JP5026808B2 - POWER OUTPUT DEVICE, ITS CONTROL METHOD, VEHICLE, AND DRIVE DEVICE - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control the number of revolutions of an input shaft of a transmission more appropriately as necessary, thereby preventing a power storage device such as a secondary battery from being charged or discharged with excessive power. <P>SOLUTION: First charging/discharging power P1 to be charged into or discharged from a battery when required torque Td* is outputted to a drive shaft while an engine is efficiently operated within the range of battery input and output limitations Win, Wout using the detected numbers of revolutions of two motors Nm1, Nm2, and torque Tm11, Tm21 used in the calculation of the first charging/discharging power P1 are used; an expected number of revolutions of the motor Nm2est expected as the number of revolutions during control is also used in place of the number of revolutions Nm2; depending on whether or not differential power &Delta;P with respect to second charging/discharging power P2 similarly obtained is less than a threshold value Pref (S100-S200), the numbers of revolutions Nm1, Nm2, are used or the number of revolutions Nm1 and the expected number of revolutions of the motor Nm2est (S210-S240) are used for control. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The present invention relates to a power output device, a control method thereof, a vehicle, and a drive device.

Conventionally, what is considered in consideration of communication delay in engine throttle control has been proposed (for example, see Patent Document 1). In this device, a correction value is calculated by multiplying the difference in throttle change by a correction constant, and the control throttle opening is calculated by adding or subtracting the calculated correction value to the input throttle opening, The electronic throttle is controlled by the throttle opening for control.
JP 2002-364552 A

  Generally, in a power output device, one of the problems is to control the electric motor more appropriately while protecting the power storage device, and when such a power output device is mounted on an automobile, the battery can be downsized. This challenge will be more important. Although it is conceivable to apply the control considering the communication delay to the control of the electric motor, the control considering the communication delay uses a difference in the amount of change. As a result, an appropriate correction value is not calculated, and proper motor control cannot be performed, resulting in excessive protection of the power storage device or insufficient protection of the power storage device.

  The power output device, the control method thereof, the vehicle, and the drive device according to the present invention have an excessive power storage device such as a secondary battery by controlling the number of rotations of the input shaft of the transmission as appropriate. It is intended to prevent charging / discharging by electric power.

  The power output apparatus, the control method thereof, the vehicle, and the drive apparatus of the present invention employ the following means in order to achieve the above-described object.

The power output apparatus of the present invention is
A power output device that outputs power to a drive shaft,
An internal combustion engine;
A stepped transmission means having an input shaft and transmitting power by shifting between the input shaft and the drive shaft;
Connected to the input shaft and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the input shaft, and to input / output power to and from the input shaft and the output shaft with input / output of power and power Power power input / output means to
An electric motor capable of inputting and outputting power to the input 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 a maximum allowable power that may charge / discharge the power storage means based on the state of the power storage means;
Input shaft rotational speed detection means for detecting the input shaft rotational speed which is the rotational speed of the input shaft;
Expected input shaft speed calculating means for calculating an expected input shaft speed that is an expected speed of the input shaft at the time of control based on the detected input shaft speed;
Required driving force setting means for setting required driving force required for the drive shaft;
Using the detected input shaft rotational speed, the engine speed is set while operating the internal combustion engine with predetermined restrictions within the set input / output limit range with a shift of the shift stage by the stepped transmission means. When the required driving force is output to the drive shaft, a first charge / discharge power that is a power for charging / discharging the power storage means by the electric power drive input / output means and the electric motor, and the first charge / discharge power are calculated. Driving in which the driving state of the electric power input / output means and the electric motor is changed from the rotational speed based on the detected input shaft rotational speed to the rotational speed based on the calculated expected input shaft rotational speed. Charge / discharge power calculating means for calculating second power for charging / discharging the power storage means by the electric power input / output means and the electric motor when changed to a state;
When the calculated difference between the first charging / discharging power and the second charging / discharging power is less than a predetermined difference, the setting is performed with the shift of the gear stage of the stepped transmission means using the detected input shaft rotation speed. The internal combustion engine, the electric power power input / output means, and the output power are output so that the internal combustion engine is operated with the predetermined restriction and the set required driving force is output to the drive shaft within the range of the input / output restriction set. The motor and the stepped transmission means are controlled, and when the difference between the calculated first charge / discharge power and the second charge / discharge power is equal to or greater than the predetermined difference, the calculated expected input shaft rotational speed is used. The internal combustion engine is operated with the predetermined restriction within the set input / output limit range with the shift of the stepped speed of the stepped transmission means, and the set required driving force is output to the drive shaft. Said internal combustion engine Control means for controlling the said step-variable shifting means and the electric power-mechanical power input output mechanism and the motor,
It is a summary to provide.

  In the power output device of the present invention, an expected input shaft rotational speed that is an expected rotational speed of the input shaft at the time of control is calculated based on the input shaft rotational speed detected by the input shaft rotational speed detecting means, and the detected input is detected. Drive while operating the internal combustion engine with predetermined restrictions within the range of the input / output limit that is the maximum allowable power that may charge / discharge the power storage means with the shift of the gear stage by the stepped speed change means using the shaft rotation speed When the required driving force required for the shaft is output to the drive shaft, the first charge / discharge power, which is the power for charging / discharging the power storage means by the power drive input / output means and the motor, and the first charge / discharge power are calculated. When the driving state of the electric power drive input / output means and the motor is changed to a driving state obtained by changing the rotational speed based on the expected input shaft rotational speed calculated from the rotational speed based on the input shaft rotational speed detected for the rotational speed To Calculating a second charge-discharge electric power is the power for charging and discharging a power storage unit by the power input output mechanism and the motor. When the difference between the calculated first charging / discharging power and the second charging / discharging power is less than a predetermined difference, the input / output restriction range is accompanied by the shift of the shift speed of the stepped transmission means using the detected input shaft speed. The internal combustion engine, the electric power drive input / output means, the electric motor, and the stepped transmission means are controlled so that the internal combustion engine is operated with predetermined restrictions and the required driving force is output to the drive shaft. When the difference between the electric power and the second charging / discharging electric power is equal to or larger than a predetermined difference, the internal combustion engine is controlled within a range of input / output limitation within the range of the input / output limitation using the calculated predicted input shaft rotation speed. The internal combustion engine, the electric power drive input / output means, the electric motor, and the stepped transmission means are controlled so that the required driving force is output to the drive shaft while being driven by the restriction. That is, control is performed based on the detected rotational speed of the input shaft when the difference between the first charging / discharging power and the second charging / discharging power is less than a predetermined difference, and the control is based on the detected input shaft speed. When there is a large influence due to calculation delay or communication delay in which the difference between the first charge / discharge power and the second charge / discharge power is greater than or equal to a predetermined difference, control is performed based on the calculated expected input shaft speed. Thereby, even if calculation delay or communication delay occurs in the input shaft rotation speed, control is performed using the input shaft rotation speed or the predicted input shaft rotation speed calculated based on this rotation speed according to the influence thereof. Charge / discharge of the power storage means due to excessive electric power can be suppressed.

  In such a power output apparatus of the present invention, the predicted input shaft rotational speed calculation means is a means for calculating the predicted input shaft rotational speed using a value corresponding to a differential value of the detected input shaft rotational speed. It can also be. In this way, the expected input shaft speed can be calculated more appropriately.

  In the power output apparatus of the present invention, the control means may calculate the calculation regardless of the difference between the calculated first charging / discharging power and the second charging / discharging power at the time of shifting the gear position of the stepped transmission means. The internal combustion engine is operated with the predetermined restriction and within the set input / output limit range with the shift of the shift stage of the stepped transmission means using the predicted input shaft rotational speed. It is also possible to control the internal combustion engine, the electric power drive input / output unit, the electric motor, and the stepped transmission unit so that the required driving force is output to the drive shaft. If it carries out like this, when changing the gear stage of a stepped transmission means, charging / discharging of the electrical storage means by excessive electric power can be suppressed.

  Furthermore, in the power output apparatus according to the present invention, when the control means performs control using the calculated predicted input shaft rotational speed, the control means performs correction in a direction in which the restriction on the set input / output limit becomes severe. It may be a means for controlling within the range of the correction input / output limit. In this way, charging / discharging of the power storage means due to excessive electric power can be suppressed more reliably.

  In the power output apparatus of the present invention, the predetermined constraint may be a constraint for efficiently operating the internal combustion engine. In this way, the energy efficiency of the device can be improved.

