JP3912332B2 - POWER OUTPUT DEVICE, ITS CONTROL METHOD, AND AUTOMOBILE - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To output stable power from an electric motor, while considering the state of a battery. <P>SOLUTION: Output allowable range as the output limit of a motor MG2 is set (S118) with the variations between input and output limits Win, Wout, set corresponding to the state of the battery (S112) and a temporary output Pml of the motor MG1 set within the limit of a hysteresis width His, corresponding to the input and output limits Win, Wout with respect to a target output Pml of the motor MG1 (S114, 116). An engine and the motors MG1, MG2 are controlled so that a request torque Tr* is output to a driven axis within the output tolerance (S120 to S128). For the hysteresis width His, width the absolute values of the output limit Wout is, smaller the input limit Win, that is, the more deteriorated the state of the battery becomes, the narrower its width becomes. Thus, when the state of the battery is proper, stable power can be outputted from the electric motor to the driven axis, and when the state of the battery is deteriorated, overcharging and overdischarging of the battery can be prevented. <P>COPYRIGHT: (C)2005,JPO&amp;NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a power output device, a control method thereof, and an automobile, and more particularly, to a power output device including an electric motor capable of outputting power to a drive shaft, a control method thereof, and an automobile.
[0002]
[Prior art]
Conventionally, as this kind of power output device, an engine, a planetary gear mechanism in which a carrier is connected to a crankshaft of the engine and a ring gear is connected to a drive shaft mechanically coupled to an axle, and a planetary gear mechanism A first motor that inputs and outputs power to the sun gear, a second motor that inputs and outputs power to the drive shaft, and a battery that exchanges power with the first motor and the second motor has been proposed (for example, , See Patent Document 1). In this device, all of the power from the engine can be torque-converted by the first motor and the second motor without charging / discharging the battery, and the required driving force can be output to the drive shaft. A part or all of the power from the engine can be torque-converted by the first motor and the second motor to output the required driving force to the drive shaft. The first motor and the second motor are controlled so as to be limited within the range of the battery power limit in order to avoid overcharging and overdischarging of the battery.
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 11-187777 (FIG. 1)
[0004]
[Problems to be solved by the invention]
In such a power output apparatus, it is necessary to limit the output from the second motor based on the power limit of the battery and the power charged / discharged from the battery in accordance with the power input / output from the first motor. Thus, since the second motor inputs and outputs power to the drive shaft, it is desirable to set the output limit of the second motor so that a stable drive force can be output to the drive shaft. On the other hand, depending on the state of the battery, it is necessary to strictly set the output limit of the motor with respect to the power limit of the battery.
[0005]
The power output device and the control method thereof according to the present invention have an object to enable more stable required driving force to be input / output from / to the drive shaft while considering the state of the power storage device such as a battery. Another object of the present invention is to make it possible to input and output a more stable required driving force from an electric motor to a driving shaft connected to driving wheels while considering the state of a power storage device.
[0006]
[Means for solving the problems and their functions and effects]
The power output apparatus, the control method thereof, and the automobile of the present invention employ the following means in order to achieve at least part of the above-described object.
[0007]
The power output apparatus of the present invention is
A power output device including an electric motor capable of outputting power to a drive shaft,
Power storage means capable of exchanging power with the motor;
Power input / output means for inputting / outputting electric power to / from an electric power system including the power storage means and the electric motor;
State detecting means for detecting the state of the power storage means;
Power limit setting means for setting a power limit of the power storage means based on the detected state of the power storage means;
Setting mode determining means for determining a setting mode of output restriction of the electric motor based on the detected state of the power storage means;
Output limit setting means for setting the output limit of the motor based on the set power limit of the power storage means, the target output of the power input / output means, and the determined setting mode;
The power input / output means and the power input / output means are operated so that the power input / output means is operated at the target output and the driving force corresponding to the required driving force is output to the drive shaft within the set output limit of the electric motor. Control means for controlling the motor;
It is a summary to provide.
