JP2009248600A - 動力出力装置およびこれを備える車両並びに動力出力装置の制御方法 - Google Patents
動力出力装置およびこれを備える車両並びに動力出力装置の制御方法 Download PDFInfo
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- JP2009248600A JP2009248600A JP2008095351A JP2008095351A JP2009248600A JP 2009248600 A JP2009248600 A JP 2009248600A JP 2008095351 A JP2008095351 A JP 2008095351A JP 2008095351 A JP2008095351 A JP 2008095351A JP 2009248600 A JP2009248600 A JP 2009248600A
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
- B60W2710/105—Output torque
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
- F16H37/0833—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with arrangements for dividing torque between two or more intermediate shafts, i.e. with two or more internal power paths
- F16H37/084—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with arrangements for dividing torque between two or more intermediate shafts, i.e. with two or more internal power paths at least one power path being a continuously variable transmission, i.e. CVT
- F16H2037/0866—Power split variators with distributing differentials, with the output of the CVT connected or connectable to the output shaft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
- F16H3/727—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously with at least two dynamo electric machines for creating an electric power path inside the gearing, e.g. using generator and motor for a variable power torque path
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
【解決手段】モータMG1,MG2から駆動軸に出力されるトルクの総和が値0から要求トルクTr*までの範囲内となる条件と、モータMG1,MG2から入出力される電力の総和がバッテリの入出力制限Win,Woutの範囲内となる条件と、モータMG2のトルクが負の値の許容最大変化量ΔTから前回のトルク指令Tm2*に許容最大変化量ΔTを加えた値までの範囲内となる条件とを満たす範囲内でトルク制限Tm1min,Tm1maxを設定してモータMG1のトルク指令Tm1*を設定すると共にバッテリの入出力制限Win,Woutの範囲内で要求トルクTr*を駆動軸に出力するようモータMG2のトルク指令Tm2*を設定する(S160〜S210)。
【選択図】図5
Description
駆動軸に動力を出力する動力出力装置であって、
内燃機関と、
動力を入出力する発電機と、
前記駆動軸と前記内燃機関の出力軸と前記発電機の回転軸との3軸に接続され、該3軸のうちのいずれか2軸に入出力される動力に基づいて残余の軸に動力を入出力する3軸式動力入出力手段と、
前記駆動軸に動力を入出力する電動機と、
前記発電機および前記電動機と電力のやりとりが可能な蓄電手段と、
前記蓄電手段の状態に基づいて該蓄電手段を充放電してもよい最大電力としての入出力制限を設定する入出力制限設定手段と、
前記駆動軸に要求される要求トルクを設定する要求トルク設定手段と、
前記発電機から入出力する発電機入出力電力と前記電動機から入出力する電動機入出力電力との和が前記設定された入出力制限の範囲内となる入出力条件と、前記発電機から出力するトルクに基づいて前記駆動軸に作用するトルクと前記電動機から出力するトルクに基づいて前記駆動軸に作用するトルクとの和が値0から前記設定された要求トルクの範囲内となる駆動トルク条件と、前記電動機から出力するトルクが前記電動機が出力しているトルクから変更が許容される許容トルク範囲内となる電動機トルク変更条件と、を含む設定条件を満たす範囲内で所定の制約に基づいて前記内燃機関を運転すると共に前記設定された要求トルクが前記駆動軸に出力されるよう前記内燃機関と前記発電機と前記電動機とを制御する制御手段と、
を備えることを要旨とする。
内燃機関と、動力を入出力する発電機と、駆動軸と前記内燃機関の出力軸と前記発電機の回転軸との3軸に接続され該3軸のうちのいずれか2軸に入出力される動力に基づいて残余の軸に動力を入出力する3軸式動力入出力手段と、前記駆動軸に動力を入出力する電動機と、前記発電機および前記電動機と電力のやりとりが可能な蓄電手段と、を備える動力出力装置の制御方法であって、