  In the power output apparatus of the present invention, the charge / discharge power calculation means operates the internal combustion engine based on the set required driving force and the predetermined constraint using the detected input shaft rotational speed. A power target rotational speed and a target power to be output from the internal combustion engine are set, and the power input / output by the power power input / output means and the motor is within the set input / output limit range and the input The internal combustion engine is operated under a condition in which a driving force output from the electric power input / output unit and the motor to the shaft and output to the driving shaft via the stepped transmission unit is within a range of the set required driving force or less. Setting the target drive state of the power power input / output means so that the engine rotates at the target speed, and further driving the power power input / output means in the target drive state, the input / output restriction of the power storage means A target torque of the electric motor is set so that the set required driving force is output to the drive shaft within a range, the electric power driving input / output means is driven in the set target driving state, and the set target torque is used. A means for calculating the first charge / discharge power as the first charge / discharge power when the electric motor is driven, and the control means calculates the calculated first charge / discharge power and the second charge / discharge power; Is less than the predetermined difference, the internal combustion engine and the power power input / output means using the target rotational speed, target power, target drive state, and target torque set when the first charge / discharge power is calculated. When the difference between the calculated first charging / discharging power and the second charging / discharging power is greater than or equal to the predetermined difference by controlling the electric motor and the stepped transmission means, the calculated expected input shaft rotation speed And setting a target rotational speed for operating the internal combustion engine and a target power to be output from the internal combustion engine based on the set required driving force and the predetermined constraint, and the power power input / output means And the electric power input / output by the electric motor is within the set input / output limit range, and the drive shaft is output from the electric power driving input / output means and the electric motor to the input shaft via the stepped transmission means. Setting the target driving state of the electric power input / output means so that the internal combustion engine rotates at the target rotational speed under the condition that the driving force output to is within the range of the set required driving force or less, and The target torque of the electric motor is set so that the set required driving force is output to the drive shaft within the range of the input / output limit of the power storage means when the power power input / output means is driven in the target drive state. Means for setting and controlling the internal combustion engine, the electric power drive input / output means, the electric motor and the stepped transmission means using the set target rotational speed, target power, target drive state, and target torque. It can also be.

  In the power output apparatus of the present invention, the power power input / output means is connected to three axes including a generator capable of inputting / outputting power, the input shaft, the output shaft, and the rotating shaft of the generator. 3 axis type power input / output means for inputting / outputting power to / from the remaining shafts based on the power input / output from / to any of the two axes.

  The vehicle of the present invention is a power output device of the present invention according to any one of the above-described aspects, that is, basically a power output device that outputs power to a drive shaft, and includes an internal combustion engine and an input shaft. Stepped transmission means for shifting and transmitting power between the input shaft and the drive shaft, and connected to the input shaft and rotatable independently from the input shaft to the output shaft of the internal combustion engine An electric power input / output means connected to input / output power to / from the input shaft and the output shaft with input / output of electric power and power; an electric motor capable of inputting / outputting power to / from the input shaft; Output means and power storage means capable of exchanging electric power with the electric motor, and input / output limit setting means for setting an input / output limit that is the maximum allowable power that may charge / discharge the power storage means based on the state of the power storage means And the input shaft rotation speed which is the rotation speed of the input shaft is detected. Input shaft rotational speed detecting means, and an expected input shaft rotational speed calculating means for calculating an expected input shaft rotational speed that is an expected rotational speed of the input shaft at the time of control based on the detected input shaft rotational speed; The required driving force setting means for setting the required driving force required for the drive shaft, and the input speed set by the stepped speed change means using the detected input shaft rotational speed. When the internal combustion engine is operated with predetermined restrictions within the range of output limitation, the set required driving force is output to the driving shaft, and the electric power driving input / output unit and the electric motor are used to store the power storage unit. First charge / discharge power that is charge / discharge power, and the power power input / output means when calculating the first charge / discharge power and the driving state of the electric motor based on the detected input shaft rotational speed with respect to the rotational speed A second charge that is the power that charges and discharges the power storage means by the power drive input / output means and the motor when the driving state is changed to a rotational speed based on the calculated expected input shaft rotational speed. Charge / discharge power calculation means for calculating discharge power, and when the difference between the calculated first charge / discharge power and the second charge / discharge power is less than a predetermined difference, the detected input shaft speed is used to The internal combustion engine is operated with the predetermined restriction and the set required driving force is output to the drive shaft within the set input / output limit range with the shift of the shift speed of the step shifting means. When the internal combustion engine, the power drive input / output means, the electric motor, and the stepped transmission means are controlled, and the difference between the calculated first charge / discharge power and the second charge / discharge power is greater than or equal to the predetermined difference Calculated above The internal combustion engine is operated by the predetermined constraint and set within the range of the set input / output limit with the shift of the shift stage of the stepped transmission means using the predicted input shaft rotational speed. A power output device comprising: a control means for controlling the internal combustion engine, the power power input / output means, the electric motor, and the stepped transmission means so that the required driving force is output to the drive shaft; The gist of the invention is that it is connected to the drive shaft.

  Since the vehicle according to the present invention is equipped with the power output device of the present invention according to any one of the above-described aspects, the effects exerted by the power output device of the present invention, for example, calculation delay or communication delay occurs in the input shaft rotation speed. Even if it is, since it controls using the input shaft rotation speed according to the influence and the expected input shaft rotation speed calculated based on this rotation speed, it is possible to suppress charging / discharging of the power storage means due to excessive electric power The same effect as the above can be achieved.

The drive device of the present invention is
A drive device incorporated in a power output device that outputs power to a drive shaft together with an internal combustion engine,
A stepped transmission means having an input shaft and transmitting power by shifting between the input shaft and the drive shaft;
Connected to the input shaft and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the input shaft, and to input / output power to and from the input shaft and the output shaft with input / output of power and power Power power input / output means to
An electric motor capable of inputting and outputting power to the input 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 a maximum allowable power that may charge / discharge the power storage means based on the state of the power storage means;
Input shaft rotational speed detection means for detecting the input shaft rotational speed which is the rotational speed of the input shaft;
Expected input shaft speed calculating means for calculating an expected input shaft speed that is an expected speed of the input shaft at the time of control based on the detected input shaft speed;
Required driving force setting means for setting required driving force required for the drive shaft;
Using the detected input shaft rotational speed, the engine speed is set while operating the internal combustion engine with predetermined restrictions within the set input / output limit range with a shift of the shift stage by the stepped transmission means. When the required driving force is output to the drive shaft, a first charge / discharge power that is a power for charging / discharging the power storage means by the electric power drive input / output means and the electric motor, and the first charge / discharge power are calculated. Driving in which the driving state of the electric power input / output means and the electric motor is changed from the rotational speed based on the detected input shaft rotational speed to the rotational speed based on the calculated expected input shaft rotational speed. Charge / discharge power calculating means for calculating second power for charging / discharging the power storage means by the electric power input / output means and the electric motor when changed to a state;
When the calculated difference between the first charging / discharging power and the second charging / discharging power is less than a predetermined difference, the setting is performed with the shift of the gear stage of the stepped transmission means using the detected input shaft rotation speed. The electric power power input / output means together with the control of the internal combustion engine so that the internal combustion engine is operated with the predetermined restriction within the range of the input / output restriction set and the set required driving force is output to the drive shaft. And the motor and the stepped transmission means, and when the calculated difference between the first charging / discharging power and the second charging / discharging power is equal to or greater than the predetermined difference, the calculated predicted input shaft rotational speed is used. The internal combustion engine is operated with the predetermined restriction and the set required driving force is applied to the drive shaft within the range of the set input / output limit with the shift of the shift stage of the stepped transmission means. Before output And control means for controlling with control of the internal combustion engine and the electric power-mechanical power input output mechanism and the electric motor and the step-variable shifting means,
It is a summary to provide.

  In the drive device of the present invention, an expected input shaft rotational speed that is an expected rotational speed of the input shaft at the time of control is calculated based on the input shaft rotational speed detected by the input shaft rotational speed detection means, and the detected input shaft The drive shaft while operating the internal combustion engine with predetermined restrictions within the range of the input / output limit that is the maximum allowable power that may charge / discharge the power storage means with the shift of the speed stage by the stepped speed change means using the rotation speed The first charging / discharging power, which is the power for charging / discharging the power storage means by the electric power drive input / output means and the electric motor, and the first charging / discharging power are calculated when the required driving force required for the motor is output to the drive shaft. When the driving state of the electric power drive input / output means and the motor is changed to a driving state that is changed from the rotational speed based on the input shaft rotational speed detected for the rotational speed to the rotational speed based on the expected input shaft rotational speed Power Calculating a second charge-discharge electric power is the power for charging and discharging the storage means by output means and the electric motor. When the difference between the calculated first charging / discharging power and the second charging / discharging power is less than a predetermined difference, the input / output restriction range is accompanied by the shift of the shift speed of the stepped transmission means using the detected input shaft speed. The internal combustion engine is operated with predetermined restrictions and the required driving force is output to the drive shaft, and the power / power input / output means, the motor, and the stepped transmission means are controlled and calculated. When the difference between the charge / discharge power and the second charge / discharge power is greater than or equal to a predetermined difference, the internal combustion engine is controlled within the range of the input / output limit with the shift of the gear stage of the stepped transmission means using the calculated predicted input shaft speed. The electric power input / output means, the electric motor, and the stepped transmission means are controlled together with the control of the internal combustion engine so that the engine is operated with predetermined restrictions and the required driving force is output to the drive shaft. That is, control is performed based on the detected rotational speed of the input shaft when the difference between the first charging / discharging power and the second charging / discharging power is less than a predetermined difference, and the control is based on the detected input shaft speed. When there is a large influence due to calculation delay or communication delay in which the difference between the first charge / discharge power and the second charge / discharge power is greater than or equal to a predetermined difference, control is performed based on the calculated expected input shaft speed. Thereby, even if calculation delay or communication delay occurs in the input shaft rotation speed, control is performed using the input shaft rotation speed or the predicted input shaft rotation speed calculated based on this rotation speed according to the influence thereof. Charge / discharge of the power storage means due to excessive electric power can be suppressed.

