JP2007055435A - Power output device, and control method and vehicle therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress deterioration of an accumulating device such as a secondary battery by preventing a state of power supply from the accumulating device from exceeding an output limit of the accumulating device as an internal combustion engine starts. <P>SOLUTION: When the engine starts right after a system is actuated and battery temperature Tb is lower than a threshold Tref, a motor torque command Tm1* is set without taking into account a vibration control torque Tv suppressing a torque pulsation generated when the engine is motored, and the engine is motored (S180 to S220). Consequently, a peak of power consumption of a motor is made small to stop the output electric power of a battery 50 from exceeding its output limit. Deterioration of the battery 50 is therefore suppressed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a power output apparatus, a control method therefor, and a vehicle.

Conventionally, this type of power output device includes an engine, a planetary gear in which a carrier and a ring gear are connected to an engine crankshaft and an axle, a first electric motor that outputs power to the sun gear of the planetary gear, and power to the ring gear. A vehicle-mounted one provided with a second electric motor has been proposed (for example, see Patent Document 1). In this device, the motoring torque from the first electric motor is adjusted so as to cancel the torque pulsation accompanying the rotation of the engine based on detection signals from the crank angle sensor and the engine water temperature sensor when the engine is started.
JP 2004-222439 A

  In the power output device described above, torque pulsation accompanying engine rotation can be canceled, but depending on the state of a battery such as a secondary battery that supplies power to the first motor, the power consumption of the first motor There is a case where the output limit is exceeded and deterioration of the power storage device is promoted. In a battery such as a secondary battery, the internal resistance generally increases when the battery temperature is low, and if the output from the first electric motor is pulsated to cancel the torque pulsation of the engine, the peak exceeds the output limit. Cases arise. Such inconvenience occurs not only when the battery temperature is low, but also when the internal resistance of the battery is increased due to other factors.

  It is an object of the present invention to provide a power output device, a control method therefor, and a vehicle that prevent a power supply state from a power storage device such as a secondary battery from exceeding an output limit of the power storage device as the internal combustion engine starts. I will. Another object of the present invention is to start an internal combustion engine while suppressing deterioration of a power storage device such as a secondary battery.

  The power output device, the control method thereof, and the vehicle of the present invention employ the following means in order to achieve at least a part of the above-described object.

The power output apparatus 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 capable of outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
Power storage means capable of exchanging power with the power drive input / output means;
Power supply state estimation means for estimating a power supply state to the power power input / output means when starting the internal combustion engine with output of power from the power power input / output means;
When the estimated power supply state is a good power supply state equal to or greater than a predetermined power supply state, torque pulsation caused by rotation of the internal combustion engine when the internal combustion engine is started is suppressed, and the internal combustion engine is operated by a motor. The internal combustion engine and the power drive input / output means are controlled to start by being ringed, and the internal combustion engine is controlled when the estimated power supply state is an unfavorable power supply state less than the predetermined power supply state. Control means for controlling the internal combustion engine and the electric power drive input / output means so as to prohibit the suppression of torque pulsation caused by the rotation of the internal combustion engine when starting and to start the internal combustion engine by motoring;
It is a summary to provide.

  In the power output device of the present invention, the power supply state to the power power input / output means when the internal combustion engine is started with the output of power from the power power input / output means is estimated, and the estimated power supply state is When the power supply is in a good power supply state that is equal to or higher than a predetermined power supply state, the torque pulsation caused by the rotation of the internal combustion engine when the internal combustion engine is started is suppressed, and the internal combustion engine is motored and started so as to start Controls input / output means. As a result, torque pulsation caused by the rotation of the internal combustion engine is suppressed, so that the vibration of the device at the start of the internal combustion engine can be suppressed. Further, when the estimated power supply state is an unsatisfactory power supply state less than a predetermined power supply state, suppression of torque pulsation caused by the rotation of the internal combustion engine when starting the internal combustion engine is prohibited, and the internal combustion engine is motored. Then, the internal combustion engine and the power drive input / output means are controlled to start. As a result, it is possible to suppress the peak of power supply to the power drive input / output means in order to suppress torque pulsation, and to prevent the power output from the power storage means from exceeding the output limit when starting the internal combustion engine. Can be suppressed. As a result, it is possible to suppress deterioration of the power storage means. That is, the internal combustion engine can be started while suppressing deterioration of the power storage means.

