JP5170781B2 - Hybrid vehicle - Google Patents

Hybrid vehicle Download PDF

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Publication number
JP5170781B2
JP5170781B2 JP2009236717A JP2009236717A JP5170781B2 JP 5170781 B2 JP5170781 B2 JP 5170781B2 JP 2009236717 A JP2009236717 A JP 2009236717A JP 2009236717 A JP2009236717 A JP 2009236717A JP 5170781 B2 JP5170781 B2 JP 5170781B2
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Prior art keywords
rotor
rotating machine
power
torque
stator
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Expired - Fee Related
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JP2009236717A
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Japanese (ja)
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JP2011084117A (en
Inventor
重光 圷
典行 阿部
広太 笠岡
真史 板東
聡義 大矢
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本田技研工業株式会社
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    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • BPERFORMING OPERATIONS; TRANSPORTING
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    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/02Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
    • B60L15/025Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
    • BPERFORMING OPERATIONS; TRANSPORTING
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    • B60L15/20Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • Y02T10/7208Electric power conversion within the vehicle
    • Y02T10/7241DC to AC or AC to DC power conversion
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • Y02T10/7258Optimisation of vehicle performance
    • Y02T10/7275Desired performance achievement

Abstract

<P>PROBLEM TO BE SOLVED: To provide a power device-driven hybrid vehicle capable of achieving miniaturization and cost reduction and increasing driving efficiency. <P>SOLUTION: The hybrid vehicle includes a first rotor, a first stator, and a second rotor, and is driven by the power device including the number of magnetic poles generated in an armature row of the first stator, a first rotating machine in which one of the first and the second rotors is connected to a drive shaft, a prime mover in which an output shaft is connected to the other rotor, a second rotating machine, and an electric storage unit. The hybrid vehicle includes a temperature detection unit for detecting a temperature of the electric storage unit or parameters related to the temperature of the electric storage unit, and a control unit for controlling the power device. The control unit controls at least either the first rotating machine or the second rotating machine based on the temperature of the electric storage unit or the parameters related to the temperature of the electric storage unit when the hybrid vehicle travels at least by a drive power from the prime mover. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a hybrid vehicle driven by a power unit for driving a driven part.

  As a conventional power device of this type, for example, one disclosed in Patent Document 1 is known. This power unit is for driving left and right drive wheels of a vehicle, and includes an internal combustion engine as a power source and a transmission connected to the internal combustion engine and the drive wheels. The transmission includes first and second planetary gear units configured of a general single pinion type, and first and second rotating machines each including one rotor and a stator.

  As shown in FIG. 139, the first ring gear, the first carrier, and the first sun gear of the first planetary gear device are mechanically coupled to the internal combustion engine, the second carrier of the second planetary gear device, and the first rotating machine, respectively. Has been. The second sun gear, the second carrier, and the second ring gear of the second planetary gear device are mechanically coupled to the second rotating machine, the drive wheel, and the first rotating machine, respectively. Further, the first and second rotating machines are electrically connected to each other via a controller. Note that in FIG. 139, regarding the connection between elements, mechanical connection is indicated by a solid line, and electrical connection is indicated by an alternate long and short dash line. Moreover, the flow of motive power and electric power is shown by a thick solid line with an arrow.

  In the conventional power unit configured as described above, the power of the internal combustion engine is transmitted to the drive wheels as follows, for example, while the vehicle is traveling. That is, as shown in FIG. 139, the power of the internal combustion engine is transmitted to the first ring gear and then combined with the power transmitted to the first sun gear as described later, and this combined power is transmitted via the first carrier. Transmitted to the second carrier. In this case, power generation is performed by the second rotating machine, and the generated power is supplied to the first rotating machine via the controller. With this power generation, a part of the combined power transmitted to the second carrier is distributed to the second sun gear and the second ring gear, and the rest of the combined power is transmitted to the drive wheels. The power distributed to the second sun gear is transmitted to the second rotating machine, and the power distributed to the second ring gear is transmitted to the first sun gear via the first rotating machine. Further, the first sun gear is transmitted with the power of the first rotating machine generated in accordance with the above-described supply of electric power.

US Pat. No. 6,478,705

  In the conventional power unit, in addition to the first and second rotating machines, at least two planetary gear units for distributing and synthesizing the power are indispensable in terms of the configuration. Invitation Further, as described above, in the conventional power plant, the path including the first carrier → the second carrier → the second ring gear → the first rotating machine → the first sun gear → the first carrier, and the first carrier → the second carrier → The power recirculates in a path including the second sun gear → the second rotating machine → the first rotating machine → the first sun gear → the first carrier. Because of this power recirculation, very large combined power from the first ring gear and the first sun gear passes through the first carrier and passes through the second carrier as it is, so that it can withstand this large combined power. In addition, the first and second planetary gear devices must be increased in size, leading to further increase in size and cost of the power unit. Furthermore, with the increase in the size of the power device and the increase in power passing through the power device, the loss generated in the power device also increases, and the driving efficiency of the power device decreases.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a hybrid vehicle that can be reduced in size and reduced in cost and driven by a power unit that can increase drive efficiency.

  In order to solve the above-described problems and achieve the object, the hybrid vehicle according to the first aspect of the present invention includes a first rotor in which a magnetic pole array in which two adjacent magnetic poles have different polarities is provided in the circumferential direction ( For example, the A1 rotor 24 in the embodiment, the first rotor 14) and the first rotor are arranged so as to face the first rotor in the radial direction, and the magnetic poles generated in the plurality of armatures arranged in the circumferential direction change the magnetic poles. The first stator (for example, the stator 23 and the stator 16 in the embodiment) having an armature row that generates a rotating magnetic field that moves in the circumferential direction, and is disposed between the first rotor and the first stator, and A second rotor having a plurality of soft magnetic bodies arranged in the circumferential direction at intervals (for example, the A2 rotor 25 and the second rotor 15 in the embodiment), and the electric machine of the first stator Child column The ratio of the number of generated magnetic poles, the number of magnetic poles of the magnetic pole row of the first rotor, and the number of the soft magnetic bodies of the second rotor is 1: m: (1 + m) / 2 (where m ≠ 1), and a first rotating machine (for example, the first rotating machine 21 or the first rotating machine 10 in the embodiment) in which one of the first rotor and the second rotor is connected to a drive shaft; The input / output of power between the drive shaft (for example, the engine 3 in the embodiment) whose output shaft is connected to the other of the first rotor and the second rotor and the drive shaft, and the first rotation A second rotating machine (for example, the second rotating machine 31, the first planetary gear unit PS1 and the rotating machine 101, the second rotating machine 20 in the embodiment) configured to be able to exchange electric power with the machine. ) And the first rotating machine and the second rotating machine can transfer electric power (for example, an embodiment) Battery 43, battery 33), and a temperature detection unit (for example, in the embodiment) that detects a temperature related to the temperature of the battery or a parameter related to the temperature of the battery Battery temperature sensor 62) and a control unit (for example, ECU 2 in the embodiment) that controls the power unit, and the control unit travels at least by the driving force from the prime mover. In this case, at least one of the first rotating machine and the second rotating machine is controlled based on the temperature of the capacitor or a parameter related to the temperature of the capacitor.

  Furthermore, in the hybrid vehicle of the invention according to claim 2, the control unit is less than the first threshold when the temperature of the battery or the parameter related to the temperature of the battery is equal to or higher than a first threshold. It is characterized in that at least one of the first rotating machine and the second rotating machine is controlled so that the input / output power of the battery is reduced as compared with the time.

  Furthermore, in the hybrid vehicle of the invention according to claim 3, the control unit is higher than the second threshold when the temperature of the capacitor or a parameter related to the temperature of the capacitor is equal to or lower than a second threshold. It is characterized in that at least one of the first rotating machine and the second rotating machine is controlled so that the input / output power of the battery increases as compared with the time.

  Furthermore, in the hybrid vehicle of the invention according to claim 4, when the temperature of the battery or the parameter related to the temperature of the battery is less than a first threshold value, the controller is predicted to increase the temperature of the battery. In such a case, at least one of the first rotating machine and the second rotating machine is controlled so that the input / output power of the capacitor is smaller than that before the prediction.

  Furthermore, in the hybrid vehicle of the invention described in claim 5, the parameter related to the temperature of the battery is derived based on a history relating to the charge state and temperature of the battery.

  Furthermore, in the hybrid vehicle of the invention described in claim 6, the second rotating machine includes a rotor (for example, the rotor 103 in the embodiment) and an armature (for example, the stator 102 in the embodiment). An electric motor (for example, the rotating machine 101 in the embodiment), a first rotating element (for example, the first sun gear S1 in the embodiment) that operates while maintaining a collinear relationship, a second rotating element (for example, the First carrier C1) in the form, and a third rotating element (eg, first ring gear R1 in the embodiment) connected to the rotor, and the energy input to the second rotating element is A function of distributing to the first rotating element and the third rotating element, and a function of synthesizing and inputting the energy input to the first rotating element and the third rotating element to the second rotating element. Rotating mechanism (for example, A first planetary gear unit PS1) according to an embodiment, wherein one of the first rotor and the second rotating element, and the second rotor and the first rotating element is the motor of the prime mover It is connected to the output shaft, and the other is connected to the drive shaft.

  Furthermore, in the hybrid vehicle of the invention according to claim 7, the second rotating machine includes a third rotor (for example, an embodiment) in which two adjacent magnetic poles are provided with a magnetic pole array having different polarities in the circumferential direction. And a rotating magnetic field that moves in the circumferential direction is generated by a change in magnetic poles generated in a plurality of armatures arranged in the circumferential direction. A second stator having an armature array (for example, the stator 33 in the embodiment), a plurality of soft coils arranged between the third rotor and the second stator and arranged in the circumferential direction with a space therebetween. A fourth rotor having a magnetic body (for example, the B2 rotor 35 in the embodiment), the number of magnetic poles generated in the armature row of the second stator, and the magnetic pole row of the third rotor And the number of magnetic poles before The ratio of the number of the soft magnetic bodies of the fourth rotor is set to 1: m: (1 + m) / 2 (where m ≠ 1), the first rotor is connected to the drive shaft, and the prime mover When the second rotor is connected to the output shaft, the fourth rotor is connected to the drive shaft, the third rotor is connected to the output shaft of the prime mover, and the second rotor is connected to the drive shaft. Is connected, and when the first rotor is connected to the output shaft of the prime mover, the third rotor is connected to the drive shaft, and the fourth rotor is connected to the output shaft of the prime mover. It is characterized by.

  According to the hybrid vehicle of the invention described in claims 1 to 2 and 4 to 11, it is possible to prevent the progress of the deterioration of the battery and to prevent the temperature of the battery from rising.

  According to the hybrid vehicle of the third aspect of the present invention, the temperature of the capacitor can be raised by the heat generated by the capacitor.

  According to the hybrid vehicle of the invention described in claims 6 to 7, it is possible to achieve downsizing and cost reduction, and it is possible to increase driving efficiency.

It is a figure showing roughly the power unit by a 1st embodiment. It is a block diagram which shows the control apparatus which controls the engine etc. which are shown in FIG. It is an expanded sectional view of the 1st rotary machine shown in FIG. It is a figure which expand | deploys the stator of the 1st rotary machine shown in FIG. 1, and the rotor of A1 and A2 to the circumferential direction, and is shown schematically. It is a figure which shows the equivalent circuit of a 1st rotary machine. It is a speed alignment chart which shows an example of the relationship between the 1st magnetic field electrical angular velocity in the 1st rotary machine shown in FIG. 1, and the rotor electrical angular speed of A1 and A2. It is a figure for demonstrating operation | movement at the time of supplying electric power to a stator in the state which hold | maintained the A1 rotor of the 1st rotary machine shown in FIG. 1 so that rotation was impossible. FIG. 8 is a diagram for explaining an operation subsequent to FIG. 7. FIG. 9 is a diagram for explaining an operation subsequent to FIG. 8. It is a figure for demonstrating the positional relationship of a 1st stator magnetic pole and a core when a 1st stator magnetic pole rotates only 2 electrical angle from the state shown in FIG. It is a figure for demonstrating the operation | movement at the time of supplying electric power to a stator in the state which hold | maintained the A2 rotor of the 1st rotary machine shown in FIG. 1 so that rotation is impossible. FIG. 12 is a diagram for explaining an operation subsequent to FIG. 11. FIG. 13 is a diagram for explaining an operation subsequent to FIG. 12. It is a figure which shows an example of transition of the back electromotive force of a U phase-W phase at the time of hold | maintaining the A1 rotor of a 1st rotary machine so that rotation is impossible. It is a figure which shows an example of transition of the 1st drive equivalent torque when the A1 rotor of a 1st rotary machine cannot be rotated, and the rotor transmission torque of A1 and A2. It is a figure which shows an example of transition of the back electromotive force voltage of the U phase-W phase when the A2 rotor of a 1st rotary machine is hold | maintained so that rotation is impossible. It is a figure which shows an example of transition of the 1st drive equivalent torque when the A2 rotor of a 1st rotary machine cannot be rotated, and the rotor transmission torque of A1 and A2. It is an expanded sectional view of the 2nd rotary machine shown in FIG. It is a figure for demonstrating an example of operation | movement of the power plant provided with two rotary machines. FIG. 20 is a diagram for illustrating a speed change operation of the power plant shown in FIG. 19. FIG. 20 is a diagram showing an example of a relationship between rotational speeds and torques of various rotary elements in the power plant shown in FIG. 19 when a heat engine is started while a driven part is driven by first and second rotating machines. . FIG. 20 is a diagram showing an example of the relationship between the rotational speeds and torques of various rotary elements in the power plant shown in FIG. 19 when the speed of the driven part is rapidly increased. It is a block diagram which shows the driving force control in the power plant 1 of FIG. It is a speed collinear diagram in the power plant 1 having a mechanism of one collinear four elements. It is a figure which shows the transmission condition of the torque in the power plant of FIG. 1 during EV creep. (A) is each speed collinear chart of the 1st and 2nd rotary machines 21 and 31 during EV creep of the power plant shown in FIG. 1, and (b) is a speed chart obtained by synthesizing two speed nomographs. FIG. It is a figure which shows the transmission condition of the torque in the power plant of FIG. 1 during EV start. (A) is an example of each speed collinear chart of the first and second rotating machines 21 and 31 at the time of EV start of the power plant shown in FIG. 1, and (b) is a composite of two speed collinear charts. It is a velocity nomograph. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. 1 at the time of ENG start during EV driving | running | working. FIG. 3 is a collinear chart of each of first and second rotating machines 21 and 31 at the time of ENG start during EV traveling of the power unit shown in FIG. 1. FIG. 31 is a velocity collinear diagram obtained by combining the two velocity collinear diagrams shown in FIG. 30. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. (A) is each speed collinear chart of the 1st and 2nd rotary machines 21 and 31 during the ENG driving | running | working of the battery input / output zero mode of the power plant shown in FIG. 1, (b) is two speed collinear charts. It is a speed collinear diagram which synthesize | combined the figure. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. 1 about ENG driving | running | working of assist mode. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. (A) is an example of each collinear chart of the 1st and 2nd rotary machines 21 and 31 at the time of the start of the rapid acceleration driving | running | working of ENG driving | running | working of the power plant shown in FIG. It is a velocity nomograph combining the velocity nomograph. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. 1 during deceleration regeneration. (A) is an example of each collinear chart of the 1st and 2nd rotary machines 21 and 31 during the deceleration regeneration of the power plant shown in FIG. 1, (b) synthesize | combined two speed nomographs. It is a velocity nomograph. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. 1 at the time of ENG start during a stop. FIG. 2 is an example of speed nomographs of first and second rotating machines 21 and 31 at the time of ENG start while the power unit shown in FIG. 1 is stopped, and (b) is a speed chart obtained by combining two speed nomographs. FIG. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. 1 during ENG creep. It is an example of each speed collinear chart of the 1st and 2nd rotary machines 21 and 31 during the ENG creep of the power plant shown in FIG. 1, and (b) is a speed collinear chart combining two speed nomographs. It is. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. 1 at the time of ENG start. It is an example of each speed collinear chart of the 1st and 2nd rotary machines 21 and 31 at the time of ENG start of the power plant shown in FIG. 1, and (b) is a speed collinear chart combining two speed nomographs. It is. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. 1 at the time of EV reverse start. (A) is an example of each speed collinear diagram of the 1st and 2nd rotary machines 21 and 31 at the time of EV reverse start of the power plant shown in FIG. 1, and (b) synthesizes two speed collinear diagrams. FIG. It is a figure which shows the transmission condition of the torque in the power plant shown in FIG. 1 at the time of ENG reverse start. (A) is an example of each collinear chart of the 1st and 2nd rotary machines 21 and 31 at the time of ENG reverse start of the power plant shown in FIG. 1, and (b) synthesizes two speed collinear charts. FIG. FIG. 6 is a diagram illustrating an assumed use temperature range of a battery 43. When the operation mode of the operating device 1 is “ENG traveling”, (a) a speed alignment chart when the driving charging mode is selected, and (b) a speed when the battery input / output zero mode is selected. An alignment chart is shown. (A) Speed collinear diagram when battery input / output zero mode is selected, and (b) Speed collinear when assist mode is selected when operation mode of operating device 1 is “ENG travel” FIG. It is a figure which shows schematically the power plant by 2nd Embodiment. It is a figure which shows schematically the power plant by 3rd Embodiment. It is a figure which shows schematically the power plant by 4th Embodiment. It is a figure which shows schematically the power plant by 5th Embodiment. It is a figure which shows schematically the power plant by 6th Embodiment. It is a figure which shows roughly the power plant by 7th Embodiment. It is a figure for demonstrating an example of operation | movement of the 1st power plant provided with the rotary machine and the differential gear. It is a figure for demonstrating the speed change operation | movement of the 1st power plant shown in FIG. 58 is a diagram showing an example of the relationship between the rotational speeds and torques of various rotary elements in the first power unit shown in FIG. 58 when the heat engine is started while the driven part is driven by the first and second rotating machines. It is. FIG. 59 is a diagram showing an example of the relationship between the rotational speeds and torques of various rotary elements in the first power unit shown in FIG. 58 when the speed of the driven part is rapidly increased. It is a figure for demonstrating the other example of operation | movement of the 2nd power plant provided with the rotary machine and the differential gear. FIG. 63 is a diagram for describing a speed change operation of the second power plant shown in FIG. 62. 62 is a diagram showing an example of the relationship between the rotational speeds and torques of various rotating elements in the second power unit shown in FIG. 62 when the heat engine is started while the driven part is driven by the first and second rotating machines. It is. FIG. 63 is a diagram showing an example of a relationship between rotational speeds and torques of various rotary elements in the second power unit shown in FIG. 62 when the speed of the driven part is rapidly increased. FIG. 58 is a block diagram showing a control device for controlling the engine shown in FIG. 57 and the like. It is a block diagram which shows the driving force control in the power plant 1F of FIG. It is a collinear chart in the power plant 1F having a mechanism of 1 collinear 4 elements. FIG. 58 A diagram showing an example of the relationship between the rotational speeds and torques of various rotary elements in the power plant shown in FIG. 57 at the start of ENG start during EV traveling. FIG. 58 is a diagram for describing a speed change operation by the first rotating machine or the rotating machine in the power plant shown in FIG. 57. FIG. 58 A diagram showing an example of the relationship between the rotational speeds and torques of various types of rotary elements in the power plant shown in FIG. 57 at the start of the rapid acceleration operation during ENG traveling. It is a figure which shows schematically the power plant by 8th Embodiment. It is a figure which shows schematically the power plant by 9th Embodiment. It is a figure which shows schematically the power plant by 10th Embodiment. It is a figure which shows schematically the power plant by 11th Embodiment. It is a figure which shows schematically the power plant by 12th Embodiment. It is a figure which shows schematically the power plant by 13th Embodiment. (A) A speed collinear chart showing an example of the relationship between the first sun gear rotation speed, the first carrier rotation speed, and the first ring gear rotation speed is shown as the second sun gear rotation speed, the second carrier rotation speed, and the second ring gear rotation speed. The figure shown with a speed alignment chart which shows an example of a relationship, (b) An example of the relationship of the rotational speed of the four rotation elements comprised by the connection of the 1st and 2nd planetary gear apparatus in the power plant shown in FIG. It is a velocity nomograph shown. (A) A collinear chart showing an example of the relationship between the rotational speeds of the four rotating elements constituted by the connection of the first and second planetary gear devices in the power plant shown in FIG. The figure shown with the speed alignment chart which shows an example of the relationship of the rotor rotational speed of A1 and A2, (b) It is comprised by the connection of the 2nd rotary machine in the power plant shown in FIG. 77, and the 1st and 2nd planetary gear apparatus. It is a speed alignment chart which shows an example of the relationship of the rotational speed of five rotating elements. 77 is a collinear chart illustrating an example of a relationship between rotation speeds of various types of rotary elements of the power plant shown in FIG. 77, (a) during the first shift mode and (b) during the second shift mode. In the power plant shown in FIG. 77, an example of the relationship between the rotational speeds and torques of the various rotary elements at the start of the rapid acceleration operation during ENG traveling is as follows. It is a figure shown about each in mode. It is a speed alignment chart which shows an example of the relationship of the rotational speed of the various rotation elements in a power unit about (a) in 1st speed change mode, and (b) in 2nd speed change mode, respectively. An example of the relationship between the rotational speeds and torques of various rotary elements in the power plant is the case where the speed of the driven part is rapidly increased, and (a) during the first shift mode, (b) the second shift mode It is a figure shown about each, respectively. It is a figure for demonstrating switching of the 1st and 2nd transmission mode in a power plant. It is a figure which shows schematically the power plant in 14th Embodiment. It is a figure which shows roughly the power plant in 15th Embodiment. FIG. 87 A diagram showing an example of the relationship between the rotational speeds and torques of various types of rotary elements in the power plant shown in FIG. 86, regarding the start of ENG start during EV traveling. It is a figure for demonstrating the speed change operation | movement by the rotary machine in a power unit shown in FIG. 86, or a 2nd rotary machine. FIG. 87 A diagram showing an example of the relationship between the rotational speeds and torques of various types of rotary elements in the power plant shown in FIG. 86, regarding the start of rapid acceleration operation during ENG traveling. It is a figure which shows schematically the power plant in 16th Embodiment. It is a figure which shows schematically the power plant in 17th Embodiment. It is a figure which shows schematically the power plant in 18th Embodiment. It is a figure which shows schematically the power plant in 19th Embodiment. It is a figure which shows schematically the power plant in 20th Embodiment. (A) A speed collinear chart showing an example of the relationship between the first sun gear rotation speed, the first carrier rotation speed, and the first ring gear rotation speed is shown as the second sun gear rotation speed, the second carrier rotation speed, and the second ring gear rotation speed. The figure shown with a speed alignment chart which shows an example of a relationship, (b) An example of the relationship of the rotational speed of four rotation elements comprised by the connection of the 1st and 2nd planetary gear apparatus in the power plant shown in FIG. It is a velocity nomograph shown. (A) A speed collinear diagram showing an example of the relationship between the rotational speeds of the four rotating elements constituted by the connection of the first and second planetary gear devices in the power plant shown in FIG. The figure shown with the speed alignment chart which shows an example of the relationship of the rotor rotational speed of B1 and B2, (b) It is comprised by the connection of the 2nd rotary machine in the power plant shown in FIG. 94, and the 1st and 2nd planetary gear apparatus. It is a speed alignment chart which shows an example of the relationship of the rotational speed of five rotating elements. FIG. 95 is a collinear chart showing an example of the relationship between the rotation speeds of various types of rotary elements in the power plant shown in FIG. 94, in (a) during the first shift mode and (b) during the second shift mode. In the power plant shown in FIG. 94, an example of the relationship between the rotational speeds and torques of the various rotary elements at the start of the ENG start during EV traveling is shown in (a) during the first shift mode and (b) during the second shift mode. FIG. It is a speed alignment chart which shows an example of the relationship of the rotational speed of the various rotation elements in a power unit about (a) in 1st speed change mode, and (b) in 2nd speed change mode, respectively. An example of the relationship between the rotational speeds and torques of various rotary elements in the power plant is the case where the heat engine is started during driving of the driven parts by the first and second rotating machines, and (a) the first shift It is a figure which shows each in mode, (b) It is in 2nd speed change mode, respectively. It is a figure which shows schematically the power plant by 21st Embodiment. It is a figure which shows schematically the power plant by 22nd Embodiment. It is a figure which shows schematic structure of the power plant which concerns on 23rd Embodiment, and the hybrid vehicle to which this is applied. It is a figure which shows schematic structure of the power plant of 23rd Embodiment. It is sectional drawing which shows typically schematic structure of a 1st rotary machine and a 2nd rotary machine. It is the figure which showed typically the annular cross section fractured | ruptured along the circumferential direction in the position of the AA line of FIG. 105 linearly. FIG. 3 is a diagram showing an equivalent circuit corresponding to the first rotating machine 10. FIG. 5 is a collinear chart showing an example of a relationship among a magnetic field electrical angular velocity ωmf, a first rotor electrical angular velocity ωe1, and a second rotor electrical angular velocity ωe2 in the first rotating machine 10. FIG. 5 is a collinear chart showing an example of the relationship among a magnetic field electrical angular velocity ωMFR, a first rotor electrical angular velocity ωER1, and a second rotor electrical angular velocity ωER2. It is a figure for demonstrating operation | movement at the time of supplying electric power to a stator in the state which hold | maintained the 1st rotor of a 1st rotary machine so that rotation was impossible. FIG. 111 is a diagram for explaining the operation following FIG. 110. FIG. 112 is a diagram for explaining the operation following FIG. 111. FIG. 110 is a diagram for explaining the positional relationship between the stator magnetic pole and the soft magnetic core when the stator magnetic pole rotates by an electrical angle of 2π from the state shown in FIG. 109. It is a figure for demonstrating operation | movement at the time of supplying electric power to a stator in the state which hold | maintained the 2nd rotor of a 1st rotary machine so that rotation was impossible. FIG. 115 is a diagram for explaining the operation following FIG. 114. FIG. 116 is a diagram for explaining the operation following FIG. 115. It is a block diagram which shows the driving force control in the power plant 1 of FIG. It is a speed collinear diagram in the power plant 1 having a mechanism of one collinear three elements. It is a speed alignment chart which shows an example of the relationship between three electrical angular velocities and three torques when the pole pair number ratio α in the first rotating machine of the power plant according to the twenty-third embodiment is an arbitrary value. It is a figure which shows the relationship between output ratio RW and reduction ratio R when the pole pair number ratio (alpha) in the 1st rotary machine of the power plant of 23rd Embodiment is set to the value 1, the value 1.5, and the value 2. It is a figure which shows the modification of arrangement | positioning of a 1st rotary machine and a 2nd rotary machine. It is a figure which shows the other modification of arrangement | positioning of a 1st rotary machine and a 2nd rotary machine. It is a figure which shows an example at the time of providing the transmission in the power plant of 23rd Embodiment. It is a figure which shows another example at the time of providing the transmission in the power plant of 23rd Embodiment. It is a figure which shows another example at the time of providing the transmission in the power plant of 23rd Embodiment. FIG. 4 is a diagram illustrating an assumed use temperature range of a battery 33. When the operation mode of the operating device 1 is “ENG traveling”, (a) a speed alignment chart when the driving charging mode is selected, and (b) a speed when the battery input / output zero mode is selected. An alignment chart is shown. (A) Speed collinear diagram when battery input / output zero mode is selected, and (b) Speed collinear when assist mode is selected when operation mode of operating device 1 is “ENG travel” FIG. It is a figure which shows schematic structure of the power plant which concerns on 24th Embodiment. It is a figure which shows an example at the time of providing the transmission in the power unit of 24th Embodiment. It is a figure which shows schematic structure of the power plant which concerns on 25th Embodiment. It is a figure which shows schematic structure of the power plant which concerns on 26th Embodiment. It is a speed alignment chart which shows an example of the relationship between three electrical angular velocities and three torques when the pole pair number ratio α in the first rotating machine of the twenty-sixth embodiment is an arbitrary value. It is a figure which shows the relationship between output ratio RW 'and reduction ratio R when the pole pair number ratio (alpha) in the 1st rotary machine of the 26th Embodiment is set to the value 1, the value 1.5, and the value 2. It is a figure which shows an example at the time of providing the clutch in the power plant of 26th Embodiment. It is a figure which shows an example at the time of providing the transmission in the power plant of 26th Embodiment. It is a figure which shows another example at the time of providing the transmission in the power plant of 26th Embodiment. It is a figure which shows schematic structure of the power plant which concerns on 27th Embodiment. It is a figure for demonstrating an example of operation | movement of the conventional power plant.

