JP2008247205A - Power output unit, control method therefor, and vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely suppress excess rotation of equipment which is provided in an internal combustion engine or a device. <P>SOLUTION: Permissible maximum and minimum rotation speeds Nemax and Nemin are set in consideration of margins α and β (S130-S150) from a rotation speed which serves as innermost part among; upper limit and lower limit rotation speed of engine Nemax (mg1) and Nemin (mg1), based on the upper limit and lower limit rotation speed of a motor MG 1; the upper limit and lower limit rotation speed of engine Nemax (pin) and Nemin (pin) based on upper limit and lower limit rotation speed of a pinion gear of power sharing integrated mechanism; and upper limit and lower limit rotation speed of engine performance Nemax (eg) and value 0, and motors MG1 and MG2 are controlled so that demanding torque Tr* is output to a driving shaft, while setting an engine target rotation speed Ne* within this range and operating the engine by the target rotation speed Ne* (S160-S230). As a result, excess rotation of the motor MG 1 and the pinion gear 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.

  Conventionally, as this type of power output device, there has been proposed one that calculates a plurality of engine maximum torques representing the maximum value of the engine torque and controls the engine using the calculated minimum values of the plurality of engine maximum torques as engine limit torques. (For example, refer to Patent Document 1). In this apparatus, the engine is controlled by using the engine limit torque as the minimum value of the plurality of engine maximum torques, thereby reliably preventing the engine from over-rotating.

In addition, there has been proposed an engine that is controlled by using a rotational speed obtained by subtracting a rotational speed that allows for safe control from an upper limit rotational speed in terms of engine performance (see, for example, Patent Document 2). In this device, an attempt is made to prevent the engine from over-rotating by taking into account the number of revolutions that allows for safe control.
JP 2004-360608 A JP-A-2005-145150

  However, in the former power output device, there are cases where the engine speed cannot be reliably controlled even if the engine torque is limited by the engine limit torque, and the engine may over-rotate. In the latter power output device, the engine can be controlled so as not to overspeed, but the gear mechanism attached to the output shaft of the engine and the motor and generator attached thereto have an upper limit rotational speed in terms of performance. If it exceeds, the gear mechanism, electric motor, and generator will over-rotate.

  An object of the power output device, the control method thereof, and the vehicle of the present invention is to more reliably suppress over-rotation of equipment included in an internal combustion engine or device.

  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 capable of outputting power to the drive shaft;
An electric motor capable of outputting power to the drive shaft;
The allowable maximum number of revolutions is set by subtracting the margin required for control from the smallest number of revolutions among the plurality of upper limit revolutions of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment included in the power output device. Allowable maximum speed setting means,
Required driving force setting means for setting required driving force required for the drive shaft;
The internal combustion engine and the electric motor are controlled such that the internal combustion engine is operated within the set allowable maximum rotational speed and a driving force based on the set required driving force is output to the drive shaft. Control means;
It is a summary to provide.

  In the power output apparatus according to the present invention, the margin required for control is reduced from the smallest rotational speed among the plurality of upper limit rotational speeds of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment included in the power output apparatus. An internal combustion engine and an electric motor are set so that an allowable maximum rotational speed is set and the internal combustion engine is operated within the set allowable maximum rotational speed and a driving force based on a required driving force required for the driving shaft is output to the driving shaft. And control. Thereby, not only the internal combustion engine does not over-rotate but also the over-rotation of the equipment provided in the power output device can be more reliably suppressed. Of course, the driving force based on the required driving force can be output to the drive shaft.

  In such a power output apparatus of the present invention, one of the three shafts connected to the three shafts of the generator for inputting / outputting power, the drive shaft, the output shaft of the internal combustion engine, and the rotating shaft of the generator. Three-axis power input / output means for inputting / outputting power to / from the remaining shafts based on power input / output to / from the two shafts, wherein the plurality of upper limit rotation speeds are obtained from the performance of the internal combustion engine. The upper limit rotational speed obtained from the performance of the generator and the upper limit rotational speed obtained from the performance of the three-axis power input / output means, and the control means is the set The internal combustion engine, the electric motor, and the generator are controlled so that the internal combustion engine is operated within the allowable maximum rotational speed and a driving force based on the set required driving force is output to the drive shaft. It can also be a means. By so doing, it is possible to more reliably suppress over-rotation of the internal combustion engine, the generator, and the three-shaft power input / output means. In this case, the three-shaft power input / output means is a planetary gear mechanism in which a sun gear, a ring gear, and a carrier that supports a pinion gear so as to rotate and revolve freely are three rotating elements, and one of the plurality of upper limit rotation speeds. May be an upper limit rotational speed obtained from an allowable rotational speed of the pinion gear.