[0008]
In the power output device of the present invention, the power limit of the power storage unit is set based on the state of the power storage unit, and the setting mode of the output limit of the electric motor capable of outputting power to the drive shaft is determined, and the set power storage The output limit of the motor based on the power limit of the means, the determined setting of the output limit of the motor, and the target output of the power input / output means for inputting / outputting power to / from the power system including the power storage means and the motor The power input / output means and the motor are operated so that the power input / output means is operated at the target output and the driving force corresponding to the required driving force is output to the drive shaft within the set output limit of the motor. To control. As a result, the motor can be operated by setting the output limit of the motor from the output limit of the power storage means and the target output of the power input / output means in the mode of setting the output limit of the motor according to the state of the power storage means. Therefore, if the motor output limit is set in a direction to suppress the change in the motor output limit with respect to the output change of the power input / output means as the setting mode, stable power can be output from the motor to the drive shaft. If the motor output limit is set in a direction to quickly follow the output change of the power input / output means as the setting mode, it is possible to more reliably avoid overcharge and overdischarge of the power storage means. .
[0009]
In such a power output apparatus of the present invention, the setting mode determining means is a means for determining the degree of suppressing the change in the output limit of the motor with respect to the output change of the power input / output means as the setting mode. You can also. If it carries out like this, the more stable motive power can be output to a drive shaft from an electric motor according to the state of an electrical storage means.
[0010]
Further, in the power output apparatus of the present invention, the output restriction setting means is a temporary output of the power input / output means based on the target output of the power input / output means and the setting aspect determined by the setting aspect determination means. And a means for setting the output limit of the electric motor based on the derived temporary output and the set power limit of the power storage means. In this aspect of the power output apparatus of the present invention, the output limit setting means sets the difference between the temporary output of the power input / output means and the set power limit of the power storage means as the output limit of the electric motor. It can also be assumed. In this way, the output limit of the electric motor can be set by simpler arithmetic processing.
[0011]
In the power output apparatus of the present invention of a mode for deriving a temporary output of the power input / output unit, the setting mode determination unit is configured to set the power input / output unit of the power input / output unit based on the power limit of the power storage unit set as the setting mode. A means for determining an allowable width centered on a target output, wherein the output limit setting means derives a temporary output of the power input / output means so as to be substantially constant within the range of the allowable width; It is also possible to use a means for setting the output limit. In this aspect of the power output apparatus of the present invention, the output restriction setting means uses the previous value when the previous value of the tentative output of the power input / output means falls within the determined allowable range. It can also be a means for setting a limit. In this way, frequent changes in the output limit of the motor can be suppressed with simpler processing. In the power output device of the present invention of these aspects, the setting aspect determining means is a means for determining the allowable width in such a manner that the width is narrowed as the power limit range of the set power storage means is narrowed. You can also By doing so, the temporary output of the power input / output means follows the target output as the range of power limitation of the power storage means becomes narrower, so that overcharge and overdischarge of the power storage means can be avoided more reliably.
[0012]
In the power output apparatus of the present invention, the state detection means may be means for detecting the temperature of the power storage means and / or the power storage state of the power storage means.
[0013]
The power output apparatus of the present invention further includes an internal combustion engine, wherein the power input / output means outputs at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power. Input / output means, and the control means sets a target power of the internal combustion engine and a target output of the power power input / output means for outputting a driving force corresponding to a required driving force to the driving shaft, and The internal combustion engine and the electric power drive input / output means are controlled, and the electric motor is controlled so that a driving force corresponding to the required driving force is input / output to / from the driving shaft within the set output limit of the electric motor. It can also be a means. In this aspect of the power output apparatus of the present invention, the power input / output means has three shafts connected to the output shaft, the drive shaft, and the third shaft of the internal combustion engine. A means comprising: a three-axis power input / output means for inputting / outputting power to / from another shaft based on power input / output to / from any two axes; and a generator for inputting / outputting power to / from the third shaft. The power power input / output means may include a first rotor connected to the output shaft of the internal combustion engine and a second rotor connected to the drive shaft. It may be a counter-rotor motor capable of inputting and outputting electric power by electromagnetic action between the rotor and the second rotor.
