor 165a, and the shift position SP from the shift position sensor 185, the control CPU 184 determines the engine required power and the generator request. Torque Tdem1 and motor required torque Tdem2 are calculated.
[0076]
The control CPU 184 calculates a generator command torque TR1 for driving the generator (motor generator MG1) within the range of the limit torque Tlim1, based on the calculated generator required torque Tdem1 and the limit torque Tlim1, by a method described later. To do. The control CPU 184 sets the calculated electric motor required torque Tdem2 as the electric motor command torque TR2 for driving the electric motor (motor generator MG2).
[0077]
Further, control CPU 184 calculates current command values Id1 * and Iq1 * of motor generator MG1 and capacitor voltage command value Vc * of capacitor 50 based on the calculated generator command torque TR1. Further, control CPU 184 calculates current command values Id2 * and Iq2 * of motor generator MG2 based on calculated motor command torque TR2.
[0078]
Then, control CPU 184 receives motor currents MCRT11 and 12 from current sensors 12 and 13, battery current BCRT from current sensor 31, and resolver 139 installed on sun gear shaft 125 to which the rotational shaft of motor generator MG1 is coupled. Are generated based on the rotation angle θs of the current and the calculated current command values Id1 *, Iq1 * and the capacitor voltage command value Vc *, and the generated signals PWMI1, PWMC1 are sent to the inverter 181. The generated signals PWMI 2 and PWMC 2 are output to the inverter 182.
[0079]
The control CPU 184 also outputs the motor current MCRT2 from the current sensor 14, the rotation angle θr from the resolver 149 installed on the ring gear shaft 126 to which the rotation shaft of the motor generator MG2 is coupled, and the calculated current command value Id2 *. , Iq2 * and the signals PWMI3 and PWMC3 are generated, and the generated signals PWMI3 and PWMC3 are output to the inverter 183.
[0080]
FIG. 4 is a plan layout view of three-phase coils 10 and 11 of motor generator MG1. Motor generator MG1 generally includes a three-phase coil 10 and a three-phase coil 11 wound around the three-phase coil 10 while being shifted by α in the rotational direction. That is, motor generator MG1 can be considered as a six-phase motor.
[0081]
In the first embodiment, description will be made assuming that the angle α is 0 degree. That is, the two three-phase coils 10 and 11 are wound in the same phase. Therefore, the inverters 181 and 182 only have to pass an alternating current through the three-phase coils 10 and 11 in the same phase. That is, an alternating current flows through the U-phase coil, V-phase coil, and W-phase coil of the 3-phase coil 10 in the same phase as the U-phase coil, V-phase coil, and W-phase coil of the 3-phase coil 11.
[0082]
With reference to FIGS. 5 and 6, the operation principle of motor generator MG1 and inverters 181 and 182 when DC power supply 30 is connected between neutral point M1 and neutral point M2 will be described.
[0083]
FIG. 5 shows the current flow in the state where the potential difference V012 between the neutral point M1 of the three-phase coil 10 and the neutral point M2 of the three-phase coil 11 is smaller than the voltage Vb of the DC power supply 30, and the three-phase coil of the 2Y motor MG1. FIG. 10 is a circuit diagram for explaining focusing on U-phase leakage inductances of 10 and 11;
[0084]
Whether the NPN transistor Q2 of the inverter 181 is on or the NPN of the inverter 182 in a state where the potential difference V012 between the neutral point M1 of the three-phase coil 10 and the neutral point M2 of the three-phase coil 11 is smaller than the voltage Vb of the DC power supply 30 Consider a state in which transistor Q7 is on.
[0085]
In this case, a short circuit indicated by a solid arrow in FIG. 5A or FIG. 5B is formed, and the U phase of the three-phase coils 10 and 11 of the 2Y motor MG1 functions as a reactor. When the NPN transistor Q2 of the inverter 181 is turned off from this state and the NPN transistor Q7 of the inverter 182 is turned off, the energy accumulated in the U-phase of the three-phase coils 10 and 11 functioning as the reactor is shown in FIG. c) Accumulated in the capacitor 50 by the charging circuit indicated by the solid line arrow in FIG. Therefore, this circuit can be regarded as a capacitor charging circuit that boosts the DC voltage Vb of the DC power supply 30 and charges the capacitor 50 with the boosted DC voltage.
[0086]
Since the boost level can be freely set according to the ON period of the NPN transistor Q2 or Q7, the voltage Vc across the capacitor 50 can be manipulated to an arbitrary voltage higher than the voltage Vb of the DC power supply 30.
[0087]
Since the V-phase and W-phase of the three-phase coils 10 and 11 of the 2Y motor MG1 can also be regarded as a capacitor charging circuit like the U-phase, the neutral point M1 of the three-phase coil 10 and the three-phase coil 11 The potential difference V012 with respect to the sex point M2 is made smaller than the voltage Vb of the DC power supply 30, and the NPN transistors Q2, Q4, Q6 of the inverter 181 or the NPN transistors Q7, Q9, Q11 of the inverter 182 are turned on / off. The capacitor 50 can be charged by boosting the voltage Vb of the DC power supply 30.
[0088]
FIG. 6 shows the current flow in the state where the potential difference V012 between the neutral point M1 of the three-phase coil 10 and the neutral point M2 of the three-phase coil 11 is larger than the voltage Vb of the DC power supply 30, and the three-phase coil of the 2Y motor MG1. The circuit diagram for demonstrating paying attention to the leakage inductance of the U phase of 10 and 11 is shown.
[0089]
In a state where the potential difference V012 between the neutral point M1 of the three-phase coil 10 and the neutral point M2 of the three-phase coil 11 is larger than the voltage Vb of the DC power supply 30, the NPN transistor Q1 of the inverter 181 is turned on and the NPN transistor Q2 is turned off. Consider a state in which the NPN transistor Q7 of the inverter 182 is turned off and the NPN transistor Q8 is turned on. In this case, a charging circuit indicated by a solid arrow in FIG. 6A is formed, and the DC power supply 30 is charged using the inter-terminal voltage Vc of the capacitor 50. At this time, the U phase of the three-phase coils 10 and 11 of the 2Y motor MG1 functions as a reactor as described above. When the NPN transistor Q1 of the inverter 181 is turned off from this state or the NPN transistor Q8 of the inverter 182 is turned off, the energy stored in the U-phase of the three-phase coils 10 and 11 functioning as the reactor is as shown in FIG. ) Or the charging circuit indicated by the solid line arrow in FIG.
[0090]
Therefore, this circuit can be regarded as a DC power supply charging circuit that stores the energy of the capacitor 50 in the DC power supply 30. Since the V-phase and W-phase of the three-phase coils 10 and 11 of the 2Y motor MG1 can also be regarded as a DC power supply charging circuit like the U-phase, the neutral point M1 of the three-phase coil 10 and the three-phase coil 11 The potential difference V012 with respect to the sex point M2 is made larger than the voltage Vb of the DC power supply 30, and the NPN transistors Q1 to Q6 of the inverter 181 or the NPN transistors Q7 to Q12 of the inverter 182 are turned on / off, whereby the capacitor 50 The DC power supply 30 can be charged with the stored energy.
[0091]
As described above, in the power output apparatus 100, the capacitor 50 can be charged by the DC power supply 30 or the DC power supply 30 can be charged by the capacitor 50. Therefore, the inter-terminal voltage Vc of the capacitor 50 is controlled to a predetermined value. be able to.
[0092]
When a potential difference is generated between the terminals of the capacitor 50, a DC power source is connected between the power supply line 1 to which the inverters 181 and 182 are connected and the ground line 2. Since the voltage Vc acts as the inverter input voltage Vi, the 2Y motor MG1 can be driven and controlled by switching control of the NPN transistors Q1 to Q6 and Q7 to Q12 of the inverters 181 and 182.
[0093]
In this case, the potentials Vu1, Vv1, and Vw1 of the three-phase AC applied to the three-phase coil 10 can be freely set within the range of the inverter input voltage Vi by switching control of the NPN transistors Q1 to Q6 of the inverter 181. Since the three-phase AC potentials Vu2, Vv2, and Vw2 applied to the three-phase coil 11 can be freely set within the range of the inverter input voltage Vi by switching control of the NPN transistors Q7 to Q12 of the inverter 182, 2Y The potential V01 of the neutral point M1 of the three-phase coil 10 of the motor MG1 and the potential V02 of the neutral point M2 of the three-phase coil 11 can be freely manipulated.
