JP2008247226A - Power output unit, its control method, and vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress charging or discharging in a capacitor device by excessive power during fuel cut of an internal combustion engine or first explosion at starting, and the like, and also suppress torque shocks which is produced at that time. <P>SOLUTION: During fuel cut or a first explosion, a motor torque instruction Tm1* is set by restricting a torque Tm1tmp for motoring by torque restriction Tm1min and Tm1max obtained from a relation that a summation of driving shaft output torque is within the limits of values 0-demanding torque Tr* and a summation of battery I/O power is within the limits of I/O restrictions Win and Wout. A motor torque instruction Tm2* is set from an adaptation torque Teraj made into torque Tcut and Texp which acts on a driving shaft by fuel cut or first explosion, the torque which restricts a direct delivery torque Ter calculated from the torque instruction Tm1* by direct delivery torque restrictions Termin and Termax obtained from torque restrictions Tm1min and Tm1max and battery margin power α, and a demanding torque Tr* (S200-S260). <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, an engine, a planetary gear having a carrier connected to the output shaft of the engine and a ring gear connected to the drive shaft on the axle side, and a motor MG1 for inputting / outputting power to the sun gear of the planetary gear And a motor MG2 that inputs / outputs power to / from the drive shaft, and a battery that exchanges power with the motor MG1 and the motor MG2 have been proposed (see, for example, Patent Document 1). In this device, when performing fuel cut to stop the fuel supply to the engine, a torque shock that can be generated on the drive shaft along with the fuel cut of the engine by outputting a chevron torque according to the engine speed from the motor MG2. Has been countered.
Japanese Patent Laid-Open No. 10-248114

  In the above-described power output device, depending on the state of power output to the drive shaft, the state of the battery, the magnitude of the chevron torque output from the motor MG2, the chevron torque from the motor MG2 is cut when the engine fuel is cut. The output causes a time when excessive power is discharged from the battery.

  Contrary to the fuel cut of the engine, when starting the engine, the torque is output from the motor MG2 so as to cancel the torque output to the drive shaft at the time of the first explosion. May cause the battery to be charged with excessive power.

  The power output device, the control method thereof, and the vehicle according to the present invention include a power storage device such as a secondary battery in accordance with a sudden change in the operating state of the internal combustion engine, such as when the internal combustion engine is cut off or when the internal combustion engine is started. One of the purposes is to suppress charging and discharging due to excessive electric power. In addition, the power output device, the control method thereof, and the vehicle of the present invention suppress torque shock that may occur when the operating state of the internal combustion engine suddenly changes, such as when the internal combustion engine is cut or when the internal combustion engine is started. Is one of the purposes.

  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;
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 to input and output torque to the drive shaft and the output shaft with input and output of electric power and power Power power input / output means to
An electric motor capable of outputting power to the drive shaft;
A power storage means capable of exchanging power with the electric power drive input / output means and the electric motor;
An input / output limit setting means for setting an input / output limit that is an allowable maximum power that may charge / discharge the power storage means based on the state of the power storage means;
Driving state detecting means for detecting the driving state of the power drive input / output means;
Motor rotation number detecting means for detecting a motor rotation number which is the rotation number of the motor;
Requested torque setting means for setting a requested torque required for the drive shaft;
Target operation point setting means for setting a target operation point for operating the internal combustion engine based on the set required torque;
The power power input / output means is driven using the detected driving state of the power power input / output means, the detected motor speed, the set required torque, and the set input / output limit. Drive limit setting means for setting a drive limit as the upper and lower limits of the range that may be,
Target drive state setting means for setting a target drive state of the electric power drive input / output means so as to operate the internal combustion engine at the set target operation point within the set drive restriction range;
Torque limit for setting a torque limit as an upper and lower limit of an allowable range of torque output from the power drive input / output unit to the drive shaft based on the set drive limit and marginal power in the performance of the power storage unit Setting means;
When the electric power drive input / output means is driven in the target drive state, it is output to the drive shaft in accordance with a change in the target drive state acting torque that is a torque output to the drive shaft and the operation state of the internal combustion engine. The set input / output based on the post-restricted torque obtained by limiting the drive shaft operating torque, which is the sum of the operating state changing operating torque, which is the torque, by the set torque limitation, and the set required torque Target motor torque setting means for setting a target motor torque which is a target value of torque to be output from the motor within a limit range;
The internal combustion engine is operated at the set target operation point, the power power input / output means is driven in the set target drive state, and the set target motor torque is output from the motor. Control means for controlling the internal combustion engine, the power drive input / output means and the electric motor;
It is a summary to provide.

  In the power output apparatus of the present invention, a target operating point at which the internal combustion engine should be operated is set based on the required torque required for the drive shaft, and the driving state of the electric power input / output means, the rotational speed of the electric motor, and the required torque are set. The drive limit range is set while setting the drive limit as the upper and lower limits of the range in which the power power input / output means may be driven using the input / output limit that is the allowable maximum power that may charge / discharge the power storage means The target drive state of the electric power drive input / output means is set so that the internal combustion engine is operated at the target operation point set in the above. Subsequently, a torque limit is set as an upper and lower limit of an allowable range of torque output from the power input / output means to the drive shaft based on the set drive limit and marginal power in the performance of the power storage means, and power power input Target drive state action torque, which is the torque output to the drive shaft when the output means is driven in the target drive state, and operation state change action torque, which is the torque output to the drive shaft when the operation state of the internal combustion engine is changed The target value of the torque to be output from the motor within the range of the input / output limit of the storage means based on the post-restricted torque and the required torque that are limited by the torque limit that is set as the torque that is the sum of A certain target motor torque is set. Then, the internal combustion engine is operated at the set target operation point, the power drive input / output means is driven in the set target drive state, and the set target motor torque is output from the motor, and the internal combustion engine and the power drive input / output means. And the motor. As described above, the drive shaft action torque output to the drive shaft calculated in consideration of the drive in the target drive state of the power power input / output means and the change in the operation state of the internal combustion engine is used as the power power input / output means. Since the limited torque is obtained by limiting the torque based on the drive limitation and the surplus power on the performance of the power storage means, and the target motor torque of the motor is set from the limited torque and the required torque, the operating state of the internal combustion engine Even in the case of the change, control can be performed within the range exceeding the input / output limit of the power storage means to the surplus power. Thereby, charging / discharging of the electrical storage means by the excessive electric power exceeding surplus electric power from input / output restrictions can be suppressed. In addition, since the motor target torque is set in consideration of the change in the operating state of the internal combustion engine, it is possible to suppress a torque shock that may occur due to the change in the operating state of the internal combustion engine. Of course, the required torque can be output to the drive shaft within the range from the input / output limitation of the power storage means to the surplus power.