  In the power output apparatus of the present invention having a generator and a three-shaft power input / output means, the control means has a predetermined driving force set within a range of the set allowable maximum rotational speed and a predetermined value. The internal combustion engine and the electric motor are set such that a target operation point consisting of a target rotational speed and a target torque at which the internal combustion engine should be operated is set based on the constraints, and the internal combustion engine is operated at the set target operation point. It can also be a means for controlling the generator. Here, as a predetermined constraint, the maximum torque is output from the internal combustion engine when outputting the same power or the constraint of operating the internal combustion engine so that the efficiency of the internal combustion engine is best when the same power is output. The restriction | limiting etc. which operate | move an internal combustion engine so that it can do can be used. In the case of setting such a target operation point, as the maximum allowable power when charging and discharging the power storage means based on the power storage means capable of exchanging power with the generator and the motor, and the state of the power storage means Input / output limit setting means for setting the input / output limit of the internal combustion engine, wherein the control means is within the set input / output limit range and within the set allowable maximum rotational speed range. It is also possible to control the internal combustion engine, the electric motor, and the generator so that a driving force based on the set required driving force is output to the driving shaft while the engine is operated. .

  Further, in the power output apparatus of the present invention, a margin necessary for control from the largest rotational speed among the plurality of lower limit rotational speeds of the internal combustion engine obtained by a plurality of different methods based on the performance of equipment included in the power output apparatus. And an allowable minimum rotational speed setting means for setting an allowable minimum rotational speed, wherein the control means is within the set allowable minimum rotational speed range and within the set allowable maximum rotational speed range. The internal combustion engine and the electric motor may be controlled so that a driving force based on the set required driving force is output to the driving shaft while the internal combustion engine is operated. In this way, it is possible to more reliably suppress the negative overspeed of the equipment included in the power output apparatus.

  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 power to the drive shaft. The smallest rotational speed among the plurality of upper limit rotational speeds of the internal combustion engine obtained by a plurality of different methods based on the performance of the internal combustion engine, the electric motor capable of outputting power to the drive shaft, and the equipment included in the power output device A permissible maximum speed setting means for setting a permissible maximum speed by reducing a margin required for control, a required driving force setting means for setting a required driving force required for the drive shaft, and the set permissible maximum speed Control means for controlling the internal combustion engine and the electric motor so that the internal combustion engine is operated within a rotational speed range and a driving force based on the set required driving force is output to the drive shaft. power Equipped with a force device, the axle is summarized in that made is connected to the drive shaft.

  In the vehicle according to the present invention, the power output device according to the present invention of any one of the above-described aspects is mounted. Therefore, the effects of the power output device according to the present invention, for example, not only the internal combustion engine does not over-rotate but also the power output device. It is possible to achieve the same effects as the effect of more reliably suppressing the over-rotation of the equipment provided and the effect of outputting the driving force based on the required driving force to the drive shaft.

The method for controlling the power output apparatus of the present invention includes:
A control method of a power output device comprising: an internal combustion engine capable of outputting power to a drive shaft; and an electric motor capable of outputting power to the drive shaft,
The allowable maximum number of revolutions is set by subtracting the margin necessary for control from the smallest number of the plurality of upper limit revolutions of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment included in the power output device. The internal combustion engine and the electric motor so that the internal combustion engine is operated within the set allowable maximum rotational speed and a driving force based on a required driving force required for the driving shaft is output to the driving shaft. To control the
It is characterized by that.

  In the control method for the power output apparatus of the present invention, a margin necessary for control from the smallest rotational speed among the plurality of upper limit rotational speeds of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment included in the power output apparatus. The internal combustion engine is operated within the range of the set allowable maximum rotational speed and the driving force based on the required driving force required for the driving shaft is output to the driving shaft. Control the engine and the motor. Thereby, not only the internal combustion engine does not over-rotate but also the over-rotation of the equipment provided in the power output device can be more reliably suppressed. Of course, the driving force based on the required driving force can be output to the drive shaft.

  In such a control method for a power output apparatus of the present invention, the power output apparatus includes a sun gear on three axes of a generator that inputs and outputs power, the drive shaft, the output shaft of the internal combustion engine, and the rotating shaft of the generator. And a planetary gear mechanism to which three rotational elements of a carrier that rotatably and reciprocally supports the ring gear and the pinion gear are connected, and the plurality of upper limit rotational speeds is obtained from the performance of the internal combustion engine. And an upper limit speed obtained from the performance of the generator and an upper limit speed obtained from the allowable rotation speed of the pinion gear, and the request within the range of the set allowable maximum speed Based on the driving force and predetermined constraints, a target operating point consisting of a target rotational speed and a target torque for operating the internal combustion engine is set, and the internal combustion engine is set at the set target operating point. And controlling the internal combustion engine, the electric motor, and the generator so that a driving force based on the set required driving force is output to the driving shaft. it can. By so doing, it is possible to more reliably suppress over-rotation of the internal combustion engine, the generator, and the pinion gear of the planetary gear mechanism. Here, as a predetermined constraint, the maximum torque is output from the internal combustion engine when outputting the same power or the constraint of operating the internal combustion engine so that the efficiency of the internal combustion engine is best when the same power is output. The restriction | limiting etc. which operate | move an internal combustion engine so that it can do can be used.

