JP2017171006A - Control device of hybrid vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately calculate reaction torque acting on an engine from a damper side, in a hybrid vehicle including a power transmission device having an input shaft which is connected to the engine via a damper, and an electric motor which is connected to the input shaft via a clutch in parallel with the engine.SOLUTION: An engine ECU calculates reaction torque Tdmp acting on an engine from a flywheel damper side on the basis of an angular speed ωeg of the engine and an angular speed ωtm of an input shaft of a power transmission device when a clutch C2 between a motor generator and the power transmission device is released (S120, D140 and S150), and when the clutch C2 is engaged, calculates the reaction torque Tdmp on the basis of the angular speed ωeg of the engine and an angular speed ωmg of the motor generator (S130, S140 and S150).SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to control of a hybrid vehicle including an engine, a power transmission device having an input shaft connected to the engine via a damper, and an electric motor connected to the input shaft via a clutch in parallel with the engine. Relates to the device.

  Conventionally, as a hybrid vehicle, an engine having a starter, an automatic transmission unit having an input shaft connected to the output shaft of the engine via a first clutch, and an input shaft of the automatic transmission unit via a second clutch A vehicle including a motor generator is known (see, for example, Patent Document 1). In this vehicle, by engaging the first clutch and releasing the second clutch, the power from the motor generator is shifted by the automatic transmission unit while the engine is disconnected from the input shaft of the automatic transmission unit. Can be communicated to. Further, by engaging both the first and second clutches, the power from at least one of the engine and the motor generator can be shifted by the automatic transmission unit and transmitted to the drive wheels. Furthermore, by engaging the second clutch and releasing the first clutch, the power from the engine is shifted by the automatic transmission unit and transmitted to the drive wheels while the motor generator is disconnected from the input shaft of the automatic transmission unit. can do.

JP, 2006-011072, A

  In the hybrid vehicle as described above, the engine is preferably connected to the automatic transmission unit via a damper capable of damping torsional vibration. However, when such a damper is used, a torque as a reaction force (hereinafter referred to as “reaction force torque”) acts on the engine from the damper side mainly due to the twist of the damper, and the rotation of the engine The fluctuation is affected by the reaction torque. For this reason, for example, when the misfire determination is performed based on the rotational fluctuation of the engine, there is a possibility that the presence or absence of misfire cannot be accurately determined due to the influence of the reaction torque on the rotational fluctuation. Therefore, in order to improve the accuracy of misfire determination, it is required to appropriately calculate the reaction torque.

  Accordingly, an invention of the present disclosure is a hybrid vehicle including a power transmission device having an input shaft coupled to an engine via a damper, and an electric motor coupled to the input shaft via a clutch in parallel with the engine. The main purpose is to accurately calculate the reaction torque acting on the engine from the damper side.

  A control device for a hybrid vehicle of the present disclosure includes an engine, a power transmission device having an input shaft coupled to the engine via a damper, and the input shaft of the power transmission device via a clutch in parallel with the engine. A control device for a hybrid vehicle including an electric motor coupled to the first angular velocity acquisition means for acquiring the angular velocity of the engine, second angular velocity acquisition means for acquiring the angular velocity of the input shaft, and the angular velocity of the electric motor. A third angular velocity acquisition means for acquiring the torque, and when the clutch is disengaged, calculate a reaction force torque acting on the engine from the damper side based on the angular velocity of the engine and the angular velocity of the input shaft, When the clutch is engaged, a reaction force torque calculating unit that calculates the reaction force torque based on the angular velocity of the engine and the angular velocity of the electric motor. It is those with a door.

  When the clutch between the electric motor and the power transmission device is disengaged, this control device calculates reaction force torque acting on the engine from the damper side based on the angular velocity of the engine and the angular velocity of the input shaft. In addition, when the clutch is engaged, the control device calculates a reaction torque based on the engine angular velocity and the motor angular velocity. As a result, the reaction force torque can be accurately calculated both when the clutch is released and when the clutch is engaged.

  In addition, the control device may further include a rotation fluctuation acquisition unit that acquires a rotation fluctuation of the engine in consideration of the reaction force torque. As a result, it is possible to accurately determine the presence or absence of misfiring in the engine based on the rotation fluctuation after reducing the influence of the reaction torque on the rotation fluctuation of the engine.