  In such a power output apparatus of the present invention, the power supply state estimation means includes state detection means for detecting the state of the power storage means, and the rated power is output from the power storage means based on the detected state of the power storage means. When it is possible to sufficiently supply power, it is estimated that the power supply state is better than the predetermined power supply state, and the rated power supply from the power storage unit is sufficiently supplied based on the detected state of the power storage unit. It may be a means for estimating that the power supply state is not good and less than the predetermined power supply state when it cannot be performed. If it carries out like this, it can be determined whether an internal combustion engine is started, suppressing a torque pulsation according to the state of an electrical storage means, and an internal combustion engine can be started. Further, in the power output apparatus of the present invention, the power supply state estimation unit includes a temperature detection unit that detects a temperature of the power storage unit, and the predetermined power when the detected temperature of the power storage unit is equal to or higher than a predetermined temperature. When the detected temperature of the power storage means is less than the predetermined temperature, the power supply state is estimated to be an unfavorable power supply state less than the predetermined power supply state. It can also be a means to do. In this way, it is possible to start the internal combustion engine by determining whether or not to start the internal combustion engine while suppressing torque pulsation according to the temperature of the power storage means. Furthermore, in the power output apparatus of the present invention, the power supply state estimation means includes voltage detection means for detecting an output voltage of the power storage means, and when the detected output voltage of the power storage means is equal to or higher than a predetermined voltage. Estimating that the power supply state is a good power supply state equal to or higher than the predetermined power supply state, and when the detected output voltage of the storage means is less than the predetermined voltage, the power supply state is not good less than the predetermined power supply state It can also be a means to estimate that there is. If it carries out like this, it can be determined whether an internal combustion engine is started, suppressing a torque pulsation according to the output voltage of an electrical storage means, and an internal combustion engine can be started.

  Further, in the power output apparatus of the present invention, the control means is a system of the power output apparatus when the power supply state estimating means estimates an unsatisfactory power supply state less than the predetermined power supply state. Only when the internal combustion engine is started for the first time after startup, control of torque pulsation caused by rotation of the internal combustion engine when starting the internal combustion engine is prohibited and the internal combustion engine is controlled to start by being motored. The control means may be the time when the power supply state estimation means estimates an unfavorable power supply state less than the predetermined power supply state, and Only when the internal combustion engine is started with the vehicle stopped when the system is started, the torque pulse generated by the rotation of the internal combustion engine when starting the internal combustion engine The internal combustion engine prohibits suppression can also be assumed to be a means for controlling so as to start is motoring. In this way, it is possible to suppress the frequency of starting the internal combustion engine in a state where the suppression of torque pulsation is prohibited.

  Furthermore, in the power output apparatus of the present invention, an electric motor capable of inputting / outputting power to the drive shaft is provided, and the control means cancels torque output to the drive shaft accompanying motoring of the internal combustion engine. It can also be a means for controlling the motor. By so doing, it is possible to cancel the torque output to the drive shaft as the internal combustion engine starts.

  Alternatively, in the 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 rotating shaft of the internal combustion engine, and enters any two of the three shafts. It is also possible to provide a means comprising: a three-axis power input / output means for inputting / outputting power to the remaining shaft based on the output power; and a generator capable of inputting / outputting power to / from the rotating shaft. .

  The vehicle of the present invention is a power output device of the present invention according to any one of the above-described aspects, that is, basically a power output device that outputs power to a drive shaft, and includes an internal combustion engine and an output of the internal combustion engine. Power power input / output means connected to the shaft and the drive shaft and capable of outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of electric power and power; and the power power input / output means; Power storage state estimation for estimating power supply state to the power drive input / output means when starting the internal combustion engine with power storage means capable of exchanging power and power output from the power drive input / output means And a torque pulsation caused by rotation of the internal combustion engine when the internal combustion engine is started and the internal combustion engine is suppressed when the estimated power supply state is a good power supply state equal to or greater than a predetermined power supply state. And controlling the internal combustion engine and the power drive input / output means so that the engine is motored and the estimated power supply state is an unfavorable power supply state less than the predetermined power supply state. Control means for controlling the internal combustion engine and the electric power input / output means so as to prohibit the suppression of torque pulsation caused by the rotation of the internal combustion engine when starting the internal combustion engine and to start the internal combustion engine by being motored And a power output device comprising: an axle connected to the drive shaft.

  Since the vehicle of the present invention is equipped with the power output device of the present invention according to any one of the above-described aspects, the effect of the power output device of the present invention, for example, the vibration of the device at the start of the internal combustion engine is suppressed. The power output from the storage means when the internal combustion engine is started as a result of being able to suppress the peak of the power supply to the power input / output means in order to suppress the effects and torque pulsation that can be reduced. It is possible to achieve the same effects as the effect of suppressing the exceeding and suppressing the deterioration of the power storage means, the effect of starting the internal combustion engine while suppressing the deterioration of the power storage means, and the like.