[0014]
The automobile of the present invention is a power output apparatus of the present invention according to any one of the above-described aspects, that is, a power output apparatus basically including an electric motor capable of outputting power to a drive shaft, wherein the electric power is supplied to the electric motor. Power storage means capable of exchange, power input / output means for inputting / outputting electric power to / from an electric power system including the power storage means and the electric motor, state detection means for detecting the state of the power storage means, and the detected power storage A power limit setting means for setting a power limit of the power storage means based on the state of the means; a setting mode determination means for determining a setting mode of the output limit of the motor based on the detected state of the power storage means; Output limit setting means for setting an output limit of the electric motor based on the set power limit of the power storage means, the target output of the power input / output means, and the determined setting mode; and the power input / output by the target output The power input / output means and the control means for controlling the motor so that the driving force corresponding to the required driving force is output to the drive shaft within the range of the set output limit of the motor. And the driving shaft is connected to driving wheels.
[0015]
According to the automobile of the present invention, the power output device of the present invention according to any one of the above-described aspects is provided, so that the effect of the power output device of the present invention, for example, the output limitation of the electric motor according to the state of the power storage means. In the setting mode, it is possible to set the output limit of the electric motor from the output limit of the power storage unit and the target output of the power input / output unit, and to have an effect of operating the electric motor.
[0016]
The method for controlling the power output apparatus of the present invention includes:
Power provided with a motor capable of outputting power to the drive shaft, power storage means capable of exchanging power with the motor, and power input / output means for inputting / outputting power to / from a power system including the power storage means and the motor An output device control method comprising:
(A) setting a power limit for the power storage means;
(B) determining an output limit setting mode of the electric motor based on the set power limit of the power storage means;
(C) setting the output limit of the electric motor based on the set power limit of the power storage means, the target output of the power input / output means, and the determined setting mode;
(D) The electric power input / output means is driven and controlled with the target output, and the electric motor is controlled so that a driving force corresponding to a required driving force is output to the driving shaft within the set output limit of the electric motor. Drive control
This is the gist.
[0017]
According to the control method of the power output device of the present invention, the power limit of the power storage means is set based on the state of the power storage means, and the setting mode of the output limit of the electric motor capable of outputting power to the drive shaft is determined, Based on the set power limit of the storage means, the determined setting of the output limit of the motor, and the target output of the power input / output means for inputting / outputting power to / from the power system including the storage means and the motor The motor output limit is set, the power input / output means is operated at the target output, and the power is input so that the drive force corresponding to the required drive force is output to the drive shaft within the set range of the motor output limit. Since the output means and the motor are controlled, the motor output limit is set from the output limit of the power storage means and the target output of the power input / output means in the setting mode of the output limit of the motor according to the state of the power storage means. drive Door can be. Therefore, if the motor output limit is set in a direction to suppress the change in the motor output limit with respect to the output change of the power input / output means as the setting mode, stable power can be output from the motor to the drive shaft. If the motor output limit is set in a direction to quickly follow the output change of the power input / output means as the setting mode, it is possible to more reliably avoid overcharge and overdischarge of the power storage means. .
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of 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.
[0019]
The engine 22 is an internal combustion engine that outputs power using a hydrocarbon-based fuel such as gasoline or light oil, and an engine electronic control unit (hereinafter referred to as an engine ECU) that receives signals from various sensors that detect the operating state of the engine 22. ) 24 is subjected to operation control such as fuel injection control, ignition control, intake air amount adjustment control and the like. 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, if necessary, transmits data related to the operating state of the engine 22 to the hybrid electronic control. Output to unit 70.
[0020]
The power distribution and integration mechanism 30 includes an external gear sun gear 31, an internal gear ring gear 32 arranged 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.
[0021]
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.