  Furthermore, the control device may further include electric motor control means for controlling the electric motor so as to output a torque that cancels the reaction force torque when the clutch is engaged. Thereby, the vibration transmitted to the drive wheel can be reduced and drivability can be further improved.

It is a schematic block diagram of the hybrid vehicle controlled by the control apparatus of this indication. It is a flowchart which shows an example of the routine performed by the control apparatus of this indication in order to calculate the reaction force torque which acts on an engine from the damper side.

  Next, embodiments for carrying out the invention of the present disclosure will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a hybrid vehicle 1 controlled by the control device of the present disclosure. The hybrid vehicle 1 shown in the figure is a four-wheel drive vehicle, and includes an engine 10, a motor MG, a power transmission device 20, a transfer 40, a clutch C0 as a first clutch, and a clutch C2 as a second clutch. Including. Furthermore, hybrid vehicle 1 includes a high-voltage power storage device (hereinafter simply referred to as “power storage device”) 50, an auxiliary battery (low-voltage battery) 55, and a power control device (hereinafter referred to as “PCU”) that drives motor generator MG. 60 and a hybrid electronic control unit (hereinafter referred to as “HVECU”) 70 for controlling the entire vehicle.

  The engine 10 is an internal combustion engine that outputs power from a crankshaft 11 by causing an air-fuel mixture of hydrocarbon fuel such as gasoline or light oil and air to explode in a plurality of combustion chambers. As illustrated, the engine 10 includes a starter (engine starter) 12 that cranks and starts the engine 10, an alternator 13 that is driven by the engine 10 to generate electric power, and the like. Further, the crankshaft 11 of the engine 10 is connected to a flywheel damper 14. The flywheel damper 14 includes a plurality of coil springs (elastic bodies) (not shown) that attenuate torsional vibration.

  The engine 10 is controlled by an engine electronic control unit (hereinafter referred to as “engine ECU”) 15 which is a microcomputer including a CPU (not shown). The engine ECU 15 executes intake air amount control, fuel injection control, ignition timing control and the like so as to obtain torque required for the engine 10 based on a command signal from the HVECU 70 and signals from various sensors. Further, the engine ECU 15 controls auxiliary equipment of the engine 10 such as the starter 12. Further, the engine ECU 15 calculates the rotational speed Ne of the engine 10 (crankshaft) based on an output signal of a crank angle sensor (not shown).

  The engine ECU 15 is the time required for the crankshaft 11 to rotate by 30 degrees each time the crankshaft 11 rotates by a predetermined angle (for example, 10 degrees) based on the output signal of the crank angle sensor. The 30-degree rotation required time T30 (msec) is acquired, and the angular speed ωeg (rad / sec) of the crankshaft 11 (engine 10) is calculated based on the 30-degree rotation required time T30. The angular velocity ωeg is calculated as ωeg = 2π × (30/360) / T30 × 1000. Further, when the ignition timing arrives for each combustion chamber, the engine ECU 15 calculates the rotational fluctuation Δω of the engine 10 based on the angular velocity ωeg calculated at that time and the angular velocity ωeg at the previous ignition timing of the combustion chamber. Based on the rotational fluctuation Δω, it is determined whether or not misfire has occurred in the combustion chamber.

  Motor generator MG is a synchronous generator motor (three-phase AC motor) having a rotor in which a permanent magnet is embedded and a stator around which a three-phase coil is wound, and exchanges power with power storage device 50 via PCU 60. Motor generator MG operates as an electric motor that is driven by electric power from power storage device 50 to generate power, and outputs regenerative braking torque when hybrid vehicle 1 is braked. Motor generator MG also functions as a generator that generates electric power using at least a part of the power from engine 10 that is operated under load.