The method for controlling the power output apparatus of the present invention includes:
An internal combustion engine, and power power input / output means connected to the output shaft and drive shaft of the internal combustion engine and capable of outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power A power output device control method comprising: the power drive input / output means and a power storage means capable of exchanging power,
(A) estimating a power supply state to the power power input / output means when starting the internal combustion engine with power output from the power power input / output means;
(B) When the estimated power supply state is a good power supply state equal to or higher than a predetermined power supply state, torque pulsation caused by rotation of the internal combustion engine when the internal combustion engine is started is suppressed and the internal combustion engine The internal combustion engine and the power drive input / output means are controlled so that the engine is motored, and when the estimated power supply state is an unfavorable power supply state less than the predetermined power supply state, the internal combustion engine Controlling the internal combustion engine and the power power input / output means so as to prohibit the suppression of torque pulsation caused by the rotation of the internal combustion engine when starting the engine and to start the motor by being motored.
This is the gist.

  In the control method of the power output apparatus of the present invention, the power supply state to the power drive input / output means when the internal combustion engine is started with the output of power from the power drive input / output means is estimated, and the estimated power When the supply state is a good power supply state that is equal to or higher than a predetermined power supply state, the internal combustion engine is controlled so that torque pulsation caused by the rotation of the internal combustion engine when starting the internal combustion engine is suppressed and the internal combustion engine is motored to start. And power power input / output means. As a result, torque pulsation caused by the rotation of the internal combustion engine is suppressed, so that the vibration of the device at the start of the internal combustion engine can be suppressed. Further, when the estimated power supply state is an unsatisfactory power supply state less than a predetermined power supply state, suppression of torque pulsation caused by the rotation of the internal combustion engine when starting the internal combustion engine is prohibited, and the internal combustion engine is motored. Then, the internal combustion engine and the power drive input / output means are controlled to start. As a result, it is possible to suppress the peak of power supply to the power drive input / output means in order to suppress torque pulsation, and to prevent the power output from the power storage means from exceeding the output limit when starting the internal combustion engine. Can be suppressed. As a result, it is possible to suppress deterioration of the power storage means. That is, the internal combustion engine can be started while suppressing deterioration of the power storage means.

  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 a configuration of a hybrid vehicle 20 equipped with a power output apparatus according to 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 reduction gear 35 attached to a ring gear shaft 32a as a drive shaft connected to the power distribution and integration mechanism 30, a motor MG2 connected to the reduction gear 35, And a hybrid electronic control unit 70 for controlling the entire power output apparatus.

  The engine 22 is an internal combustion engine that outputs power using a hydrocarbon-based fuel such as gasoline or light oil, and detects various sensors that detect the operating state of the engine 22, for example, the position of the crankshaft 26 (crank angle CA). Operation control such as fuel injection control, ignition control, intake air amount adjustment control, and the like is performed by an engine electronic control unit (hereinafter referred to as engine ECU) 24 that receives signals from the crank angle sensor 23 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 reduction gear 35 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 finally output from the ring gear shaft 32a to the drive wheels 63a and 63b of the vehicle via the gear mechanism 60 and the differential gear 62.

  The motor MG1 and the motor MG2 are both 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 electrode bus and a negative electrode bus shared by the inverters 41 and 42, and the electric power generated by one of the motors MG1 and MG2 It can be consumed by a motor. Therefore, battery 50 is charged / discharged by electric power generated from one of motors MG1 and MG2 or insufficient electric power. If the balance of electric power is balanced by the motors MG1 and MG2, the battery 50 is not charged / discharged. The motors MG1 and MG2 are both driven and controlled by a motor electronic control unit (hereinafter referred to as a motor ECU) 40. The motor ECU 40 detects signals necessary for 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 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 battery 50 is managed by a battery electronic control unit (hereinafter referred to as a battery ECU) 52. The battery ECU 52 has a signal necessary for managing the battery 50, for example, a battery temperature Tb from the temperature sensor 51 a attached to the battery 50 and an inter-terminal voltage from the voltage sensor 51 b installed between the terminals of the battery 50. Vb, a charging / discharging current from a current sensor (not shown) attached to the power line 54 connected to the output terminal of the battery 50 is input, and data regarding the state of the battery 50 is communicated by communication as necessary. Output to the control unit 70. The battery ECU 52 also calculates the remaining capacity (SOC) based on the integrated value of the charge / discharge current detected by the current sensor in order to manage the battery 50.

  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 includes an ignition signal from an ignition switch 80, a shift position SP from a shift position sensor 82 that detects the operation position of the shift lever 81, and an accelerator pedal position sensor 84 that detects the amount of depression of the accelerator pedal 83. The accelerator pedal opening Acc from the vehicle, the brake pedal position BP from the brake pedal position sensor 86 for detecting the depression amount of the brake pedal 85, the vehicle speed V from the vehicle speed sensor 88, and the like are input via the input port. As described above, the hybrid electronic control unit 70 is connected to the engine ECU 24, the motor ECU 40, and the battery ECU 52 via the communication port, and exchanges various control signals and data with the engine ECU 24, the motor ECU 40, and the battery ECU 52. ing.