  Further, in the method for controlling the power output apparatus of the present invention, the control is performed from the largest rotation speed among the plurality of lower limit rotation speeds of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment included in the power output apparatus. A permissible minimum speed is set by adding a necessary margin, and the internal combustion engine is operated within the set permissible minimum speed and within the set permissible maximum speed, and the required driving force is set. The internal combustion engine and the electric motor may be controlled such that a driving force based on the output is output to the drive shaft. In this way, it is possible to more reliably suppress the negative overspeed of the equipment included in the power output apparatus.

  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 are 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 S120). 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 rotation 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 rotation speed Nm2 of the motor MG2 is divided by the gear ratio Gr of the reduction gear 35 ( Nr = Nm2 / Gr).

  Subsequently, based on the set required power Pe *, a temporary rotational speed Nettmp and a temporary torque Tentmp that are temporary target values of the operating point at which the engine 22 should be operated are set (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 temporary rotational speed Nettmp and the temporary torque Tentmp are set. As shown in the figure, the temporary rotational speed Netmp and the temporary torque Tentmp can be obtained from the intersection of the operation line and a curve having a constant required power Pe * (Netmp × Tempp).

  Next, the upper and lower limit rotational speeds Nm1max and Nm1min in the performance of the motor MG1, the rotational speed Nr (Nm2 / Gr) of the ring gear 32, and the gear ratio ρ (the number of teeth of the sun gear / the number of teeth of the ring gear) of the power distribution and integration mechanism 30 Are used to calculate the engine upper and lower limit rotational speeds Nemax (mg1) and Nemin (mg1) from the following equations (1) and (2) (step S130) and to improve the performance of the pinion gear 33 of the power distribution and integration mechanism 30. Using the lower limit rotational speeds Npinmax and Npinmin, the rotational speed Nr (Nm2 / Gr) of the ring gear 32, and the gear ratio γ (the number of teeth of the pinion gear / the number of teeth of the ring gear) with respect to the pinion gear 33 in the power distribution and integration mechanism 30 And the engine upper and lower limit rotational speeds Nemax (pin) and Nemin (pin) are calculated according to the equation (4). S130), the calculated engine upper / lower limit rotational speed Nemax (mg1), Nemin (mg1), the engine upper / lower limit rotational speed Nemax (pin), Nemin (pin), and the upper / lower limit rotational speed Nemax (eg) on the performance of the engine 22 ), Taking into account the margins α and β necessary for control from the innermost value from 0, that is, as shown in the equation (5), the engine upper limit speed Nemax (mg1) and the engine upper limit speed Nemax ( pin) and the upper limit rotational speed Nemax (eg) on the performance of the engine 22 by subtracting the margin α from the smallest rotational speed, and the engine lower limit rotational speed Nemin (mg1) and the engine as shown in Expression (6) A margin β is added to the largest rotational speed among the lower rotational speed Nemin (pin) and the value 0 as the lower rotational speed limit on the performance of the engine 22. Te, set the permissible maximum rotational speed Nemax of the engine 22 and the allowable minimum rotation speed Nemin (step S140). Here, the upper and lower limit rotational speeds Nm1max and Nm1min in the performance of the motor MG1 are the upper limit rotational speed as the positive rotation side and the lower limit rotational speed as the negative rotation side in the rated value of the motor MG1. The lower limit rotation speeds Npinmax and Npinmin are the upper limit rotation speed as the positive rotation side and the lower limit rotation speed as the negative rotation side in the structural rated value of the power distribution and integration mechanism 30, and the upper and lower limit rotation speed Nemax in the performance of the engine 22 (Eg) is an upper limit rotational speed as a rated value of the engine 22. The margins α and β are allowable rotational speeds when the engine 22 exceeds or falls below an allowable maximum rotational speed Nemax set when feedback control described later is performed, such as the performance of the engine 22 and the performance of the motor MG1. Can be determined by. Expressions (1) and (2) are dynamic relational expressions for the rotating elements of the power distribution and integration mechanism 30. FIG. 8 shows an example of a collinear diagram for dynamically explaining the rotational elements of the power distribution and integration mechanism 30 and the transmission 60. 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. Expressions (1) and (2) can be easily derived from this alignment chart by using the upper and lower limit rotation speeds Nm1max and Nm1min as the rotation speed Nm1 of the motor MG1. 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.

Nemax (mg1) = ρ ・ Nm1max / (1 + ρ) + Nm2 / Gr / (1 + ρ) (1)
Nemin (mg1) = ρ ・ Nm1min / (1 + ρ) + Nm2 / Gr / (1 + ρ) (2)
Nemax (pin) = Nm2 / Gr + γ ・ Npinmax (3)
Nemin (pin) = Nm2 / Gr-γ ・ Npinmin (4)
Nemax = min (Nemax (eg), Nemax (mg1), Nemax (pin) -α (5)
Nemin = min (0, Nemin (mg1), Nemin (pin) -β (6)

