JP2006056452A - Power output device and car and drive unit mounted with this, control method of power output device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a power output device which smoothly performs gear change of a transmission. <P>SOLUTION: In a car in which an engine, a motor MG1 and a drive shaft are connected to a planet gear mechanism and which is equipped with a motor MG2 connected to the drive shaft via a transmission and a battery which performs exchange of electric power between motors MG1 and MG2, when switching of a status of a transmission from Hi gear to Lo gear is requested, and if a value of a torque instruction Tm2* of the motor MG2 is zero or less(S130, S150), a driving point of the engine is changed to a high torque high rotation side (S160-S190) so that the electric power set up based on the load limitation of the battery as the electric power which is insufficient to perform gear change smoothly may be supplied by the motor MG1. Thereby, electric power required for gear change can be supplied and gear change can be performed smoothly, since generated power by the motor MG1 also becomes large based on dynamic relationship of each rotation element of the planet gear mechanism. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a power output device, an automobile on which the power output device is mounted, a driving device, and a control method for the power output device.

Conventionally, as this type of power output device, an engine crankshaft, a generator, and a drive shaft connected to an axle are connected to three rotating elements of a planetary gear mechanism, and an electric motor is connected to the drive shaft via a transmission. And what was mounted in the motor vehicle provided with the electrical storage apparatus which exchanges electric power with a generator and an electric motor is proposed (refer patent document 1). In this apparatus, the power from the electric motor is converted into power corresponding to the traveling state of the vehicle by changing the gear position based on the driving force and vehicle speed required for the drive shaft, and output to the drive shaft.
JP 2002-225578 A

  However, in the above-described power output device, although the gear position of the transmission is set to a gear position corresponding to the vehicle speed and driving force, it is necessary for gear shifting when an instruction to change the gear speed is instructed to increase the rotation speed of the motor. When the power cannot be sufficiently covered by the power input / output from / to the power generator and the power that can be supplied from the power storage device, smooth shifting may not be performed.

  An object of the power output apparatus of the present invention, a vehicle equipped with the power output apparatus, a driving apparatus, and a control method for the power output apparatus is to smoothly shift the transmission. Another object of the power output apparatus of the present invention, an automobile equipped with the power output apparatus, a drive apparatus, and a control method for the power output apparatus is to output a driving force required for the drive shaft.

  In order to achieve at least a part of the above object, the power output apparatus of the present invention, the automobile on which the power output apparatus is mounted, the driving apparatus, and the control method of the power output apparatus employ the following means.

The first power output device of the present invention comprises:
A power output device that outputs power to a drive shaft,
An internal combustion engine;
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
An electric motor capable of power input and output;
Shift transmission means for transmitting power between the rotating shaft of the electric motor and the drive shaft with a changeable gear ratio;
A power storage means capable of exchanging power with the electric power drive input / output means and the electric motor;
When an instruction to change the speed ratio of the speed change transmission means is given so that the number of revolutions of the electric motor is increased, the internal combustion engine and the power power input / output means of the electric power drive input / output means at the time of normal speed change where the rated power can be supplied from the power storage means. The internal combustion engine and the electric power so that the gear ratio of the shift transmission means is changed using the electric power input / output by the electric power power input / output means and the electric power supplied from the power storage means without changing the operating state. The power input / output means, the electric motor, and the speed change transmission means are controlled, and the electric power input / output by the power power input / output means and the power storage means at the time of non-normal shift where the power supply from the power storage means is restricted. The internal combustion engine and the power drive input / output unit are controlled so that the sum of the supplied power and the power input / output by the power drive input / output unit is increased. A gear ratio changing time control means for transmission ratio control and the speed change-transmission and said electric motor to be changed in the change speed transmission mechanism with the electric power supplied from the power storage means,
It is a summary to provide.

  In the first power output apparatus of the present invention, the speed ratio of the speed change transmission means for transmitting the power between the rotating shaft of the motor and the drive shaft is changed with a speed changeable ratio so that the number of rotations of the motor increases. When a normal shift is possible in which the rated power can be supplied from the power input / output means and the power storage means capable of exchanging power with the motor, the power is not changed without changing the operating state of the internal combustion engine and the power input / output means. The internal combustion engine, the power drive input / output means, the electric motor, and the speed change transmission means are controlled so that the gear ratio of the speed change transmission means is changed using the power input / output by the power input / output means and the power supplied from the power storage means. In the non-normal shift where the power supply from the power storage means is restricted, the internal combustion engine increases so that the sum of the power input / output by the power power input / output means and the power supplied from the power storage means becomes large. The motor and the power transmission input / output means, and the electric motor and the gear transmission so that the gear ratio of the transmission transmission means is changed using the power input / output by the power power input / output means and the power supplied from the power storage means. Control means. That is, at the time of non-normal shift, the internal combustion engine and the power drive input / output means are controlled so that the sum of the power input / output by the power drive input / output means and the power supplied from the power storage means is increased. It is possible to supplement at least a part of the electric power required for shifting. As a result, shifting can be performed smoothly.

  In such a first power output apparatus of the present invention, the speed change ratio control means sets the insufficient power based on the degree of restriction of the power storage means at the time of the non-normal shift, and based on the set insufficient power. The target power input / output power to be input / output by the power power input / output means is set, and the internal combustion engine and the power power input / output means are input / output from the power power input / output means. It can also be a means for controlling In this way, by setting the insufficient power based on the degree of limitation of the power storage means, it is possible to compensate for the insufficient power and smoothly shift the transmission. In this aspect of the first power output apparatus of the present invention, the gear ratio change time control means may be means for setting insufficient power so that the greater the degree of restriction of the power storage means, the greater the tendency. it can. In this way, the power shortage can be set more accurately, and the power required for shifting the transmission can be supplemented.

The second power output device of the present invention is:
A power output device that outputs power to a drive shaft,
An internal combustion engine;
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
An electric motor capable of power input and output;
Shift transmission means for transmitting power between the rotating shaft of the electric motor and the drive shaft with a changeable gear ratio;
A power storage means capable of exchanging power with the electric power drive input / output means and the electric motor;
When instructed to change the speed ratio of the speed change transmission means so that the number of revolutions of the electric motor is increased, input / output by the power power input / output means is performed without changing the operating state of the internal combustion engine and the power power input / output means. The internal combustion engine and the power power input during normal shift can cover the power required to change the gear ratio of the shift transmission means within the range of the sum of the power to be supplied and the power that can be supplied from the power storage means. The internal combustion engine such that the speed ratio of the speed change transmission means is changed using the power input / output by the power power input / output means and the power supplied from the power storage means without changing the operating state of the output means. And the electric power drive input / output means, the electric motor, and the transmission transmission means, and without changing the operating state of the internal combustion engine and the electric power drive input / output means. The power supply is switched on during non-normal shifting where the power required to change the gear ratio of the shift transmission means cannot be covered within the sum of the power input / output by the power storage and the power that can be supplied from the power storage means. The internal combustion engine and the power drive input / output unit are controlled and input / output by the power drive input / output unit so that the sum of the power input / output by the output unit and the power supplied from the power storage unit is increased. A gear ratio change time control means for controlling the electric motor and the speed change transmission means so that the speed ratio of the speed change transmission means is changed using electric power and electric power supplied from the power storage means;
It is a summary to provide.

  In the second power output apparatus of the present invention, the speed ratio of the speed change transmission means for transmitting power between the rotating shaft of the motor and the drive shaft is changed with a speed changeable ratio so as to increase the rotation speed of the motor. Is supplied from the electric power input / output means and the electric power input / output means and the electric storage means capable of exchanging electric power with the motor without changing the operating state of the internal combustion engine and the electric power input / output means. Electric power can be supplied without changing the operating state of the internal combustion engine and the electric power input / output means at the time of normal speed change, which can cover the electric power required to change the gear ratio of the transmission means within the range of the sum of possible electric power The internal combustion engine, the power drive input / output means, the electric motor, and the transmission of transmission are changed so that the transmission ratio of the transmission transmission means is changed using the electric power input / output by the input / output means and the electric power supplied from the power storage means. The transmission transmission means within a range of the sum of the electric power input / output by the electric power input / output means and the electric power that can be supplied from the electric storage means without changing the operating state of the internal combustion engine and the electric power input / output means The internal combustion engine and the electric power are increased so that the sum of the electric power input / output by the electric power input / output means and the electric power supplied from the power storage means at the time of the non-normal speed change that cannot cover the electric power required to change the gear ratio of the engine. An electric motor and a shift transmission means for controlling the power input / output means and changing a gear ratio of the shift transmission means using the electric power input / output by the electric power input / output means and the electric power supplied from the power storage means; To control. That is, at the time of non-normal shift, the internal combustion engine and the power drive input / output means are controlled so that the sum of the power input / output by the power drive input / output means and the power supplied from the power storage means is increased. It is possible to supplement at least a part of the electric power required for shifting. As a result, shifting can be performed smoothly.

  In such a first or second power output apparatus of the present invention, the speed ratio change time control means is configured to increase the rotational speed of the electric motor while a negative driving force is applied to the drive shaft. It may be a means for changing the speed ratio of the speed change transmission means when an instruction to change the speed ratio of the speed change transmission means is given.

  Further, in the first or second power output apparatus of the present invention, the speed ratio change time control means is a means for controlling the operating point of the internal combustion engine to be changed to a high torque side at the time of the non-normal speed change. It may be a certain means, or may be a means for controlling the operating point of the internal combustion engine to be changed to a high rotation side. By so doing, it is possible to supplement the electric power necessary for shifting the transmission by changing the operating point of the internal combustion engine.

  Furthermore, the first or second power output device of the present invention further includes braking means capable of applying a braking force to the drive shaft, and the speed change ratio control means is configured to output the power power input / output during the non-normal speed change. When the internal combustion engine and the power drive input / output means are controlled so that the sum of the power input / output by the means and the power supplied from the power storage means increases, the driving force acting on the drive shaft is increased. It may be a means for controlling the braking means so as to suppress the driving force acting on the drive shaft when it becomes larger. By so doing, it is possible to suppress an increase in the driving force acting on the drive shaft.

  Alternatively, in the first or second power output device of the present invention, the power output device further includes required drive force setting means for setting a required drive force required for the drive shaft, and the speed ratio change time control means is set as described above. It may be a means for controlling the required driving force to be output to the driving shaft. In this way, the required driving force can be output to the drive shaft.