  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 starting the engine 22 while the vehicle is stopped will be described. FIG. 2 is a flowchart showing an example of a start time control routine executed by the hybrid electronic control unit 70. This routine is executed when a request for starting the engine 22 is made while the vehicle is stopped.

  When the startup control routine is executed, the CPU 72 of the hybrid electronic control unit 70 first determines whether or not the engine 22 is started immediately after the system is started (step S100), and the battery temperature Tb is set. It is determined whether or not the battery temperature Tb is less than the threshold value Tref (steps S110 and S120). Here, the threshold value Tref is used to determine whether or not the power supply from the battery 50 can be performed satisfactorily, that is, whether or not the power supply state to the motor MG1 is in a good state. The lower limit temperature at which the rated performance of 50 can be sufficiently exhibited and a temperature slightly higher than that are set. In general, when the temperature of the battery 50 is low, the internal resistance increases, and the rated power cannot be sufficiently output. In the embodiment, such a state is determined based on the battery temperature Tb.

  Even when the engine 22 is not started immediately after the system is started or when the battery temperature Tb is equal to or higher than the threshold Tref, sufficient power can be supplied to the motor MG1 when the engine 22 is started. It is determined that the engine 22 is capable of being input, and the engine speed Ne and the elapsed time t from the start of the start are input (step S130), and the motor 22 is input using the input engine speed Ne and the elapsed time t from the start of the start. Motor ring torque Tm is derived and set from the ring torque setting map (step S140). Here, in the embodiment, the rotational speed Ne of the engine 22 is calculated based on the crank angle CA detected by the crank angle sensor 23 and is input from the engine ECU 24 by communication. Further, as the elapsed time t from the start of the start, the time measured by a timer (not shown) from when the motor MG1 is set with the torque command Tm1 * and the motoring is started is input. The motoring torque setting map is a map in which the relationship between the torque for motoring by the motor MG1 when starting the engine 22, the rotational speed Ne of the engine 22 and the elapsed time t from the start of starting is set. FIG. 3 shows an example of the motoring torque setting map. In the motoring torque setting map, as shown in FIG. 3, a relatively large torque is quickly set as the motoring torque Tm using a rate process immediately after the time t11 when the engine 22 is instructed to start. The number of revolutions Ne is rapidly increased. The engine 22 can be stably motored at the ignition start rotational speed Nfire or more at a time t12 after the time when the rotational speed Ne of the engine 22 has passed the resonance rotational speed band or a time necessary for passing through the resonant rotational speed band. The torque that can be generated is set to the motor ring torque Tm to reduce the power consumption and the reaction force on the ring gear shaft 32a as the drive shaft. Here, the ignition start rotation speed Nfire is set to a rotation speed larger than the resonance rotation speed band, for example, 1000 rpm or 1200 rpm in the embodiment. Then, from time t13 when the engine speed Ne reaches the ignition start engine speed Nfire, the motoring torque Tm is quickly set to a value 0 using rate processing, and the process ends at time t14 when the complete explosion of the engine 22 is determined. . Thus, immediately after the start instruction of the engine 22 is given, the motor 22 is motored by setting a large torque to the motoring torque Tm, so that the engine 22 can be quickly rotated to the ignition start rotational speed Nfire or more. can do.