  When the allowable maximum rotational speed Nemax and the allowable minimum rotational speed Nemin of the engine 22 are set in this way, the allowable maximum rotational speed Nemax and the allowable minimum rotational speed Nemin of the engine 22 are obtained from the temporary rotational speed Netmp set in step S120 by the following equation (7). The target rotational speed Ne * of the engine 22 is set by limiting the target torque Pe *, and the target torque Te * of the engine 22 is set by dividing the required power Pe * by the set target rotational speed Ne * (step S160). As the target rotational speed Ne *, that is, when the temporary rotational speed Netmp is within the range between the allowable maximum rotational speed Nemax and the allowable minimum rotational speed Nemin, the temporary rotational speed Netmp is set, and the temporary rotational speed Netmp is set as the allowable maximum rotational speed. When it is larger than Nemax, the allowable maximum rotational speed Nemax is set, and when the temporary rotational speed Netmp is smaller than the allowable minimum rotational speed Nemin, the allowable minimum rotational speed Nemin is set.

  Ne * = max (min (Netmp, Nemax), Nemin) (7)

  Next, the target rotational speed Nm1 * of the motor MG1 is calculated by the following equation (8) 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 rotation speed Nm1 * and the input rotation 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 (9) (step S170). Here, Expression (8) is a dynamic relational expression for the rotating elements of the power distribution and integration mechanism 30 and can be easily derived from the collinear diagram of FIG. 8 described above. Expression (9) is a relational expression in feedback control for rotating the motor MG1 at the target rotational speed Nm1 *. In Expression (9), “k1” in the second term on the right side is the gain of the proportional term, and the right side The third term “k2” is the gain of the integral term.

Nm1 * = Ne * ・ (1 + ρ) / ρ-Nm2 / ρ (8)
Tm1tmp = ρ ・ Te * / (1 + ρ) + k1 (Nm1 * -Nm1) + k2∫ (Nm1 * -Nm1) dt (9)

  Subsequently, the provisional torque Tm2tmp, which is a provisional value of the torque to be output from the motor MG2, is obtained by adding the provisional torque Tm1tmp divided by the gear ratio ρ of the power distribution and integration mechanism 30 to the required torque Tr *. (Step S180), and torque limits Tm1min and Tm1max are set as upper and lower limits of the provisional torque Tm1tmp that satisfies both equations (11) and (12) (step S190). Here, Equation (10) can be easily derived from the alignment chart of FIG. Expression (11) is a relationship in which the sum of the 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 *. Expression (12) is a relation between the motor MG1 and the motor This is a relationship in which the sum of the power input and output by MG2 falls within the range of 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.

Tm2tmp = (Tr * + Tm1tmp / ρ) / Gr (10)
0 ≦ −Tm1tmp / ρ + Tm2tmp ・ Gr ≦ Tr * (11)
Win ≦ Tm1tmp ・ Nm1 ＋ Tm2tmp ・ Nm2 ≦ Wout (12)

  When the torque limits Tm1min and Tm1max are set in this way, the temporary torque Tm1tmp set in step S170 is limited by the torque limits Tm1min and Tm1max according to the equation (13), and the torque command Tm1 * of the motor MG1 is set (step 200). The deviation from the power consumption (generated power) of the motor MG1 obtained by multiplying the input / output limits Win, Wout of the battery 50 and the set torque command Tm1 * by the current rotational speed Nm1 of the motor MG1 is determined as the control rotational speed Nm2. The torque limits Tm2min and Tm2max as upper and lower limits of the torque that may be output from the motor MG2 by dividing by * are calculated by the following equations (14) and (15) (step S210), and the provisional values set in step S180 The torque command Tm2 * of the motor MG2 is set by limiting the torque Tm2tmp with the torque limits Tm2min and Tm2max according to the equation (16) (step S220).

Tm1 * = max (min (Tm1tmp, Tm1max), Tm1min) (13)
Tm2min = (Win-Tm1 * ・ Nm1) / Nm2 (14)
Tm2max = (Wout-Tm1 * ・ Nm1) / Nm2 (15)
Tm2 * = max (min (Tm2tmp, Tm2max), Tm2min) (16)

  Thus, when the target engine speed Ne *, the target torque Te *, and the torque commands Tm1 *, Tm2 * of the motors MG1, MG2 are set, the target engine speed Ne * and the target torque Te * of the engine 22 are set in the engine ECU 24. The torque commands Tm1 * and Tm2 * for the motors MG1 and MG2 are transmitted to the motor ECU 40 (step S230), and the drive control routine ends. The engine ECU 24 that has received the target 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.