  In such a power output apparatus of the present invention, the drive limit setting means includes a relationship in which the torque output to the drive shaft is within a range from a value of 0 to the set required torque, and the power power input / output means. The drive limit may be set based on a relationship in which a sum of input / output power and power input / output from the electric motor is within the set input / output limit range. it can.

  Further, in the power output apparatus of the present invention, the marginal power does not adversely affect the performance of the power storage means even if the power storage means is charged / discharged exceeding the set input / output limit within a predetermined time. It can also be the power of the excess.

  Furthermore, in the power output apparatus of the present invention, the target motor torque setting means further limits the torque obtained by subtracting the post-restriction torque from the required torque by the set input / output limit, thereby reducing the target motor torque. It can also be a means for setting. Further, the target drive state acting torque is calculated with respect to the torque output from the power / power input / output means to the drive shaft as a calculation when there is no rotation speed change between the output shaft and the drive shaft. The torque can also be obtained using a coefficient that takes into account changes in the rotational speed between the output shaft and the drive shaft.

  Alternatively, in the power output apparatus of the present invention, the operating state changing action torque may be a torque set to act on the drive shaft based on an initial explosion when starting the internal combustion engine. . Further, the operating state changing action torque may be a torque set to act on the drive shaft based on the stop of fuel supply to the internal combustion engine. In addition, as the operating state change acting torque, in a device that supplies exhaust gas to the intake system, torque set to act on the drive shaft when starting supply of exhaust gas to the intake system, or exhaust gas to the intake system A torque set to act on the drive shaft when supply is stopped may be used.

  Further, in the power output apparatus of the present invention, the power power input / output means is connected to three axes of a generator capable of inputting / outputting power, the drive shaft, the output shaft, and a rotating shaft of the generator. Three-axis power input / output means for inputting / outputting power to / from the remaining shaft based on power input / output to / from any two of the three axes, and the drive state detecting means is the power generation unit The target operating point setting means is configured to detect a target rotational speed at which the internal combustion engine is to be operated and a target torque to be output from the internal combustion engine as the target operating point. The drive limit setting means is a means for setting the generator torque limit as the upper and lower limits of the range of torque that may be output from the generator as the drive limit, and the target drive state setting Means Means for setting a target generator torque, which is a target value of torque to be output from the generator, so that the internal combustion engine rotates at the set target rotational speed, as the target drive state; and the control means, The internal combustion engine is controlled so that the set target torque is output from the internal combustion engine, the generator is controlled so that the set target generator torque is output from the generator, and the set target is set. It may be a means for controlling the electric motor so that electric motor torque is output from the electric motor.

  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 is connected to the internal combustion engine and the drive shaft. And power power input / output connected to the output shaft of the internal combustion engine so as to be rotatable independently of the drive shaft, and inputting / outputting torque to / from the drive shaft and the output shaft together with input / output of power and power. Means, an electric motor capable of outputting power to the drive shaft, an electric power drive input / output means, an electric storage means capable of exchanging electric power with the electric motor, and charging / discharging the electric storage means based on a state of the electric storage means. An input / output limit setting means for setting an input / output limit that is an allowable maximum power, a driving state detecting means for detecting a driving state of the power power input / output means, and an electric motor rotation speed that is the rotation speed of the electric motor. Detecting motor rotation speed A required torque setting means for setting a required torque required for the drive shaft, a target operating point setting means for setting a target operating point for operating the internal combustion engine based on the set required torque, The power power input / output means is driven using the detected driving state of the power power input / output means, the detected motor speed, the set required torque, and the set input / output limit. Drive limit setting means for setting a drive limit as an upper and lower limit of the range, and the power power input / output to operate the internal combustion engine at the set target operation point within the set drive limit range. A target drive state setting means for setting a target drive state of the means, and the power drive input / output unit based on the set drive limit and marginal power in the performance of the power storage means. Torque limit setting means for setting a torque limit as an upper and lower limit of an allowable range of torque output to the drive shaft, and output to the drive shaft when the power power input / output means is driven in the target drive state. The drive shaft action torque, which is the sum of the target drive state action torque, which is the torque to be generated, and the operation condition change action torque, which is the torque output to the drive shaft in accordance with the change in the operation state of the internal combustion engine, is set. A target motor torque that is a target value of torque to be output from the motor within the set input / output limit range is set based on the post-restricted torque limited by the set torque limit and the set required torque Target motor torque setting means for operating the internal combustion engine at the set target operation point, and the electric power power in the set target drive state A power output device comprising: a control means for controlling the internal combustion engine, the power power input / output means, and the motor so that the input / output means is driven and the set target motor torque is output from the motor; The gist is that the vehicle is mounted and the axle is connected to the drive shaft.

  In the vehicle of the present invention, the power output device of the present invention according to any one of the above-described aspects is mounted, so that the effect of the power output device of the present invention, for example, storage by excessive power exceeding the surplus power due to input / output limitation. The effect of suppressing charging / discharging of the means, the effect of suppressing the torque shock that can occur due to the change of the operating state of the internal combustion engine, the required torque within the range from the input / output limitation of the power storage means to the surplus power It is possible to achieve the same effect as that that can be output to the drive shaft.

The method for controlling the power output apparatus of the present invention includes:
An internal combustion engine is 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 torque is applied to the drive shaft and the output shaft with input and output of electric power and power. Power motive power input / output means for inputting / outputting; an electric motor capable of outputting power to the drive shaft; and a power storage means capable of exchanging electric power with the power motive power input / output means and the motor; Is a control method for a power output device that outputs
(A) setting a target operating point at which the internal combustion engine should be operated based on a required torque required for the drive shaft;
(B) The power power input / output using the driving state of the power power input / output means, the rotational speed of the motor, the required torque, and the input / output limit that is the allowable maximum power that may charge / discharge the power storage means. Set the drive limit as the upper and lower limits of the range that may drive the means,
(C) setting a target drive state of the electric power drive input / output means so as to operate the internal combustion engine at the set target operation point within the set drive restriction range;
(D) A torque limit is set as an upper and lower limit of an allowable range of torque output from the power drive input / output unit to the drive shaft based on the set drive limit and marginal power in the performance of the power storage unit. ,
(E) A target drive state acting torque, which is a torque output to the drive shaft when the power power input / output means is driven in the target drive state, and a change in the operation state of the internal combustion engine to the drive shaft. Within the range of the input / output limitation based on the post-restricted torque obtained by limiting the drive shaft operating torque, which is the sum of the output torque and the operating state changing operating torque, by the set torque limitation and the required torque. To set a target motor torque which is a target value of torque to be output from the motor,
(F) The internal combustion engine is operated at the set target operation point, the power power input / output means is driven in the set target drive state, and the set target motor torque is output from the motor. Controlling the internal combustion engine, the power input / output means and the electric motor;
This is the gist.