[0094]
FIG. 7 shows three phases when the difference between the potential V01 of the neutral point M1 of the three-phase coil 10 and the potential V02 of the neutral point M2 of the three-phase coil 11 matches the voltage Vb of the DC power supply 30. Waveform diagrams of the potentials Vu1, Vv1, and Vw1 of the coil 10 (FIG. 7A) and the potentials Vu2, Vv2, and Vw2 of the three-phase coil 11 (FIG. 7B) are shown. In FIG. 7, Vx is a median value (Vi / 2) of the inverter input voltage Vi. Therefore, the capacitor 50 is charged by operating the potential difference V012 between the neutral points M1 and M2 of the three-phase coils 10 and 11 of the 2Y motor MG1 to be lower than the voltage Vb of the DC power source 30, or conversely, 3 It is also possible to charge the DC power supply 30 by operating so that the potential difference V012 between the neutral points M1 and M2 of the phase coils 10 and 11 is higher than the voltage Vb of the DC power supply 30. The charging current of the capacitor 50 or the charging current of the DC power supply 30 can be controlled by raising and lowering the potential difference V012 between the neutral points M1 and M2 of the three-phase coils 10 and 11.
[0095]
FIG. 8 is a functional block diagram of the control CPU 184 shown in FIG. Referring to FIG. 8, control CPU 184 includes motor control means 184A, command value determination means 184B, and memory 184C.
[0096]
The motor control means 184A includes the current command values Id * and Iq * and the voltage command value Vc * from the command value determining means 184B, the rotation angle θs from the resolver 139, the rotation angle θr from the resolver 149, and the motor from the current sensor 12. Based on the current MCRT11, the motor current MCRT12 from the current sensor 13, the motor current MCRT2 from the current sensor 14, the battery current BCRT from the current sensor 31, and the voltage Vc from the voltage sensor 51, the signals PWMI1 to And signals PWMC1 to PWMC3. Then, motor control means 184A outputs generated signal PWMI1 and signal PWMC1 to inverter 181, outputs generated signal PWMI2 and signal PWMC2 to inverter 182, and outputs generated signal PWMI3 and signal PWMC3 to inverter 183.
[0097]
When command value determining means 184B receives signal STON from start key 186, command value determining means 184B calculates the voltage difference between voltage Vc from voltage sensor 51 and voltage Vb from voltage sensor 32 to determine the motor applied voltage. Command value determining means 184B calculates the motor rotation speed of motor generator MG1 based on rotation angle θs from resolver 139.
[0098]
Then, command value determining means 184B reads a map indicating the relationship between the motor applied voltage and the motor rotational speed and the maximum torque of motor generator MG1 from memory 184C, and refers to the read map to calculate the calculated motor applied voltage and The maximum torque Tmax1 corresponding to the motor speed is extracted. This maximum torque Tmax1 is a torque that motor generator MG1 can output when DC power supply 30 is not connected between neutral point M1 and neutral point M2.
[0099]
Further, the command value determining means 184B reads a map indicating the relationship between the motor applied voltage, the motor rotational speed, the battery current BCRT, and the torque limiting coefficient K1 from the memory 184C, and refers to the read map to calculate the calculated motor application A torque limiting coefficient K1 corresponding to the voltage and motor rotational speed and the battery current BCRT from the current sensor 31 is extracted. This torque limiting coefficient K1 is used to remove from the maximum torque Tmax1 a decrease in torque output from motor generator MG1 (2Y motor) when battery current BCRT from DC power supply 30 flows through three-phase coils 10 and 11. It is a coefficient.
[0100]
Then, the command value determining unit 184B calculates the limit torque Tlim1 by multiplying the maximum torque Tmax1 by the torque limit coefficient K1. The limit torque Tlim1 is a torque obtained by removing a decrease in the output torque of the motor generator MG1 due to the direct current (battery current BCRT) flowing through the three-phase coils 10 and 11 from the maximum torque Tmax1, and the motor generator MG1 is saturated in the magnetic circuit. This is a torque that can actually be output in a state in which
[0101]
Further, the command value determining means 184B determines the motor generator MG1 based on the accelerator pedal position AP from the accelerator pedal position sensor 164a, the brake pedal position BP from the brake pedal position sensor 165a, and the shift position SP from the shift position sensor 185. The required torque Tdem1 and the required torque Tdem2 of the motor generator MG2 are calculated.
[0102]
Command value determining means 184B calculates command torque TR1 of motor generator MG1 for driving motor generator MG1 within the range of limit torque Tlim1, based on calculated request torque Tdem1 and limit torque Tlim1 of motor generator MG1. To do. Further, command value determining means 184B sets the calculated required torque Tdem2 of motor generator MG2 as command torque TR2 of motor generator MG2 for driving motor generator MG2.
[0103]
Then, command value determining means 184B calculates current command values Id1 * and Iq1 * of motor generator MG1 and capacitor voltage command value Vc * of capacitor 50 based on calculated command torque TR1. Further, command value determining means 184B calculates current command values Id2 * and Iq2 * of motor generator MG2 based on calculated command torque TR2. Then, command value determining means 184B outputs the calculated current command values Id1 *, Iq1 *, capacitor voltage command value Vc *, and current command values Id2 *, Iq2 * to motor control means 184A.
[0104]
The memory 184C stores a map indicating the relationship between the motor applied voltage, the motor rotation speed and the battery current BCRT, and the torque limit coefficient K1, and a map indicating the relationship between the motor applied voltage, the motor rotation speed, and the maximum torque Tmax1.
[0105]
A method for calculating the command torque TR1 of the motor generator MG1 when the motor applied voltage is 300 V, the motor rotation speed is 4000 rpm, and the battery current BCRT is 100 A will be specifically described. FIG. 9 is a torque limit coefficient map showing the relationship between the motor applied voltage, motor rotational speed, battery current BCRT, and torque limit coefficient K1 of motor generator MG1. Referring to FIG. 9, torque limit coefficient map MAPK includes a plurality of maps MAP1, MAP2,. Map MAP1 shows a torque limiting coefficient K1 when the motor rotation speed and the battery current BCRT are changed when the motor applied voltage is 300V. Further, the map MAP2 shows the torque limit coefficient K1 when the motor rotation speed and the battery current BCRT are changed when the motor applied voltage is 200V. Similarly, there is a map showing the torque limiting coefficient K1 when the motor rotation speed and the battery current BCRT are changed for each value of the motor applied voltage.
[0106]
FIG. 10 is a maximum torque map showing the relationship between the motor applied voltage and motor speed of motor generator MG1 and maximum torque Tmax1. Referring to FIG. 10, maximum torque map MAPT shows maximum torque Tmax1 of motor generator MG1 when the motor rotation speed and the motor applied voltage are changed.
[0107]
FIG. 11 is a diagram illustrating the relationship between the motor speed and the torque. In FIG. 11, the horizontal axis indicates the motor rotation speed, and the vertical axis indicates the torque. Referring to FIG. 11, curve k1 shows the relationship between torque and motor rotation speed when the motor applied voltage is 300 V and battery current BCRT is 0A. That is, the curve k1 shows the relationship between the torque and the motor rotation speed when the motor applied voltage is 300 V and the DC power supply 30 is not connected between the neutral point M1 and the neutral point M2.
[0108]
A curve k2 shows the relationship between the torque and the motor rotational speed when the motor applied voltage is 200 V and the DC power supply 30 is not connected between the neutral point M1 and the neutral point M2.
[0109]
Further, the curve k3 shows the relationship between the torque and the motor rotation speed when the motor applied voltage is 100 V and the DC power supply 30 is not connected between the neutral point M1 and the neutral point M2.
[0110]
Further, the curve k4 shows the relationship between the torque and the motor rotation speed when the motor applied voltage is 300V and the battery current BCRT is 50A.
[0111]
Further, the curve k5 shows the relationship between the torque and the motor rotation speed when the motor applied voltage is 300V and the battery current BCRT is 100A.
[0112]
In this way, when the DC power supply 30 is connected between the neutral point M1 and the neutral point M2, the DC power supply 30 is not connected between the neutral point M1 and the neutral point M2 (curve k1). The torque that can be output by the motor decreases (curves k4, k5). The same applies when the motor applied voltage is 100V or 200V.