  According to the hybrid vehicle 20 of the embodiment described above, the engine upper limit speed based on the engine upper limit speed Nemax (mg1) based on the upper limit speed Nm1max of the motor MG1 and the upper limit speed Npinmax of the pinion gear 33 of the power distribution and integration mechanism 30. The target engine speed Ne of the engine 22 within a range of an allowable maximum engine speed Nemax that is obtained by subtracting the margin α from the minimum engine speed Nemax (pin) and the upper limit engine speed Nemax (eg) on the performance of the engine 22. * And the engine 22 is operated at the target rotational speed Ne * using the target rotational speed Ne * and the torque commands Tm1 * and Tm2 of the motors MG1 and MG2 are output so that the required torque Tr * is output to the ring gear shaft 32a. Set * to control engine 22 and motors MG1, MG2. From not only suppress the overspeed of the engine 22, it is possible to suppress excessive rotation of the pinion gear 33 of the overspeed and the power distribution integration mechanism 30 of the motor MG1. Further, the engine lower limit rotation speed Nemin (mg1) based on the lower limit rotation speed Nm1min of the motor MG1 and the engine lower limit rotation speed Nemin (pin) based on the lower limit rotation speed Npinmin of the pinion gear 33 of the power distribution and integration mechanism 30 A target rotational speed Ne * of the engine 22 is set within a range of an allowable minimum rotational speed Nemin, which is a value obtained by adding a margin β to a maximum rotational speed among the value 0 as the lower limit rotational speed, and this target rotational speed Ne *. The engine 22 is operated at the target rotational speed Ne * and torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 are set so that the required torque Tr * is output to the ring gear shaft 32a as the drive shaft. And motors MG1 and MG2 are controlled. It is possible to suppress excessive rotation of the negative side of the pinion gear 33 of the distribution and integration mechanism 30.

  Further, according to the hybrid vehicle 20 of the embodiment, the engine 22 is operated at the target rotational speed Ne * using the target rotational speed Ne *, and the ring gear as the drive shaft is within the range of the input / output limits Win and Wout of the battery 50. Since the engine 22 and the motors MG1 and MG2 are controlled by setting the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 so that the required torque Tr * is output to the shaft 32a, the battery 50 is charged / discharged by excessive electric power. Can be suppressed. Of course, it is possible to travel by outputting torque based on the required torque Tr * to the ring gear shaft 32a as the drive shaft.

  In the hybrid vehicle 20 of the embodiment, the engine upper limit speed Nemax (mg1) based on the upper limit speed Nm1max of the motor MG1 and the engine upper limit speed Nemax (pin) based on the upper limit speed Npinmax of the pinion gear 33 of the power distribution and integration mechanism 30 Based on the lower limit rotational speed Nm1min of the motor MG1 within the range of the maximum allowable rotational speed Nemax that is obtained by subtracting the margin α from the minimum rotational speed among the upper limit rotational speed Nemax (eg) in the performance of the engine 22 Of the engine lower limit speed Nemin (mg1), the engine lower limit speed Nemin (pin) based on the lower limit speed Npinmin of the pinion gear 33 of the power distribution and integration mechanism 30, and the value 0 as the lower limit speed on the performance of the engine 22 is the most. Margin β is added from a large rotation speed The target rotational speed Ne * of the engine 22 is set within a range of the allowable minimum rotational speed Nemin. However, no limitation may be imposed based on the allowable minimum rotational speed Nemin.

  In the hybrid vehicle 20 of the embodiment, the engine upper limit speed Nemax (mg1) based on the upper limit speed Nm1max of the motor MG1 and the engine upper limit speed Nemax (pin) based on the upper limit speed Npinmax of the pinion gear 33 of the power distribution and integration mechanism 30 The allowable maximum number of revolutions Nemax is set by subtracting the margin α from the smallest number of revolutions among the maximum number of revolutions Nemax (eg) in terms of the performance of the engine 22, but the engine upper limit based on the upper limit number of revolutions Nm1max of the motor MG1. Of the engine upper limit speed Nemax (pin) based on the speed Nemax (mg1) and the upper limit speed Npinmax of the pinion gear 33 of the power distribution and integration mechanism 30 and the upper limit speed Nemax (eg) on the performance of the engine 22, the upper limit of the motor MG1 Rotation speed Nm1max The allowable maximum engine speed Nemax may be set without considering the engine upper engine speed Nemax (mg1) and the engine upper engine speed Nemax (pin) based on the upper engine speed Npinmax of the pinion gear 33 of the power distribution and integration mechanism 30. . Further, the engine upper limit rotation speed Nemax (mg1) based on the upper limit rotation speed Nm1max of the motor MG1 and other requirements different from the engine upper limit rotation speed Nemax (pin) based on the upper limit rotation speed Npinmax of the pinion gear 33 of the power distribution and integration mechanism 30 The allowable maximum number of revolutions Nemax may be set in consideration of the upper limit number of revolutions.