  In this power output device control method of the present invention, a target operating point at which the internal combustion engine is to be operated is set based on the required torque required for the drive shaft, and the driving state of the power power input / output means and the rotational speed of the motor are determined. Set the drive limit as the upper and lower limits of the range in which the power power input / output means may be driven using the required torque and the input / output limit that is the allowable maximum power that may charge / discharge the power storage means The target drive state of the electric power input / output means is set so that the internal combustion engine is operated at the target operation point set within the limit range. Subsequently, a torque limit is set as an upper and lower limit of an allowable range of torque output from the power input / output means to the drive shaft based on the set drive limit and marginal power in the performance of the power storage means, and power power input Target drive state action torque, which is the torque output to the drive shaft when the output means is driven in the target drive state, and operation state change action torque, which is the torque output to the drive shaft when the operation state of the internal combustion engine is changed The target value of the torque to be output from the motor within the range of the input / output limit of the storage means based on the post-restricted torque and the required torque that are limited by the torque limit that is set as the torque that is the sum of A certain target motor torque is set. Then, the internal combustion engine is operated at the set target operation point, the power drive input / output means is driven in the set target drive state, and the set target motor torque is output from the motor, and the internal combustion engine and the power drive input / output means. And the motor. As described above, the drive shaft action torque output to the drive shaft calculated in consideration of the drive in the target drive state of the power power input / output means and the change in the operation state of the internal combustion engine is used as the power power input / output means. Since the limited torque is obtained by limiting the torque based on the drive limitation and the surplus power on the performance of the power storage means, and the target motor torque of the motor is set from the limited torque and the required torque, the operating state of the internal combustion engine Even in the case of the change, control can be performed within the range exceeding the input / output limit of the power storage means to the surplus power. Thereby, charging / discharging of the electrical storage means by the excessive electric power exceeding surplus electric power from input / output restrictions can be suppressed. In addition, since the motor target torque is set in consideration of the change in the operating state of the internal combustion engine, it is possible to suppress a torque shock that may occur due to the change in the operating state of the internal combustion engine. Of course, the required torque can be output to the drive shaft within the range from the input / output limitation of the power storage means to the surplus power.

  In the method for controlling the power output apparatus of the present invention, the step (b) includes the relationship that the torque output to the drive shaft is within the range from the value 0 to the required torque, and the power power input / output means. It may be a step of setting the drive restriction based on a relationship in which a sum of input / output electric power and electric power input / output from the electric motor is within the input / output restriction range. Further, the surplus power is an excess power that does not adversely affect the performance of the power storage means even if the power storage means is charged / discharged beyond the set input / output limit within a predetermined time. It can also be.

  In the method for controlling a power output apparatus according to the present invention, the power power input / output means includes three generators: a generator capable of inputting / outputting power, the drive shaft, the output shaft, and a rotating shaft of the generator. Three-axis type power input / output means connected to input / output power to the remaining shaft based on power input / output to / from any two of the three axes, the power power input / output The driving state of the means is a generator rotational speed which is the rotational speed of the generator, and the step (a) includes a target rotational speed at which the internal combustion engine is to be operated and a target torque to be output from the internal combustion engine. The step of setting as the target operating point, the step (b) is a step of setting the generator torque limit as the upper and lower limits of the range of torque that may be output from the generator as the drive limit, Step (c) Is a step of setting a target generator torque, which is a target value of torque to be output from the generator, so that the internal combustion engine rotates at the set target rotational speed as the target drive state, and the step (f ) Controls the internal combustion engine so that the set target torque is output from the internal combustion engine, controls the generator so that the set target generator torque is output from the generator, It may be a step of controlling the motor so that the set target motor torque is output from the motor.

  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 hybrid vehicle 20 of the embodiment configured in this way, particularly the operation at the time of the first explosion at the start of the engine 22 when the fuel of the engine 22 is cut 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 Ne of the engine 22, the motor MG1. , MG2 rotation speeds Nm1, Nm2, input / output limits Win, Wout of the battery 50, and other data necessary for control are executed (step S100). Here, the rotational speed Ne of the engine 22 is calculated based on a signal from the crank position sensor 140 and is input from the engine ECU 24 by communication. Further, 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. It was supposed to be. 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 rotation speed Nr of the ring gear shaft 32a is obtained by multiplying the vehicle speed V by a conversion factor kv (Nr = kv · 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, the operating state of the engine 22 is determined (step S120). The operating state of the engine 22 includes a load operating state, a motoring state while injecting fuel, a motoring state while cutting fuel, a starting state, and a stopping state. There is. Since the present invention contemplates the operation when the operating state of the engine 22 changes suddenly, particularly when the fuel is cut or at the timing of the first explosion at the start, the state where the engine 22 is stopped is in the present invention. Since it does not form the core, detailed description is omitted. Hereinafter, first, a description will be given of a normal load operation, a fuel cut during motoring, and a timing of the first explosion at the start.

  When the engine 22 is under load operation, 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 S130). 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 Expression (2) (step S140). 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 as upper and lower limits at which torque may be output from the motor MG1 so as to satisfy both the following expressions (3) and (4) are set (step S180), and the set temporary torque Tm1tmp is set. The torque command Tm1 * of the motor MG1 is set by limiting with the torque limits Tm1min and Tm1max according to the equation (5) (step 190). 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)

  Next, it is determined whether it is the timing of the first explosion at the start of the engine 22 or the timing of the fuel cut during the motoring of the engine 22 (step S200), and based on the determination result. An appropriate torque Teraj is set (steps S210 to S230). Here, as to whether or not it is the timing of the first explosion, in the embodiment, when the engine 22 is motored when the engine 22 is started and the rotational speed Ne reaches the threshold value Nref, the fuel injection control is performed by the engine ECU 24. Since the ignition control is started, it can be determined as the timing at which the rotational speed Ne of the engine 22 reaches the threshold value Nref. Further, as to whether or not it is the timing of fuel cut, in this embodiment, since the engine ECU 24 transmits a control signal for executing fuel cut to the hybrid electronic control unit 70 immediately before the fuel cut is performed. It can be determined by whether or not a control signal is received. The conforming torque Teraj is set as a torque that acts on the ring gear shaft 32a as the drive shaft by the initial explosion at the start of the engine 22 or the fuel cut during the motoring of the engine 22, and is determined by experiments or the like. Can be sought. Now, since it is considered that the engine 22 is under load operation, it is determined that it is neither the timing of the first explosion nor the timing of fuel cut, and the value 0 is set as the appropriate torque Teraj in step S210.

  When the adaptive torque Teraj is set in this way, the direct torque Tor that is the torque output to the ring gear shaft 32a as the drive shaft through the power distribution and integration mechanism 30 using the set torque command Tm1 * of the motor MG1 and the adaptive torque Teraj. Is calculated by the following equation (6) (240). Here, “ki” in Expression (6) is a ratio of the torque used for the change in the rotation speed of the engine 22 and the change in the rotation speed of the motor MG1 in the torque output from the motor MG1, and the rotation speed of the engine 22 It can be obtained by a change or a change in the rotational speed of the motor MG1. In the steady state, neither the engine 22 nor the motor MG1 changes in the number of revolutions, so the value “0” is set for “ki”.