The method for controlling the power output apparatus of the present invention includes:
An internal combustion engine, a stepped transmission means having an input shaft for shifting and transmitting power between the input shaft and the drive shaft, and connected to the input shaft and rotatable independently of the input shaft An electric power input / output means connected to the output shaft of the internal combustion engine for inputting / outputting power to / from the input shaft and the output shaft with input / output of electric power and power, and an electric motor capable of inputting / outputting power to / from the input shaft And the electric power drive input / output means and the electric storage means capable of exchanging electric power with the electric motor, and the input shaft rotational speed detection means for detecting the input shaft rotational speed which is the rotational speed of the input shaft, and the drive A control method for a power output device that outputs power to a shaft,
Based on the detected input shaft rotational speed, an expected input shaft rotational speed that is an expected rotational speed of the input shaft at the time of control is calculated,
Using the detected input shaft speed, the internal combustion engine is controlled within an input / output limit range that is a maximum allowable power that may be charged / discharged by the power storage unit with a shift of the gear stage by the stepped transmission unit. This is the electric power that charges and discharges the power storage means by the electric power drive input / output means and the electric motor when the required driving force required for the drive shaft is output to the drive shaft while operating with predetermined restrictions. 1 charge / discharge power, the power power input / output means when calculating the first charge / discharge power, and the driving state of the motor are predicted from the rotation speed based on the detected input shaft rotation speed with respect to the rotation speed. When the driving state is changed to the rotational speed based on the rotational speed of the input shaft, the power power input / output means and the second charging / discharging power that is the power for charging / discharging the power storage means by the electric motor are performed. And,
When the calculated difference between the first charging / discharging power and the second charging / discharging power is less than a predetermined difference, the input / output is performed with the shift of the gear stage of the stepped transmission means using the detected input shaft rotational speed. The internal combustion engine, the electric power drive input / output means, the electric motor, and the stepped transmission means are operated so that the internal combustion engine is operated with the predetermined restriction within a limit range and the requested driving force is output to the drive shaft. And when the difference between the calculated first charging / discharging power and the second charging / discharging power is equal to or greater than the predetermined difference, the shift of the shift speed of the stepped transmission means is calculated using the calculated predicted input shaft speed. The internal combustion engine, the power power input / output means, and the electric motor are operated so that the internal combustion engine is operated by the predetermined restriction within the range of the input / output restriction and the requested driving force is output to the drive shaft. And the step To control the speed means,
It is characterized by that.

  In the control method of the power output device of the present invention, an expected input shaft rotational speed that is an expected rotational speed of the input shaft at the time of control is calculated based on the input shaft rotational speed detected by the input shaft rotational speed detection means, The internal combustion engine is operated with a predetermined restriction within the range of the input / output limit that is the maximum allowable power that may charge / discharge the power storage means with the shift of the speed stage by the stepped speed change means using the detected input shaft speed. The first charge / discharge power, which is the power for charging / discharging the power storage means by the electric power drive input / output means and the electric motor, when the required drive force required for the drive shaft is output to the drive shaft, and the first charge / discharge The driving state of the electric power drive input / output means and the motor when calculating the electric power is changed to the rotational speed based on the expected input shaft rotational speed calculated from the rotational speed based on the input shaft rotational speed detected for the rotational speed. change Calculating a second charge-discharge electric power is the power for charging and discharging a power storage unit by the power-mechanical power input output means and the motor when. When the difference between the calculated first charging / discharging power and the second charging / discharging power is less than a predetermined difference, the input / output restriction range is accompanied by the shift of the shift speed of the stepped transmission means using the detected input shaft speed. The internal combustion engine, the electric power drive input / output means, the electric motor, and the stepped transmission means are controlled so that the internal combustion engine is operated with predetermined restrictions and the required driving force is output to the drive shaft. When the difference between the electric power and the second charging / discharging electric power is equal to or larger than a predetermined difference, the internal combustion engine is controlled within a range of input / output limitation within the range of the input / output limitation using the calculated predicted input shaft rotation speed. The internal combustion engine, the electric power drive input / output means, the electric motor, and the stepped transmission means are controlled so that the required driving force is output to the drive shaft while being driven by the restriction. That is, control is performed based on the detected rotational speed of the input shaft when the difference between the first charging / discharging power and the second charging / discharging power is less than a predetermined difference, and the control is based on the detected input shaft speed. When there is a large influence due to calculation delay or communication delay in which the difference between the first charge / discharge power and the second charge / discharge power is greater than or equal to a predetermined difference, control is performed based on the calculated expected input shaft speed. Thereby, even if calculation delay or communication delay occurs in the input shaft rotation speed, control is performed using the input shaft rotation speed or the predicted input shaft rotation speed calculated based on this rotation speed according to the influence thereof. Charge / discharge of the power storage means due to excessive electric power can be suppressed.

  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 as 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 motor MG2 connected to a ring gear shaft 32a serving as a power shaft connected to the power distribution and integration mechanism 30, and the driving wheels 39a, A transmission 60 that outputs to a drive shaft 36 connected to 39b, and a hybrid electronic control unit 70 that controls the entire vehicle are provided.

  The engine 22 is an internal combustion engine that outputs power using a hydrocarbon-based fuel such as gasoline or light oil, and an engine electronic control unit (hereinafter referred to as an engine ECU) that receives signals from various sensors that detect the operating state of the engine 22. ) 24 is subjected to operation control such as fuel injection control, ignition control, intake air amount adjustment control and the like. The engine ECU 24 is in communication with the hybrid electronic control unit 70, controls the operation of the engine 22 by a control signal from the hybrid electronic control unit 70, and, if necessary, transmits data related to the operating state of the engine 22 to the hybrid electronic control. Output to unit 70. 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 a signal from a crank position sensor (not shown) attached to the crankshaft 26.

  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 MG <b> 1 is connected to the sun gear 31, and the ring gear shaft 32 a as a rotating shaft is connected to the ring gear 32. When the motor MG1 functions as a motor, the 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 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 39a and 39b of the vehicle via the transmission 60, the drive shaft 36, and the differential gear 38.

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 receives signals necessary for driving and controlling the motors MG1 and MG2, for example, the rotational positions of the rotors of the motors MG1 and MG2 from the rotational position detection sensors 43 and 44 that detect the rotational positions of the rotors of the motors MG1 and MG2. A rotational current and a phase current applied to the motors MG1 and MG2 detected by a current sensor (not shown) are input, and a switching control signal to the inverters 41 and 42 is output from the motor ECU 40. The motor ECU 40 communicates with the hybrid electronic control unit 70, and controls driving of the motors MG1 and MG2 by a control signal from the hybrid electronic control unit 70 and, if necessary, the motors MG1 and MG.
2 is output to the hybrid electronic control unit 70. The motor ECU 40 also calculates the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 based on signals from the rotational position detection sensors 43 and 44. Note that the rotational speed Nm2 of the motor MG2 is the rotational speed of the ring gear shaft 32a, and therefore also means the rotational speed of the input shaft of the transmission 60.

  The transmission 60 is configured to be able to transmit power accompanying a change in gear position between the ring gear shaft 32a as the power shaft and the drive shaft 36 and to release the connection between the ring gear shaft 32a and the drive shaft 36. Has been. An example of the configuration of the transmission 60 is shown in FIG. As shown in the figure, the transmission 60 includes a single-pinion planetary gear mechanism 62, 64, 66, two clutches C1, C2, and three brakes B1, B2, B3. The planetary gear mechanism 62 includes an external gear sun gear 62s, an internal gear ring gear 62r arranged concentrically with the sun gear 62s, a plurality of pinion gears 62p that mesh with the sun gear 62s and mesh with the ring gear 62r, and a plurality of pinion gears 62p. The pinion gear 62p rotates and revolves, and the sun gear 62s can be connected to or disconnected from the ring gear shaft 32a by turning on and off the clutch C2, and the brake B1 can be turned on and off. The rotation can be stopped or made free, and the carrier 62c can be stopped or made free by turning on and off the brake B2. The planetary gear mechanism 64 includes an external gear sun gear 64s, an internal gear ring gear 64r disposed concentrically with the sun gear 64s, a plurality of pinion gears 64p that mesh with the sun gear 64s and mesh with the ring gear 64r, and a plurality of pinion gears 64p. The pinion gear 64p rotates and revolves, and the sun gear 64s is connected to the sun gear 62s of the planetary gear mechanism 62, and the ring gear 64r is connected to or released from the ring gear shaft 32a by turning on and off the clutch C1. The carrier 64c is connected to the ring gear 62r of the planetary gear mechanism 62. The planetary gear mechanism 66 includes an external gear sun gear 66s, an internal gear ring gear 66r arranged concentrically with the sun gear 66s, a plurality of pinion gears 66p that mesh with the sun gear 66s and mesh with the ring gear 66r, and a plurality of pinion gears 66p. And a carrier 66c that holds the pinion gear 66p in a rotatable and revolving manner. The sun gear 66s is connected to the ring gear 64r of the planetary gear mechanism 64, and the ring gear 66r can stop or freely rotate by turning on and off the brake B3. The carrier 66c is connected to the ring gear 62r of the planetary gear mechanism 62, the carrier 64c of the planetary gear mechanism 64, and the drive shaft 36. The transmission 60 can disconnect the ring gear shaft 32a and the drive shaft 36 by turning off all of the clutches C1, C2 and the brakes B1, B2, B3, and can turn on the clutch C1 and the brake B3 as well as the clutch. By turning off C2 and brakes B1 and B2, the rotation of the ring gear shaft 32a is decelerated with a relatively large reduction ratio and transmitted to the drive shaft 36 (hereinafter this state is referred to as the first speed state), and the clutch C1 and By turning on the brake B2 and turning off the clutch C2 and the brakes B1 and B3, the rotation of the ring gear shaft 32a is decelerated at a reduction ratio smaller than the first speed and transmitted to the drive shaft 36 (hereinafter, this state is referred to as “the state”). 2nd speed state), by turning on the clutch C1 and the clutch B1 and turning off the clutch C2 and the brakes B2 and B3. The rotation of the ring gear shaft 32a is decelerated at a reduction ratio smaller than the second speed and transmitted to the drive shaft 36 (hereinafter this state is referred to as the third speed state), the clutches C1, C2 are turned on, and the clutches B1, B2, B3 Is turned off, the rotation of the ring gear shaft 32a is transmitted to the drive shaft 36 as it is (hereinafter this state is referred to as the fourth speed state). Further, the transmission 60 turns the clutch C2 and the brake B3 on and turns off the clutch C1 and the brakes B1 and B2, thereby reversing and decelerating the rotation of the ring gear shaft 32a and transmitting it to the drive shaft 36. (Hereafter, this state is called a reverse state).

