JP4311469B2 - Vehicle and control method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress occurrence of charging and discharging in a capacitor device such as rechargeable battery by unexpected excessive power, when a driving wheel is locked. <P>SOLUTION: When locking of a driving wheel is determined, torque restriction Tm1min and Tm1max are set (S150, S180) by using rotation speed Nm2* for control obtained by performing prediction processing to rotation speed Nm2 of a motor MG2 as a rotation speed of the motor MG2. While setting up a torque instruction Tm1* of the motor MG1 by restricting a temporary torque Tm1tmp so that the engine may be rotated by an objective rotation speed Ne* by these torque restrictions Tm1min and Tm1max, the engine and motors MG1 and MG2 are controlled by setting a torque instruction Tm2* of the motor MG 2 using rotation speed Nm2* for control within the limits of I/O restriction Win and Wout of the battery (S190-S210). <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a vehicle and a control method thereof.

Conventionally, this type of vehicle is provided with a motor attached to the axle side via a transmission. When the transmission gear is being changed or when slipping due to idling of the drive wheels, the motor speed is There has been proposed a control that uses an estimated rotational speed estimated at the time of control in consideration of a detection delay and a communication delay (for example, refer to Patent Document 1). In this vehicle, by using the estimated number of revolutions and calculating and controlling the power balance during shifting or slipping more accurately, it is possible to use unexpectedly excessive power that may occur during shifting or slipping. Battery charging / discharging is suppressed.
JP 2006-94691 A

  Like the above-mentioned vehicle, during the shift of the transmission or during the slip due to the idling of the drive wheel, the estimated rotation speed estimated at the time of control is used as the motor rotation speed in consideration of detection delay and communication delay. The battery charge and discharge due to excessive power can be suppressed, but if the drive wheel is locked due to rotation stoppage, the power balance during lock cannot be accurately calculated and controlled. There are cases where the battery is charged and discharged by electric power.

  One object of the vehicle and the control method thereof according to the present invention is to suppress charging and discharging of a power storage device such as a secondary battery due to unexpected excessive electric power when the driving wheel is locked. Another object of the vehicle and its control method of the present invention is to more appropriately control the electric motor and the like even when the drive wheels are locked.

  The vehicle and the control method thereof according to the present invention employ the following means in order to achieve at least a part of the above-described object.

The vehicle of the present invention
An internal combustion engine;
Connected to the drive shaft connected to the axle and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the drive shaft, and to the drive shaft and the output shaft with input and output of electric power and power Power power input / output means capable of power input / output;
An electric motor capable of outputting power to the drive shaft;
A power storage means capable of exchanging power with the electric power drive input / output means and the electric motor;
An input / output limit setting means for setting an input / output limit that is an allowable maximum power that may be charged / discharged based on the state of the power storage means;
A rotation speed calculation means for calculating the rotation speed of the motor by a predetermined calculation process based on a signal from a sensor attached to the motor and using electromagnetic action;
A lock detecting means for detecting a lock of a drive wheel attached to an axle connected to the drive shaft;
A required driving force setting means for setting a required driving force required for traveling;
When the lock of the driving wheel is not detected by the lock detecting means, a first post-processing rotation speed obtained by performing a first process on the calculated rotation speed, the set required driving force, and the set input / output limit Is used to set the drive limit as the upper and lower limits of the range in which the power power input / output means may be driven, and when the lock of the drive wheel is detected by the lock detection means, the calculated number of revolutions is set. The driving using the post-second processing rotational speed that has been subjected to the second process in which the rotational speed change is reflected more quickly than the first processing, the set required driving force, and the set input / output restriction. Drive limit setting means for setting a limit;
The internal combustion engine travels with a driving force based on the set required driving force within the set input / output limit range with the driving of the power / power input / output means within the set driving limit range. Control means for controlling the engine, the power drive input / output means and the electric motor;
It is a summary to provide.

  In the vehicle according to the present invention, when the drive wheel is not locked, the first process is performed on the rotation speed of the motor calculated by a predetermined calculation process based on a signal from a sensor attached to the motor and using electromagnetic action. The range in which the power power input / output means may be driven using the rotation speed after the first processing, the required driving force required for traveling, and the input / output limit that is the allowable maximum power that may charge / discharge the power storage means. The second is applied with a second process in which the drive limit is set as the upper and lower limits, and when the drive wheel is locked, the calculated number of revolutions of the motor is more rapidly reflected in the calculated number of revolutions than the first process. The drive limit is set using the post-processing rotation speed, the required drive force, and the input / output limit. The internal combustion engine and the power power input / output means are driven so as to travel with the driving force based on the required driving force within the input / output limit range of the power storage means with the driving of the power power input / output means within the set drive limit range. And the motor. As a result, it is possible to set the drive limit as the upper and lower limits of the range in which the power motive power input / output means can be driven more properly even if the driving wheel is locked, and the power storage means is charged / discharged by unexpectedly excessive electric power. Can be suppressed. As a result, even when the drive wheels are locked, the internal combustion engine, the power drive input / output means, and the electric motor can be controlled more appropriately. Here, the first process is a gradual change process for gradually changing the rotation speed, and the second process is a prediction process for predicting the rotation speed after a predetermined time, or the first process is the first time. A gradual change process for gradual changes in the rotational speed using constants and a gradual change process for gradual changes in the rotational speed using a second time constant smaller than the first time constant as the second process. In the first process, the process is a slow change process that moderates the change in the rotation speed and the rotation speed of the electric motor that is calculated as the second process is used as it is after the second process, that is, nothing is done. And can be treated. Further, as the lock detecting means, there can be mentioned one that detects the lock of the drive wheel based on a sudden change in the wheel speed of the drive wheel.

  In such a vehicle of the present invention, the drive restriction setting means includes a relationship in which the drive force output to the drive shaft is within a range from a value of 0 to the set required drive force, and the power drive input / output means. The drive limit may be set based on a relationship in which a sum of input / output power and power input / output from the electric motor is within the set input / output limit range. it can. Further, the drive limit setting means calculates the electric power inputted / outputted from the electric motor by using the rotation speed after the first processing as the rotation speed of the electric motor when the lock of the driving wheel is not detected by the lock detecting means. The drive limit is set, and when lock of the drive wheel is detected by the lock detecting means, the second post-processing rotation speed is used as the rotation speed of the motor to calculate electric power input / output from the motor. It can also be a means for setting the drive restriction.

  In the vehicle of the present invention, the power driving input / output means is connected to three axes of a generator for inputting / outputting power, the drive shaft, the output shaft, and a rotating shaft of the generator. It can also be a means provided with three-axis type power input / output means for inputting / outputting power to / from the remaining shafts based on power input / output to / from any two axes.