  Ter = -Tm1 * ・ (1-ki) / ρ + Teraj (6)

  Next, using the torque limits Tm1min and Tm1max obtained by the equations (3) and (4) and the marginal power α of the battery 50, the direct power torque Ter is allowed in the performance of the battery 50 by the following equations (7) and (8). The direct torque limits Termin, Termax as the upper and lower limits of the possible range are set (step S250), and the torque obtained by limiting the calculated direct torque Ter with the direct torque limits Termin, Termax as shown in equation (9) ( The post-restriction torque) is subtracted from the required torque Tr * to set a temporary torque Tm2tmp as a temporary torque to be output from the motor MG2 (step S260). Here, the surplus power α of the battery 50 is an excess amount that does not hinder the battery 50 even if the input / output limits Win and Wout are exceeded if the power for charging and discharging the battery 50 is a short time of about 100 msec or 200 msec. It is electric power and can be determined by the type and capacity of the battery 50. Since we are now considering a load operation, the value 0 is set for the conforming torque Teraj, and the torque of the motor MG1 whose direct torque Tor is limited by the input / output limits Win and Wout of the battery 50. Considering that it is set by the command Tm1 *, the direct torque Ter is the same value as that which is not limited. Note that “ki” in the equations (7) and (8) is the same as “ki” in the equation (6), and among the torques output from the motor MG1, the rotational speed change of the engine 22 and the rotation of the motor MG1. This is the ratio of torque used for number change.

Termin = -Tm1min (1-ki) / ρ-α / (Nm2 / Gr) (7)
Termax = -Tm1max (1-ki) / ρ + α / (Nm2 / Gr) (8)
Tm2tmp = [Tr * -max (min (Ter, Termax), Termin)] / Gr (9)

  The deviation from the power consumption (generated power) of the motor MG1 obtained by multiplying the input / output limits Win and Wout of the battery 50 and the set torque command Tm1 * by the current rotational speed Nm1 of the motor MG1 is the rotational speed of the motor MG2. 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 Nm2 are calculated by the following equations (10) and (11) (step S270), and the set temporary torque Tm2tmp is calculated. The torque command Tm2 * of the motor MG2 is set by limiting with the torque limits Tm2min and Tm2max according to the equation (12) (step S280).

Tm2min = (Win-Tm1 * ・ Nm1) / Nm2 (10)
Tm2max = (Wout-Tm1 * ・ Nm1) / Nm2 (11)
Tm2 * = max (min (Tm2tmp, Tm2max), Tm2min) (12)

  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 S290), 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.

  Next, consider a case where fuel is cut while the engine 22 is being motored. In this case, in step S120, it is determined that motoring is being performed, and the engine speed 22 Ne at that time is such that the engine 22 speed gradually approaches the engine lower limit speed Nemin at the target engine speed Ne *. The value obtained by subtracting the rate value Trt from the engine lower limit engine speed Nemin is set, and the target torque Te * is set to 0 (step S160). Here, the engine lower limit rotational speed Nemin is determined by the vehicle speed V, the shift position SP, the traveling mode (whether or not it is the power mode), and the like. Further, the rate value Trt is set to such a magnitude that the engine 22 does not misfire when fuel is being supplied to the engine 22, and the fuel is supplied when fuel is cut to the engine 22. A larger value is set when The degree of the size is set according to the activation frequency of the drive control routine, the performance of the engine 22, and the like.

  When the target rotational speed Ne * of the engine 22 and the target torque Te * having a value of 0 are set in this way, the target rotational speed Nm1 * of the motor MG1 is calculated and the calculated target rotational speed Nm1 * is input according to the above equation (1). Based on the rotation speed Nm1 of the motor MG1, the temporary torque Tm1tmp of the motor MG1 is calculated by the following equation (13) (step S170). Here, the expression (13) is a relational expression in the feedback control for rotating the motor MG1 at the target rotation speed Nm1 *, as in the above-described expression (2), and the second term on the right side in the expression (13). “K3” is a gain of the proportional term, and “k4” of the third term on the right side is a gain of the integral term. The first term on the right side of the equation (13) is the torque to be output from the motor MG1 to rotate the engine 22 at the target rotational speed Ne * in a steady manner, and when the fuel is supplied to the engine 22, the target rotational speed. As Ne * increases, its absolute value increases, but a relatively small value is used. When fuel is cut to the engine 22, a value corresponding to the friction work corresponding to the rotational speed of the engine 22 is used.

  Tm1tmp = f (Ne *) + k3 (Nm1 * -Nm1) + k4∫ (Nm1 * -Nm1) dt (13)

  Then, the torque command Tm1 * of the motor MG1 is set by the processing of steps S180 and S190, and when it is determined that it is not the fuel cut timing even if the engine 22 is motored, a value 0 is set to the appropriate torque Teraj ( Steps S200 and S210), the torque command Tm2 * of the motor MG2 is set by the processing of steps S240 to S280 using the adaptive torque Teraj, and the engine ECU 24 sets the target engine speed Ne * and target torque Te * of the engine 22 set. The torque commands Tm1 * and Tm2 * for the motors MG1 and MG2 are transmitted to the motor ECU 40 (step S290), and the drive control routine is terminated. FIG. 10 shows an example of a collinear diagram showing the dynamic relationship between the rotational speed and torque in the rotary element of the power distribution and integration mechanism 30 during motoring of the engine 22.

  If it is determined in step S200 that the fuel cut timing is reached, the fuel cut operating torque set as the torque acting on the ring gear shaft 32a as the drive shaft by the fuel cut while the engine 22 is being motored. Tcut is set as the adaptation torque Teraj (step S230), and the direct torque Tor is calculated by the above-described equation (6) using the adaptation torque Teraj with the fuel cut action torque Tcut set (step S240). Then, the direct torque Tor is limited by the direct torque limits Termin, Termax obtained by the equations (7), (8) to set the temporary torque Tm2tmp of the motor MG2 (step S260), and the equations (10), (11) A torque command Tm2 * of the motor MG2 is set by limiting the temporary torque Tm2tmp according to the equation (12) with the torque limits Tm2min and Tm2max obtained by (step S280), and the engine ECU 24 sets the target rotational speed Ne * and the target torque Te *. The torque commands Tm1 * and Tm2 * are transmitted to the motor ECU 40 (step S290), and the drive control routine is terminated. By controlling in this way, that is, the direct torque Ter obtained by adding the applied torque Teraj to which the operating torque Tcut at the time of fuel cut at the fuel cut timing of the engine 22 is set, the surplus power α of the battery 50 is obtained. The temporary torque Tm2tmp of the motor MG2 is set by limiting it with the direct torque limits Termin, Termax using, and the torque command Tm2 * of the motor MG2 is set by limiting it with the torque limits Tm2min, Tm2max. And motor MG2 can be controlled to suppress charging / discharging of battery 50 due to excessive power exceeding surplus power α from input / output limits Win and Wout. Further, the engine 22 is controlled by setting the torque command Tm2 * of the motor MG2 by setting the operating torque Tcut at the time of fuel cut acting on the ring gear shaft 32a as the drive shaft by the fuel cut and setting the torque command Tm2 * of the motor MG2. Torque shock that may occur when the fuel is cut can be suppressed. The fuel cut timing may be about 100 msec. Therefore, charging / discharging of the battery 50 with power larger than the input / output limits Win and Wout by the margin power α is not performed for a long time.