[0022]
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 the terminals of the battery 50, and a power line 54 connected to the output terminal of the battery 50. The charging / discharging current Ib from the attached current sensor 53, the battery temperature Tb from the temperature sensor 51 attached to the battery 50, and the like are input, and data regarding the state of the battery 50 is communicated by communication as necessary. Output to the control unit 70. The battery ECU 52 calculates the remaining capacity (SOC) based on the integrated value of the charge / discharge current Ib detected by the current sensor 53 in order to manage the battery 50.
[0023]
The hybrid electronic control unit 70 is configured as a microprocessor centered on the CPU 72. In addition to the CPU 72, a ROM 74 that stores processing programs, a RAM 76 that temporarily stores data, an input / output port and communication (not shown), and the like. 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 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.
[0024]
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.
[0025]
Next, the operation of the thus configured hybrid vehicle 20 of the embodiment will be described. FIG. 2 is a flowchart illustrating an example of an operation control routine executed by the hybrid electronic control unit 70 of the hybrid vehicle 20 according to the embodiment. This routine is repeatedly executed every predetermined time (for example, every 8 msec).
[0026]
When the operation 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 83, the vehicle speed V from the vehicle speed sensor 88, the remaining capacity SOC of the battery 50 from the battery ECU 52, Processing for inputting data necessary for control, such as battery temperature Tb, rotation speed Ne of crankshaft 26 of engine 22, rotation speeds Nm1 and Nm2 of motor MG1 and motor MG2, is performed (step S100). Here, the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 are input from the motor ECU 40 by communication from those calculated based on the rotational positions of the rotors of the motors MG1 and MG2 detected by the rotational position detection sensors 43 and 44. To do. Further, the rotational speed Ne of the engine 22 is obtained by dividing the rotational speed Nm1 of the motor MG1 and the rotational speed Nm2 of the motor MG2 by the gear ratio Gr of the reduction gear 35 (the rotational speed of the motor MG2 / the rotational speed of the ring gear shaft 32a). The rotation speed of the ring gear shaft 32a and the gear ratio ρ (number of sun gear teeth / number of ring gear teeth) of the power distribution and integration mechanism 30 are input. Of course, it is also possible to attach a rotation speed sensor to the crankshaft 26 of the engine 22 and use what is directly detected.
[0027]
Subsequently, the required torque Tr * required for the ring gear shaft 32a as the drive shaft is set based on the accelerator opening Acc and the vehicle speed V, and the target power Pe * to be output by the engine 22 is set (step S102). . In the embodiment, the required torque Tr * is set by preliminarily obtaining the relationship among the accelerator opening Acc, the vehicle speed V, and the required torque Tr * and storing it in the ROM 74 as a required torque setting map, and the accelerator opening Acc and the vehicle speed. When V is given, the corresponding required torque Tr * is derived and set from the required torque setting map. FIG. 3 shows an example of the required torque setting map. In the embodiment, the target power Pe * of the engine 22 is set by multiplying the set required torque Tr * by the rotation speed Nr (k · V: k is a conversion factor) of the ring gear shaft 32a and the remaining capacity SOC of the battery 50. The sum of the required charge / discharge amount Pb * of the battery 50 and the loss set in accordance with is set as the target power Pe * of the engine 22.
[0028]
When the required torque Tr * for the ring gear shaft 32a and the target power Pe * of the engine 22 are set, the engine 22 among the operating points of the engine 22 (a point determined from the torque and the rotational speed) that can output the set required power Pe *. Is set as the target torque Te * and target rotational speed Ne * of the engine 22 (step S104), and the set target rotational speed Ne * of the engine 22 and the current rotational speed of the engine 22 input in step S100 are set. The target torque Tm1 * of the motor MG1 is calculated using the following formula (1) with the number Ne (step S106). Here, “KP” is a proportional control coefficient, and “KI” is an integral control coefficient.