<1 collinear 4 element>
Hereinafter, an embodiment of a power plant having a mechanism of one collinear four elements according to the present invention will be described with reference to the drawings. In addition, about the part which shows the cross section in drawing, hatching shall be abbreviate | omitted suitably.

(First embodiment)
1 and 2 schematically show a power plant 1 according to the first embodiment. The power unit 1 is for driving left and right drive wheels DW, DW (driven parts) of a vehicle (not shown). As shown in FIG. 1, an internal combustion engine 3 (heat Engine), the first rotating machine 21 and the second rotating machine 31, the differential gear mechanism 9 connected to the drive wheels DW and DW via the drive shafts 10 and 10, and the first power drive unit (hereinafter referred to as "first PDU"). 41) and a second power drive unit (hereinafter referred to as "second PDU") 42 and a bidirectional buck-boost converter (hereinafter referred to as "VCU") 44. Further, the power unit 1 includes an ECU 2 for controlling the operation of the internal combustion engine 3 and the first and second rotating machines 21 and 31, as shown in FIG. The first and second rotating machines 21 and 31 also function as a continuously variable transmission as will be described later.

  An internal combustion engine (hereinafter referred to as “engine”) 3 is, for example, a gasoline engine, and a crankshaft 3 a of the engine 3 includes a first rotating shaft 4 rotatably supported by a bearing 4 a via a flywheel 5. Directly connected. Further, the connecting shaft 6 and the second rotating shaft 7 are concentrically arranged with respect to the first rotating shaft 4, and the idler shaft 8 is arranged in parallel. The connecting shaft 6, the second rotating shaft 7, and the idler shaft 8 are rotatably supported by bearings 6a, 7a and 8a, 8a, respectively.

  The connecting shaft 6 is formed hollow, and the first rotating shaft 4 is rotatably fitted therein. The idler shaft 8 is integrally provided with a first gear 8b and a second gear 8c. The former 8b is a gear 7b integral with the second rotating shaft 7, and the latter 8c is a gear 9a of the differential gear mechanism 9. , Each biting. With the above configuration, the second rotating shaft 7 is connected to the drive wheels DW and DW via the idler shaft 8 and the differential gear mechanism 9. Hereinafter, the circumferential direction, the axial direction, and the radial direction of the first rotating shaft 4, the connecting shaft 6, and the second rotating shaft 7 are simply referred to as “circumferential direction”, “axial direction”, and “radial direction”, respectively.

<First rotating machine 21>
As shown in FIGS. 1 and 3, the first rotating machine 21 includes a stator 23, an A1 rotor 24 provided so as to face the stator 23, and an A2 rotor 25 provided between the two 23, 24. Have. The stator 23, the A2 rotor 25, and the A1 rotor 24 are arranged in this order from the outside in the radial direction, and are arranged concentrically. In FIG. 3, some elements such as the first rotation shaft 4 are drawn in a skeleton diagram for convenience of illustration.

  The stator 23 generates a first rotating magnetic field. As shown in FIGS. 3 and 4, the iron core 23a and U-phase, V-phase, and W-phase coils provided on the iron core 23a. 23c, 23d, and 23e. In FIG. 3, only the U-phase coil 23c is shown for convenience. The iron core 23a has a cylindrical shape in which a plurality of steel plates are laminated, extends in the axial direction, and is fixed to a non-movable case CA. Further, twelve slots 23b are formed on the inner peripheral surface of the iron core 23a. These slots 23b extend in the axial direction and are arranged at equal intervals in the circumferential direction. The U-phase to W-phase coils 23c to 23e are wound around the slot 23b by distributed winding (wave winding), and are connected to the battery 43 via the first PDU 41 and the VCU 44 described above. The first PDU 41 is configured by an electric circuit including an inverter and the like, and is connected to the second PDU 42 and the ECU 2 (see FIG. 1).

  In the stator 23 configured as described above, when electric power is supplied from the battery 43 and current flows through the U-phase to W-phase coils 23c to 23e, or when power generation is performed as described later, the iron core. Four magnetic poles are generated at equal intervals in the circumferential direction at the end of the A1 rotor 24 side of 23a (see FIG. 7), and the first rotating magnetic field generated by these magnetic poles moves in the circumferential direction. Hereinafter, the magnetic pole generated in the iron core 23a is referred to as “first stator magnetic pole”. The polarities of the two first stator magnetic poles adjacent in the circumferential direction are different from each other. In FIG. 7 and other drawings to be described later, the first stator magnetic pole is represented by (N) and (S) on the iron core 23a and the U-phase to W-phase coils 23c to 23e.

  As shown in FIG. 4, the A1 rotor 24 has a first magnetic pole row composed of eight permanent magnets 24a. These permanent magnets 24 a are arranged at equal intervals in the circumferential direction, and the first magnetic pole row faces the iron core 23 a of the stator 23. Each permanent magnet 24 a extends in the axial direction, and the length in the axial direction is set to be the same as that of the iron core 23 a of the stator 23.

  Moreover, the permanent magnet 24a is attached to the outer peripheral surface of the ring-shaped fixing part 24b. The fixing portion 24b is made of a soft magnetic material such as iron or a laminate of a plurality of steel plates, and the inner peripheral surface thereof is attached to the outer peripheral surface of the donut-plate-like flange. This flange is provided integrally with the connecting shaft 6 described above. As described above, the A1 rotor 24 including the permanent magnet 24 a is rotatable integrally with the connecting shaft 6. Furthermore, since the permanent magnet 24a is attached to the outer peripheral surface of the fixed portion 24b made of a soft magnetic material as described above, each permanent magnet 24a has (N) or (N One magnetic pole of S) appears. In FIG. 4 and other drawings to be described later, the magnetic poles of the permanent magnet 24a are represented by (N) and (S). The polarities of the two permanent magnets 24a adjacent in the circumferential direction are different from each other.

  The A2 rotor 25 has a first soft magnetic body row composed of six cores 25a. These cores 25a are arranged at equal intervals in the circumferential direction, and the first soft magnetic body rows are spaced apart from each other between the iron core 23a of the stator 23 and the first magnetic pole row of the A1 rotor 24, respectively. They are spaced apart. Each core 25a is a soft magnetic material, such as a laminate of a plurality of steel plates, and extends in the axial direction. Further, the length of the core 25a in the axial direction is set to be the same as that of the iron core 23a of the stator 23, like the permanent magnet 24a. Furthermore, the core 25a is attached to the outer end portion of the disc-shaped flange 25b via a cylindrical connecting portion 25c that extends slightly in the axial direction. The flange 25b is provided integrally with the first rotating shaft 4 described above. Thereby, the A2 rotor 25 including the core 25a is rotatable integrally with the first rotating shaft 4. In FIG. 4 and FIG. 7, the connecting portion 25c and the flange 25b are omitted for convenience.

  Hereinafter, the principle of the first rotating machine 21 will be described. In the description, the stator 23 is represented as “first stator”, the A1 rotor 24 as “first rotor”, and the A2 rotor 25 as “second rotor”. The torque equivalent to the electric power supplied to the first stator and the electric angular velocity ωmf of the first rotating magnetic field is referred to as “first driving equivalent torque Te1”. First, the relationship between the first driving equivalent torque Te1 and the torque transmitted to the first and second rotors (hereinafter referred to as “first rotor transmission torque T1” and “second rotor transmission torque T2”), respectively, The relationship between the first rotating magnetic field and the electrical angular velocities of the first and second rotors will be described.

When the first rotating machine 21 is configured under the following conditions (A) and (B), an equivalent circuit corresponding to the first rotating machine 21 is shown as shown in FIG.
(A) The first stator has U-phase, V-phase, and W-phase three-phase coils. (B) Two first stator magnetic poles and four first magnetic poles, that is, the first stator magnetic pole N pole and S The number of pole pairs with one set of poles is value 1, the number of pole pairs with one set of N poles and S poles of the first magnetic pole is value 2, and the first soft magnetic body is the first core, the second core, and the third It is composed of three soft magnetic bodies composed of a core. As described above, the “pole pair” used in this specification refers to a set of N pole and S pole.

  In this case, the magnetic flux Ψk1 of the first magnetic pole passing through the first core of the first soft magnetic body is represented by the following formula (1).

  Here, ψf is the maximum value of the magnetic flux of the first magnetic pole, and θ1 and θ2 are the rotation angle position of the first magnetic pole and the rotation angle position of the first core with respect to the U-phase coil. In this case, since the ratio of the number of pole pairs of the first magnetic pole to the number of pole pairs of the first stator magnetic pole is 2.0, the magnetic flux of the first magnetic pole rotates at a period twice that of the first rotating magnetic field ( Therefore, in the above equation (1), (θ2−θ1) is multiplied by the value 2.0 in order to express this.

  Therefore, the magnetic flux Ψu1 of the first magnetic pole passing through the U-phase coil via the first core is expressed by the following equation (2) obtained by multiplying equation (1) by cos θ2.

  Similarly, the magnetic flux Ψk2 of the first magnetic pole passing through the second core of the first soft magnetic body is expressed by the following equation (3).

  Since the rotation angle position of the second core with respect to the first stator is advanced by 2π / 3 relative to the first core, in the above formula (3), 2π / 3 is added to θ2 in order to express this fact. Has been.

  Therefore, the magnetic flux Ψu2 of the first magnetic pole passing through the U-phase coil via the second core is expressed by the following expression (4) obtained by multiplying expression (3) by cos (θ2 + 2π / 3). .

  Similarly, the magnetic flux Ψu3 of the first magnetic pole passing through the U-phase coil via the third core of the first soft magnetic body is expressed by the following equation (5).

  In the first rotating machine as shown in FIG. 5, the magnetic flux Ψu of the first magnetic pole passing through the U-phase coil via the first soft magnetic body is expressed by the above equations (2), (4), and (5). Since the magnetic fluxes Ψu1 to Ψu3 to be added are added, the following expression (6) is obtained.

  Further, generalizing this equation (6), the magnetic flux Ψu of the first magnetic pole passing through the U-phase coil via the first soft magnetic body is expressed by the following equation (7).

  Here, a, b, and c are the number of pole pairs of the first magnetic pole, the number of first soft magnetic bodies, and the number of pole pairs of the first stator magnetic pole, respectively. Further, when this equation (7) is transformed based on the formula of the sum and product of trigonometric functions, the following equation (8) is obtained.

  In this equation (8), when b = a + c and rearranging based on cos (θ + 2π) = cos θ, the following equation (9) is obtained.

  When this equation (9) is arranged based on the addition theorem of trigonometric functions, the following equation (10) is obtained.

  The second term on the right side of the equation (10) becomes 0 as apparent from the following equation (11) when arranged based on the sum of series and Euler's formula on condition that a−c ≠ 0.

  In addition, the third term on the right side of the above equation (10) is also set to the value 0 as is clear from the following equation (12) when arranged based on the sum of the series and Euler's formula on the condition that a−c ≠ 0. become.

  As described above, when a−c ≠ 0, the magnetic flux Ψu of the first magnetic pole passing through the U-phase coil via the first soft magnetic body is expressed by the following equation (13).

  Further, in this equation (13), when a / c = α, the following equation (14) is obtained.

  Further, in this equation (14), when c · θ2 = θe2 and c · θ1 = θe1, the following equation (15) is obtained.

  Here, θe2 is the electrical angle position of the first core relative to the U-phase coil, as is apparent from multiplying the rotation angle position θ2 of the first core relative to the U-phase coil by the pole pair number c of the first stator magnetic pole. Represents. Further, θe1 represents the electrical angle position of the first magnetic pole with respect to the U-phase coil, as is apparent from multiplying the rotation angle position θ1 of the first magnetic pole with respect to the U-phase coil by the pole pair number c of the first stator magnetic pole. Represent.

  Similarly, the magnetic flux Ψv of the first magnetic pole passing through the V-phase coil via the first soft magnetic body is such that the electrical angle position of the V-phase coil is advanced by an electrical angle of 2π / 3 with respect to the U-phase coil. Is represented by the following equation (16). In addition, the magnetic flux Ψw of the first magnetic pole passing through the W-phase coil via the first soft magnetic body is delayed from the U-phase coil by the electrical angle 2π / 3 with respect to the U-phase coil. It is represented by the following formula (17).

