JP4470967B2 - Control device for hybrid vehicle - Google Patents

Description

  The present invention relates to a control device for a hybrid vehicle.

  In recent years, a hybrid vehicle including an engine and another power source that operates by using electric power charged in a battery, for example, a motor, is known. In the hybrid vehicle, the shortage of the engine torque with respect to the target value is corrected by the motor. The correction amount of the motor is set in advance. However, the required correction amount of the motor changes due to engine variations and aging. In addition, if the motor correction amount increases due to engine variations and changes over time, the battery is more heavily loaded, which affects the life and performance of the battery. Patent Document 1 below describes a hybrid vehicle that estimates an engine torque based on a motor current and calculates and outputs a correction value of a throttle opening based on a difference between the estimated value and a target value.

JP 2000-310131 A

  However, the hybrid vehicle described in Patent Document 1 has a problem that it is necessary to always perform feedback control.

  The present invention has been made to solve the above-described problems, and provides a control device for a hybrid vehicle that can further improve responsiveness to control with respect to engine variations and aging. This is the issue.

In one aspect of the present invention, a control device for a hybrid vehicle including an internal combustion engine and a generator that generates electric power when power of the internal combustion engine is input is configured to reduce a required torque of the internal combustion engine based on operating conditions. A request torque calculating means for calculating, a map showing a relationship between the request torque and the control parameter of the internal combustion engine is recorded, and the value of the control parameter is calculated using the map based on the request torque. An internal combustion engine control means for controlling the internal combustion engine with the calculated value of the control parameter, an output torque estimation means for estimating an output torque of the internal combustion engine based on a current of the generator, and the required torque. and map correcting means obtains a difference between the output torque, based on said difference, said output torque correcting the map to match the required torque, And air-fuel ratio detecting means for detecting an air-fuel ratio in the intake pipe of the serial engine, based on the fuel injection amount of the internal combustion engine, and an air-fuel ratio estimating means for estimating the air-fuel ratio in the intake pipe of the internal combustion engine, In the map correction means, the air-fuel ratio detected by the air-fuel ratio detection means does not match the air-fuel ratio estimated by the air-fuel ratio estimation means when there is a difference between the required torque and the output torque. In this case, the map indicating the relationship between the required torque and the fuel injection amount of the internal combustion engine is corrected, and the air-fuel ratio detected by the air-fuel ratio detecting means and the air-fuel ratio estimated by the air-fuel ratio estimating means If There they match, correct the map showing the relationship between the intake air amount of the required torque and the engine.

The above-described hybrid vehicle control device is a hybrid vehicle control device including an internal combustion engine (engine) and a generator (motor) that generates electric power when power of the internal combustion engine is input. The control apparatus for a hybrid vehicle includes required torque calculation means, internal combustion engine control means, output torque estimation means, and map correction means. The required torque calculation means is, for example, a feedforward control unit in the hybrid ECU, and calculates the required torque of the internal combustion engine based on operating conditions. The internal combustion engine control means is, for example, a feedforward control unit in an engine ECU, and records a map showing a relationship between the required torque and a control parameter of the internal combustion engine, and the map is based on the required torque. And calculating the value of the control parameter, and controlling the internal combustion engine with the calculated value of the control parameter. The output torque estimating means estimates the output torque of the internal combustion engine based on the current of the generator. The map correction means is, for example, a learning mechanism unit of a hybrid ECU, obtains a difference between the requested torque and the output torque, and based on the difference, maps the map so that the output torque matches the requested torque. to correct. According to this hybrid vehicle control device, by correcting the map itself, it is not necessary to perform feedback control for the values of the respective control parameters obtained using the corrected map, and responsiveness to control can be improved. Can be improved.
Here, the control device for the hybrid vehicle includes an air-fuel ratio detecting means for detecting an air-fuel ratio in the intake pipe of the internal combustion engine, and an air-fuel ratio in the intake pipe of the internal combustion engine based on the fuel injection amount of the internal combustion engine. And an air-fuel ratio estimating means for estimating. The air-fuel ratio detection means is, for example, an A / F sensor attached to the intake pipe of the internal combustion engine. The air-fuel ratio estimating means is, for example, a learning mechanism unit of a hybrid ECU. In the map correction means, the air-fuel ratio detected by the air-fuel ratio detection means does not match the air-fuel ratio estimated by the air-fuel ratio estimation means when there is a difference between the required torque and the output torque. In this case, the map indicating the relationship between the required torque and the fuel injection amount of the internal combustion engine is corrected, and the air-fuel ratio detected by the air-fuel ratio detecting means and the air-fuel ratio estimated by the air-fuel ratio estimating means Are in agreement, the map indicating the relationship between the required torque and the intake air amount of the internal combustion engine is corrected. By doing so, the cause of the decrease in the output torque can be accurately estimated, and the correction for matching the output torque with the required torque can be accurately performed.