[0113]
The command value determining means 184B calculates a voltage difference between the voltage Vc and the voltage Vb to obtain a motor applied voltage. Further, the command value determining means 184B calculates the motor rotation speed based on the rotation angle θs. Then, command value determining means 184B reads maximum torque map MAPT from memory 184C. The read maximum torque map MAPT corresponds to the torque indicated by the curve k1 shown in FIG.
[0114]
The command value determining means 184B extracts the maximum torque Tmax1 = 35 N · m when the motor applied voltage is 300 V and the motor rotation speed is 4000 rpm with reference to the read maximum torque map MAPT. Thereafter, the command value determining means 184B reads the torque limit coefficient map MAPK from the memory 184C, refers to the read torque limit coefficient map MAPK, the motor applied voltage is 300 V, the motor rotation speed is 4000 rpm, the battery The torque limiting coefficient K1 = 0.8 when the current BCRT is 100A is extracted.
[0115]
Then, the command value determining means 184B calculates the limit torque Tlim1 = 35 × 0.8 = 28 N · m by multiplying the extracted maximum torque Tmax1 = 35 N · m by the torque limit coefficient K1 = 0.8. This limit torque Tlim1 = 28 N · m exists on the curve k5 shown in FIG.
[0116]
Command value determining means 184B calculates required torque Tdem1 of motor generator MG1 based on accelerator position AP, brake pedal position BP, and shift position SP. The command value determining means 184B is requested when the required torque Tdem1 is smaller than the limit torque Tlim1, that is, when the required torque Tdem1 when the motor rotation speed is 4000 rpm is below the curve k5 shown in FIG. Torque Tdem1 is set as command torque TR1 of motor generator MG1.
[0117]
On the other hand, the command value determining means 184B determines that the required torque Tdem1 is equal to or greater than the limit torque Tlim1, that is, the required torque Tdem1 when the motor rotation speed is 4000 rpm exists on the curve k5 shown in FIG. When the torque exists above k5, the limit torque Tlim1 = 28 N · m is set as the command torque TR1.
[0118]
That is, command value determining means 184B determines command torque TR1 such that motor generator MG1 is driven within the range of calculated limit torque Tlim1. Thereby, motor generator MG1 can be driven in a torque range in which the magnetic circuit is not saturated.
[0119]
Next, a method for determining command torque TR2 of motor generator MG2 will be specifically described. Command value determining means 184B calculates required torque Tdem2 of motor generator MG2 based on accelerator position AP, brake pedal position BP, and shift position SP. Command value determining means 184B reads maximum torque map MAPT for motor generator MG2 from memory 184C.
[0120]
Then, the command value determining means 184B determines that the required torque Tdem2 is smaller than the maximum torque Tmax2, that is, the required torque Tdem2 when the motor rotation speed is 4000 rpm is below the curve k1 shown in FIG. The required torque Tdem2 is set as the command torque TR2 of the motor generator MG2.
[0121]
On the other hand, the command value determining means 184B determines when the required torque Tdem2 is equal to or greater than the maximum torque Tmax2, that is, when the required torque Tdem2 when the motor rotational speed is 4000 rpm exists on the curve k1 shown in FIG. When it exists above k1, the maximum torque Tmax2 is set as the command torque TR2.
[0122]
That is, command value determining means 184B determines command torque TR2 such that motor generator MG2 is driven within the range of maximum torque Tmax2 read from memory 184C.
[0123]
FIG. 12 shows a functional block diagram of the motor control means 184A shown in FIG. Referring to FIG. 12, motor control means 184A includes current converter 1841, subtractors 1842 and 1852, PI controllers 1843, 1853 and 1855, adders 1844 and 1846, converter 1845, and PWM calculation. Unit 1847, rotation speed calculation unit 1849, speed electromotive force prediction calculation unit 1850, battery current prediction calculation unit 1851, and adder / subtractor 1854.
[0124]
The motor control unit 184A generates the signals PWMI1 to PWMC1 and signals PWMC1 to 3 as described above. First, the function of the motor control means 184A that generates the signals PWMI1, 2 and the signals PWMC1, 2 will be described. The current converter 1841 performs three-phase to two-phase conversion on the motor currents MCRT11 and 12 detected by the current sensors 12 and 13 using the rotation angle θs detected by the resolver 139. That is, the current conversion unit 1841 outputs the current values Id and Iq flowing in the d-axis and the q-axis with the three-phase motor currents MCRT11 and 12 flowing in the respective phases of the three-phase coils 10 and 11 of the 2Y motor MG1 using the rotation angle θs. And output to the subtracter 1842.
[0125]
The subtracter 1842 subtracts the current values Id and Iq from the current converter 1841 from the current command values Id1 * and Iq1 * calculated by the command value determination unit 184B as one of the command values related to driving of the 2Y motor MG1. Deviations ΔId and ΔIq are calculated. The PI control unit 1843 calculates the operation amount for adjusting the motor current using the PI gain with respect to the deviations ΔId and ΔIq from the subtractor 1842.
[0126]
The rotation speed calculation unit 1849 calculates the rotation speed of the 2Y motor MG1 based on the rotation angle θs from the resolver 139, and outputs the calculated rotation speed to the speed electromotive force prediction calculation unit 1850 and the battery current prediction calculation unit 1851. . The speed electromotive force prediction calculation unit 1850 calculates a predicted value of the speed electromotive force based on the rotation speed from the rotation speed calculation unit 1849.
[0127]
The adder 1844 adds the operation amount for adjusting the motor current from the PI control unit 1843 and the predicted value of the speed electromotive force from the speed electromotive force prediction calculation unit 1850 to calculate the voltage operation amounts Vd and Vq. The conversion unit 1845 performs two-phase three-phase conversion on the voltage operation amounts Vd and Vq from the adder 1844 using the rotation angle θs from the resolver 139. That is, the conversion unit 1845 uses the operation amounts Vd and Vq of the voltages applied to the d-axis and the q-axis to change the three phases (U-phase, V-phase, and It is converted into the manipulated variable of the voltage applied to the (W phase).
[0128]
The subtracter 1852 subtracts the voltage Vc across the capacitor 50 detected by the voltage sensor 51 from the capacitor voltage command value Vc *, which is the command value of the voltage across the capacitor 50 calculated by the command value determining means 184B. The deviation ΔVc is calculated. The PI control unit 1853 calculates the battery current operation amount for adjusting the capacitor voltage using the PI gain with respect to the deviation ΔVc from the subtractor 1852. The battery current prediction calculation unit 1851 calculates a predicted value of the battery current based on the rotation speed calculated by the rotation speed calculation unit 1849 and the current command values Id1 * and Iq1 *, and the calculated predicted value of the battery current. Is output to the adder / subtracter 1854.
[0129]
The adder / subtractor 1854 adds the predicted value of the battery current from the battery current prediction calculation unit 1851 and the battery current operation amount from the PI control unit 1853. The adder / subtracter 1854 receives the DC current input / output from / to the DC power source 30 from the current sensor 31, that is, the battery current BCRT, subtracts the battery current BCRT from the already calculated addition result, and subtracts the subtraction result from the PI control unit 1855. Output to. The PI control unit 1855 sets the potential difference V012 between the neutral points M1 and M2 of the three-phase coils 10 and 11 for adjusting the battery current using the PI gain with respect to the output from the adder / subtractor 1854.
[0130]
The adder 1846 adds the potential difference V012 output from the PI control unit 1855 to the phase potentials Vu1, Vv1, Vw1, Vu2, Vv2, and Vw2 output from the conversion unit 1845, and the addition result is the PWM calculation unit 1847. Output to. PWM operation unit 1847 generates signals PWMI 1 and PWMC 2 and signals PWMC 1 and 2 based on the output from adder 1846. The phase potentials Vu1, Vv1, Vw1, Vu2, Vv2, and Vw2 obtained by the conversion unit 1845 are calculated by a subtractor 1852, a PI control unit 1853, a battery current prediction calculation unit 1851, an adder / subtractor 1854, and a PI control unit 1855. Further, by adding the potential difference V012 between the neutral points M1 and M2 and calculating the PWM signals (signals PWMI1 and 2 and signals PWMC1 and 2), a current is passed through the DC power supply 30 and the capacitor 50 as the inverter input voltage Vi is obtained. The three-phase alternating current applied to the three-phase coils 10 and 11 so that the voltage Vc is maintained at the command value Vc * can be a waveform offset from the median value Vx as illustrated in FIG.