The vehicle control method of the present invention includes:
Connected to the internal combustion engine and a drive shaft connected to the axle and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the drive shaft, the drive shaft and the output with input and output of electric power and power Electric power power input / output means capable of inputting / outputting power to / from the shaft, electric motor capable of outputting power to the drive shaft, power power input / output means, power storage means capable of exchanging electric power with the motor, and the electric motor A rotation speed calculation means for calculating the rotation speed of the electric motor by a predetermined calculation process based on a signal from a sensor using an electromagnetic action, and a lock of a drive wheel attached to an axle connected to the drive shaft. A lock detection means for detecting, a vehicle control method comprising:
(A) When the lock detection means does not detect the lock of the drive wheel, the first process-processed rotational speed obtained by subjecting the rotational speed calculated by the rotational speed calculation means to the first process and the required drive required for traveling A driving limit as an upper limit and a lower limit of the range in which the power power input / output means may be driven using a force and an input / output limit that is an allowable maximum power that may charge / discharge the power storage means, and the lock A second process in which a second process is performed in which a change in the rotational speed is more quickly reflected in the rotational speed calculated by the rotational speed calculating means than in the first process when the detection means detects that the driving wheel is locked. Set the drive limit using the post-rotation speed, the required drive force and the input / output limit,
(B) The internal combustion engine and the electric power so as to travel with the driving force based on the required driving force within the input / output restriction range with the driving of the power / power input / output means within the set driving restriction range. Controlling power input / output means and the electric motor;
This is the gist.

  In the vehicle control method of the present invention, when the drive wheels are not locked, the first rotational speed of the motor calculated by a predetermined calculation process based on a signal from a sensor attached to the motor and using electromagnetic action is The power motive power input / output means is driven using the processed first rotation speed after processing, the required driving force required for traveling, and the input / output limit that is the allowable maximum power that may charge / discharge the power storage means. When the drive limit is set as the upper and lower limits of the desired range, and the driving wheel is locked, a second process is applied in which the change in the rotational speed is more quickly reflected in the calculated rotational speed of the motor than in the first process. The drive limit is set using the rotation speed after the second processing, the required drive force, and the input / output limit. The internal combustion engine and the power power input / output means are driven so as to travel with the driving force based on the required driving force within the input / output limit range of the power storage means with the driving of the power power input / output means within the set drive limit range. And the motor. As a result, it is possible to set the drive limit as the upper and lower limits of the range in which the power motive power input / output means can be driven more properly even if the driving wheel is locked, and the power storage means is charged / discharged by unexpectedly excessive electric power. Can be suppressed. As a result, even when the drive wheels are locked, the internal combustion engine, the power drive input / output means, and the electric motor can be controlled more appropriately.

  In the vehicle control method of the present invention, the step (a) includes the relationship that the driving force output to the driving shaft is within the range from the value 0 to the required driving force, and the electric power driving input / output means. It may be a step of setting the drive restriction based on a relationship in which a sum of input / output electric power and electric power input / output from the electric motor is within the input / output restriction range, In the step (a), when lock of the driving wheel is not detected by the lock detection means, the electric power input / output from the electric motor is calculated by using the rotation speed after the first processing as the rotation speed of the electric motor. A drive limit is set, and when the lock of the drive wheel is detected by the lock detection means, the second post-processing rotation speed is used as the rotation speed of the motor to be input / output from the motor. It may be assumed to be a step of setting the drive limit that power calculated.

  Next, the best mode for carrying out the present invention will be described using examples.

  FIG. 1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 equipped with a power output apparatus according to an embodiment of the present invention. As shown in the figure, the hybrid vehicle 20 of the embodiment includes an engine 22, a three-shaft power distribution / integration mechanism 30 connected to a crankshaft 26 as an output shaft of the engine 22 via a damper 28, and power distribution / integration. A motor MG1 capable of generating electricity connected to the mechanism 30, a reduction gear 35 attached to a ring gear shaft 32a as a drive shaft connected to the power distribution and integration mechanism 30, a motor MG2 connected to the reduction gear 35, And a hybrid electronic control unit 70 for controlling the entire power output apparatus.

  The engine 22 is configured as an internal combustion engine capable of outputting power using a hydrocarbon-based fuel such as gasoline or light oil, and the air purified by an air cleaner 122 is passed through a throttle valve 124 as shown in FIG. Inhalation and gasoline are injected from the fuel injection valve 126 to mix the sucked air and gasoline. The mixture is sucked into the fuel chamber through the intake valve 128 and is explosively burned by an electric spark from the spark plug 130. Thus, the reciprocating motion of the piston 132 pushed down by the energy is converted into the rotational motion of the crankshaft 26. Exhaust gas from the engine 22 is discharged to the outside air through a purification device (three-way catalyst) 134 that purifies harmful components such as carbon monoxide (CO), hydrocarbons (HC), and nitrogen oxides (NOx).

  The engine 22 is controlled by an engine electronic control unit (hereinafter referred to as an engine ECU) 24. The engine ECU 24 is configured as a microprocessor centered on the CPU 24a, and includes a ROM 24b that stores a processing program, a RAM 24c that temporarily stores data, an input / output port and a communication port (not shown), in addition to the CPU 24a. . The engine ECU 24 includes signals from various sensors that detect the state of the engine 22, a crank position from the crank position sensor 140 that detects the rotational position of the crankshaft 26, and a water temperature sensor 142 that detects the temperature of cooling water in the engine 22. From the cooling water temperature from the combustion chamber, the in-cylinder pressure Pin from the pressure sensor 143 installed in the combustion chamber, the intake valve 128 that performs intake and exhaust to the combustion chamber, and the cam position sensor 144 that detects the rotational position of the camshaft that opens and closes the exhaust valve Cam position, throttle position from the throttle valve position sensor 146 for detecting the position of the throttle valve 124, an air flow meter signal AF from the air flow meter 148 attached to the intake pipe, and a temperature sensor also attached to the intake pipe Intake air temperature from 49, the air-fuel ratio AF from an air-fuel ratio sensor 135a, such as oxygen signal from an oxygen sensor 135b is input via the input port. The engine ECU 24 also integrates various control signals for driving the engine 22, such as a drive signal to the fuel injection valve 126, a drive signal to the throttle motor 136 that adjusts the position of the throttle valve 124, and an igniter. The control signal to the ignition coil 138 and the control signal to the variable valve timing mechanism 150 that can change the opening / closing timing of the intake valve 128 are output via the output port. The engine ECU 24 is in communication with the hybrid electronic control unit 70, controls the operation of the engine 22 by a control signal from the hybrid electronic control unit 70, and outputs data related to the operation state of the engine 22 as necessary. . The engine ECU 24 also calculates the rotational speed of the crankshaft 26, that is, the rotational speed Ne of the engine 22 based on the crank position from the crank position sensor 140.