  Then, the crank angle CA from the crank angle sensor 23 is inputted (step S150), and the set motoring torque Tm and the damping torque Tv (denoted as f (CA) in FIG. 2) determined based on the crank angle CA. The sum is set as the torque command Tm1 * of the motor MG1 (step S160), and the torque that cancels the torque acting on the ring gear shaft 32a by applying the motor ring torque Tm to the sun gear 31 is calculated by the following equation (1). Is set to the torque command Tm2 * of the motor MG2 (step S170). In this embodiment, the damping torque Tv determined based on the crank angle CA is obtained by experimentally determining the relationship between the torque pulsation generated when the engine 22 is motored and the crank angle CA, and suppressing the torque pulsation. The reverse phase torque is obtained as the damping torque Tv, stored in advance in the ROM 74 as a damping torque setting map, and when the crank angle CA is given, the corresponding damping torque Tv is derived and set from the map. did. An example of the damping torque setting map is shown in FIG. Thus, when the motor MG1 is driven by obtaining the torque command Tm1 * of the motor MG1 as the sum of the motoring torque Tm and the damping torque Tv, the motor 22 is motored and the engine 22 is motored. The generated torque pulsation can be suppressed. Further, the motor MG2 is driven by setting the torque command Tm2 * of the motor MG2 so as to cancel the torque acting on the ring gear shaft 32a by the action of the motor ring torque Tm, so that the ring gear shaft 32a as a drive shaft is unnecessary. It is possible to suppress the action of a large torque. In the hybrid electronic control unit 70, when the torque command Tm1 * of the motor MG1 or the torque command Tm2 * of the motor MG2 is set, it is immediately transmitted to the motor ECU 40. Receiving the torque commands Tm1 * and Tm2 *, the motor ECU 40 controls the switching elements of the inverters 41 and 42 so that torques corresponding to the torque commands Tm1 * and Tm2 * are output from the motors MG1 and MG2. The engine 22 is motored by such control. FIG. 5 shows an example of a collinear diagram for dynamically explaining the rotating elements of the power distribution and integration mechanism 30 when the engine 22 is motored. In the figure, the left S-axis indicates the rotation speed of the sun gear 31 that is the rotation speed Nm1 of the motor MG1, the C-axis indicates the rotation speed of the carrier 34 that is the rotation speed Ne of the engine 22, and the R-axis indicates the rotation speed of the motor MG2. The rotational speed Nr of the ring gear 32 obtained by dividing the number Nm2 by the gear ratio Gr of the reduction gear 35 is shown. Two thick arrows on the R axis indicate that the torque acting on the ring gear 32 when motoring the engine 22 and the torque Tm2 * output from the motor MG2 to cancel the torque are transmitted via the reduction gear 35 to the ring gear. The torque acting on the shaft 32a is shown. Equation (1) can be easily obtained from this alignment chart.

  Tm2 * =-Tm / (ρ ・ Gr) (1)

  When the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 are thus set, it is determined whether or not the rotational speed Ne of the engine 22 has reached the ignition start rotational speed Nfire (step S230), and the rotational speed Ne of the engine 22 is ignited. When the start rotational speed Nfire has not been reached, the value of the vibration suppression prohibition flag Fv is checked (step S270). When the vibration suppression prohibition flag Fv is 0 which does not prohibit the vibration suppression control, the process returns to step S130 and the engine 22 rotates. The processes in steps S130 to S170 and S230 and S270 are repeated until the number Ne reaches the ignition start rotational speed Nfire. Here, the vibration suppression prohibition flag Fv is set to a value of 1 when it is determined by the start-up control routine that the engine 22 is started immediately after the system is started and the battery temperature Tb is less than the threshold value Tref. When the start of the engine 22 is completed, the value is reset to zero. Now, since it is considered that the battery temperature Tb is equal to or higher than the threshold Tref even when the engine 22 is not started immediately after the system is started or when the engine 22 is started immediately after the system is started, a value 0 is set in the vibration suppression prohibition flag Fv. ing. When the rotation speed Ne of the engine 22 reaches the ignition start rotation speed Nfire, it is confirmed that the value 1 is not set in the control start flag Ffire (step S240), and fuel injection control is started and ignition control is started. At the same time, a value 1 is set to the control start flag Ffire (step S250), and it is determined whether or not the engine 22 has completely exploded (step S260). When the engine 22 is not completely exploded, the value of the vibration suppression prohibition flag Fv is checked (step S270). When the vibration suppression prohibition flag Fv is 0 which does not prohibit the vibration suppression control, the process returns to step S130, and the engine 22 Steps S130 to S170 and S230 to S270 are repeated until the explosion is completed. When the engine 22 is completely detonated, if the vibration suppression prohibition flag Fv is set to the value 1, the vibration suppression prohibition flag Fv is reset to the value 0 (step S280), and this routine is terminated. When this routine is finished, a drive control routine (not shown) for running in the torque conversion operation mode or the charge / discharge operation mode for driving the engine 22 and the motors MG1, MG2 is executed. Therefore, detailed description thereof is omitted.

  On the other hand, when it is determined in the processes of steps S100 to S120 that the engine 22 is started immediately after the system is started and the battery temperature Tb is lower than the threshold value Tref, sufficient power is supplied to the motor MG1 when starting the engine 22. Is set to the vibration suppression prohibition flag Fv (step S180), and the engine speed Ne and the elapsed time t from the start of the start are input (step S190). The motoring torque Tm is derived and set from the motoring torque setting map using the rotation speed Ne of the engine 22 and the elapsed time t from the start of starting (step S200). Then, the motoring torque Tm is set as the torque command Tm1 * of the motor MG1 (step S210), and the torque that cancels the torque acting on the ring gear shaft 32a by applying the motoring torque Tm to the sun gear 31 is expressed by the above formula. Calculated by (1) and set to the torque command Tm2 * of the motor MG2 (step S220). That is, in the torque command Tm1 * of the motor MG1, only the torque necessary for motoring the engine 22 is considered, and the damping torque Tv for suppressing the torque pulsation generated when the engine 22 is motored is not considered. It is. As described above, by not considering the damping torque Tv, the value of the torque command Tm1 * of the motor MG1 can be reduced by the plus waveform of the damping torque Tv. can do. Therefore, the output power from the battery 50 can be suppressed by the amount corresponding to the positive waveform of the damping torque Tv. As described above, since the internal resistance increases when the battery temperature Tb is low, setting the torque command Tm1 * of the motor MG1 in consideration of the damping torque Tv causes the power consumption of the motor MG1 to pulsate. Output power also pulsates. At this time, the output limit of the battery 50 is exceeded at the peak in the pulsation of the output power of the battery 50. In the embodiment, the torque pulsation suppression (vibration control) by the motor MG1 is not performed, so that the output power of the battery 50 does not exceed the output limit.