  In the hybrid vehicle 20 of the embodiment, the engine lower limit rotation speed Nemin (mg1) based on the lower limit rotation speed Nm1min of the motor MG1 and the engine lower limit rotation speed Nemin (pin) based on the lower limit rotation speed Npinmin of the pinion gear 33 of the power distribution and integration mechanism 30 The allowable minimum number of revolutions Nemin is set by adding a margin β from the largest number of values and 0 as the lower limit number of revolutions in the performance of the engine 22, but the engine lower limit based on the lower limit number of revolutions Nm1min of the motor MG1. Of the engine lower limit rotation speed Nemin (pin) based on the rotation speed Nemin (mg1) and the lower limit rotation speed Npinmin of the pinion gear 33 of the power distribution and integration mechanism 30, and the value 0 as the lower limit rotation speed on the performance of the engine 22, the motor MG1 The engine based on the lower limit rotation speed Nm1min May set the allowable minimum rotation speed Nemin the emission lower limit engine speed Nemin (mg1) and the power distribution integration mechanism 30 of the engine lower limit rotation speed based on the lower limit revolution speed Npinmin of the pinion gear 33 Nemin (pin) without considering. The engine lower limit speed Nemin (mg1) based on the lower limit speed Nm1min of the motor MG1 and the engine lower limit speed Nemin (pin) based on the lower limit speed Npinmin of the pinion gear 33 of the power distribution and integration mechanism 30 are also different requirements. The allowable minimum rotational speed Nemin may be set in consideration of the lower limit rotational speed based on it.

  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. 10) 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 addition, it is not limited to those applied to such hybrid vehicles, but is incorporated into non-moving equipment such as forms of power output devices mounted on moving bodies such as vehicles other than automobiles, ships, and aircraft, and construction equipment. A power 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 engine 22 corresponds to the “internal combustion engine”, the motor MG2 corresponds to the “electric motor”, the engine upper limit rotation speed Nemax (mg1) based on the upper limit rotation speed Nm1max of the motor MG1, and the pinion gear of the power distribution and integration mechanism 30. The allowable maximum engine speed Nemax is set by subtracting the margin α from the smallest engine speed among the engine engine upper limit engine speed Nemax (pin) based on the 33 engine upper engine speed Npinmax and the engine engine upper limit engine speed Nemax (eg). The hybrid electronic control unit 70 that executes the processing of steps S130 to S150 of the drive control routine of FIG. 5 corresponds to the “allowable maximum rotational speed setting means”, and the required torque Tr based on the accelerator opening Acc and the vehicle speed V The process of step S110 of the drive control routine of FIG. The hybrid electronic control unit 70 corresponds to “required driving force setting means”, and sets the target rotational speed Ne * of the engine 22 within the range of the allowable maximum rotational speed Nemax and the allowable minimum rotational speed Nemin, and this target rotational speed Ne. * Is used to operate the engine 22 at the target rotational speed Ne * and set torque commands Tm1 * and Tm2 * for the motors MG1 and MG2 so that the required torque Tr * is output to the ring gear shaft 32a. The engine ECU 24 that controls the engine 22 based on the target rotational speed Ne * and the target torque Te *, and the hybrid electronic control unit 70 that executes the processing of steps S160 to S230 of the drive control routine of FIG. And motors MG1, MG2 based on torque commands Tm1 *, Tm2 * The motor ECU 40 to be controlled corresponds to “control means”. The motor MG1 corresponds to a “generator”, the power distribution and integration mechanism 30 corresponds to a “three-axis power input / output unit”, the battery 50 corresponds to a “power storage unit”, and the charge 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 remaining capacity (SOC) based on the integrated value of the discharge current and the battery temperature Tb is “input / output limit”. It corresponds to “setting means”. Further, the engine lower limit rotation speed Nemin (mg1) based on the lower limit rotation speed Nm1min of the motor MG1 and the engine lower limit rotation speed Nemin (pin) based on the lower limit rotation speed Npinmin of the pinion gear 33 of the power distribution and integration mechanism 30 The hybrid electronic control unit 70 that executes the processing of steps S130 to S150 of the drive control routine of FIG. 5 that sets the allowable minimum rotational speed Nemin by adding the margin β from the maximum rotational speed out of the value 0 as the lower limit rotational speed. Corresponds to “allowable minimum rotational speed setting means”. Here, 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 “motor” is not limited to the motor MG2 configured as a synchronous generator motor, and may be any type of motor as long as it can input and output power to the drive shaft, such as an induction motor. . As the “allowable maximum speed setting means”, the engine upper limit speed Nemax (mg1) based on the upper limit speed Nm1max of the motor MG1 and the upper limit speed Npinmax of the pinion gear 33 of the power distribution and integration mechanism 30 pin) and the upper limit rotational speed Nemax (eg) in terms of the performance of the engine 22 are not limited to setting the allowable maximum rotational speed Nemax by subtracting the margin α from the smallest rotational speed, but the upper limit of the motor MG1 The allowable maximum engine speed Nemax is set without considering the engine upper engine speed Nemax (mg1) based on the engine speed Nm1max and the engine upper engine speed Nemax (pin) based on the upper engine speed Npinmax of the pinion gear 33 of the power distribution and integration mechanism 30. Or upper limit of motor MG1 Considering an upper limit number of revolutions based on other requirements different from the engine upper limit number of revolutions Nemax (mg1) based on the number Nm1max and the engine upper limit number of revolutions Nemax (pin) based on the upper limit number of revolutions Npinmax of the pinion gear 33 of the power distribution and integration mechanism 30 Necessary for control from the smallest number of rotations among the multiple upper limit rotations of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment provided in the power output device, such as setting the maximum allowable rotation number Nemax Any margin may be used as long as the allowable maximum number of rotations is set with a reduced margin. The “required driving force 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. As long as the required driving force required for the drive shaft is set, such as those for which the required torque is set based on the travel position on the travel route, such as those for which the travel route is set in advance It doesn't matter. The “control means” is not limited to the combination of the hybrid electronic control unit 70, the engine ECU 24, and the motor ECU 40, and may be configured by a single electronic control unit. Further, as the “control means”, the target rotational speed Ne * of the engine 22 is set within the range of the allowable maximum rotational speed Nemax and the allowable minimum rotational speed Nemin, and the engine 22 is set to the target rotational speed using the target rotational speed Ne *. It is limited to the one that controls the engine 22 and the motors MG1, MG2 by setting the torque commands Tm1 *, Tm2 * of the motors MG1, MG2 so that the required torque Tr * is output to the ring gear shaft 32a while operating at several Ne *. The target rotational speed Ne * of the engine 22 is set without considering the allowable minimum rotational speed Nemin, and the engine 22 is operated at the target rotational speed Ne * by using the target rotational speed Ne * and the ring gear shaft. Set the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 so that the required torque Tr * is output to 32a. The internal combustion engine is operated within the range of the set allowable maximum rotational speed, such as the one that controls the engine 22 and the motors MG1 and MG2, and the driving force based on the set required driving force is output to the driving shaft. Any device that controls the engine and the electric motor may be used. The “generator” is not limited to the motor MG1 configured as a synchronous generator motor, and may be any type of generator such as an induction motor that can input and output power to a drive shaft. I do not care. 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. Such as those connected to the motor and those having a different operation action from the planetary gear, such as a differential gear, and any of the three shafts connected to the drive shaft, the output shaft of the internal combustion engine, and the rotating shaft of the generator. As long as the power is input / output to / from the remaining shafts based on the power input / output to / from the two shafts, any configuration may be used. The “storage means” is not limited to the battery 50 as a secondary battery, and may be anything as long as it can exchange power with a generator and an electric motor such as a capacitor. 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 the SOC) and the battery temperature Tb, for example, calculation based on the internal resistance of the battery 50, etc., the input / output restriction is set as the maximum allowable power when charging / discharging the power storage means based on the state of the power storage means. Anything can be used. The “allowable minimum speed setting means” includes an engine lower limit speed Nemin (mg1) based on the lower limit speed Nm1min of the motor MG1 and an engine lower limit speed Nemin based on the lower limit speed Npinmin of the pinion gear 33 of the power distribution and integration mechanism 30. pin) and the value 0 as the lower limit rotational speed on the performance of the engine 22 are not limited to setting the allowable minimum rotational speed Nemin by adding the margin β from the largest rotational speed, but the lower limit of the motor MG1 The allowable minimum rotational speed Nemin is set without considering the engine lower limit rotational speed Nemin (mg1) based on the rotational speed Nm1min and the engine lower limit rotational speed Nemin (pin) based on the lower limit rotational speed Npinmin of the pinion gear 33 of the power distribution and integration mechanism 30. Or lower limit rotational speed N of motor MG1 Considering the lower limit rotational speed based on other requirements different from the engine lower limit rotational speed Nemin (mg1) based on 1 min and the engine lower limit rotational speed Nemin (pin) based on the lower limit rotational speed Npinmin of the pinion gear 33 of the power distribution and integration mechanism 30 Necessary for control from the largest rotational speed among the plurality of lower limit rotational speeds of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment included in the power output device, such as setting the allowable minimum rotational speed Nemin Any value may be used as long as the allowable minimum number of rotations is set by adding a margin. 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 problem should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problem. It is only a specific example.