  In another aspect of the hybrid vehicle control apparatus, the map is a torque map showing a relationship among the required torque, a throttle opening of the internal combustion engine, and a rotational speed of the internal combustion engine, and the map correction means When the difference between the required torque and the output torque is generated, the torque map is corrected so that the output torque matches the required torque. In this way, even if the map of control parameters such as the ignition timing, intake air amount, and fuel injection amount is corrected, the output torque matches the required torque when the output torque does not match the required torque. In addition, by correcting the torque map itself, there is no need to perform feedback control on the throttle opening value obtained using the corrected torque map.

  Preferred embodiments of the present invention will be described below with reference to the drawings.

[Vehicle configuration]
First, a hybrid vehicle to which a hybrid vehicle control device according to each embodiment of the present invention is applied will be described. The configuration of the hybrid vehicle described below is the same as the configuration of a general hybrid vehicle.

  FIG. 1 is a diagram showing a schematic configuration of the hybrid vehicle 100. The hybrid vehicle 100 mainly includes an engine 1, an axle 2, wheels 3, motors (motor generators) MG 1 and MG 2, a planetary gear 4, an inverter 5, a battery 6, and an ECU (Electronic Control Unit) 10. .

  The axle 2 is a part of a power transmission system that transmits the power of the engine 1 and the motor MG2 to the wheels 3. The wheels 3 are wheels of the hybrid vehicle 100, and only the left and right front wheels are particularly shown in FIG. The engine 1 is a device that generates power by burning a mixture of supplied fuel and air. For example, the engine 1 is configured by a gasoline engine, a diesel engine, or the like. The engine 1 functions as a power source that outputs the main driving force of the hybrid vehicle 100. The engine 1 is controlled variously by the ECU 10. Specifically, the ECU 10 controls the ignition timing and intake air amount of the engine 1 and controls the opening (throttle opening) of a throttle valve (not shown).

  Motor MG1 is configured to function mainly as a generator for charging battery 6 or a generator for supplying electric power to motor MG2. The motor MG2 is mainly configured to function as an electric motor that assists (assists) the output of the engine 1, and is configured to be able to transmit power to the axle 2. The number of rotations of the motor MG2 is controlled by the ECU 10.

  These motors MG1 and MG2 are configured as, for example, synchronous motor generators, and include a rotor having a plurality of permanent magnets on the outer peripheral surface, and a stator wound with a three-phase coil that forms a rotating magnetic field. The planetary gear (planetary gear mechanism) 4 is configured to be able to distribute the output of the engine 1 to the motor MG1 and the axle 2 and functions as a power split mechanism.

  The inverter 5 is a DC / AC converter that controls power input / output between the battery 6 and the motors MG1 and MG2. For example, the inverter 5 converts the DC power taken out from the battery 6 into AC power, or supplies AC power generated by the motor MG1 to the motor MG2 and converts the AC power generated by the motor MG1 into DC power. It can be converted to and supplied to the battery 6.

  The battery 6 is a rechargeable storage battery configured to be able to function as a power source for driving the motor MG1 and the motor MG2.

  The ECU 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like (not shown). The ECU 10 controls the engine 1, the motors MG1, MG2, and the like based on detection signals supplied from various sensors. For example, the ECU 10 determines the required torque of the engine 1 based on a detection signal supplied from an accelerator opening sensor (not shown). Then, the ECU 10 controls the engine 1 based on the determined required torque.

[Configuration of control device]
Next, the configuration of the hybrid vehicle control device according to each embodiment of the present invention will be described. FIG. 2 is a diagram illustrating a schematic configuration of a control device for a hybrid vehicle according to each embodiment.

  The ECU 10 that is a control device for the hybrid vehicle is roughly composed of a hybrid ECU 10a and an engine ECU 10b. The engine ECU 10 b is an ECU for controlling the engine 1. The hybrid ECU 10a is an integration ECU that controls the engine ECU 10b, other motors MG1, MG2, and the like. The engine ECU 10b has a feedforward control unit 20b. The hybrid ECU 10a includes a feedforward control unit 20a, a learning mechanism unit 21, and an output torque estimation unit 22.

  The feedforward control unit 20a obtains the required torque of the engine 1 based on the input operating conditions such as the accelerator opening. The feedforward control unit 20a supplies the calculated required torque of the engine 1 to the learning mechanism unit 21 and the feedforward control unit 20b of the engine ECU 10b as a control signal Sig11.

  The feedforward control unit 20b records a map indicating the relationship between the required torque and each control parameter, and calculates the value of each control parameter of the engine 1 using the map based on the required torque of the engine 1. . Examples of each control parameter include ignition timing, fuel injection amount, intake air amount, throttle opening, VVT (Variable Valve Timing), working angle, and the like. In addition, the feedforward control unit 20a includes, as a map, a torque map indicating the relationship between the required torque, the throttle opening, and the engine speed, and control parameters such as the required torque, the injection timing, the intake air amount, and the fuel injection amount. And a map (hereinafter referred to as a “control parameter map”).