[0131]
Next, the function of the motor control means 184A that generates the signals PWMI3 and PWMC3 will be described. The signals PWMI3 and PWMC3 are the current converter 1841, subtractor 1842, PI controller 1843, adder 1844, converter 1845, adder 1846, PWM calculator 1847, rotation speed calculator 1849, and speed electromotive force prediction calculation described above. Generated by the unit 1850. Current conversion unit 1841 performs three-phase to two-phase conversion of motor current MCRT2 using rotation angle θr from resolver 149. In addition, the conversion unit 1845 performs two-phase three-phase conversion using the rotation angle θr from the resolver 149. Further, the rotation speed calculation unit 1849 calculates the rotation speed using the rotation angle θr from the resolver 149. Further, adder 1846 outputs the phase potential Vu3, Vv3, Vw3 (voltage applied to each phase coil of motor generator MG2) from conversion unit 1845 as it is to PWM calculation unit 1847 without adding anything. As a result, the PWM calculation unit 1847 generates the signals PWMI3 and PWMC3.
[0132]
FIG. 13 is a flowchart for explaining the operation of power output apparatus 100 shown in FIG. When a series of operations is started, the motor control means 184A and the command value determination means 184B receive the driver request torque. That is, motor control means 184A and command value determination means 184B receive accelerator position AP, shift position SP, and brake position BP (step S1). The motor control means 184A receives system information such as the rotation speed, temperature, and capacity of the DC power supply 30 (battery SOC: State Of Charge) (step S2).
[0133]
Thereafter, command value determining means 184B calculates a voltage difference between voltage Vc from voltage sensor 51 and voltage Vb from voltage sensor 32 to determine a motor applied voltage applied to motor generator MG1. Command value determining means 184B calculates the motor rotation speed of motor generator MG1 from rotation angle θs from resolver 139. Command value determining means 184B reads torque limit coefficient map MAPK and maximum torque map MAPT from memory 184C.
[0134]
Then, command value determining means 184B extracts maximum torque Tmax1 of motor generator MG1 corresponding to the calculated motor applied voltage and motor rotation speed from maximum torque map MAPT (step S3). Further, the command value determining means 184B extracts the torque limit coefficient K1 corresponding to the battery current BCRT from the current sensor 31 and the calculated motor applied voltage and motor rotation speed from the torque limit coefficient map MAPK (step S4). Then, the command value determining unit 184B calculates the limit torque Tlim1 by multiplying the maximum torque Tmax1 by the torque limit coefficient K1 (step S5).
[0135]
Thereafter, the command value determining means 184B determines the motor generator MG1 based on the accelerator pedal position AP from the accelerator pedal position sensor 164a, the brake pedal position BP from the brake pedal position sensor 165a, and the shift position SP from the shift position sensor 185. The required torque Tdem1 and the required torque Tdem2 of the motor generator MG2 are calculated.
[0136]
Then, command value determining means 184B determines command torque TR1 of motor generator MG1 for driving motor generator MG1 within the range of limit torque Tlim1 based on calculated request torque Tdem1 and limit torque Tlim1 of motor generator MG1. (Step S6). Command value determining means 184B drives motor generator MG2 within the range of maximum torque Tmax2 by the same method as the method of determining command torque TR1, based on maximum torque Tmax2 and calculated required torque Tdem2 of motor generator MG2. Command torque TR2 of motor generator MG2 is determined.
[0137]
Then, command value determining means 184B calculates current command values Id1 * and Iq1 * of motor generator MG1 and capacitor voltage command value Vc * of capacitor 50 based on determined command torque TR1. Command value determining means 184B calculates current command values Id2 * and Iq2 * of motor generator MG2 based on determined command torque TR2. Then, command value determining means 184B outputs the calculated current command values Id1 *, Iq1 *, capacitor voltage command value Vc *, and current command values Id2 *, Iq2 * to motor control means 184A.
[0138]
The motor control means 184A includes a motor current MCRT11 from the current sensor 12, a motor current MCRT12 from the current sensor 13, a rotation angle θs from the resolver 139, a voltage Vc from the voltage sensor 51, a battery current BCRT from the current sensor 31, and a command. Based on the current command values Id1 * and Iq1 * and the capacitor voltage command value Vc * from the value determining means 184B, the signals PWMC1 and PWMC2 are generated by the method described above, and the generated signals PWMC1 and PWMC2 are respectively converted into inverters 181 and 181, respectively. Output to 182.
[0139]
Further, the motor control means 184A generates the signal PWMI3 by the above-described method based on the motor current MCRT2 from the current sensor 14, the rotation angle θr from the resolver 149, and the current command values Id2 * and Iq2 * from the command value determination means 184B. And the generated signal PWMI3 is output to the inverter 183.
[0140]
Thereby, motor generator MG1 (2Y motor) and motor generator MG2 are driven (step S7). And a series of operation | movement is complete | finished.
[0141]
FIG. 14 is a flowchart for explaining the detailed operation of step S6 shown in FIG. Referring to FIG. 14, after step S5 shown in FIG. 13, command value determining means 184B determines whether or not calculated request torque Tdem1 is smaller than limit torque Tlim1 (step S61). Then, command value determining means 184B determines request Tdem1 as command torque TR1 of motor generator MG1 when required torque Tdem1 is smaller than limit torque Tlim1 (step S62). Command value determining means 184B determines limit torque Tlim1 as command torque TR1 of motor generator MG1 when required torque Tdem1 is equal to or greater than limit torque Tlim1 (step S63). Then, after step S62 or step S63, the series of operations proceeds to step S7 shown in FIG.
[0142]
Command value determining means 184B determines command torque TR2 of motor generator MG2 based on request torque Tdem2 and maximum torque Tmax2 according to the flowchart shown in FIG.
[0143]
As described above, the control CPU 184 calculates the limit torque Tlim1 by multiplying the maximum torque Tmax1 of the motor generator MG1 that is a 2Y motor by the torque limit coefficient K1, and the motor generator MG1 is within the range of the calculated limit torque Tlim1. Inverters 181 and 182 are controlled to drive. Therefore, the motor torque of motor generator MG1 (2Y motor) can be controlled within a torque range in which the magnetic circuit of motor generator MG1 is not saturated.
[0144]
That is, when the DC power supply 30 is connected between the neutral point M1 and the neutral point M2, a DC current (battery current BCRT) flows through the three-phase coils 10 and 11. This direct current then saturates the magnetic circuit of the 2Y motor. The control CPU 184 calculates the maximum torque that does not saturate the magnetic circuit, that is, the limit torque Tlim1 that can be actually output by the 2Y motor, and controls the inverters 181 and 182 so that the 2Y motor is driven within the range of the limit torque Tlim1. . As a result, the motor torque of the 2Y motor can be controlled within a range in which magnetic saturation does not occur even when a direct current flows through the stator coil.
That is, the motor output is not limited to the magnetic saturation, but the boosting operation is maintained while the magnetic saturation phenomenon caused by the direct current flowing through the three-phase coils 10 and 11 is related to the motor output when the boosting operation is performed. The deviation between the required motor output value and the actual output value can be reduced.
[0145]
Further, the control CPU 184 calculates the limit torque Tlim1 by multiplying the maximum torque Tmax1 by the torque limit coefficient K1. Therefore, the limit torque Tlim1 can be easily obtained.
[0146]
Further, control CPU 184 uses motor applied voltage applied to motor generator MG1, motor rotation speed of motor generator MG1 and torque limit coefficient K1 for battery current BCRT, and maximum torque Tmax1 for motor applied voltage and motor rotation speed as a map. The torque limit coefficient K1 corresponding to the calculated motor applied voltage and motor speed and the battery current BCRT from the current sensor 31 and the maximum torque Tmax1 corresponding to the calculated motor applied voltage and motor speed are stored in the map. Extract. Therefore, the limit torque Tlim1 can be calculated quickly and easily.
[0147]
Furthermore, in Embodiment 1, since motor generator MG1 (2Y motor) is driven as a power generation motor, it can generate power in a torque range that does not cause magnetic saturation. That is, motor generator MG1 (2Y motor) can actually generate electric power specified by command torque TR1.