[0029]
Tm1 * = KP (Ne-Ne *) + KI∫ (Ne-Ne *) dt (1)
[0030]
When the target torque Tm1 * of the motor MG1 is calculated, the target torque Tm1 * of the motor MG1, the required torque Tr * set in step S102, the gear ratio ρ of the power distribution and integration mechanism 30, and the gear ratio Gr of the reduction gear 35 are calculated. Thus, the target torque Tm2 * of the motor MG2 is set using the following equation (2) (step S108). FIG. 4 is a collinear diagram for dynamically explaining the rotating elements of the power distribution and integration mechanism 30. Two thick arrows on R in the figure indicate that the torque Te * output from the engine 22 is transmitted to the ring gear shaft 32a when the engine 22 is in steady operation at the operation point of the target torque Te * and the target rotational speed Ne *. And the torque that the torque output from the motor MG2 acts on the ring gear shaft 32a via the reduction gear 35. As shown in FIG. 4, the target torque Tm2 * of the motor MG2 is such that the sum of the torque transmitted from the engine 22 to the ring gear shaft 32a and the torque acting on the ring gear shaft 32a from the motor MG2 becomes the required torque Tr *. Should be set.
[0031]
Tm2 * = (Tr * + Tm1 * / ρ) / Gr (2)
[0032]
Further, a loss is added to the product of the calculated target torque Tm1 * of the motor MG1 and the rotation speed Nm1 of the motor MG1 input in step S100 to calculate a target output Pm1 to be output from the motor MG1 (step S110). Then, based on the remaining capacity SOC of the battery 50 and the battery temperature Tb input in step S100, the output limit Wout for limiting the discharge of the battery 50 and the input limit Win for limiting the charge are set (the discharge direction is set as positive). (Step S112), the output of the motor MG1 when setting the output limit of the motor MG2 by subtracting the output of the motor MG1 from the output limit Wout and the input limit Win of the battery 50 (hereinafter referred to as the provisional value of the motor MG1). The hysteresis width His used for setting the output Pm1his is set based on the output limit Wout and the input limit Win of the battery 50 (step S114). In the embodiment, the hysteresis width His is obtained by calculating the relationship between the output limit Wout and the input limit Win of the battery 50 and the hysteresis width His and storing them in the ROM 74. When the output limit Wout and the input limit Win are given, From this, the corresponding hysteresis width His was derived. An example of this map is shown in FIG. 5A shows the relationship between the output limit Wout and the hysteresis width His, and FIG. 5B shows the relationship between the input limit Win and the hysteresis width His. In this example, the smaller one of the hysteresis width His derived from the output limit Wout and the hysteresis width His derived from the input limit Win is set. In the embodiment, the output limit Wout and the input limit Win of the battery 50 are set based on the remaining capacity SOC of the battery 50 and the battery temperature Tb, but are set based on only one of them. Alternatively, it may be set using other parameters (such as internal resistance).
[0033]
When the hysteresis width His is set, the temporary output Pm1his of the motor MG1 is calculated using the following equation (3) based on the set hysteresis width His (step S116). In equation (3), “previous Pm1his” is the temporary output of the motor MG1 calculated in step S116 of the previous operation control routine. FIG. 6 shows how the provisional output Pm1his of the motor MG1 is set. A solid line in FIG. 6 indicates the target output Pm1 of the motor MG1, and a broken line in FIG. 6 indicates the temporary output Pm1his of the motor MG1. As shown in FIG. 6 and Expression (3), when the previous temporary output (previous Pm1his) of the motor MG1 is within the range of the hysteresis width His centering on the target output Pm1 of the motor MG1, the previous temporary output is The temporary output Pm1his of the motor MG1 is set as the temporary output Pm1his of the motor MG1 and is changed to be within the range when the previous temporary output is not within the range of the hysteresis width His. Since the temporary output Pm1his of the motor MG1 is directly reflected in the setting of the output allowable range P2 of the motor MG2, which will be described later, which is the output limit of the motor MG2, the hysteresis width His centered on the target output Pm1 is the temporary output Pm1his of the motor MG1. By adjusting so as to be as constant as possible within the range, it is possible to prevent the output allowable range P2 of the motor MG2 from being frequently changed. On the other hand, the temporary output Pm1his of the motor MG1 is set such that the smaller the hysteresis width His is set, that is, the smaller the output limit Wout of the battery 50 or the larger the input limit Win (the smaller the absolute value of the input limit Win). Since it is set as a value close to the target output Pm1 of the motor MG1, when the state of the battery 50 deteriorates and the absolute value of the output limit Wout or the input limit Win of the battery 50 decreases, the output allowable range P2 of the motor MG2 In order to prevent frequent changes, overdischarge and overcharge of the battery 50 that can occur by keeping the temporary output Pm1his of the motor MG1 constant can be prevented more reliably.
