JP2008247098A - Power output unit, control method therefor, and vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress shock which may be produced by sudden change in the temporal change of output torque from a motor, along with the suppression of sudden change of time change of output torque from the motor. <P>SOLUTION: When the motor MG 1 is controlled by a torque instruction Tm1* which sets an engine to operate at target rotation speed Ne*, and when a temporary torque Tm2tmp calculated so that a demanding torque Tr* might be output to a driving shaft is not in ranges of torque restriction Tm2min and Tm2max based on I/O restriction of battery Win and Wout, restrictions for control Tconmin and Tconmax are set by output torque of the motor MG 2 (last time instruction Tm2*) and torque restriction Tm2min and Tm2max (S200). Thereby the torque instruction Tm2* of the motor MG 2 is set by restricting the temporary torque Tm2tmp (S210). As a result, sudden change of the temporal change of output torque of the motor MG 2 is suppressed, and the shock which may be produced at the time can be suppressed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a power output apparatus, a control method therefor, and a vehicle, and more particularly to a power output apparatus that outputs power to a drive shaft, a control method for the power output apparatus, and a vehicle equipped with such a power output apparatus.

Conventionally, as this type of power output device, an engine, a planetary gear in which a carrier is connected to the output shaft of the engine and a ring gear is connected to a drive shaft connected to an axle, and a motor connected to a sun gear of the planetary gear A vehicle-mounted one including MG1, a motor MG2 attached to output power to a drive shaft, and a battery capable of exchanging electric power with motor MG1 and motor MG2 has been proposed (for example, Patent Document 1). reference). In this apparatus, the relatively large time constant T1 is set as the time constant Tc of the smoothing process when setting the torque limit Tmax of the motor MG2 at the normal time when the output change ΔPg of the motor MG1 is equal to or less than the threshold value Pref. When the output change ΔPg becomes larger than the threshold value Pref due to the sudden decrease in electric power, the time constant T2 having a relatively small value is set as the time constant Tc for the annealing process when setting the torque limit Tmax of the motor MG2. Thus, during normal operation, the torque limit Tmax of the motor MG2 is smoothly changed, and when the generated power of the motor MG1 is suddenly reduced, the follow-up performance to the change of the torque limit Tmax of the motor MG2 is improved and battery overdischarge is suppressed. ing.
JP 2005-151620 A

  In the power output device described above, when the required output torque to be output from the motor MG2 increases, the required output torque is limited by the torque limitation after the required output torque becomes greater than the torque limitation. When it becomes larger, the time change of the torque output from the motor MG2 changes suddenly. Such a sudden change in the time change of the output torque from the motor MG2 includes the resonance frequency of the drive system, which causes a shock due to resonance.

  The power output device, the control method thereof, and the vehicle according to the present invention are intended to suppress a sudden change in the time change of the output torque from the electric motor. Another object of the power output apparatus, the control method thereof, and the vehicle according to the present invention is to suppress a shock that may occur due to a sudden change in the time change of the output torque from the electric motor.

  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 electric motor capable of outputting torque to the drive shaft;
Power storage means capable of exchanging electric power with the electric motor;
Requested torque setting means for setting a requested torque required for the drive shaft;
An allowable torque setting means for setting an allowable torque that is a maximum torque that may be output from the electric motor;
Control limit torque setting means for setting a control limit torque in a range larger than the output torque and smaller than the allowable torque based on the output torque output from the electric motor and the set allowable torque;
Requested output torque setting means for setting a requested output torque for which an output is requested from the electric motor based on the set requested torque;
When the set required output torque falls within the set allowable torque, the set required output torque is set as a target torque to be output from the electric motor, and the set required output torque is set to the setting Target torque setting means for setting, as the target torque, a torque obtained by limiting the set required output torque with the set control torque limit when it is outside the range of the set allowable torque,
Control means for controlling the electric motor so that the set target torque is output from the electric motor;
It is a summary to provide.

  In the power output apparatus of the present invention, the control torque limit is set in a range larger than the output torque and smaller than the allowable torque based on the output torque output from the electric motor and the allowable torque that may be output from the electric motor. The required output torque that is required to be output from the electric motor is set based on the required torque that is set and supplied to the drive shaft. Then, when the set required output torque falls within the allowable torque range, the motor is controlled so that the target torque is output from the motor with the required output torque as the target torque, and the set required output torque is out of the allowable torque range. In this case, the motor is controlled such that the target torque is output from the motor, with the torque limited by the control torque limit that sets the required output torque as the target torque. That is, when the set required output torque falls outside the range of the allowable torque, the target output torque is limited by limiting the required output torque with the control limit torque set in a range larger than the output torque output from the motor and smaller than the allowable torque. The motor is controlled so that this target torque is output. In this case, since the target torque is set as a torque that gradually approaches the allowable torque, it is possible to suppress the time change of the torque output from the electric motor from changing suddenly, and the torque output from the electric motor. It is possible to suppress a shock that may occur due to a sudden change in time.

  In such a power output apparatus of the present invention, the control torque limit setting means is configured such that the output torque is Tm, the allowable torque is Tmax, and the coefficient set within a range of 0 to 1 is k. , Tm + k · (Tmax−Tm) may be a means for setting the control torque limit. In this case, various values such as 0.5, 0.6, 0.7, and 0.8 can be used as the value of the coefficient k.

  Further, in the power output apparatus of the present invention, electric power can be exchanged between the internal combustion engine and the power storage means, connected to the drive shaft and rotatable independently of the drive shaft. Electric power / power input / output means that is connected and outputs torque to the drive shaft and the output shaft with power and power input / output, and the power storage means may be charged / discharged based on the state of the power storage means. Input / output limit setting means for setting an input / output limit that is the maximum power, and the allowable torque setting means is configured to output power input / output by the power power input / output means and power input / output by the motor. It may be a means for setting the allowable torque based on a relationship in which the sum is within the set input / output limit range.