[0148]
Furthermore, in Embodiment 1, motor generator MG2 is not a 2Y motor, and control CPU 184 controls inverter 183 so that motor generator MG2 is driven within the range of maximum torque Tmax2. Therefore, motor generator MG2 can be driven in a wide range by changing voltage Vc across capacitor 50.
[0149]
Further, since motor generator MG1 (2Y motor) actually generates electric power based on command torque TR1, and motor generator MG2 can be driven by the generated electric power, desired torque can be taken out from motor generator MG2 and the driving wheels can be driven. .
[0150]
Further, by raising or lowering the potential difference V012 between the neutral point M1 and the neutral point M2, the motor generator MG1 boosts the voltage Vb from the DC power supply 30 to charge the capacitor 50, or the voltage across the capacitor 50 is increased. The DC power supply 30 is stepped down and charged, but such voltage step-up operation and step-down operation are performed in the motor generator MG1 that does not output the torque that drives the drive wheels of the hybrid vehicle. Therefore, the motor generator that drives the drive wheels The efficiency of MG2 can be maximized.
[0151]
In addition, the drive control of the motor in the control CPU 184 is actually performed by the CPU, and the CPU reads a program including each step of the flowchart shown in FIGS. 13 and 14 from a ROM (Read Only Memory), and the read program And the driving of motor generators MG1 and MG2 is controlled according to the flowcharts shown in FIGS. Therefore, the ROM corresponds to a computer (CPU) readable recording medium in which a program including the steps of the flowcharts shown in FIGS. 13 and 14 is recorded.
[0152]
Referring to FIG. 3 again, at the time of start-up, start-up, light load travel mode, medium speed / low load travel mode, acceleration / rapid acceleration mode, low μ road travel mode, and hybrid vehicle equipped with power output device 100 The operation of the power output apparatus 100 in the deceleration / braking mode will be described.
[0153]
First, the operation of the power output apparatus 100 when the hybrid vehicle engine is started will be described. When a series of operations is started, control CPU 184 responds to signal STON from start key 186 and instructs to use motor generator MG1 for starting engine 150 within the limit torque Tlim1 by the method described above. Torque TR11 (a kind of command torque TR1) and motor rotation speed MRN1 are generated. Then, control CPU 184 calculates current command values Id1 * and Iq1 * of currents flowing through d-axis and q-axis of motor generator MG1 and capacitor voltage command value Vc * of capacitor 50 based on generated command torque TR11. Further, the control CPU 184 receives the motor currents MCRT11 and 12 from the current sensors 12 and 13, the voltage Vc from the voltage sensor 51 and the rotation angle θs from the resolver 139, and receives the motor currents MCRT11 and 12, the voltage Vc and the rotation. Based on the angle θs, the calculated current command values Id1 *, Iq1 *, and the capacitor voltage command value Vc *, the signals PWMI1, 2 are generated by the method described above. Then, control CPU 184 outputs generated signals PWMI1 and PWMI2 to inverters 181 and 182, respectively.
[0154]
Then, NPN transistors Q1-Q6 of inverter 181 are turned on / off by signal PWMI1, and NPN transistors Q7-Q12 of inverter 182 are turned on / off by signal PWMI2. Inverters 181 and 182 boost voltage Vb output from DC power supply 30 to charge capacitor 50 so that voltage Vc across capacitor 50 becomes capacitor voltage command value Vc *. The DC voltage is converted into an AC voltage based on the signals PWMI1 and PWM2 and applied to the three-phase coils 10 and 11, respectively.
[0155]
As a result, motor generator MG1 is driven to output the torque specified by command torque TR11, and the torque output from motor generator MG1 is crankshaft 156 via sun gear shaft 125, planetary gear 120 and carrier shaft 127. Is transmitted to. Then, the crankshaft 156 is rotated at the rotational speed MRN1, and the engine 150 is started. Thereby, the operation of power output device 100 at the time of engine start of the hybrid vehicle is completed.
[0156]
Next, the operation of the power output apparatus 100 at the start of the hybrid vehicle will be described. When a series of operations is started, the control CPU 184 receives a start signal from the external ECU. Then, control CPU 184 generates command torque TR21 (a type of command torque TR2) and motor rotational speed MRN2 for using motor generator MG2 for starting in response to the start signal, and based on the generated command torque TR21. Current command values Id2 * and Iq2 * to be supplied to the d-axis and q-axis of motor generator MG2 are calculated.
[0157]
Control CPU 184 also generates command torque TR12 (a type of command torque TR1) and motor rotation speed MRN1 for causing motor generator MG1 to function as a generator based on the rotational force of engine 150 after startup, and the generated command torque. Based on TR12, current command values Id1 * and Iq1 * to be supplied to the d-axis and q-axis of motor generator MG1 and capacitor voltage command value Vc * of capacitor 50 are calculated. In this case, the control CPU 184 generates the command torque TR12 within the range of the limit torque Tlim1 by the method described above.
[0158]
Then, the control CPU 184 generates the capacitor 50 while generating power with the three-phase coils 10 and 11 based on the calculated current command values Id1 * and Iq1 * and the capacitor voltage command value Vc * and the voltage Vc received from the voltage sensor 51. The potential difference V012 for charging the DC power source 30 by reducing the DC voltage is calculated. The control CPU 184 then calculates each of the three-phase coils 10 and 11 calculated based on the current command values Id1 * and Iq1 *, the motor currents MCRT11 and 12 from the current sensors 12 and 13, and the rotation angle θs from the resolver 139. The already calculated potential difference V012 is added to the voltages Vu1, Vv1, Vw1, Vu2, Vv2, and Vw2 applied to the phases to generate signals PWMC1 and PWM2 that are output to the inverters 181 and 182, respectively.
[0159]
The control CPU 184 receives the motor current MCRT2 from the current sensor 14 and the rotation angle θr from the resolver 149, receives the received motor current MCRT2 and rotation angle θr, and the current command values Id2 * and Iq2 * already calculated. Based on the above, the signal PWMI3 is generated by the method described above and output to the inverter 183.
[0160]
Then, inverters 181 and 182 respectively convert the AC voltage generated by three-phase coils 10 and 11 according to signals PWMC1 and 2 into a DC voltage to charge capacitor 50, and also convert the DC voltage from capacitor 50 to The DC power supply 30 is charged by stepping down. Inverter 183 converts DC voltage from capacitor 50 into AC voltage in accordance with signal PWMI3 to drive motor generator MG2. Motor generator MG2 generates a torque specified by command torque TR21, and transmits the generated torque to power transmission gear 111 via ring gear shaft 126, planetary gear 120, power take-off gear 128, and chain belt 129. Then, the driving wheel is driven and the hybrid vehicle starts.
[0161]
In this case, since motor generator MG1 actually generates electric power based on command torque TR12 and charges capacitor 50, motor generator MG2 can drive the drive wheels with a desired torque. As a result, hybrid vehicles start with the expected performance.
[0162]
Thereby, the operation of the power output apparatus 100 at the start of the hybrid vehicle is completed.
[0163]
Next, the operation in the power output apparatus 100 when the hybrid vehicle is in the light load traveling mode will be described. When a series of operations is started, the control CPU 184 receives a signal indicating the light load traveling mode from the external ECU. The control CPU 184 generates a command torque TR22 (a type of command torque TR2) and a motor rotational speed MRN2 for driving the front wheels of the hybrid vehicle only by the motor generator MG2 in response to a signal indicating the light load travel mode. Based on the command torque TR22, current command values Id2 * and Iq2 * to be passed through the d-axis and q-axis of motor generator MG2 are calculated. Further, the control CPU 184 receives the motor current MCRT2 from the current sensor 14 and the rotation angle θr from the resolver 149. Then, control CPU 184 generates signal PWMI3 by the above-described method based on received motor current MCRT2 and rotation angle θr and calculated current command values Id2 * and Iq2 *, and outputs the signal PWMI3 to inverter 183. In this case, the control CPU 184 generates the command torque TR22 within the range of the maximum torque Tmax2 by the method described above.
[0164]
Inverter 183 converts the DC voltage from capacitor 50 into an AC voltage in accordance with signal PWMI3, and drives motor generator MG2. Motor generator MG2 generates torque specified by command torque TR22, and transmits the generated torque to power transmission gear 111 via ring gear shaft 126, planetary gear 120, power take-off gear 128, and chain belt 129. Then, the drive wheels are driven, and the hybrid vehicle runs lightly. Thereby, the operation of power output device 100 when the hybrid vehicle is in the light load traveling mode is completed.