  When the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 are thus set, it is determined whether or not the rotational speed Ne of the engine 22 has reached the ignition start rotational speed Nfire (step S230), and the rotational speed Ne of the engine 22 is ignited. When the start rotational speed Nfire has not been reached, the value of the vibration suppression prohibition flag Fv is checked (step S270). When the vibration suppression prohibition flag Fv is a value 1 that prohibits vibration suppression control, the process returns to step S180 and the engine 22 rotates. The processes in steps S180 to S230 are repeated until the number Ne reaches the ignition start rotational speed Nfire. When the rotational speed Ne of the engine 22 reaches the ignition start rotational speed Nfire, it is confirmed that the value 1 is not set in the control start flag Ffire (step S240), and fuel injection control is started and ignition control is performed. At the same time, the control start flag Ffire is set to a value 1 (step S250), and it is determined whether or not the engine 22 has completely exploded (step S260). (Step S270), and when the vibration suppression prohibition flag Fv is a value 1 that prohibits the vibration suppression control, the process returns to step S180, and the processes of steps S180 to S270 are repeated until the engine 22 is completely detonated. When the engine 22 is completely detonated, the vibration suppression prohibition flag Fv is reset to 0 (step S280), and this routine is terminated. As described above, when this routine is finished, a drive control routine (not shown) for running in the torque conversion operation mode or the charge / discharge operation mode for driving the engine 22 and the motors MG1, MG2 is executed.

  According to the hybrid vehicle 20 of the embodiment described above, when the engine 22 is started immediately after the system is started and the battery temperature Tb is less than the threshold value Tref, torque pulsation that occurs when the engine 22 is motored is suppressed. Since the engine 22 is motored by setting the torque command Tm1 * of the motor MG1 without considering the damping torque Tv to be set, the engine 22 is set by setting the torque command Tm1 * of the motor MG1 in consideration of the damping torque Tv. The peak of power consumption of the motor MG1 can be reduced as compared with the motoring. As a result, it is possible to suppress the output power of the battery 50 from exceeding the output limit, and it is possible to suppress the deterioration of the battery 50. That is, the engine 22 can be motored and started while suppressing deterioration of the battery 50. Moreover, since the torque acting on the ring gear shaft 32a when the engine 22 is motored is canceled by the torque from the motor MG2, it is possible to suppress the unnecessary torque from acting on the ring gear shaft 32a as the drive shaft. Of course, when the engine 22 is not started immediately after the system is started or when the battery temperature Tb is equal to or higher than the threshold value Tref even when the engine 22 is started immediately after the system is started, the torque pulsation generated when the engine 22 is motored is suppressed. Since the engine 22 is motored by setting the torque command Tm1 * of the motor MG1 in consideration of the vibration torque Tv, torque pulsation generated when the engine 22 is motored can be suppressed.

  In the hybrid vehicle 20 of the embodiment, it is determined whether or not the power supply from the battery 50 can be satisfactorily performed based on the battery temperature Tb, that is, whether or not the power supply state to the motor MG1 is in a good state. However, it is only necessary to determine whether the power supply state to the motor MG1 is good depending on whether the internal resistance of the battery 50 is large. The present invention is not limited, and other parameters reflecting the magnitude of the internal resistance may be used. For example, it may be determined whether the power supply from the battery 50 can be satisfactorily performed based on the output voltage of the battery 50 (whether the power supply state to the motor MG1 is in a good state). In this case, a startup control routine illustrated in FIG. 6 may be executed instead of the startup control routine illustrated in FIG. In the starting control routine of FIG. 6, first, it is determined whether or not the engine 22 is started immediately after the system is started (step S100), and the inter-terminal voltage Vb of the battery 50 is input to input the inter-terminal voltage. It is determined whether or not Vb is less than the threshold value Vref (steps S110B and S120B). Even if the engine 22 is not started immediately after the system is started or even immediately after the system is started, the voltage Vb between the terminals of the battery 50 is determined. Is greater than or equal to the threshold value Vref, the engine 22 is motored and started in consideration of the damping torque Tv after steps S130 to S170 and S230, and the engine 22 is started immediately after the system is started. When the inter-terminal voltage Vb of the battery 50 is less than the threshold value Vref, the above-described steps S180 to S180 are performed. Without considering the damping torque Tv of 80 of the engine 22 and the motor ring performs processing to start. Here, the threshold value Vb is used to determine whether or not the power supply from the battery 50 can be satisfactorily performed, that is, whether or not the power supply state to the motor MG1 is in a good state. It is set to a lower limit voltage at which the rated performance of 50 can be sufficiently exhibited or a voltage slightly higher than that. Since the battery 50 generally has a low output voltage when the internal resistance is large, whether or not the internal resistance is large is determined based on this. Thus, even if it is determined whether or not the power supply state to the motor MG1 is in a good state based on the inter-terminal voltage Vb (output voltage) of the battery 50, the same effect as in the embodiment can be obtained.