  The embodiments of the present invention have been described using the embodiments. However, the present invention is not limited to these embodiments, and can be implemented in various forms without departing from the gist of the present invention. Of course you get.

  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, and the provisional rotation speed Nettmp and the provisional torque Tentmp are set. FIG. 4 is an explanatory diagram showing an example of a collinear diagram for dynamically explaining rotational elements of a power distribution and integration mechanism 30. It is explanatory drawing which shows an example of torque restrictions Tm1min and Tm1max. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 120 according to a modification.

Explanation of symbols

  20,120 Hybrid vehicle, 22 engine, 24 engine electronic control unit (engine ECU), 24a CPU, 24b ROM, 24c RAM, 26 crankshaft, 28 damper, 30 power distribution integrated mechanism, 31 sun gear, 32 ring gear, 32a ring gear Shaft, 33 Pinion gear, 34 Carrier, 35 Reduction gear, 40 Motor electronic control unit (motor ECU), 41, 42 Inverter, 43, 44 Rotation position detection sensor, 50 battery, 51 Temperature sensor, 52 Battery electronic control unit ( Battery ECU), 54 power line, 60 gear mechanism, 62 differential gear, 63a, 63b driving wheel, 64a, 64b wheel, 70 electronic control unit for hybrid, 72 CPU, 74 ROM, 7 6 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, 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 Variable valve timing mechanism, MG1, MG2 motor.