  Further, when the magnetic fluxes Ψu to Ψw represented by the above expressions (15) to (17) are differentiated with respect to time, the following expressions (18) to (20) are obtained, respectively.

  Here, ωe1 is a time differential value of θe1, that is, a value obtained by converting an angular velocity of the first rotor relative to the first stator into an electrical angular velocity (hereinafter referred to as “first rotor electrical angular velocity”), and ωe2 is a time of θe2. A differential value, that is, a value obtained by converting the angular velocity of the second rotor relative to the first stator into an electrical angular velocity (hereinafter referred to as “second rotor electrical angular velocity”).

  Furthermore, the magnetic flux of the first magnetic pole that passes directly through the U-phase to W-phase coils without going through the first soft magnetic material is extremely small, and its influence can be ignored. For this reason, time differential values dΨu / dt to dΨw / dt of the magnetic fluxes Ψu to Ψw of the first magnetic poles passing through the U-phase to W-phase coils via the first soft magnetic body (formulas (18) to (20)). ) Represents a counter electromotive voltage (inductive electromotive voltage) generated in the U-phase to W-phase coils as the first magnetic pole and the first soft magnetic body rotate with respect to the first stator row.

  From this, the currents Iu, Iv, and Iw flowing through the U-phase, V-phase, and W-phase coils are expressed by the following equations (21), (22), and (23), respectively.

  Here, I is the amplitude (maximum value) of the current flowing through the U-phase to W-phase coils.

  From these equations (21) to (23), the electrical angle position θmf of the vector of the first rotating magnetic field with respect to the U-phase coil is expressed by the following equation (24), and the first rotating magnetic field with respect to the U-phase coil. The electrical angular velocity (hereinafter referred to as “magnetic field electrical angular velocity”) ωmf is expressed by the following equation (25).

  Further, the mechanical output (power) W output to the first and second rotors when the currents Iu to Iw flow through the U-phase to W-phase coils, respectively, except for the reluctance, the following equation (26) It is represented by

  Substituting the above formulas (18) to (23) into this formula (26) and rearranging, the following formula (27) is obtained.

  Further, the relationship between the mechanical output W, the first and second rotor transmission torques T1 and T2 described above, and the first and second rotor electrical angular velocities ωe1 and ωe2 is expressed by the following equation (28). The

  As is clear from these equations (27) and (28), the first and second rotor transmission torques T1 and T2 are expressed by the following equations (29) and (30), respectively.

  Further, from the fact that the electric power supplied to the first stator row and the mechanical output W are equal to each other (however, the loss is ignored), and from the equations (25) and (27), the above-described first driving equivalent torque Te1 is Is represented by the following formula (31).

  Furthermore, from these formulas (29) to (31), the following formula (32) is obtained.

  The relationship between the torque represented by the equation (32) and the relationship between the electrical angular velocities represented by the equation (25) are exactly the same as the relationship between the torque and rotational speed of the sun gear, ring gear, and carrier of the planetary gear device.

  Further, as described above, the relationship between the electrical angular velocities in Expression (25) and the torque in Expression (32) are established on condition that b = a + c and a−c ≠ 0. This condition b = a + c is expressed as b = (p + q) / 2, that is, b / q = (1 + p / q) / 2, where p is the number of first magnetic poles and q is the number of first stator magnetic poles. The Here, assuming that p / q = m, b / q = (1 + m) / 2 is obtained. As is apparent from the fact that the condition b = a + c is satisfied, the fact that the first stator magnetic pole The ratio of the number, the number of first magnetic poles, and the number of first soft magnetic bodies is 1: m: (1 + m) / 2. In addition, the fact that the condition of a−c ≠ 0 is satisfied indicates that m ≠ 1.0. In the first rotating machine 21 of this embodiment, the ratio of the number of first stator magnetic poles, the number of first magnetic poles, and the number of first soft magnetic bodies is 1: m: (1 + m) / 2 (m ≠ 1. 0), the relationship between the electrical angular velocity shown in equation (25) and the torque shown in equation (32) is established, and it can be seen that the first rotating machine 21 operates properly.

  Further, as apparent from the equations (25) and (32), α = a / c, that is, the ratio of the number of pole pairs of the first magnetic pole to the number of pole pairs of the first stator pole (hereinafter referred to as “first pole-to-number ratio”). ), The relationship between the magnetic field electrical angular velocity ωmf, the first and second rotor electrical angular velocities ωe1, ωe2, the first driving equivalent torque Te1, the first and second rotor transmission torques T1, T2 Therefore, the degree of freedom in designing the first rotating machine can be increased. This effect is similarly obtained when the number of phases of the coils of the plurality of first stators is other than the value 3 described above.

  As described above, in the first rotating machine 21, when the first rotating magnetic field is generated by supplying power to the first stator, the magnetic field lines connecting the first magnetic pole, the first soft magnetic body, and the first stator magnetic pole described above. The electric power supplied to the first stator is converted into motive power by the action of the magnetic force generated by the magnetic field lines, and the motive power is output from the first and second rotors. A torque relationship is established. For this reason, when power is input to at least one of the first and second rotors without supplying electric power to the first stator, thereby rotating at least one of the rotors with respect to the first stator, In the first stator, power is generated and a first rotating magnetic field is generated. In this case as well, a magnetic line of force connecting the first magnetic pole, the first soft magnetic body, and the first stator magnetic pole is generated. By the action of the magnetic force, the relationship between the electrical angular velocity shown in the above equation (25) and the torque shown in the equation (32) are established.

  That is, when the generated power and the torque equivalent to the magnetic field electrical angular velocity ωmf are “first generation equivalent torque”, the first generation equivalent torque and the first and second rotor transmission torques T1 and T2 In this case, the relationship shown in the equation (32) is established. As is apparent from the above, the first rotating machine 21 of the present embodiment has the same function as an apparatus combining a planetary gear device and a general one-rotor type rotating machine.

  Next, the operation of the first rotating machine 21 having the above configuration will be described. As described above, in the first rotating machine 21, there are four first stator magnetic poles, eight magnetic poles of the permanent magnet 24a (hereinafter referred to as “first magnetic pole”), and six cores 25a. That is, the ratio of the number of first stator magnetic poles, the number of first magnetic poles, and the number of cores 25a is set to 1: 2.0: (1 + 2.0) / 2, and the number of pole pairs of the first stator magnetic poles The ratio of the number of pole pairs of the first magnetic pole to (hereinafter referred to as “first pole pair number ratio α”) is set to a value of 2.0. As is clear from this and the equations (18) to (20) described above, as the A1 rotor 24 and the A2 rotor 25 rotate with respect to the stator 23, the U-phase to W-phase coils 23c to 23e The counter electromotive voltages generated (hereinafter referred to as “U phase counter electromotive voltage Vcu”, “V phase counter electromotive voltage Vcv”, and “W phase counter electromotive voltage Vcw”) are expressed by the following equations (33), (34), and (35), respectively. ).

  Here, ψF is the maximum value of the magnetic flux of the first magnetic pole. Also, θER1 is an A1 rotor electrical angle, and the rotational angle position of a specific permanent magnet 24a of the A1 rotor 24 with respect to a specific U-phase coil 23c (hereinafter referred to as “first reference coil”) is converted into an electrical angle position. Value. That is, the A1 rotor electrical angle θER1 is a value obtained by multiplying the rotation angle position of the specific permanent magnet 24a (hereinafter referred to as “A1 rotor rotation angle θA1”) by the number of pole pairs of the first stator magnetic pole, that is, the value 2. Furthermore, θER2 is an A2 rotor electrical angle, and is a value obtained by converting the rotation angle position of the specific core 25a of the A2 rotor 25 with respect to the first reference coil into an electrical angle position. That is, the A2 rotor electrical angle θER2 is a value obtained by multiplying the rotation angle position of the specific core 25a (hereinafter referred to as “A2 rotor rotation angle θA2”) by the number of pole pairs of the first stator magnetic pole (value 2).

  Further, ωER1 in the above equations (33) to (35) is a time differential value of θER1, that is, a value obtained by converting the angular velocity of the A1 rotor 24 with respect to the stator 23 into an electrical angular velocity (hereinafter referred to as “A1 rotor electrical angular velocity”). is there. Further, ωER2 is a time differential value of θER2, that is, a value obtained by converting the angular velocity of the A2 rotor 25 with respect to the stator 23 into an electrical angular velocity (hereinafter referred to as “A2 rotor electrical angular velocity”).

  Further, as is clear from the first pole pair number ratio α (= 2.0) and the above equations (21) to (23), the U-phase, V-phase, and W-phase coils 23c, 23d, and 23e respectively flow. The currents (hereinafter referred to as “U-phase current Iu”, “V-phase current Iv”, and “W-phase current Iw”) are expressed by the following equations (36), (37), and (38), respectively.

  Here, I is the amplitude (maximum value) of the current flowing through the U-phase to W-phase coils 23c to 23e. Further, as is apparent from the first pole pair number ratio α (= 2.0) and the above formulas (24) and (25), the electrical angle position of the vector of the first rotating magnetic field of the stator 23 with respect to the first reference coil (hereinafter referred to as “the electrical angle position”) The “first magnetic field electrical angular position θMFR” is expressed by the following formula (39), and the electrical angular velocity of the first rotating magnetic field with respect to the stator 23 (hereinafter “first magnetic field electrical angular velocity ωMFR”) is expressed by the following formula (40 ).

  For this reason, the relationship between the first magnetic field electrical angular velocity ωMFR, the A1 rotor electrical angular velocity ωER1 and the A2 rotor electrical angular velocity ωER2 is represented by a so-called collinear diagram as shown in FIG. 6, for example.

  Further, assuming that the electric power supplied to the stator 23 and the torque equivalent to the first magnetic field electrical angular velocity ωMFR is the first driving equivalent torque TSE1, the first driving equivalent torque TSE1 and the torque transmitted to the A1 rotor 24 ( The relationship between TRA1 (hereinafter referred to as “A1 rotor transmission torque”) and torque (hereinafter referred to as “A2 rotor transmission torque”) TRA2 transmitted to the A2 rotor 25 is expressed by the first pole log ratio α (= 2.0) As is apparent from the equation (32), it is represented by the following equation (41).

  The relationship between the electrical angular velocity and torque represented by the above equations (40) and (41) is that the rotational speed and torque of the sun gear, ring gear, and carrier of the planetary gear device in which the gear ratio of the sun gear and the ring gear is 1: 2. It is exactly the same as the relationship.

  Next, how the electric power supplied to the stator 23 is specifically converted into motive power and output from the A1 rotor 24 and the A2 rotor 25 will be described. First, the case where electric power is supplied to the stator 23 in a state where the A1 rotor 24 is held unrotatable will be described with reference to FIGS. In FIGS. 7 to 9, reference numerals of a plurality of components are omitted for convenience. The same applies to other drawings described later. In order to facilitate understanding, the same first stator magnetic pole and core 25a shown in FIGS. 7 to 9 are hatched.

  First, as shown in FIG. 7A, the center of one core 25a and the center of one permanent magnet 24a coincide with each other in the circumferential direction, and the third core 25a from the core 25a The first rotating magnetic field is generated so as to rotate to the left in the figure from the state where the center and the center of the fourth permanent magnet 24a from the permanent magnet 24a coincide with each other in the circumferential direction. At the start of the occurrence, every other first stator magnetic pole having the same polarity is aligned with the center of each permanent magnet 24a whose center coincides with the core 25a in the circumferential direction. The polarity of one stator magnetic pole is made different from the polarity of the first magnetic pole of the permanent magnet 24a.

  As described above, the first rotating magnetic field generated by the stator 23 is generated between the A1 rotor 24 and the A2 rotor 25 having the core 25a is disposed between the stator 23 and the A1 rotor 24. Each core 25a is magnetized by the stator magnetic pole and the first magnetic pole. Because of this and the interval between adjacent cores 25a, magnetic field lines ML are generated that connect the first stator magnetic pole, the core 25a, and the first magnetic pole. 7 to 9, for convenience, the magnetic lines of force ML in the iron core 23a and the fixed portion 24b are omitted. The same applies to other drawings described later.

  In the state shown in FIG. 7A, the magnetic lines of force ML connect the first stator magnetic pole, the core 25a, and the first magnetic pole whose circumferential positions coincide with each other, and connect these first stator magnetic pole, the core 25a, and The first magnetic pole is generated so as to connect the first stator magnetic pole, the core 25a, and the first magnetic pole which are adjacent to both sides in the circumferential direction of the first magnetic pole. In this state, since the magnetic lines of force ML are linear, no magnetic force that rotates in the circumferential direction acts on the core 25a.

  When the first stator magnetic pole changes from the position shown in FIG. 7 (a) to the position shown in FIG. 7 (b) along with the rotation of the first rotating magnetic field, the magnetic field lines ML are bent, and accordingly, the magnetic field lines. A magnetic force acts on the core 25a so that ML is linear. In this case, with respect to the straight line connecting the first stator magnetic pole and the first magnetic pole connected to each other by the magnetic lines of force ML, the magnetic lines of force ML and the rotation direction of the first rotating magnetic field (hereinafter referred to as “magnetic field rotating direction”) in the core 25a. The magnetic force acts to drive the core 25a in the direction of rotating the magnetic field because it is in a convexly bent state in the reverse direction. The core 25a is driven in the magnetic field rotation direction by the action of the magnetic force by the magnetic field lines ML, and rotates to the position shown in FIG. 7C, and the A2 rotor 25 provided with the core 25a also rotates in the magnetic field rotation direction. To do. The broken lines in FIGS. 7B and 7C indicate that the amount of magnetic flux of the magnetic field lines ML is extremely small, and the magnetic connection between the first stator magnetic pole, the core 25a, and the first magnetic pole is weak. The same applies to other drawings described later.

  Further, as the first rotating magnetic field further rotates, the above-described series of operations, that is, “the magnetic force line ML bends in the direction opposite to the magnetic field rotating direction in the core 25a → the core so that the magnetic force line ML becomes linear. As shown in FIGS. 8 (a) to 8 (d), FIGS. 9 (a) and 9 (b), the magnetic force acts on 25a → the core 25a and the A2 rotor 25 rotate in the direction of magnetic field rotation. Repeatedly. As described above, when electric power is supplied to the stator 23 while the A1 rotor 24 is held non-rotatable, the electric power supplied to the stator 23 is converted into motive power by the action of the magnetic force due to the magnetic force lines ML as described above. The power is converted and the power is output from the A2 rotor 25.

  FIG. 10 shows a state in which the first stator magnetic pole is rotated by an electrical angle of 2π from the state of FIG. 7A. As is clear from the comparison between FIG. 10 and FIG. It can be seen that the first stator pole rotates in the same direction by a rotation angle of 1/3. This result coincides with the fact that ωER2 = ωMFR / 3 is obtained by setting ωER1 = 0 in the equation (40).

  Next, an operation when electric power is supplied to the stator 23 in a state where the A2 rotor 25 is held unrotatable will be described with reference to FIGS. In FIGS. 11 to 13, the same first stator magnetic pole and permanent magnet 24a are hatched for easy understanding. First, as shown in FIG. 11A, as in the case of FIG. 7A described above, the center of a certain core 25a and the center of a certain permanent magnet 24a coincide with each other in the circumferential direction. From the state in which the center of the third core 25a from the core 25a and the center of the fourth permanent magnet 24a from the permanent magnet 24a coincide with each other in the circumferential direction, the first rotating magnetic field is Generate to rotate toward. At the start of the occurrence, every other first stator magnetic pole having the same polarity is aligned with the center of each permanent magnet 24a whose center coincides with the core 25a in the circumferential direction. The polarity of one stator magnetic pole is made different from the polarity of the first magnetic pole of the permanent magnet 24a.

  In the state shown in FIG. 11A, as in FIG. 7A, the magnetic field lines ML connect the first stator magnetic pole, the core 25a, and the first magnetic pole, whose positions in the circumferential direction coincide with each other, and The first stator magnetic pole, the core 25a, and the first magnetic pole are generated so as to connect the first stator magnetic pole, the core 25a, and the first magnetic pole adjacent to each side in the circumferential direction of each of the first stator magnetic pole, the core 25a, and the first magnetic pole. In this state, since the magnetic lines of force ML are linear, no magnetic force that rotates in the circumferential direction acts on the permanent magnet 24a.

  Then, when the first stator magnetic pole rotates from the position shown in FIG. 11 (a) to the position shown in FIG. 11 (b) along with the rotation of the first rotating magnetic field, the magnetic field lines ML are bent, and accordingly, the magnetic field lines. Magnetic force acts on the permanent magnet 24a so that ML is linear. In this case, since the permanent magnet 24a is located at a position advanced in the magnetic field rotation direction from the extension line of the first stator magnetic pole and the core 25a connected to each other by the magnetic force line ML, the magnetic force is applied to the permanent magnet on the extension line. It acts so as to position 24a, that is, to drive the permanent magnet 24a in the direction opposite to the magnetic field rotation direction. The permanent magnet 24a is driven in the direction opposite to the magnetic field rotation direction by the action of the magnetic force due to the magnetic field lines ML, and is rotated to the position shown in FIG. 11C, and the A1 rotor 24 provided with the permanent magnet 24a is also It rotates in the direction opposite to the magnetic field rotation direction.

  Further, as the first rotating magnetic field further rotates, the above-described series of operations, that is, “the magnetic line ML bends and the permanent magnet is connected to the extension line of the first stator magnetic pole and the core 25a that are connected to each other by the magnetic line ML. The magnetic force acts on the permanent magnet 24a so that the magnetic field lines ML are linear. The permanent magnet 24a and the A1 rotor 24 rotate in the direction opposite to the magnetic field rotation direction. These operations are repeatedly performed as shown in FIGS. 12A to 12D and FIGS. 13A and 13B. As described above, when electric power is supplied to the stator 23 while the A2 rotor 25 is held in a non-rotatable state, the electric power supplied to the stator 23 is converted into motive power by the action of the magnetic force due to the magnetic force lines ML as described above. The power is converted and the power is output from the A1 rotor 24.

  FIG. 13B shows a state in which the first stator magnetic pole has been rotated by an electrical angle of 2π from the state of FIG. 11A, which is apparent from a comparison between FIG. 13B and FIG. Thus, it can be seen that the permanent magnet 24a rotates in the opposite direction by a half rotation angle with respect to the first stator magnetic pole. This result agrees with the fact that −ωER1 = ωMFR / 2 is obtained by setting ωER2 = 0 in the equation (40).

  14 and 15 set the numbers of first stator magnetic poles, cores 25a and permanent magnets 24a to values 16, 18 and 20, respectively, to keep the A1 rotor 24 non-rotatable and to stator 23 The simulation result in the case of outputting motive power from the A2 rotor 25 by supplying electric power to is shown. FIG. 14 shows an example of the transition of the U-phase to W-phase back electromotive voltages Vcu to Vcw while the A2 rotor electrical angle θER2 varies from 0 to 2π.

  In this case, from the fact that the A1 rotor 24 is held non-rotatable, the number of pole pairs of the first stator magnetic pole and the first magnetic pole is 8 and 10, respectively, The relationship between the electrical angular velocities ωMFR, A1 and A2 of the rotor electrical angular velocities ωER1, ωER2 is expressed by ωMFR = 2.25 · ωER2. As shown in FIG. 14, while the A2 rotor electrical angle θER2 changes from 0 to 2π, the U-phase to W-phase back electromotive voltages Vcu to Vcw are generated for approximately 2.25 cycles. FIG. 14 shows a change state of the U-phase to W-phase back electromotive voltages Vcu to Vcw as viewed from the A2 rotor 25. As shown in FIG. With θER2 as the horizontal axis, the W-phase counter electromotive voltage Vcv, the V-phase counter electromotive voltage Vcv, and the U-phase counter electromotive voltage Vcu are arranged in this order. This indicates that the A2 rotor 25 rotates in the magnetic field rotation direction. Represent. The above simulation results shown in FIG. 14 agree with the relationship of ωMFR = 2.25 · ωER2 based on the above-described equation (25).