[0165]
Next, the operation of the power output apparatus 100 when the hybrid vehicle is in the medium speed low load traveling mode will be described. The operation of the power output apparatus 100 in this case is the same as the operation of the power output apparatus 100 when starting the engine 150 of the hybrid vehicle described above.
[0166]
Next, the operation of the power output apparatus 100 when the hybrid vehicle is in the acceleration / rapid acceleration mode will be described. When a series of operations is started, the control CPU 184 receives a signal indicating the acceleration / rapid acceleration mode from the external ECU. Then, the control CPU 184 generates a command torque TR23 (a type of command torque TR2) and a motor rotational speed MRN2 for using the motor generator MG2 for acceleration / rapid acceleration in response to a signal indicating the acceleration / rapid acceleration mode, Based on the generated command torque TR23, current command values Id2 * and Iq2 * to be supplied to the d-axis and q-axis of motor generator MG2 are calculated.
[0167]
Control CPU 184 also generates command torque TR13 (a type of command torque TR1) and motor rotation speed MRN1 for causing motor generator MG1 to function as a generator based on the rotational force of engine 150, and based on the generated command torque TR13. Then, current command values Id1 * and Iq1 * flowing through the d-axis and q-axis of motor generator MG1 and capacitor voltage command value Vc * of capacitor 50 are calculated.
[0168]
In this case, the control CPU 184 generates the command torque TR23 within the range of the maximum torque Tmax2 by the method described above, and generates the command torque TR13 within the range of the limit torque Tlim1 by the method described above.
[0169]
Then, the control CPU 184 generates the capacitor 50 while generating power with the three-phase coils 10 and 11 based on the calculated current command values Id1 * and Iq1 * and the capacitor voltage command value Vc * and the voltage Vc received from the voltage sensor 51. The potential difference V012 for charging the DC power source 30 by reducing the DC voltage is calculated. The control CPU 184 then calculates each of the three-phase coils 10 and 11 calculated based on the current command values Id1 * and Iq1 *, the motor currents MCRT11 and 12 from the current sensors 12 and 13, and the rotation angle θs from the resolver 139. Voltages Vu1, Vv1, Vw1, Vu2, Vv2, and Vw2 applied to the phases are added to the already calculated potential difference V012 to generate signals PWMC1 and 2, and the generated signals PWMC1 and 2 are output to inverters 181 and 182 respectively. To do.
[0170]
The control CPU 184 receives the motor current MCRT2 from the current sensor 14 and the rotation angle θr from the resolver 149, receives the received motor current MCRT2 and rotation angle θr, and the current command values Id2 * and Iq2 * already calculated. Based on the above, the signal PWMI3 is generated by the method described above and output to the inverter 183.
[0171]
Then, inverters 181 and 182 respectively convert the AC voltage generated by three-phase coils 10 and 11 according to signals PWMC1 and 2 into a DC voltage to charge capacitor 50, and also convert the DC voltage from capacitor 50 to The DC power supply 30 is charged by stepping down. Inverter 183 converts DC voltage from capacitor 50 into AC voltage in accordance with signal PWMI3 to drive motor generator MG2. Motor generator MG2 generates torque specified by command torque TR23, and transmits the generated torque to power transmission gear 111 via ring gear shaft 126, planetary gear 120, power take-off gear 128, and chain belt 129. Then, the drive wheels are driven, and the hybrid vehicle accelerates and accelerates rapidly.
[0172]
In this case, since motor generator MG1 actually generates electric power based on command torque TR13 and charges capacitor 50, motor generator MG2 can drive the drive wheels with a desired torque. As a result, hybrid vehicles can accelerate and accelerate with expected performance.
[0173]
Thereby, the operation of the power output apparatus 100 at the time of acceleration / rapid acceleration of the hybrid vehicle is completed.
[0174]
Next, the operation of the power output apparatus 100 when the hybrid vehicle is in the low μ road traveling mode will be described. When a series of operations is started, the control CPU 184 receives a signal indicating the low μ road running mode from the external ECU. Control CPU 184 generates command torque TR24 and motor rotational speed MRN2 for driving motor generator MG2 in the regeneration mode in accordance with a signal indicating the low μ road running mode, and motor generator based on the generated command torque TR24 Current command values Id2 * and Iq2 * to be supplied to the d-axis and q-axis of MG2 are calculated. In this case, the control CPU 184 generates the command torque TR24 within the range of the maximum torque Tmax2 by the method described above.
[0175]
Control CPU 184 generates signal PWMC3 based on motor current MCRT2 from current sensor 14, rotation angle θr from resolver 149, and already calculated current command values Id2 * and Iq2 *, and outputs the signal to inverter 183. .
[0176]
Then, inverter 183 converts the AC voltage generated by motor generator MG2 into a DC voltage based on signal PWMC3 and charges capacitor 50. Thereby, the operation of the power output apparatus 100 when the hybrid vehicle is traveling on a low μ road is completed.
[0177]
Finally, the operation of the power output apparatus 100 when the hybrid vehicle is in the deceleration / braking mode will be described. In this case, since traveling energy is recovered as electric energy, motor generator MG2 is driven in the regeneration mode. Therefore, the operation of the power output apparatus 100 in this case is the same as the operation of the power output apparatus 100 when traveling on a low μ road.
[0178]
[Embodiment 2]
FIG. 15 is an electric circuit diagram of the main part of the power output apparatus 100A according to the second embodiment. Referring to FIG. 15, power output device 100A includes motor generator MG1 of power output device 100 configured with one three-phase coil (that is, motor generator MG1 is configured with a normal motor), and motor generator MG2 is configured with a 2Y motor. The inverters 181 to 183 are replaced with inverters 181A to 183A, respectively, and the rest is the same as that of the power output apparatus 100.
[0179]
In power output device 100A, motor generator MG2 includes two three-phase coils 10A and 11A. Then, inverter 181A performs energization control on three-phase coil 10A, and inverter 182A performs energization control on three-phase coil 11A. Inverter 183A controls energization to the three-phase coil of motor generator MG1. Inverters 181A to 183A have the same configuration as inverters 181 to 183, respectively.
[0180]
In power output device 100A, DC power supply 30 is connected between neutral point M1 of three-phase coil 10A and neutral point M2 of three-phase coil 11A. The current sensor 12 detects the motor current MCRT21 flowing through the three-phase coil 10A and outputs it to the control CPU 184. The current sensor 13 detects the motor current MCRT22 flowing through the three-phase coil 11A and outputs it to the control CPU 184. Current sensor 14 detects motor current MCRT1 flowing through motor generator MG1 and outputs the detected current to control CPU 184.
[0181]
Control CPU 184 calculates limit torque Tlim2 of motor generator MG2 by the method described above, and determines command torque TR2 for driving motor generator MG2 within the calculated limit torque Tlim2. Control CPU 184 determines command torque TR1 for driving motor generator MG1 within the range of maximum torque Tmax1 of motor generator MG1 by the method described above.
[0182]
The control CPU 184 calculates current command values Id1 * and Iq1 * based on the command torque TR1, and calculates the calculated current command values Id1 * and Iq1 *, the voltage Vc from the voltage sensor 51, and the current sensor 14. Based on the motor current MCRT1, the signals PWMI1 and PWMC1 are generated and output to the inverter 183A. Control CPU 184 calculates current command values Id2 *, Iq2 * and capacitor voltage command value Vc * based on command torque TR2, and calculates the calculated current command values Id1 *, Iq1 * and capacitor voltage command value Vc *. Based on the voltage Vb from the voltage sensor 32, the voltage Vc from the voltage sensor 51, the motor current MCRT21 from the current sensor 12, and the motor current MCRT22 from the current sensor 13, the signals PWMI21, PWMC21; PWMI22, PWMC22 are And output to inverters 181A and 182A, respectively.
[0183]
FIG. 16 is a flowchart for explaining the operation of power output device 100A shown in FIG. The flowchart shown in FIG. 16 is the same as the flowchart shown in FIG. 13 except that steps S4 to S7 in the flowchart shown in FIG. 13 are replaced with steps S10 to S16.
[0184]
Referring to FIG. 16, after step S3, control CPU 184 determines command torque TR1 for driving motor generator MG1 within the range of maximum torque Tmax1 by the method described above (step S10). Then, control CPU 184 calculates the power of motor generator MG1 by multiplying the rotation speed calculated based on rotation angle θs from resolver 139 and command torque TR1 (step S11).