  In the first or second power output apparatus of the present invention, the power power input / output means is connected to three shafts of the output shaft, the drive shaft, and the third shaft of the internal combustion engine, A means comprising: a three-axis power input / output means for inputting / outputting power to the remaining shaft based on power input / output to / from any of the two axes; and a generator for inputting / outputting power to / from the third shaft. Or a first rotor connected to the output shaft of the internal combustion engine and a second rotor connected to the drive shaft, the first rotor and the first rotor It can also be a counter-rotor motor that rotates by relative rotation with the two rotors.

  The automobile of the present invention is the first or second power output apparatus of the present invention according to any one of the above-described aspects, that is, basically a power output apparatus that outputs power to the drive shaft, Electric power input / output means connected to the output shaft of the internal combustion engine and the drive shaft for outputting at least a part of the power from the internal combustion engine to the drive shaft with input and output of electric power and power; An electric motor capable of input / output; transmission transmission means for transmitting power between the rotating shaft of the motor and the drive shaft with a changeable gear ratio; and exchange of electric power with the electric power input / output means and the electric motor And the internal combustion engine and the internal combustion engine at the time of a normal shift in which the rated power can be supplied from the power storage means when an instruction is given to change the speed ratio of the shift transmission means so that the rotational speed of the motor increases. The power movement The internal combustion engine is configured such that the transmission ratio of the transmission transmission means is changed using the electric power input / output by the electric power input / output means and the electric power supplied from the power storage means without changing the operation state of the input / output means. The engine, the power power input / output means, the electric motor, and the shift transmission means are controlled, and the electric power input / output by the power power input / output means at the time of non-normal shift in which power supply from the power storage means is restricted The internal combustion engine and the power power input / output means are controlled so that the sum of the power supplied from the power storage means is increased, and the power input / output by the power power input / output means and the power storage means are supplied. A gear ratio change time control means for controlling the electric motor and the speed change transmission means so that the speed ratio of the speed change transmission means is changed using electric power. A power output device or a power output device that outputs power to a drive shaft, and is connected to the internal combustion engine, an output shaft of the internal combustion engine and the drive shaft from the internal combustion engine with input and output of electric power and power Power motive power input / output means for outputting at least part of the motive power to the drive shaft, an electric motor capable of inputting / outputting motive power, and a motive power between the rotating shaft of the motor and the drive shaft with a changeable gear ratio The transmission transmission means for transmitting the power, the power input / output means and the power storage means capable of exchanging electric power with the motor, and the change of the gear ratio of the transmission transmission means is instructed so as to increase the rotational speed of the motor. The shift within the range of the sum of the power input / output by the power power input / output means and the power that can be supplied from the power storage means without changing the operating state of the internal combustion engine and the power power input / output means. Transmission Electric power input / output by the electric power power input / output means without changing the operating state of the internal combustion engine and the electric power power input / output means at the time of a normal gear shift that can cover the electric power required to change the gear ratio of the means And the electric power supplied from the power storage means to control the internal combustion engine, the power drive input / output means, the electric motor, and the speed change transmission means so as to change the speed ratio of the speed change transmission means. The speed change ratio of the speed change transmission means within a range of the sum of the power input / output by the power power input / output means and the power that can be supplied from the power storage means without changing the operating state of the engine and the power power input / output means The power sum input / output by the power drive input / output means and the power supplied from the power storage means are large during non-normal shifts where the power required to change the power cannot be covered. And controlling the internal combustion engine and the power drive input / output means, and using the power input / output by the power drive input / output means and the power supplied from the power storage means, The second power output device according to the present invention is provided, comprising a speed ratio change time control means for controlling the electric motor and the speed change transmission means to be changed, and an axle is connected to the drive shaft. The gist.

  Since the vehicle according to the present invention is equipped with the first or second power output device of the present invention according to any one of the above-described aspects, the effects exhibited by the first or second power output device of the present invention, for example, speed change By supplementing at least a part of the electric power necessary for shifting the machine, it is possible to achieve the same effects as the effect that the shifting can be performed smoothly.

The first drive device of the present invention comprises:
A drive device connected to and driven by an output shaft and a drive shaft of an internal combustion engine,
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
An electric motor capable of power input and output;
Shift transmission means for transmitting power between the rotating shaft of the electric motor and the drive shaft with a changeable gear ratio;
When an instruction to change the speed ratio of the speed change transmission means is given so as to increase the rotation speed of the electric motor, the rated power can be supplied from the electric power drive input / output means and the power storage means capable of exchanging electric power with the electric motor. During normal shifting, the shift transmission is performed using the power input / output by the power power input / output means and the power supplied from the power storage means without changing the operating states of the internal combustion engine and the power power input / output means. The internal combustion engine, the power drive input / output means, the electric motor, and the speed change transmission means are controlled so that the speed ratio of the means is changed, and the power supply from the power storage means is restricted during the non-normal speed change. The internal combustion engine and the power drive input / output unit are controlled such that the sum of the power input / output by the power drive input / output unit and the power supplied from the power storage unit is increased. And controlling the electric motor and the shift transmission means so as to change the gear ratio of the shift transmission means using the electric power input / output by the electric power drive input / output means and the electric power supplied from the power storage means. Gear ratio change time control means,
It is a summary to provide.

  In the first drive device of the present invention, the change of the transmission gear ratio of the transmission transmission means for transmitting the power between the rotation shaft of the motor and the drive shaft with a transmission gear ratio that can be changed to increase the rotation speed of the motor. Without changing the operating state of the internal combustion engine and the power power input / output means at the normal speed when the rated power can be supplied from the power power input / output means and the power storage means capable of exchanging power with the motor. The internal combustion engine, the power drive input / output means, the electric motor, and the speed change transmission means so that the speed ratio of the speed change transmission means is changed using the power input / output by the power power input / output means and the power supplied from the power storage means. In the non-normal shift where the power supply from the power storage means is controlled, the sum of the power input / output by the power power input / output means and the power supplied from the power storage means is increased. The electric motor and the gear shift are controlled so that the gear ratio of the shift transmission means is changed using the electric power input / output by the electric power input / output means and the electric power supplied from the power storage means. Control transmission means. That is, at the time of non-normal shift, the internal combustion engine and the power drive input / output means are controlled so that the sum of the power input / output by the power drive input / output means and the power supplied from the power storage means is increased. It is possible to supplement at least a part of the electric power required for shifting. As a result, shifting can be performed smoothly.

The second drive device of the present invention is:
A drive device connected to and driven by an output shaft and a drive shaft of an internal combustion engine,
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
An electric motor capable of power input and output;
Shift transmission means for transmitting power between the rotating shaft of the electric motor and the drive shaft with a changeable gear ratio;
When instructed to change the speed ratio of the speed change transmission means so that the number of revolutions of the electric motor is increased, input / output by the power power input / output means is performed without changing the operating state of the internal combustion engine and the power power input / output means. Power required to change the gear ratio of the shift transmission means within a range of the sum of the power to be supplied and the electric power that can be supplied from the electric power input / output means and the electric power storage means capable of exchanging electric power with the electric motor. During normal shifts that can be covered, the power input / output by the power power input / output means and the power supplied from the power storage means are used without changing the operating state of the internal combustion engine and the power power input / output means. Controlling the internal combustion engine, the power drive input / output means, the electric motor, and the speed change transmission means so that a speed change ratio of the speed change transmission means is changed; The speed change ratio of the speed change transmission means is changed within a range of the sum of the power input / output by the power power input / output means and the power that can be supplied from the power storage means without changing the operating state of the power / power input / output means. In the case of a non-normal speed shift that cannot cover the power required for power supply, the internal combustion engine and the power power input are increased so that the sum of the power input / output by the power power input / output means and the power supplied from the power storage means increases. The electric motor and the gear shift transmission are controlled so that the gear ratio of the gear shift transmission means is changed using the electric power input / output by the electric power power input / output means and the electric power supplied from the power storage means. A speed change ratio control means for controlling the means;
It is a summary to provide.

  In the second drive device of the present invention, the speed ratio of the speed change transmission means for transmitting power between the rotating shaft of the motor and the drive shaft is changed with a speed changeable ratio so that the number of revolutions of the motor increases. When instructed, power is input / output by the power / power input / output means without any change in the operating state of the internal combustion engine and the power / power input / output means, and is supplied from the power / power input / output means and the power storage means capable of exchanging power with the motor. Electric power can be supplied without changing the operating state of the internal combustion engine and the electric power input / output means at the time of normal speed change, which can cover the electric power required to change the gear ratio of the transmission means within the range of the sum of possible electric power The internal combustion engine, the power drive input / output means, the electric motor, and the transmission of transmission are changed so that the transmission ratio of the transmission transmission means is changed using the electric power input / output by the input / output means and the electric power supplied from the power storage means. The transmission transmission means within a range of the sum of the electric power input / output by the electric power input / output means and the electric power that can be supplied from the electric storage means without changing the operating state of the internal combustion engine and the electric power input / output means The internal combustion engine and the electric power are increased so that the sum of the electric power input / output by the electric power input / output means and the electric power supplied from the power storage means at the time of the non-normal speed change that cannot cover the electric power required to change the gear ratio of the engine. An electric motor and a shift transmission means for controlling the power input / output means and changing a gear ratio of the shift transmission means using the electric power input / output by the electric power input / output means and the electric power supplied from the power storage means; To control. That is, at the time of non-normal shift, the internal combustion engine and the power drive input / output means are controlled so that the sum of the power input / output by the power drive input / output means and the power supplied from the power storage means is increased. It is possible to supplement at least a part of the electric power required for shifting. As a result, shifting can be performed smoothly.

The control method of the first power output device of the present invention is:
An internal combustion engine, and an electric power / power input / output means connected to an output shaft and a drive shaft of the internal combustion engine for outputting at least part of the power from the internal combustion engine to the drive shaft with input / output of electric power and power; An electric motor capable of inputting / outputting power; transmission transmission means for transmitting power between the rotating shaft of the motor and the drive shaft with a changeable gear ratio; and the electric power input / output means and the electric motor and electric power A method of controlling a power output device comprising:
When an instruction to change the speed ratio of the speed change transmission means is given so that the number of revolutions of the electric motor is increased, the internal combustion engine and the power power input / output means of the electric power drive input / output means at the time of normal speed change where the rated power can be supplied from the power storage means. The internal combustion engine and the electric power so that the gear ratio of the shift transmission means is changed using the electric power input / output by the electric power power input / output means and the electric power supplied from the power storage means without changing the operating state. The power input / output means, the electric motor, and the speed change transmission means are controlled, and the electric power input / output by the power power input / output means and the power storage means at the time of non-normal shift where the power supply from the power storage means is restricted. Controlling the internal combustion engine and the power power input / output means so as to increase the sum of the supplied power and power input / output by the power power input / output means And summarized in that for controlling said transmission mechanism and the motor so that the gear ratio is changed in the change speed transmission mechanism with the electric power supplied from the accumulator unit.