  Next, consider the timing of the first explosion when the engine 22 is started. In this case, in step S120, it is determined that the engine 22 is being started, and the temporary torque Tm1tmp of the motor MG1 is set with a torque based on the torque map at the time of starting and the elapsed time t from the start of starting the engine 22 ( Step S150). FIG. 11 shows an example of a torque map at the start of the engine 22 and an example of how the engine speed Ne changes. In the torque map of the embodiment, a relatively large torque is set as the temporary torque Tm1tmp using rate processing immediately after the time t11 when the engine 22 is instructed to start, and the rotational speed Ne of the engine 22 is rapidly increased. Torque that allows the engine 22 to be stably motored at the threshold Nref or higher at a time t12 after the time when the rotational speed Ne of the engine 22 has passed the resonance rotational speed band or a time necessary for passing through the resonant rotational speed band. The temporary torque Tm1tmp is set to reduce the power consumption and the reaction force on the ring gear shaft 32a as the drive shaft. Then, from the time t13 when the rotational speed Ne of the engine 22 reaches the threshold value Nref, the temporary torque Tm1tmp is set to 0 using rate processing, fuel injection control and ignition control of the engine 22 are started, and it is determined that the engine 22 is completely exploded. The generated torque is set to the temporary torque Tm1tmp from the set time t15.

  When the temporary torque Tm1tmp of the motor MG1 is set in this manner, the torque command Tm1 * of the motor MG1 is set by the processing of steps S180 and S190, and when it is determined that it is not the timing of the first explosion at the start of the engine 22, the appropriate torque Teraj is set. A value 0 is set (steps S200 and S210), the torque command Tm2 * of the motor MG2 is set by the processing of steps S240 to S280 using the adaptive torque Teraj, and the set target rotational speed Ne * and 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 S290), and the drive control routine is terminated. FIG. 12 shows an example of a collinear diagram showing the dynamic relationship between the rotation speed and torque in the rotating elements of the power distribution and integration mechanism 30 during the start of the engine 22.

  If it is determined in step S200 that it is the timing of the first explosion at the start of the engine 22, the initial explosion acting torque Texp set as the torque acting on the ring gear shaft 32a as the drive shaft by the first explosion is applied as the appropriate torque Teraj. (Step S220), the direct torque Tor is calculated by the above-described equation (6) using the adaptive torque Teraj in which this initial explosion action torque Texp is set (step S240). Then, the direct torque Tor is limited by the direct torque limits Termin, Termax obtained by the equations (7), (8) to set the temporary torque Tm2tmp of the motor MG2 (step S260), and the equations (10), (11) A torque command Tm2 * of the motor MG2 is set by limiting the temporary torque Tm2tmp according to the equation (12) with the torque limits Tm2min and Tm2max obtained by (step S280), and the engine ECU 24 sets the target rotational speed Ne * and the target torque Te *. The torque commands Tm1 * and Tm2 * are transmitted to the motor ECU 40 (step S290), and the drive control routine is terminated. By controlling in this way, that is, the direct torque Tor obtained by adding the adaptation torque Teraj set with the initial explosion action torque Texp at the timing of the first explosion at the start of the engine 22 is obtained. The temporary torque Tm2tmp of the motor MG2 is set by limiting with the direct torque limits Termin, Termax using the surplus power α, and the torque command Tm2 * of the motor MG2 is set by limiting this with the torque limits Tm2min, Tm2max. By controlling the motor MG1 and the motor MG2, charging / discharging of the battery 50 due to excessive power exceeding the marginal power α from the input / output limits Win, Wout can be suppressed. The engine 22 is controlled by controlling the motor MG2 by setting the torque command Tm2 * of the motor MG2 by setting the initial torque acting torque Texp acting on the ring gear shaft 32a as the drive shaft by the first explosion and setting the torque command Tm2 * of the motor MG2. Torque shock that may occur during the initial explosion at the start of the engine can be suppressed. Since the timing of the first explosion should be about 100 msec, charging / discharging of the battery 50 with electric power larger than the input / output limits Win and Wout by the margin electric power α is not performed for a long time.

  According to the hybrid vehicle 20 of the embodiment described above, the temporary torque Tm1tmp necessary for motoring the engine 22 is output to the ring gear shaft 32a by the motor MG1 or the motor MG2 at the fuel cut timing of the engine 22. The relationship (Formula (3)) in which the total torque is within the range from the value 0 to the required torque Tr *, and the total power input / output by the motor MG1 and the motor MG2 is within the range of the input / output limits Win, Wout. At the time of fuel cut, the torque command Tm1 * of the motor MG1 is set by limiting with the torque limits Tm1min and Tm1max obtained by using the relationship (Equation (4)) and acting on the ring gear shaft 32a as the drive shaft by the fuel cut Applicable torque Teraj with applied torque Tcut and torque finger of motor MG1 The direct torque Tor is calculated based on Tm1 * and the engine 22 and motor MG1 rotational speed changes, and the direct torque Tor is set using the torque limit Tm1min, Tm1max and the surplus power α of the battery 50. A temporary torque Tm2tmp of the motor MG2 is set based on the post-restricted torque obtained by limiting with Termax and the required torque Tr *, and this temporary torque Tm2tmp is set to a torque limit Tm2min obtained from the input / output limits Win and Wout of the battery 50. Since the torque command Tm2 * of the motor MG2 is set by limiting with Tm2max and the engine 22 and the motors MG1 and MG2 are controlled using these set values, the surplus power is obtained from the input / output limits Win and Wout when the fuel of the engine 22 is cut. Excessive exceeding α It is possible to suppress the charging and discharging of the battery 50 by the force. Further, the fuel command of the engine 22 is controlled by setting the torque command Tm2 * of the motor MG2 using the fuel cut operating torque Tcut acting on the ring gear shaft 32a as the drive shaft by the fuel cut as the applicable torque Teraj. Torque shock that may occur during cutting can be suppressed. Of course, it is possible to travel by outputting torque based on the required torque Tr * even when the fuel is cut.