  The power distribution and integration mechanism 30 includes an external gear sun gear 31, an internal gear ring gear 32 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.

  The motor MG1 and the motor MG2 are both configured as well-known synchronous generator motors that can be driven as generators and can be driven as motors, and exchange power with the battery 50 via inverters 41 and 42. The power line 54 connecting the inverters 41 and 42 and the battery 50 is configured as a positive electrode bus and a negative electrode bus shared by the inverters 41 and 42, and the electric power generated by one of the motors MG1 and MG2 It can be consumed by a motor. Therefore, battery 50 is charged / discharged by electric power generated from one of motors MG1 and MG2 or insufficient electric power. If the balance of electric power is balanced by the motors MG1 and MG2, the battery 50 is not charged / discharged. The motors MG1 and MG2 are both driven and controlled by a motor electronic control unit (hereinafter referred to as a motor ECU) 40. The motor ECU 40 detects signals necessary for driving and controlling the motors MG1 and MG2, such as signals from rotational position detection sensors 43 and 44 that detect the rotational positions of the rotors of the motors MG1 and MG2, and current sensors (not shown). The phase current applied to the motors MG1 and MG2 to be applied is input, and a switching control signal to the inverters 41 and 42 is output from the motor ECU 40. The motor ECU 40 is in communication with the hybrid electronic control unit 70, controls the driving of the motors MG1 and MG2 by a control signal from the hybrid electronic control unit 70, and, if necessary, data on the operating state of the motors MG1 and MG2. Output to the hybrid electronic control unit 70. The motor ECU 40 uses the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 as average values for a predetermined time based on signals detected by the rotational position detection sensors 43 and 44 over a predetermined time (for example, 8 msec or 16 msec). Arithmetic.

  The battery 50 is managed by a battery electronic control unit (hereinafter referred to as a battery ECU) 52. The battery ECU 52 receives signals necessary for managing the battery 50, for example, a voltage between terminals from a voltage sensor (not shown) installed between terminals of the battery 50, and a power line 54 connected to the output terminal of the battery 50. The charging / discharging current from the attached current sensor (not shown), the battery temperature Tb from the temperature sensor 51 attached to the battery 50, and the like are input. Output to the control unit 70. Further, the battery ECU 52 calculates the remaining capacity (SOC) based on the integrated value of the charging / discharging current detected by the current sensor in order to manage the battery 50, and calculates the remaining capacity (SOC) and the battery temperature Tb. The input / output limits Win and Wout, which are the maximum allowable power that may charge / discharge the battery 50, are calculated based on the above. The input / output limits Win and Wout of the battery 50 are set to the basic values of the input / output limits Win and Wout based on the battery temperature Tb, and the output limiting correction coefficient and the input are set based on the remaining capacity (SOC) of the battery 50. It can be set by setting a correction coefficient for restriction and multiplying the basic value of the set input / output restrictions Win and Wout by the correction coefficient. FIG. 3 shows an example of the relationship between the battery temperature Tb and the input / output limits Win, Wout, and FIG. 4 shows an example of the relationship between the remaining capacity (SOC) of the battery 50 and the correction coefficients of the input / output limits Win, Wout.

  The hybrid electronic control unit 70 is configured as a microprocessor centered on the CPU 72. 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 pedal opening Acc from the brake pedal position BP for detecting the depression amount of the brake pedal 85, the brake pedal position BP from the brake pedal position sensor 86, the vehicle speed V from the vehicle speed sensor 88, the wheel speed sensor 65a attached to the drive wheels 63a, 63b, Wheel speeds Va, Vb, etc. from 65b are input via the input port. As described above, the hybrid electronic control unit 70 is connected to the engine ECU 24, the motor ECU 40, and the battery ECU 52 via the communication port, and exchanges various control signals and data with the engine ECU 24, the motor ECU 40, and the battery ECU 52. ing.

  The hybrid vehicle 20 of the embodiment thus configured calculates the required torque to be output to the ring gear shaft 32a as the drive shaft based on the accelerator opening Acc and the vehicle speed V corresponding to the depression amount of the accelerator pedal 83 by the driver. Then, the operation of the engine 22, the motor MG1, and the motor MG2 is controlled so that the required power corresponding to the required torque is output to the ring gear shaft 32a. As operation control of the engine 22, the motor MG1, and the motor MG2, the operation of the engine 22 is controlled so that power corresponding to the required power is output from the engine 22, and all of the power output from the engine 22 is the power distribution and integration mechanism 30. Torque conversion operation mode for driving and controlling the motor MG1 and the motor MG2 so that the torque is converted by the motor MG1 and the motor MG2 and output to the ring gear shaft 32a, and the required power and the power required for charging and discharging the battery 50. The engine 22 is operated and controlled so that suitable power is output from the engine 22, and all or part of the power output from the engine 22 with charging / discharging of the battery 50 is the power distribution and integration mechanism 30, the motor MG1, and the motor. The required power is converted to the ring gear shaft 32 with torque conversion by MG2. Charge / discharge operation mode in which the motor MG1 and the motor MG2 are driven and controlled to be output to each other, and a motor operation mode in which the operation of the engine 22 is stopped and the power corresponding to the required power from the motor MG2 is output to the ring gear shaft 32a. and so on.

  Next, the operation of the hybrid vehicle 20 of the embodiment thus configured, particularly the operation when the drive wheels 63a and 63b are locked so as not to rotate, will be described. FIG. 5 is a flowchart showing an example of a drive control routine executed by the hybrid electronic control unit 70. This routine is repeatedly executed every predetermined time (for example, every several msec).

  When the drive control routine is executed, first, the CPU 72 of the hybrid electronic control unit 70 first determines the accelerator opening Acc from the accelerator pedal position sensor 84, the vehicle speed V from the vehicle speed sensor 88, the rotational speed Nm1, of the motors MG1, MG2. Nm2, wheel speeds Va and Vb from the wheel speed sensors 65a and 65b, input / output limits Win and Wout of the battery 50, and the like are input (step S100). Here, the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 are input from the motor ECU 40 by communication from those calculated based on the rotational positions of the rotors of the motors MG1 and MG2 detected by the rotational position detection sensors 43 and 44. To do. Further, the input / output limits Win and Wout of the battery 50 are set based on the battery temperature Tb of the battery 50 and the remaining capacity (SOC) of the battery 50 and are input from the battery ECU 52 by communication.