  According to the control method for the first power output apparatus of the present invention, the transmission transmission means for transmitting the power between the rotating shaft and the drive shaft of the motor with a gear ratio capable of shifting so as to increase the rotational speed of the motor. When a change in gear ratio is instructed, the operating state of the internal combustion engine and the power power input / output means during the normal speed shift where the rated power can be supplied from the power power input / output means and the power storage means capable of exchanging power with the motor. The internal combustion engine, the power power input / output means, and the electric motor so that the speed ratio of the speed change transmission means is changed using the power input / output by the power power input / output means and the power supplied from the power storage means without changing The shift transmission means is controlled, and the electric power input / output by the electric power input / output means and the electric power supplied from the electric storage means at the time of non-normal shift where the electric power supply from the electric storage means is restricted. The internal combustion engine and the power drive input / output means are controlled so as to increase, and the speed ratio of the speed change transmission means is changed using the power input / output by the power drive input / output means and the power supplied from the power storage means. The electric motor and the shift transmission means are controlled. That is, at the time of non-normal shift, the internal combustion engine and the power drive input / output means are controlled so that the sum of the power input / output by the power drive input / output means and the power supplied from the power storage means is increased. It is possible to supplement at least a part of the electric power required for shifting. As a result, shifting can be performed smoothly.

The control method of the second power output device of the present invention is:
An internal combustion engine, and an electric power / power input / output means connected to an output shaft and a drive shaft of the internal combustion engine for outputting at least part of the power from the internal combustion engine to the drive shaft with input / output of electric power and power; An electric motor capable of inputting / outputting power; transmission transmission means for transmitting power between the rotating shaft of the motor and the drive shaft with a changeable gear ratio; and the electric power input / output means and the electric motor and electric power A method of controlling a power output device comprising:
When instructed to change the speed ratio of the speed change transmission means so that the number of revolutions of the electric motor is increased, input / output by the power power input / output means is performed without changing the operating state of the internal combustion engine and the power power input / output means. The internal combustion engine and the power power input during normal shift can cover the power required to change the gear ratio of the shift transmission means within the range of the sum of the power to be supplied and the power that can be supplied from the power storage means. The internal combustion engine such that the speed ratio of the speed change transmission means is changed using the power input / output by the power power input / output means and the power supplied from the power storage means without changing the operating state of the output means. And the electric power drive input / output means, the electric motor, and the transmission transmission means, and without changing the operating state of the internal combustion engine and the electric power drive input / output means. The power supply is switched on during non-normal shifting where the power required to change the gear ratio of the shift transmission means cannot be covered within the sum of the power input / output by the power storage and the power that can be supplied from the power storage means. The internal combustion engine and the power drive input / output unit are controlled and input / output by the power drive input / output unit so that the sum of the power input / output by the output unit and the power supplied from the power storage unit is increased. The gist of the invention is to control the electric motor and the shift transmission means so that the gear ratio of the shift transmission means is changed using electric power and electric power supplied from the power storage means.

  According to the control method of the second power output apparatus of the present invention, the transmission transmission means for transmitting the power between the rotating shaft and the drive shaft of the motor with a gear ratio that can be changed so that the rotational speed of the motor is increased. When the change of the transmission ratio is instructed, the electric power input / output by the electric power input / output means and the electric power input / output means and the exchange of electric power with the electric motor are performed without changing the operating state of the internal combustion engine and the electric power input / output means. The operating state of the internal combustion engine and the power drive input / output means can be changed during normal gear shifting, which can cover the power required to change the speed ratio of the speed change transmission means within the range of the sum of the power that can be supplied from the power storage means. The internal combustion engine and the power drive input / output means so that the speed ratio of the speed change transmission means is changed using the power input / output by the power drive input / output means and the power supplied from the power storage means without being changed. Within the range of the sum of the electric power input and output by the electric power input / output means and the electric power that can be supplied from the electric storage means without changing the operation state of the internal combustion engine and the electric power input / output means Thus, the sum of the electric power input / output by the electric power input / output means and the electric power supplied from the power storage means is increased at the time of non-normal gear shifting, which cannot cover the electric power required to change the gear ratio of the transmission means. An electric motor for controlling the internal combustion engine and the power motive power input / output means, and for changing the speed ratio of the speed change transmission means using the power input / output by the power motive power input / output means and the power supplied from the power storage means; Controls the transmission transmission means. That is, at the time of non-normal shift, the internal combustion engine and the power drive input / output means are controlled so that the sum of the power input / output by the power drive input / output means and the power supplied from the power storage means is increased. It is possible to supplement at least a part of the electric power required for shifting. As a result, shifting can be performed smoothly.

  Next, the best mode for carrying out the present invention will be described using examples.

  FIG. 1 is a configuration diagram showing an outline of the configuration of a hybrid vehicle 20 as an embodiment of the present invention. As shown in the figure, the hybrid vehicle 20 of the embodiment includes an engine 22, a three-shaft power distribution / integration mechanism 30 connected to a crankshaft 26 as an output shaft of the engine 22 via a damper 28, and power distribution / integration. A motor MG1 capable of generating electricity connected to the mechanism 30, a motor MG2 connected to the power distribution and integration mechanism 30 via a transmission 60, and a hybrid electronic control unit 70 for controlling the entire vehicle are provided.

  The engine 22 is an internal combustion engine that outputs power using a hydrocarbon-based fuel such as gasoline or light oil, and an engine electronic control unit (hereinafter referred to as an engine ECU) that receives signals from various sensors that detect the operating state of the engine 22. ) 24 is subjected to operation control such as fuel injection control, ignition control, intake air amount adjustment control and the like. The engine ECU 24 is in communication with the hybrid electronic control unit 70, controls the operation of the engine 22 by a control signal from the hybrid electronic control unit 70, and, if necessary, transmits data related to the operating state of the engine 22 to the hybrid electronic control. Output to unit 70.

  The power distribution and integration mechanism 30 includes an external gear sun gear 31, an internal gear ring gear 32 arranged concentrically with the sun gear 31, a plurality of pinion gears 33 that mesh with the sun gear 31 and mesh with the ring gear 32, A planetary gear mechanism is provided that includes a carrier 34 that holds a plurality of pinion gears 33 so as to rotate and revolve, and that performs differential action using the sun gear 31, the ring gear 32, and the carrier 34 as rotational elements. In the power distribution and integration mechanism 30, the crankshaft 26 of the engine 22 is connected to the carrier 34, the motor MG1 is connected to the sun gear 31, and the transmission 60 is connected to the ring gear 32 via the ring gear shaft 32a. When functioning as a generator, power from the engine 22 input from the carrier 34 is distributed according to the gear ratio between the sun gear 31 side and the ring gear 32 side, and when the motor MG1 functions as an electric motor, the engine input from the carrier 34 The power from 22 and the power from the motor MG1 input from the sun gear 31 are integrated and output to the ring gear 32 side. The power output to the ring gear 32 is output from the ring gear shaft 32a to the drive wheels 39a and 39b via the gear mechanism 37 and the differential gear 38.

  Both the motor MG1 and the motor MG2 are configured as well-known synchronous generator motors that can be driven as generators and can be driven as motors, and exchange power with the battery 50 via inverters 41 and 42. The power line 54 connecting the inverters 41 and 42 and the battery 50 is configured as a positive and negative bus shared by the inverters 41 and 42, and the electric power generated by one of the motors MG 1 and MG 2 is supplied to another motor. It can be consumed at. Therefore, battery 50 is charged / discharged by electric power generated from motors MG1 and MG2 or insufficient electric power. Note that the battery 50 is not charged / discharged if the electric power balance is balanced by the motor MG1 and the motor MG2. The motors MG1 and MG2 are both driven and controlled by a motor electronic control unit (hereinafter referred to as a motor ECU) 40. The motor ECU 40 detects signals necessary for driving and controlling the motors MG1 and MG2, such as signals from rotational position detection sensors 43 and 44 that detect the rotational positions of the rotors of the motors MG1 and MG2, and current sensors (not shown). The phase current applied to the motors MG1 and MG2 to be applied is input, and a switching control signal to the inverters 41 and 42 is output from the motor ECU 40. The motor ECU 40 calculates the rotational speeds Nm1 and Nm2 of the rotors of the motors MG1 and MG2 and the rotational speed Nr of the ring gear shaft 32a by a rotational speed calculation routine (not shown) based on signals input from the rotational position detection sensors 43 and 44. Yes. The motor ECU 40 is in communication with the hybrid electronic control unit 70, controls the driving of the motors MG1 and MG2 by a control signal from the hybrid electronic control unit 70, and, if necessary, data on the operating state of the motors MG1 and MG2. Output to the hybrid electronic control unit 70.

  The transmission 60 connects and disconnects the rotating shaft 48 of the motor MG2 and the ring gear shaft 32a and reduces the rotational speed of the rotating shaft 48 of the motor MG2 to two stages by connecting the both shafts to the ring gear shaft 32a. It is configured to communicate. An example of the configuration of the transmission 60 is shown in FIG. The transmission 60 shown in FIG. 2 includes a double-pinion planetary gear mechanism 60a, a single-pinion planetary gear mechanism 60b, and two brakes B1 and B2. The planetary gear mechanism 60a of a double pinion includes an external gear sun gear 61, an internal gear ring gear 62 arranged concentrically with the sun gear 61, a plurality of first pinion gears 63a meshing with the sun gear 61, and the first pinion gear 63a. A plurality of second pinion gears 63b that mesh with the one pinion gear 63a and mesh with the ring gear 62, and a carrier 64 that holds the plurality of first pinion gears 63a and the plurality of second pinion gears 63b so as to rotate and revolve freely. The sun gear 61 can be freely rotated or stopped by turning on and off the brake B1. The single-pinion planetary gear mechanism 60 b includes an external gear sun gear 65, an internal gear ring gear 66 disposed concentrically with the sun gear 65, and a plurality of pinion gears 67 that mesh with the sun gear 65 and mesh with the ring gear 66. And a carrier 68 that holds a plurality of pinion gears 67 so as to rotate and revolve. The sun gear 65 is connected to the rotating shaft 48 of the motor MG2, the carrier 68 is connected to the ring gear shaft 32a, and the ring gear 66 is braked. The rotation can be freely or stopped by turning on and off B2. The double pinion planetary gear mechanism 60a and the single pinion planetary gear mechanism 60b are connected by a ring gear 62 and a ring gear 66, and a carrier 64 and a carrier 68, respectively. The transmission 60 can disconnect the rotating shaft 48 of the motor MG2 from the ring gear shaft 32a by turning off both the brakes B1 and B2, and can turn off the brake B1 and turn on the brake B2 to turn on the rotating shaft 48 of the motor MG2. Is rotated at a relatively large reduction ratio and transmitted to the ring gear shaft 32a (hereinafter, this state is referred to as the Lo gear state), the brake B1 is turned on and the brake B2 is turned off to turn the rotation shaft 48 of the motor MG2 off. The rotation is reduced at a relatively small reduction ratio and transmitted to the ring gear shaft 32a (hereinafter, this state is referred to as a Hi gear state). When the brakes B1 and B2 are both turned on, the rotation of the rotary shaft 48 and the ring gear shaft 32a is prohibited. In the embodiment, the brakes B1 and B2 are turned on and off by adjusting the hydraulic pressure applied to the brakes B1 and B2 by driving a hydraulic actuator (not shown).