  Further, according to the hybrid vehicle 20 of the embodiment, at the timing of the first explosion at the start of the engine 22, the temporary torque Tm1tmp required to start the engine 22 is limited by the torque limits Tm1min and Tm1max, and the motor MG1 Torque command Tm1 * is set, and the applied torque Teraj in which the initial explosion acting torque Texp acting on the ring gear shaft 32a as the drive shaft is set by the initial explosion, the torque command Tm1 * of the motor MG1, the rotation of the engine 22 and the motor MG1. The post-restricted torque obtained by calculating the direct torque Ter based on the numerical change and limiting the direct torque Ter with the direct torque limits Termin, Termax set using the torque limits Tm1min, Tm1max and the surplus power α of the battery 50. And required torque The temporary torque Tm2tmp of the motor MG2 is set based on r *, and this temporary torque Tm2tmp is limited by the torque limits Tm2min and Tm2max obtained from the input and output limits Win and Wout of the battery 50, and the torque command Tm2 * of the motor MG2 is set. Since the engine 22 and the motors MG1 and MG2 are controlled using these set values, the battery 50 caused by excessive power exceeding the marginal power α from the input / output limits Win and Wout at the initial explosion at the start of the engine 22 is set. Charging / discharging can be suppressed. Further, since the torque command Tm2 * of the motor MG2 is set and the motor MG2 is controlled using the initial explosion acting torque Texp acting on the ring gear shaft 32a as the drive shaft by the first explosion as the applicable torque Teraj, the engine 22 is started. Torque shock that may occur during the first explosion at the time can be suppressed. Of course, it is possible to travel by outputting a torque based on the required torque Tr * even at the first explosion.

  In the hybrid vehicle 20 of the embodiment, the relationship that the total torque output to the ring gear shaft 32a by the motor MG1 and the motor MG2 is within the range from the value 0 to the required torque Tr * (formula (3)), the motor MG1 and the motor The torque limits Tm1min and Tm1max are set according to the relationship (formula (4)) in which the sum of the power input and output by the MG2 falls within the range of the input and output limits Win and Wout. The torque limits Tm1min and Tm1max may be set by any method.

  In the hybrid vehicle 20 of the embodiment, the direct torque Tor is calculated in consideration of the ratio (“ki”) of the torque used for the change in the rotation speed of the engine 22 and the change in the rotation speed of the motor MG1 in the torque output from the motor MG1. However, the direct torque Tor may be calculated by setting “ki” in the equation (6) to be always 0, or the direct torque limits Termin, Termax may be set. Absent.