前記発電機から入出力する発電機入出力電力と前記電動機から入出力する電動機入出力電力との和が前記蓄電手段の状態に基づいて該蓄電手段を充放電してもよい最大電力としての入出力制限の範囲内となる入出力条件と、前記発電機から出力するトルクに基づいて前記駆動軸に作用するトルクと前記電動機から出力するトルクに基づいて前記駆動軸に作用するトルクとの和が値0から前記駆動軸に要求される要求トルクの範囲内となる駆動トルク条件と、前記電動機から出力するトルクが前記電動機が出力しているトルクから変更が許容される許容トルク範囲内となる電動機トルク変更条件と、を含む設定条件を満たす範囲内で所定の制約に基づいて前記内燃機関を運転すると共に前記要求トルクが前記駆動軸に出力されるよう前記内燃機関と前記発電機と前記電動機とを制御する、
ことを特徴とする。
Tm1tmp=ρ・Te*/(1+ρ)+k1(Nm1*-Nm1)+k2∫(Nm1*-Nm1)dt (2)
Win≦Tm1・Nm1+Tm2・Nm2≦Wout (4)
−ΔT≦Tm2≦前回Tm2*+ΔT (5)
Tm1*=max(min(Tm1tmp,Tm1max),Tm1min) (6)
Tm2min=(Win-Tm1*・Nm1)/Nm2 (8)
Tm2max=(Wout-Tm1*・Nm1)/Nm2 (9)
Tm2*=max(min(Tm2tmp,Tm2max,前回Tm2*+ΔT),Tm2min,-ΔT) (10)
Claims (7)
- 駆動軸に動力を出力する動力出力装置であって、
内燃機関と、
動力を入出力する発電機と、
前記駆動軸と前記内燃機関の出力軸と前記発電機の回転軸との3軸に接続され、該3軸のうちのいずれか2軸に入出力される動力に基づいて残余の軸に動力を入出力する3軸式動力入出力手段と、
前記駆動軸に動力を入出力する電動機と、
前記発電機および前記電動機と電力のやりとりが可能な蓄電手段と、
前記蓄電手段の状態に基づいて該蓄電手段を充放電してもよい最大電力としての入出力制限を設定する入出力制限設定手段と、
前記駆動軸に要求される要求トルクを設定する要求トルク設定手段と、
前記発電機から入出力する発電機入出力電力と前記電動機から入出力する電動機入出力電力との和が前記設定された入出力制限の範囲内となる入出力条件と、前記発電機から出力するトルクに基づいて前記駆動軸に作用するトルクと前記電動機から出力するトルクに基づいて前記駆動軸に作用するトルクとの和が値0から前記設定された要求トルクの範囲内となる駆動トルク条件と、前記電動機から出力するトルクが前記電動機が出力しているトルクから変更が許容される許容トルク範囲内となる電動機トルク変更条件と、を含む設定条件を満たす範囲内で所定の制約に基づいて前記内燃機関を運転すると共に前記設定された要求トルクが前記駆動軸に出力されるよう前記内燃機関と前記発電機と前記電動機とを制御する制御手段と、
を備える動力出力装置。 - 前記制御手段は、前記発電機が出力するトルクが前記発電機が出力しているトルクから変更が許容される範囲内となる発電機トルク変更条件を前記設定条件の1つとして含んで前記内燃機関と前記発電機と前記電動機とを制御する手段である請求項1記載の動力出力装置。
- 前記電動機トルク変更条件は、前記電動機が出力するトルクが前記電動機が出力しているトルクから変更トルクだけ大きいトルクと値0から前記変更トルクだけ小さいトルクとからなる範囲を前記許容トルク範囲とする条件である請求項1または2記載の動力出力装置。
- 請求項3記載の動力出力装置であって、
前記蓄電手段側の電圧に対する前記発電機および前記電動機側の電圧の調整を行なうことにより前記蓄電手段と前記発電機および前記電動機との電力のやりとりを行なう電圧調整手段を備え、
前記電動機トルク変更条件は、前記電圧調整手段により前記発電機および前記電動機側の電圧が前記蓄電手段側の電圧と同一の電圧とされているときには第1のトルクを前記変更トルクとして用いて得られる範囲を前記許容トルク範囲とする条件であり、前記電圧調整手段により前記発電機および前記電動機側の電圧が前記蓄電手段側の電圧より高い電圧とされているときには前記第1のトルクより大きな第2のトルクを前記変更トルクとして用いて得られる範囲を前記許容トルク範囲とする条件である、
動力出力装置。 - 前記制御手段は、前記設定された要求トルクと前記所定の制約とに基づいて前記内燃機関の目標運転ポイントを設定すると共に前記設定条件を満たす範囲内で前記内燃機関を前記設定した目標運転ポイントで運転すると共に前記設定された要求トルクが前記駆動軸に出力されるよう前記発電機および前記電動機のトルク指令を設定し、前記設定したトルク指令により前記発電機および前記電動機を駆動すると共に前記所定の制約により前記内燃機関が運転されるよう前記内燃機関と前記発電機と前記電動機とを制御する手段である請求項1ないし4のいずれか1つの請求項に記載の動力出力装置。
- 請求項1ないし5のいずれか1つの請求項に記載の動力出力装置を搭載し、車軸が前記駆動軸に連結されてなる車両。
- 内燃機関と、動力を入出力する発電機と、駆動軸と前記内燃機関の出力軸と前記発電機の回転軸との3軸に接続され該3軸のうちのいずれか2軸に入出力される動力に基づいて残余の軸に動力を入出力する3軸式動力入出力手段と、前記駆動軸に動力を入出力する電動機と、前記発電機および前記電動機と電力のやりとりが可能な蓄電手段と、を備える動力出力装置の制御方法であって、
前記発電機から入出力する発電機入出力電力と前記電動機から入出力する電動機入出力電力との和が前記蓄電手段の状態に基づいて該蓄電手段を充放電してもよい最大電力としての入出力制限の範囲内となる入出力条件と、前記発電機から出力するトルクに基づいて前記駆動軸に作用するトルクと前記電動機から出力するトルクに基づいて前記駆動軸に作用するトルクとの和が値0から前記駆動軸に要求される要求トルクの範囲内となる駆動トルク条件と、前記電動機から出力するトルクが前記電動機が出力しているトルクから変更が許容される許容トルク範囲内となる電動機トルク変更条件と、を含む設定条件を満たす範囲内で所定の制約に基づいて前記内燃機関を運転すると共に前記要求トルクが前記駆動軸に出力されるよう前記内燃機関と前記発電機と前記電動機とを制御する、
ことを特徴とする動力出力装置の制御方法。
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CN111204323A (zh) * | 2018-11-22 | 2020-05-29 | 丰田自动车株式会社 | 动力传动系统 |
CN111204323B (zh) * | 2018-11-22 | 2023-03-28 | 丰田自动车株式会社 | 动力传动系统 |
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