  The battery 50 is managed by a battery electronic control unit (hereinafter referred to as a battery ECU) 52. The battery ECU 52 receives signals necessary for managing the battery 50, for example, a voltage between terminals from a voltage sensor (not shown) installed between terminals of the battery 50, and a power line 54 connected to the output terminal of the battery 50. The charging / discharging current from the attached current sensor (not shown), the battery temperature Tb from the temperature sensor (not shown) attached to the battery 50, and the like are input, and the charge detected by the current sensor to manage the battery 50 is input. The remaining capacity (SOC) is calculated based on the integrated value of the discharge current, or the charge / discharge required power Pb * to be charged / discharged by the battery 50 is set so that the remaining capacity (SOC) is within a predetermined range from the target SOC. The input / output limits Win and Wout of the battery 50 are set based on the battery temperature Tb and the remaining capacity (SOC). The data thus detected and the calculation result and the set value set are output to the hybrid electronic control unit 70 by communication as data relating to the state of the battery 50 as necessary. The input / output limits Win and Wout of the battery 50 are set to the basic values of the input / output limits Win and Wout based on the battery temperature Tb, and the output limiting correction coefficient and the input are set based on the remaining capacity (SOC) of the battery 50. The limiting correction coefficient is set, and the input / output limits Win and Wout can be set by multiplying the basic value of the set input / output limits Win and Wout by the correction coefficient. FIG. 3 shows an example of the relationship between the battery temperature Tb and the input / output limits Win, Wout, and FIG. 4 shows an example of the relationship between the remaining capacity (SOC) of the battery 50 and the correction coefficients of the input / output limits Win, Wout.

  The hybrid electronic control unit 70 is configured as a microprocessor centered on the CPU 72, and in addition to the CPU 72, a ROM 74 for storing processing programs, a RAM 76 for temporarily storing data, an input / output port and communication not shown. And a port. The hybrid electronic control unit 70 is provided with an ignition signal from the ignition switch 80, a shift position SP from the shift position sensor 82 that detects the operation position of the shift lever 81, and an accelerator opening Acc corresponding to the amount of depression of the accelerator pedal 83. The accelerator opening Acc from the accelerator pedal position sensor 84 to be detected, the brake pedal position BP from the brake pedal position sensor 86 to detect the depression amount of the brake pedal 85, the vehicle speed V from the vehicle speed sensor 88, etc. are input via the input port. Has been. Further, the hybrid electronic control unit 70 drives the brakes 89a and 89b that output braking signals to the actuators (not shown) of the brakes B1 and B2 of the transmission 60 and the driving wheels 39a and 39b to the actuators (not shown). A signal is output. As described above, the hybrid electronic control unit 70 is connected to the engine ECU 24, the motor ECU 40, and the battery ECU 52 via communication ports, and exchanges various control signals and data with the engine ECU 24, the motor ECU 40, and the battery ECU 52. Is doing.

  The hybrid vehicle 20 of the embodiment thus configured calculates the required torque to be output to the ring gear shaft 32a as the drive shaft based on the accelerator opening Acc and the vehicle speed V corresponding to the depression amount of the accelerator pedal 83 by the driver. Then, the operation of the engine 22, the motor MG1, and the motor MG2 is controlled so that the required power corresponding to the required torque is output to the ring gear shaft 32a. As operation control of the engine 22, the motor MG1, and the motor MG2, the operation of the engine 22 is controlled so that power corresponding to the required power is output from the engine 22, and all of the power output from the engine 22 is the power distribution and integration mechanism 30. Torque conversion operation mode for driving and controlling the motor MG1 and the motor MG2 so that the torque is converted by the motor MG1 and the motor MG2 and output to the ring gear shaft 32a, and the required power and the power required for charging and discharging the battery 50. The engine 22 is operated and controlled so that suitable power is output from the engine 22, and all or part of the power output from the engine 22 with charging / discharging of the battery 50 is the power distribution and integration mechanism 30, the motor MG1, and the motor. The required power is converted to the ring gear shaft 32 with torque conversion by MG2. Charge / discharge operation mode in which the motor MG1 and the motor MG2 are driven and controlled to be output to each other, and a motor operation mode in which the operation of the engine 22 is stopped and the power corresponding to the required power from the motor MG2 is output to the ring gear shaft 32a. and so on.

  Next, the operation of the hybrid vehicle 20 of the embodiment thus configured, particularly the operation when the state of the transmission 60 is switched from the Hi gear state to the Lo gear state will be described. 5 and 6 are flowcharts illustrating an example of a drive control routine executed by the hybrid electronic control unit 70 of the hybrid vehicle 20 of the embodiment. This routine is repeatedly executed every predetermined time (for example, every several msec).

  When the drive control routine is executed, the CPU 72 of the hybrid electronic control unit 70 first starts from the accelerator pedal position Acc from the accelerator pedal position sensor 84, the brake pedal position BP from the brake pedal position sensor 86, and the vehicle speed sensor 88. Input data such as vehicle speed V, rotation speed Nm1, Nm2 of motor MG1, MG2, charge / discharge required power Pb * to be charged / discharged by battery 50, input / output limits Win, Wout of battery 50, reduction ratio Gr of transmission 60, etc. The process which performs is performed (step S100). Here, the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 are input from the motor ECU 40 by communication from those calculated based on the rotational positions of the rotors of the motors MG1 and MG2 detected by the rotational position detection sensors 43 and 44. To do. The charge / discharge required power Pb * is set based on the remaining capacity (SOC) of the battery 50 and is input from the battery ECU 52 by communication. The input / output limits Win and Wout are set based on the battery temperature Tb of the battery 50 detected by a temperature sensor (not shown) and the remaining capacity (SOC) of the battery 50, and are input from the battery ECU 52 by communication. . As the reduction ratio Gr, a value set based on the current gear state of the transmission 60 is input.

  When the data is input in this manner, the required torque Tr * to be output to the ring gear shaft 32a as the drive shaft and the required engine power Pe to be output from the engine 22 based on the input accelerator opening Acc, brake pedal position BP, and vehicle speed V. * Is set (step S110). In the embodiment, the required torque Tr * is stored in the ROM 74 as a required torque setting map by predetermining the relationship among the accelerator opening Acc, the brake pedal position BP, the vehicle speed V, and the required torque Tr *. When Acc, brake pedal position BP, and vehicle speed V are given, the corresponding required torque Tr * is derived and set from the stored map. FIG. 7 shows an example of the required torque setting map. The engine required power Pe * is set by the sum of the required torque Tr * multiplied by the rotational speed Nr of the ring gear shaft 32a and the charge / discharge required power Pb * required by the battery 50. Here, the rotational speed Nr of the ring gear shaft 32a can be calculated by dividing the rotational speed Nm2 of the motor MG2 by the current reduction ratio Gr of the transmission 60. Note that the engine required power Pe * is set without considering the power supply Ph and loss Loss, etc., to an auxiliary device (not shown) mounted on the vehicle for the sake of easy explanation. Is set.

  When the engine required power Pe * is set, the temporary engine speed Nettmp and the temporary engine torque Tempmp of the engine 22 are set based on the set engine required power Pe * and an operation line for efficiently operating the engine 22 (step S120). ). FIG. 8 shows an example of the operation line of the engine 22 and how the temporary engine speed Nettmp and the temporary engine torque Tentmp are set. As shown in the figure, the temporary engine speed Nettmp and the temporary engine torque Tentmp can be obtained from the intersection of the operating line and a curve having a constant engine required power Pe * (Netmp × Tempp).

  Subsequently, it is determined whether or not a shift request for the transmission 60 has been made (step S130). Here, in the embodiment, the shift request is made at a predetermined timing based on the required torque Td * and the vehicle speed V. Now, since the case where the state of the transmission 60 is switched from the Hi gear state to the Lo gear state is considered, the shift request of the transmission 60 is the required torque as when the driver does not depress the accelerator pedal 83. When the vehicle speed V falls below a threshold value Vref determined that shifting is necessary due to a decrease in the vehicle speed V when the absolute value of Tr * is relatively small, or when the vehicle is traveling at a medium speed, the driver This is performed when the pedal 83 is depressed relatively large, that is, when a relatively large required torque Tr * is required for the ring gear shaft 32a as the drive shaft, such as when kicking down. In the following, for ease of explanation, a case where a shift request is not made will be described first, and then a case where a shift request is made will be described.