  The feedforward control unit 20b obtains the engine speed based on the detection signal from the crank angle sensor, and obtains the throttle opening using the torque map based on the required torque and the engine speed. Further, the feedforward control unit 20b obtains values of control parameters such as injection timing, intake air amount, and fuel injection amount using a control parameter map based on the required torque. For example, the feedforward control unit 20b determines the value of the ignition timing using a control parameter map indicating the relationship between the required torque and the ignition timing based on the required torque. The feedforward control unit 20b controls the engine 1 by supplying the control parameter values obtained as described above to the engine 1 as the control signal Sig12.

  The power of the engine 1 is distributed and output to the motor MG1 and the axle 2 by the planetary gear 4 described above, as indicated by a one-dot chain line arrow Pw11. The motor MG1 generates electric power by rotating the motor shaft by the distributed power of the engine 1. The current generated in the motor MG1 is supplied as the detection signal Sig13 to the output torque estimation unit 22 of the hybrid ECU 10a.

  The output torque estimation unit 22 estimates the output torque of the engine 1 based on the current generated by the motor MG1. The output torque estimation unit 22 supplies the estimated output torque of the engine 1 to the learning mechanism unit 21 as the control signal Sig14. The output torque estimation unit 22 directly measures the rotational speed of the motor shaft of the motor MG1 based on the current generated in the motor MG1, instead of estimating the output torque of the engine 1, and based on the rotational speed. The output torque of the engine 1 may be estimated.

  The learning mechanism unit 21 creates a map such as a torque map or a control parameter map so that the output torque of the engine 1 matches the required torque of the engine 1 based on the difference between the required torque of the engine 1 and the output torque of the engine 1. Control for correcting the value of each control parameter obtained using the control, so-called feedback control is performed. In addition to this, or instead of performing feedback control, based on the difference between the required torque of the engine 1 and the output torque of the engine 1, the output torque of the engine 1 matches the required torque of the engine 1. Control to correct the map itself. These controls are performed by the learning mechanism unit 21 supplying the control signal Sig15 to the feedforward control unit 20b of the engine ECU 10b. The reason for this is as follows.

  The output torque of the engine 1 is often lower than the required torque of the engine 1 due to engine variations and aging. Therefore, for example, in the hybrid vehicle control device described in Patent Document 1, the output torque of the engine 1 matches the required torque of the engine 1 based on the difference between the required torque of the engine 1 and the output torque of the engine 1. In addition, feedback control is performed to correct the value of the throttle opening obtained based on the engine speed and the required torque.

  However, in the feedback control, since it is detected that the required torque of the engine 1 and the output torque of the engine 1 do not coincide with each other, the value of each control parameter obtained using the map is corrected. There was a problem that it was not good.

  Therefore, in the hybrid vehicle control device of the present invention, the learning mechanism unit 21 performs the difference between the required torque of the engine 1 and the output torque of the engine 1 in addition to performing feedback control or instead of performing feedback control. Based on the above, the map itself is corrected so that the output torque of the engine 1 matches the required torque of the engine 1. The output torque of the engine 1 can be matched with the required torque of the engine 1 also by correcting the control map itself as described above. Further, by correcting the map itself, there is no need to perform feedback control for the values of the control parameters obtained using the corrected map, and the responsiveness to control can be improved. In the following embodiments, specific description will be given.

[First Embodiment]
First, map correction processing in the hybrid vehicle control apparatus according to the first embodiment of the present invention will be described. Examples of control parameters to be corrected mainly include control parameters for ignition timing, intake air amount, and fuel injection amount, which are considered to have a large effect on output torque. The details will be described below.

(Ignition timing map correction process)
First, an example of map processing when the ignition timing is used as a control parameter will be specifically described with reference to a flowchart shown in FIG.

  First, in step S101, the output torque estimation unit 22 estimates the output torque of the engine 1 based on the current generated by the motor MG1.

  In step S102, the learning mechanism unit 21 determines whether or not the estimated output torque of the engine 1 matches the required torque of the engine 1. When the learning mechanism unit 21 determines that the output torque of the engine 1 does not coincide with the required torque of the engine 1 (No at Step S102), the learning mechanism unit 21 uses a control parameter map indicating the relationship between the required torque and the ignition timing. In step S103, the learning mechanism unit 21 determines that the output torque of the engine 1 is lower than the required torque of the engine 1. In this case, feedback control is performed to advance the ignition timing value obtained using the map. Thereafter, the process returns to step S101.