  Further, FIG. 15 shows an example of transition of the first drive equivalent torque TSE1, A1 and A2 rotor transmission torques TRA1, TRA2. In this case, the number of pole pairs of the first stator magnetic pole and the first magnetic pole is 8 and 10, respectively, and from the above equation (32), the rotor transmission torque TRA1, the first driving equivalent torque TSE1, A1 and A2 The relationship between TRA2 is expressed as TSE1 = TRA1 / 1.25 = −TRA2 / 2.25. As shown in FIG. 15, the first driving equivalent torque TSE1 is approximately -TREF, the A1 rotor transmission torque TRA1 is approximately 1.25 · (-TREF), and the A2 rotor transmission torque TRA2 is approximately 2.25.・ It is TREF. This TREF is a predetermined torque value (for example, 200 Nm). Such a simulation result shown in FIG. 15 agrees with the relationship of TSE1 = TRA1 / 1.25 = −TRA2 / 2.25 based on the above equation (32).

  16 and 17 set the number of first stator magnetic poles, cores 25a and permanent magnets 24a in the same manner as in FIGS. 14 and 15, and hold the A2 rotor 25 in a non-rotatable manner instead of the A1 rotor 24. In addition, a simulation result in the case where power is output from the A1 rotor 24 by supplying electric power to the stator 23 is shown. FIG. 16 shows an example of the transition of the U-phase to W-phase back electromotive voltages Vcu to Vcw while the A1 rotor electrical angle θER1 changes from 0 to 2π.

  In this case, from the fact that the A2 rotor 25 is held non-rotatable, the number of pole pairs of the first stator magnetic pole and the first magnetic pole is 8 and 10, respectively, The relationship between ωMFR, A1 and A2 rotor electrical angular velocities ωER1 and ωER2 is expressed by ωMFR = −1.25 · ωER1. As shown in FIG. 16, while the A1 rotor electrical angle θER1 changes from 0 to 2π, the U-phase to W-phase back electromotive voltages Vcu to Vcw are generated for approximately 1.25 cycles. FIG. 16 shows a change state of the U-phase to W-phase back electromotive voltages Vcu to Vcw as viewed from the A1 rotor 24. As shown in FIG. With θER1 as the horizontal axis, the U-phase counter electromotive voltage Vcu, the V-phase counter electromotive voltage Vcv, and the W-phase counter electromotive voltage Vcw are arranged in this order. This is because the A1 rotor 24 rotates in the direction opposite to the magnetic field rotation direction. Represents that The simulation result shown in FIG. 16 as described above agrees with the relationship of ωMFR = −1.25 · ωER1 based on the above-described equation (25).

  Further, FIG. 17 shows an example of transition of the first drive equivalent torques TSE1, A1, and A2 of the rotor transmission torques TRA1, TRA2. Also in this case, as in the case of FIG. 15, from the equation (32), the relationship between the first drive equivalent torques TSE1, A1 and the rotor transmission torques TRA1, TRA2 of A2 is TSE1 = TRA1 / 1.25 = -It is represented by TRA 2 / 2.25. As shown in FIG. 17, the first driving equivalent torque TSE1 is approximately TREF, the A1 rotor transmission torque TRA1 is approximately 1.25 · TREF, and the A2 rotor transmission torque TRA2 is approximately −2.25 · TREF. It has become. Such a simulation result shown in FIG. 17 agrees with the relationship of TSE1 = TRA1 / 1.25 = −TRA2 / 2.25 based on the above equation (32).

  As described above, in the first rotating machine 21, when the first rotating magnetic field is generated by supplying power to the stator 23, the magnetic force lines ML that connect the first magnetic pole, the core 25 a, and the first stator magnetic pole described above are generated. The electric power supplied to the stator 23 is converted into power by the action of the magnetic force generated by the magnetic field lines ML, and the power is output from the A1 rotor 24 and the A2 rotor 25. In this case, the relationship shown in the above equation (40) is established between the magnetic electrical angular velocities ωMFR, A1 and A2 of the rotor electrical angular velocities ωER1 and ωER2, and the rotor driving torque of the first driving equivalent torque TSE1, A1 and A2 The relationship shown in the equation (41) is established between TRA1 and TRA2.

  Therefore, when power is input to at least one of the A1 and A2 rotors 34 and 35 in a state where electric power is not supplied to the stator 23, when at least one of them is rotated with respect to the stator 23, the stator 23 As the power generation is performed, a first rotating magnetic field is generated. In this case, a magnetic force line ML that connects the first magnetic pole, the core 25a, and the first stator magnetic pole is generated. The relationship between the electrical angular velocity shown in equation (40) and the torque relationship as shown in equation (41) are established.

That is, assuming that the generated power and the torque equivalent to the first magnetic field electrical angular velocity ωMFR are the first power generation equivalent torque TGE1, between the first power generation equivalent torques TGE1, A1 and the rotor transmission torques TRA1 and TRA2 of A2, The relationship shown in the following equation (42) is established.
TGE1 = TRA1 / α = −TRA2 / (α + 1)
= TRA1 / 2 = -TRA2 / 3 (42)
Further, during power supply to the stator 23 and during power generation, the rotation speed of the first rotating magnetic field (hereinafter referred to as “first magnetic field rotation speed VMF1”) and the rotation speeds of the A1 and A2 rotors 24 and 25 (hereinafter referred to as “ (A1 rotor rotational speed VRA1 "and" A2 rotor rotational speed VRA2 "), the following equation (43) is established.
VMF1 = (α + 1) VRA2-α · VRA1
= 3 ・ VRA2-2 ・ VRA1 (43)
As is clear from the above, the first rotating machine 21 has the same function as an apparatus combining a planetary gear device and a general one-rotor type rotating machine.

<Second rotating machine 31>
The second rotating machine 31 is configured in the same manner as the first rotating machine 21, and the configuration and operation thereof will be briefly described below. As shown in FIGS. 1 and 18, the second rotating machine 31 includes a stator 33, a B1 rotor 34 provided so as to face the stator 33, and a B2 rotor 35 provided between both 33, 34. Have. The stator 33, the B2 rotor 35, and the B1 rotor 34 are arranged in this order from the outside in the radial direction, and are arranged concentrically. In FIG. 18, as in FIG. 3, some elements such as the first rotation shaft 4 are drawn in a skeleton diagram for convenience of illustration.

  The stator 33 generates a second rotating magnetic field. As shown in FIG. 18, the stator 33 includes an iron core 33a and U-phase, V-phase, and W-phase coils 33b provided on the iron core 33a. doing. The iron core 33a has a cylindrical shape in which a plurality of steel plates are laminated, extends in the axial direction, and is fixed to the case CA. Moreover, 12 slots (not shown) are formed in the inner peripheral surface of the iron core 33a, and these slots are arranged at equal intervals in the circumferential direction. The U-phase to W-phase coils 33b are wound around the slots by distributed winding (wave winding), and are connected to the battery 43 via the second PDU 42 and the VCU 44 described above. Similar to the first PDU 41, the second PDU 42 is configured by an electric circuit including an inverter and is connected to the first PDU 41 and the ECU 2 (see FIG. 1).

  In the stator 33 configured as described above, when the electric power is supplied from the battery 43 and a current flows through the U-phase to W-phase coils 33b, or when power generation is performed as described later, the iron core 33a At the end of the B1 rotor 34, four magnetic poles are generated at equal intervals in the circumferential direction, and the second rotating magnetic field generated by these magnetic poles moves in the circumferential direction. Hereinafter, the magnetic pole generated in the iron core 33a is referred to as “second stator magnetic pole”. The polarities of the two second stator magnetic poles adjacent to each other in the circumferential direction are different from each other.

  The B1 rotor 34 has a second magnetic pole row composed of eight permanent magnets 34a (only two are shown). These permanent magnets 34 a are arranged at equal intervals in the circumferential direction, and the second magnetic pole row faces the iron core 33 a of the stator 33. Each permanent magnet 34 a extends in the axial direction, and the length in the axial direction is set to be the same as that of the iron core 33 a of the stator 33.

  Moreover, the permanent magnet 34a is attached to the outer peripheral surface of the ring-shaped fixing part 34b. The fixed portion 34b is made of a soft magnetic material such as iron or a laminate of a plurality of steel plates, and the inner peripheral surface thereof is attached to the outer peripheral surface of the disc-shaped flange 34c. The flange 34c is provided integrally with the first rotating shaft 4 described above. As described above, the B1 rotor 34 including the permanent magnet 34 a is rotatable integrally with the first rotating shaft 4. Furthermore, since the permanent magnet 34a is attached to the outer peripheral surface of the fixed portion 34b made of a soft magnetic material as described above, each permanent magnet 34a has (N) or (N One magnetic pole of S) appears. The polarities of the two permanent magnets 34a adjacent in the circumferential direction are different from each other.

  The B2 rotor 35 has a second soft magnetic body row composed of six cores 35a (only two are shown). These cores 35a are arranged at equal intervals in the circumferential direction, and the second soft magnetic material rows are spaced apart from each other by a predetermined interval between the iron core 33a of the stator 33 and the magnetic pole row of the B1 rotor 34. Has been placed. Each core 35a is a soft magnetic material, such as a laminate of a plurality of steel plates, and extends in the axial direction. Further, the length of the core 35a in the axial direction is set to be the same as that of the iron core 33a of the stator 33, like the permanent magnet 34a. Furthermore, the core 35a is attached to the outer ends of the disk-shaped flanges 35b and 35c via cylindrical connecting portions 35d and 35e that extend slightly in the axial direction. These flanges 35b and 35c are provided integrally with the connecting shaft 6 and the second rotating shaft 7 described above. As a result, the B2 rotor 35 including the core 35 a is rotatable integrally with the connecting shaft 6 and the second rotating shaft 7.

  Thus, since the 2nd rotary machine 31 is comprised similarly to the 1st rotary machine 21, it has the same function as the apparatus which combined the planetary gear apparatus and the general 1 rotor type rotary machine. That is, during power supply to the stator 33 and during power generation, the relationship shown in the equation (25) is established between the electrical angular velocity of the second rotating magnetic field and the electrical angular velocities of the B1 rotor 34 and the B2 rotor 35. Further, assuming that the electric power supplied to the stator 33 and the torque equivalent to the electric angular velocity of the second rotating magnetic field are “second driving equivalent torque”, the second driving equivalent torque and the B1 rotor 34 and the B2 rotor 35 are A torque relationship as shown in the equation (32) is established between the transmitted torques. Further, if the electric power generated by the stator 33 and the torque equivalent to the electric angular velocity of the second rotating magnetic field are “second generating equivalent torque”, this second generating equivalent torque is transmitted to the B1 rotor 34 and the B2 rotor 35. A torque relationship as shown in the equation (32) is established between the torques to be applied.

  Next, the operation of the second rotating machine 31 having the above configuration will be described. As described above, in the second rotating machine 31, there are four second stator magnetic poles, eight magnetic poles of the permanent magnet 34a (hereinafter referred to as “second magnetic pole”), and six cores 35a. That is, the ratio of the number of second stator magnetic poles, the number of second magnetic poles, and the number of cores 35a is the ratio of the number of first stator magnetic poles, the number of first magnetic poles, and the number of cores 25a of the first rotating machine 21. Similarly to the above, it is set to 1: 2.0: (1 + 2.0) / 2. Further, the ratio of the number of pole pairs of the second magnetic pole to the number of pole pairs of the second stator magnetic pole (hereinafter referred to as “second pole pair ratio β”) is set to a value of 2.0, similarly to the first pole pair number ratio α. . As described above, the second rotating machine 31 is configured in the same manner as the first rotating machine 21, and thus has the same function as the first rotating machine 21.

That is, the electric power supplied to the stator 33 is converted into power and output from the B1 rotor 34 and the B2 rotor 35, and the power input to the B1 rotor 34 and B2 rotor 35 is converted into electric power and output from the stator 33. . Further, during the input / output of such electric power and power, the second rotating magnetic field, the B1 and B2 rotors 34 and 35 rotate while maintaining the collinear relationship regarding the rotational speed as shown in the equation (40). That is, in this case, the rotation speed of the second rotating magnetic field (hereinafter referred to as “second magnetic field rotation speed VMF2”) and the rotation speeds of the B1 and B2 rotors 34 and 35 (hereinafter referred to as “B1 rotor rotation speed VRB1” and “B2”, respectively). (Referred to as “rotor rotational speed VRB2”), the following equation (44) is established.
VMF2 = (β + 1) VRB2-β · VRB1
= 3 ・ VRB2-2 ・ VRB1 (44)

Also, assuming that the electric power supplied to the stator 33 and the torque equivalent to the second rotating magnetic field are “second driving equivalent torque TSE2”, the second driving equivalent torque TSE2 is transmitted to the B1 and B2 rotors 34 and 35. The following formula (45) is established between the torques (hereinafter referred to as “B1 rotor transmission torque TRB1” and “B2 rotor transmission torque TRB2”, respectively).
TSE2 = TRB1 / β = −TRB2 / (β + 1)
= TRB1 / 2 = -TRB2 / 3 (45)

Further, assuming that the electric power generated by the stator 33 and the torque equivalent to the second rotating magnetic field are “second generating equivalent torque TGE2”, the second generating equivalent torque TGE2 and the rotor transmission torques TRB1, TRB2 of B1 and B2 In the meantime, the following equation (46) is established.
TGE2 = TRB1 / β = −TRB2 / (1 + β)
= TRB1 / 2 = -TRB2 / 3 (46)
As described above, like the first rotating machine 21, the second rotating machine 31 has the same function as an apparatus that combines a planetary gear device and a general one-rotor type rotating machine.

<ECU2>
The ECU 2 controls the VCU 44 that increases or decreases the output voltage of the battery 43 or the charging voltage to the battery 43. The control ratio of the VCU 44 is changed by the control of the VCU 44 by the ECU 2. In addition, the ECU 2 controls the first PDU 41 to control the electric power supplied to the stator 23 of the first rotating machine 21 and the first magnetic field rotation speed VMF1 of the first rotating magnetic field generated in the stator 23 as the electric power is supplied. To control. Further, the ECU 2 controls the first PDU 41 to control the electric power generated by the stator 23 and the first magnetic field rotational speed VMF1 of the first rotating magnetic field generated by the stator 23 along with the power generation.

  In addition, the ECU 2 controls the second PDU 42 to control the electric power supplied to the stator 33 of the second rotating machine 31 and the second magnetic field rotation speed VMF2 of the second rotating magnetic field generated in the stator 33 as the electric power is supplied. To control. Further, the ECU 2 controls the second PDU 42 to control the electric power generated by the stator 33 and the second magnetic field rotation speed VMF2 of the second rotating magnetic field generated by the stator 33 as the electric power is generated.

  As described above, in the power unit 1, the crankshaft 3 a of the engine 3, the A2 rotor 25 of the first rotating machine 21, and the B1 rotor 34 of the second rotating machine 31 are mechanically connected to each other via the first rotating shaft 4. It is connected to. The A1 rotor 24 of the first rotating machine 21 and the B2 rotor 35 of the second rotating machine 31 are mechanically connected to each other via the connecting shaft 6, and the B2 rotor 35 and the drive wheels DW and DW are connected to each other. They are mechanically connected to each other through two rotating shafts 7 and the like. That is, the A1 rotor 24 and the B2 rotor 35 are mechanically coupled to the drive wheels DW and DW. Further, the stator 23 of the first rotating machine 21 and the stator 33 of the second rotating machine 31 are electrically connected to each other via the first and second PDUs 41 and 42. A battery 43 is electrically connected to the stators 23 and 33 via the VCU 44 and the first and second PDUs 41 and 42, respectively.

  FIG. 19 is a conceptual diagram illustrating an example of a schematic configuration of the power unit 1 and a power transmission state. In FIG. 19, the first rotating machine 21 is the “first rotating machine”, the stator 23 is the “first stator”, the A1 rotor 24 is the “first rotor”, the A2 rotor 25 is the “second rotor”, the second The rotating machine 31 is the “second rotating machine”, the stator 33 is the “first stator”, the B1 rotor 34 is the “third rotor”, the B2 rotor 35 is the “fourth rotor”, the engine 3 is the “heat engine”, and the drive wheels DW and DW are represented as “driven parts”, the first PDU 41 is represented as “first controller”, and the second PDU 42 is represented as “second controller”. As shown in FIG. 19, the second rotor of the first rotating machine and the third rotor of the second rotating machine are mechanically connected to the output portion of the heat engine, and the first rotor and the second rotation of the first rotating machine. The fourth rotor of the machine is mechanically connected to the driven part. In addition, a first controller for controlling power generation / supply power of the first stator is electrically connected to the first stator of the first rotating machine, and the second stator of the second rotating machine is connected to the second stator. A second controller that controls power generation / supply power is electrically connected, and the first and second stators are electrically connected to each other via the first and second controllers. . In FIG. 19, regarding the connection between elements, mechanical connection is indicated by a solid line, electrical connection is indicated by a one-dot chain line, and magnetic connection is indicated by a broken line. Moreover, the flow of motive power and electric power is shown by the thick line with an arrow.

  With the above configuration, in the power unit 1, the power of the heat engine is transmitted to the driven part as follows, for example. That is, when the power of the heat engine is transmitted to the driven part, power is generated by the first stator of the first rotating machine using a part of the power of the heat engine under the control of the first and second controllers. Then, the generated electric power is supplied to the second stator of the second rotating machine. During power generation by the first rotating machine, as shown in FIG. 19, a part of the power of the heat engine is transmitted to the second rotor connected to the output part of the heat engine, As power is transmitted to the first stator, part of the power of the heat engine is also transmitted to the first rotor by the magnetic force generated by the magnetic lines of force. That is, the power of the heat engine transmitted to the second rotor is distributed to the first stator and the first rotor. Furthermore, the power distributed to the first rotor is transmitted to the driven part, while the power distributed to the first stator is supplied to the second stator.

  Further, when the electric power generated by the first stator as described above is supplied to the second stator, the electric power is converted into power and transmitted to the fourth rotor by the magnetic force generated by the magnetic lines of force. Accordingly, the remaining power of the heat engine is transmitted to the third rotor, and further transmitted to the fourth rotor by the magnetic force generated by the magnetic lines of force. Further, the power transmitted to the fourth rotor is transmitted to the driven part. As a result, power having the same magnitude as that of the heat engine is transmitted to the driven part.

  As described above, in the power unit 1 of the present embodiment, the first and second rotating machines have the same function as the apparatus combining the planetary gear unit and a general one-rotor type rotating machine. Unlike the power device, the planetary gear device for distributing and combining the power to transmit is unnecessary, and accordingly, the power device can be reduced in size accordingly. Further, unlike the conventional case described above, the power of the heat engine is transmitted to the driven part without being recirculated as described above, so that the power passing through the first and second rotating machines can be reduced. Therefore, it is possible to reduce the size and cost of the first and second rotating machines, thereby achieving further size reduction and cost reduction of the power plant. Furthermore, by using the first and second rotating machines having torque capacities commensurate with the reduced power as described above, power loss can be suppressed and the drive efficiency of the power unit can be increased.

  The power of the heat engine includes the second rotor, the first transmission path composed of the magnetic force by the magnetic field lines and the first rotor, the second rotor, the magnetic force by the magnetic field lines, the first stator, the first controller, the second controller, 2 stators, a magnetic force generated by magnetic lines of force, and a second transmission path composed of a fourth rotor, and a third rotor, a magnetic force generated by magnetic lines of force, and a third transmission path composed of a fourth rotor. Is transmitted to the driven part. As a result, the electric power (energy) passing through the first and second controllers via the second transmission path can be reduced, so that the first and second controllers can be reduced in size and cost. Thereby, further downsizing and cost reduction of the power plant can be achieved. In the third transmission path, the motive power of the heat engine is once converted into electric power and then returned to the power again, and transmitted to the driven part by a so-called electric path, whereas in the first and second transmission paths, Since the power is transmitted to the driven part by a so-called magnetic path without contact with the magnetic force of the magnetic field lines without converting the power into electric power, the transmission efficiency is higher than that of the third transmission path.

  Further, when the power is transmitted to the driven part as described above, the power of the heat engine is controlled by controlling the rotational speeds of the first and second rotating magnetic fields by the first and second controllers, respectively. Stepless transmission can be transmitted to the driven part. Hereinafter, this point will be described. In the first rotating machine, as is clear from the above-described function, during the distribution and synthesis of energy between the first stator, the first and second rotors, the first rotating magnetic field, the first and second rotors are , While maintaining a collinear relationship with respect to the rotational speed as shown in Equation (25). Further, in the second rotating machine, as is apparent from the above-described function, during the energy distribution / synthesis between the second stator, the third and fourth rotors, the second rotating magnetic field, the third and fourth The rotor rotates while maintaining a collinear relationship with respect to the rotation speed as shown in Expression (25).