  The power transmission device 20 includes a multi-plate or single-plate lockup clutch (engagement element) 22, a torque converter (fluid transmission device), a starting device 21 having a damper device (not shown), a mechanical oil pump 23, A transmission mechanism (automatic transmission) 24, an electric oil pump 29, a hydraulic control device 30 and the like are included. The starting device 21 has a front cover coupled (fixed) so as to rotate integrally with the transmission shaft 17 and the pump impeller of the torque converter. The lockup clutch 22 includes the front cover and an input shaft 26 of the speed change mechanism 24. Are connected to each other and the connection between them is released. The transmission mechanism 24 is configured, for example, as a four- to ten-speed transmission, and includes a plurality of planetary gears and a plurality of clutches and brakes (engaging elements for shifting). The speed change mechanism 24 changes the power transmitted from the transmission shaft 17 to the input shaft 26 via the torque converter or the lock-up clutch 22 in a plurality of stages and outputs it from the output shaft 27.

  The hydraulic control device 30 has a valve body in which a plurality of oil passages are formed, a plurality of regulator valves, a plurality of linear solenoid valves, and the like, and adjusts the hydraulic pressure from the mechanical oil pump 23 or the electric oil pump 29. It is supplied to the clutch and brake of the lockup clutch 22 and the transmission mechanism 24. The hydraulic control device 30 is controlled by a transmission electronic control device (hereinafter referred to as “TMECU”) 25 which is a microcomputer including a CPU (not shown). As a result, the lockup clutch 22 and the clutch and brake of the speed change mechanism 24 are controlled so as to operate according to the state of the hybrid vehicle 1. Further, the TMECU 25 multiplies the rotational speed (rpm) of the input shaft 26 detected by the rotational speed sensor 28 by (π / 30) every predetermined time (for example, several milliseconds) to obtain the angular velocity ωtm of the input shaft 26. calculate.

  The transfer 40 includes a center differential and a differential lock mechanism (both not shown) that locks the center differential, and transmits power from the output shaft 27 of the transmission mechanism 24 to the front propeller shaft 41 (first shaft) and the rear propeller shaft 42. (The second axis) can be distributed and transmitted. The power output to the front propeller shaft 41 by the transfer 40 is transmitted to the front drive wheel Wf via the front differential gear 43, and the power output to the rear propeller shaft 42 by the transfer 40 passes through the rear differential gear 44. To the rear drive wheel Wr.

  The clutch C0 connects the crankshaft 11 and the transmission shaft 17 of the engine 10 to each other and releases the connection between them. In this embodiment, the clutch C0 includes a clutch hub that is always connected to the crankshaft 11 via the flywheel damper 14, a clutch drum that is always connected to the transmission shaft 17, a piston, a plurality of friction plates, and a separator plate, respectively. It is a multi-plate friction type hydraulic clutch (friction engagement element) having a hydraulic servo constituted by an engagement oil chamber to which hydraulic oil is supplied, a centrifugal hydraulic pressure cancellation chamber, and the like. However, the clutch C0 may be a single plate friction type hydraulic clutch. In the present embodiment, the clutch C0 is released as the hydraulic pressure in the engagement oil chamber decreases, and engages as the hydraulic pressure in the engagement oil chamber increases, so-called normally open type (normally open). Type) clutch. When the clutch C0 is engaged, the engine 10 (crankshaft 11) is connected to the front drive wheel Wf and the rear drive wheel Wr via the flywheel damper 14, the clutch C0, the transmission shaft 17, the power transmission device 20, the transfer 40, and the like. Connected.

  Clutch C2 connects the rotor of motor generator MG and transmission shaft 17, that is, power transmission device 20, to each other and releases the connection between them. In the present embodiment, the clutch C2 is a hydraulic dog clutch. However, the clutch C2 may be a multi-plate friction hydraulic clutch or a single-plate friction hydraulic clutch. In the present embodiment, the clutch C2 is engaged when the hydraulic pressure is not supplied to the hydraulic servo, and is released when the hydraulic pressure is supplied to the hydraulic servo, so-called normally closed type (normally closed type). The clutch. When the clutch C2 is engaged, the motor generator MG (rotor) is connected in parallel with the engine 10 via the clutch C2, the transmission shaft 17, the power transmission device 20, the transfer 40, etc., to the front drive wheels Wf and the rear drive wheels Wr. Connected to

  In the present embodiment, clutches C0 and C2 are arranged inside the stator of motor generator MG, as shown in FIG. The hydraulic control device 30 has two linear solenoid valves that regulate the line pressure as the original pressure and supply the line pressure to the hydraulic servo of the clutch C0 or C2, and the linear solenoid valves corresponding to the clutches C0 and C2. Is controlled by the TMECU 25 in response to a command signal from the HVECU 70.