  On the other hand, when the learning mechanism unit 21 determines in step S102 that the output torque of the engine 1 matches the required torque of the engine 1 (step S102: Yes), the ignition timing at that time is determined as the required torque. And a correction to be reflected in the control parameter map indicating the relationship between the ignition timing and the ignition timing (step S104). Specifically, the learning mechanism unit 21 performs a correction to advance each value of the ignition timing in the control parameter map indicating the relationship between the required torque and the ignition timing by the advance amount of the ignition timing performed in step S103. Do. In this way, by correcting the control parameter map itself indicating the relationship between the required torque and the ignition timing, it is necessary to perform feedback control on the ignition timing value obtained using the corrected control parameter map. Therefore, responsiveness to control can be improved.

  Note that when the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1, instead of performing feedback control, a control parameter map indicating the relationship between the required torque and the ignition timing. May be corrected. This will be specifically described with reference to the flowchart shown in FIG.

  First, in step S111, the output torque estimating unit 22 estimates the output torque of the engine 1 based on the current generated in the motor MG1.

  In step S112, the learning mechanism unit 21 determines whether or not the estimated output torque of the engine 1 matches the required torque of the engine 1. If the learning mechanism unit 21 determines that the output torque of the engine 1 matches the required torque of the engine 1 (step S112: Yes), the process ends.

  On the other hand, when the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1 (step S112: No), the output torque of the engine 1 matches the required torque of the engine 1. As described above, the control parameter map indicating the relationship between the required torque and the ignition timing is corrected (step S113). For example, when the output torque of the engine 1 is lower than the required torque of the engine 1, the output torque of the engine 1 is the required torque of the engine 1 with respect to the control parameter map indicating the relationship between the required torque and the ignition timing. Correction to advance the ignition timing so as to match. Specifically, the learning mechanism unit 21 advances each value of the ignition timing in the control parameter map indicating the relationship between the required torque and the ignition timing so that the output torque of the engine 1 matches the required torque of the engine 1. Make corrections. Thereafter, the learning mechanism unit 21 returns the process to step S111. In this way, the learning mechanism unit 21 can correct the control parameter map indicating the relationship between the required torque and the ignition timing, and simultaneously perform feedback control for advancing the ignition timing value. it can.

  In this way, by correcting the control parameter map itself indicating the relationship between the required torque and the ignition timing, it is necessary to perform feedback control on the ignition timing value obtained using the corrected control parameter map. Therefore, responsiveness to control can be improved. Further, the correction of the ignition timing has a faster response to the output torque than the correction of the intake air amount or the fuel correction amount. Therefore, by correcting the control parameter map indicating the relationship between the required torque and the ignition timing, the output torque is requested earlier than the control parameter map indicating the relationship between the required torque and the intake air amount or the fuel injection amount. Can be matched to torque.

(Intake air volume map correction process)
In the above example, when the output torque of the engine 1 does not match the required torque of the engine 1, the ignition timing is advanced with respect to the control parameter map indicating the relationship between the required torque and the ignition timing.

  However, the occurrence of knocking becomes a problem when the control parameter map indicating the relationship between the required torque and the ignition timing is corrected to greatly advance the ignition timing. Further, there is a possibility that the output torque cannot be matched with the required torque only by advancing the ignition timing.

  In order to prevent such a problem, it is necessary to correct other control parameters instead of correcting the ignition timing or in addition to correcting the ignition timing. Therefore, as another example of the control parameter to be corrected, an example of processing when the intake air amount is used will be described with reference to the flowchart shown in FIG.

  First, in step S121, the output torque estimation unit 22 estimates the output torque of the engine 1 based on the current generated by the motor MG1.

  In step S122, the learning mechanism unit 21 determines whether or not the estimated output torque of the engine 1 matches the required torque of the engine 1. If the learning mechanism unit 21 determines that the output torque of the engine 1 matches the required torque of the engine 1 (step S122: Yes), the learning process ends.

  On the other hand, when the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1 (step S122: No), the output torque of the engine 1 matches the required torque of the engine 1. Thus, the control parameter map indicating the relationship between the required torque and the intake air amount is corrected (step S123). For example, when the output torque of the engine 1 is lower than the required torque of the engine 1, the output torque of the engine 1 is higher than the required torque of the engine 1 with respect to the control parameter map indicating the relationship between the required torque and the intake air amount. Correction is performed to increase the intake air amount so as to match the torque. Specifically, the learning mechanism unit 21 sets each value of the intake air amount in the control parameter map indicating the relationship between the required torque and the intake air amount so that the output torque of the engine 1 matches the required torque of the engine 1. Make incremental corrections. Thereafter, the learning mechanism unit 21 returns the process to step S121.

  In this way, by correcting the control parameter map itself indicating the relationship between the required torque and the intake air amount, it is necessary to perform feedback control on the intake air amount value obtained using the corrected control parameter map. Therefore, the response to control can be improved. Further, by performing the correction to increase the intake air amount, it is not necessary to greatly advance the ignition timing, and the occurrence of knocking can be prevented. Further, in addition to the correction for increasing the ignition timing, the correction for increasing the intake air amount is performed, so that the output torque of the engine 1 is made to be the required torque of the engine 1 as compared with the case where only the correction for increasing the ignition timing is performed. Can be easily matched.