  In the power output apparatus of the present invention having the internal combustion engine and power power input / output means, a target rotational speed and a target torque for operating the internal combustion engine based on the set required torque and a predetermined constraint, And a target state setting means for setting a target driving state for driving the power drive input / output means so that the internal combustion engine is operated at the set target rotational speed within the set input / output limit range. The required output torque setting means should output from the electric motor so that the set required torque is output to the drive shaft when the electric power drive input / output means is driven in the set target drive state. It can also be a means for setting a torque as the required output torque. The power drive input / output means is connected to three axes of a generator for outputting torque, the drive shaft, the output shaft, and a rotating shaft of the generator, and any two of the three shafts are connected. It can also be a means provided with a three-axis power input / output means for inputting / outputting power to / from the remaining shaft based on the input / output power.

  The vehicle of the present invention is the 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 the drive shaft, and can output torque to the drive shaft. An electric motor, an electric storage means capable of exchanging electric power with the electric motor, a required torque setting means for setting a required torque required for the drive shaft, and an allowable torque that is a maximum torque that may be output from the electric motor are set. And a control limit torque for setting a control limit torque in a range larger than the output torque and smaller than the allowable torque based on the output torque output from the motor and the set allowable torque. A setting means, a required output torque setting means for setting a required output torque for which an output is required from the electric motor based on the set required torque, and the set When the required output torque falls within the set allowable torque, the set required output torque is set as a target torque to be output from the electric motor, and the set required output torque is set to the set allowable torque. A target torque setting means for setting, as the target torque, a torque obtained by limiting the set required output torque with the set control torque limit, and the set target torque is output from the motor. A power output device comprising a control means for controlling the electric motor is mounted so that the axle is 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 time change of the torque output from the electric motor changes suddenly. The effect similar to the effect etc. which can suppress the shock which can be produced in connection with the effect which can suppress this, or the time change of the torque output from an electric motor changes suddenly can be show | played.

The method for controlling the power output apparatus of the present invention includes:
A method for controlling a power output device comprising: an electric motor capable of outputting torque to a drive shaft; and an electric storage means capable of exchanging electric power with the electric motor,
(A) Based on the output torque output from the electric motor and the allowable torque that is the maximum torque that may be output from the electric motor, the control limit torque is set in a range larger than the output torque and smaller than the allowable torque. And setting a required output torque required to be output from the electric motor based on the required torque supplied to the drive shaft,
(B) When the set required output torque falls within the range of the allowable torque, the motor is controlled so that the set required output torque is output from the motor, and the set required output torque is equal to the allowable torque. Controlling the electric motor so that a torque obtained by limiting the set required output torque with the set control torque limit is output from the electric motor when out of the range;
It is characterized by that.

  In the control method of the power output apparatus of the present invention, the control is performed within a range larger than the output torque and smaller than the allowable torque based on the output torque output from the electric motor and the allowable torque that is the maximum torque that may be output from the electric motor. A limit torque is set, and a required output torque required for output from the electric motor is set based on a required torque supplied to the drive shaft. The motor is controlled so that the required output torque is output from the motor when the set required output torque is within the allowable torque range, and the required output torque is set when the set required output torque is outside the allowable torque range. The electric motor is controlled so that the torque limited by the control limiting torque is output from the electric motor. In other words, when the set required output torque is outside the allowable torque range, a torque with the required output torque limited by the control limit torque set in a range larger than the output torque output from the motor and smaller than the allowable torque is output. Thus, the electric motor is controlled. In this case, since the torque output from the motor gradually approaches the allowable torque, it is possible to suppress the time change of the torque output from the motor from changing suddenly, and the torque output from the motor can be suppressed. It is possible to suppress a shock that may occur due to a sudden change in time.

  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 configured as an internal combustion engine capable of outputting power using a hydrocarbon-based fuel such as gasoline or light oil, and the air purified by an air cleaner 122 is passed through a throttle valve 124 as shown in FIG. Inhalation and gasoline are injected from the fuel injection valve 126 to mix the sucked air and gasoline. The mixture is sucked into the fuel chamber through the intake valve 128 and is explosively burned by an electric spark from the spark plug 130. Thus, the reciprocating motion of the piston 132 pushed down by the energy is converted into the rotational motion of the crankshaft 26. Exhaust gas from the engine 22 is discharged to the outside air through a purification device (three-way catalyst) 134 that purifies harmful components such as carbon monoxide (CO), hydrocarbons (HC), and nitrogen oxides (NOx).

  The engine 22 is controlled by an engine electronic control unit (hereinafter referred to as an engine ECU) 24. The engine ECU 24 is configured as a microprocessor centered on the CPU 24a, and includes a ROM 24b that stores a processing program, a RAM 24c that temporarily stores data, an input / output port and a communication port (not shown), in addition to the CPU 24a. . The engine ECU 24 includes signals from various sensors that detect the state of the engine 22, a crank position from the crank position sensor 140 that detects the rotational position of the crankshaft 26, and a water temperature sensor 142 that detects the temperature of cooling water in the engine 22. From the cooling water temperature from the combustion chamber, the in-cylinder pressure Pin from the pressure sensor 143 installed in the combustion chamber, the intake valve 128 that performs intake and exhaust to the combustion chamber, and the cam position sensor 144 that detects the rotational position of the camshaft that opens and closes the exhaust valve Cam position, throttle position from throttle valve position sensor 146 for detecting the position of throttle valve 124, air flow meter signal AF from air flow meter 148 attached to the intake pipe, and temperature sensor also attached to the intake pipe Intake air temperature from 49, the air-fuel ratio AF from an air-fuel ratio sensor 135a, such as oxygen signal from an oxygen sensor 135b is input via the input port. The engine ECU 24 also integrates various control signals for driving the engine 22, such as a drive signal to the fuel injection valve 126, a drive signal to the throttle motor 136 that adjusts the position of the throttle valve 124, and an igniter. The control signal to the ignition coil 138 and the control signal to the variable valve timing mechanism 150 that can change the opening / closing timing of the intake valve 128 are output via the output port. 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 outputs data related to the operation state of the engine 22 as necessary. . The engine ECU 24 also calculates the rotational speed of the crankshaft 26, that is, the rotational speed Ne of the engine 22 based on the crank position from the crank position sensor 140.