[0185]
Thereafter, control CPU 184 detects maximum torque Tmax2 of motor generator MG2 by the same method as in step S3 described above (step S12). Then, the limit torque Tlim2 corresponding to the motor applied voltage, motor rotational speed, and battery current BCRT of motor generator MG2 is calculated by the same method as in step S4 described above (step S14).
[0186]
Then, control CPU 184 determines command torque TR2 for driving motor generator MG2 within the range of limit torque Tlim2 by the same method as in step S6 described above (step S15). Then, the control CPU 184 generates signals PWMI1 and PWMC1 based on the command torque TR1 and outputs them to the inverter 183A, and generates signals PWMI21 and PWMC21; PWMI22 and PWMC22 based on the command torque TR2. Output to inverters 181A and 182A. Thereby, control CPU 184 outputs a command to motor generator MG1 and motor generator MG2 (2Y motor) for control (step S16). And a series of operation | movement is complete | finished.
[0187]
The detailed operation of step S15 is executed according to the flowchart shown in FIG.
[0188]
As described above, the control CPU 184 controls the motor generator MG2 to be driven within the range of the limit torque Tlim2. Therefore, motor generator MG2 operates within a torque range in which the magnetic circuit is not saturated, and actually outputs the torque specified by command torque TR2. Therefore, the driving wheel can be driven with a desired torque.
[0189]
In the second embodiment, motor generator MG1 functioning as a generator is configured by one three-phase coil, and generates electric power within the range of maximum torque Tmax1 to charge capacitor 50. Motor generator MG2 is driven by electric power from capacitor 50 by raising and lowering potential difference V012 between neutral point M1 and neutral point M2. Therefore, motor generator MG2 can be driven by changing voltage Vc across capacitor 50 in a wider range.
[0190]
The motor drive control in the control CPU 184 is actually performed by the CPU, and the CPU reads a program including each step of the flowchart shown in FIG. 16 from the ROM, executes the read program, and shows the result in FIG. The driving of motor generators MG1, MG2 is controlled according to the flowchart. Therefore, the ROM corresponds to a computer (CPU) readable recording medium in which a program including each step of the flowchart shown in FIG. 16 is recorded.
[0191]
Others are the same as in the first embodiment.
[Embodiment 3]
FIG. 17 is an electric circuit diagram of a main part of the power output apparatus according to the third embodiment. Referring to FIG. 17, power output device 100B according to the third embodiment deletes three-phase coil 10, current sensor 13, and inverter 182 of power output device 100, and DC power supply 30 is neutral point M1 of motor generator MG1. Between the motor generator MG2 and the neutral point M2 of the motor generator MG2.
[0192]
In other words, power output device 100B is configured by connecting DC power supply 30 between the neutral points of two motor generators MG1, MG2 to form a 2Y motor.
[0193]
In power output device 100B, inverter 181 and motor generator MG1 or inverter 183 and motor generator MG3 boosts DC voltage Vb from DC power supply 30 to charge capacitor 50, or steps down voltage Vc across capacitor 50. Then, while charging DC power supply 30, voltage Vc is changed to operate motor generator MG1 and motor generator MG2 as a generator and an electric motor, respectively.
[0194]
FIG. 18 is a flowchart for explaining the operation of power output apparatus 100B shown in FIG. The flowchart shown in FIG. 18 is obtained by adding steps S11 to S15 of the flowchart shown in FIG. 16 to steps S1 to S6 of the flowchart shown in FIG. 13 and replacing step S7 of the flowchart shown in FIG. 13 with step S20. .
[0195]
Therefore, steps S1 to S6 and S11 to S15 are as described above. Referring to FIG. 18, after step S15, control CPU 184 generates signals PWMI1 and PWMC1 based on command torque TR1 determined in step S6 and outputs the signals to inverter 181, and the command torque determined in step S15. Based on TR2, signals PWMI2 and PWMC2 are generated and output to inverter 183. Then, control CPU 184 controls inverter 181 to drive motor generator MG1 as a generator within the range of limit torque Tlim1, and controls inverter 183 to drive motor generator MG2 as a motor within the range of limit torque Tlim2. Control (step S20). And a series of operation | movement is complete | finished.
[0196]
As described above, the control CPU 184 controls the motor generator MG1 to drive within the range of the limit torque Tlim1, and controls the motor generator MG2 to drive within the range of the limit torque Tlim2. Therefore, motor generators MG1 and MG2 operate within a torque range in which the magnetic circuit is not saturated, and actually output torques specified by command torques TR1 and TR2, respectively. Therefore, it is possible to drive the drive wheels with a desired torque while generating a desired power.
[0197]
The drive control of the motor in the control CPU 184 is actually performed by the CPU, and the CPU reads a program including each step of the flowchart shown in FIG. 18 from the ROM, executes the read program, and shows it in FIG. The driving of motor generators MG1, MG2 is controlled according to the flowchart. Therefore, the ROM corresponds to a computer (CPU) readable recording medium in which a program including each step of the flowchart shown in FIG. 18 is recorded.
[0198]
Others are the same as in the first embodiment.
The power output device according to the present invention is a power output device comprising a plurality of motors and connecting a DC power source between the neutral points of any two motors selected from the plurality of motors to form a 2Y motor. There may be. In this case, a plurality of inverters are provided corresponding to the plurality of motors, and the plurality of inverters are connected in parallel to both ends of the capacitor 50. The two motors constituting the 2Y motor are driven within the range of the limit torque calculated by the above-described method (that is, the motor torque that does not cause magnetic saturation).
[0199]
In the above description, driving of motor generators MG1 and MG2 has been described. However, when power output devices 100, 100A and 100B are started, after capacitor 50 is precharged to a predetermined voltage, DC voltage Vb from DC power supply 30 is supplied. Motor generators MG1 and MG2 may be driven while boosting the voltage Vc or decreasing the voltage Vc across capacitor 50.
[0200]
By driving motor generators MG1 and MG2 after precharging capacitor 50, power output devices 100, 100A and 100B can be started smoothly. Further, it is possible to avoid malfunction of power output devices 100, 100A and 100B by detecting whether or not there is an electrical failure such as disconnection of wiring between DC power supply 30 and motor generator MG1 and / or motor generator MG2. Can do.
[0201]
The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and is intended to include meanings equivalent to the scope of claims for patent and all modifications within the scope.
[Brief description of the drawings]
FIG. 1 is a schematic block diagram of a power output apparatus according to a first embodiment.
FIG. 2 is an enlarged view of the planetary gear shown in FIG. 1 and a motor coupled thereto.
FIG. 3 is an electric circuit diagram of a main part of the power output apparatus shown in FIG. 1;
4 is a plan layout view of two three-phase coils shown in FIG. 3; FIG.
FIG. 5 shows the current flow in a state where the potential difference V012 between the neutral point M1 of the three-phase coil 10 and the neutral point M2 of the three-phase coil 11 is smaller than the voltage Vb of the DC power supply 30, and the three-phase coil of the 2Y motor MG1 FIG. 10 is a circuit diagram for explaining focusing on U-phase leakage inductances of 10 and 11;
6 shows the flow of current in a state where the potential difference V012 between the neutral point M1 of the three-phase coil 10 and the neutral point M2 of the three-phase coil 11 is larger than the voltage Vb of the DC power supply 30, and the three-phase coil of the 2Y motor MG1. FIG. 10 is a circuit diagram for explaining focusing on U-phase leakage inductances of 10 and 11;
7 is a graph showing the difference between the potential V01 of the neutral point M1 of the three-phase coil 10 and the potential V02 of the neutral point M2 of the three-phase coil 11 when the difference is equal to the voltage Vb of the DC power supply 30; 4 is a waveform diagram showing potentials Vu1, Vv1, Vw1 of phase coil 10 and potentials Vu2, Vv2, Vw2 of three-phase coil 11. FIG.
FIG. 8 is a functional block diagram of a control CPU shown in FIG. 3;
FIG. 9 is a torque limit coefficient map showing a relationship between a motor applied voltage of motor generator MG1, a motor rotation speed, battery current BCRT, and torque limit coefficient K1.
FIG. 10 is a maximum torque map showing the relationship between the motor applied voltage and motor rotational speed of motor generator MG1 and maximum torque Tmax1.