  As shown in FIG. 1, the clutches C1, C2 and the brakes B1, B2, B3 are turned on and off by adjusting the hydraulic pressure applied to the clutches C1, C2 and the brakes B1, B2, B3 by driving the hydraulic actuator 100. It is done from that. This hydraulic actuator 100 has an oil pump 102 that pumps oil and a pressure that allows the pressure (line pressure) of the oil pumped from the oil pump 102 to be adjusted to the clutches C1, C2 and the brakes B1, B2, B3. And a hydraulic pressure supply unit 104 that can be supplied individually.

  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, and in addition to the CPU 72, a ROM 74 for storing processing programs, a RAM 76 for temporarily storing data, an input / output port and communication not shown. 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. From the brake pedal position sensor 86 that detects the depression amount of the brake pedal 85, the vehicle speed V from the vehicle speed sensor 88, and the hydraulic pressure that detects the line pressure of the hydraulic pressure supply unit 104 of the actuator 100. The oil pressure Poil from the sensor 106, the drive shaft rotational speed Nd from the rotational speed sensor 37 attached to the drive shaft 36, and the like are input via the input port. The hybrid electronic control unit 70 outputs drive signals to the clutches C1 and C2 of the transmission 60 and the hydraulic actuators 100 of the brakes B1, B2 and B3 via an output 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.

  In the hybrid vehicle 20 of the embodiment, the position of the shift lever 81 detected by the shift position sensor 82 includes a parking position (P position), a neutral position (N position), a drive position (D position), and a reverse position (R Position). When the shift position SP is the D position or the R position, the transmission 60 is in the 1st to 4th speeds of the clutches C1, C2 and the brakes B1, B2, B3 so as to be in the reverse state. It is assumed that the clutch and brake corresponding to the state and the reverse state are engaged, and when the shift position SP is the N position or the P position, the clutches C1, C2 and the brakes B1, B2, B3 of the transmission 60 are all released. It was.

  The hybrid vehicle 20 of the embodiment configured in this way calculates the required torque to be output to the drive shaft 36 based on the accelerator opening Acc and the vehicle speed V corresponding to the depression amount of the accelerator pedal 83 by the driver, and the required torque The transmission 60 is controlled so as to achieve a shift speed according to Td * and the vehicle speed V, and the required power corresponding to the torque according to the required torque and the shift speed of the transmission 60 is output to the ring gear shaft 32a. The operation of the engine 22, the motor MG1, and the motor MG2 is controlled. 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 thus configured hybrid vehicle 20 of the embodiment will be described. FIG. 5 is a flowchart illustrating an example of a drive control routine executed by the hybrid electronic control unit 70 according to the embodiment. This routine is executed every predetermined time (for example, every several milliseconds).

  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. A process of inputting data necessary for control, such as Nm2, the drive shaft rotational speed Nd from the rotational speed sensor 37, the transmission gear ratio G of the transmission 60b, the input / output limits Win and Wout of the battery 50, is executed (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. The input / output limits Win and Wout of the battery 50 are set based on the battery temperature Tb of the battery 50 detected by the temperature sensor 51 and the remaining capacity (SOC) of the battery 50 from the battery ECU 52 by communication. To do. Note that the gear ratio G of the transmission 60 is input based on the state of the transmission 60.

  When the data is input in this way, the change rate ΔNm2 is calculated based on the input motor speed MG2 (step S110), and the change rate ΔNm2 is multiplied by a constant kmg2 to add the motor speed of the motor MG2 Nm2. Then, the number of revolutions of the motor MG2 when the motor ECU 40 controls the motor MG2, that is, the expected number of revolutions Nm2est which is the number of revolutions of the motor MG2 expected at the time of control is set (step S120). Here, the change rate ΔNm2 uses the rotational speed difference between the input rotational speed Nm2 of the motor MG2 and the rotational speed Nm2 of the motor MG2 input when this routine was executed last time, or uses this rotational speed difference as a drive control routine. Can be used divided by the activation interval time. Further, the constant kmg2 is calculated by the motor ECU 40 after the calculation delay or communication delay time until the rotation speed Nm2 of the motor MG2 is input in step S100 and the rotation speed Nm2 of the motor MG2 in step S100. It can be set as equivalent to the sum of the time until control. That is, since the rotational speed Nm2 of the motor MG2 is calculated by the motor ECU 40 and input to the hybrid electronic control unit 70 by communication, a calculation delay or a communication delay occurs, which is different from the actual rotational speed of the motor MG2. Become. On the other hand, the expected motor rotation speed Nm2est corrects such calculation delay and communication delay.

  Subsequently, a required torque Td * to be output to the drive shaft 36 as a torque required for the vehicle is set based on the input accelerator opening Acc and the vehicle speed V (step S130), and the set required torque Td * is set. Based on this, the required power Pe * required for the engine 22 is set (step S140). In the embodiment, the required torque Td * is determined in advance by storing the relationship between the accelerator opening Acc, the vehicle speed V, and the required torque Td * in the ROM 74 as a required torque setting map, and the accelerator opening Acc, the vehicle speed V, , The corresponding required torque Td * is derived from the stored map and set. 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 Td * multiplied by the rotational speed Nd of the drive shaft 36 and the charge / discharge required power Pb * required by the battery 50 and the loss Loss.

  Next, a target rotational speed Ne * and a target torque Te * of the engine 22 are set based on the set required power Pe * (step S150). This setting is performed based on the 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 *).

  The input / output limit Win of the battery 50 is efficiently operated while the engine 22 is efficiently operated using the set required torque Td *, the target rotational speed Ne *, the target torque Te * and the rotational speeds Nm1, Nm2 of the motors MG1, MG2. Temporary torques Tm11 and Tm21 are calculated as torques output from the motors MG1 and MG2 when the required torque Td * is output to the drive shaft 36 within the range of Wout (step S160). This calculation is performed by the temporary torque calculation routine of FIG. This temporary torque calculation routine is started as a subroutine. When calculating the temporary torques Tm11 and Tm21, the rotational speed Nm2 is used as Nm2 () in the equation of FIG. 8, and the temporary torques Tm1 () and Tm2 ( ) May be the temporary torques T11 and T21. Hereinafter, processing by the temporary torque calculation routine will be described.

  When the temporary torque calculation routine is executed, first, the target of the motor MG1 is calculated by the following equation (1) using the set target rotational speed Ne *, the rotational speed Nm2 of the motor MG2, and the gear ratio ρ of the power distribution and integration mechanism 30. Based on the calculated target rotational speed Nm1 * and the current rotational speed Nm1, the torque Tm1tmp of the motor MG1 is calculated by equation (2) (step S300), and the required torque Td * is transmitted to the transmission. The motor torque Tm2tmp as the torque to be output from the motor MG2 is calculated by adding the motor torque Tm1tmp divided by the gear ratio ρ of the power distribution and integration mechanism 30 to the one divided by the gear ratio G of 60 by the following equation (3) (Step S310). Here, the expressions (1) and (3) are dynamic relational expressions for the rotating elements of the power distribution and integration mechanism 30. FIG. 9 shows an example of a collinear diagram for dynamically explaining the rotational elements of the power distribution and integration mechanism 30 and the transmission 60. FIG. 9 shows a state where the transmission 60 is in the second speed state. In the drawing, the left side is a collinear diagram of the power distribution and integration mechanism 30, the left 31 axis indicates the rotation speed of the sun gear 31 that is the rotation speed Nm1 of the motor MG1, and the 34 axis is the carrier 34 that is the rotation speed Ne of the engine 22. The rotational speed of the ring gear 32 (ring gear shaft 32a), which is the rotational speed Nm2 of the motor MG2, is indicated by 32 axes. In the drawing, the right side is a collinear diagram of the transmission 60, the 64r and 66s axes indicate the rotational speeds of the ring gear 64r of the planetary gear mechanism 64 and the sun gear 66s of the planetary gear mechanism 66, and the 62r, 64c and 66c axes are the drive shaft 36. The rotational speed of the ring gear 62r of the planetary gear mechanism 62, the carrier 64c of the planetary gear mechanism 64, and the carrier 66c of the planetary gear mechanism 66, which is the rotational speed No. of the planetary gear mechanism 66, and the axis 62c indicates the rotational speed of the carrier 62c of the planetary gear mechanism 62. , 66r axis indicates the rotational speed of the ring gear 66r of the planetary gear mechanism 66, and the 62s and 64s axes indicate the rotational speed of the sun gear 62s of the planetary gear mechanism 62 and the sun gear 64s of the planetary gear mechanism 64. In the figure, the dotted line connecting the left and right collinear charts indicates the rotating elements (32 axes, 64r, 66s axes) connected when the shift position SP is the D position. The two thick arrows on the 32 axes indicate the torque Tm1 output from the motor MG1 acts on the ring gear shaft 32a and the torque Tm2 output from the motor MG2, and the two thick lines on the 62r, 64c, and 66c axes. The arrows indicate the torque that is output to the drive shaft 36 via the transmission 60 when these torques are output to the R-axis. Equations (1) and (3) can be easily derived from the alignment chart of FIG. Expression (2) is a relational expression in feedback control for rotating the motor MG1 at the target rotational speed Nm1 *. In Expression (2), “k1” in the second term on the right side is a gain of a proportional term. “K2” in the third term on the right side is the gain of the integral term.