  The power distribution and integration mechanism 30 includes an external gear sun gear 31, an internal gear ring gear 32 disposed 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 motor ECU 40 also calculates the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 based on signals from the rotational position detection sensors 43 and 44.

  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 51 attached to the battery 50, and the like are input. Output to the control unit 70. Further, the battery ECU 52 calculates the remaining capacity (SOC) based on the integrated value of the charging / discharging current detected by the current sensor in order to manage the battery 50, and calculates the remaining capacity (SOC) and the battery temperature Tb. The input / output limits Win and Wout, which are the maximum allowable power that may charge / discharge the battery 50, are calculated based on the above. The input / output limits Win and Wout of the battery 50 are set to basic values of the input / output limits Win and Wout based on the battery temperature Tb, and are input to the output limiting correction coefficient based on the remaining capacity (SOC) of the battery 50. It can be set by setting a correction coefficient for restriction and multiplying the basic value of the set input / output restrictions 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 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 thus configured hybrid vehicle 20 of the embodiment will be described. FIG. 5 is a flowchart showing an example of a drive control routine executed by the hybrid electronic control unit 70. This routine is repeatedly executed every predetermined time (for example, every several msec).

  When the drive control routine is executed, first, the CPU 72 of the hybrid electronic control unit 70 first determines the accelerator opening Acc from the accelerator pedal position sensor 84, the vehicle speed V from the vehicle speed sensor 88, the rotational speed Nm1, of the motors MG1, MG2. A process of inputting data necessary for control such as Nm2, input / output restrictions Win and Wout of the battery 50 is executed (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. Further, the input / output limits Win and Wout of the battery 50 are set based on the battery temperature Tb of the battery 50 and the remaining capacity (SOC) of the battery 50 and input from the battery ECU 52 by communication.

  When the data is thus input, the required torque Tr * to be output to the ring gear shaft 32a as the drive shaft connected to the drive wheels 63a and 63b as the torque required for the vehicle based on the input accelerator opening Acc and the vehicle speed V. And the required power Pe * required for the engine 22 is set (step S110). In the embodiment, the required torque Tr * is determined in advance by storing the relationship between the accelerator opening Acc, the vehicle speed V, and the required torque Tr * in the ROM 74 as a required torque setting map, and the accelerator opening Acc, the vehicle speed V, , The corresponding required torque Tr * is derived and set from the stored map. FIG. 6 shows an example of the required torque setting map. The required power Pe * can be calculated as the sum of the set 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 and the loss Loss. The rotational speed Nr of the ring gear shaft 32a is obtained by multiplying the vehicle speed V by a conversion factor k (Nr = k · V), or the rotational speed Nm2 of the motor MG2 is divided by the gear ratio Gr of the reduction gear 35 (Nr = Nm2 / Gr).

  Subsequently, a target rotational speed Ne * and a target torque Te * are set as operating points at which the engine 22 should be operated based on the set required power Pe * (step S120). This setting is performed based on an operation line for efficiently operating the engine 22 and the required power Pe *. FIG. 7 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. As shown in the figure, the target rotational speed Ne * and the target torque Te * can be obtained from the intersection of the operation line and a curve with a constant required power Pe * (Ne * × Te *).

  Next, the target rotational speed Nm1 * of the motor MG1 is calculated by the following equation (1) using the target rotational speed Ne * of the engine 22, the rotational speed Nm2 of the motor MG2, and the gear ratio ρ of the power distribution and integration mechanism 30. Based on the calculated target rotational speed Nm1 * and the input rotational speed Nm1 of the motor MG1, a temporary torque Tm1tmp, which is a temporary value of the torque to be output from the motor MG1, is calculated by the equation (2) (step S130). Here, Expression (1) is a dynamic relational expression for the rotating element of the power distribution and integration mechanism 30. FIG. 8 is a collinear diagram showing a dynamic relationship between the number of rotations and torque in the rotating elements of the power distribution and integration mechanism 30 when traveling with the power output from the engine 22. 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. Expression (1) can be easily derived by using this alignment chart. The two thick arrows on the R axis indicate that the torque Tm1 output from the motor MG1 acts on the ring gear shaft 32a and the torque Tm2 output from the motor MG2 acts on the ring gear shaft 32a via the reduction gear 35. Torque. Expression (2) is a relational expression in feedback control for rotating the motor MG1 at the target rotational speed Nm1 *. In Expression (2), “k1” in the second term on the right side is a gain of a proportional term. “K2” in the third term on the right side is the gain of the integral term.