  When the shift request is not made, the temporary engine speed Netmp and the temporary engine torque Tentmp set in step S120 are set to the target speed Ne * and the target torque Te * of the engine 22, respectively (step S140). Based on the target rotational speed Ne *, the rotational speed Nr (= Nm2 / Gr) of the ring gear shaft 32a, and the gear ratio ρ of the power distribution and integration mechanism 30, the target rotational speed Nm1 * of the motor MG1 is calculated by the following equation (1). A torque command Tm1 * of the motor MG1 is calculated by the following equation (2) based on the calculated target rotation speed Nm1 * and the current rotation speed Nm1 (step S200). FIG. 9 is a collinear diagram showing the dynamic relationship between the rotational speed and torque of each rotating element of the power distribution and integration mechanism 30. As shown in FIG. In the figure, the left S-axis indicates the rotational speed of the sun gear 31, the C-axis indicates the rotational speed of the carrier 34, and the R-axis indicates the rotational speed of the ring gear 32. As described above, since the rotational speed of the sun gear 31 is the rotational speed of the motor MG1 and the rotational speed of the carrier 34 is the rotational speed Ne of the engine 22, the target rotational speed Nm1 * of the motor MG1 is the rotational speed of the ring gear shaft 32a. Based on Nr (= Nm2 / Gr), the target rotational speed Ne *, and the gear ratio ρ of the power distribution and integration mechanism 30, it can be calculated by the following equation (1). Therefore, the engine 22 can be rotated at the target rotational speed Ne * by setting the torque command Tm1 * so as to rotate at the calculated target rotational speed Nm1 * and driving and controlling the motor MG1. In the embodiment, the torque command Tm1 * of the motor MG1 is set by the relational expression (2) in the feedback control using the target rotation speed Nm1 * and the current rotation speed Nm1. In Equation (2), “k1” in the second term on the right side indicates the gain of the proportional term, and “k2” in the third term on the right side indicates the gain of the integral term.

Nm1 * ＝ Ne * ・ (1 + ρ) / ρ−Nm2 / (Gr ・ ρ) (1)
Tm1 * = previous Tm1 * + k1 (Nm1 * −Nm1) + k2∫ (Nm1 * −Nm1) dt (2)

  When the target rotational speed Nm1 * and the torque command Tm1 * of the motor MG1 are thus set, the input / output limits Win and Wout of the battery 50 and the calculated torque command Tm1 * of the motor MG1 are multiplied by the current rotational speed Nm1 of the motor MG1. The torque limits Tmin and Tmax as upper and lower limits of the torque that may be output from the motor MG2 by dividing the deviation from the obtained power consumption (generated power) of the motor MG1 by the rotational speed Nm2 of the motor MG2 are expressed by the following equations (3 ) And (4) (step S210), and the temporary motor torque tm2tmp as the torque to be output from the motor MG2 using the required torque Tr *, the torque command Tm1 *, and the gear ratio ρ of the power distribution and integration mechanism 30. Is calculated by equation (5) (step S220), and the calculated temporary motor torque Tm2tmp is calculated. Torque restriction Tmin, and limited by Tmax to set a torque command Tm2 * of the motor MG2 (step S230). By setting the torque command Tm2 * of the motor MG2 in this way, the required torque Tr * output to the ring gear shaft 32a as the drive shaft is set as a torque limited within the range of the input / output limits Win and Wout of the battery 50. can do. Equation (5) can be easily derived from the collinear diagram of FIG. 9 described above.

Tmin = (Win−Tm1 * ・ Nm1) / Nm2 (3)
Tmax = (Wout−Tm1 * ・ Nm1) / Nm2 (4)
Tm2tmp = (Tr * + Tm1 * / ρ) / Gr (5)

  Then, it is determined again whether or not a shift request for the transmission 60 has been made (step S240). Now, since it is considered that no shift request has been made, a negative determination is made in step S240, and the target rotational speed Ne * and target torque Te * of the engine 22 are transmitted to the engine ECU 24 and the motors MG1, MG2 are controlled. Torque commands Tm1 * and Tm2 * are transmitted to the motor ECU 40 (step S310), and the drive control routine is terminated. The engine ECU 24 that has received the target rotational speed Ne * and the target torque Te * performs fuel injection control in the engine 22 such that the engine 22 is operated at an operating point indicated by the target rotational speed Ne * and the target torque Te *. Controls such as ignition control. The motor ECU 40 that has received the torque commands Tm1 * and Tm2 * controls the switching elements of the inverters 41 and 42 so that the motor MG1 is driven by the torque command Tm1 * and the motor MG2 is driven by the torque command Tm2 *. To do.

  Next, a case where a shift request for the transmission 60 is made will be described. At this time, a positive determination is made in step S130, and it is determined whether or not the torque command (previous Tm2 *) of the motor MG2 set when this routine was executed last time is 0 or less (step S150). ), When it is determined that the previous torque command (previous Tm2 *) of the motor MG2 is not less than 0, that is, a positive value, the target rotational speed Ne * of the engine 22 and the target are determined by the process of step S140 described above. Torque Te * is set. Here, the reason for examining the value of the previous torque command (previous Tm2 *) of the motor MG2 will be described later. On the other hand, when it is determined that the previous torque command (previous Tm2 *) of motor MG2 is 0 or less, the shortage of the electric power necessary for smoothly performing the shift stage switching process of transmission 60. The insufficient power Pde to be supplied by the motor MG1 as the power is set based on the output limit Wout of the battery 50 (step S160). Here, in setting the insufficient power Pde, in the embodiment, the relationship between the output limit Wout and the insufficient power Pde is experimentally determined in advance and stored in the ROM 74 as an insufficient power setting map, and the output limit Wout is given. The corresponding insufficient power Pde is derived and set from the stored map. FIG. 10 shows an example of the insufficient power setting map. As shown in the figure, the shortage power Pde is set so as to increase as the output limit Wout decreases, that is, as the degree of limitation of the output limit Wout increases. This is because the power that can be output from the battery 50 is reduced as the degree of restriction of the output restriction Wout is increased, and the insufficient power of the power necessary for smoothly performing the switching process is increased. Further, when the output limit Wout is equal to or greater than a threshold value Wref corresponding to the power required for smoothly performing the switching process, it is determined that the switching process can be performed smoothly by the power from the battery 50, and the insufficient power Pde is obtained. Is set to the value 0.

  When the insufficient power Pde is set in this way, the target supplementary power Pse * to be output from the engine 22 is set so that the set insufficient power Pde is supplied by the motor MG1 (step S170), and the engine required power Pe * set in step S110 is set. The engine required power Pe * is reset by adding the target supplementary power Pse * to (step S180). Here, in the embodiment, the target supplementary power Pse * is set according to the insufficient power Pde, the gear ratio ρ of the power distribution and integration mechanism 30, the previous target rotational speed of the engine 22 (previous Ne *), the target torque (previous Te *). ) And so on. In the processes of steps S160 to S180, the engine 22 outputs the insufficient power among the power necessary for smoothly performing the shift stage switching process of the transmission 60, that is, the insufficient power Pde to be supplied by the motor MG1. This is a process of resetting the engine required power Pe * by converting it into power and adding it to the engine required power Pe *. Thereby, the motor MG1 can supply electric power that is insufficient to perform the switching process smoothly.

  When the engine required power Pe * is reset, the target rotational speed Ne * and the target torque Te * of the engine 22 are set (step S190), similarly to the process of step S120 described above. FIG. 11 shows an example of the operation line of the engine 22 and how the target rotational speed Ne * and the target torque Te * are set. In the figure, the dotted line shows a constant curve of the engine required power Pe * set in step S110, that is, the engine required power Pe * when the transmission request for the transmission 60 is not made, and the alternate long and short dash line is shown again in step S180. The set engine required power Pe *, that is, the engine required power Pe * when the previous torque command (previous Tm2 *) of the motor MG2 is 0 or less when a speed change request is made shows a constant curve. Now, since it is considered that a shift request is made for the transmission 60, the previous torque command (previous Tm2 *) of the motor MG2 is 0 or less and a positive value is set for the target supplementary power Pse *. When the engine is required, the engine required power Pe * is larger than when no shift request is made. Accordingly, the target rotational speed Ne * and the target torque Te * of the engine 22 at this time are, as illustrated, the target rotational speed Ne * (= Netmp) and the target torque Te * (= Tetmp) when no shift request is made. ) Larger than That is, this process is a process of changing the operating point of the engine 22 to the high rotation high torque side.

  When the target rotational speed Ne * and the target torque Te * of the engine 22 are set in step S140 or step S190, the processes of steps S200 to S230 described above are executed to set the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2. . Here, when the target replenishment power Pse * is a positive value, the operating point of the engine 22 is changed to the high torque high rotation side as compared with when the shift request of the transmission 60 is not made. Thus, the target rotational speed Nm1 * and the target torque Tm1 * of the motor MG1 also increase due to the dynamic relationship between the rotating elements of the power distribution and integration mechanism 30. Thereby, the electric power generated by motor MG1 can be increased.

  Subsequently, it is determined again whether or not a shift request for the transmission 60 has been made (step S240). Now, since it is considered that a shift request is made, a positive determination is made in step S240, and it is determined whether or not the torque command Tm2 * of the motor MG2 set in step S230 is less than or equal to 0 ( Step 250) When it is determined that the torque command Tm2 * of the motor MG2 is equal to or less than the value 0, the torque command Tm2 * of the motor MG2 is set to the target brake torque Tb * of the brakes 89a and 89b and the torque command Tm2 * is set. A value 0 is set (steps S260 and S270), and an actuator (not shown) of the brakes 89a and 89b is driven and controlled so that a braking torque corresponding to the target brake torque Tb * is output from the brakes 89a and 89b (step S280). Here, the processing in steps S260 and S270 is processing for replacing the braking torque of the motor MG2 with the braking torque of the brakes 89a and 89b. Now, since it is considered that the shift request of the transmission 60 is made, when the output limit Wout of the battery 50 is less than the threshold value Wref, that is, when a positive value is set for the target replenishment power Pse *, the above-described case is made. As described above, the operation point of the engine 22 is changed to the high torque high rotation side as compared with the case where the shift request is not made. As a result, the direct torque transmitted directly from the engine 22 to the ring gear shaft 32a serving as the drive shaft via the power distribution and integration mechanism 30 also increases, so that the processing in steps 260 and S270 is a request for shifting and the operation of the engine 22 is performed. Processing for replacing the braking force of the motor MG2 set based on the direct torque from the engine 22 and the required torque Tr *, which are increased by changing the point to the high torque and high rotation side, with the braking force of the brakes 89a and 89b It becomes. As a result, it is possible to suppress an increase in the power output to the ring gear shaft 32a as the drive shaft. On the other hand, when it is determined in step S250 that torque command Tm2 * of motor MG2 is a positive value, the process proceeds to step S290 without performing steps S260 to S280.