  Furthermore, in the above-described connection relationship, when both the second and third rotors are directly connected to the output portion of the heat engine without using a speed change mechanism such as a gear, the second and third rotors All of the rotation speeds are equal to the rotation speed of the output portion of the heat engine (hereinafter referred to as “the rotation speed of the heat engine”). In addition, when both the first and fourth rotors are directly connected to the driven part, the rotational speeds of the first and fourth rotors are equal to the speed of the driven part.

  Here, the rotational speeds of the first to fourth rotors are respectively “first to fourth rotor rotational speeds VR1, VR2, VR3, VR4”, and the rotational speeds of the first and second rotating magnetic fields are respectively “First and second magnetic field rotational speeds VMF1, VMF2”. From the relationship between the rotation speeds of the various rotary elements described above, the relationship between these rotation speeds VR1 to VR4, VMF1, and VMF2 is shown as a thick solid line in FIG. 20, for example.

  In FIG. 20, the vertical line intersecting the horizontal line indicating the value 0 is actually for representing the rotational speed of various rotating elements, and there is a gap between the white circle and the horizontal line represented on the vertical line. Although it corresponds to the rotational speed of various rotating elements, for convenience, a symbol representing the rotational speed of the various rotating elements is displayed at one end of the vertical line. Further, the forward direction and the reverse direction are indicated by “+” and “−”, respectively. Further, in FIG. 20, β is a ratio of the number of pole pairs of the second magnetic pole to the number of pole pairs of the second stator magnetic pole of the second rotating machine (hereinafter referred to as “second pole pair number ratio”). The same applies to other velocity nomographs described later.

  Therefore, as shown by a two-dot chain line in FIG. 20, for example, the first magnetic field rotational speed VMF1 is increased with respect to the second and third rotor rotational speeds VR2 and VR3, and the second magnetic field rotational speed VMF2 is increased. By reducing the power, the power of the heat engine can be decelerated steplessly and transmitted to the driven part. Conversely, as indicated by the alternate long and short dash line in the figure, the first magnetic field rotational speed VMF1 is decreased and the second magnetic field rotational speed VMF2 is increased with respect to the second and third rotor rotational speeds VR2 and VR3. Thus, the power of the heat engine can be increased steplessly and transmitted to the driven part.

  When the first pole pair number ratio α of the first rotating machine is relatively large and the rotational speed of the heat engine is higher than the speed of the driven part (see the two-dot chain line in FIG. 20), the first magnetic field The rotational speed VMF1 may be higher than the rotational speed of the heat engine and may be excessive. Therefore, by setting the first pole pair number ratio α to a smaller value, the first magnetic field can be clearly understood from the comparison between the velocity collinear diagram shown by the broken line and the velocity collinear diagram shown by the two-dot chain line in FIG. The rotational speed VMF1 can be reduced, and thereby it is possible to prevent the drive efficiency from being lowered due to the occurrence of loss due to the excessive first magnetic field rotational speed VMF1. Further, when the second pole pair number ratio β of the second rotating machine is relatively large, the second magnetic field rotation is performed when the speed of the driven part is higher than the rotational speed of the heat engine (see the one-dot chain line in FIG. 20). The speed VMF2 may be higher than the speed of the driven part and may be excessive. Therefore, by setting the second pole pair number ratio β to a smaller value, the second magnetic field rotation becomes clear as is apparent from the comparison between the velocity collinear diagram shown by the broken line and the velocity collinear diagram shown by the one-dot chain line in FIG. The speed VMF2 can be reduced, and thereby it is possible to prevent the drive efficiency from being lowered due to the occurrence of loss due to the excessive increase in the second magnetic field rotation speed VMF2.

  In the power unit, for example, power is supplied to the second stator of the second rotating machine and power is generated by the first stator of the first rotating machine, whereby the above-described second driving equivalent torque of the second rotating machine is obtained. Can be transmitted to the driven part in a state where the output portion of the heat engine is stopped by using the first power generation equivalent torque of the first rotating machine as a reaction force, thereby driving the driven part. Furthermore, during the driving of such driven parts, it is possible to start the internal combustion engine when the heat engine is an internal combustion engine. FIG. 21 shows the relationship between torques of various rotating elements in this case, together with the relationship between rotational speeds. In the figure, TDHE is torque transmitted to the output part of the heat engine (hereinafter referred to as “heat engine transmission torque”), and TOUT is torque transmitted to the driven part (hereinafter referred to as “driven part transmission torque”). It is said). Tg1 is the first power generation equivalent torque, and Te2 is the second driving equivalent torque.

When the heat engine is started as described above, as is apparent from FIG. 21, the second driving equivalent torque Te2 uses the first power generation equivalent torque Tg1 as a reaction force and the output of the driven part and the heat engine. Since the torque is transmitted to both of the parts, the torque required for the first rotating machine is larger than in other cases. In this case, the torque required for the first rotating machine, that is, the first power generation equivalent torque Tg1 is expressed by the following equation (47).
Tg1 = − {β · TOUT + (β + 1) TDHE} / (α + 1 + β) (47)

  As is clear from this equation (47), the larger the first pole-to-log ratio α is, the smaller the first power generation equivalent torque Tg1 is with respect to the driven portion transmission torque TOUT and the heat engine transmission torque TDHE of the same magnitude. Become. Therefore, by setting the first pole pair number ratio α to a larger value, the first rotating machine can be further reduced in size and cost.

  Further, in the power plant, for example, the speed of the driven portion in the low speed state can be rapidly increased by controlling the heat engine and the first and second rotating machines as follows. FIG. 22 shows the relationship between the rotational speeds of the various rotary elements at the start when the speed of the driven part is rapidly increased as described above, together with the relationship between the torques of the various rotary elements. In the figure, THE is the torque of the heat engine, and Tg2 is the above-described second power generation equivalent torque. In this case, the rotational speed of the heat engine is increased to a predetermined rotational speed at which the maximum torque can be obtained. As shown in FIG. 22, since the speed of the driven part does not increase immediately, the rotational speed of the heat engine becomes higher than the speed of the driven part and the difference between the two becomes large. The determined rotation direction of the second rotating magnetic field is the reverse direction. In order to apply a positive torque to the driven part from the second stator that generates such a second rotating magnetic field, electric power is generated in the second stator. Further, the electric power generated by the second stator is supplied to the first stator, and the first rotating magnetic field is rotated forward.

As described above, the torque THE of the heat engine, the first driving equivalent torque Te1, and the second power generation equivalent torque Tg2 are all transmitted as positive torque to the driven part, and as a result, the speed of the driven part rapidly increases. To rise. Further, when the speed of the driven portion in the low speed state is rapidly increased as described above, as is clear from FIG. 22, the torque THE of the heat engine and the first driving equivalent torque Te1 are equivalent to the second power generation equivalent. Since torque Tg2 is transmitted as a reaction force to the driven part, the torque required for the second rotating machine is larger than in other cases. In this case, the torque required for the second rotating machine, that is, the second power generation equivalent torque Tg2 is expressed by the following equation (48).
Tg2 = − {α · THE + (1 + α) TOUT} / (β + α + 1) (48)

  As is clear from this equation (48), the larger the second pole log ratio β, the smaller the second generation equivalent torque Tg2 with respect to the driven portion transmission torque TOUT and the heat engine torque THE of the same magnitude. Become. Therefore, by setting the second pole pair number ratio β to a larger value, it is possible to further reduce the size and cost of the second rotating machine.

  As shown in FIG. 2, a detection signal indicating the crank angle position of the crankshaft 3 a is output from the crank angle sensor 51 to the ECU 2. The ECU 2 calculates the engine speed NE based on this crank angle position. Further, the ECU 2 is connected with a first rotation angle sensor 52 and a second rotation angle sensor 53, and these first and second rotation angle sensors 52 and 53 are the rotor rotation angles of the A1 and A2 described above. θA1 and θA2 are detected, respectively, and their detection signals are output to the ECU 2. The ECU 2 calculates A1 and A2 rotor rotational speeds VRA1 and VRA2 based on the detected A1 and A2 rotor rotational angles θA1 and θA2, respectively.

  The ECU 2 is connected to a third rotation angle sensor 54 and a fourth rotation angle sensor 55. The third rotation angle sensor 54 is a rotation angle position (hereinafter referred to as “B1 rotor rotation”) of a specific permanent magnet 34a of the B1 rotor 34 with respect to a specific U-phase coil 33b (hereinafter referred to as “second reference coil”) of the second rotating machine 31. The angle θB1 ”is detected, and the detection signal is output to the ECU 2. The ECU 2 calculates the B1 rotor rotation speed VRB1 based on the detected B1 rotor rotation angle θB1. The fourth rotation angle sensor 55 detects the rotation angle position of the specific core 35a of the B2 rotor 35 with respect to the second reference coil (hereinafter referred to as “B2 rotor rotation angle θB2”), and outputs the detection signal to the ECU 2. . The ECU 2 calculates the B2 rotor rotation speed VRB2 based on the detected B2 rotor rotation angle θB2.

  Further, a detection signal representing a current / voltage value input / output to / from the battery 43 is output from the current / voltage sensor 56 to the ECU 2. The ECU 2 calculates the state of charge of the battery 43 based on this detection signal. Further, the ECU 2 outputs from the accelerator opening sensor 57 a detection signal representing the accelerator opening AP, which is the depression amount of an accelerator pedal (not shown) of the vehicle, and from the vehicle speed sensor 58 a detection signal representing the vehicle speed VP. The The vehicle speed VP is the rotational speed of the drive wheels DW and DW.

  The ECU 2 is configured by a microcomputer including an I / O interface, CPU, RAM, ROM, and the like, and the engine 3, the first and second rotations according to the detection signals from the various sensors 51 to 58 described above. The operation of the machines 21 and 31 is controlled. The ECU 2 reads data from the memory 45 that stores various maps and the like necessary for performing the control. Further, the ECU 2 derives the temperature of the battery 43 from the signal detected by the battery temperature sensor 62 attached to the exterior body of the battery 43 or the periphery thereof.

<Driving force control>
Hereinafter, the driving force control performed by the ECU 2 in the power unit 1 having the above-described one-collinear four-element mechanism will be described with reference to FIGS. 23 and 24. FIG. FIG. 23 is a block diagram showing drive force control in the power plant 1 of the first embodiment. FIG. 24 is a collinear chart in the power unit 1 having a 1-collinear 4-element structure.

  As shown in FIG. 23, the ECU 2 acquires a detection signal representing the accelerator opening AP and a detection signal representing the vehicle speed VP described above. Next, the ECU 2 uses the driving force map stored in the memory 45 to derive a driving force (hereinafter referred to as “required driving force”) corresponding to the accelerator opening AP and the vehicle speed VP. Next, the ECU 2 calculates an output (hereinafter referred to as “request output”) according to the required driving force and the vehicle speed VP. The requested output is an output required for the vehicle to travel according to the driver's accelerator pedal operation.

  Next, the ECU 2 acquires information on the remaining capacity (SOC: State of Charge) of the battery 43 from the detection signal representing the current and voltage values input to and output from the battery 43 described above. Next, the ECU 2 determines the ratio of the output of the engine 3 in the required output according to the SOC of the battery 43. Next, the ECU 2 uses the ENG operation map stored in the memory 45 to derive an optimum operating point corresponding to the output of the engine 3. The ENG operation map is a map based on BSFC (Brake Specific Fuel Consumption) indicating the fuel consumption rate at each operation point in accordance with the relationship between the shaft rotational speed, torque, and output of the engine 3. Next, the ECU 2 derives the shaft speed of the engine 3 at the optimum operating point (hereinafter referred to as “required ENG shaft speed”). Further, the ECU 2 derives the torque of the engine 3 at the optimum operating point (hereinafter referred to as “ENG required torque”).

  Next, the ECU 2 controls the engine 3 to output the ENG request torque. Next, the ECU 2 detects the shaft speed of the engine 3. The shaft speed of the engine 3 detected at this time is referred to as “actual ENG shaft speed”. Next, the ECU 2 calculates a difference Δrpm between the required ENG shaft rotational speed and the actual ENG shaft rotational speed. The ECU 2 controls the output torque of the first rotating machine 21 so that the difference Δrpm approaches zero. The control is performed by generating regenerative power with the stator 23 of the first rotating machine 21, and as a result, the torque T12 shown in the collinear diagram of FIG. 24 is applied to the A2 rotor 25 of the first rotating machine 21 (MG1). Will be added.

When torque T12 is applied to the A2 rotor 25 of the first rotating machine 21, torque T11 is generated in the A1 rotor 24 of the first rotating machine 21 (MG1). The torque T11 is calculated by the following equation (49).
T11 = α / (1 + α) × T12 (49)

  In addition, electric energy (regenerative energy) generated by regenerative power generation in the stator 23 of the first rotating machine 21 is sent to the first PDU 41. In the alignment chart of FIG. 24, the regenerative energy generated in the stator 23 of the first rotating machine 21 is indicated by a dotted line A.

  Next, the ECU 2 controls the second PDU 42 so that a torque obtained by subtracting the calculated torque T11 from the previously calculated required driving force is applied to the B2 rotor 35 of the second rotating machine 31. As a result, torque T22 is applied to the B2 rotor 35 of the second rotating machine 31 (MG2). The collinear diagram of FIG. 24 shows a case where electric energy is supplied to the stator 33 of the second rotating machine 31, and the electric energy at that time is indicated by a dotted line B. At this time, when supplying electric energy to the second rotating machine 31, the regenerative energy obtained by the regenerative power generation of the first rotating machine 21 may be used.

  Thus, torque T11 is applied to the A1 rotor 24 of the first rotating machine 21, and torque T22 is applied to the B2 rotor 35 of the second rotating machine 31. Since the A1 rotor 24 of the first rotating machine 21 is connected to the connecting shaft 6 and the B2 rotor 35 of the second rotating machine 31 is connected to the second rotating shaft 7, torque T11 is applied to the drive wheels DW and DW. And the sum of torque T22 is added.

However, when the torque T22 is applied to the B2 rotor 35 of the second rotating machine 31, torque T21 is generated in the B1 rotor 34 of the second rotating machine 31 (MG2). The torque T21 is represented by the following formula (50).
T21 = β / (1 + β) × T22 (50)

  Since the B1 rotor 34 of the second rotating machine 31 is connected to the shaft of the engine 3, the actual ENG shaft rotation speed of the engine 3 is affected by the torque T21. However, even if the actual ENG shaft rotation speed changes, the ECU 2 controls the output torque of the first rotating machine 21 so that the difference Δrpm approaches zero. Since the torque T12 is changed by the control and the torque T11 generated in the A1 rotor 24 of the first rotating machine 21 is also changed, the ECU 2 changes the torque T22 applied to the B2 rotor 35 of the second rotating machine 31. At this time, the torque T21 generated by the changed torque T22 also changes. Thus, the torque applied to each of the B1 rotor 34 and B2 rotor 35 of the second rotating machine 31 and the A1 rotor 24 and A2 rotor 25 of the first rotating machine 21 circulates (T12 → T11 → T22 → T21). ) Each torque converges.

  As described above, the ECU 2 controls the torque generated in the A2 rotor 25 of the first rotating machine 21 so that the engine 3 operates at the optimum operating point, and the required driving force is applied to the drive wheels DW and DW. The torque generated in the B2 rotor 35 of the second rotating machine 31 is controlled so as to be transmitted.

  In the above description, the vehicle speed VP is used when the required driving force is derived and when the required output is derived, but information on the rotational speed of the axle may be used instead of the vehicle speed VP.

<Operation of power unit 1 in each operation mode>
Next, the operation of the power unit 1 performed under the control of the ECU 2 will be described. The operation modes of the power unit 1 include EV creep, EV start, ENG start during EV travel, ENG travel, deceleration regeneration, ENG start during stop, ENG creep, ENG start, EV reverse start, and ENG reverse start. Hereinafter, these operation modes will be described in order from EV creep with reference to a diagram showing the state of torque transmission as shown in FIG. 25 and a speed alignment chart showing the relationship between the rotational speeds of various rotary elements as shown in FIG. To do. These velocity nomographs will be described before the description of this operation mode.

  As is clear from the above-described connection relationship, the engine speed NE, the A2 rotor rotational speed VRA2, and the B1 rotor rotational speed VRB1 are equal to each other. Further, if the A1 rotor rotational speed VRA1 and the B2 rotor rotational speed VRB2 are equal to each other and no speed change is performed by the differential gear mechanism 9 or the like, the vehicle speed VP is equal to the A1 rotor rotational speed VRA1 and the B2 rotor rotational speed VRB2. . From the above and the equations (43) and (54), the engine speed NE, the vehicle speed VP, the first magnetic field rotational speed VMF1, the A1 rotor rotational speed VRA1, the A2 rotor rotational speed VRA2, the second magnetic field rotational speed VMF2, The relationship between the B1 rotor rotational speed VRB1 and the B2 rotor rotational speed VRB2 is shown by a speed collinear chart such as FIG. In these velocity nomographs, the first and second pole pair number ratios α and β are both 2.0 as described above. Further, in the following description of the operation mode, rotating all the rotating elements of the power unit 1 in the same direction as the forward rotation direction of the crankshaft 3a of the engine 3 is referred to as “forward rotation”, and the same direction as the reverse rotation direction. Rotation is called “reverse”.

-EV creep This EV creep is an operation mode in which a creep operation of the vehicle is performed using the first and second rotating machines 21 and 31 with the engine 3 stopped. Specifically, electric power is supplied from the battery 43 to the stator 33 of the second rotating machine 31, and the second rotating magnetic field generated in the stator 33 is caused to rotate forward. Further, the power transmitted to the A1 rotor 24 of the first rotating machine 21 as described later is used to generate electric power in the stator 23 of the first rotating machine 21, and the generated electric power is further supplied to the stator 33.

  FIG. 25 shows how torque is transmitted during the EV creep. FIG. 26 (a) shows an example of each collinear chart of the first and second rotating machines 21 and 31 during the EV creep, and FIG. 26 (b) shows FIG. 26 (a). A velocity nomograph obtained by synthesizing two velocity nomographs is shown. Further, in FIG. 25 and other diagrams showing the state of torque transmission described later, thick broken lines or solid lines with arrows indicate torque flows. Furthermore, the filled arrows indicate the torque acting in the forward direction, and the hollow arrows indicate the torque acting in the reverse direction. In the stators 23 and 33, the torque is actually transmitted in the form of electric energy. However, in FIG. 25 and other figures showing the state of torque transmission described later, the energy input in the stators 23 and 33 is shown for convenience. The output is indicated by hatching in the torque flow. Further, in FIG. 26 and other velocity collinear charts to be described later, the forward rotation direction is represented by “+”, and the reverse rotation direction is represented by “−”.

  As shown in FIG. 25, during EV creep, as electric power is supplied to the stator 33 of the second rotating machine 31, the second driving equivalent torque TSE2 from the stator 33 causes the B2 rotor 35 to rotate forward. And acts to reverse the B1 rotor 34 as indicated by arrow A. A part of the torque transmitted to the B2 rotor 35 is transmitted to the drive wheels DW and DW via the second rotating shaft 7 and the differential gear mechanism 9, so that the drive wheels DW and DW are rotated forward. To do.

  Further, during EV creep, the remainder of the torque transmitted to the B2 rotor 35 is transmitted to the A1 rotor 24 via the connecting shaft 6, and then accompanying the power generation in the stator 23 of the first rotating machine 21, the stator 23 Is transmitted as electrical energy. Further, as shown in FIG. 26, the first rotating magnetic field generated with the power generation in the stator 23 is reversed. For this reason, as indicated by an arrow B in FIG. 25, the first power generation equivalent torque TGE1 generated along with the power generation in the stator 23 acts to cause the A2 rotor 25 to rotate forward. Further, the torque transmitted to the A1 rotor 24 is further transmitted to the A2 rotor 25 (illustrated by an arrow C) so as to be balanced with the first power generation equivalent torque TGE1 and acts to rotate the A2 rotor 25 in the normal direction. .

  In this case, the electric power supplied to the stator 33 and the stator 23 so that the torque that reversely rotates the B1 rotor 34 indicated by the arrow A and the torque that normally rotates the A2 rotor 25 indicated by the arrows B and C are balanced. By controlling the electric power to be generated, the A2 rotor 25, the B1 rotor 34, and the crankshaft 3a that are connected to each other are held stationary. As a result, as shown in FIG. 26, during EV creep, the rotor rotational speeds VRA2 and VRB1 of A2 and B1 become 0, and the engine speed NE also becomes 0.