Nm1 * = Ne * ・ (1 + ρ) / ρ-Nm2 / ρ (1)
Tm1tmp = ρ ・ Te * / (1 + ρ) + k1 (Nm1 * -Nm1) + k2∫ (Nm1 * -Nm1) dt (2)

  Subsequently, torque limits Tm1min and Tm1max are set as upper and lower torque limits even when output from the motor MG1 satisfying both the expressions (3) and (4) (step S140), and the set temporary torque Tm1tmp is expressed by the expression ( The torque command Tm1 * of the motor MG1 is set by limiting with the torque limits Tm1min and Tm1max according to 5) (step 150). Here, Expression (3) is a relationship in which the sum of torques output to the ring gear shaft 32a by the motor MG1 and the motor MG2 is within a range from the value 0 to the required torque Tr *, and Expression (4) is the relationship with the motor MG1. This is a relationship in which the sum of the electric power input and output by the motor MG2 is within the range of the input and output limits Win and Wout. An example of the torque limits Tm1min and Tm1max is shown in FIG. The torque limits Tm1min and Tm1max can be obtained as the maximum value and the minimum value of the torque command Tm1 * in the region indicated by the oblique lines in the figure.

0 ≦ −Tm1 / ρ + Tm2, Gr ≦ Tr * (3)
Win ≦ Tm1 / Nm1 + Tm2 / Nm2 ≦ Wout (4)
Tm1 * = max (min (Tm1tmp, Tm1max), Tm1min) (5)

  Then, the torque command Tm1 * set as the required torque Tr * is divided by the gear ratio ρ of the power distribution and integration mechanism 30 and further divided by the gear ratio Gr of the reduction gear 35 to obtain the torque to be output from the motor MG2. A temporary torque Tm2tmp, which is a temporary value, is calculated by the following equation (6) (step S160), and the input / output limits Win and Wout of the battery 50 and the set torque command Tm1 * are multiplied by the current rotational speed Nm1 of the motor MG1. The torque limits Tm2min and Tm2max as upper and lower limits of the torque that may be output from the motor MG2 by dividing the deviation from the power consumption (generated power) of the motor MG1 obtained by the number of revolutions Nm2 of the motor MG2 ) And equation (8) (step S170), and the calculated temporary torque Tm2tmp is the torque limit Tm2min, Determining the range of M2max, i.e., the temporary torque Tm2tmp is whether it is within the scope of the following torque limit Tm2max torque restriction Tm2min more (step S180). Here, Equation (6) can be easily derived from the alignment chart of FIG.

Tm2tmp = (Tr * + Tm1 * / ρ) / Gr (6)
Tm2min = (Win-Tm1 * ・ Nm1) / Nm2 (7)
Tm2max = (Wout-Tm1 * ・ Nm1) / Nm2 (8)

  When the temporary torque Tm2tmp is within the range of the torque limit Tm2min to the torque limit Tm2max, the temporary torque Tm2tmp is set to the torque command Tm2 * of the motor MG2 (step S190), and the target rotational speed Ne * and the target torque of the engine 22 are set. Te * is transmitted to the engine ECU 24, and torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 are transmitted to the motor ECU 40 (step S220), and the drive control routine is terminated. The engine ECU 24 that has received the target rotational speed Ne * and the target torque Te * controls the intake air amount in the engine 22 so that the engine 22 is operated at the operating point indicated by the target rotational speed Ne * and the target torque Te *. Controls such as fuel injection control and 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. By such control, the engine 22 can be efficiently operated within the range of the input / output limits Win and Wout of the battery 50, and the required torque Tr * can be output to the ring gear shaft 32a as a drive shaft to travel.

  If it is determined in step S180 that the temporary torque Tm2tmp is not within the range of the torque limit Tm2min and the torque limit Tm2max, the torque command Tm2 * of the motor MG2 set when the routine was executed last time (hereinafter, “ Based on the previous command Tm2 * ”) and torque limits Tm2min and Tm2max, control limits Tconmin and Tconmax as torque limits for control are calculated by the following equations (9) and (10) (step S200). The temporary torque Tm2tmp set by the equation (11) is limited by the calculated control limits Tconmin and Tconmax, and the torque command Tm2 * of the motor MG2 is set (step S210), and the target rotational speed Ne * and the target torque Te of the engine 22 are set. * About engine ECU2 , The torque command Tm1 * of the motor MG1, MG2, Tm2 * and sends each motor ECU40 for (step S220), and terminates the drive control routine. “Kc” in Equation (9) and Equation (10) is a coefficient within the range of value 0 to value 1, and for example, 0.5, 0.6, 0.7, 0.8, etc. are used. be able to. As can be seen from the equations (9) and (10), the control limits Tconmin and Tconmax are the previous command Tm2 *, that is, the difference between the torque currently output from the motor MG2 and the torque limits Tm2min and Tm2max is a coefficient kc. It becomes a value close to the torque limits Tm2min and Tm2max at the rate of.

Tconmin = previous Tm2 * + kc ・ (Tm2min-previous Tm2 *) (9)
Tconmax = previous Tm2 * + kc ・ (Tm2max-previous Tm2 *) (10)
Tm2 * = max (min (Tm2tmp, Tconmax), Tconmin) (11)