FIG. 11 is a diagram showing a relationship between motor rotation speed and torque.
12 is a functional block diagram of motor control means shown in FIG. 8. FIG.
13 is a flowchart for explaining the operation of the power output apparatus shown in FIG. 3. FIG.
FIG. 14 is a flowchart for explaining detailed operation of step S6 shown in FIG. 13;
FIG. 15 is an electric circuit diagram of a main part of the power output apparatus according to the second embodiment.
16 is a flowchart for explaining the operation of the power output apparatus shown in FIG. 15;
FIG. 17 is an electric circuit diagram of a main part of the power output apparatus according to the third embodiment.
18 is a flowchart for explaining the operation of the power output apparatus shown in FIG. 17;
FIG. 19 is a schematic block diagram of a conventional power output apparatus.
[Explanation of symbols]
1 power line, 2 ground line, 10, 10A, 11, 11A, 134, 144, 311, 312 3 phase coil, 12-14, 31 current sensor, 15, 18, 21 U phase arm, 16, 19, 22 V Phase arm, 17, 20, 23W phase arm, 30, 320 DC power supply, 32, 51 Voltage sensor, 50, 350 Capacitor, 100, 100A, 100B, 300 Power output device, 111 Power transmission gear, 112 Drive shaft, 114 Differential Gear, 120 planetary gear, 121 sun gear, 122 ring gear, 123 planetary pinion gear, 124 planetary carrier, 125 sun gear shaft, 126 ring gear shaft, 127 carrier shaft, 128 power take-out gear, 129 chain belt, 132, 142 rotor, 133 , 143 Stator 135,145 permanent magnet, 139,149,159 resolver, 156 crankshaft, 157 damper, 164a accelerator pedal position sensor, 165a brake pedal position sensor, 180 control device, 181 to 183, 181A to 183A, 330, 340 inverter, 184 Control CPU, 184A motor control means, 184B command value determination means, 184C memory, 185 shift position sensor, 186 start key, 301 positive bus, 302 negative bus, 310 double winding motor, 1841 current converter, 1842, 1852 subtraction 1843, 1853, 1855 PI control unit, 1844, 1846 adder, 1845 conversion unit, 1847 PWM calculation unit, 1849 rotation speed calculation unit, 1850 speed electromotive force prediction calculation unit, 1 854 Adder / Subtractor, MG1, MG2 Motor generator, Q1-Q18 NPN transistor, D1-D18 diode, M1, M2 Neutral point.

Claims (13)

A first inverter;
A second inverter;
A 2Y motor having a first three-phase motor coil energized and controlled by the first inverter and a second three-phase motor coil energized and controlled by the second inverter as a stator;
A power source connected between a first neutral point of the first three-phase motor coil and a second neutral point of the second three-phase motor coil;
When the power source is connected between the first neutral point and the second neutral point, a limit torque that can be output by the 2Y motor is calculated, and the limit torque is within the calculated limit torque range. And a control device that controls the first and second inverters so that the 2Y motor is driven. The control device multiplies the maximum torque that the 2Y motor can output when the power source is disconnected from between the first neutral point and the second neutral point by multiplying the maximum torque by the limiting coefficient. Calculate the torque limit,
The limiting coefficient is a coefficient for removing, from the maximum torque, a decrease in torque output from the 2Y motor when a direct current from the power source flows through the first and second three-phase motor coils. The power output device according to claim 1. The control device holds first and second maps, and has a limiting coefficient corresponding to a motor applied voltage applied to the 2Y motor, a direct current flowing through the 2Y motor, and a motor rotation speed of the 2Y motor. Extracting from the first map, extracting the maximum torque corresponding to the motor applied voltage and the motor speed from the second map, and multiplying the extracted maximum torque by the extracted limiting coefficient The power output apparatus according to claim 2, wherein torque is calculated. The power output apparatus according to any one of claims 1 to 3, wherein the 2Y motor is a power generation motor connected to an internal combustion engine. 4. The power output apparatus according to claim 1, wherein the 2Y motor is a drive motor coupled to a drive wheel. 5. The 2Y motor is
A power generation motor including the first three-phase motor coil as a stator and connected to an internal combustion engine;
4. The power output apparatus according to claim 1, comprising: a driving motor including the second three-phase motor coil as a stator and coupled to a driving wheel. 5. A computer-readable recording medium storing a program for causing a computer to execute drive control of a 2Y motor including first and second three-phase motor coils,
Limit that the 2Y motor can output when a power source is connected between a first neutral point of the first three-phase motor coil and a second neutral point of the second three-phase motor coil A first step of calculating torque;
A first inverter that controls energization of the first three-phase motor coil and a second energization control of the second three-phase motor coil so that the 2Y motor is driven within the calculated limit torque range. A computer-readable recording medium storing a program for causing a computer to execute a second step of controlling the inverter. The first step includes
A first coefficient for detecting a limiting coefficient for removing, from the maximum torque, a decrease in torque output from the 2Y motor when a direct current from the power source flows through the first and second three-phase motor coils. Substeps,
A second sub-step for detecting a maximum torque that the 2Y motor can output when the power source is disconnected from between the first neutral point and the second neutral point;
And a third sub-step of using the result of multiplying the detected maximum torque by the detected limit coefficient as the limit torque. Possible recording media. In the first sub-step, a motor applied voltage applied to the 2Y motor, a direct current flowing through the 2Y motor, and a limiting coefficient corresponding to the motor rotation speed of the 2Y motor are extracted from the first map,
9. The computer-readable recording program according to claim 8, wherein the second sub-step extracts a maximum torque corresponding to the motor applied voltage and the motor rotational speed from a second map. Recording medium. The second step includes
A fourth sub-step for determining a command torque of the 2Y motor within the limit torque range;
The computer according to claim 7, further comprising a fifth sub-step for controlling the first and second inverters to output the determined command torque. A computer-readable recording medium on which a program for recording is recorded. A computer-readable recording medium that records a program for causing a computer to execute drive control of a power generation motor composed of a 2Y motor and a drive motor connected to a drive wheel.
A power source is connected between a first neutral point of a first three-phase motor coil included in the power generation motor and a second neutral point of a second three-phase motor coil included in the power generation motor. A first step of calculating a limit torque that can be output by the power generation motor when
A first inverter that controls energization of the first three-phase motor coil and a second energization control of the second three-phase motor coil so that the power generation motor is driven within the calculated limit torque range. A second step of controlling the inverter of
Causing the computer to execute a third step of controlling a third inverter that controls energization of a third three-phase motor coil included in the drive motor so that the drive motor is driven within a maximum torque range. A computer-readable recording medium on which a program for recording is recorded. A computer-readable recording medium storing a program for causing a computer to execute drive control of a power generation motor connected to an internal combustion engine and the drive motor connected to the drive wheel and comprising a 2Y motor. ,
A first step of calculating a command torque for driving the power generation motor within a range of maximum torque;
A power source is connected between a first neutral point of a first three-phase motor coil included in the drive motor and a second neutral point of a second three-phase motor coil included in the drive motor. A second step of calculating a limit torque that can be output by the drive motor when
A first inverter that controls energization of the first three-phase motor coil and a second energization control of the second three-phase motor coil so that the driving motor is driven within the calculated limit torque range. A third step of controlling the inverter of
And a fourth step of controlling a third inverter that controls energization of a third three-phase motor coil included in the power generation motor so that the power generation motor outputs the command torque. A computer-readable recording medium on which a program is recorded. A computer-readable recording medium recording a program for causing a computer to execute drive control of a 2Y motor including a power generation motor connected to an internal combustion engine and a drive motor connected to a drive wheel,
A power source is connected between a first neutral point of a first three-phase motor coil included in the power generation motor and a second neutral point of a second three-phase motor coil included in the drive motor. A first step of calculating a first limit torque that can be output by the power generation motor when
A second step of calculating a first command torque of the power generation motor within the range of the first limit torque;
A third step of calculating a second limit torque that the drive motor can output when the power source is connected between the first neutral point and the second neutral point;
A fourth step of calculating a second command torque of the drive motor within a range of the second limit torque;
A fifth step of controlling a first inverter that controls energization of the first three-phase motor coil such that the power generation motor outputs the first command torque;
A program for causing a computer to execute a fifth step of controlling a second inverter that controls energization of the second three-phase motor coil so that the drive motor outputs the second command torque is recorded. Computer-readable recording medium.

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