  Note that the control parameter map indicating the relationship between the required torque and the intake air amount is not limited to a map that directly determines the intake air amount itself based on the required torque, but instead, based on the required torque, It is good also as a map which calculates | requires the parameter which determines the value of air quantity. For example, when the intake air amount is estimated by modeling the intake system of the engine 1 as a fluid model constructed using an energy conservation law, a mass conservation law, a state equation, etc., the intake air amount is For example, it is obtained as a function of intake pipe pressure, intake pipe temperature, and atmospheric temperature. In this case, the feedforward control unit 20b obtains the value of the intake pipe internal pressure and the value of the intake pipe internal temperature using a map showing the relationship between the required torque, the intake pipe internal pressure, and the intake pipe internal temperature based on the required torque. If the engine 1 is controlled based on the respective values, the intake air amount is controlled as a result. Therefore, in this case, if the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1, the output torque of the engine 1 matches the required torque of the engine 1. In addition, a map indicating the relationship among the required torque, the intake pipe pressure, and the intake pipe temperature may be corrected. Also by this, the same effect as the above effect can be obtained.

  The above example describes the case where the engine 1 is in a steady state. However, the present invention can be applied even when the throttle opening is changed, for example, when the vehicle is accelerated or decelerated, that is, when the engine 1 is in a transient state that is not a steady state. . Specifically, when the state of the engine 1 is in a transient state, the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1, and the transient state of the engine 1. The control parameter map indicating the relationship between the required torque and the intake air amount at the time may be corrected. Also by this, the same effect as the above effect can be obtained.

  Here, the case where the intake system of the engine 1 is modeled as a fluid model and the intake air amount in the transient state of the engine 1 is estimated will be described. When the engine 1 is in a transient state, the specific heat ratio of the intake air cannot be considered constant. Therefore, in the fluid model for estimating the intake air amount in the transient state of the engine 1, the specific heat ratio of the intake air as well as the intake pipe pressure and the intake pipe temperature are important parameters for estimating the intake air amount. Therefore, when the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1 when the state of the engine 1 is in a transient state, for example, For the map showing the relationship with the specific heat ratio of the intake air, the specific heat ratio of the intake air is corrected so that the output torque matches the required torque. In this way, even when the state of the engine 1 is in a transient state, the intake air amount can be corrected so that the output torque of the engine 1 matches the required torque of the engine 1.

(Fuel injection / intake air map correction processing)
In the above example, the map correction processing of the ignition timing and the intake air amount has been described. However, examples of control parameters that can be corrected so that the output torque of the engine 1 matches the required torque of the engine 1 are not limited to the ignition timing and the intake air amount described above. Instead of or in addition to using these control parameters, the fuel injection amount may be used as the control parameter.

  In the case of the map correction process for the fuel injection amount as well as the map correction process for the ignition timing and the intake air amount, the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1. The control parameter map indicating the relationship between the required torque and the fuel injection amount is corrected so that the output torque of the engine 1 matches the required torque of the engine 1. For example, when the output torque of the engine 1 is lower than the required torque of the engine 1, the output torque of the engine 1 is higher than the required torque of the engine 1 with respect to the control parameter map indicating the relationship between the required torque and the fuel injection amount. Correction for increasing the fuel injection amount is performed so as to match the torque. Specifically, the learning mechanism unit 21 sets each value of the fuel injection amount in the control parameter map indicating the relationship between the required torque and the fuel injection amount so that the output torque of the engine 1 matches the required torque of the engine 1. Make incremental corrections.

  Here, an example where the fuel injection amount and the intake air amount are used as the control parameters will be described. In this example, the learning mechanism unit 21 is measured using an air-fuel ratio estimated based on the fuel injection amount (estimated air-fuel ratio) and an A / F sensor attached downstream of the fuel injection valve in the intake pipe. Based on the air-fuel ratio (measured air-fuel ratio), the control parameter map indicating the relationship between the required torque and the fuel injection amount is corrected, or the control indicating the relationship between the required torque and the intake air amount It is determined whether to correct the parameter map.