  FIG. 10 shows an example of a time change of the torque command Tm2 * in the comparative example in which the temporary torque Tm2tmp is simply limited by the torque limits Tm2min and Tm2max and the torque command Tm2 * of the motor MG2 is set, and the temporary torque Tm2tmp is controlled by the control limit Tconmin. , Tconmax is an explanatory diagram showing an example of a time change of the torque command Tm2 * and an example in which the torque command Tm2 * of the motor MG2 is set. In the figure, the alternate long and short dash line is the temporary torque Tm2tmp, and the times T1 to T9 are timings when the torque command Tm2 * of the motor MG2 is set by executing the drive control routine. In the comparative example, as shown in the figure, when the temporary torque Tm2tmp exceeds the torque limit Tm2max at time T2, the torque limit Tm2max is set to the torque command Tm2 *, and after time T3, the torque limit Tm2max is set to the torque command Tm2 *. Is done. For this reason, the time change of the torque command Tm2 * changes suddenly at time T2. On the other hand, in the embodiment, when the temporary torque Tm2tmp exceeds the torque limit Tm2max at time T2, the difference between the torque output from the motor MG2 and the torque limit Tm2max is approximated to the torque limit Tm2max side by the ratio of the coefficient kc. The control limit Tconmax is set, the temporary torque Tm2tmp is limited by the control limit Tconmax, and the torque command Tm2 * is set. After the time T3, the control limit Tconmax is set in the same manner, and the set control is set. The temporary torque Tm2tmp is limited by the use limit Tconmax, and the torque command Tm2 * is set. For this reason, the torque command Tm2 * is set every time as a value in which the difference between the previous command Tm2 * and the torque limit Tm2max is brought closer to the torque limit Tm2max side at the ratio of the coefficient kc, and the change with time is compared with the comparative example. It will be moderate. As a result, compared to the comparative example, it is possible to suppress a sudden change in the time change of the output torque from the motor MG2, and to suppress a shock that can be caused by a sudden change in the time change of the output torque from the motor MG2. it can.

  According to the hybrid vehicle 20 of the embodiment described above, when the motor MG1 is driven and controlled with the torque command Tm1 * set to operate the engine 22 at the target rotational speed Ne * based on the required torque Tr *, it is used as a drive shaft. The torque limit Tm2min calculated from the input / output limits Win and Wout of the battery 50 when the temporary torque Tm2tmp calculated so that the required torque Tr * is output to the ring gear shaft 32a is controlled to drive the motor MG1 with the torque command Tm1 *. , Tm2max, the difference between the previous command Tm2 *, which is the torque output by the motor MG2 at that time, and the torque limits Tm2min, Tm2max are brought closer to the torque limits Tm2min, Tm2max at the ratio of the coefficient kc. Control limits Tconmin, Tconma as values This setting sets the the control limit Tconmin, by setting the torque command Tm2 * of the motor MG2 by limiting the tentative torque Tm2tmp by Tconmax, can be carried out slowly the torque limit of the motor MG2. As a result, it is possible to suppress a sudden change in the time change in the output torque from the motor MG2, and it is possible to suppress a shock that may be caused by a sudden change in the time change in the output torque from the motor MG2. Of course, when the temporary torque Tm2tmp is within the ranges of the torque limits Tm2min and Tm2max, the temporary torque Tm2tmp is set as the torque command Tm2 * of the motor MG2, so that the required torque Tr * is output to the ring gear shaft 32a as the drive shaft. You can travel.

  In the hybrid vehicle 20 of the embodiment, when the temporary torque Tm2tmp is not within the range of the torque limits Tm2min and Tm2max calculated based on the input / output limits Win and Wout of the battery 50, the previous command Tm2 * and the torque limits Tm2min and Tm2max The control limits Tconmin and Tconmax are set as values close to the torque limits Tm2min and Tm2max in the ratio of the coefficient kc, and the temporary torque Tm2tmp is limited by the set control limits Tconmin and Tconmax. The torque command Tm2 * is set, but when the temporary torque Tm2tmp is not within the torque limit range other than the torque limits Tm2min and Tm2max calculated based on the input / output limits Win and Wout of the battery 50, Similarly, the control limit is set by setting the difference between the previous command Tm2 * and the torque limit to a value close to the torque limit side at the ratio of the coefficient kc, and the temporary torque Tm2tmp is limited by the set control limit to limit the motor MG2. The torque command Tm2 * may be set. Examples of the torque limit other than the torque limits Tm2min and Tm2max calculated based on the input / output limits Win and Wout of the battery 50 include a drive limit due to the temperature of the motor MG2.

  In the hybrid vehicle 20 of the embodiment, the difference between the previous command Tm2 *, which is the torque output from the motor MG2, and the torque limits Tm2min, Tm2max is set to a value obtained by bringing the difference closer to the torque limits Tm2min, Tm2max by the factor kc. Although the limits Tconmin and Tconmax are set, the coefficient kc does not have to be a constant value, and may be a value that changes as long as the value is between 0 and 1.

  In the hybrid vehicle 20 of the embodiment, torque limits Tm1min and Tm1max for limiting the temporary torque Tm1tmp of the motor MG1 within the range satisfying the above-described formulas (3) and (4) are obtained, and the torque command Tm1 * of the motor MG1 is set. At the same time, the torque limits Tm2min and Tm2max are obtained from the equations (7) and (8), and the torque command Tm2 * of the motor MG2 is set. The motor torque Tm1tmp is set as it is as the torque command Tm1 * of the motor MG1, and the torque limit Tm2min and Tm2max are obtained from the equations (7) and (8) using the torque command Tm1 *. Tm2 * may be set. In addition, if the torque command Tm1 * Tm2 * of the motors MG1, MG2 is set within the range of the input / output limits Win, Wout of the battery 50 using the rotational speed Nm2 of the motor MG2 and the expected motor rotational speed Nm2est, Any method may be used.

  In the hybrid vehicle 20 of the embodiment, the motor MG2 is attached to the ring gear shaft 32a as the drive shaft via the reduction gear 35. However, the motor MG2 may be directly attached to the ring gear shaft 32a, or Instead, the motor MG2 may be attached to the ring gear shaft 32a via a transmission such as a 2-speed, 3-speed, or 4-speed.