  When the data is thus input, the required torque Tr * to be output to the ring gear shaft 32a as the drive shaft connected to the drive wheels 63a and 63b as the torque required for the vehicle based on the input accelerator opening Acc and the vehicle speed V. And the required power Pe * required for the engine 22 is set (step S110). In the embodiment, the required torque Tr * is determined in advance by storing the relationship between the accelerator opening Acc, the vehicle speed V, and the required torque Tr * in the ROM 74 as a required torque setting map, and the accelerator opening Acc, the vehicle speed V, , The corresponding required torque Tr * is derived and set from the stored map. FIG. 6 shows an example of the required torque setting map. The required power Pe * can be calculated as the sum of the set required torque Tr * multiplied by the rotational speed Nr of the ring gear shaft 32a and the charge / discharge required power Pb * required by the battery 50 and the loss Loss. The rotational speed Nr of the ring gear shaft 32a is obtained by multiplying the vehicle speed V by a conversion factor k (Nr = k · V), or the rotational speed Nm2 of the motor MG2 is divided by the gear ratio Gr of the reduction gear 35 (Nr = Nm2 / Gr).

  Subsequently, a target rotational speed Ne * and a target torque Te * are set as operating points at which the engine 22 should be operated based on the set required power Pe * (step S120). This setting is performed based on an operation line for efficiently operating the engine 22 and the required power Pe *. FIG. 7 shows an example of the operation line of the engine 22 and how the target rotational speed Ne * and the target torque Te * are set. As shown in the figure, the target rotational speed Ne * and the target torque Te * can be obtained from the intersection of the operation line and a curve with a constant required power Pe * (Ne * × Te *).

  Next, it is determined whether or not the drive wheels 63a and 63b are locked based on the vehicle speed V and the wheel speeds Va and Vb of the drive wheels 63a and 63b (step S130). The driving wheels 63a and 63b are locked when, for example, either or both of the wheel speeds Va and Vb are smaller than a threshold value near 0 in a state where it is confirmed that the vehicle is not stopped at the vehicle speed V. This can be done by judging. When it is not determined that the drive wheels 63a and 63b are locked, the rotational speed obtained by subjecting the input rotational speed Nm2 of the motor MG2 to a gentle change process such as a smoothing process that reduces the degree of the change is used as the control rotational speed Nm2 *. (Step S140), and when it is determined that the driving wheels 63a and 63b are locked, it is predicted at the time of actual control in consideration of detection delay, calculation delay, and communication delay with respect to the input rotational speed Nm2 of the motor MG2. The rotation speed obtained by multiplying the input rotation speed Nm1 by (1 + Ts) as the prediction process for calculating the rotation speed to be calculated is set as the control rotation speed Nm2 * (step S150). Here, “T” in the prediction process is a time constant, and “s” is a Laplace operator. When the driving wheels 63a and 63b are not determined to be locked, the rotational speed Nm2 of the motor MG2 is subjected to a gradual change process to set the control rotational speed Nm2 * in response to changes in the vehicle speed V and engine 22 output. This is because the output of the motor MG2 can be sufficiently followed, and also to reduce the influence of noise. On the other hand, when it is determined that the driving wheels 63a and 63b are locked, the rotational speed Nm2 of the motor MG2 is subjected to a prediction process to set the control rotational speed Nm2 * by the locking of the driving wheels 63a and 63b. Since the actual number of revolutions also changes suddenly, following the sudden change in the number of revolutions, the actual number of revolutions and the number of revolutions used for the control are greatly different, so that it is not possible to obtain a power balance. This is to prevent charging and discharging.

  When the control rotation speed Nm2 * of the motor MG2 is set in this way, the motor is calculated by the following equation (1) using the target rotation speed Ne * of the engine 22, the rotation speed Nm2 of the motor MG2, and the gear ratio ρ of the power distribution and integration mechanism 30. The target rotational speed Nm1 * of MG1 is calculated, and a temporary value which is a temporary value of torque to be output from the motor MG1 by the equation (2) based on the calculated target rotational speed Nm1 * and the input rotational speed Nm1 of the motor MG1. Torque Tm1tmp is calculated (step S160). Here, Expression (1) is a dynamic relational expression for the rotating element of the power distribution and integration mechanism 30. FIG. 8 shows an example of a collinear diagram for dynamically explaining the rotating elements of the power distribution and integration mechanism 30. In the figure, the left S-axis indicates the rotation speed of the sun gear 31 that is the rotation speed Nm1 of the motor MG1, the C-axis indicates the rotation speed of the carrier 34 that is the rotation speed Ne of the engine 22, and the R-axis indicates the rotation speed of the motor MG2. The rotational speed Nr of the ring gear 32 obtained by dividing the number Nm2 by the gear ratio Gr of the reduction gear 35 is shown. Equation (1) can be easily derived from the alignment chart of FIG. The two thick arrows on the R axis indicate that the torque Tm1 output from the motor MG1 acts on the ring gear shaft 32a and the torque Tm2 output from the motor MG2 acts on the ring gear shaft 32a via the reduction gear 35. Torque. Expression (2) is a relational expression in feedback control for rotating the motor MG1 at the target rotational speed Nm1 *. In the expression (1), “k1” in the second term on the right side is the gain of the proportional term, and the right side The third term “k2” is the gain of the integral term.

Nm1 * = Ne * ・ (1 + ρ) / ρ-Nm2 / ρ (1)
Tm1tmp = ρ ・ Te * / (1 + ρ) + k1 (Nm1 * -Nm1) + k2∫ (Nm1 * -Nm1) dt (2)

  Subsequently, a value obtained by dividing the temporary torque Tm1tmp by the gear ratio ρ of the power distribution and integration mechanism 30 is added to the required torque Tr *, and this is divided by the gear ratio Gr of the reduction gear 35 to obtain the torque to be output from the motor MG2. A temporary torque Tm2tmp, which is a temporary value, is calculated by the following equation (3) (step S170), and equations (4) and (5) obtained by using the control rotational speed Nm2 * as the rotational speed of the motor MG2 Torque limits Tm1min and Tm1max are set as upper and lower limits of the temporary torque Tm1tmp of the motor MG1 that satisfies both (step S180). Here, Expression (3) can be easily derived from the alignment chart of FIG. Expression (4) is a relationship in which the total torque output to the ring gear shaft 32a by the motor MG1 and the motor MG2 is within a range from the value 0 to the required torque Tr *, and Expression (5) is a relation between the motor MG1 and the motor This is a relationship in which the sum of the power input and output by MG2 falls within the range of input and output limits Win and Wout. An example of the torque limits Tm1min and Tm1max is shown in FIG. The torque limits Tm1min and Tm1max can be obtained as the maximum value and the minimum value of the torque command Tm1 * in the region indicated by the oblique lines in the figure. Thus, by using the control rotation speed Nm2 * as the rotation speed of the motor MG2 in the equation (5), the torque limits Tm1min and Tm1max are set more appropriately even when the drive wheels 63a and 63b are locked. be able to.