  Specifically, when the output torque of the engine 1 does not match the required torque of the engine 1 and the measured air-fuel ratio is different from the estimated air-fuel ratio, the learning mechanism unit 21 determines the required torque and the fuel injection In the control parameter map indicating the relationship with the quantity, it is determined that there is a mismatch between the output torque and the required torque, and the required torque and the fuel are set so that the output torque of the engine 1 matches the required torque of the engine 1. Correction is performed on the control parameter map indicating the relationship with the injection amount. On the other hand, when the output torque of the engine 1 does not match the required torque of the engine 1 and the measured air-fuel ratio matches the estimated air-fuel ratio, the learning mechanism unit 21 calculates the required torque and the intake air amount. In the control parameter map indicating the relationship between the output torque and the required torque, the required torque and the intake air amount are determined so that the output torque of the engine 1 matches the required torque of the engine 1. Correction is performed on the control parameter map indicating the relationship between By doing so, the cause of the decrease in the output torque can be accurately estimated, and the correction for matching the output torque of the engine 1 with the required torque of the engine 1 can be performed accurately.

  An example of processing when the fuel injection amount and the intake air amount are used as control parameters will be described with reference to the flowchart shown in FIG.

  First, in step S131, the output torque estimating unit 22 estimates the output torque of the engine 1 based on the current generated by the motor MG1.

  In step S132, the learning mechanism unit 21 determines whether or not the estimated output torque of the engine 1 matches the required torque of the engine 1. If the learning mechanism unit 21 determines that the output torque of the engine 1 matches the required torque of the engine 1 (step S132: Yes), the process ends. On the other hand, when the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1 (step S132: No), the learning mechanism unit 21 advances the process to step S133.

  In step S133, the learning mechanism unit 21 determines whether or not the measured air-fuel ratio is different from the estimated air-fuel ratio. When the learning mechanism unit 21 determines that the measured air-fuel ratio is different from the estimated air-fuel ratio (step S133: Yes), the output torque and the required torque are calculated in the control parameter map indicating the relationship between the required torque and the fuel injection amount. It is determined that there is a discrepancy between the torque and the control parameter map indicating the relationship between the required torque and the fuel injection amount is corrected so that the output torque of the engine 1 matches the required torque of the engine 1. Do. (Step S134). Thereafter, the learning mechanism unit 21 returns the process to step S131.

  On the other hand, when the learning mechanism unit 21 determines in step S133 that the measured air-fuel ratio is not different from the estimated air-fuel ratio, that is, matches (step S133: No), the required torque, the intake air amount, In the control parameter map indicating the relationship between the output torque and the required torque, the required torque and the intake air amount are determined so that the output torque of the engine 1 matches the required torque of the engine 1. Is corrected for the control parameter map indicating the relationship between (step S135). Thereafter, the learning mechanism unit 21 returns the process to step S131.

  In this way, by correcting the control parameter map itself of the fuel injection amount or the intake air amount, it is not necessary to perform feedback control on the value of each control parameter obtained using the corrected control parameter map. . Further, by detecting whether or not the measured air-fuel ratio is different from the estimated air-fuel ratio, the cause of the decrease in the output torque can be accurately estimated, and the output torque of the engine 1 is matched with the required torque of the engine 1. Correction can be performed accurately.

  The above example describes the case where the engine 1 is in a steady state. However, the present invention can be applied even when the engine 1 is in a transient state. Specifically, when the state of the engine 1 is in the transient state, the learning mechanism unit 21 determines that the output torque of the engine 1 matches the required torque of the engine 1 in step S134. Is corrected for the control parameter map indicating the relationship between the required torque and the fuel injection amount in step S135, and in step S135, the output torque of the engine 1 matches the required torque of the engine 1 in a transient state. The control parameter map indicating the relationship between the required torque and the intake air amount may be corrected. Also by this, the same effect as the above effect can be obtained.

  The method for correcting the control parameter map indicating the relationship between the required torque and the intake air amount during the transient state of the engine 1 is as described in the map correction process for the intake air amount.

  The control parameter map indicating the relationship between the required torque and the fuel injection amount during the transient state of the engine 1 is not limited to a map that directly determines the fuel injection amount itself based on the required torque. It may be a map for obtaining a parameter for determining the value of the fuel injection amount based on the torque. For example, all of the fuel injected from the fuel injection valve is not mixed with the intake air passing through the intake pipe, and part of the injected fuel actually adheres to the wall surface of the intake valve or the intake pipe. Therefore, the correction amount of the fuel injection amount can be obtained as a function of an immediate correction term that is immediately reflected on the required torque and a tailing term that gradually corrects the injection for a while. Therefore, the immediate correction term and the tailing term are important parameters for estimating the fuel injection amount when the engine 1 is in a transient state. The feedforward control unit 20b obtains the value of the immediate correction term and the value of the tailing term using the map indicating the relationship between the required torque, the immediate correction term, and the tailing term based on the required torque. If the engine 1 is controlled based on the value, the fuel injection amount is controlled as a result. In this case, if the learning mechanism unit 21 determines in step S134 that the output torque of the engine 1 does not match the required torque of the engine 1, the output torque of the engine 1 matches the required torque of the engine 1. As described above, correction may be performed on a map indicating the relationship between the required torque, the immediate correction term, and the tailing term. Also by this, the same effect as the above effect can be obtained.