  In the hybrid vehicle 20 of the embodiment, the power of the motor MG2 is changed by the reduction gear 35 and output to the ring gear shaft 32a. However, as illustrated in the hybrid vehicle 120 of the modification of FIG. May be connected to an axle (an axle connected to the wheels 64a and 64b in FIG. 11) 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 hybrid vehicle 20 of the embodiment, the engine 22, the power distribution and integration mechanism 30, and the motors MG1 and MG2 are provided. However, the engine 22 and the power distribution and integration mechanism 30 and the motor MG1 are not provided, and simply the motor MG2. Only a traveling motor (referred to as a motor MG2 for convenience) may be provided. In this case, the required torque Tr * is directly set for the temporary torque Tm2tmp as shown in the following equation (12), and the input / output of the battery 50 is set as shown in equations (13) and (14) for the torque limits Tm2min and Tm2max. The limits Win and Wout may be obtained by directly dividing by the rotation speed Nm2 of the motor MG2.

Tm2tmp = Tr * (12)
Tm2min = Win / Nm2 (13)
Tm2max = Wout / Nm2 (14)

  In addition, the present invention is not limited to those applied to automobiles, and is not limited to those applied to automobiles, but is incorporated into non-moving equipment such as forms of power output devices mounted on moving bodies such as vehicles, ships, and aircraft, and construction equipment. An output device may be used. Furthermore, it is good also as a form of the control method of such a power output device.

  Here, the correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment, the motor MG2 corresponds to the “electric motor”, the battery 50 corresponds to the “power storage means”, and the required torque Tr required for the ring gear shaft 32a as the drive shaft based on the accelerator opening Acc and the vehicle speed V. The hybrid electronic control unit 70 that executes the process of step S110 of the drive control routine of FIG. 5 for setting * corresponds to “request torque setting means”, and the engine 22 is operated at the target rotational speed Ne * based on the request torque Tr *. Torque limits Tm2min, Tm2max (allowable) as the maximum torque that may be output from the motor MG2 based on the input / output limits Win, Wout of the battery 50 when the motor MG1 is driven and controlled with the torque command Tm1 * set to operate (Corresponding to torque) for calculating the step S170 of the drive control routine of FIG. The electronic control unit for bridging 70 corresponds to “allowable torque setting means”, and the difference between the previous command Tm2 *, which is the torque output from the motor MG2, and the torque limits Tm2min, Tm2max is set to the torque limit Tm2min, The hybrid electronic control unit 70 that executes the process of step S200 of the drive control routine of FIG. 5 that sets the control limits Tconmin, Tconmax (corresponding to the control limit torque) as values close to the Tm2max side is “control limit torque”. This is equivalent to “setting means” and is required for the ring gear shaft 32a as the drive shaft when the motor MG1 is driven and controlled with the torque command Tm1 * set to operate the engine 22 at the target rotational speed Ne * based on the required torque Tr *. Temporary torque Tm2tmp (request) so that torque Tr * is output The hybrid electronic control unit 70 that executes the process of step S160 of the drive control routine of FIG. 5 for calculating the torque (corresponding to the force torque) corresponds to “required output torque setting means”, and the temporary torque Tm2tmp is the torque limit Tm2min, Tm2max. When the temporary torque Tm2tmp is not within the range of the torque limits Tm2min and Tm2max, the temporary torque Tm2tmp is set as the torque command Tm2 * (corresponding to the target torque) of the motor MG2. The hybrid electronic control unit 70 that executes the processing of steps S180, S190, and S210 of the drive control routine in FIG. 5 that limits the temporary torque Tm2tmp and sets the torque command Tm2 * (corresponding to the target torque) of the motor MG2 is “target Toru Motor for controlling the motor MG2 by receiving the torque command Tm2 * and the hybrid electronic control unit 70 for executing the process of step S220 of the drive control routine of FIG. The ECU 40 corresponds to “control means”. The engine 22 corresponds to an “internal combustion engine”, the power distribution and integration mechanism 30 and the motor MG1 correspond to “power power input / output means”, and the remaining battery 50 based on the integrated value of the charge / discharge current detected by the current sensor. The battery ECU 52 that calculates the input / output limits Win and Wout that are the maximum allowable power that may charge / discharge the battery 50 based on the capacity (SOC) and the battery temperature Tb of the battery 50 corresponds to “input / output limit setting means”. Then, based on the required power Pe * based on the required torque Tr * and an operation line (corresponding to a predetermined constraint) for efficient operation, the target rotational speed Ne * and the target torque Te * as operating points at which the engine 22 should be operated And the motor MG1 to operate the engine 22 at the target rotational speed Ne * within the range of the input / output limits Win and Wout of the battery 50. The hybrid electronic control unit 70 that executes the processing of steps S110 to S150 of the drive control routine of FIG. 5 for setting the target rotational speed Nm1 * and the torque command Tm1 * corresponds to “target state setting means”, and the motor MG1 It corresponds to “generator”, and the power distribution and integration mechanism 30 corresponds to “three-axis power input / output means”. Further, the counter-rotor motor 230 also corresponds to “power power input / output means”.