  The power storage device 50 is, for example, a lithium ion secondary battery or a nickel hydride secondary battery with a rated output voltage of about 200 to 300 V, and is a power management electronic control device (not shown, hereinafter) that is a microcomputer including a CPU (not shown). , Referred to as “power management ECU”. Power storage device 50 may be a capacitor or may include both a secondary battery and a capacitor. The auxiliary battery 55 is a lead storage battery having a rated output voltage of 12 V, for example, and is charged by the electric power from the alternator 13. The auxiliary battery 55 supplies power to auxiliary machines such as the starter 12 of the engine 10, the electric oil pump 29, and the hydraulic control device 30, and electronic devices such as an ECU.

  PCU 60 is connected to power storage device 50 via system main relay SMR and is also connected to auxiliary battery 55. PCU 60 includes an inverter that drives motor generator MG, a boost converter, a DC / DC converter, and the like (all not shown). The inverter includes, for example, six transistors as switching elements and six diodes connected in parallel to these transistors in the reverse direction. The boost converter can boost the voltage from power storage device 50 and supply the boosted voltage to the inverter, and step down the voltage from the inverter and supply the same to power storage device 50. The DC / DC converter can step down the power from the high voltage system including the power storage device 50 and supply it to the low voltage system, that is, the auxiliary battery 55 and various auxiliary machines.

  The PCU 60 is controlled by a motor electronic control unit (hereinafter referred to as “MG ECU”) 65 which is a microcomputer including a CPU (not shown). The MGECU 65 applies the command signal from the HVECU 70, the pre-boosting voltage VL and the post-boosting voltage VH of the boost converter, the detection value of the rotational position sensor (resolver) 18 that detects the rotational position of the rotor of the motor generator MG, and the motor generator MG. The phase current to be input is input. The MGECU 65 performs switching control of the inverter and the boost converter based on these input signals. Further, the MGECU 65 calculates the rotational speed Nm (rpm) of the rotor of the motor generator MG based on the detection value of the rotational position sensor 18 every predetermined time (for example, several milliseconds), and sets the rotational speed Nm to (π / 30) to calculate the angular velocity ωmg of the rotor (motor generator MG).

  The HVECU 70 is a microcomputer including a CPU, a ROM, a RAM, an input / output device and the like (not shown), and exchanges various signals with the ECUs 15, 25, 65, etc. via a network (CAN). Further, the HVECU 70, for example, a signal from a start switch, an accelerator opening Acc detected by an accelerator pedal position sensor (not shown), a vehicle speed V detected by a vehicle speed sensor (not shown), a rotational speed Ne of the engine 10 from the engine ECU 15, The rotational speed Nm of the motor generator MG is input from the MGECU 65. The HVECU 70 controls opening and closing of the system main relay SMR.

  In the hybrid vehicle 1 configured as described above, when the mechanical oil pump 23 and the electric oil pump 29 are not generating hydraulic pressure due to a system stop (during parking), the clutch C0 is released and the engine 10 The connection with the transmission shaft 17 is released, and the motor generator MG and the transmission shaft 17 are connected by the engagement of the clutch C2. Then, after the system is started, the hybrid vehicle 1 starts with power from the motor generator MG with the clutch C0 released and the clutch C2 engaged. At this time, since the connection between the engine 10 and the transmission shaft 17 is released by the clutch C0, it is possible to prevent the engine 10 from rotating and improve the efficiency (fuel consumption) in the hybrid vehicle 1.