  As described above, in the first embodiment, the control processing of each control parameter of the ignition timing, the intake air amount, and the fuel injection amount has been described. In the hybrid vehicle control device according to the first embodiment, the feedforward control unit 20a of the hybrid ECU 10a calculates the required torque based on the driving information. The feedforward control unit 20b of the engine ECU 10b records each control parameter map indicating the relationship between the required torque and each control parameter, obtains the value of each control parameter using each control parameter map, and obtains each calculated parameter. The engine 1 is controlled by the value of the control parameter. The output torque estimation unit 22 estimates the output torque of the engine 1 based on the current of the motor MG1. The learning mechanism unit 21 obtains a difference between the requested torque and the output torque, and based on the difference, each of the requested torque, the ignition timing, the intake air amount, the fuel injection amount, and the like so that the output torque matches the requested torque. Correct the control parameter map. As described above, by correcting the control parameter map itself, it is not necessary to perform feedback control for correcting the control parameter after the control parameter map is corrected, and the responsiveness to the control can be improved.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. In the first embodiment described above, the learning mechanism unit 21 obtains a difference between the required torque and the output torque, and based on the difference, the ignition timing, the intake air amount, the fuel so that the output torque matches the required torque. Each control parameter map of the injection amount was to be corrected.

  However, even if these control parameter maps are corrected, the output torque may not match the required torque depending on the state of the engine 1.

  Therefore, in the hybrid vehicle control device according to the second embodiment of the present invention, the learning mechanism unit 21 calculates the required torque, the throttle opening, the engine speed, instead of or in addition to correcting the control parameter map. The torque map indicating the relationship is corrected. By correcting the torque map in this way, if the output torque does not match the required torque even if each control parameter map of the ignition timing, intake air amount, and fuel injection amount is corrected, the output torque is changed to the required torque. Can match.

  An example of the process of correcting the torque map will be described with reference to the flowchart shown in FIG.

  First, in step S141, the output torque estimation unit 22 estimates the output torque of the engine 1 based on the current generated by the motor MG1.

  In step S142, the learning mechanism unit 21 determines whether or not the estimated output torque of the engine 1 matches the required torque of the engine 1. If the learning mechanism unit 21 determines that the output torque of the engine 1 matches the required torque of the engine 1 (step S142: Yes), the process ends. On the other hand, when the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1 (step S142: No), the learning mechanism unit 21 proceeds to step S143.

  In step S143, the learning mechanism unit 21 determines whether or not the output torque can be matched with the required torque by correcting the control parameter map. Specifically, the learning mechanism unit 21 corrects each control parameter map indicating the relationship between the required torque and each control parameter such as the ignition timing, the intake air amount, and the fuel injection amount as described in the first embodiment. Is actually performed to determine whether or not the output torque can be matched with the required torque. If the learning mechanism unit 21 determines that the output torque of the engine 1 can be matched with the required torque of the engine 1 by correcting these control parameter maps (step S143: Yes), Each control parameter map is corrected (step S144).

  On the other hand, even if the learning mechanism unit 21 corrects each control parameter map indicating the relationship between the required torque and each control parameter such as ignition timing, intake air amount, and fuel injection amount, the output torque of the engine 1 is reduced. When it is determined that the required torque cannot be matched (step S143: No), that is, the learning mechanism unit 21 determines the relationship between the required torque and control parameters such as ignition timing, intake air amount, and fuel injection amount. If the output torque of the engine 1 cannot be matched with the required torque of the engine 1 even though the control parameter maps shown are actually corrected, the output torque matches the required torque. The torque map indicating the relationship among the required torque, the throttle opening degree, and the engine speed is corrected. For example, when the output torque of the engine 1 is lower than the required torque of the engine 1, the throttle opening is increased with respect to the torque map so that the output torque of the engine 1 matches the required torque of the engine 1. Make corrections. Specifically, the learning mechanism unit 21 performs correction to increase each value of the throttle opening in the torque map so that the output torque matches the required torque. In this way, even when each control parameter map indicating the relationship between the required torque and each control parameter such as the ignition timing, the intake air amount, and the fuel injection amount is corrected, the output torque does not match the required torque. In some cases, the output torque can be matched to the required torque. Further, by correcting the torque map itself, there is no need to perform feedback control for the throttle opening value obtained using the corrected torque map.

  As described above, in the hybrid vehicle control device according to the second embodiment, when the difference between the required torque and the output torque occurs, the torque map is corrected so that the output torque matches the required torque. I will do it. In this way, even if each control parameter map such as the ignition timing, the intake air amount, and the fuel injection amount is corrected, if the output torque does not match the required torque, the output torque is corrected by correcting the torque map. Can be matched to the required torque. Further, by correcting the torque map itself, there is no need to perform feedback control for the throttle opening value obtained using the corrected torque map.