  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. 13) 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 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 an “internal combustion engine”, the power distribution and integration mechanism 30 and the motor MG1 correspond to “power power input / output means”, the motor MG2 corresponds to “electric motor”, and the battery 50 corresponds to “ The battery 50 may be charged / discharged based on the remaining capacity (SOC) of the battery 50 based on the integrated value of the charge / discharge current detected by the current sensor and the battery temperature Tb of the battery 50. The battery ECU 52 that calculates the input / output limits Win and Wout, which are allowable powers, corresponds to the “input / output limit setting means”, and the rotational speed of the motor MG1 based on the rotational position detection sensor 43 and a signal from the rotational position detection sensor 43. The motor ECU 40 that calculates Nm1 corresponds to the “driving state detecting means”. The motor ECU 40 that calculates the rotational speed Nm2 of the motor MG2 corresponds to the “motor rotational speed detection means”, and sets the required torque Tr * based on the accelerator opening Acc and the vehicle speed V in the drive control routine of FIG. The hybrid electronic control unit 70 that executes the processing of step S110 corresponds to “required torque setting means”, and the charge / discharge required power required by the battery 50 and the product obtained by multiplying the required torque Tr * by the rotational speed Nr of the ring gear shaft 32a. The required power Pe * is calculated as the sum of Pb * and loss Loss, and the target rotational speed Ne * and the target torque Te * are set based on the required power Pe *, and the rate value at the time of fuel supply or at the time of fuel cut 5 is used to set the target rotational speed Ne * of the engine 22 and the target torque Te * of the value 0 using the rate value of FIG. The hybrid electronic control unit 70 that executes the processes of steps S110, S130, S160, etc. corresponds to the “target operation point setting means”, and the total torque output to the ring gear shaft 32a by the motor MG1 or the motor MG2 is 0. To the required torque Tr * (formula (3)) and the sum of the electric power input and output by the motors MG1 and MG2 is within the range of the input / output limits Win and Wout (formula (4) )) Is used to set the torque limits Tm1min and Tm1max, and the hybrid electronic control unit 70 that executes the process of step S180 of the drive control routine of FIG. The temporary torque Tm1tmp of the motor MG1 calculated to rotate at a number Ne * is set as the torque limit Tm. The hybrid electronic control unit 70 that executes the processing of steps S140, S150, S170, and S190 of the drive control routine of FIG. 5 that sets the torque command Tm1 * of the motor MG1 by limiting the motor to 1 min and Tm1max is “target drive state setting”. Direct reach as the upper and lower limits of the allowable range for the performance of the battery 50 as the direct torque Tor using the torque limits Tm1min, Tm1max, the change in the rotational speed of the engine 22 and the motor MG1 and the surplus power α of the battery 50 The hybrid electronic control unit 70 that executes the process of step S250 of the drive control routine of FIG. 5 for setting the torque limits Termin, Termax corresponds to “torque limit setting means”, and the engine 22 and the torque command Tm1 * of the motor MG1 The rotation of motor MG1 The direct torque Ter, which is the sum of the torque output to the ring gear shaft 32a serving as the drive shaft and the applicable torque Teraj acting on the ring gear shaft 32a serving as the drive shaft due to fuel cut or initial explosion, taking into account the number change A temporary torque Tm2tmp of the motor MG2 is set on the basis of the post-restricted torque obtained by limiting with Termin and Termax and the required torque Tr *, and this is limited with the torque limits Tm2min and Tm2max, whereby the torque command Tm2 * of the motor MG2 is set. The hybrid electronic control unit 70 that executes the processing of steps S240 and S260 of the drive control routine of FIG. 5 corresponds to “target motor torque setting means”, and the set target rotational speed Ne * and target torque of the engine 22 are set. Te *, target of motor MG1, MG2 Based on the hybrid electronic control unit 70 that executes the process of step S290 of the drive control routine of FIG. 5 for transmitting the torques Tm1 * and Tm2 * to the engine ECU 24 and the motor ECU 40, the target rotational speed Ne *, and the target torque Te *. The engine ECU 24 that controls the engine 22 and the motor ECU 40 that controls the motors MG1 and MG2 based on the torque commands Tm1 * and Tm2 * correspond to “control means”. Further, the motor MG1 corresponds to a “generator”, and the power distribution and integration mechanism 30 corresponds to a “3-axis power input / output unit”. Further, the counter-rotor motor 230 also corresponds to “power power input / output 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 “power power input / output means” is not limited to a combination of the power distribution and integration mechanism 30 and the motor MG1 or the counter-rotor motor 230, and is connected to the drive shaft and As long as it is connected to the output shaft of the internal combustion engine so as to be able to rotate independently and to input and output torque to and from the drive shaft and the output shaft together with input and output of electric power and power, it may be anything. 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. . 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 power motive power input / output means or 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 limit that is the allowable maximum power that may be charged / discharged of the power storage means based on the state of the power storage means It does not matter as long as it does. The “driving state detection means” is not limited to the rotational position detection sensor 43 and the one that calculates the rotational speed Nm1 of the motor MG1 based on the signal from the rotational position detection sensor 43. Any device can be used as long as it can detect the drive state. The “motor rotational speed detection means” is not limited to the one that calculates the rotational speed Nm2 of the motor MG2 based on the rotational position detection sensor 44 and a signal from the rotational position detection sensor 44, but the rotational speed of the motor. As long as it detects the number of revolutions of the electric motor, it does not matter. 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 “target operation point setting means”, the required power Pe * is calculated as the sum of the required torque Tr * multiplied by the rotational speed Nr of the ring gear shaft 32a and the charge / discharge required power Pb * required by the battery 50 and the loss Loss. The target rotational speed Ne * and the target torque Te * are set by using the constraint that the engine 22 is efficiently operated based on the required power Pe *, and the rate value at the time of fuel supply or the rate at the time of fuel cut Is used to set the target rotational speed Ne * of the engine 22 and the target torque Te * having a value of 0, and the engine 22 outputs as much torque as possible based on the required power Pe *. The target speed Ne * and the target torque Te * are set using constraints, and the engine 22 is made with the lowest possible sound based on the required power Pe *. Any target operating point at which the internal combustion engine should be operated based on the set required torque, such as setting the target rotational speed Ne * and the target torque Te * using a rotation constraint, is used. It does not matter. As the “driving limit setting means”, a relationship (formula (3)) 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 the motor MG1 The present invention is not limited to setting the torque limits Tm1min and Tm1max using the relationship (formula (4)) in which the sum of the power input and output by the motor MG2 is within the range of the input and output limits Win and Wout. The upper and lower limits of the current value that may be supplied to the motor MG1 are set using the relationship of the equations (3) and (4), and the driving state of the electric power input / output means, the motor speed, the required torque, and the input / output Any setting may be used as long as the drive limit is set as the upper and lower limits of the range in which the power power input / output means may be driven using the limit. As the “target drive state setting means”, the torque command Tm1 * of the motor MG1 is limited by limiting the temporary torque Tm1tmp of the motor MG1 calculated to rotate the engine 22 at the target rotation speed Ne * with the torque limits Tm1min and Tm1max. It is not limited to what is set, but the motor is limited by limiting the temporary target current of the motor MG1 calculated to rotate the engine 22 at the target rotational speed Ne * with the upper and lower limits of the current range set as the drive limit. As long as the target drive state of the electric power drive input / output means is set so that the internal combustion engine is operated at the target operation point within the range of drive restriction, such as setting the target current of MG1, any method may be used. . As the “torque limit setting means”, the upper and lower limits of the allowable range of the battery 50 in terms of the performance of the battery 50 using the torque limits Tm1min, Tm1max, the rotational speed change of the engine 22 or the motor MG1, and the surplus power α of the battery 50 The direct torque limits Termin, Termax are not limited to those for setting the direct torque limit, and the direct torque limits Termin, Termax are set without considering the rotational speed changes of the engine 22 and the motor MG1. The power power based on the drive limitation and the marginal power on the performance of the power storage means, such as setting the direct torque limits Termin, Termax using different input side marginal power and output side marginal power Upper and lower limits of the allowable range of torque output from the input / output means to the drive shaft As long as it sets the torque limit of Te may be any ones. As the “target motor torque setting means”, the torque output to the ring gear shaft 32a serving as a drive shaft, the fuel cut, and the first explosion are taken into account by adding the rotational speed change of the engine 22 and the motor MG1 to the torque command Tm1 * of the motor MG1. Based on the post-restricted torque obtained by limiting the direct torque Tor, which is the sum of the applied torque Teraj acting on the ring gear shaft 32a as the drive shaft, with the direct torque limits Termin, Termax and the required torque Tr *, the provisional torque of the motor MG2 Setting the torque Tm2tmp and limiting it with the torque limits Tm2min and Tm2max is not limited to setting the torque command Tm2 * of the motor MG2, but when driving the power / power input / output means in the target drive state Target drive, which is the torque output to the drive shaft Torque after limiting the drive shaft action torque, which is the sum of the operation action torque and the operation state change action torque that is output to the drive shaft in accordance with the change in the operation state of the internal combustion engine, by torque restriction As long as the target motor torque that is the target value of the torque to be output from the electric motor within the range of the input / output limit of the power storage means is set based on the required torque, any method may be used. The “change in the operating state of the internal combustion engine” is not limited to the initial explosion at the start of the engine 22 or the fuel cut of the engine 22, but includes an exhaust gas supply device (EGR) that supplies exhaust gas to the intake system. In this case, any operation may be used as long as the operation state of the internal combustion engine is changed, such as when supply of exhaust gas to the intake system is started or when supply of exhaust gas to the intake system is stopped. 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, the “control means” is limited to one that controls the engine 22 based on the target rotational speed Ne * and the target torque Te * and controls the motors MG1, MG2 based on the torque commands Tm1 *, Tm2 *. Instead, the internal combustion engine is operated at the target operating point, the power power input / output means is driven in the target drive state, and the target motor torque is output from the motor. Anything can be used as long as it is controlled. 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. 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 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 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. It is explanatory drawing which shows an example of the collinear diagram which shows the dynamic relationship between the rotation speed and torque in the rotation element of the power distribution integration mechanism 30 when drive | working in the state which is motoring the engine 22. FIG. It is explanatory drawing which shows an example of the torque map used at the time of starting of the engine 22, and an example of the mode of the change of the rotation speed Ne of the engine 22. An example of 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 the engine 22 is running while the engine 22 is being motored when the engine 22 is started is shown. It is explanatory drawing. 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 (13)