[0034]
Pm1his = min (max (previous Pm1his, Pm1-His), Pm1 + His) (3)
[0035]
When the temporary output Pm1his of the motor MG1 is set in this way, the set temporary output Pm1his is subtracted from the output limit Wout and the input limit Win of the battery 50 set in step S112, respectively, and the output lower limit value and the output upper limit value of the motor MG2 are set. Is calculated to set the output allowable range P2 (step S118), and the motor lower limit value and the output lower limit value of the motor MG2 in the output allowable range P2 are divided by the rotation speed Nm2 of the motor MG2 to reduce the torque lower limit of the motor MG2. The torque allowable range T2 is set by calculating the value and the torque upper limit value (step S120).
[0036]
When the allowable torque range T2 of the motor MG2 is set, it is determined whether or not the target torque Tm2 * of the motor MG2 set in step S108 is within the allowable torque range T2 (step S122), and the target torque Tm2 * is the allowable torque. If determined to be within the range T2, the target torque Te * of the engine 22 is output to the engine ECU 24 without changing the target torque Tm2 * of the motor MG2, and the target torques Tm1 * and Tm2 * of the motors MG1 and MG2 are set. Processing to output to the motor ECU 40 is performed (step S128), and this routine is terminated. On the other hand, when it is determined that the target torque Tm2 * is not within the allowable torque range T2, when the target torque Tm2 * is smaller than the lower limit value (Win-Pm1his) of the allowable torque range T2, the target torque Tm2 * is set to the allowable torque range T2. (Step S124), and when the target torque Tm2 * is larger than the upper limit value (Wout-Pm1his) of the allowable torque range T2, the target torque Tm2 * is changed to the upper limit value of the allowable torque range T2 ( In step S126), the target torque Tm2 * of the motor MG2 is changed to a torque that may be output from the motor MG2 within the range of the output limit Wout and the input limit Win of the battery 50, and the target torque Te * of the engine 22 and the motor MG1, The target torques Tm1 * and Tm2 * of MG2 are output to each ECU (step S1 8), and ends the present routine. Thus, the engine ECU 24 that has received the target torque Te * performs control such as ignition control and fuel injection control so that torque corresponding to the target torque Te * is output from the engine 22. The motor ECU 40 that has received the target torques Tm1 * and Tm2 * outputs torque corresponding to the target torque Tm1 * from the motor MG1 and outputs torque corresponding to the target torque Tm2 * from the motor MG2. Switching control of the switching element is performed.
[0037]
According to the hybrid vehicle 20 of the embodiment described above, the hysteresis width His of the output of the motor MG1 set in order to prevent frequent change of the output allowable range P2 (torque allowable range T2) of the motor MG2 is set to the battery 50. Since the smaller the output limit Wout of the battery 50 corresponding to the state of the remaining capacity SOC and the battery temperature Tb or the smaller the absolute value of the input limit value Win, the narrower width is set. The stable output of the motor MG2 can be secured by preventing the output allowable range P2 of the motor MG2 from being frequently changed by the hysteresis width His, and when the battery 50 is not in good condition, the battery 50 is overcharged by the narrow hysteresis width His. Overdischarge can be prevented.