Tm2tmp = (Tr * + Tm1tmp / ρ) / Gr (3)
0 ≦ −Tm1tmp / ρ + Tm2tmp ・ Gr ≦ Tr * (4)
Win ≦ Tm1tmp ・ Nm1 ＋ Tm2tmp ・ Nm2 * ≦ Wout (5)

  When the torque limits Tm1min and Tm1max are set in this way, the temporary torque Tm1tmp set in step S160 is limited by the torque limits Tm1min and Tm1max according to the equation (6), and the torque command Tm1 * of the motor MG1 is set (step 190). The deviation from the power consumption (generated power) of the motor MG1 obtained by multiplying the input / output limits Win, Wout of the battery 50 and the set torque command Tm1 * by the current rotational speed Nm1 of the motor MG1 is determined as the control rotational speed Nm2. Torque limits Tm2min and Tm2max as upper and lower limits of the torque that may be output from the motor MG2 by dividing by * are calculated by the following equations (7) and (8) (step S200), and the temporary setting set in step S170 Torque Tm2tmp is limited by torque limits Tm2min and Tm2max using equation (9), and a torque command Tm2 * for motor MG2 is set (step S210).

Tm1 * = max (min (Tm1tmp, Tm1max), Tm1min) (6)
Tm2min = (Win-Tm1 * ・ Nm1) / Nm2 * (7)
Tm2max = (Wout-Tm1 * ・ Nm1) / Nm2 * (8)
Tm2 * = max (min (Tm2tmp, Tm2max), Tm2min) (9)

  Thus, when the target engine speed Ne *, the target torque Te *, and the torque commands Tm1 *, Tm2 * of the motors MG1, MG2 are set, the target engine speed Ne * and the target torque Te * of the engine 22 are set in the engine ECU 24. The torque commands Tm1 * and Tm2 * for the motors MG1 and MG2 are transmitted to the motor ECU 40 (step S220), and the drive control routine is terminated. The engine ECU 24 that has received the target rotational speed Ne * and the target torque Te * controls the intake air amount in the engine 22 so that the engine 22 is operated at the operating point indicated by the target rotational speed Ne * and the target torque Te *. Controls such as fuel injection control and ignition control. The motor ECU 40 that has received the torque commands Tm1 * and Tm2 * controls the switching elements of the inverters 41 and 42 so that the motor MG1 is driven by the torque command Tm1 * and the motor MG2 is driven by the torque command Tm2 *. To do.

  According to the hybrid vehicle 20 of the embodiment described above, when the driving wheels 63a and 63b are determined to be locked, the control rotational speed Nm2 * obtained by performing the prediction process on the rotational speed Nm2 of the motor MG2 is set to the rotation of the motor MG2. The torque limits Tm1min and Tm1max are set as numbers, and the temporary torque Tm1tmp is limited by the torque limits Tm1min and Tm1max so that the engine 22 is rotated at the target rotational speed Ne *, and the torque command Tm1 * of the motor MG1 is set. Since the torque command Tm2 * of the motor MG2 is set using the control rotational speed Nm2 * within the range of the input / output limits Win and Wout of the battery 50, the engine 22 and the motors MG1 and MG2 are controlled. , 63b lock causes the actual rotation speed of the motor MG2 to change suddenly. It can be controlled so as to follow the sudden change in the rotational speed. As a result, since the actual rotational speed and the rotational speed used for the control are greatly different, it is not possible to obtain a power balance, and charging / discharging of the battery 50 with excessive power can be suppressed. That is, even if the drive wheels 63a and 63b are locked, the engine 22 and the motors MG1 and MG2 can be controlled more appropriately. When it is not determined that the driving wheels 63a and 63b are locked, the torque limits Tm1min and Tm1max are set using the control rotation speed Nm2 * obtained by subjecting the rotation speed Nm2 of the motor MG2 to a slow change process as the rotation speed of the motor MG2. The temporary torque Tm1tmp is limited so that the engine 22 is rotated at the target rotational speed Ne * by the torque limits Tm1min and Tm1max, the torque command Tm1 * of the motor MG1 is set, and the input / output limits Win and Wout of the battery 50 are set. The torque command Tm2 * of the motor MG2 is set using the control rotation speed Nm2 * within the range, and the engine 22 and the motors MG1 and MG2 are controlled. Therefore, the engine 22 and the motors MG1 and MG2 are stably controlled. Can suppress adverse effects of noiseOf course, the required torque Tr * is output to the ring gear shaft 32a as the drive shaft within the range of the input / output limits Win and Wout of the battery 50, even when the drive wheels 63a and 63b are not locked or locked. You can travel.

  In the hybrid vehicle 20 of the embodiment, when it is not determined that the driving wheels 63a and 63b are locked, the rotation speed Nm2 of the input motor MG2 is obtained by subjecting the rotational speed Nm2 to a slow change process such as a smoothing process that relaxes the degree of the change. The number of rotations is set as the control rotational speed Nm2 *, and when it is determined that the driving wheels 63a and 63b are locked, the detection speed, calculation delay, and communication delay are considered with respect to the rotational speed Nm2 of the input motor MG2. The rotation speed obtained by multiplying the input rotation speed Nm1 by (1 + Ts) as the prediction process for calculating the rotation speed predicted during actual control is set as the control rotation speed Nm2 *. , 63b can be obtained by performing a gradual change process using a large time constant on the input rotational speed Nm2 of the motor MG2. Is set as the control rotation speed Nm2 *, and when it is determined that the drive wheels 63a and 63b are locked, the rotation speed obtained by subjecting the input rotation speed Nm2 to processing using a small time constant. May be set as the control rotation speed Nm2 *, and when the drive wheels 63a and 63b are not determined to be locked, the rotation speed Nm2 of the input motor MG2 is subjected to a slow change process such as a smoothing process. When the rotation speed is set as the control rotation speed Nm2 * and it is determined that the drive wheels 63a and 63b are locked, the input rotation speed Nm2 of the motor MG2 may be set as the control rotation speed Nm2 * as it is.

  In the hybrid vehicle 20 of the embodiment, it is determined that the vehicle is locked when one or both of the wheel speeds Va and Vb are smaller than a threshold value near 0 in a state where it is confirmed that the vehicle is not stopped at the vehicle speed V. However, the lock of the drive wheels 63a and 63b may be determined by other methods.

  In the hybrid vehicle 20 of the embodiment, the torque limit Tm1min that limits the temporary torque Tm1tmp of the motor MG1 within the range satisfying the above-described formulas (4) and (5) using the control rotation speed Nm2 * as the rotation speed of the motor MG2. , Tm1max is determined and the torque command Tm1 * of the motor MG1 is set, and the control engine speed Nm2 * is used as the motor MG2 speed, and the torque limits Tm2min and Tm2max are determined by the equations (7) and (8) to obtain the motor MG2. Torque command Tm2 * is set. However, the torque limit Tm1min and Tm1max are set by using the control rotation speed Nm2 * as the rotation speed of the motor MG2, and the torque command Tm1 * of the motor MG1 is set. Torque limit Tm2min, T using control rotational speed Nm2 * as rotational speed If designed to set a 2max sets the torque command Tm2 * of the motor MG2, the formula (4), (5) or expression (7), may be as not using (8).