Claims (10)

A power output device that outputs power to a drive shaft,
An internal combustion engine capable of outputting power to the drive shaft;
An electric motor capable of outputting power to the drive shaft;
The allowable maximum number of revolutions is set by subtracting the margin required for control from the smallest number of revolutions among the plurality of upper limit revolutions of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment included in the power output device. Allowable maximum speed setting means,
Required driving force setting means for setting required driving force required for the drive shaft;
The internal combustion engine and the electric motor are controlled such that the internal combustion engine is operated within the set allowable maximum rotational speed and a driving force based on the set required driving force is output to the drive shaft. Control means;
A power output device comprising: The power output device according to claim 1,
A generator that inputs and outputs power;
Power is applied to the remaining shafts based on power input to and output from any two of the three shafts connected to the three shafts of the drive shaft, the output shaft of the internal combustion engine, and the rotating shaft of the generator. 3-axis power input / output means for outputting;
With
The plurality of upper limit rotational speeds are an upper limit rotational speed obtained from the performance of the internal combustion engine, an upper limit rotational speed obtained from the performance of the generator, and an upper limit rotational speed obtained from the performance of the three-shaft power input / output means. And the rotational speed including
The control means operates the internal combustion engine within the set allowable maximum rotational speed and outputs the driving force based on the set required driving force to the driving shaft. Means for controlling the electric motor and the generator;
Power output device. The power output device according to claim 2,
The three-axis power input / output means is a planetary gear mechanism having three rotating elements, a carrier that supports a sun gear, a ring gear, and a pinion gear so as to rotate and revolve.
One of the plurality of upper limit rotation speeds is an upper limit rotation speed obtained from an allowable rotation speed of the pinion gear.
Power output device.   The control means is a target operation comprising a target rotational speed and a target torque for operating the internal combustion engine based on the set required driving force and a predetermined constraint within the set allowable maximum rotational speed range. 4. The power output apparatus according to claim 2, wherein the power output device is a means for setting the point and controlling the internal combustion engine, the electric motor, and the generator so that the internal combustion engine is operated at the set target operation point. The power output device according to claim 4,
Power storage means capable of exchanging electric power with the generator and the motor;
An input / output limit setting means for setting an input / output limit as a maximum allowable power when charging / discharging the power storage means based on the state of the power storage means;
With
The control means is configured to drive the internal combustion engine within the set input / output limit range and the set allowable maximum rotational speed range and to drive based on the set required drive force. Is a means for controlling the internal combustion engine, the electric motor, and the generator so that is output to the drive shaft,
Power output device. The power output device according to any one of claims 1 to 5,
The allowable minimum speed is set by adding a margin necessary for control from the largest speed among the plurality of lower limit speeds of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment included in the power output device. With minimum allowable rotation speed setting means,
The control means operates the internal combustion engine within the set allowable minimum rotational speed range and the set allowable maximum rotational speed range, and generates a driving force based on the set required driving force. Means for controlling the internal combustion engine and the electric motor to be output to the drive shaft;
Power output device.   A vehicle on which the power output device according to claim 1 is mounted and an axle is connected to the drive shaft. A control method of a power output device comprising: an internal combustion engine capable of outputting power to a drive shaft; and an electric motor capable of outputting power to the drive shaft,
The allowable maximum number of revolutions is set by subtracting the margin necessary for control from the smallest number of the plurality of upper limit revolutions of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment included in the power output device. The internal combustion engine and the electric motor so that the internal combustion engine is operated within the set allowable maximum rotational speed and a driving force based on a required driving force required for the driving shaft is output to the driving shaft. To control the
A control method for a power output apparatus. A method for controlling a power output apparatus according to claim 8,
The power output device includes a sun gear, a ring gear, and a pinion gear that are rotatably and revolved on three axes of a generator that inputs and outputs power, the drive shaft, the output shaft of the internal combustion engine, and the rotating shaft of the generator. A planetary gear mechanism to which three rotating elements and a carrier to be connected are connected,
The plurality of upper limit rotational speeds include an upper limit rotational speed obtained from the performance of the internal combustion engine, an upper limit rotational speed obtained from the performance of the generator, and an upper limit rotational speed obtained from the allowable rotational speed of the pinion gear. The number of revolutions,
A target operating point consisting of a target rotational speed and a target torque for operating the internal combustion engine is set on the basis of the required driving force and a predetermined constraint within the set allowable maximum rotational speed, and the set target Controlling the internal combustion engine, the electric motor, and the generator so that the internal combustion engine is operated at an operation point and a driving force based on the set required driving force is output to the drive shaft;
A control method for a power output apparatus.   An allowable minimum speed is set by adding a margin necessary for control from the largest speed among the plurality of lower limit speeds of the internal combustion engine obtained by a plurality of different methods based on the performance of the equipment provided in the power output device. The internal combustion engine is operated within the set allowable minimum rotational speed and within the set allowable maximum rotational speed, and the driving force based on the required driving force is output to the driving shaft. The method for controlling a power output apparatus according to claim 8 or 9, wherein the internal combustion engine and the electric motor are controlled.

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