  Further, the HVECU 70 transmits an engagement command (ON command) and a release command (OFF command) of the clutches C0 and C2 to the TMECU 25 according to the traveling state of the hybrid vehicle 1. Specifically, when a predetermined engine start condition is established after the hybrid vehicle 1 starts, the HVECU 70 transmits an engagement command for the clutch C0 to the TMECU 25. The TMECU 25 that has received the engagement command controls the hydraulic control device 30 so that the clutch C0 is engaged, and appropriately executes slip control of the clutch C0 so that the engagement shock of the clutch C0 does not occur. After engagement of the clutch C0, the HVECU 70 controls the motor generator MG so as to crank the engine 10 in cooperation with the engine ECU 15 and the MGECU 65, and starts fuel injection and ignition to start the engine 10.

  After the clutch C0 is thus engaged and the engine 10 is started, the motor generator MG generates power while operating the engine 10 at an operating point near the optimum fuel consumption line according to the SOC of the power storage device 50. The power storage device 50 can be charged with the electric power. In this case, motor generator MG can be driven by the electric power from power storage device 50, and torque can be output from both engine 10 and motor generator MG to front and rear drive wheels Wf, Wr. Thereby, the fuel consumption of the hybrid vehicle 1 can be further improved.

  Note that after the clutch C0 is engaged, the engine 10 is cranked by the motor generator MG, so that the discharge of the auxiliary battery 55 can be suppressed. However, when the engine 10 is started, the engine 10 is It goes without saying that it may be cranked. In this case, after the engine 10 is started by cranking of the starter 12, the clutch C0 may be engaged while performing slip control.

  Further, when a predetermined release condition for the clutch C2 is established as the vehicle speed V increases, the HVECU 70 transmits a release command for the clutch C2 to the TMECU 25, and the TMECU 25 performs hydraulic control so that the clutch C2 is released. The apparatus 30 is controlled. Further, when releasing the clutch C2, the TMECU 25 sets the clutch C2 release flag set to the value 0 when the clutch C2 is engaged to the value 1 to indicate that the clutch C2 is released. Set. In this way, the clutch C2 is released and the motor generator MG is disconnected from the transmission shaft 17 during high-speed cruise of the hybrid vehicle 1, thereby preventing the motor generator MG from being accompanied and improving the efficiency (fuel consumption) in the hybrid vehicle 1. be able to.

  Here, while the hybrid vehicle 1 is traveling, the reaction torque Tdmp acts on the engine 10 (crankshaft 11) mainly from the torsion of the coil spring of the flywheel damper 14 from the flywheel damper 14 side. The rotational fluctuation Δω of the engine 10 described above is affected by the reaction force torque. Therefore, in the hybrid vehicle 1 of the present embodiment, the routine of FIG. 2 for obtaining the reaction force torque Tdmp and the like so that the influence of the reaction force torque Tdmp can be taken into account in the misfire determination based on the rotation fluctuation Δω. Is executed.

  In the routine shown in FIG. 2, when the engine 10 is operated after the start switch is turned on by the driver and the hybrid vehicle 1 is activated, the engine ECU 15 causes the crankshaft 11 to move by a predetermined angle (for example, 10 degrees). Repeated every time it rotates.

  At the start of the routine of FIG. 2, the engine ECU 15 (CPU not shown) inputs the value of the clutch C2 release flag from the TMECU 25 (step S100), and is the clutch C2 released based on the value of the clutch C2 release flag? It is determined whether or not (step S110). When it is determined in step S110 that the clutch C2 has been released (step S110: YES), the engine ECU 15 inputs the angular velocity ωeg of the engine 10 that is calculated separately, and from the TMECU 25 to the speed change mechanism 24 (power transmission device). 20), the angular velocity ωtm of the input shaft 26 is input (step S120). Further, in step S120, the engine ECU 15 stores the angular velocity ωeg in the variable ω1 and stores the angular velocity ωtm in the variable ω2. On the other hand, when it is determined in step S110 that the clutch C2 is engaged (step S110: NO), the engine ECU 15 inputs the angular velocity ωeg of the engine 10 that is calculated separately, and from the motor generator MG ( The angular velocity ωmg of the rotor is input (step S130). Further, in step S130, the engine ECU 15 stores the angular velocity ωeg in the variable ω1 and stores the angular velocity ωmg in the variable ω2.