  Next, it is determined whether or not a shift is in progress, that is, whether or not the shift process of the transmission 60 has been started (step S290), and if it is determined that the switch process has not been started, the transmission 60 shift speed switching processing is started (step S300), the processing of step 310 described above is executed, and the drive control routine is terminated. Here, the process for starting the switching process is a process for starting execution of the switching process routine. FIG. 12 shows an example of the switching process routine. Now, since the shift request of the transmission 60 is made and the state of the transmission 60 is switched from the Hi gear state to the Lo gear state, in the switching processing routine, the current rotational speed Nm2 of the motor MG2 and the shift are changed. The rotational speed Nm2 * of the motor MG2 after switching is set by the following equation (6) based on the gear ratios Ghi and Glo of the gears Hi and Lo of the machine 60 (step S400), the brake B1 is turned off and the motor MG2 The rotation speed control is performed so that the rotation speed Nm2 of the motor MG2 becomes the rotation speed Nm2 * of the motor MG2 after switching (steps S410 to S430), and the rotation speed Nm2 of the motor MG2 reaches the vicinity of the rotation speed Nm2 * of the motor MG2 after switching. After that, the brake B2 is turned on and a value 1 is set to the switching process completion determination flag F (steps S440 and S450). When the value 1 is set in the switching process completion determination flag F, the shift request of the transmission 60 is not made in step S130 and step S240 when the drive control routine of FIGS. 5 and 6 is executed next time. It will be determined. FIG. 13 shows an example of a collinear diagram of the transmission 60. In the figure, the left S2 axis indicates the rotation speed of the sun gear 65 that is the rotation speed Nm2 of the motor MG2, and the C1 and C2 axes indicate the rotation speed of the carriers 64 and 68 that are the rotation speed of the ring gear shaft 32a as the drive shaft. , R1 and R2 axes indicate the rotation speed of the ring gears 62 and 66, and S1 axis indicates the rotation speed of the sun gear 61. In the figure, the solid line shows a collinear diagram in the state of the Hi gear, and the dotted line shows a collinear diagram in the state of the Lo gear. As shown in the drawing, in the state of the Hi gear, the brake B1 is turned on and the brake B2 is turned off. When the brake B1 is turned off from this state, the motor MG2 is disconnected from the ring gear shaft 32a as the drive shaft. . At this time, when the torque command Tm2 * of the motor MG2 is equal to or less than 0, the value 0 is set in the torque command Tm2 * in step S270, so that no torque is output from the motor MG2. Therefore, in order to perform the rotational speed control so that the rotational speed Nm2 of the motor MG2 becomes the rotational speed Nm2 * of the motor MG2 after switching, it is necessary to output a positive torque from the motor MG2. And in order to output positive torque from motor MG2, electric power for driving motor MG2 is required. When the output limit Wout of the battery 50 is relatively large, the electric power that can be output from the battery 50 is reduced, and the electric power necessary for outputting positive torque from the motor MG2 during the switching process is sufficiently compensated. There are cases where it is not possible. If the electric power necessary for the switching process is generated by the motor MG1 by changing the operation point of the engine 22 to the high torque high rotation side, the positive torque necessary for the switching process is output from the motor MG2 using this electric power. The switching process can be performed smoothly. When the torque command Tm2 * of the motor MG2 is 0 or less, the switching process is performed by outputting a positive torque from the motor MG2 with the braking torque of the motor MG2 replaced with the braking torque of the brakes 89a and 89b. Therefore, it is possible to suppress an increase in the power output to the ring gear shaft 32a as the drive shaft during the switching process. On the other hand, when torque command Tm2 * of motor MG2 is a positive value, the switching process can be performed using the positive torque output from motor MG2, and therefore engine 22 is used to increase the power generated by motor MG1. It is not necessary to change the driving point. Therefore, in step S150 of the drive control routine of FIGS. 5 and 6, it is determined whether or not the torque command Tm2 * of the motor MG2 is less than or equal to 0, and the torque command Tm2 * of the motor MG2 is not less than or equal to 0, ie When the value is positive, the process for changing the operating point of the engine 22 is not performed. If the torque command Tm2 * of the motor MG2 is a positive value, the power output from the motor MG2 cannot be replaced with the braking force of the brakes 89a and 89b. The processing of S260 to S280 is not performed.

  Nm2 * = Nm2 ・ Glo / Ghi (6)

  According to the hybrid vehicle 20 of the embodiment described above, the torque command Tm2 * of the motor MG2 is a value when the transmission request for the transmission 60 is made and the state of the transmission 60 is switched from the Hi gear state to the Lo gear state. When it is 0 or less, the power corresponding to the shortage of the power required for the shift stage switching process of the transmission 60 is set based on the output limit Wout of the battery 50, and the set power is supplied by the motor MG1. Since the operating point of the engine 22 is changed to the high torque high rotation side and the target rotational speed Nm1 * and the torque command Tm1 * of the motor MG1 are increased, the electric power corresponding to the increase in the electric power generated by the motor MG1 is supplied. As a result, the power required for the switching process can be supplemented. As a result, the switching process can be performed smoothly. In addition, at this time, the braking force of the motor MG2 set based on the direct torque from the engine 22 and the required torque Tr *, which are increased by changing the operation point of the engine 22 to the high torque high rotation side, is applied to the brake 89a. , 89b, the power output to the ring gear shaft 32a as the drive shaft due to the change of the operating point of the engine 22 can be suppressed.

  In the hybrid vehicle 20 of the embodiment, when the speed change request of the transmission 60 is made and the previous torque command (previous Tm2 *) of the motor MG2 is 0 or less, the operating point of the engine 22 is rotated at high torque and high speed. However, it may be changed to the high rotation side while maintaining the torque, or may be changed to the high torque side while maintaining the rotation speed. An example of a part of the drive control routine in the former case is shown in FIG. In this drive control routine, when the engine required power Pe * is reset in step S180, the target engine speed Ne * of the engine 22 is divided by dividing the reset engine required power Pe * by the temporary engine torque Ttmp set in step S120. Is set to the target torque Te * (step S190b), and the processes after step S200 are executed. In this case, when the output limit Wout of the battery 50 is less than the threshold value Wref, that is, when the target replenishment power Pse * is a positive value, the operating point of the engine 22 is higher than that when no shift request is made. Therefore, the target rotational speed Nm1 * of the motor MG1 is also changed to the high speed side due to the dynamic relationship between the rotary elements of the power distribution and integration mechanism 30. As a result, the power generated by the motor MG1 increases when the motor MG1 generates power, and the power consumption by the motor MG1 decreases when the motor MG1 consumes power. The power required for the shift process of the transmission 60 can be supplemented by the electric power or the reduced power consumption. As a result, the switching process can be performed smoothly. In the latter case, that is, when the operating point of the engine 22 is changed to the high torque side while maintaining the rotational speed, the reset engine required power Pe * is replaced with step S190b of the drive control routine of FIG. By dividing by the temporary engine speed Netmp set in step S120, the target torque Te * of the engine 22 is set and the temporary engine speed Netmp is set to the target speed Ne *, and the processes after step S200 are executed. FIG. 15 shows how the operating point (target rotational speed Ne1 *, target torque Te1 *) in the former case and the operating point (target rotational speed Ne2 *, target torque Te2 *) in the latter case are set.

  In the hybrid vehicle 20 of the embodiment, the shift stage switching process of the transmission 60 that is outputting power from the engine 22 has been described. However, the transmission 60 of the transmission 60 that is not outputting power from the engine 22 is described. The present invention can also be applied to the shift speed switching process. Here, “when no power is output from the engine 22” means, for example, when the driver does not depress the accelerator pedal 83 and the remaining capacity (SOC) of the battery 50 is relatively high. For example, when the battery 50 is requested to discharge while the negative driving force is being output. An example of a part of the drive control routine in this case is shown in FIG. In this drive control routine, it is determined whether or not the engine required power Pe * set in step S110 is less than a threshold value Pref for determining whether or not power should be output from the engine 22 for efficiency (step S500). Now, since it is considered that no power is output from the engine 22, a positive determination is made in step S500, and it is determined whether or not a shift request for the transmission 60 has been made (step S510). When it is determined that no shift request has been made, the target torque Te * of the engine 22 is set to 0 so that the engine 22 is idling or stopped (step S520), and the torque command Tm1 * of the motor MG1 is set. A value of 0 is set (step S530). Subsequently, the motor obtained by dividing the required torque Tr * by the reduction ratio Gr is limited by the torque limits Tmin and Tmax obtained by dividing the input / output limits Win and Wout of the battery 50 by the rotational speed Nm2 of the motor MG2. The torque command Tm2 * for MG2 is set (step S540), and the processes after step S240 are executed. On the other hand, when it is determined in step S510 that a shift request has been made, it is determined whether or not the previous torque command (previous Tm2 *) of the motor MG2 is 0 or less (step S550). When it is determined that (Tm2 *) is not equal to or less than 0, that is, a positive value, the processes of steps S520 to S540 described above are executed, and the processes after step S240 are executed. This is because even when the transmission request for the transmission 60 is made, if the torque command Tm2 * of the motor MG2 is a positive value, the state of the transmission 60 is changed to the Hi gear using the positive torque of the motor MG2. This is because it is possible to switch from this state to the Lo gear state. When it is determined in step S550 that the previous torque command (previous Tm2 *) of the motor MG2 is 0 or less, the engine required power Pe is the same as in steps S160 to S180 of the drive control routine of FIGS. * Is reset (step S560), and an operating point (target rotational speed Ne *, target torque Te *) at which the engine 22 is efficiently operated is set based on the reset required engine power Pe * (step S570). The torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 are set (step S580) in the same manner as the processing of steps S200 to S230 of the drive control routine of FIGS. 5 and 6, and the processing after step S240 is executed. These processes are necessary for the shift process of the gear stage of the transmission 60 when a shift request for the transmission 60 is made while the engine 22 is idling or stopped and the braking force is being output from the motor MG2. This is a process of operating the engine 22 and outputting motive power in order to supplement the power generated by the power generated by the motor MG1. Further, when a shift request is made and power is output from the engine 22, direct torque from the engine 22 is output to the ring gear 32 as a drive shaft, but the drive control routines of FIGS. Since the braking force of the motor MG2 based on this direct torque and the required torque Tr * is replaced by the braking force of the brakes 89a and 89b by the processing in steps S260 and S270, the power output to the ring gear shaft 32a as the drive shaft increases. Can be suppressed. When it is determined in step S500 that the engine required power Pe * is equal to or greater than the threshold value Pref, it is determined that power should be output from the engine 22, and as described in the embodiment, as illustrated in FIG. 5 and FIG. The same processing as steps S130 to S230 of the drive control routine is executed to set the target rotational speed Ne * and target torque Te * of the engine 22 and torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 (step S590). The process after step S240 is executed.