Nm1 * = Ne * ・ (1 + ρ) / ρ-Nm2 () / ρ (1)
Tm1tmp = previous Tm1 * + k1 (Nm1 * -Nm1) + k2∫ (Nm1 * -Nm1) dt (2)
Tm2tmp = Td * / Gest + Tm1tmp / ρ (3)

  Next, torque limits Tm1min and Tm1max are set as upper and lower limits of the motor torque Tm1tmp that satisfies both the following expressions (4) and (5) (step S320). Here, the equation (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 a value 0 to a value obtained by dividing the required torque Td * by the expected gear ratio Gest. Equation (5) is a relationship in which the sum of electric power input / output by the motor MG1 and the motor MG2 falls within the range of the input / 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.

0 ≦ −Tm1tmp / ρ + Tm2tmp ≦ Td * / Gest (4)
Win ≦ Tm1tmp ・ Nm1 ＋ Tm2tmp ・ Nm2 () ≦ Wout (5)

  When the torque limits Tm1min and Tm1max are set in this way, the motor torque Tm1tmp set in step S300 is limited by the torque limits Tm1min and Tm1max according to the equation (6) to set the temporary torque Tm11 of the motor MG1 (step 330). The deviation between the power consumption (generated power) of the motor MG1 obtained by multiplying the input / output limits Win, Wout of the battery 50 and the calculated temporary torque Tm11 of the motor MG1 by the current rotational speed Nm1 of the motor MG1 Torque limits Tm2min and Tm2max as upper and lower limits of the torque that may be output from the motor MG2 by dividing by the rotational speed Nm2 are calculated by the following equations (7) and (8) (step S340) and set in step S310. The provisional torque Tm21 of the motor MG2 is set by limiting the motor torque Tm2tmp with the torque limits Tm2min and Tm2max according to the equation (9) (step S350).

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)

  Returning to the drive control routine of FIG. When the temporary torques Tm11 and Tm21 are calculated in this way, as shown in the following equation (10), a value obtained by multiplying the temporary torque Tm11 by the rotational speed Nm1 of the motor MG1 and a value obtained by multiplying the temporary torque Tm21 by the rotational speed Nm2 of the motor MG2. In addition, the first charge / discharge power P1 is calculated (step S170), and as shown in the equation (11), the temporary torque Tm11 is multiplied by the rotational speed Nm1 of the motor MG1, and the temporary torque Tm21 is calculated by the expected motor rotational speed Nm2est. The second charge / discharge power P2 is calculated by adding the product (step S180), and a power difference ΔP is calculated as the difference between the calculated first charge / discharge power P1 and the second charge / discharge power P2 (step S190). The calculated power difference ΔP is compared with the threshold value Pref (step S200). Here, the first charge / discharge power P1 efficiently operates the engine 22 within the range of the input / output limits Win, Wout of the battery 50 when the motors MG1, MG2 are rotating at the rotation speeds Nm1, Nm2. However, when the required torque Td * is output to the drive shaft 36, it is calculated as the power for charging / discharging the battery 50, and the second charge / discharge power P2 is the motors MG1, MG2 used when calculating the first charge / discharge power P1. The motor MG1 rotates at the rotational speed Nm1 using the temporary torques Tm11 and Tm21, but the motor MG2 is calculated as the electric power for charging and discharging the battery 50 when rotating at the expected motor rotational speed Nm2est. Therefore, the difference power ΔP between the first charge / discharge power P1 and the second charge / discharge power P2 charges / discharges the battery 50 when the rotation speed Nm2 of the motor MG2 due to calculation delay or communication delay is different from the actual rotation speed. The difference is close to the actual power difference. Here, if the threshold value Pref is set as an allowable range when the power for charging / discharging the battery 50 differs due to calculation delay or communication delay, the rotational speed of the motor MG2 is within the allowable range when the differential power ΔP is less than the threshold value Pref. The control may be performed using Nm2, and when the difference power ΔP is equal to or greater than the threshold value Pref, it is out of the allowable range. Therefore, it is not preferable to perform the control using the rotation speed Nm2 of the motor MG2. The threshold value Pref can be determined according to the characteristics of the battery 50, the input / output restrictions Win and Wout of the battery 50, and the like.

P1 = Tm11 ・ Nm1 + Tm21 ・ Nm2 (10)
P2 = Tm11 ・ Nm1 + Tm21 ・ Nm2est (11)

  When the difference power ΔP is less than the threshold value Pref, it is determined that the electric power for charging / discharging the battery 50 is within the allowable range even if it is controlled using the rotation speed Nm2 of the motor MG2, and the temporary torques Tm11, Tm21 are set to the motors MG1, MG2. Torque commands Tm1 * and Tm2 * of the engine 22 (step S210), the set target engine speed Ne * and target torque Te * of the engine 22 are sent to the engine ECU 24, and the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 are set. Are transmitted to the motor ECU 40 (step S240), and the drive control routine is terminated. The engine ECU 24 that has received the target rotational speed Ne * and the target torque Te * performs fuel injection control in the engine 22 such that the engine 22 is operated at an operating point indicated by the target rotational speed Ne * and the target torque Te *. Controls such as 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.

  When the difference power ΔP is equal to or greater than the threshold value Pref, it is determined that there is a high possibility that the power for charging / discharging the battery 50 is out of the allowable range when controlled using the rotation speed Nm2 of the motor MG2, and instead of the rotation speed Nm2 of the motor MG2. Then, the temporary torques Tm12 and Tm22 are calculated in the same manner as the calculation of the temporary torques Tm11 and Tm21 by the temporary torque calculation routine of FIG. 8 using the predicted motor rotation speed Nm2est (step S220). , MG2 torque commands Tm1 *, Tm2 * (step S230), and the set target engine speed Ne *, target torque Te *, and motor MG1, MG2 torque commands Tm1 *, Tm2 * are It transmits to motor ECU40 (step S240), and a drive control routine To the end.

  According to the hybrid vehicle 20 of the embodiment described above, when the motors MG1, MG2 are rotating at the rotation speeds Nm1, Nm2, the engine 22 is efficiently operated within the range of the input / output limits Win, Wout of the battery 50. The motor MG1, used when calculating the first charging / discharging power P1 and the first charging / discharging power P1 calculated as the power for charging / discharging the battery 50 when the required torque Td * is output to the drive shaft 36 while driving. The motor MG1 rotates at the rotational speed Nm1 using the temporary torques Tm11 and Tm21 of MG2, but the motor MG2 is calculated as the electric power for charging and discharging the battery 50 when rotating at the expected motor rotational speed Nm2est. When the difference power ΔP, which is the difference from the second charge / discharge power P2, is less than the threshold value Pref, the first charge / discharge power P1 is calculated. Are set as the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2, and when the differential power ΔP is equal to or greater than the threshold value Pref, the expected motor rotation speed is substituted for the rotation speed Nm2 of the motor MG2. Similar to the calculation of the temporary torques Tm11 and Tm21, the temporary torques Tm12 and Tm22 are calculated using Nm2est, and the calculated temporary torques Tm12 and Tm22 are set as the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2. Therefore, even if there is a computation delay or communication delay in the rotational speed Nm2 of the motor MG2, the rotational speed Nm2 of the motor MG2 or the expected motor depends on whether or not the electric power for charging / discharging the battery 50 due to the influence is within an allowable range. It can be controlled using the rotational speed Nm2est. Thereby, charging / discharging of the battery 50 by excessive electric power can be suppressed.

  In the hybrid vehicle 20 of the embodiment, torque limits Tm1min and Tm1max for limiting the motor torque Tm1tmp within a range satisfying the above-described equations (4) and (5) are obtained, and provisional torque commands Tm11 and Tm12 for the motor MG1 are set. The torque limits Tm2min and Tm2max are obtained from the equations (7) and (8) and the temporary torques Tm21 and Tm22 of the motor MG2 are set. However, the torque limits Tm1min and Tm1max are limited within the range satisfying the equations (4) and (5). The motor torque Tm1tmp is set as it is as the temporary torques Tm11 and Tm12 of the motor MG1, and the torque limits Tm2min and Tm2max are obtained from the temporary torques Tm11 and Tm12 using the equations (7) and (8). Temporary torque Tm21, Tm22 It may be used as those to be set. In addition, the temporary torques Tm11, Tm12, Tm21, and Tm22 of the motors MG1 and MG2 are set within the range of the input and output limits Win and Wout of the battery 50 using the rotational speed Nm2 of the motor MG2 and the expected motor rotational speed Nm2est. Any method may be used as long as it exists.