  After the process of step S120 or S130, the engine ECU 15 integrates the difference (= ω2−ω1) between the variable ω2 and the variable ω1 over a predetermined time (for example, the time required for 30-degree rotation T30 at that time). Thus, the torsion angle θdmp of the flywheel damper 14 (coil spring) is calculated (step S140). Next, the engine ECU 15 calculates the reaction torque Tdmp described above based on the twist angle θdmp calculated in step S140 according to the following equation (1) (step S150). However, the equation (1) is a relational expression obtained from an equation of motion about two rotating mass points (corresponding to the engine 10 and the power transmission device 20 or the motor generator MG) connected via an elastic body. In equation (1), “Ie” is the moment of inertia (inertia) of the engine 10, and “Kdmp” is the rigidity (equivalent rigidity) of the flywheel damper, both of which are constant values.

  Tdmp = (1 / Ie) · θdmp · Kdmp (1)

  Further, the engine ECU 15 integrates the reaction force torque Tdmp calculated in step S150 with respect to a predetermined time (for example, the time required for 30-degree rotation T30 at that time), thereby reacting from the flywheel damper 14 side. The angular velocity ωreso generated in the engine 10 (and the power transmission device 20 (when the clutch C2 is released) or the motor generator MG (when the clutch C2 is engaged)) due to the action of Tdmp is calculated (step S160), and the processing after step S100 is executed again. To do.

  As a result of executing the routine of FIG. 2 as described above, when the clutch C2 between the motor generator MG and the power transmission device 20 (input shaft 26) is released, the angular speed ωeg of the engine 10 and the input shaft 26 Based on the angular velocity ωtm, reaction force torque Tdmp acting (applied) to engine 10 is calculated from the flywheel damper 14 side (steps S120, S140, S150). When clutch C2 is engaged, reaction force torque Tdmp is calculated based on angular speed ωeg of engine 10 and angular speed ωmg of motor generator MG (steps S130, S140, S150). As a result, the reaction force torque Tdmp can be accurately calculated both when the clutch C2 is released and when it is engaged. In the hybrid vehicle 1 according to the present embodiment, the release condition for the clutch C2 is established when the vehicle speed V is increased to some extent. Therefore, when the clutch C2 is released, the lockup clutch 22 of the power transmission device 20 is engaged, and the input shaft 26 of the power transmission device 20 (transmission mechanism 24) is directly connected to the flywheel damper 14. The reaction force torque Tdmp can be calculated using the relationship of the above equation (1).

  Further, by calculating the angular velocity ωreso generated in the engine 10 due to the action of the reaction force torque Tdmp in step S160 of FIG. 2, the engine considering the reaction force torque Tdmp using the angular velocity ωreso when determining the misfire of each combustion chamber. Ten rotational fluctuations Δω can be calculated. That is, by subtracting the difference (ωeg−ωreso) between the angular velocity ωeg and the angular velocity ωreso at the previous ignition timing of the combustion chamber from the difference (ωeg−ωreso) between the angular velocity ωeg and the angular velocity ωreso at the ignition timing of a certain combustion chamber. Thus, it is possible to obtain the rotational fluctuation Δω of the engine 10 in which the influence of the reaction force torque Tdmp is reduced (substantially eliminated). When the misfire has occurred in any combustion chamber of the engine 10, the value of the rotational fluctuation Δω becomes small due to a decrease in the rotational speed of the engine 10 due to the misfire. Therefore, when the rotational fluctuation Δω is equal to or less than a predetermined threshold value, it can be determined that there is a possibility that misfire has occurred in the combustion chamber. Further, when the rotational fluctuation Δω is equal to or less than the threshold value, a misfire counter (not shown) provided for each combustion chamber is incremented, and the count value of the misfire counter is rotated a predetermined number of times (for example, 1000 rev) for each combustion chamber. When it becomes more than the determination threshold value corresponding to, for example, 80 to 90% of the number of ignitions during the period, it may be determined that misfire has occurred in the combustion chamber.

  Furthermore, in the hybrid vehicle 1, the motor generator MG may be controlled to output a torque that cancels the reaction torque Tdmp calculated in step S150 of FIG. 2 when the clutch C2 is engaged. As a result, the vibration transmitted to the front and rear drive wheels Wf and Wr can be reduced to further improve drivability. In this case, a torque command corresponding to the reaction force torque Tdmp may be set and transmitted to the MGECU 65 by the HVECU 70 that has input the reaction force torque Tdmp from the engine ECU 15, and the torque command corresponding to the reaction force torque Tdmp may be transmitted by the engine ECU 15. It may be set and transmitted to the MGECU 65.