  Here, the “motor” is not limited to the motor MG2 configured as a synchronous generator motor, and may be any type of motor that can output torque to the drive shaft, such as an induction motor. I do not care. The “storage means” is not limited to the battery 50 as a secondary battery, and may be anything as long as it can exchange electric power with an electric motor such as a capacitor. The “required torque setting means” is not limited to the one that sets the required torque Tr * based on the accelerator opening Acc and the vehicle speed V, but sets the required torque based only on the accelerator opening Acc. In the case where the travel route is preset, the required torque is set based on the travel position on the travel route, as long as the required torque required for the drive shaft is set. Absent. As the “allowable torque setting means”, when the motor MG1 is driven and controlled with the torque command Tm1 * set to operate the engine 22 at the target rotational speed Ne * based on the required torque Tr *, the input / output limit Win of the battery 50 is reached. , Wout is not limited to calculating the torque limit Tm2min, Tm2max (corresponding to the allowable torque) as the maximum torque that may be output from the motor MG2, and the torque is limited by the drive limit based on the temperature of the motor MG2. In the case of setting a limit, or not including the engine 22, the power distribution / integration mechanism 30, and the motor MG1, but only having a motor for traveling corresponding to the motor MG2, the input / output limit of the battery is limited to the rotation of the motor. The maximum torque that can be output from the motor, such as by dividing directly by the number As long as it sets an allowable torque is may be any ones. As the “control limit torque setting means”, a value obtained by making the difference between the previous command Tm2 *, which is the torque output by the motor MG2, and the torque limit Tm2min, Tm2max closer to the torque limit Tm2min, Tm2max side by the factor kc Are not limited to those for setting control limits Tconmin, Tconmax (corresponding to control limit torque), and are larger than the output torque and smaller than the allowable torque based on the output torque output from the motor and the allowable torque. Any method may be used as long as the control torque limit is set within the range. The “required output torque setting means” includes a ring gear shaft as a drive shaft when the motor MG1 is driven and controlled with a torque command Tm1 * set to operate the engine 22 at a target rotational speed Ne * based on the required torque Tr *. It is not limited to the one that calculates the temporary torque Tm2tmp (corresponding to the required output torque) so that the required torque Tr * is output to 32a, and does not include the engine 22, the power distribution and integration mechanism 30, and the motor MG1, but includes the motor MG2. The required output torque required to be output from the electric motor is set based on the required torque, for example, the required torque Tr * is set as the temporary torque Tm2tmp as it is for a vehicle equipped with only a traveling motor corresponding to It does not matter as long as it does. As the “target torque setting means”, when the temporary torque Tm2tmp is in the range of the torque limits Tm2min and Tm2max, the temporary torque Tm2tmp is set as the torque command Tm2 * (corresponding to the target torque) of the motor MG2, and the temporary torque Tm2tmp is the torque. When not within the limits Tm2min and Tm2max, the provisional torque Tm2tmp is limited by the control limits Tconmin and Tconmax, and the torque command Tm2 * (corresponding to the target torque) of the motor MG2 is not set. When the output torque falls within the allowable torque range, the required output torque is set as the target torque to be output from the motor, and when the required output torque is outside the allowable torque range, the required output torque is limited by the control limit torque. The target torque and As long as it is set Te may be used as any thing. The “control means” is not limited to the combination of the hybrid electronic control unit 70 and the motor ECU 40, and may be configured by a single electronic control unit. Further, the “control means” is not limited to the one that controls the motor MG2 with the torque command Tm2 *, and may be any means as long as it controls the electric motor so that the target torque is output from the electric motor. Absent. The “internal combustion engine” is not limited to an internal combustion engine that outputs power using a hydrocarbon fuel such as gasoline or light oil, and may be any type of internal combustion engine such as a hydrogen engine. The “power / power input / output means” is not limited to a combination of the power distribution and integration mechanism 30 and the motor MG1 or to the rotor motor 230, but is connected to the drive shaft and independent of the drive shaft. As long as it is connected to the output shaft of the internal combustion engine in a rotatable manner and outputs torque to the drive shaft and the output shaft with input and output of electric power and power, any configuration may be used. The “input / output limit setting means” is not limited to the one that calculates the input / output limits Win and Wout based on the remaining capacity (SOC) of the battery 50 and the battery temperature Tb of the battery 50, but the remaining capacity ( In addition to SOC) and battery temperature Tb, an input / output limit that is the maximum allowable power that may charge / discharge the power storage means is set based on the state of the power storage means, such as that calculated based on the internal resistance of the battery 50, etc. It does not matter as long as it does. As the “target state setting means”, the target rotational speed as an operating point at which the engine 22 should be operated based on the required power Pe * based on the required torque Tr * and an operation line (equivalent to a predetermined constraint) for efficient operation. Ne * and target torque Te * are set, and the target speed Nm1 * and torque command Tm1 * of the motor MG1 are set so that the engine 22 is operated at the target speed Ne * within the range of the input / output limits Win and Wout of the battery 50. The target rotational speed Ne as an operating point at which the engine 22 should be operated based on the required power Pe * based on the required torque Tr * and the operation line that outputs the largest torque is not limited to the above. * And target torque Te * are set, and the engine 22 is set within the range of the input / output limits Win and Wout of the battery 50. The target speed Nm1 * of the motor MG1 and the torque command Tm1 * are set so that the motor MG1 operates at the speed Ne *, or the motor MG1 operates relatively efficiently while avoiding the required power Pe * and noise based on the required torque Tr *. The target rotational speed Ne * and the target torque Te * are set as operating points at which the engine 22 should be operated based on the operation line to be operated, and the engine 22 is rotated within the range of the input / output limits Win and Wout of the battery 50. For example, the target rotational speed Nm1 * of the motor MG1 and the torque command Tm1 * are set so as to operate at a number Ne *. The power torque input / output means is set so that the internal combustion engine is operated at the target rotational speed within the range of the input / output limit of the power storage means. As long as setting the Dosu should target drive state may be any ones. The “generator” is not limited to the motor MG1 configured as a synchronous generator motor, and may be any type of generator as long as it outputs torque, such as an induction motor. The “three-axis power input / output means” is not limited to the power distribution / integration mechanism 30 described above, but includes four or more shafts using a double pinion type planetary gear mechanism or a combination of a plurality of planetary gear mechanisms. Any one of the three axes connected to the three axes of the drive shaft, the output shaft, and the rotating shaft of the generator, such as those connected to the motor and those having a different operation action from the planetary gear such as a differential gear As long as the power is input / output to / from the remaining shafts based on the power input / output to / from the power source, any method may be used. The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problem is the same as that of the embodiment described in the column of means for solving the problem. It is an example for specifically explaining the best mode for doing so, and does not limit the elements of the invention described in the column of means for solving the problem. In other words, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples of the invention described in the column of means for solving the problems are described. It is only a specific example.