  Further, during EV creep, the power supplied to the stator 33 of the second rotating machine 31, the power generated by the stator 23 of the first rotating machine 21, and the first and second magnetic field rotational speeds VMF1, VMF2 are respectively Control is performed so that the relationship between the rotational speeds shown in the equations (43) and (44) is maintained, and the rotor rotational speeds VRA1 and VRB2 of A1 and B2 are very small (see FIG. 26). Thus, the creep operation with a very low vehicle speed VP is performed. As described above, the creep operation can be performed by the driving force of the first and second rotating machines 21 and 31 with the engine 3 stopped.

EV Start This EV start is an operation mode in which the vehicle is started and traveled using the first and second rotating machines 21 and 31 while the engine 3 is stopped during the EV creep described above. When the EV starts, both the electric power supplied to the stator 33 of the second rotating machine 31 and the electric power generated by the stator 23 of the first rotating machine 21 are increased. Further, while maintaining the relationship between the rotational speeds shown in the equations (43) and (44), and maintaining the rotor rotational speeds VRA2 and VRB1 of A2 and B1, that is, the engine rotational speed NE at the value 0, the rotation speed is reversed during EV creep. The first magnetic field rotational speed VMF1 of the first rotating magnetic field and the second magnetic field rotational speed VMF2 of the second rotating magnetic field that has been normally rotated are increased in the same rotational direction as before. As described above, as shown by the thick solid line in FIG. 28, the rotor rotational speeds VRA1 and VRB2 of A1 and B2, that is, the vehicle speed VP, rise from the EV creep state indicated by the broken line in FIG. The torque transmission state during EV start is the same as the torque transmission state during EV creep shown in FIG. 25, as shown in FIG.

ENG start during EV travel This ENG start during EV travel is an operation mode in which the engine 3 is started while the vehicle is traveling by the above-described EV start. At the time of ENG start during EV traveling, the first magnetic field of the first rotating magnetic field that has been reversed as described above at the start of EV while maintaining the rotor speeds VRA1 and VRB2 of A1 and B2, that is, the vehicle speed VP, at the value at that time. The rotational speed VMF1 is controlled so as to have a value of 0, and the second magnetic field rotational speed VMF2 of the second rotating magnetic field that has been normally rotated is controlled to decrease. After the first magnetic field rotational speed VMF1 reaches the value 0, power is supplied from the battery 43 to the stator 23 of the first rotating machine 21 in addition to the stator 33 of the second rotating machine 31. The generated first rotating magnetic field is rotated forward and the first magnetic field rotation speed VMF1 is increased.

  FIG. 29 shows the state of torque transmission in a state where electric power is supplied to both the stators 23 and 33 at the time of ENG start during EV traveling. From the function of the second rotating machine 31 described above, as shown in FIG. 29, when the electric power is supplied to the stator 33 as described above, the second driving equivalent torque TSE2 is transmitted to the B2 rotor 35. Accordingly, the torque transmitted to the B1 rotor 34 as described later is transmitted to the B2 rotor 35. That is, the second driving equivalent torque TSE2 and the B1 rotor transmission torque TRB1 transmitted to the B1 rotor 34 are combined and transmitted to the B2 rotor 35. A part of the torque transmitted to the B2 rotor 35 is transmitted to the A1 rotor 24 via the connecting shaft 6 and the rest is transmitted to the drive wheels DW and DW via the second rotating shaft 7 and the like.

  Further, at the time of ENG start during EV traveling, the first driving equivalent torque TSE1 is A2 by supplying power from the battery 43 to the stator 23 as shown in FIG. 29 from the function of the first rotating machine 21 described above. Along with the transmission to the rotor 25, the torque transmitted to the A1 rotor 24 as described above is transmitted to the A2 rotor 25. That is, the first driving equivalent torque TSE1 and the A1 rotor transmission torque TRA1 transmitted to the A1 rotor 24 are combined and transmitted to the A2 rotor 25. Part of the torque transmitted to the A2 rotor 25 is transmitted to the B1 rotor 34 via the first rotating shaft 4, and the rest is transmitted to the crankshaft 3 a via the first rotating shaft 4 and the flywheel 5. As a result, the crankshaft 3a rotates forward. Further, in this case, the electric power supplied to both the stators 23 and 33 is controlled so that the power is sufficiently transmitted to the drive wheels DW and DW and the engine 3.

  Thus, as shown by the thick solid line in FIG. 30, at the time of ENG start during EV traveling, the vehicle speed VP is maintained at the value at that time, and the rotor rotational speeds VRA2 and VRB1 of A2 and B1 are the values 0 indicated by the broken lines. From the state, the rotational speed of the crankshaft 3a connected to the A2 and B1 rotors 25 and 34, that is, the engine speed NE also increases. In this state, the engine 3 is started by controlling the ignition operation of a fuel injection valve and a spark plug (both not shown) of the engine 3 according to the detected crank angle position. In this case, the engine rotational speed NE is controlled to a relatively small value suitable for starting the engine 3 by controlling the first and second magnetic field rotational speeds VMF1 and VMF2.

FIG. 31 shows a velocity nomograph obtained by combining the two velocity nomographs shown in FIG. In the figure, TDENG is torque transmitted to the crankshaft 3a of the engine 3 (hereinafter referred to as “engine transmission torque”), and TDDW is torque transmitted to the drive wheels DW and DW (hereinafter referred to as “drive wheel transmission torque”). "). In this case, as apparent from FIG. 31, the second driving equivalent torque TSE2 is transmitted to both the drive wheels DW and DW and the crankshaft 3a using the first power generation equivalent torque TGE1 as a reaction force. The torque required for the single rotating machine 21 is larger than in other cases. In this case, the torque required for the first rotating machine 21, that is, the first power generation equivalent torque TGE1 is expressed by the following equation (51).
TGE1 = − {β · TDDW + (β + 1) TDENG} / (α + 1 + β) (51)

  As is clear from this equation (51), the larger the first pole-to-log ratio α, the smaller the first power generation equivalent torque TGE1 with respect to the drive wheel transmission torque TDDW and the engine transmission torque TDENG of the same magnitude. In the present embodiment, since the first pole pair number ratio α is set to the value 2.0, the first power generation equivalent torque TGE1 can be made smaller than when the first pole pair number ratio α is set to a value less than 1.0.

ENG travel This ENG travel is an operation mode in which the vehicle travels using the power of the engine 3. During ENG traveling, the power output to the crankshaft 3a by combustion in the engine 3 (hereinafter referred to as “engine power”) is basically the best fuel efficiency (hereinafter referred to as “best fuel efficiency”) within a range where the required torque can be generated. ) Is obtained. This required torque is a torque required for the vehicle, and is calculated, for example, by searching a map (not shown) according to the detected vehicle speed VP and accelerator opening AP. Further, during ENG traveling, the engine power transmitted to the A2 rotor 25 is used to generate power with the stator 23 of the first rotating machine 21, and the generated rotating power is not charged into the battery 43, and the second rotating machine is charged. Supplied to 31 stators 33. Hereinafter, this operation mode is referred to as “battery input / output zero mode”. FIG. 32 shows how torque is transmitted in the battery input / output zero mode.

  Due to the function of the first rotating machine 21 described above, as shown in FIG. 32, during the battery input / output zero mode, a part of the torque (hereinafter referred to as “engine torque”) output to the crankshaft 3a due to combustion in the engine 3 is obtained. As the first power generation equivalent torque TGE1 is transmitted to the stator 23 via the A2 rotor 25, part of the engine torque is also transmitted to the A1 rotor 24 via the A2 rotor 25. That is, a part of the engine torque is transmitted to the A2 rotor 25, and the engine torque transmitted to the A2 rotor 25 is distributed to the stator 23 and the A1 rotor 24. Further, the remaining engine torque is transmitted to the B1 rotor 34 via the first rotating shaft 4.

  Similarly to the above-described ENG start during EV traveling, the second driving equivalent torque TSE2 and the B1 rotor transmission torque TRB1 are combined and transmitted to the B2 rotor 35 as the B2 rotor transmission torque TRB2. For this reason, during the battery input / output zero mode, the electric power generated by the stator 23 of the first rotating machine 21 as described above is supplied to the stator 33 of the second rotating machine 31, whereby the second driving equivalent torque TSE <b> 2. Is transmitted to the B2 rotor 35, the engine torque transmitted to the B1 rotor 34 as described above is transmitted to the B2 rotor 35. Further, the engine torque distributed as described above to the A1 rotor 24 is further transmitted to the B2 rotor 35 via the connecting shaft 6.

  As described above, the combined torque obtained by combining the engine torque distributed to the A1 rotor 24, the second driving equivalent torque TSE2, and the engine torque transmitted to the B1 rotor 34 is transmitted to the B2 rotor 35. . The combined torque is transmitted to the drive wheels DW and DW via the second rotating shaft 7 and the like. As a result, if there is no transmission loss due to each gear during the battery input / output zero mode, power having the same magnitude as the engine power is transmitted to the drive wheels DW and DW.

  Further, during the battery input / output zero mode, the first and second magnetic field rotational speeds VMF1, VMF2 are controlled, whereby the engine power is steplessly changed and transmitted to the drive wheels DW, DW. That is, the first and second rotating machines 21 and 31 function as a continuously variable transmission.

  Specifically, as shown by a two-dot chain line in FIG. 33, while maintaining the speed relationship shown in the equations (43) and (44), the rotor rotational speeds VRA2 and VRB1 of A2 and B1, that is, the engine speed NE Thus, by increasing the first magnetic field rotational speed VMF1 and decreasing the second magnetic field rotational speed VMF2, the rotor rotational speeds VRA1 and VRB2 of A1 and B2, that is, the vehicle speed VP, can be decelerated steplessly. On the contrary, as shown by the one-dot chain line in FIG. 33, by decreasing the first magnetic field rotational speed VMF1 and increasing the second magnetic field rotational speed VMF2 with respect to the rotor rotational speeds VRA2 and VRB1 of A2 and B1, The vehicle speed VP can be increased steplessly.

  In this case, the first and second magnetic field rotational speeds VMF1, VMF2 are controlled so that the engine rotational speed NE becomes the target rotational speed. This target rotational speed is calculated, for example, by searching a map (not shown) according to the vehicle speed VP and the calculated required torque. In this map, the target rotational speed is set to a value that provides the best fuel efficiency of the engine 3 with respect to the vehicle speed VP and the required torque at that time.

As described above, during the battery input / output zero mode, the engine power is temporarily divided in the first and second rotating machines 21 and 31, and the B2 rotor 35 is passed through the following first to third transmission paths. Is transmitted to the drive wheels DW and DW in a combined state.
1st transmission path: A2 rotor 25-> magnetic force by magnetic field line ML-> A1 rotor 24-> connecting shaft 6-> B2 rotor 35
Second transmission path: B1 rotor 34 → magnetic force due to magnetic field line ML → B2 rotor 35
Third transmission path: A2 rotor 25 → magnetic force due to magnetic line ML → stator 23 → first PDU 41 → second PDU 42 → stator 33 → magnetic force due to magnetic line ML → B2 rotor 35

  In these first and second transmission paths, the engine power is transmitted to the drive wheels DW and DW through a so-called magnetic path by the magnetic force generated by the magnetic field lines ML without being converted into electric power. In the third transmission path, the engine power is once converted into electric power, returned to the power again, and transmitted to the drive wheels DW and DW through a so-called electric path.

  Further, during the battery input / output zero mode, the electric power generated by the stator 23 and the first and second magnetic field rotational speeds VMF1, VMF2 are controlled so as to maintain the speed relationship shown in the equations (43) and (44). Is done.

On the other hand, during ENG traveling, the engine 3 is assisted by the second rotating machine 31 when both of the following conditions (a) and (b) based on the calculated required torque and the state of charge are satisfied. Hereinafter, this operation mode is referred to as “assist mode”.
(A) Required torque> First predetermined value (b) State of charge> Lower limit value Here, the first predetermined value is calculated by searching a map (not shown) according to the vehicle speed VP, for example. In this map, the first predetermined value is set to a torque value at which the best fuel consumption of the engine 3 can be obtained with respect to the vehicle speed VP at that time. The lower limit value is set to a value that prevents the battery 43 from being overdischarged. As described above, in the driving in the assist mode, the power necessary for driving the vehicle represented by the vehicle speed VP and the required torque at that time (hereinafter referred to as “vehicle required power”) is greater than the engine power that provides the best fuel consumption. And when the battery 43 has sufficient power.

  Specifically, as in the battery input / output zero mode described above, power is generated by the stator 23 using the engine power transmitted to the A2 rotor 25. Further, in this case, unlike the battery input / output zero mode, as shown in FIG. 34, in addition to the generated power, the power charged in the battery 43 is supplied to the stator 33. Therefore, the second drive equivalent torque TSE2 based on the electric power supplied from the stator 23 and the battery 43 is transmitted to the B2 rotor 35. Further, as in the battery input / output zero mode, a torque obtained by synthesizing the second driving equivalent torque TSE2, the engine torque distributed to the A1 rotor 24 along with power generation, and the engine torque transmitted to the B1 rotor 34 is obtained. , B2 is transmitted to the drive wheels DW and DW via the rotor 35. As a result, if there is no transmission loss due to each gear during the assist mode, the power transmitted to the drive wheels DW and DW is equal to the sum of the engine power and the power (energy) supplied from the battery 43. Become.

  Further, during the assist mode, the electric power generated by the stator 23, the electric power supplied from the battery 43 to the stator 33, and the first and second magnetic field rotational speeds VMF1, VMF2 are expressed by equations (43) and (44). Control is performed so that the speed relationship shown in FIG. As a result, the shortage of engine power relative to the vehicle required power is compensated by supplying electric power from the battery 43 to the stator 33. The above-described example is an example where the engine power shortage relative to the vehicle required power is relatively small. However, when the engine power is relatively large, in addition to the stator 33 of the second rotating machine 31, the first rotating machine 21. The stator 23 is also supplied with electric power from the battery 43.

On the other hand, when the following conditions (c) and (d) are both satisfied during ENG traveling, a part of the electric power generated by the stator 23 of the first rotating machine 21 using the engine power is used as described above. The battery 43 is charged and the rest is supplied to the stator 33 of the second rotating machine 31. Hereinafter, this operation mode is referred to as “drive-time charging mode”.
(C) Required torque <second predetermined value (d) Charging state <upper limit value Here, the second predetermined value is calculated by searching a map (not shown) according to the vehicle speed VP, for example. In this map, the second predetermined value is set to a value smaller than the torque value at which the best fuel efficiency is obtained with respect to the vehicle speed VP at that time. The upper limit value is set to a value that prevents the battery 43 from being overcharged. As described above, the driving in the driving charging mode is performed when the vehicle required power is smaller than the engine power at which the best fuel consumption can be obtained and when the state of charge is relatively small.

  As shown in FIG. 35, during this driving charging mode, unlike the battery input / output zero mode described above, the stator 33 of the second rotating machine 31 receives the battery 43 from the electric power generated by the stator 23 of the first rotating machine 21. The second drive equivalent torque TSE2 based on this power is transmitted to the B2 rotor 35. Similarly to the battery input / output zero mode, the torque obtained by combining the second driving equivalent torque TSE2, the engine torque distributed to the A1 rotor 24 as a result of power generation, and the engine torque transmitted to the B1 rotor 34 is obtained. , B2 is transmitted to the drive wheels DW and DW via the rotor 35. As a result, if there is no transmission loss due to each gear during the driving charging mode, the power transmitted to the driving wheels DW and DW is obtained by subtracting the electric power (energy) charged in the battery 43 from the engine power. It becomes size.

  Further, during the driving charging mode, the electric power generated by the stator 23, the electric power charged in the battery 43, and the first and second magnetic field rotational speeds VMF1, VMF2 are expressed by the equations (43) and (44). Control is performed so that the speed relationship shown is maintained. As a result, the surplus of the engine power relative to the vehicle required power is converted into electric power in the stator 23 of the first rotating machine 21, and the battery 43 is charged.

  Further, during the ENG traveling, power is not supplied from the stator 23 of the first rotating machine 21 but power is supplied from the battery 43 to the stator 33 of the second rotating machine 31 and this power is supplied to the second driving equivalent torque TSE2. Is controlled to be ½ of the engine torque, as is clear from the equation (45), after all of the engine torque and the second driving equivalent torque TSE2 are combined in the B2 rotor 35, And transmitted to the drive wheels DW and DW. That is, in this case, all of the engine power can be transmitted to the drive wheels DW and DW only by the magnetic path without being transmitted by the electric path described above. In this case, torque having a magnitude 3/2 times the engine torque is transmitted to the drive wheels DW and DW.

  Furthermore, when the electric power generated by the stator 23 of the first rotating machine 21 is controlled so that the first power generation equivalent torque TGE1 becomes 1/3 of the engine torque, the engine 3 can drive the drive wheels DW and DW. Power can be transmitted only by a magnetic path. In this case, torque that is 2/3 times the engine torque is transmitted to the drive wheels DW and DW.

  Further, when the vehicle speed VP in the low speed state is rapidly increased during ENG traveling (hereinafter, such operation is referred to as “rapid acceleration operation during ENG traveling”), the engine 3, the first and second rotating machines 21, 31 is controlled as follows. FIG. 36A shows an example of each collinear chart of the first and second rotating machines 21 and 31 at the start of the rapid acceleration operation during ENG traveling, and FIG. The velocity nomographs obtained by synthesizing the two velocity collinear diagrams shown in a) are respectively shown. In the figure, TENG is engine 3 torque. In this case, the engine speed NE is increased to a predetermined speed at which the maximum torque can be obtained. As shown in FIG. 36, since the vehicle speed VP does not increase immediately, the engine speed NE becomes higher than the vehicle speed VP and the difference between the two increases, so that the rotation of the second rotating magnetic field determined by the relationship between the two increases. The direction is the reverse direction. For this reason, in order to make positive torque act on the drive wheels DW and DW from the stator 33 of the second rotating machine 31 that generates such a second rotating magnetic field, electric power is generated in the stator 33. Furthermore, the electric power generated by the stator 33 is supplied to the stator 23 of the first rotating machine 21 and the first rotating magnetic field is rotated forward.

Thus, the engine torque TENG, the first driving equivalent torque TSE1, and the second power generation equivalent torque TGE2 are all transmitted as positive torques to the driving wheels DW and DW, and as a result, the vehicle speed VP increases rapidly. Further, at the start of the rapid acceleration operation during ENG traveling, as is apparent from FIG. 36, the engine torque TENG and the first drive equivalent torque TSE1 are applied to the drive wheels DW and DW using the second power generation equivalent torque TGE2 as a reaction force. Since the torque is transmitted, the torque required for the second rotating machine 31 is larger than in other cases. In this case, the torque required for the second rotating machine 31, that is, the second power generation equivalent torque TGE2 is expressed by the following equation (52).
TGE2 = − {α · TENG + (1 + α) TDDW} / (β + 1 + α) (52)

  As is clear from this equation (52), the second power generation equivalent torque TGE2 becomes smaller with respect to the drive wheel transmission torque TDDW and the engine torque TENG of the same magnitude as the second pole log ratio β is larger. In the present embodiment, since the second pole pair number ratio β is set to a value of 2.0, the second driving equivalent torque TSE2 can be made smaller than when it is set to a value less than 1.0.

Deceleration regeneration This deceleration regeneration is performed in the first rotating machine 21 and the second rotating machine 31 using the inertial energy of the drive wheels DW and DW when the vehicle is decelerating, that is, when the vehicle is traveling inertially. This is an operation mode for generating power and charging the battery 43 with the generated power. During deceleration regeneration, when the ratio of the torque of the drive wheels DW and DW transmitted to the engine 3 to the torque of the drive wheels DW and DW (torque due to inertia) is small, a part of the power of the drive wheels DW and DW is used. Both the stators 23 and 33 generate electric power, and the generated electric power is charged in the battery 43. Specifically, this power generation is performed using the power transmitted to the A2 rotor 25 in the stator 23 of the first rotating machine 21 as described later, and in the stator 33 of the second rotating machine 31, the B2 rotor 35. As will be described later, the power transmitted is used.