  In the hybrid vehicle 20 of the embodiment, the motor MG2 is attached to the ring gear shaft 32a as the drive shaft via the reduction gear 35. However, the motor MG2 may be directly attached to the ring gear shaft 32a, or Instead, the motor MG2 may be attached to the ring gear shaft 32a via a transmission such as a 2-speed, 3-speed, or 4-speed.

  In the hybrid vehicle 20 of the embodiment, the power of the motor MG2 is changed by the reduction gear 35 and output to the ring gear shaft 32a. However, as illustrated in the hybrid vehicle 120 of the modification of FIG. May be connected to an axle (an axle connected to the wheels 64a and 64b in FIG. 10) different from an axle to which the ring gear shaft 32a is connected (an axle to which the drive wheels 63a and 63b are connected).

  In 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.

  Moreover, it is not limited to what is applied to such a hybrid vehicle, It is good also as a form of vehicles other than a motor vehicle, and it is good also as a form of the control method of a vehicle.

  Here, the correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment, the engine 22 corresponds to an “internal combustion engine”, the power distribution and integration mechanism 30 and the motor MG1 correspond to “power power input / output means”, the motor MG2 corresponds to “electric motor”, and the battery 50 corresponds to “ The battery 50 may be charged / discharged based on the remaining capacity (SOC) of the battery 50 based on the integrated value of the charge / discharge current detected by the current sensor and the battery temperature Tb of the battery 50. The battery ECU 52 that calculates the input / output limits Win and Wout, which are allowable powers, corresponds to “input / output limit setting means” and is detected by the rotational position detection sensors 43 and 44 for a predetermined time (for example, 8 msec or 16 msec). Based on the signal, the motor ECU 40 that calculates the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 as an average value in a predetermined time is “rotational speed calculation”. The wheel speeds Va and Vb from the wheel speed sensors 65a and 65b are smaller than a threshold value near 0 when the vehicle speed V from the vehicle speed sensor 88 confirms that the vehicle is not stopped. The hybrid electronic control unit 70 that executes the process of step S130 of the drive control routine of FIG. 5 that determines that the drive wheels 63a and 63b are locked when the vehicle wheel becomes the “lock detection means” corresponds to the accelerator opening Acc. The hybrid electronic control unit 70 that executes the process of step S110 of the drive control routine of FIG. 5 that sets the required torque Tr * based on the vehicle speed V corresponds to “required drive force setting means”, and the drive wheels 63a and 63b. Is not determined, the control rotational speed Nm2 * obtained by subjecting the rotational speed Nm2 of the motor MG2 to a gradual change process is set as the mode. The motor MG1 and the motor MG1 are related to each other so that the total torque output to the ring gear shaft 32a by the motor MG1 and the motor MG2 is within the range from the value 0 to the required torque Tr *. The temporary torque Tm1tmp is limited so as to rotate the engine 22 at the target rotational speed Ne * according to the equation (5) in which the sum of the electric power input and output by the MG2 is within the range of the input / output limits Win and Wout. Then, torque limits Tm1min and Tm1max are set as limit values when setting the torque command Tm1 * of the motor MG1, and when it is determined that the driving wheels 63a and 63b are locked, a prediction process is performed on the rotational speed Nm2 of the motor MG2. Using the obtained control rotation speed Nm2 * as the rotation speed of the motor MG2, the torque limit Tm1 is calculated according to the equations (4) and (5). The hybrid electronic control unit 70 that executes the processing of steps S130 to S150 and step S180 of the drive control routine of FIG. 5 for setting min, Tm1max corresponds to “drive limit setting means”, and the engine 22 is controlled by the torque limits Tm1min, Tm1max. Is set at a target rotational speed Ne * to limit the temporary torque Tm1tmp to set a torque command Tm1 * for the motor MG1 and use the control rotational speed Nm2 * within the range of the input / output limits Win and Wout of the battery 50. The torque command Tm2 * of the motor MG2 is set, and the processing such as steps S190 to S220 of the drive control routine of FIG. 5 for transmitting the set target rotational speed Ne *, target torque Te *, and torque commands Tm1 * and Tm2 * is executed. Electronic control unit 70 for hybrid and target rotational speed e * and the target torque Te * engine ECU24 for controlling the engine 22 based on the torque command Tm1 *, the motor ECU40 for controlling the motor MG1, MG2 corresponds to a "control unit" based on Tm2 *. Further, the motor MG1 corresponds to a “generator”, and the power distribution and integration mechanism 30 corresponds to a “3-axis power input / output unit”. Further, the counter-rotor motor 230 also corresponds to “power power input / output means”. Here, the “internal combustion engine” is not limited to an internal combustion engine that outputs power using a hydrocarbon fuel such as gasoline or light oil, and may be any type of internal combustion engine such as a hydrogen engine. The “power / power input / output means” is not limited to the combination of the power distribution and integration mechanism 30 and the motor MG1 or the anti-rotor motor 230, and is connected to the drive shaft connected to the axle and the drive shaft. Is connected to the output shaft of the internal combustion engine so as to be able to rotate independently, and any device can be used as long as it can input and output power to and from the drive shaft and output shaft with input and output of electric power and power. The “motor” is not limited to the motor MG2 configured as a synchronous generator motor, and may be any type of motor as long as it can input and output power to the drive shaft, such as an induction motor. . The “power storage means” is not limited to the battery 50 as a secondary battery, and may be anything as long as it can exchange electric power with a generator, such as a capacitor. The “input / output limit setting means” is not limited to the one that calculates the input / output limits Win and Wout based on the remaining capacity (SOC) of the battery 50 and the battery temperature Tb of the battery 50, but the remaining capacity ( In addition to the SOC) and the battery temperature Tb, for example, calculation based on the internal resistance of the battery 50, etc., the input / output limit that is the allowable maximum power that may be charged / discharged of the power storage means is set based on the state of the power storage means It does not matter as long as it does. As the “rotational speed calculation means”, the rotational speed Nm1 of the motors MG1 and MG2 is averaged over a predetermined time based on signals detected