  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 the power output apparatus and the vehicle manufacturing industry.

1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 according to an embodiment of the present invention. 2 is a configuration diagram showing an outline of the configuration of an engine 22. FIG. 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 the drive control routine performed by the electronic control unit for hybrids 70 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 an example of the operating line of the engine 22, the target rotational speed Ne *, and the target torque Te * are set. FIG. 3 is an explanatory diagram showing an example of a collinear diagram showing a dynamic relationship between the number of rotations and torque in a rotating element of a power distribution and integration mechanism 30 when traveling with power output from an engine 22; It is explanatory drawing explaining a mode that torque limitation Tm1min and Tm1max are set. An example of a time change of the torque command Tm2 * in the comparative example in which the temporary torque Tm2tmp is limited by the torque limits Tm2min and Tm2max and the torque command Tm2 * of the motor MG2 is set, and the temporary torque Tm2tmp is limited by the control limits Tconmin and Tconmax. FIG. 6 is an explanatory diagram showing an example of a time change of the torque command Tm2 * in the embodiment in which the torque command Tm2 * of the motor MG2 is set. 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), 24a CPU, 24b ROM, 24c RAM, 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, 51 temperature sensor, 52 battery electronic control Unit (battery ECU), 54 power line, 60 gear mechanism, 62 differential gear, 63a, 63b drive wheel, 64a, 64b wheel, 70 hybrid electronic control unit, 72 CPU, 74 R OM, 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 vehicle speed sensor, 122 air cleaner, 124 throttle valve, 126 Fuel injection valve, 128 intake valve, 130 spark plug, 132 piston, 134 purification device, 135a air-fuel ratio sensor, 135b oxygen sensor, 136, throttle motor, 138 ignition coil, 140 crank position sensor, 142 water temperature sensor, 143 pressure sensor, 144 Cam position sensor, 146 Throttle valve position sensor, 148 Air flow meter, 149 Temperature sensor, 150 Varying valve timing mechanism, 230 pair-rotor motor, 232 an inner rotor, 234 outer rotor, MG1, MG2 motor.

Claims (7)

A power output device that outputs power to a drive shaft,
An electric motor capable of outputting torque to the drive shaft;
Power storage means capable of exchanging electric power with the electric motor;
Requested torque setting means for setting a requested torque required for the drive shaft;
An allowable torque setting means for setting an allowable torque that is a maximum torque that may be output from the electric motor;
Control limit torque setting means for setting a control limit torque in a range larger than the output torque and smaller than the allowable torque based on the output torque output from the electric motor and the set allowable torque;
Requested output torque setting means for setting a requested output torque for which an output is requested from the electric motor based on the set requested torque;
When the set required output torque falls within the set allowable torque, the set required output torque is set as a target torque to be output from the electric motor, and the set required output torque is set to the setting Target torque setting means for setting, as the target torque, a torque obtained by limiting the set required output torque with the set control torque limit when it is outside the range of the set allowable torque,
Control means for controlling the electric motor so that the set target torque is output from the electric motor;
A power output device comprising:   The control limit torque setting means is Tm + k · (Tmax−Tm) where Tm is the output torque, Tmax is the allowable torque, and k is a coefficient set within the range of 0 to 1. 2. The power output apparatus according to claim 1, wherein said power output device is means for setting a calculated value as said control limit torque. The power output device according to claim 1 or 2,
An internal combustion engine;
Power can be exchanged with the power storage means, connected to the drive shaft and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the drive shaft, and the drive with input and output of power and power Power power input / output means for outputting torque to the shaft and the output shaft;
An input / output limit setting means for setting an input / output limit that is the maximum power that may be charged / discharged based on the state of the power storage means;
With
The permissible torque setting means is based on a relationship in which a sum of the power input / output by the power power input / output means and the power input / output by the motor is within the set input / output limit range. A means for setting torque,
Power output device. The power output device according to claim 3,
Based on the set required torque and a predetermined constraint, a target rotational speed and a target torque for operating the internal combustion engine are set, and at the set target rotational speed within the set input / output limit range. A target state setting means for setting a target drive state for driving the electric power drive input / output means so that the internal combustion engine is operated;
The required output torque setting means outputs a torque to be output from the electric motor so that the set required torque is output to the drive shaft when the electric power driving input / output means is driven in the set target drive state. It is a means to set as the required output torque,
Power output device.   The power drive input / output means is connected to three axes of a generator for outputting torque, the drive shaft, the output shaft, and a rotating shaft of the generator, and inputs / outputs to any two of the three axes. The power output apparatus according to claim 3 or 4, comprising: a three-axis power input / output means for inputting / outputting power to / from the remaining shaft based on the power to be generated.   A vehicle on which the power output device according to claim 1 is mounted and an axle is connected to the drive shaft. A method for controlling a power output device comprising: an electric motor capable of outputting torque to a drive shaft; and an electric storage means capable of exchanging electric power with the electric motor,
(A) Based on the output torque output from the electric motor and the allowable torque that is the maximum torque that may be output from the electric motor, the control limit torque is set in a range larger than the output torque and smaller than the allowable torque. And setting a required output torque required to be output from the electric motor based on the required torque supplied to the drive shaft,
(B) When the set required output torque falls within the range of the allowable torque, the motor is controlled so that the set required output torque is output from the motor, and the set required output torque is equal to the allowable torque. Controlling the electric motor so that a torque obtained by limiting the set required output torque with the set control torque limit is output from the electric motor when out of the range;
A control method for a power output apparatus.

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