  As described above, the engine ECU 15 as the control device of the present disclosure includes the engine 10, the power transmission device 20 having the input shaft 26 connected to the engine 10 via the flywheel damper 14, and the engine 10 in parallel. In addition, the hybrid vehicle 1 including the motor generator MG coupled to the input shaft 26 of the power transmission device 20 via the clutch C2 is controlled. Further, the engine ECU 15 is a first angular velocity acquisition unit that acquires the angular velocity ωeg of the engine 10, a second angular velocity acquisition unit that acquires the angular velocity ωtm of the input shaft 26, and a third angular velocity acquisition unit that acquires the angular velocity ωmg of the motor generator. It functions (steps S120 and S130 in FIG. 2). Further, the engine ECU 15 calculates a reaction torque Tdmp acting on the engine 10 from the flywheel damper 14 side based on the angular speed ωeg of the engine 10 and the angular speed ωtm of the input shaft 26 when the clutch C2 is released. When the clutch C2 is engaged, it functions as a reaction force torque calculating means (steps S120 to S150 in FIG. 2) that calculates the reaction force torque Tdmp based on the angular speed ωeg of the engine 10 and the angular speed ωmg of the motor generator MG. . As a result, the reaction force torque Tdmp can be accurately calculated both when the clutch C is released and when it is engaged.

  The hybrid vehicle 1 includes a plurality of ECUs 15, 25, 65, 70, etc. All or a part of these ECUs may be integrated into a single ECU. Furthermore, it goes without saying that the hybrid vehicle 1 may be configured as a front wheel drive vehicle or a rear wheel drive vehicle.

  And the invention of this indication is not limited to the above-mentioned embodiment at all, and it cannot be overemphasized that various changes can be made within the range of the extension of this indication. Furthermore, the above-described embodiment is merely a specific form of the invention described in the Summary of Invention column, and does not limit the elements of the invention described in the Summary of Invention column.

  The invention of the present disclosure can be used in the hybrid vehicle manufacturing industry and the like.

  DESCRIPTION OF SYMBOLS 1 Hybrid vehicle, 10 Engine, 11 Crankshaft, 12 Starter, 13 Alternator, 14 Flywheel damper, 15 Engine electronic control unit (engine ECU), 17 Transmission shaft, 18 Rotation position sensor, 20 Power transmission device, 21 Starting device, 22 lock-up clutch, 23 mechanical oil pump, 24 transmission mechanism, 25 transmission electronic control unit (TMECU), 26 input shaft, 27 output shaft, 28 rotation speed sensor, 29 electric oil pump, 30 hydraulic control device, 40 transfer, 41 Front Propeller Shaft, 42 Rear Propeller Shaft, 43 Front Differential Gear, 44 Rear Differential Gear, 50 Power Storage Device, 55 Auxiliary Battery, 60 Power Control Unit (PCU), 65 Motor Electronic Control Unit (MGECU) ), 70 Hybrid electronic control unit (HVECU), C0, C2 clutch, MG motor generator, SMR system main relay, Wf front drive wheel, Wr rear drive wheel.

Claims (1)

A hybrid vehicle including an engine, a power transmission device having an input shaft coupled to the engine via a damper, and an electric motor coupled to the input shaft of the power transmission device via a clutch in parallel with the engine A control device of
First angular velocity acquisition means for acquiring the angular velocity of the engine;
Second angular velocity acquisition means for acquiring the angular velocity of the input shaft;
Third angular velocity acquisition means for acquiring the angular velocity of the electric motor;
When the clutch is disengaged, the reaction force torque acting on the engine is calculated from the damper side based on the angular velocity of the engine and the angular velocity of the input shaft, and when the clutch is engaged, Reaction force torque calculating means for calculating the reaction torque based on an angular velocity of the engine and an angular velocity of the electric motor;
A control apparatus for a hybrid vehicle comprising:

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