  In the hybrid vehicle 20 of the embodiment, when the shift request of the transmission 60 is made and the previous torque command (previous Tm2 *) of the motor MG2 is 0 or less, the insufficient power Pde is supplied by the motor MG1. The operating point of the engine 22 is changed, but when the shift request is made, the engine 22 is configured so that the insufficient power Pde is supplied by the motor MG1 regardless of the value of the previous torque command (previous Tm2 *) of the motor MG2. The driving point may be changed.

  In the hybrid vehicle 20 of the embodiment, the shortage power Pde is set such that the shortage power Pde tends to increase as the degree of the output limit Wout of the battery 50 increases as shown in FIG. When the output limit Wout is less than the threshold value Wref, the predetermined value may be set as the insufficient power Pde regardless of the degree of the limit of the output limit Wout. In addition, taking into account the target generated power (target power consumption) by the motor MG1 obtained by multiplying the target rotational speed Nm1 * and the target torque Tm1 * set in step S200 of the drive control routine of FIGS. The insufficient power Pde may be set.

  In the hybrid vehicle 20 of the embodiment, the engine request is converted from the insufficient power Pde to be supplied by the motor MG1 to the target supplementary power Pse * to be output from the engine 22 in steps S160 to S180 of the drive control routine of FIGS. Although the operation point of the engine 22 is changed by resetting the power Pe *, the operation point of the engine 22 may be changed using the insufficient power Pde directly. An example of a part of the drive control routine in this case is shown in FIG. In this drive control routine, instead of the process of step S120 of the drive control routine of FIG. 5, the target rotational speed Ne * and the target torque of the engine 22 are based on the operation line of the engine 22 and the engine required power Pe * set in step S110. Te * is set (step S120b), and a torque command Tm1 * for the motors MG1 and MG2 is set (steps S200 to S230). Subsequently, it is determined whether or not a shift request for the transmission 60 has been made (step S240). If a shift request has been made, it is determined whether or not the torque command Tm2 * of the motor MG2 is less than or equal to 0 (step S240). Step S250). If the torque command Tm2 * of the motor MG2 is less than or equal to 0 when a shift request is being made, the insufficient power Pde is set in the same manner as in step S160 of the drive control routine of FIGS. 5 and 6 (step S610). . Then, the torque command Tm1 is the sum of the value obtained by multiplying the target rotational speed Nm1 * of the motor MG1 set in step S200 and the torque command Tm1 * and the insufficient power Pde so that the set insufficient power Pde is supplied by the motor MG1. By dividing by *, the target rotational speed Nm1 * is reset by the following equation (7) (step S620), and the reset target rotational speed Nm1 * and the rotational speed Nr of the ring gear shaft 32a (= Nm2 / Gr) Using the gear ratio ρ of the power distribution and integration mechanism 30, the target rotational speed Ne * of the engine 22 is reset according to the equation (8) (step S630). Now, consider the case where the output limit Wout of the battery 50 is less than the threshold value Wref, that is, the shortage power Pde is a positive value. In this case, the sum of the value obtained by multiplying the target rotational speed Nm1 * and the torque command Tm1 * and the insufficient power Pde, that is, the sum of the target generated power (target power consumption) and the insufficient power Pde by the motor MG1 is determined by the motor MG1. Since the value is larger than the target generated power, the reset target rotational speed Nm1 * is larger than the target rotational speed Nm1 * before resetting. As a result, when the motor MG1 is generating electric power, the electric power generated by the motor MG1 (Nm1 × Tm1) increases, and when the motor MG1 is consuming electric power, the electric power consumed by the motor MG1 (Nm1 × Tm1) is increased. Therefore, the power necessary for the switching process can be supplemented by using the increased generated power or the decreased power consumption. Further, by increasing the target rotational speed Nm1 * of the motor MG1, the target rotational speed Ne * of the engine 22 is also increased due to the dynamic relationship between the rotating elements of the power distribution and integration mechanism 30. That is, the engine 22 rotates the operation point at a high speed so that the power generated by the motor MG1 increases when the motor MG1 generates power, and the power consumption by the motor MG1 decreases when the motor MG1 consumes power. Change to the side and drive. Here, the operating point of the engine 22 is changed to the high rotation side while holding the torque by directly using the insufficient power Pde, but is changed to the high torque side while holding the rotation speed. Or it is good also as what changes to the high rotation high torque side.

Nm1 * = (Nm1 * ・ Tm1 * + Pm *) / Tm1 * (7)
Ne * = Nm1 * ・ ρ / (1 + ρ) −Nm2 / (Gr ・ (1 + ρ))… （8）

  In the hybrid vehicle 20 of the embodiment, the transmission 60 having two speeds for switching between the state of the Lo gear and the state of the Hi gear is used. However, the speed of the transmission 60 is not limited to two, It is good also as what has three speed steps or more, and is not restricted to such a stepped transmission, It is good also as what uses a continuously variable transmission.

  In the hybrid vehicle 20 of the embodiment, when the braking torque is applied from the motor MG2 to the ring gear shaft 32a as the drive shaft during the shift of the transmission 60, the braking force is applied to the drive wheels 39a and 39b connected to the ring gear shaft 32a. The braking torque of the motor MG2 is replaced by the brakes 89a and 89b to be output. However, the braking torque of the motor MG2 may be replaced by a brake that outputs braking force to wheels different from the driving wheels 39a and 39b. The braking torque of the motor MG2 may be replaced by both the brakes 89a and 89b that output braking force to the wheels 39a and 39b and the brake that outputs braking force to wheels different from the driving wheels 39a and 39b.

  In the hybrid vehicle 20 of the embodiment, the power of the motor MG2 is changed by the transmission 60 and output to the ring gear shaft 32a as the drive shaft connected to the drive wheels 39a and 39b. As shown in the hybrid vehicle 120, the power of the motor MG2 may be changed by the transmission 60 and output to a drive shaft connected to drive wheels 39c and 39d different from the drive wheels 39a and 39b.

  In the hybrid vehicle 20 of the embodiment, the power from the engine 22 is output to the ring gear shaft 32a as the drive shaft connected to the drive wheels 39a and 39b via the power distribution and integration mechanism 30, but the modification of FIG. As shown in the hybrid vehicle 220 of the example, the outer rotor 234 connected to the drive shaft that outputs the power from the engine 22 to the inner rotor 232 connected to the crankshaft 26 of the engine 22 and the drive wheels 39a and 39b. And a part of the power of the engine 22 may be transmitted to the drive shaft, and the remaining power may be output to the drive wheels 39a and 39b via the counter-rotor motor 230 that converts the power into electric power.

  The best mode for carrying out the present invention has been described with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the gist of the present invention. Of course, it can be implemented in the form.

1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 as an embodiment of the present invention. FIG. 3 is a configuration diagram showing an outline of a configuration of a transmission 60. It is explanatory drawing which shows an example of the relationship between the battery temperature Tb in the battery 50, and the input / output restrictions Win and Wout. It is explanatory drawing which shows an example of the relationship between the remaining capacity (SOC) of the battery 50, and the correction coefficient of input / output restrictions Win and Wout. It is a flowchart which shows an example of a part of drive control routine performed by the hybrid electronic control unit 70 of the hybrid vehicle 20 of an Example. It is a flowchart which shows an example of a part of drive control routine performed by the hybrid electronic control unit 70 of the hybrid vehicle 20 of an Example. It is explanatory drawing which shows an example of the map for request | requirement torque setting. It is explanatory drawing which shows a mode that the operation line of the engine 22, the temporary engine speed Nettmp, and the temporary engine torque Tentmp are set. 3 is a collinear diagram showing a dynamic relationship between the number of rotations and torque in each rotating element of the power distribution and integration mechanism 30. FIG. It is explanatory drawing which shows the relationship between the output limitation Wout of the battery 50, and the insufficient electric power Pde. It is explanatory drawing which shows a mode that the operating line of the engine 22, the target rotation speed Ne *, and the target torque Te * are set. It is a flowchart which shows an example of the switching process routine performed by the hybrid electronic control unit 70 of the hybrid vehicle 20 of an Example. 4 is an explanatory diagram illustrating an example of a collinear diagram of the transmission 60. FIG. It is explanatory drawing which shows an example of a part of drive control routine of a modification. It is explanatory drawing which shows a mode that the operating line of the engine 22, the target rotation speed Ne *, and the target torque Te * are set. It is explanatory drawing which shows an example of a part of drive control routine of a modification. It is explanatory drawing which shows an example of a part of drive control routine of a modification. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 120 according to a modification. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 220 of a modified example.

Explanation of symbols

  20, 120, 220 Hybrid vehicle, 22 engine, 24 engine electronic control unit (engine ECU), 26 crankshaft, 28 damper, 30 power distribution integration mechanism, 31 sun gear, 32 ring gear, 32a ring gear shaft, 33 pinion gear, 34 carrier , 37 gear mechanism, 38 differential gear, 39a, 39b, 39c, 39d driving wheel, 39e, 39f driven wheel, 40 motor electronic control unit (motor ECU), 41, 42 inverter, 43, 44 rotational position detection sensor, 48 Rotating shaft, 50 battery, 52 Battery electronic control unit (battery ECU), 54 Electric power line, 60 Transmission, 60a Double pinion planetary gear mechanism, 60b Single pinion planetary gear mechanism, 61, 65 Sun , 62, 66 ring gear, 63, 67 pinion gear, 64, 68 carrier, 70 hybrid electronic control unit, 72 CPU, 74 ROM, 76 RAM, 80 ignition switch, 81 shift lever, 82 shift position sensor, 83 accelerator pedal, 84 accelerator pedal position sensor, 85 brake pedal, 86 brake pedal position sensor, 88 speed sensor, 89a, 89b brake, 230 rotor motor, 232 inner rotor, 234 outer rotor, MG1, MG2 motor, B1, B2 brake.