[0038]
In the hybrid vehicle 20 of the embodiment, the hysteresis width His corresponding to the output limit Wout of the battery 50 and the hysteresis width His corresponding to the input limit Win of the battery 50 are derived, and the smaller one of these is used. However, the hysteresis width His derived from only one of the output limit Wout and the input limit Win of the battery 50 may be used, or the hysteresis width His is determined based on the deviation between the output limit Wout of the battery 50 and the input limit Win. It may be derived and used. FIG. 7 shows an example of a map showing the relationship between the deviation ΔW between the output limit Wout and the input limit Win of the battery 50 and the hysteresis width His.
[0039]
In the hybrid vehicle 20 of the embodiment, the temporary output Pm1his of the motor MG1 is set to be constant within the range of the hysteresis width His centered on the target output Pm1 of the motor MG1, and this temporary output Pm1his and the output limit Wout of the battery 50 are set. The output of the motor MG2 is limited by deviation from the input limit Win. However, if frequent change (vibration) of the output limit of the motor MG2 can be suppressed, other processing, for example, for the target output Pm1 of the motor MG1 A temporary output Pm1his may be set by performing an annealing process, and the output of the motor MG2 may be limited by a deviation between the temporary output Pm1his, the output limit Wout of the battery 50, and the input limit Win. At this time, if the degree of annealing is changed in accordance with the output limit Wout and the input limit Win corresponding to the state of the battery 50, the state of the battery 50 is not good as in the hybrid vehicle 20 of the embodiment. Overdischarge and overcharge of the battery 50 can be effectively avoided.
[0040]
In the hybrid vehicle 20 of the embodiment, the power of the motor MG2 is shifted by the reduction gear 35 and output to the ring gear shaft 32a. However, as illustrated in the hybrid vehicle 120 of the modified example of FIG. May be connected to an axle (an axle connected to the wheels 64a and 64b in FIG. 8) 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).
[0041]
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.
[0042]
The hybrid vehicle 20 according to the embodiment is configured to include the two motors MG1 and MG2 that exchange power with the engine 22 and the battery. However, the drive shaft is powered by charging and discharging of a power storage device such as a battery. As long as it is equipped with a motor that can input and output power and an electric device that can input and output power from a battery, it may be another automobile, or may be configured as a moving body such as a train or ship other than an automobile Good.
[0043]
The embodiments of the present invention have been described using the embodiments. However, the present invention is not limited to these embodiments, and can be implemented in various forms without departing from the gist of the present invention. Of course you get.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating an example of an operation control routine executed by the hybrid electronic control unit 70 of the hybrid vehicle 20 according to the embodiment.
FIG. 3 is a map showing a relationship among an accelerator opening Acc, a vehicle speed V, and a required torque Tr *.
FIG. 4 is an explanatory diagram showing an example of a collinear diagram for dynamically explaining rotational elements of the power distribution and integration mechanism 30;
FIG. 5 is a map showing the relationship between input / output limits Win and Wout of battery 50 and hysteresis width His.
FIG. 6 is an explanatory diagram for explaining a state where a temporary output Pm1his of a motor MG1 is set.
7 is a map showing a relationship between an input / output limit width ΔW and a hysteresis width His of a battery 50. FIG.
FIG. 8 is a configuration diagram illustrating a schematic configuration of a hybrid vehicle 120 according to a modification.
FIG. 9 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), 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, 135 Reduction gear, 40 Motor electronic control unit (motor ECU), 41, 42 Inverter, 43, 44 Rotation position detection sensor, 50 battery, 51 Temperature sensor, 52 Battery electronic control unit (battery ECU), 53 Current sensor, 54 power line, 60 gear mechanism, 62 differential gear, 63a, 63b, 64a, 64b drive wheel, 70 electronic control unit for hybrid, 72 CPU, 74 ROM, 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, 230 rotor motor, 232 inner rotor 234 outer rotor, MG1, MG2 motor .