  In the hybrid vehicle 20 of the embodiment, when calculating the temporary torques Tm12 and Tm22 using the expected motor rotation speed Nm2est, the rotation speed of the motor MG1 is input from the motor ECU 40 through communication. Alternatively, the expected motor rotation speed Nm1est at the time of control may be obtained and used based on what is input through communication.

  In the hybrid vehicle 20 of the embodiment, when the difference power ΔP that is the difference between the first charging / discharging power P1 and the second charging / discharging power P2 is equal to or greater than the threshold value Pref, the provisional torques Tm12, Tm22 are calculated using the predicted motor speed Nm2est. The calculated temporary torques Tm12 and Tm22 are set and controlled as the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2, but the first charge / discharge power is used when shifting the shift stage of the transmission 60. Regardless of the difference power ΔP that is the difference between P1 and the second charge / discharge power P2, the temporary torques Tm12 and Tm22 are calculated using the predicted motor rotation speed Nm2est, and the calculated temporary torques Tm12 and Tm22 are calculated using the motors MG1 and MG2. The torque commands Tm1 * and Tm2 * may be set and controlled. In this case, the speed ratio G of the transmission 60 may be a value obtained by dividing the expected motor rotation speed Nm2est by the drive shaft rotation speed Nd.

  In the hybrid vehicle 20 of the embodiment, the expected motor rotation speed Nm2est is calculated by adding the rotation speed Nm2 of the motor MG2 to the value obtained by multiplying the rate of change ΔNm2 corresponding to the differential value of the rotation speed Nm2 of the motor MG2 by the constant kmg2. However, the expected motor rotation speed Nm2est may be calculated without using a value corresponding to the differential value of the rotation speed Nm2 of the motor MG2.

  In the hybrid vehicle 20 of the embodiment, when the difference power ΔP, which is the difference between the first charge / discharge power P1 and the second charge / discharge power P2, is equal to or greater than the threshold value Pref, the input / output limitation of the battery 50 is performed using the predicted motor rotation speed Nm2est. Temporary torques Tm12 and Tm22 are calculated as torques output from the motor MG1 so that the required torque Td * is output to the drive shaft 36 while operating the engine 22 efficiently within the range of Win and Wout. Although Tm22 is set and controlled as the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2, the power is increased by the power α as the input-side margin from the input limit Win of the battery 50 (small in absolute value). Is the control input limit Winf and the output side margin from the output limit Wout The required torque Td * while efficiently operating the engine 22 within the range of the control input / output limits Winf, Woutf of the battery 50 using the predicted motor rotation speed Nm2est as the control output limit Woutf with the electric power β smaller than Is calculated as temporary torques Tm12 and Tm22 as torque output from the motor MG1, and the calculated temporary torques Tm12 and Tm22 are set as torque commands Tm1 * and Tm2 * for the motors MG1 and MG2. It is good also as what to do. Here, the electric power α and the electric power β are set as allowable electric power that may excessively charge and discharge the battery 50 depending on the difference between the expected motor rotation speed Nm2est and the actual rotation speed, and are obtained by experiments or the like. Can do.

  In the hybrid vehicle 20 of the embodiment, the transmission 60 capable of shifting with four speeds is used. However, the speed is not limited to four, and the speed can be changed with two or more speeds. Any machine can be used.

  In the hybrid vehicle 20 of the embodiment, the power distribution and integration mechanism 30 is used to transmit power from the engine 22 to the ring gear shaft 32a as a power shaft connected to the drive shaft 36 connected to the drive wheels 39a and 39b via the transmission 60. 11, the drive shaft that outputs power to the inner rotor 132 and the drive wheels 39a and 39b connected to the crankshaft 26 of the engine 22 as exemplified in the hybrid vehicle 120 of the modification of FIG. 36 and an outer rotor 134 connected to a power shaft 32b connected via a transmission 60, and a part of the power of the engine 22 is driven through the power shaft 32b, the transmission 60, and the drive shaft 36 to drive wheels. A counter-rotor motor 130 that transmits power to 39a and 39b and converts remaining power into electric power may be provided.

  In the embodiment, the hybrid vehicle 20 equipped with the power output device is described as the best mode of the present invention. However, a power output device not mounted on such a vehicle may be used. Moreover, it is good also as a form of the drive device integrated in such a power output device with an internal combustion engine. Further, it may be in the form of a control method for the power output apparatus.