[Application example]
Next, application examples of the present invention will be described. In each of the above-described embodiments, the learning mechanism unit 21 makes the output torque coincide with the required torque by correcting each control parameter map and the torque map in the engine ECU 10b when the output torque does not coincide with the required torque. It is going to be. On the other hand, in the hybrid vehicle control device according to the application example, the learning mechanism unit 21 corrects the map of the engine response delay of the feedforward control unit 20a in the hybrid ECU 10a.

  In the traveling control of the hybrid ECU 10a, the feedforward control unit 20a outputs the required torque to the engine ECU 10b assuming that the response delay of the engine 1 is a primary delay when the state of the engine 1 is in a transient state. is doing. The time constant of the first order lag is obtained as a map of operating conditions. This map is a map of engine response delay. The engine 1 is assisted by the motor MG2 in a transient state. However, the first-order lag time constant obtained from the operating condition map has a larger error than the actual first-order lag time constant. For this reason, the power of the battery consumed by the motor MG2 is often increased, which adversely affects the performance and life of the battery.

  Therefore, in the hybrid vehicle control device according to the application example, the engine response delay map is corrected by learning the time constant of the response delay of the engine 1 in the transient state of the engine 1. In this way, the required torque of the engine 1 can be determined with high accuracy after map correction.

  The engine response delay map correction process in the transient state will be described with reference to the flowchart shown in FIG.

  First, in step S151, the output torque estimation unit 22 estimates the output torque of the engine 1 based on the current generated by the motor MG1.

  Next, in step S152, the learning mechanism unit 21 determines whether or not the estimated output torque of the engine 1 matches the required torque of the engine 1. If the learning mechanism unit 21 determines that the output torque of the engine 1 matches the required torque of the engine 1 (step S152: Yes), the process ends. On the other hand, when the learning mechanism unit 21 determines that the output torque of the engine 1 does not match the required torque of the engine 1 (No at Step S152), the learning mechanism unit 21 corrects the engine response delay map (Step S153). Specifically, the learning mechanism unit 21 corrects each value of the time constant in the engine response delay map so that the output torque matches the required torque.

  As described above, the feedforward control unit 20a in the hybrid ECU 10a can determine the required torque of the engine 1 with high accuracy in the transient state of the engine 1 after map correction.

It is a figure which shows schematic structure of a hybrid vehicle. It is a figure which shows schematic structure of the control apparatus of a hybrid vehicle. The flowchart which shows the example of the map correction | amendment process at the time of using ignition timing. The flowchart which shows the example of the map correction | amendment process at the time of using ignition timing. The flowchart which shows the example of the map correction | amendment process at the time of using intake air amount. The flowchart which shows the map correction | amendment process at the time of using fuel injection quantity and intake air quantity. The flowchart which shows a torque map correction process. The flowchart which shows an engine response delay map correction process at the time of a transient state.

Explanation of symbols

1 engine 10 ECU
10a Hybrid ECU
10b Engine ECU
20a, 20b Feedforward control unit 21 Learning mechanism unit 22 Output torque estimation unit MG1 Motor 100 Hybrid vehicle

Claims (2)

A control device for a hybrid vehicle comprising an internal combustion engine and a generator that generates electric power when power of the internal combustion engine is input,
A required torque calculating means for calculating a required torque of the internal combustion engine based on operating conditions;
A map showing the relationship between the required torque and the control parameter of the internal combustion engine is recorded, and based on the required torque, the value of the control parameter is calculated using the map, and the calculated control parameter Internal combustion engine control means for controlling the internal combustion engine with a value;
Output torque estimating means for estimating the output torque of the internal combustion engine based on the current of the generator;
Map correction means for obtaining a difference between the required torque and the output torque, and correcting the map based on the difference so that the output torque matches the required torque;
Air-fuel ratio detection means for detecting the air-fuel ratio in the intake pipe of the internal combustion engine;
Air-fuel ratio estimating means for estimating the air-fuel ratio in the intake pipe of the internal combustion engine based on the fuel injection amount of the internal combustion engine ,
In the map correction means, the air-fuel ratio detected by the air-fuel ratio detection means does not match the air-fuel ratio estimated by the air-fuel ratio estimation means when there is a difference between the required torque and the output torque. In this case, the map indicating the relationship between the required torque and the fuel injection amount of the internal combustion engine is corrected, and the air-fuel ratio detected by the air-fuel ratio detecting means and the air-fuel ratio estimated by the air-fuel ratio estimating means There If they match, the control apparatus for a hybrid vehicle characterized that you correct the map showing the relationship between the intake air amount of the required torque and the engine. A torque map indicating the relationship between the required torque, the throttle opening of the internal combustion engine and the rotational speed of the internal combustion engine, as the map;
It said map correction means, when the difference between the required torque and the output torque is generated, to claim 1, wherein the output torque and corrects the torque map to match the required torque The hybrid vehicle control apparatus described.

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