  In the hybrid vehicle 20 of the embodiment, when the engine 22 is started immediately after the system is started and the battery temperature Tb is lower than the threshold value Tref, the vibration damping torque that suppresses torque pulsation that occurs when the engine 22 is motored. The engine 22 is motored by setting the torque command Tm1 * of the motor MG1 without considering Tv, but the battery temperature Tb is less than the threshold Tref even if the engine 22 is not started immediately after the system is started. In some cases, the engine 22 may be motored by setting the torque command Tm1 * of the motor MG1 without considering the damping torque Tv for suppressing the torque pulsation generated when the engine 22 is motored.

  In the hybrid vehicle 20 of the embodiment, the torque generated when the engine 22 is motored when the engine 22 is started immediately after the system is started and the battery temperature Tb is lower than the threshold value Tref while the vehicle is stopped. The engine 22 is motored by setting the torque command Tm1 * of the motor MG1 without considering the damping torque Tv for suppressing the pulsation, but also when starting the engine 22 while the vehicle is running It does not matter even if it is controlled similarly.

  In the hybrid vehicle 20 of the embodiment, the motor MG2 is driven and controlled so as to cancel the torque acting on the ring gear shaft 32a as the drive shaft when the engine 22 is motored. However, the drive wheels 63a and 63b and the ring gear are controlled. If the shaft 32a is fixed so as not to rotate, for example, a parking lock or a brake is applied, the torque acting on the ring gear shaft 32a as a drive shaft can be handled when the engine 22 is motored. Therefore, the motor MG2 may not be driven and controlled so as to cancel this torque.

  In the hybrid vehicle 20 of the embodiment, the power of the motor MG2 is shifted by the reduction gear 35 and output to the ring gear shaft 32a. However, as illustrated in the hybrid vehicle 120 of the modified example of FIG. May be connected to an axle (an axle connected to the wheels 64a and 64b in FIG. 7) different from an axle to which the ring gear shaft 32a is connected (an axle to which the drive wheels 63a and 63b are connected).

  In the hybrid vehicle 20 of the embodiment, the power of the engine 22 is output to the ring gear shaft 32a as the drive shaft connected to the drive wheels 63a and 63b via the power distribution and integration mechanism 30, but the modified example of FIG. The hybrid vehicle 220 includes an inner rotor 232 connected to the crankshaft 26 of the engine 22 and an outer rotor 234 connected to a drive shaft that outputs power to the drive wheels 63a and 63b. A counter-rotor motor 230 that transmits a part of the power to the drive shaft and converts the remaining power into electric power may be provided.

  In the embodiment, the hybrid vehicle 20 having the power output device is described. However, such a power output device may be mounted on a moving body such as a vehicle other than an automobile, a ship, an aircraft, or the like. It can be installed in non-moving equipment. Further, not only the form of the power output apparatus but also the form of the control method of the power output apparatus may be used.

  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.

  The present invention can be used in a power output device or a manufacturing industry of a vehicle equipped with the power output device.

It is a block diagram which shows the outline of a structure of the hybrid vehicle 20 carrying the power output device which is one Example of this invention. 5 is a flowchart showing an example of a start-up control routine executed by a hybrid electronic control unit 70. It is explanatory drawing which shows an example of the map for motoring torque setting. It is explanatory drawing which shows an example of the damping torque setting map. It is explanatory drawing which shows an example of the alignment chart for demonstrating dynamically the rotational element of the power distribution integration mechanism 30 at the time of motoring the engine 22. FIG. It is a flowchart which shows an example of the starting time 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, 23 crank angle sensor, 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, 35 reduction gear, 40 motor electronic control unit (motor ECU), 41, 42 inverter, 43, 44 rotational position detection sensor, 50 battery, 51a temperature sensor, 51b voltage sensor, 52 electronic control for battery Unit (battery ECU), 54 power line, 60 gear mechanism, 62 differential gear, 63a, 63b driving wheel, 64a, 64b wheel, 70 hybrid electronic control unit, 72 CPU, 74 ROM, 76 RAM, 0 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 vehicle speed sensor, 230 pair rotor motor, 232 inner rotor 234 outer rotor, MG1 , MG2 motor.