  FIG. 37 shows the state of torque transmission during the deceleration regeneration described above. FIG. 38 (a) shows an example of each collinear chart of the first and second rotating machines 21 and 31 during the deceleration regeneration, and FIG. 38 (b) shows FIG. 38 (a). A velocity nomograph obtained by synthesizing two velocity nomographs is shown. As shown in the figure, with the power generation in the stator 33, the B2 rotor 35 is combined with the total torque of the drive wheels DW and DW and the torque distributed to the A1 rotor 24 as will be described later. Is transmitted. In addition, the combined torque transmitted to the B2 rotor 35 from the function of the second rotating machine 31 described above is distributed to the stator 33 and the B1 rotor 34.

  Further, a part of the torque distributed to the B1 rotor 34 is transmitted to the engine 3, and the rest is transmitted to the A2 rotor 25 along with the power generation in the stator 23 as in the case of the battery input / output zero mode described above. After that, it is distributed to the stator 23 and the A1 rotor 24. Further, the torque distributed to the A1 rotor 24 is transmitted to the B2 rotor 35. As a result, if there is no transmission loss due to each gear during deceleration regeneration, the sum of the power transmitted to the engine 3 and the electric power (energy) charged to the battery 43 is equal to the driving wheels DW and DW. It becomes equal to power.

-Stop ENG Start This stop ENG start is an operation mode in which the engine 3 is started while the vehicle is stopped. At the time of ENG start while the vehicle is stopped, power is supplied from the battery 43 to the stator 23 of the first rotating machine 21, and the first rotating magnetic field generated in the stator 23 is caused to rotate forward, and the B1 rotor 34 will be described later. Electric power is generated by the stator 33 using the transmitted power, and the generated electric power is further supplied to the stator 23.

  FIG. 39 shows a state of transmission of torque at the time of the above-described stopping ENG start. FIG. 40 (a) shows an example of each collinear chart of the first and second rotating machines 21 and 31 at the time of stopping the ENG, and FIG. 40 (b) is shown in FIG. 40 (a). The velocity nomographs obtained by synthesizing the two velocity nomographs shown are respectively shown. As shown in FIG. 39, when ENG is started while the vehicle is stopped, the first driving equivalent torque TSE1 from the stator 23 acts so as to cause the A2 rotor 25 to rotate forward as power is supplied to the stator 23. As shown by the arrow D, the A1 rotor 24 acts to reverse. Further, part of the torque transmitted to the A2 rotor 25 is transmitted to the crankshaft 3a, whereby the crankshaft 3a rotates normally.

  Further, when the ENG is started while the vehicle is stopped, the remainder of the torque transmitted to the A2 rotor 25 is transmitted to the B1 rotor 34, and then is generated as electric energy in the stator 33 along with power generation by the stator 33 of the second rotating machine 31. Communicated. In addition, as shown by a thick solid line in FIG. 40, the second rotating magnetic field generated with the power generation in the stator 33 is reversed. Therefore, as indicated by an arrow E in FIG. 39, the second power generation equivalent torque TGE2 generated by the power generation in the stator 33 acts to cause the B2 rotor 35 to rotate forward. Further, the torque transmitted to the B1 rotor 34 is further transmitted to the B2 rotor 35 (illustrated by an arrow F) so as to be balanced with the second power generation equivalent torque TGE2, and acts to rotate the B2 rotor 35 in the normal direction. .

  In this case, the torque that reversely rotates the A1 rotor 24 indicated by the arrow D and the torque that normally rotates the B2 rotor 35 indicated by arrows E and F are supplied to the stator 23 of the first rotating machine 21. By controlling the electric power and the electric power generated by the stator 33 of the second rotating machine 31, the A1 rotor 24, the B2 rotor 35 and the driving wheels DW and DW that are connected to each other are held stationary. As a result, as shown in FIG. 40, the rotor rotational speeds VRA1 and VRB2 of A1 and B2 become the value 0, and the vehicle speed VP also becomes the value 0.

  In this case, the electric power supplied to the stator 23, the electric power generated by the stator 33, and the first and second magnetic field rotational speeds VMF1 and VMF2 maintain the speed relationship shown in the equations (43) and (44). And the rotor rotational speeds VRA2 and VRB1 of A2 and B1 are controlled to be relatively small values (see FIG. 40). As described above, the engine speed NE is controlled to a relatively small value suitable for starting the engine 3 while maintaining the vehicle speed VP at the value 0 at the time of ENG start while the vehicle is stopped. In this state, the engine 3 is started by controlling the ignition operation of the fuel injection valve and the spark plug of the engine 3 according to the crank angle position.

ENG creep This ENG creep is an operation mode in which the vehicle creep operation is performed using engine power. During ENG creep, power is generated by the stator 23 using engine power transmitted to the A2 rotor 25, and power is generated by the stator 33 using engine power transmitted to the B1 rotor 34. Further, the battery 43 is charged with the electric power generated by the stators 23 and 33 in this way.

  FIG. 41 shows the state of torque transmission during the above-described ENG creep. FIG. 42 (a) shows an example of each collinear chart of the first and second rotating machines 21 and 31 during the ENG creep, and FIG. 42 (b) shows FIG. 42 (a). A velocity nomograph obtained by synthesizing two velocity nomographs is shown. As shown in FIG. 41, during this ENG creep, a part of the engine torque TENG is transmitted to the A2 rotor 25 along with the power generation in the stator 23 as in the case of the battery input / output zero mode described above. At the same time, the engine torque TENG transmitted to the A2 rotor 25 is distributed to the stator 23 and the A1 rotor 24. Further, as shown in FIG. 42, the second rotating magnetic field generated with the power generation in the stator 33 is reversed. For this reason, as shown in FIG. 41, since the vehicle speed VP is substantially 0, the crankshaft 3a is rotating forward, so the second power generation equivalent torque TGE2 generated by this power generation is the above-mentioned. As in the case of the stopped ENG start, the B2 rotor 35 is operated to rotate forward. Further, the engine torque TENG transmitted to the B1 rotor 34 is further transmitted to the B2 rotor 35 so as to balance with the second power generation equivalent torque TGE2 and acts to cause the B2 rotor 35 to rotate forward. Further, the engine torque TENG distributed to the A1 rotor 24 as described above is transmitted to the B2 rotor 35.

  As described above, during the ENG creep, the B2 rotor 35 is synthesized with the engine torque TENG distributed to the A1 rotor 24, the second power generation equivalent torque TGE2, and the engine torque TENG transmitted to the B1 rotor 34. The resultant torque is transmitted. The combined torque is transmitted to the drive wheels DW and DW to cause the drive wheels DW and DW to rotate forward. Further, the electric power generated in the stators 23 and 33 and the first and second magnetic field rotational speeds VMF1 and VMF2 are controlled so that the rotor rotational speeds VRA1 and VRB2 of the A1 and B2, that is, the vehicle speed VP are very small (see FIG. 42), thereby performing a creep operation.

  Further, during the ENG creep, as described above, the engine torque TENG distributed to the A1 rotor 24 along with the power generation at the stator 23 and the B2 rotor via the B1 rotor 34 along with the power generation at the stator 33. The engine torque TENG transmitted to 35 is transmitted to the drive wheels DW and DW. That is, since a part of the engine torque TENG can be transmitted to the drive wheels DW and DW, it is possible to prevent a large reaction force from acting on the engine 3 from the drive wheels DW and DW, and therefore creep operation without causing engine stall. It can be performed. The above-described driving by ENG creep is performed mainly when the state of charge is small or when the vehicle is climbing up.

ENG start This ENG start is an operation mode in which the vehicle is started using engine power. FIG. 43 shows the state of torque transmission when the ENG starts. When the ENG starts, the second magnetic field rotation speed VMF2 of the second rotating magnetic field that has been reversed during the ENG creep is controlled to a value of 0, and the first magnetic field rotation speed VMF1 of the first rotating magnetic field that has been normally rotated is controlled. The engine power is increased. Then, after the second magnetic field rotational speed VMF2 reaches the value 0, the operation in the battery input / output zero mode described above is performed. As described above, as shown by the thick solid line in FIG. 44, the rotor rotational speeds VRA1 and VRB2 of A1 and B2, that is, the vehicle speed VP, rise from the ENG creep state indicated by the broken line in the figure, and the vehicle starts.

EV Reverse Start This EV reverse start is an operation mode in which the first and second rotating machines 21 and 31 are used to start the vehicle backward and run while the engine 3 is stopped. FIG. 45 shows the state of torque transmission during EV reverse start. FIG. 46A shows an example of each collinear chart of the first and second rotating machines 21 and 31 during the EV reverse start, and FIG. 46B shows FIG. 46A. The velocity nomographs obtained by combining the two velocity nomographs are respectively shown.

  At the time of EV reverse start, electric power is supplied from the battery 43 to both the stator 33 of the second rotating machine 31 and the stator 23 of the first rotating machine 21. As a result, the first rotating magnetic field generated in the stator 23 is rotated forward, and the second rotating magnetic field generated in the stator 33 is rotated forward. As shown in FIG. 46, during the EV reverse start, the first driving equivalent torque from the stator 23 causes the A2 rotor 25 to rotate forward as electric power is supplied to the stator 23 of the first rotating machine 21. And act to reverse the A1 rotor 24. Further, as electric power is supplied to the stator 33 of the second rotating machine 31, the second driving equivalent torque TSE2 from the stator 33 acts to reverse the B2 rotor 35, and the B1 rotor 24 is made positive. Acts like turning. As described above, as shown by the thick solid line in FIG. 46, the rotor rotational speeds VRA1 and VRB2 of A1 and B2, that is, the vehicle speed VP, increase in the negative direction from the stop state indicated by the broken line in FIG. .

ENG reverse start This ENG reverse start is an operation mode in which the vehicle is started backward using engine power. FIG. 47 shows the state of torque transmission during this ENG reverse start. At the time of ENG reverse start, the second magnetic field rotation speed VMF2 of the second rotating magnetic field that has been reversed during the ENG creep is controlled to further increase in the negative direction, and the first rotating magnetic field of the first rotating magnetic field that has rotated forward is the first The magnetic field rotation speed VMF1 is increased and the engine power is increased. As described above, as indicated by the thick solid line in FIG. 48, the vehicle speed VP increases in the negative direction from the ENG creep state indicated by the broken line in the figure, and the vehicle starts to move backward.

  As described above, according to the present embodiment, the first and second rotating machines 21 and 31 have the same function as an apparatus combining a planetary gear device and a general one-rotor type rotating machine. Unlike a conventional power unit, a planetary gear unit for distributing and transmitting power is not necessary, and accordingly, the power unit 1 can be reduced in size. Further, unlike the conventional case described above, as described with reference to FIG. 32, the engine power is transmitted to the drive wheels DW and DW without recirculation, so that the first and second rotating machines 21 and 31 are used. The power passing through can be reduced. Therefore, it is possible to reduce the size and cost of the first and second rotating machines 21 and 31, thereby achieving further size reduction and cost reduction of the power unit 1. Furthermore, by using the first and second rotating machines 21 and 31 having torque capacity commensurate with the reduced power as described above, power loss can be suppressed and the drive efficiency of the power unit 1 can be increased. it can.

  Further, the engine power includes the first transmission path (A2 rotor 25, magnetic force due to the magnetic line ML, A1 rotor 24, connecting shaft 6, B2 rotor 35) and the second transmission path (B1 rotor 34, magnetic force due to the magnetic line ML, B3 rotor 35) and the third transmission path (A2 rotor 25, magnetic force due to magnetic line ML, stator 23, first PDU41, second PDU42, stator 33, magnetic force due to magnetic line ML, B2 rotor 35) in total, It is transmitted to the drive wheels DW and DW in a divided state. Thereby, since the electric power (energy) passing through the first and second PDUs 41 and 42 via the third transmission path can be reduced, the first and second PDUs 41 and 42 can be reduced in size and cost. Thereby, further downsizing and cost reduction of the power unit 1 can be achieved. Furthermore, in the third transmission path, engine power is transmitted to the drive wheels DW and DW by an electric path, whereas in the first and second transmission paths, power is transmitted to the drive wheels DW and DW by a magnetic path. The transmission efficiency is higher than that of the third transmission path.

  Further, as described with reference to FIG. 33, by controlling the first and second magnetic field rotational speeds VMF1 and VMF2, the engine power is continuously shifted and transmitted to the drive wheels DW and DW. Further, in this case, since the first and second magnetic field rotational speeds VMF1, VMF2 are controlled so that the engine speed NE becomes a target speed set so as to obtain the best fuel efficiency, the best fuel efficiency is obtained. The drive wheels DW and DW can be driven while controlling the engine power as described above. Therefore, the driving efficiency of the power unit 1 can be further increased.

  In addition, since the first pole-to-log ratio α of the first rotating machine 21 is set to a value of 2.0, when the ENG is started during EV traveling when the torque required for the first rotating machine 21 is particularly large, the above formula ( 51), the first power-generating equivalent torque TGE1 can be made smaller than when the first pole-to-log ratio α is set to a value less than 1.0. Further downsizing and cost reduction can be achieved. Furthermore, since the second pole-log ratio β of the second rotating machine 31 is set to a value of 2.0, the torque required for the second rotating machine 31 becomes particularly large. At the start of the rapid acceleration operation during ENG traveling As described using the equation (52), the second driving equivalent torque TSE2 can be made smaller than when the second pole-log ratio β is set to a value less than 1.0. Further downsizing of the rotating machine 31 and cost reduction can be achieved.

  In addition, the driving in the driving charging mode is performed when the vehicle required power is small with respect to the engine power that provides the best fuel consumption. During the driving charging mode, the engine power is controlled to obtain the best fuel consumption. The surplus of the engine power with respect to the vehicle required power is charged to the battery 43 as electric power. The driving in the assist mode is performed when the vehicle required power is larger than the engine power at which the best fuel consumption can be obtained. During the assist mode, the engine power is controlled so as to obtain the best fuel consumption, The shortage of engine power with respect to is supplemented by the supply of electric power from the battery 43. Therefore, the driving efficiency of the power unit 1 can be further increased regardless of the load of the driving wheels DW and DW.

<Control according to battery temperature>
As described above, electric power is supplied from the battery 43 to the first rotating machine 21 and / or the second rotating machine 31 according to the operation mode of the power plant 1 of the present embodiment, and the first rotating machine 21 and The electric power generated by the second rotating machine 31 is charged in the battery 43. Further, as described above, the ECU 2 derives the temperature of the battery 43 based on the detection signal from the battery temperature sensor 62.

  The battery 43 is constituted by a secondary battery such as a nickel metal hydride battery or a lithium ion battery. The characteristics of the secondary battery change depending on the temperature, and if charging / discharging is performed at a high temperature, the load applied to the secondary battery is large. Therefore, if charging / discharging is performed when the temperature of the battery 43 is high, the deterioration of the battery 43 proceeds. In addition, since temperature will rise further if charging / discharging is performed when the temperature of the battery 43 is high, it is desirable that the amount of charge / discharge when the temperature of the battery 43 is high, that is, the amount of power is small. Further, the output performance of the secondary battery depends on the temperature and decreases at low temperatures. When the temperature of the battery 43 is low, the battery 43 may not be able to supply necessary power to the first rotating machine 21 and / or the second rotating machine 31. Accordingly, the ECU 2 of the present embodiment performs control according to the temperature of the battery 43 (hereinafter referred to as “battery temperature”). FIG. 49 is a diagram illustrating an assumed use temperature range (lower limit temperature to upper limit temperature) of the battery 43.

<Charge / discharge prevention control during ENG travel>
When the operation mode of the operating device 1 is “ENG traveling”, the ECU 2 performs “battery input / output zero mode” shown in FIG. 83, “assist mode” shown in FIG. 85, and “charge during driving” shown in FIG. Select "Mode". In the battery input / output zero mode, the ECU 2 has the same first and second magnetic field rotational speeds VMF1, VMF2 with respect to the rotor rotational speeds VRA2, VRB1 of A2 and B1, as indicated by the thick solid line in FIG. The 1st rotary machine 21 and the 2nd rotary machine 31 are controlled so that it may become. As a result, the electric power generated by the stator 23 of the first rotating machine 21 is supplied to the stator 33 of the second rotating machine 31 without being charged in the battery 43.

  In the assist mode, as shown by the one-dot chain line in FIG. 84, the ECU 2 decreases the first magnetic field rotational speed VMF1 and reduces the second magnetic field rotational speed VMF2 with respect to the rotor rotational speeds VRA2 and VRB1 of A2 and B1. The first rotating machine 21 and the second rotating machine 31 are controlled so as to increase. As a result, in addition to the power generated by the stator 23 of the first rotating machine 21, the power charged in the battery 43 is also supplied to the stator 33 of the second rotating machine 31. In the driving charging mode, the ECU 2 increases the first magnetic field rotational speed VMF1 and the second magnetic field rotational speed with respect to the rotor rotational speeds VRA2 and VRB1 of A2 and B1, as indicated by a two-dot chain line in FIG. The first rotating machine 21 and the second rotating machine 31 are controlled so as to reduce the speed VMF2. As a result, a part of the electric power generated by the stator 23 of the first rotating machine 21 is supplied to the stator 33 of the second rotating machine 31 and the rest is charged to the battery 43.

  As described above, when the operation mode of the operating device 1 is “ENG traveling”, the ECU 2 changes the first and second magnetic field rotational speeds VMF1 and VMF2 with respect to the rotor rotational speeds VRA2 and VRB1 of A2 and B1, respectively. The charge / discharge state of the battery 43 can be adjusted. The ECU 2 selects the battery input / output zero mode described above when the operation mode of the operating device 1 is “ENG traveling” and the battery temperature is equal to or higher than the first threshold value lower than the upper limit temperature shown in FIG. To do.

  For example, even when the driving charging mode shown in FIG. 50A is selected, if the battery temperature becomes equal to or higher than the first threshold value, the ECU 2 maintains the vehicle speed VP while maintaining the vehicle speed VP. Transition to the battery input / output zero mode shown in b). That is, the ECU 2 maintains the rotor rotational speeds VRA1 and VRB2 of A1 and B2 so that the rotor rotational speeds VRA2 and VRB1 of A2 and B1 are the same as the first and second magnetic field rotational speeds VMF1 and VMF2. The first rotating machine 21 and the second rotating machine 31 are controlled.

  Note that the rotor rotational speeds VRA2 and VRB1 of A2 and B1 when shifting to the battery input / output zero mode are lower than in the driving charging mode. Since the output of the engine 3 decreases when the rotor rotational speeds VRA2 and VRB1 of A2 and B1 decrease, the ECU 2 controls to increase the torque of the engine 3. However, during the driving charging mode, the engine 3 outputs not only the required output but also the amount of electric power generated by the stator 23 of the first rotating machine 21 and charged to the battery 43. However, since the battery 43 does not charge / discharge during the battery input / output zero mode, the engine 3 only needs to output the required output.

As described above, since the battery 43 in the battery input / output zero mode is neither discharged nor charged, the progress of deterioration of the battery 43 can be prevented, and further increase in the battery temperature can be prevented. However, even if the battery temperature is equal to or higher than the first threshold value, the assist mode is entered when the required torque and the state of charge satisfy both the conditions (a) and (b).
(A) Required torque> First predetermined value (b) Charging state> Lower limit value

  The ECU 2 performs the above control when the battery temperature is equal to or higher than the first threshold value, but the same control may be performed when a parameter related to the battery temperature is equal to or higher than the first threshold value.

<Charge / discharge acceleration control during ENG travel>
When the operation mode of the operating device 1 is “ENG traveling” and the battery temperature is equal to or lower than a second threshold value that is higher than the lower limit temperature shown in FIG. 49, the ECU 2 Depending on (Charge), the above-described assist mode or driving charging mode is selected. For example, even when the battery input / output zero mode shown in FIG. 51A is selected, if the battery temperature falls below the second threshold value, the ECU 2 maintains the vehicle speed VP while maintaining the vehicle speed VP. A transition is made to the assist mode shown in (b) or the on-drive charging mode shown in FIG. That is, the ECU 2 decreases the first magnetic field rotational speed VMF1 when the assist mode is selected with respect to the rotor rotational speeds VRA2 and VRB1 of A2 and B1 while maintaining the rotor rotational speeds VRA1 and VRB2 of A1 and B2. The first rotating machine 21 and the second rotating machine 31 are configured to increase the second magnetic field rotational speed VMF2 and increase the first magnetic field rotational speed VMF1 and decrease the second magnetic field rotational speed VMF2 when the driving charging mode is selected. To control.