Claims (16)

A power output device that outputs power to a drive shaft,
An internal combustion engine;
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
An electric motor capable of power input and output;
Shift transmission means for transmitting power between the rotating shaft of the electric motor and the drive shaft with a changeable gear ratio;
A power storage means capable of exchanging power with the electric power drive input / output means and the electric motor;
When an instruction to change the speed ratio of the speed change transmission means is given so that the number of revolutions of the electric motor is increased, the internal combustion engine and the power power input / output means of the electric power drive input / output means at the time of normal speed change where the rated power can be supplied from the power storage means. The internal combustion engine and the electric power so that the gear ratio of the shift transmission means is changed using the electric power input / output by the electric power power input / output means and the electric power supplied from the power storage means without changing the operating state. The power input / output means, the electric motor, and the speed change transmission means are controlled, and the electric power input / output by the power power input / output means and the power storage means at the time of non-normal shift where the power supply from the power storage means is restricted. The internal combustion engine and the power drive input / output unit are controlled so that the sum of the supplied power and the power input / output by the power drive input / output unit is increased. A gear ratio changing time control means for transmission ratio control and the speed change-transmission and said electric motor to be changed in the change speed transmission mechanism with the electric power supplied from the power storage means,
A power output device comprising:   The speed change ratio control means should set the insufficient power based on the degree of restriction of the power storage means at the time of the non-normal speed change, and input / output by the power power input / output means based on the set insufficient power. 2. The means for setting the target input / output power and controlling the internal combustion engine and the power / power input / output means so that the set target input / output power is input / output from the power / power input / output means. Power output device.   3. The power output apparatus according to claim 2, wherein the speed change ratio control means is a means for setting the insufficient power so that the greater the degree of restriction of the power storage means, the larger the tendency. A power output device that outputs power to a drive shaft,
An internal combustion engine;
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
An electric motor capable of power input and output;
Shift transmission means for transmitting power between the rotating shaft of the electric motor and the drive shaft with a changeable gear ratio;
A power storage means capable of exchanging power with the electric power drive input / output means and the electric motor;
When instructed to change the speed ratio of the speed change transmission means so that the number of revolutions of the electric motor is increased, input / output by the power power input / output means is performed without changing the operating state of the internal combustion engine and the power power input / output means. The internal combustion engine and the power power input during normal shift can cover the power required to change the gear ratio of the shift transmission means within the range of the sum of the power to be supplied and the power that can be supplied from the power storage means. The internal combustion engine such that the speed ratio of the speed change transmission means is changed using the power input / output by the power power input / output means and the power supplied from the power storage means without changing the operating state of the output means. And the electric power drive input / output means, the electric motor, and the transmission transmission means, and without changing the operating state of the internal combustion engine and the electric power drive input / output means. The power supply is switched on during non-normal shifting where the power required to change the gear ratio of the shift transmission means cannot be covered within the sum of the power input / output by the power storage and the power that can be supplied from the power storage means. The internal combustion engine and the power drive input / output unit are controlled and input / output by the power drive input / output unit so that the sum of the power input / output by the output unit and the power supplied from the power storage unit is increased. A gear ratio change time control means for controlling the electric motor and the speed change transmission means so that the speed ratio of the speed change transmission means is changed using electric power and electric power supplied from the power storage means;
A power output device comprising:   The speed change ratio changing control means is configured to change the speed change ratio of the speed change transmission means when instructed to change the speed of the electric motor so that the rotational speed of the electric motor increases while a negative driving force is applied to the drive shaft. The power output apparatus according to any one of claims 1 to 4, wherein the power output device is means for changing a gear ratio of the transmission means.   6. The power output apparatus according to claim 1, wherein the speed change ratio control means is a means for controlling the operating point of the internal combustion engine to be changed to a high torque side during the non-normal speed change.   The power output apparatus according to any one of claims 1 to 6, wherein the gear ratio change time control means is a means for controlling the operating point of the internal combustion engine to be changed to a high rotation side during the non-normal speed change. The power output device according to any one of claims 1 to 7,
A braking means capable of applying a braking force to the drive shaft;
The speed change ratio control means is configured to control the internal combustion engine and the power power input so that the sum of the power input / output by the power power input / output means and the power supplied from the power storage means at the time of the non-normal speed change is increased. A power output device that controls the braking means so as to suppress the driving force acting on the drive shaft when the driving force acting on the drive shaft increases as a result of controlling the output means. The power output device according to any one of claims 1 to 8,
A required driving force setting means for setting a required driving force required for the drive shaft;
The speed change ratio control means is a means for controlling the set required driving force to be output to a drive shaft.   The power power input / output means is connected to the three shafts of the output shaft, the drive shaft, and the third shaft of the internal combustion engine, and the remaining shaft based on the power input / output to any two of the three shafts. The power output apparatus according to any one of claims 1 to 9, further comprising: a three-axis power input / output means for inputting / outputting power to / from the power generator and a generator for inputting / outputting power to / from the third shaft.   The power drive input / output means has a first rotor connected to the output shaft of the internal combustion engine and a second rotor connected to the drive shaft, and the first rotor and the first rotor The power output apparatus according to any one of claims 1 to 9, wherein the power output apparatus is a counter-rotor electric motor that rotates by relative rotation with the second rotor.   An automobile comprising the power output device according to any one of claims 1 to 11 and an axle connected to the drive shaft. A drive device connected to and driven by an output shaft and a drive shaft of an internal combustion engine,
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
An electric motor capable of power input and output;
Shift transmission means for transmitting power between the rotating shaft of the electric motor and the drive shaft with a changeable gear ratio;
When an instruction to change the speed ratio of the speed change transmission means is given so as to increase the rotation speed of the electric motor, the rated power can be supplied from the electric power drive input / output means and the power storage means capable of exchanging electric power with the electric motor. During normal shifting, the shift transmission is performed using the power input / output by the power power input / output means and the power supplied from the power storage means without changing the operating states of the internal combustion engine and the power power input / output means. The internal combustion engine, the power drive input / output means, the electric motor, and the speed change transmission means are controlled so that the speed ratio of the means is changed, and the power supply from the power storage means is restricted during the non-normal speed change. The internal combustion engine and the power drive input / output unit are controlled such that the sum of the power input / output by the power drive input / output unit and the power supplied from the power storage unit is increased. And controlling the electric motor and the shift transmission means so as to change the gear ratio of the shift transmission means using the electric power input / output by the electric power drive input / output means and the electric power supplied from the power storage means. Gear ratio change time control means,
A drive device comprising: A drive device connected to and driven by an output shaft and a drive shaft of an internal combustion engine,
Power power input / output means connected to the output shaft of the internal combustion engine and the drive shaft, and outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
An electric motor capable of power input and output;
Shift transmission means for transmitting power between the rotating shaft of the electric motor and the drive shaft with a changeable gear ratio;
When instructed to change the speed ratio of the speed change transmission means so that the number of revolutions of the electric motor is increased, input / output by the power power input / output means is performed without changing the operating state of the internal combustion engine and the power power input / output means. Power required to change the gear ratio of the shift transmission means within a range of the sum of the power to be supplied and the electric power that can be supplied from the electric power input / output means and the electric power storage means capable of exchanging electric power with the electric motor. During normal shifts that can be covered, the power input / output by the power power input / output means and the power supplied from the power storage means are used without changing the operating state of the internal combustion engine and the power power input / output means. Controlling the internal combustion engine, the power drive input / output means, the electric motor, and the speed change transmission means so that a speed change ratio of the speed change transmission means is changed; The speed change ratio of the speed change transmission means is changed within a range of the sum of the power input / output by the power power input / output means and the power that can be supplied from the power storage means without changing the operating state of the power / power input / output means. In the case of a non-normal speed shift that cannot cover the power required for power supply, the internal combustion engine and the power power input are increased so that the sum of the power input / output by the power power input / output means and the power supplied from the power storage means increases. The electric motor and the gear shift transmission are controlled so that the gear ratio of the gear shift transmission means is changed using the electric power input / output by the electric power power input / output means and the electric power supplied from the power storage means. A speed change ratio control means for controlling the means;
A drive device comprising: An internal combustion engine, and an electric power / power input / output means connected to an output shaft and a drive shaft of the internal combustion engine for outputting at least part of the power from the internal combustion engine to the drive shaft with input / output of electric power and power; An electric motor capable of inputting / outputting power; transmission transmission means for transmitting power between the rotating shaft of the motor and the drive shaft with a changeable gear ratio; and the electric power input / output means and the electric motor and electric power A method of controlling a power output device comprising:
When an instruction to change the speed ratio of the speed change transmission means is given so that the number of revolutions of the electric motor is increased, the internal combustion engine and the power power input / output means of the electric power drive input / output means at the time of normal speed change where the rated power can be supplied from the power storage means. The internal combustion engine and the electric power so that the gear ratio of the shift transmission means is changed using the electric power input / output by the electric power power input / output means and the electric power supplied from the power storage means without changing the operating state. The power input / output means, the electric motor, and the speed change transmission means are controlled, and the electric power input / output by the power power input / output means and the power storage means at the time of non-normal shift where the power supply from the power storage means is restricted. Controlling the internal combustion engine and the power power input / output means so as to increase the sum of the supplied power and power input / output by the power power input / output means Control method for a power output apparatus for controlling said electric motor and said transmission mechanism so that the speed ratio of the transmission mechanism is changed by using the electric power supplied from the accumulator unit. An internal combustion engine, and an electric power / power input / output means connected to an output shaft and a drive shaft of the internal combustion engine for outputting at least part of the power from the internal combustion engine to the drive shaft with input / output of electric power and power; An electric motor capable of inputting / outputting power; transmission transmission means for transmitting power between the rotating shaft of the motor and the drive shaft with a changeable gear ratio; and the electric power input / output means and the electric motor and electric power A method of controlling a power output device comprising:
When instructed to change the speed ratio of the speed change transmission means so that the number of revolutions of the electric motor is increased, input / output by the power power input / output means is performed without changing the operating state of the internal combustion engine and the power power input / output means. The internal combustion engine and the power power input during normal shift can cover the power required to change the gear ratio of the shift transmission means within the range of the sum of the power to be supplied and the power that can be supplied from the power storage means. The internal combustion engine such that the speed ratio of the speed change transmission means is changed using the power input / output by the power power input / output means and the power supplied from the power storage means without changing the operating state of the output means. And the electric power drive input / output means, the electric motor, and the transmission transmission means, and without changing the operating state of the internal combustion engine and the electric power drive input / output means. The power supply is switched on during non-normal shifting where the power required to change the gear ratio of the shift transmission means cannot be covered within the sum of the power input / output by the power storage and the power that can be supplied from the power storage means. The internal combustion engine and the power drive input / output unit are controlled and input / output by the power drive input / output unit so that the sum of the power input / output by the output unit and the power supplied from the power storage unit is increased. A method for controlling a power output device, wherein the electric motor and the electric power supplied from the power storage means are used to control the electric motor and the transmission transmission means so that the transmission ratio of the transmission transmission means is changed.

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