by the rotational position detection sensors 43 and 44 over a predetermined time (for example, 8 msec or 16 msec). , Nm2 is not limited to the above, but the signals detected by the rotational position detection sensors 43, 44 are subjected to smoothing processing for a predetermined time to calculate the rotational speeds Nm1, Nm2 of the motors MG1, MG2. As long as the number of rotations of the motor is calculated by a predetermined calculation process on the basis of a signal from a sensor attached to the motor and using an electromagnetic action, any device may be used. “Lock detection means” is a threshold in which one or both of the wheel speeds Va and Vb from the wheel speed sensors 65a and 65b are in a state where it is confirmed that the vehicle is not stopped by the vehicle speed V from the vehicle speed sensor 88. It is not limited to what determines that the drive wheels 63a and 63b are locked when it becomes smaller, but any device that detects the lock of the drive wheels attached to the axle connected to the drive shaft. It doesn't matter. The “required driving force setting means” is not limited to the one that sets the required torque Tr * based on the accelerator opening Acc and the vehicle speed V, but sets the required torque based only on the accelerator opening Acc. If the required driving force required for traveling is set, such as those for which the required torque is set based on the traveling position on the traveling route, such as those for which the driving route is set in advance I do not care. As the “drive limit setting means”, when the lock of the drive wheels 63a, 63b is not determined, the control rotation speed Nm2 * obtained by subjecting the rotation speed Nm2 of the motor MG2 to a gentle change process is used as the rotation speed of the motor MG2. Thus, the motor MG1 and the motor MG2 input / output by the motor MG1 and the motor MG2 and the equation (4) in which the sum of the torques output to the ring gear shaft 32a is in the range from the value 0 to the required torque Tr *. The temporary torque Tm1tmp is limited so that the engine 22 is rotated at the target rotational speed Ne * according to Expression (5), which is a relationship in which the sum of the electric power falls within the range of the input / output limits Win, Wout, and the torque command Tm1 of the motor MG1 * Torque limits Tm1min and Tm1max are set as limit values when setting *, and the driving wheels 63a and 63b are locked. When set, torque limits Tm1min and Tm1max are set according to equations (4) and (5) using the control rotational speed Nm2 * obtained by performing a prediction process on the rotational speed Nm2 of the motor MG2 as the rotational speed of the motor MG2. The present invention is not limited to this, and when it is not determined that the driving wheels 63a and 63b are locked, the rotational speed Nm2 * for control obtained by subjecting the rotational speed Nm2 of the input motor MG2 to a slow change process using a large time constant. Is used as the rotation speed of the motor MG2, and torque limits Tm1min and Tm1max are set according to the equations (4) and (5), and when the driving wheels 63a and 63b are determined to be locked, the input rotation speed Nm2 is small. Using the control rotational speed Nm2 * obtained by performing the processing using the time constant as the rotational speed of the motor MG2, equation (4) When the torque limits Tm1min and Tm1max are set according to (5), or when it is not determined that the driving wheels 63a and 63b are locked, the torque limits Tm1min and Tm1max are obtained by performing a gentle change process such as an annealing process on the input rotational speed Nm2. When the control rotation speed Nm2 * is used as the rotation speed of the motor MG2, the torque limits Tm1min and Tm1max are set according to the equations (4) and (5), and when the lock of the drive wheels 63a and 63b is determined, the input motor MG2 The motor speed calculated when the lock of the drive wheel is not detected, such as setting the torque limits Tm1min and Tm1max according to the equations (4) and (5) using the rotational speed Nm2 of the engine as it is as the control rotational speed Nm2 *. The first post-processing rotation speed, the required driving force, and the input / output limit applied to the first rotation speed are used. Then, the drive limit is set as the upper and lower limits of the range in which the electric power drive input / output means may be driven, and when the lock of the drive wheel is detected, the calculated rotation speed of the motor is changed by the first process. As long as the drive limit is set using the rotation speed after the second process, the required driving force, and the input / output limit that have been subjected to the second process reflected promptly, it may be anything. The “control means” is not limited to the combination of the hybrid electronic control unit 70, the engine ECU 24, and the motor ECU 40, and may be configured by a single electronic control unit. Further, as the “control means”, the temporary torque Tm1tmp is limited so that the engine 22 is rotated at the target rotational speed Ne * by the torque limits Tm1min and Tm1max, and the torque command Tm1 * of the motor MG1 is set. The torque command Tm2 * of the motor MG2 is set using the control rotation speed Nm2 * within the limits Win and Wout, and is not limited to the control of the engine 22 and the motors MG1 and MG2. The internal combustion engine and the power power input / output means so as to travel with the driving force based on the required driving force set within the input / output limit range set with the driving of the power power input / output means within the range of the drive limit As long as it controls the motor and the electric motor, it may be anything. The “generator” is not limited to the motor MG1 configured as a synchronous generator motor, and may be any type of generator such as an induction motor that can input and output power. The “three-axis power input / output means” is not limited to the power distribution / integration mechanism 30 described above, but includes four or more shafts using a double pinion type planetary gear mechanism or a combination of a plurality of planetary gear mechanisms. Connected to the three shafts, such as those connected to the shaft and those having a different operation action from the planetary gear such as a differential gear, and connected to the three shafts of the drive shaft, the output shaft, and the rotating shaft of the generator. As long as the power is input / output to / from the remaining shafts based on the power input / output to / from the power source, any method may be used. The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems is the same as that of the embodiment described in the column of means for solving the problems. It is an example for specifically explaining the best mode for doing so, and does not limit the elements of the invention described in the column of means for solving the problems. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problems. It is only a specific example.