  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 transmission 60 corresponds to a “stepped transmission unit”, the power distribution and integration mechanism 30 and the motor MG1 correspond to “electric power input / output unit”, The motor MG2 corresponds to the “motor”, the battery 50 corresponds to the “electric storage means”, and calculates the remaining capacity (SOC) based on the integrated value of the charge / discharge current detected by a current sensor (not shown) and the calculated remaining capacity. The battery ECU 52 that calculates the input / output limits Win and Wout, which are the maximum allowable power that may charge / discharge the battery 50, based on the capacity (SOC) and the battery temperature Tb detected by the temperature sensor 51 is “input / output limit setting”. The rotational speed Nm2 of the motor MG2 (that is, a ring gear shaft as an input shaft) based on the rotational position detection sensor 44 and a signal from the rotational position detection sensor 44. The motor ECU 40 for calculating the rotational speed 2a) corresponds to the “input shaft rotational speed detection means”, and is obtained by multiplying the rate of change ΔNm2 corresponding to the differential value of the rotational speed Nm2 of the motor MG2 by a constant kmg2 to the motor MG2. The hybrid electronic control unit 70 that executes the processing of steps S110 and S120 of the drive control routine of FIG. 5 that adds the rotational speed Nm2 to calculate the predicted motor rotational speed Nm2est corresponds to “expected input shaft rotational speed calculation means”. The hybrid electronic control unit 70 that executes the process of step S130 of the drive control routine of FIG. 5 for setting the required torque Td * required for the drive shaft 36 based on the accelerator opening Acc and the vehicle speed V is “requested power force”. The input motors MG1 and MG2 control the input / output of the battery 50 using the rotational speeds Nm1 and Nm2. The first charging / discharging power P1 and the first charging / discharging power as the power for charging / discharging the battery 50 when the required torque Td * is output to the drive shaft 36 while the engine 22 is efficiently operated within the limits Win and Wout. When the motor MG1 rotates at the rotation speed Nm1 using the temporary torques Tm11 and Tm21 of the motors MG1 and MG2 used when calculating P1, the motor MG2 rotates at the expected motor rotation speed Nm2est. 5 for calculating the second charging / discharging electric power P2 as the electric power for charging / discharging the battery 50, and executing the provisional torque calculation routine of FIG. 8 as the processing of steps S160 and S170 of FIG. 5 and the processing of step S160. The electronic control unit 70 corresponds to “charging / discharging power calculation means”, and the first charging / discharging power P1 and the second charging / discharging power. When the difference power ΔP, which is the difference from the force P2, is less than the threshold value Pref, the temporary torques Tm11, Tm21 when the first charge / discharge power P1 is calculated are set as the torque commands Tm1 *, Tm2 * of the motors MG1, MG2, and the speed is changed. The engine 22 and the motors MG1, MG2, and the transmission 60 are controlled with the shift of the gear stage of the machine 60, and when the difference power ΔP is equal to or greater than the threshold value Pref, the expected motor revolution number Nm2est is used instead of the revolution number Nm2 of the motor MG2. As in the calculation of the temporary torques Tm11 and Tm21, the temporary torques Tm12 and Tm22 are calculated and the calculated temporary torques Tm12 and Tm22 are set as the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2 5 for controlling the engine 22 and the motors MG1, MG2 and the transmission 60 with the speed of the gear. The hybrid electronic control unit 70 that executes the processing of steps S190 to S240 of the routine, the engine ECU 24 that controls the engine 22 by the target rotational speed Ne * and the target torque Te *, and the motors MG1, by the torque commands Tm1 * and Tm2 *. The motor ECU 40 that controls the MG 2 and the hybrid electronic control unit 70 that controls the shift speed of the transmission 60 using a hydraulic sequence correspond to “control means”. Further, the power distribution and integration mechanism 30 corresponds to “three-axis power input / output means”, and the motor MG1 corresponds to “generator”. Further, the counter-rotor motor 130 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 “stepped transmission means” is not limited to the four-stage transmission 60, but any stepped transmission that transmits power between the input shaft and the drive shaft. It doesn't matter. 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 to the rotor motor 130, but is connected to the input shaft and rotates independently of the input shaft. Any device may be used as long as it is connected to the output shaft of the internal combustion engine and inputs / outputs power to / from the input shaft and the output shaft together with input / output of 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, such as an induction motor, as long as it can input and output power to an input shaft. . 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 power with a power drive input / output means and an electric motor such as a capacitor. The “input / output limit setting means” is not limited to the one that sets the input / output limits Win and Wout of the battery 50 based on the remaining capacity (SOC) of the battery 50 and the battery temperature Tb. Input / output limits Win and Wout are set according to other states of the storage means in addition to the SOC) and the battery temperature. As long as the output limit is set, it may be anything. The “input shaft rotational speed detection means” is not limited to the one that calculates the rotational speed Nm2 of the motor MG2 as the rotational speed of the ring gear shaft 32a that is the input shaft based on the signal from the rotational position detection sensor 44. Any sensor that detects the input shaft rotation speed, which is the rotation speed of the input shaft, such as a rotation speed sensor directly attached to the input shaft, may be used. As the “predicted input shaft rotational speed calculation means”, the expected motor rotational speed Nm2est is obtained by adding the rotational speed Nm2 of the motor MG2 to the rate of change ΔNm2 corresponding to the differential value of the rotational speed Nm2 of the motor MG2 and the constant kmg2. The present invention is not limited to the calculation, and any method may be used as long as it calculates an expected input shaft rotational speed that is an expected rotational speed of the input shaft at the time of control based on the detected input shaft rotational speed. The “required driving force setting means” is not limited to the one that sets the required torque Td * of the drive shaft 36 based on the accelerator opening Acc and the vehicle speed V, but is driven based only on the accelerator opening Acc. As long as the required driving force required for the drive shaft is set, such as setting the required torque Td * of the shaft 36, any configuration may be used. As the “charge / discharge power calculation means”, the input motors MG1 and MG2 use the rotational speeds Nm1 and Nm2 to operate the engine 22 efficiently within the range of the input / output limits Win and Wout of the battery 50, and the required torque Td *. When the first charging / discharging power P1 and the first charging / discharging power P1 are calculated as the power for charging / discharging the battery 50 when outputting to the drive shaft 36, the temporary torques Tm11, Tm21 of the motors MG1, MG2 used are calculated. The motor MG1 rotates at the rotation speed Nm1, but the motor MG2 calculates the second charge / discharge power P2 as the power to charge / discharge the battery 50 when rotating at the expected motor rotation speed Nm2est. The range of the input / output restriction set with the shift of the shift stage by the stepped transmission means using the detected input shaft rotation speed is not limited to The first charging / discharging power, which is the power for charging / discharging the power storage means by the electric power drive input / output means and the electric motor when the required driving force set while operating the internal combustion engine with predetermined restrictions is output to the drive shaft. Rotation based on the expected input shaft rotational speed calculated from the rotational speed based on the input shaft rotational speed detected for the rotational speed with respect to P1, the power power input / output means when calculating the first charge / discharge power P1, and the driving state of the motor Any power and power input / output means and the second charge / discharge power P2 that is the power for charging / discharging the power storage means by the electric motor when the driving state is changed to a number may be used. . As the “control means”, temporary torques Tm11 and Tm21 when the first charge / discharge power P1 is calculated when the difference power ΔP, which is the difference between the first charge / discharge power P1 and the second charge / discharge power P2, is less than the threshold value Pref. Is set as the torque commands Tm1 * and Tm2 * of the motors MG1 and MG2, and the engine 22 and the motors MG1, MG2 and transmission 60 are controlled with the shift of the transmission stage of the transmission 60, and the differential power ΔP is equal to or greater than the threshold value Pref. In this case, the temporary torques Tm12 and Tm22 are calculated similarly to the calculation of the temporary torques Tm11 and Tm21 using the predicted motor rotation speed Nm2est instead of the rotation speed Nm2 of the motor MG2, and the calculated temporary torques Tm12 and Tm22 are used as the motors MG1 and MG2. Torque commands Tm1 *, Tm2 * of the engine 22 and the engine The input is detected when the difference between the calculated first charge / discharge power P1 and the second charge / discharge power P2 is less than a predetermined difference. The internal combustion engine is operated with a predetermined restriction within the range of the input / output limit set with the shift of the shift stage of the stepped transmission means using the shaft rotation speed, and the set required driving force is output to the drive shaft When the difference between the calculated first charging / discharging power P1 and the second charging / discharging power P2 is greater than or equal to a predetermined difference, the internal combustion engine, the power drive input / output means, the motor, and the stepped transmission means are controlled. The internal combustion engine is operated with a predetermined restriction and the set required driving force is driven within the range of the input / output restriction set with the shift of the shift stage of the stepped transmission means using the predicted input shaft rotational speed. With the internal combustion engine to be output to the shaft As long as it controls the power-mechanical power input output mechanism and the motor step-variable shifting means may be any ones. As the “control means” when the power output device that outputs power to the drive shaft is incorporated with the internal combustion engine, the “control means” is obtained by removing the engine ECU 24 from the “control means” when the power output device is used, that is, When the calculated difference between the first charging / discharging power P1 and the second charging / discharging power P2 is less than a predetermined difference, the detected input shaft rotation speed is used to set the gear position of the stepped transmission means. The internal combustion engine is operated within the range of the input / output limit with predetermined restrictions, and the power drive input / output means, the electric motor, and the stepped transmission means are controlled together with the control of the internal combustion engine so that the set required driving force is output to the drive shaft. When the difference between the calculated first charge / discharge power P1 and the second charge / discharge power P2 is equal to or greater than a predetermined difference, the shift of the gear stage of the stepped transmission means is changed using the calculated predicted input shaft speed. Set accordingly The internal combustion engine is operated within a specified input / output limit range according to predetermined restrictions, and the power drive input / output means, the electric motor, and the stepped transmission are controlled together with the control of the internal combustion engine so that the set required driving force is output to the drive shaft. Any device may be used as long as it controls the means. 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 problem is the same as that of the embodiment described in the column of means for solving the problem. 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 problem. 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 is applicable to a power output device, a drive device, a vehicle manufacturing industry, and the like.

It is a block diagram which shows the outline of a structure of the hybrid vehicle 20 carrying the power output device which is one Example of this invention. FIG. 3 is a configuration diagram showing an outline of a configuration of a transmission 60. 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 electronic control unit for hybrids 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. It is a flowchart which shows an example of a temporary torque calculation routine. FIG. 3 is an explanatory diagram showing an example of a collinear diagram for dynamically explaining the power distribution and integration mechanism 30 and the rotational elements of the transmission 60 when the transmission 60 is in the second speed state. 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.

Explanation of symbols

  20, 120 Hybrid vehicle, 22 engine, 24 engine electronic control unit (engine ECU), 26 crankshaft, 28 damper, 30 power distribution integration mechanism, 31 sun gear, 32 ring gear, 32a ring gear shaft, 32b power shaft, 33 pinion gear, 34 Carrier, 36 Drive shaft, 37 Rotational speed sensor, 38 Differential gear, 39a, 39b Drive wheel, 40 Motor electronic control unit (motor ECU), 41, 42 Inverter, 43, 44 Rotation position detection sensor, 50 Battery, 51 Temperature sensor, 52 Battery electronic control unit (battery ECU), 54 Electric power line, 60 Transmission, 62, 64, 66 Planetary gear mechanism, 62s, 64s, 66s Sun gear, 62c, 64c, 66c Carrier, 62 , 64r, 66r ring gear, 62p, 64p, 66p pinion gear, 70 hybrid electronic control unit, 72 CPU, 74 ROM, 76 RAM, 80 ignition switch, 81 shift lever, 82 shift position sensor, 83 accelerator pedal, 84 accelerator pedal position Sensor, 85 Brake pedal, 86 Brake pedal position sensor, 88 Vehicle speed sensor, 100 Actuator, 102 Oil pump, 104 Hydraulic supply part, 130 Counter rotor motor, 132 Inner rotor, 134 Outer rotor, MG1, MG2 Motor, C1, C2 Clutch , B1, B2, B3 brakes.

Claims (9)