Claims (10)

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 capable of outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power;
Power storage means capable of exchanging power with the power drive input / output means;
Power supply state estimation means for estimating a power supply state to the power power input / output means when starting the internal combustion engine with output of power from the power power input / output means;
When the estimated power supply state is a good power supply state equal to or higher than a predetermined power supply state, torque pulsation caused by rotation of the internal combustion engine when the internal combustion engine is started is suppressed and the internal combustion engine is operated by a motor. The internal combustion engine and the power drive input / output means are controlled to start by being ringed, and the internal combustion engine is controlled when the estimated power supply state is an unfavorable power supply state less than the predetermined power supply state. Control means for controlling the internal combustion engine and the electric power drive input / output means so as to prohibit the suppression of torque pulsation caused by the rotation of the internal combustion engine when starting and to start the internal combustion engine by motoring;
A power output device comprising:   The power supply state estimation means has a state detection means for detecting the state of the power storage means, and the rated power supply from the power storage means can be sufficiently performed based on the detected state of the power storage means. Is estimated to be a good power supply state that is equal to or higher than the predetermined power supply state, and the predetermined power supply cannot be sufficiently performed from the power storage means based on the detected state of the power storage means. The power output apparatus according to claim 1, wherein the power output apparatus is a means for estimating an unfavorable power supply state less than the power supply state.   The power supply state estimation means includes a temperature detection means for detecting the temperature of the power storage means, and a good power supply equal to or higher than the predetermined power supply state when the detected temperature of the power storage means is equal to or higher than a predetermined temperature. 2. The power according to claim 1, wherein the power is estimated to be a state, and is estimated to be an unfavorable power supply state less than the predetermined power supply state when the detected temperature of the power storage means is lower than the predetermined temperature. Output device.   The power supply state estimation means has voltage detection means for detecting an output voltage of the power storage means, and is superior to the predetermined power supply state when the detected output voltage of the power storage means is a predetermined voltage or higher. 2. A unit that estimates that the power supply state is present and estimates that the detected power output state is less than the predetermined power supply state when the detected output voltage of the power storage unit is less than the predetermined voltage. The power output apparatus described.   The control means starts the internal combustion engine for the first time after starting the system of the power output apparatus when an unfavorable power supply state less than the predetermined power supply state is estimated by the power supply state estimation means. 5. A means for prohibiting suppression of torque pulsation caused by rotation of the internal combustion engine when starting the internal combustion engine and controlling the internal combustion engine to start by being motored. The power output apparatus described.   The control means is the internal combustion engine when the power supply state estimating means estimates an unfavorable power supply state less than the predetermined power supply state and the vehicle is stopped when the system of the power output device is started. 2. A means for prohibiting suppression of torque pulsation caused by rotation of the internal combustion engine when starting the internal combustion engine and controlling the internal combustion engine to start by being motored only when starting the engine. Thru | or any 4 power output device. The power output device according to any one of claims 1 to 6,
An electric motor capable of inputting and outputting power to the drive shaft;
The control means is means for controlling the electric motor so that torque output to the drive shaft accompanying motoring of the internal combustion engine is canceled.   The power power input / output means is connected to three shafts of the output shaft of the internal combustion engine, the drive shaft, and the rotating shaft, and the remaining shaft based on the power input / output to / from any two of the three shafts 8. The power output apparatus according to claim 1, further comprising: a three-axis power input / output means for inputting / outputting power to / from the power generator, and a generator capable of inputting / outputting power to / from the rotary shaft.   A vehicle on which the power output device according to claim 1 is mounted and an axle is connected to the drive shaft. An internal combustion engine, and power power input / output means connected to the output shaft and drive shaft of the internal combustion engine and capable of outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power A power output device control method comprising: the power drive input / output means and a power storage means capable of exchanging power,
(A) estimating a power supply state to the power power input / output means when starting the internal combustion engine with power output from the power power input / output means;
(B) When the estimated power supply state is a good power supply state equal to or greater than a predetermined power supply state, torque pulsation caused by rotation of the internal combustion engine when the internal combustion engine is started is suppressed and the internal combustion engine The internal combustion engine and the power drive input / output means are controlled so that the engine is motored, and when the estimated power supply state is an unfavorable power supply state less than the predetermined power supply state, the internal combustion engine Controlling the internal combustion engine and the power power input / output means so as to prohibit the suppression of torque pulsation caused by the rotation of the internal combustion engine when starting the engine and to start the motor by being motored.
Control method of power output device.

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