  The best mode for carrying out the present invention has been described with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the gist of the present invention. Of course, it can be implemented in the form.

  The present invention can be used in the vehicle manufacturing industry.

1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 according to an embodiment of the present invention. 2 is a configuration diagram showing an outline of a configuration of an engine 22. FIG. It is explanatory drawing which shows an example of the relationship between the battery temperature Tb in the battery 50, and the input / output restrictions Win and Wout. It is explanatory drawing which shows an example of the relationship between the remaining capacity (SOC) of the battery 50, and the correction coefficient of input / output restrictions Win and Wout. It is a flowchart which shows an example of the drive control routine performed by the hybrid electronic control unit 70 of an Example. It is explanatory drawing which shows an example of the map for request | requirement torque setting. It is explanatory drawing which shows a mode that an example of the operating line of the engine 22, and target rotational speed Ne * and target torque Te * are set. FIG. 4 is an explanatory diagram showing an example of a collinear diagram for dynamically explaining rotational elements of a power distribution and integration mechanism 30; It is explanatory drawing which shows an example of torque restrictions Tm1min and Tm1max. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 120 according to a modification. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 220 of a modified example.

Explanation of symbols

  20, 120, 220 Hybrid vehicle, 22 engine, 24 engine electronic control unit (engine ECU), 24a CPU, 24b ROM, 24c RAM, 26 crankshaft, 28 damper, 30 power distribution integration mechanism, 31 sun gear, 32 ring gear, 32a ring gear shaft, 33 pinion gear, 34 carrier, 35 reduction gear, 40 motor electronic control unit (motor ECU), 41, 42 inverter, 43, 44 rotational position detection sensor, 50 battery, 51 temperature sensor, 52 battery electronic control Unit (battery ECU), 54 power line, 60 gear mechanism, 62 differential gear, 63a, 63b drive wheel, 64a, 64b wheel, 65a, 65b wheel speed sensor, 70 electronic control for hybrid Knit, 72 CPU, 74 ROM, 76 RAM, 80 Ignition switch, 81 Shift lever, 82 Shift position sensor, 83 Accel pedal, 84 Accel pedal position sensor, 85 Brake pedal, 86 Brake pedal position sensor, 88 Vehicle speed sensor, 122 Air cleaner , 124 Throttle valve, 126 Fuel injection valve, 128 Intake valve, 130 Spark plug, 132 Piston, 134 Purifier, 136, Throttle motor, 138 Ignition coil, 140 Crank position sensor, 142 Water temperature sensor, 143 Pressure sensor, 144 Cam position Sensor, 146 Throttle valve position sensor, 148 Air flow meter, 149 Temperature sensor, 150 Variable valve timing , 230 rotor motor, 232 inner rotor 234 outer rotor, MG1, MG2 motor.

Claims (11)

An internal combustion engine;
Connected to the drive shaft connected to the axle and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the drive shaft, and to the drive shaft and the output shaft with input and output of electric power and power Power power input / output means capable of power input / output;
An electric motor capable of outputting power to the drive shaft;
A power storage means capable of exchanging power with the electric power drive input / output means and the electric motor;
An input / output limit setting means for setting an input / output limit that is an allowable maximum power that may be charged / discharged based on the state of the power storage means;
A rotation speed calculation means for calculating the rotation speed of the motor by a predetermined calculation process based on a signal from a sensor attached to the motor and using electromagnetic action;
A lock detecting means for detecting a lock of a drive wheel attached to an axle connected to the drive shaft;
A required driving force setting means for setting a required driving force required for traveling;
When the lock of the driving wheel is not detected by the lock detecting means, a first post-processing rotation speed obtained by performing a first process on the calculated rotation speed, the set required driving force, and the set input / output limit Is used to set the drive limit as the upper and lower limits of the range in which the power motive power input / output means may be driven, and when the lock of the drive wheel is detected by the lock detection means, the calculated number of revolutions is set. The driving using the post-second processing rotational speed that has been subjected to the second process in which the rotational speed change is reflected more quickly than the first processing, the set required driving force, and the set input / output restriction. Drive limit setting means for setting a limit;
The internal combustion engine travels with a driving force based on the set required driving force within the set input / output limit range with the driving of the power / power input / output means within the set driving limit range. Control means for controlling the engine, the power drive input / output means and the electric motor;
A vehicle comprising:   The drive restriction setting means includes a relationship in which a driving force output to the drive shaft is within a range from a value of 0 to the set required driving force, electric power input / output from the electric power input / output means, and the The vehicle according to claim 1, wherein the driving restriction is set based on a relationship in which a sum of electric power inputted and outputted from an electric motor falls within the set input / output restriction range.   The drive limit setting means calculates the electric power inputted / outputted from the electric motor by using the rotation speed after the first processing as the rotation speed of the electric motor when the lock detection means does not detect the lock of the driving wheel. A drive limit is set, and when the lock of the driving wheel is detected by the lock detection means, the second post-processing rotation speed is used as the rotation speed of the motor to calculate the power input / output from the motor, The vehicle according to claim 1, wherein the vehicle is a means for setting a drive limit. A vehicle according to any one of claims 1 to 3,
The first process is a gradual change process that moderates a change in the rotational speed,
The second process is a prediction process for predicting the rotational speed at the time of control based on the first-order delay .
vehicle.
A vehicle according to any one of claims 1 to 3,
The first process is a gradual change process that uses a first time constant to moderate a change in the rotational speed,
The second process is a gradual change process in which a change in the rotational speed is moderated using a second time constant smaller than the first time constant.
vehicle. A vehicle according to any one of claims 1 to 3,
The first process is a gradual change process that moderates a change in the rotational speed,
The second process is a process in which the calculated rotation number is directly used as a rotation number after the second process.
vehicle.   The vehicle according to any one of claims 1 to 6, wherein the lock detection means is means for detecting lock of the drive wheel based on a sudden change in wheel speed of the drive wheel.   The power motive power input / output means is connected to three axes of a generator for inputting / outputting motive power, the drive shaft, the output shaft, and a rotating shaft of the generator, and enters any two of the three axes. The vehicle according to any one of claims 1 to 7, further comprising: a three-axis power input / output means for inputting / outputting power to / from the remaining shaft based on the output power. Connected to the internal combustion engine and a drive shaft connected to the axle and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the drive shaft, the drive shaft and the output with input and output of electric power and power Electric power power input / output means capable of inputting / outputting power to / from the shaft, electric motor capable of outputting power to the drive shaft, power power input / output means, power storage means capable of exchanging electric power with the motor, and the electric motor A rotation speed calculation means for calculating the rotation speed of the electric motor by a predetermined calculation process based on a signal from a sensor using an electromagnetic action, and a lock of a drive wheel attached to an axle connected to the drive shaft. A lock detection means for detecting, a vehicle control method comprising:
(A) When the lock detection means does not detect the lock of the drive wheel, the first processed post-rotation speed obtained by subjecting the rotational speed calculated by the rotational speed calculation means to the first process and the required drive required for traveling A driving limit as an upper limit and a lower limit of the range in which the power power input / output means may be driven using a force and an input / output limit that is an allowable maximum power that may charge / discharge the power storage means, and the lock A second process in which a second process is performed in which a change in the rotational speed is more quickly reflected in the rotational speed calculated by the rotational speed calculating means than in the first process when the detection means detects that the driving wheel is locked. Set the drive limit using the post-rotation speed, the required drive force and the input / output limit,
(B) The internal combustion engine and the electric power so as to travel with the driving force based on the required driving force within the input / output restriction range with the driving of the power / power input / output means within the set driving restriction range. Controlling power input / output means and the electric motor;
Vehicle control method.   In the step (a), the driving force output to the drive shaft is in a range from a value of 0 to the required driving force, the power input / output from the power driving input / output means and the input from the motor. The vehicle control method according to claim 9, wherein the drive restriction is set based on a relationship in which a sum of output power is within the input / output restriction range.   In the step (a), when lock of the driving wheel is not detected by the lock detection means, the electric power input / output from the electric motor is calculated by using the rotation speed after the first processing as the rotation speed of the electric motor. A drive limit is set, and when the lock of the driving wheel is detected by the lock detection means, the second post-processing rotation speed is used as the rotation speed of the motor to calculate the power input / output from the motor, The vehicle control method according to claim 9, wherein the vehicle control method is a step of setting a drive restriction.

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