Claims (12)

A power output device including an electric motor capable of outputting power to a drive shaft,
Power storage means capable of exchanging power with the motor;
Power input / output means for inputting / outputting electric power to / from an electric power system including the power storage means and the electric motor;
State detecting means for detecting the state of the power storage means;
Power limit setting means for setting a power limit of the power storage means based on the detected state of the power storage means;
A degree-of-suppression determining unit that determines a degree of suppressing a change in the output limit of the electric motor with respect to a change in the output of the power input / output unit based on the detected state of the power storage unit ;
Output limit setting means for setting the output limit of the electric motor based on the set power limit of the power storage means, the target output of the power input / output means and the determined degree ;
The power input / output means and the power input / output means are operated so that the power input / output means is operated at the target output and the driving force corresponding to the required driving force is output to the drive shaft within the set output limit of the motor A power output device comprising: control means for controlling the electric motor. The output restriction setting means derives a temporary output of the power input / output means based on the target output of the power input / output means and the determined degree, and the derived temporary output and the set power storage The power output apparatus according to claim 1 , wherein the power output device is a means for setting an output limit of the electric motor based on a power limit of the means. The power output apparatus according to claim 2 , wherein the output limit setting means is a means for setting a difference between the temporary output of the power input / output means and the set power limit of the power storage means as an output limit of the electric motor. The power output device according to claim 2 or 3 ,
The degree-of-suppression determination means centered on the target output of the power input / output means based on the power limit of the power storage means set by the power limit setting means based on the state of the power storage means detected by the state detection means. Is a means for determining the allowable width,
The output limit setting means is means for deriving a temporary output of the power input / output means to set an output limit of the electric motor so as to be substantially constant within the allowable range. The output limit setting means, according to claim 4, wherein when the previous value of the output of the temporary the power input output falls on the determined tolerance band is a means for setting the output limit of the motor by using the previous value Power output device. The power output apparatus according to claim 4 or 5, wherein the suppression degree determining means is means for determining the allowable width in such a manner that the width becomes narrower as the set power limit range of the power storage means becomes narrower. The power output apparatus according to any one of claims 1 to 6 , wherein the state detection means is means for detecting a temperature of the power storage means and / or a power storage state of the power storage means. The power output device according to any one of claims 1 to 7 ,
An internal combustion engine,
The power input / output means is power power input / output means for outputting at least part of the power from the internal combustion engine to the drive shaft with input and output of power and power.
The control means sets a target power of the internal combustion engine and a target output of the power power input / output means for causing the drive shaft to output a driving power corresponding to the required driving power, and the internal combustion engine and the power power. A power output device that controls the motor so that a driving force corresponding to the required driving force is input to and output from the drive shaft within a range of the set output limit of the motor. . The power power input / output means has three shafts connected to the output shaft of the internal combustion engine, the drive shaft, and a third shaft, and is used for power input / output to / from any two of the three shafts. The power output according to any one of claims 1 to 8 , comprising: a three-shaft power input / output means for inputting / outputting power to / from another shaft on the basis thereof; and a generator for inputting / outputting power to the third shaft apparatus. The electric power drive input / output means includes a first rotor connected to an output shaft of the internal combustion engine and a second rotor connected to the drive shaft. The first rotor and the second rotor The power output apparatus according to claim 1 , wherein the power output apparatus is a counter-rotor electric motor capable of inputting and outputting electric power by electromagnetic action. An automobile comprising the power output device according to any one of claims 1 to 10 ,
The drive shaft is an automobile connected to drive wheels. Power provided with a motor capable of outputting power to the drive shaft, power storage means capable of exchanging power with the motor, and power input / output means for inputting / outputting power to / from a power system including the power storage means and the motor An output device control method comprising:
(A) setting a power limit for the power storage means;
(B) determining a degree of suppressing a change in the output limit of the motor with respect to a change in the output of the power input / output unit based on the set power limit of the power storage unit;
(C) setting the output limit of the motor based on the set power limit of the power storage means, the target output of the power input / output means and the determined degree ;
(D) The electric power input / output means is driven and controlled with the target output, and the electric motor is controlled so that a driving force corresponding to a required driving force is output to the driving shaft within the set output limit of the electric motor. A method for controlling the power output device for driving control.

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