A power output device that outputs power to a drive shaft,
An internal combustion engine;
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 to input and output torque to the drive shaft and the output shaft with input and output of electric power and power Power power input / output means to
An electric motor capable of outputting power to the drive shaft;
A power storage means capable of exchanging power with the electric power drive input / output means and the electric motor;
An input / output limit setting means for setting an input / output limit that is an allowable maximum power that may charge / discharge the power storage means based on the state of the power storage means;
Driving state detecting means for detecting the driving state of the power drive input / output means;
Motor rotation number detecting means for detecting a motor rotation number which is the rotation number of the motor;
Requested torque setting means for setting a requested torque required for the drive shaft;
Target operation point setting means for setting a target operation point for operating the internal combustion engine based on the set required torque;
The power power input / output means is driven using the detected driving state of the power power input / output means, the detected motor speed, the set required torque, and the set input / output limit. Drive limit setting means for setting a drive limit as the upper and lower limits of the range that may be,
Target drive state setting means for setting a target drive state of the electric power drive input / output means so as to operate the internal combustion engine at the set target operation point within the set drive restriction range;
Torque limit for setting a torque limit as an upper and lower limit of an allowable range of torque output from the power drive input / output unit to the drive shaft based on the set drive limit and marginal power in the performance of the power storage unit Setting means;
When the electric power drive input / output means is driven in the target drive state, it is output to the drive shaft in accordance with a change in the target drive state acting torque that is a torque output to the drive shaft and the operation state of the internal combustion engine. The set input / output based on the post-restricted torque obtained by limiting the drive shaft operating torque, which is the sum of the operating state changing operating torque, which is the torque, by the set torque limitation, and the set required torque Target motor torque setting means for setting a target motor torque which is a target value of torque to be output from the motor within a limit range;
The internal combustion engine is operated at the set target operation point, the power power input / output means is driven in the set target drive state, and the set target motor torque is output from the motor. Control means for controlling the internal combustion engine, the power drive input / output means and the electric motor;
A power output device comprising:   The drive limit setting means includes a relationship in which a torque output to the drive shaft is within a range from a value of 0 to the set required torque, electric power input / output from the electric power input / output means, and the electric motor. 2. The power output apparatus according to claim 1, wherein the driving limit is set on the basis of a relationship in which a sum of input and output electric power falls within the set input / output limit range.   The surplus power is an excess power that does not adversely affect the performance of the power storage means even if the power storage means is charged and discharged beyond the set input / output limit within a predetermined time. The power output apparatus according to 1 or 2.   2. The target motor torque setting means is a means for setting the target motor torque by further limiting a torque obtained by subtracting the post-limit torque from the required torque based on the set input / output limit. Thru | or any one of 3 power output devices.   The target drive state acting torque is calculated based on the torque output from the power / power input / output means to the drive shaft when there is no change in the rotational speed between the output shaft and the drive shaft. The power output device according to any one of claims 1 to 4, wherein the torque is obtained using a coefficient that takes into account a change in rotational speed between the motor and the drive shaft.   The power output device according to any one of claims 1 to 5, wherein the operating state change acting torque is a torque set to act on the drive shaft based on an initial explosion when starting the internal combustion engine.   The power output device according to any one of claims 1 to 5, wherein the operating state change acting torque is a torque set to act on the drive shaft based on a stop of fuel supply to the internal combustion engine. The power output device according to any one of claims 1 to 7,
The power power input / output means is connected to three axes of a generator capable of inputting / outputting power, the drive shaft, the output shaft, and a rotating shaft of the generator, and any two of the three shafts Three-axis power input / output means for inputting / outputting power to / from the remaining shaft based on the input / output power;
The driving state detecting means is means for detecting a generator rotational speed that is the rotational speed of the generator,
The target operating point setting means is means for setting a target rotational speed at which the internal combustion engine is to be operated and a target torque to be output from the internal combustion engine as the target operating point,
The drive limit setting means is a means for setting a generator torque limit as an upper and lower limit of a range of torque that may be output from the generator as the drive limit,
The target drive state setting means is a means for setting, as the target drive state, a target generator torque that is a target value of torque to be output from the generator so that the internal combustion engine rotates at the set target rotational speed. Yes,
The control means controls the internal combustion engine so that the set target torque is output from the internal combustion engine, and controls the generator so that the set target generator torque is output from the generator. , Means for controlling the motor so that the set target motor torque is output from the motor,
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. An internal combustion engine is 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 torque is applied to the drive shaft and the output shaft with input and output of electric power and power. Power motive power input / output means for inputting / outputting; an electric motor capable of outputting power to the drive shaft; and a power storage means capable of exchanging electric power with the power motive power input / output means and the motor; Is a control method for a power output device that outputs
(A) setting a target operating point at which the internal combustion engine should be operated based on a required torque required for the drive shaft;
(B) The power power input / output using the driving state of the power power input / output means, the rotational speed of the motor, the required torque, and the input / output limit that is the allowable maximum power that may charge / discharge the power storage means. Set the drive limit as the upper and lower limits of the range that may drive the means,
(C) setting a target drive state of the electric power drive input / output means so as to operate the internal combustion engine at the set target operation point within the set drive restriction range;
(D) A torque limit is set as an upper and lower limit of an allowable range of torque output from the power drive input / output unit to the drive shaft based on the set drive limit and marginal power in the performance of the power storage unit. ,
(E) A target drive state acting torque, which is a torque output to the drive shaft when the power power input / output means is driven in the target drive state, and a change in the operation state of the internal combustion engine to the drive shaft. Within the range of the input / output limitation based on the post-restricted torque obtained by limiting the drive shaft operating torque, which is the sum of the output torque and the operating state changing operating torque, by the set torque limitation and the required torque. To set a target motor torque which is a target value of torque to be output from the motor,
(F) The internal combustion engine is operated at the set target operation point, the power power input / output means is driven in the set target drive state, and the set target motor torque is output from the motor. Controlling the internal combustion engine, the power input / output means and the electric motor;
Control method of power output device.   In the step (b), the torque output to the drive shaft is in the range from a value of 0 to the required torque, the power input / output from / to the power power input / output means and the input / output from the motor. The method for controlling the power output apparatus according to claim 10, wherein the drive restriction is set based on a relationship in which a sum of the calculated power and the electric power falls within the input / output restriction range.   The surplus power is an excess power that does not adversely affect the performance of the power storage means even if the power storage means is charged and discharged beyond the set input / output limit within a predetermined time. The control method of the power output device of 10 or 11. A method for controlling a power output apparatus according to any one of claims 10 to 12,
The power power input / output means is connected to three axes of a generator capable of inputting / outputting power, the drive shaft, the output shaft, and a rotating shaft of the generator, and any two of the three shafts Three-axis power input / output means for inputting / outputting power to / from the remaining shaft based on the input / output power;
The driving state of the power drive input / output means is a generator rotational speed that is the rotational speed of the generator,
The step (a) is a step of setting a target rotational speed at which the internal combustion engine is to be operated and a target torque to be output from the internal combustion engine as the target operating point,
The step (b) is a step of setting a generator torque limit as an upper and lower limit of a range of torque that may be output from the generator as the drive limit,
The step (c) is a step of setting a target generator torque, which is a target value of torque to be output from the generator, as the target drive state so that the internal combustion engine rotates at the set target rotational speed. ,
The step (f) controls the internal combustion engine so that the set target torque is output from the internal combustion engine, and sets the generator so that the set target generator torque is output from the generator. Controlling and controlling the motor so that the set target motor torque is output from the motor.
Control method of power output device.

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