A power output device that outputs power to a drive shaft,
An internal combustion engine;
A stepped transmission means having an input shaft and transmitting power by shifting between the input shaft and the drive shaft;
Connected to the input shaft and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the input shaft, and to input / output power to and from the input shaft and the output shaft with input / output of power and power Power power input / output means to
An electric motor capable of inputting and outputting power to the input 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 a maximum allowable power that may charge / discharge the power storage means based on the state of the power storage means;
Input shaft rotational speed detection means for detecting the input shaft rotational speed which is the rotational speed of the input shaft;
Based on the detected input shaft rotational speed, the expected input shaft of the internal combustion engine, the electric power drive input / output means, the electric motor, and the stepped transmission means is controlled based on the detected input shaft rotational speed . An expected input shaft rotational speed calculating means for calculating an expected input shaft rotational speed that is a rotational speed;
Required driving force setting means for setting required driving force required for the drive shaft;
Using the detected input shaft rotational speed, the internal combustion engine is determined in advance with respect to the rotational speed and torque within the set input / output limit with the shift of the shift stage by the stepped transmission means. A first charge that is electric power for charging / discharging the power storage means by the electric power drive input / output means and the electric motor when the set required driving force is output to the drive shaft while operating with predetermined restrictions. The predicted input shaft that is calculated from the number of revolutions based on the detected number of revolutions of the input shaft with respect to the number of revolutions of the electric power driving input / output means and the electric motor when the first charging / discharging power is computed. When the driving state is changed to the rotational speed based on the rotational speed, the power power input / output means and the second charge / discharge power that is the power to charge / discharge the power storage means by the electric motor are calculated. A charge-discharge electric power computing means,
When the calculated difference between the first charging / discharging power and the second charging / discharging power is less than a predetermined difference, the setting is performed with the shift of the gear stage of the stepped transmission means using the detected input shaft rotation speed. The internal combustion engine, the electric power power input / output means, and the output power are output so that the internal combustion engine is operated with the predetermined restriction and the set required driving force is output to the drive shaft within the range of the input / output restriction set. The motor and the stepped transmission means are controlled, and when the difference between the calculated first charge / discharge power and the second charge / discharge power is equal to or greater than the predetermined difference, the calculated expected input shaft rotational speed is used. The internal combustion engine is operated with the predetermined restriction within the set input / output limit range with the shift of the stepped speed of the stepped transmission means, and the set required driving force is output to the drive shaft. Said internal combustion engine Control means for controlling the said step-variable shifting means and the electric power-mechanical power input output mechanism and the motor,
A power output device comprising:   2. The power output apparatus according to claim 1, wherein the predicted input shaft rotational speed calculation means is means for calculating the predicted input shaft rotational speed using a value corresponding to a differential value of the detected input shaft rotational speed.   The control means uses the calculated expected input shaft rotation speed regardless of the difference between the calculated first charging / discharging power and the second charging / discharging power at the time of the shift of the stepped transmission means. The internal combustion engine is operated with the predetermined restriction within the set input / output limit range with the shift of the stepped speed change means, and the set required driving force is output to the drive shaft. 3. The power output apparatus according to claim 1, wherein said power output device is means for controlling said internal combustion engine, said electric power input / output means, said electric motor, and said stepped transmission means. The control means, when controlling using the calculated expected input shaft rotation speed, performs control within the range of the correction input / output limit obtained by correcting the set input / output limit in a direction in which the limit becomes severe. 4. The power output apparatus according to claim 1, wherein the power output apparatus is a means. The power output device according to any one of claims 1 to 4 ,
The charging / discharging power calculating means uses the detected input shaft rotational speed, the target rotational speed at which the internal combustion engine should be operated based on the set required driving force and the predetermined constraint, and the internal combustion engine And the power input / output means and the electric power input / output by the electric motor are within the set input / output limit range, and the electric power input / output means is input to the input shaft. And the internal combustion engine rotates at the target rotational speed under the condition that the driving force output from the electric motor and output to the driving shaft through the stepped transmission means is within the range of the set required driving force. The target drive state of the power power input / output means is set so that the power drive input / output means is further driven in the target drive state, and the setting is performed on the drive shaft within the input / output limit of the power storage means. The target torque of the electric motor is set so that the required driving force is output, and the electric power driving input / output means is driven in the set target driving state and the electric motor is driven with the set target torque. Means for calculating power for charging / discharging means as the first charge / discharge power;
When the difference between the calculated first charge / discharge power and the second charge / discharge power is less than the predetermined difference, the control means sets the target rotation speed and target power set when calculating the first charge / discharge power. , Using the target drive state and target torque to control the internal combustion engine, the power drive input / output means, the motor, and the stepped transmission means, and the calculated first charge / discharge power and second charge / discharge power, When the difference is equal to or larger than the predetermined difference, the calculated expected input shaft rotational speed is used to set the target rotational speed at which the internal combustion engine is to be operated based on the set required driving force and the predetermined constraint. The target power to be output from the internal combustion engine is set, and the power input / output by the power power input / output means and the motor is within the set input / output limit range, and the power power is applied to the input shaft. Input / output The internal combustion engine at the target rotational speed under the condition that the driving force output from the stage and the electric motor and output to the driving shaft via the stepped transmission means is within the range of the set required driving force or less. The target drive state of the power power input / output means is set to rotate, and further, the setting is made to the drive shaft within the input / output limit of the power storage means when the power power input / output means is driven in the target drive state. The target torque of the electric motor is set so that the required driving force is output, and the internal combustion engine, the electric power drive input / output means, and the electric motor are set using the set target rotational speed, target power, target drive state, and target torque. And means for controlling the stepped transmission means.
Power output device. The power motive power input / output means is connected to three axes of a generator capable of inputting / outputting power, the input shaft, the output shaft, and the rotating shaft of the generator, and enters any two of the three shafts. 6. The power output apparatus according to claim 1 , further comprising: a three-axis power input / output means for inputting / outputting power to / from the remaining shaft based on the output power. A vehicle on which the power output device according to claim 1 is mounted and an axle is connected to the drive shaft. A drive device incorporated in a power output device that outputs power to a drive shaft together with an internal combustion engine,
A stepped transmission means having an input shaft and transmitting power by shifting between the input shaft and the drive shaft;
Connected to the input shaft and connected to the output shaft of the internal combustion engine so as to be rotatable independently of the input shaft, and to input / output power to and from the input shaft and the output shaft with input / output of power and power Power power input / output means to
An electric motor capable of inputting and outputting power to the input 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 a maximum allowable power that may charge / discharge the power storage means based on the state of the power storage means;
Input shaft rotational speed detection means for detecting the input shaft rotational speed which is the rotational speed of the input shaft;
Based on the detected input shaft rotational speed, the expected input shaft of the internal combustion engine, the electric power drive input / output means, the electric motor, and the stepped transmission means is controlled based on the detected input shaft rotational speed . An expected input shaft rotational speed calculating means for calculating an expected input shaft rotational speed that is a rotational speed;
Required driving force setting means for setting required driving force required for the drive shaft;
Using the detected input shaft rotational speed, the internal combustion engine is determined in advance with respect to the rotational speed and torque within the set input / output limit with the shift of the shift stage by the stepped transmission means. A first charge that is electric power for charging / discharging the power storage means by the electric power drive input / output means and the electric motor when the set required driving force is output to the drive shaft while operating with predetermined restrictions. The predicted input shaft that is calculated from the number of revolutions based on the detected number of revolutions of the input shaft with respect to the number of revolutions of the electric power driving input / output means and the electric motor when the first charging / discharging power is computed. When the driving state is changed to the rotational speed based on the rotational speed, the power power input / output means and the second charge / discharge power that is the power to charge / discharge the power storage means by the electric motor are calculated. A charge-discharge electric power computing means,
When the calculated difference between the first charging / discharging power and the second charging / discharging power is less than a predetermined difference, the setting is performed with the shift of the gear stage of the stepped transmission means using the detected input shaft rotation speed. The electric power power input / output means together with the control of the internal combustion engine so that the internal combustion engine is operated with the predetermined restriction within the range of the input / output restriction set and the set required driving force is output to the drive shaft. And the motor and the stepped transmission means, and when the calculated difference between the first charging / discharging power and the second charging / discharging power is equal to or greater than the predetermined difference, the calculated predicted input shaft rotational speed is used. The internal combustion engine is operated with the predetermined restriction and the set required driving force is applied to the drive shaft within the range of the set input / output limit with the shift of the shift stage of the stepped transmission means. Before output And control means for controlling with control of the internal combustion engine and the electric power-mechanical power input output mechanism and the electric motor and the step-variable shifting means,
A drive device comprising: An internal combustion engine, a stepped transmission means having an input shaft for shifting and transmitting power between the input shaft and the drive shaft, and connected to the input shaft and rotatable independently of the input shaft An electric power input / output means connected to the output shaft of the internal combustion engine for inputting / outputting power to / from the input shaft and the output shaft with input / output of electric power and power, and an electric motor capable of inputting / outputting power to / from the input shaft And the electric power drive input / output means and the electric storage means capable of exchanging electric power with the electric motor, and the input shaft rotational speed detection means for detecting the input shaft rotational speed which is the rotational speed of the input shaft, and the drive A control method for a power output device that outputs power to a shaft,
Based on the detected input shaft rotational speed, the expected input shaft of the internal combustion engine, the electric power drive input / output means, the electric motor, and the stepped transmission means is controlled based on the detected input shaft rotational speed . Calculate the expected input shaft speed, which is the speed,
Using the detected input shaft speed, the internal combustion engine is controlled within an input / output limit range that is a maximum allowable power that may be charged / discharged by the power storage unit with a shift of the gear stage by the stepped transmission unit. The power power input / output means and the electric motor when the required driving force required for the drive shaft is output to the drive shaft while operating with predetermined restrictions on the rotation speed and torque. The first charging / discharging power that is the power for charging / discharging the power storage means, the power power input / output means when calculating the first charging / discharging power, and the detected driving state of the motor with respect to the rotational speed When the driving state is changed from the rotational speed based on the shaft rotational speed to the rotational speed based on the calculated expected input shaft rotational speed, the power storage input / output means and the electric motor fill the power storage means. Calculating a second charge-discharge electric power is the power of electricity,
When the calculated difference between the first charging / discharging power and the second charging / discharging power is less than a predetermined difference, the input / output is performed with the shift of the gear stage of the stepped transmission means using the detected input shaft rotational speed. The internal combustion engine, the electric power drive input / output means, the electric motor, and the stepped transmission means are operated so that the internal combustion engine is operated with the predetermined restriction within a limit range and the requested driving force is output to the drive shaft. And when the difference between the calculated first charging / discharging power and the second charging / discharging power is equal to or greater than the predetermined difference, the shift of the shift speed of the stepped transmission means is calculated using the calculated predicted input shaft speed. The internal combustion engine, the power power input / output means, and the electric motor are operated so that the internal combustion engine is operated by the predetermined restriction within the range of the input / output restriction and the requested driving force is output to the drive shaft. And the step To control the speed means,
A control method for a power output apparatus.

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