  As described above, the battery 43 in the assist mode is discharged and the battery 43 in the driving charge mode is charged. As a result, the battery temperature rises. The ECU 2 performs the above control when the battery temperature is equal to or lower than the second threshold value, but the same control may be performed when a parameter related to the battery temperature is equal to or lower than the second threshold value.

<Battery temperature rise suppression control during ENG travel>
As described above, the ECU 2 receives various parameters such as the vehicle speed VP and the accelerator pedal opening AP in addition to the battery temperature. The ECU 2 predicts a change in battery temperature from at least a part of the various input parameters. Various parameters input to the ECU 2 include the vehicle speed VP, the accelerator opening AP, the rotation speeds of the first rotating machine 21 and the second rotating machine 31, the outside air temperature, the season, the operating state of the air conditioner, map information, and the like. It is. Further, the ECU 2 may store history information such as the state of charge of the battery and the battery temperature in the memory 45 and read the history information. At this time, the ECU 2 predicts a change in the battery temperature from at least a part of the various input parameters and the history information stored in the memory 45.

  When the operation mode of the operating device 1 is “ENG travel” and the battery temperature is greater than the second threshold value and less than the first threshold value, the ECU 2 determines that the predicted change in battery temperature is “temperature rise”. For example, the battery input / output zero mode is selected. As described above, since the battery 43 in the battery input / output zero mode is neither discharged nor charged, further increase in battery temperature can be prevented.

(Second to fifth embodiments)
Next, the power units 1A, 1B, 1C, and 1D according to the second to fifth embodiments will be described with reference to FIGS. Each of these power units 1A to 1D is mainly different from the first embodiment in that transmission devices 61, 71, 81, and 91 are further provided, and in any of the second to fifth embodiments. The connection relationship among the engine 3, the first and second rotating machines 21 and 31, and the drive wheels DW and DW is the same as that in the first embodiment. That is, the A2 and B1 rotors 25 and 34 are mechanically connected to the crankshaft 3a of the engine 3, and the A1 and B2 rotors 24 and 35 are mechanically connected to the drive wheels DW and DW. 52 to 55, the same constituent elements as those in the first embodiment are denoted by the same reference numerals. This also applies to the drawings for explaining other embodiments described later. Hereinafter, the difference from the first embodiment will be mainly described in order from the power unit 1A of the second embodiment.

(Second Embodiment)
As shown in FIG. 52, in the power plant 1A, the transmission 61 is provided in place of the gear 7b and the first gear 8b that are engaged with each other. The transmission 61 is a belt-type continuously variable transmission, and is provided on the input shaft connected to the second rotating shaft 7, the output shaft connected to the idler shaft 8, the input shaft, and the output shaft, respectively. Pulleys and metal belts (none of which are shown) wound around these pulleys. The transmission 61 changes the effective diameter of these pulleys to output the power input to the input shaft to the output shaft in a shifted state. Further, the gear ratio (the rotational speed of the input shaft / the rotational speed of the output shaft) of the transmission 61 is controlled by the ECU 2.

  As described above, the transmission 61 is provided between the A1 and B2 rotors 24 and 35 and the drive wheels DW and DW, and the power transmitted to the A1 and B2 rotors 24 and 35 is transmitted to the transmission. The speed is changed by 61 and transmitted to the drive wheels DW and DW.

  In the power unit 1A having the above-described configuration, when extremely large torque is transmitted from the A1 and B2 rotors 24 and 35 to the drive wheels DW and DW, such as at the time of EV start or ENG start described above, the transmission 61 The gear ratio is controlled to a predetermined value on the deceleration side that is larger than 1.0. Thus, the torque transmitted to the A1 and B2 rotors 24 and 35 is increased in the transmission 61 and then transmitted to the drive wheels DW and DW. Accordingly, the electric power generated by the first rotating machine 21 and the electric power supplied to the second rotating machine 31 (generated electric power) so that the torque transmitted to the A1 and B2 rotors 24 and 35 is reduced. Is controlled. Therefore, according to this embodiment, the maximum value of torque required for the first and second rotating machines 21 and 31 can be reduced, and the first and second rotating machines 21 and 31 can be further downsized. In addition, the cost can be reduced.

  Further, when the rotor rotational speeds VRA1 and VRB2 of A1 and B2 are excessive, such as during a high vehicle speed operation where the vehicle speed VP is extremely high, the speed ratio of the transmission 61 is a predetermined value on the acceleration side smaller than the value 1.0. Controlled by value. Thereby, since the rotor rotational speeds VRA1 and VRB2 of A1 and B2 can be reduced with respect to the vehicle speed VP, the first and second rotating machines 21 and 31 of the first and second rotating machines 21 and 31 due to the excessive increase of both rotor rotational speeds VRA1 and VRB2 can be achieved. Failure can be prevented. As described above, the A1 rotor 24 is made of a magnet, and the magnet is particularly effective because it has a lower strength than the soft magnetic material and easily causes the above-described problems.

  Further, during traveling of the vehicle including EV traveling and ENG traveling, the transmission gear ratio of the transmission device 61 is set so that the first and second magnetic field rotational speeds VMF1, VMF2 have predetermined first and second target values, respectively. Be controlled. These first and second target values are calculated by searching a map according to the vehicle speed VP when only the first and second rotating machines 21 and 31 are used as a power source. When the second rotating machine 21 or 31 is used as a power source, it is calculated by searching a map different from the above according to the engine speed NE and the vehicle speed VP. In these maps, the first and second target values are high in efficiency of the first and second rotating machines 21 and 31 with respect to the vehicle speed VP (and the engine speed NE) at that time. It is set to such a value. Further, in parallel with such control of the transmission 61, the first and second magnetic field rotational speeds VMF1, VMF2 are controlled to the first and second target values, respectively. As described above, according to the present embodiment, high efficiency of the first and second rotating machines 21 and 31 can be obtained while the vehicle is traveling.

  Further, as described with reference to FIG. 33, the engine power can be steplessly shifted by the first and second rotating machines 21 and 31 and transmitted to the drive wheels DW and DW. The frequency of operation can be reduced. Therefore, heat loss due to this speed change operation can be suppressed, and thereby high driving efficiency of the power unit 1A can be ensured. In addition, according to this embodiment, the effect by 1st Embodiment can be acquired similarly.

  In the present embodiment, the transmission 61 is a belt-type continuously variable transmission, but may be a toroidal continuously variable transmission or a gear-type continuously variable transmission.

(Third embodiment)
In the power unit 1B of the third embodiment shown in FIG. 53, the transmission 71 is a gear-type stepped transmission, and a plurality of gears having different gear ratios from the input shaft 72 and the output shaft (not shown). And a clutch (not shown) for connecting / disconnecting the plurality of gear trains and the input shaft 72 and the output shaft for each gear train. The transmission 71 outputs the power input to the input shaft 72 to the output shaft in a state where the power is shifted by one of the plurality of gear trains. Further, in the transmission 71, the plurality of gear trains allow the forward first speed (speed ratio = number of revolutions of the input shaft 72 / number of revolutions of the output shaft> 1.0) and the second speed (speed ratio = 1.0) and 3rd speed (gear ratio <1.0) and a single reverse gear, a total of four gears are set, and the change is controlled by the ECU 2.

  In the power unit 1B, unlike the first embodiment, the second rotating shaft 7 is not provided with the gear 7b, and the A1 and B2 rotors 24 and 35 are connected to the drive wheels DW and DW as follows. It is connected. In other words, the A1 rotor 24 is directly connected to the input shaft 72 of the transmission 71, and the output shaft of the transmission 71 is directly connected to the connecting shaft 6 described above. The connecting shaft 6 is integrally provided with a gear 6b, and the gear 6b meshes with the first gear 8b described above.

  As described above, the A1 rotor 24 is connected to the drive wheels DW and DW via the transmission 71, the gear 6b, the first gear 8b, the idler shaft 8, the second gear 8c, the gear 9a, the differential gear mechanism 9, and the like. Are mechanically connected to each other. In addition, the power transmitted to the A1 rotor 24 is shifted by the transmission 71 and transmitted to the drive wheels DW and DW. Further, the B2 rotor 35 is mechanically coupled to the drive wheels DW and DW via the coupling shaft 6, the gear 6b, the first gear 8b, and the like, not via the transmission device 71.

  In the power unit 1B having the above-described configuration, when a very large torque is transmitted from the A1 rotor 24 to the drive wheels DW and DW, such as when ENG starts, the shift stage of the transmission 71 is at the first speed (gear ratio> 1.0). Thereby, the torque transmitted to the A1 rotor 24 is increased in the transmission 71 and then transmitted to the drive wheels DW and DW. Accordingly, the electric power generated by the first rotating machine 21 is controlled so that the torque transmitted to the A1 rotor 24 is reduced. Thereby, according to this embodiment, the maximum value of the torque requested | required of the 1st rotary machine 21 can be made small, and the further size reduction and cost reduction of the 1st rotary machine 21 can be aimed at.

  Further, when the A1 rotor rotational speed VRA1 becomes excessive, such as during high vehicle speed operation where the vehicle speed VP is extremely high, the speed of the transmission device 71 is controlled to the third speed (speed ratio <1.0). Thereby, according to this embodiment, since the A1 rotor rotational speed VRA1 can be reduced with respect to the vehicle speed VP, it is possible to prevent a failure of the first rotating machine 21 due to an excessive increase in the A1 rotor rotational speed VRA1. it can. The A1 rotor 24 is composed of a magnet, and the magnet is particularly effective because it has a lower strength than a soft magnetic material and easily causes the above-described problems.

  Further, during traveling of the vehicle including EV traveling and ENG traveling, the gear position of the transmission 71 is controlled so that the first magnetic field rotational speed VMF1 becomes a predetermined target value. This target value is calculated by searching a map according to the vehicle speed VP when only the first and second rotating machines 21 and 31 are used as a power source, and the engine 3, the first and second rotating machines 21. , 31 is used as a power source by calculating a map different from the above according to the engine speed NE and the vehicle speed VP. Further, in these maps, the target value is set to a value such that high efficiency of the first rotating machine 21 is obtained with respect to the vehicle speed VP (and engine speed NE) at that time. Further, in parallel with the control of the transmission 71, the first magnetic field rotational speed VMF1 is controlled to the target value. Thereby, according to this embodiment, the high efficiency of the 1st rotary machine 21 can be acquired during driving | running | working of a vehicle.

  Further, during ENG traveling and during the shifting operation of the transmission 71, that is, after the input shaft 72 and the output shaft of the transmission 71 are disconnected from the gear train before the shifting, they are connected to the gear train of the shifting destination. In the meantime, the first and second rotating machines 21 and 31 are controlled as follows. That is, during the speed change operation of the transmission device 71, the A1 rotor 24 and the drive wheels DW and DW are blocked by the gear train in the transmission device 71 and the input shaft 72 and the output shaft. Since the loads of the drive wheels DW and DW do not act on the rotor 24, the first rotating machine 21 does not generate power, and power is supplied from the battery 43 to the stator 33 of the second rotating machine 31.

  Thus, according to the present embodiment, during the speed change operation of the transmission 71, the second driving equivalent torque TSE2 from the stator 33 and a part of the engine torque TENG transmitted to the B1 rotor 34 are combined, and the B2 rotor Since the engine torque TENG is not transmitted to the drive wheels DW and DW via the transmission device 71, it is possible to suppress a shift shock. be able to. In addition, according to this embodiment, the effect by 1st Embodiment can be acquired similarly.

(Fourth embodiment)
In the power unit 1C of the fourth embodiment shown in FIG. 54, unlike the first embodiment, the gear 7b is not provided on the second rotating shaft 7, and the first gear 8b described above is integrated with the connecting shaft 6. It meshes with the provided gear 6b. As a result, the A1 rotor 24 does not go through the transmission 81 via the connecting shaft 6, the gear 6b, the first gear 8b, the idler shaft 8, the second gear 8c, the gear 9a, the differential gear mechanism 9, and the like. In addition, it is connected to the drive wheels DW and DW.

  Further, the transmission 81 is a gear-type stepped transmission having the first to third speeds, which is configured in the same manner as the transmission 71 of the third embodiment, and is directly connected to the B2 rotor 35. The input shaft 82 and an output shaft (not shown) directly connected to the connecting shaft 6 are shifted, and the power input to the input shaft 82 is shifted and output to the output shaft. Further, the change of the gear position of the transmission 81 is controlled by the ECU 2.

  With the above configuration, the B2 rotor 35 is mechanically coupled to the drive wheels DW and DW via the transmission 81, the gear 6b, the second gear 8c, and the like. Further, the power transmitted to the B2 rotor 35 is shifted by the transmission 81 and transmitted to the drive wheels DW and DW.

  In the power unit 1C configured as described above, when an extremely large torque is transmitted from the B2 rotor 35 to the drive wheels DW and DW, such as when starting EV or starting ENG, the speed of the transmission 81 is set to the first speed. (Gear ratio> 1.0). Thereby, the torque transmitted to the B2 rotor 35 is increased in the transmission 81 and then transmitted to the drive wheels DW and DW. Accordingly, the electric power supplied to the second rotating machine 31 is controlled so that the torque transmitted to the B2 rotor 35 is reduced. Thereby, according to this embodiment, the maximum value of the torque requested | required of the 2nd rotary machine 31 can be made small, and the further size reduction and cost reduction of the 2nd rotary machine 31 can be aimed at. As described above, when ENG starts, the torque from the stator 33 and a part of the engine torque TENG transmitted to the B1 rotor 34 are combined and transmitted to the drive wheels DW and DW via the B2 rotor 35. The B2 rotor 35 is particularly effective because a larger torque acts on the B2 rotor 35 than the A1 rotor 24.

  Further, when the B2 rotor rotational speed VRB2 becomes excessive, such as during a high vehicle speed operation where the vehicle speed VP is extremely high, the gear position of the transmission 81 is controlled to the third speed (speed ratio <1.0). Thereby, according to this embodiment, since B2 rotor rotational speed VRB2 can be reduced with respect to vehicle speed VP, it is possible to prevent failure of second rotating machine 31 due to excessive B2 rotor rotational speed VRB2. it can.

  Further, during traveling of the vehicle including EV traveling and ENG traveling, the gear position of the transmission 81 is controlled such that the second magnetic field rotational speed VMF2 becomes a predetermined target value. This target value is calculated by searching a map according to the vehicle speed VP when only the first and second rotating machines 21 and 31 are used as a power source, and the engine 3, the first and second rotating machines 21. , 31 is used as a power source by calculating a map different from the above according to the engine speed NE and the vehicle speed VP. In these maps, the target value is set to such a value that the high efficiency of the second rotating machine 31 is obtained with respect to the vehicle speed VP (and the engine speed NE) at that time. Further, in parallel with the control of the transmission 81, the second magnetic field rotational speed VMF2 is controlled to the target value. Thereby, according to this embodiment, the high efficiency of the 2nd rotary machine 31 can be acquired during driving | running | working of a vehicle.

  Also, during ENG traveling and during the speed change operation of the transmission 81 (after the input shaft 82 and the output shaft are disconnected from the gear train before the shift and before being connected to the gear train of the shift destination) That is, when the transmission 81 blocks the B2 rotor 35 and the drive wheels DW, DW, as is clear from the torque transmission state described with reference to FIG. 32, a part of the engine torque TENG is obtained. It is transmitted to the drive wheels DW and DW via the A1 rotor 24. Thus, according to the present embodiment, it is possible to suppress a shift shock caused by the engine torque TENG not being transmitted to the drive wheels DW and DW via the transmission 81 during the shift operation of the transmission 81. Can increase the sex. In addition, according to this embodiment, the effect by 1st Embodiment can be acquired similarly.

(Fifth embodiment)
In the power plant 1D according to the fifth embodiment shown in FIG. 55, the transmission 91 is a gear-type stepped transmission configured by a planetary gear unit or the like, and has an input shaft 92 and an output shaft (not shown). As a shift stage, there are a total of two shifts consisting of a first speed (speed ratio = number of rotations of input shaft 92 / number of rotations of output shaft = 1.0) and second speed (speed ratio <1.0). A stage is set. These shift speeds are changed by the ECU 2.

  An input shaft 92 of the transmission 91 is directly connected to the flywheel 5 and an output shaft (not shown) thereof is directly connected to the first rotating shaft 4 described above. Thus, the transmission 91 is provided between the crankshaft 3a and the A2 and B1 rotors 25 and 34, and shifts engine power and transmits it to the A2 rotor 25 and the B1 rotor 34. Further, the number of teeth of the gear 9a of the differential gear mechanism 9 described above is larger than the number of teeth of the second gear 8c of the idler shaft 8, thereby reducing the power transmitted to the idler shaft 8. In the state, it is transmitted to the drive wheels DW and DW.

  In the power unit 1D having the above-described configuration, when an extremely large torque is transmitted from the A1 and B2 rotors 24 and 35 to the drive wheels DW and DW, such as when ENG starts, the shift stage of the transmission 91 is set to the second speed. (Gear ratio <1.0). As a result, the engine torque TENG input to the A2 and B1 rotors 25 and 34 is reduced. Accordingly, the electric power generated by the first rotating machine 21 and the electric power supplied to the second rotating machine 31 (generated) so that the engine torque TENG transmitted to the A1 and B2 rotors 24 and 35 is reduced. Power) is controlled. Further, the engine torque TENG transmitted to the A1 and B2 rotors 24 and 35 is transmitted to the drive wheels DW and DW while being increased by the deceleration by the second gear 8c and the gear 9a. As described above, according to the present embodiment, the maximum value of torque required for the first and second rotating machines 21 and 31 can be reduced, and the first and second rotating machines 21 and 31 can be further reduced in size. And cost reduction.

  When the engine speed NE is extremely high, the gear position of the transmission 91 is controlled to the first speed (speed ratio = 1.0). As a result, according to the present embodiment, the rotor rotational speeds VRA2 and VRB1 of A2 and B1 can be reduced as compared with the case where the gear position is the second speed, so that both rotor rotational speeds VRA2 and VRB1 are excessive. It is possible to prevent failure of the first and second rotating machines 21 and 31 due to the conversion. Since the B1 rotor 34 is composed of a magnet, the above-described problems are likely to occur, which is particularly effective.

  Further, during ENG traveling, the speed of the transmission 91 is such that the first and second magnetic rotating speeds VMF1 and VMF2 are the first and second rotating machines 21 and 31 according to the engine speed NE and the vehicle speed VP, respectively. The value is changed to obtain a high efficiency. In parallel with such a change in the gear position of the transmission 91, the first and second magnetic field rotational speeds VMF1 and VMF2 are the engine speed NE, the vehicle speed VP, the gear stage of the transmission 91, It is controlled to a value determined by the equations (43) and (44). Thereby, according to this embodiment, the high efficiency of the 1st and 2nd rotary machines 21 and 31 can be acquired during driving | running | working of a vehicle.

  Further, in order to suppress the shift shock during ENG traveling and during the shifting operation of the transmission 91, that is, when the transmission 91 is blocking between the engine 3 and the rotors 25 and 34 of the A2 and B1. The first and second rotating machines 21 and 31 are controlled as follows. Hereinafter, such control of the first and second rotating machines 21 and 31 is referred to as “shift shock control”.

  That is, electric power is supplied to the stators 23 and 33, and the first and second rotating magnetic fields generated by the stators 23 and 33, respectively, are rotated in the normal direction. Thus, the first driving equivalent torque TSE1 from the stator 23 and the torque transmitted to the A1 rotor 24 as described later are combined, and this combined torque is transmitted to the A2 rotor 25. The torque transmitted to the A2 rotor 25 is not transmitted to the crankshaft 3a due to the interruption by the transmission 91 described above, but is transmitted to the B1 rotor 34, and further combined with the second driving equivalent torque TSE2 from the stator 33. Then, it is transmitted to the B2 rotor 35. A part of the torque transmitted to the B2 rotor 35 is transmitted to the A1 rotor 24, and the rest is transmitted to the drive wheels DW and DW.

  Therefore, according to the present embodiment, it is possible to suppress a shift shock caused by the engine torque TENG not being transmitted to the drive wheels DW and DW during the shift operation, and it is possible to improve the merchantability. The shift shock control is performed only during the shift operation of the transmission 91. In addition, according to this embodiment, the effect by 1st Embodiment can be acquired similarly.

  In the third to fifth embodiments, the transmissions 71, 81, 91 are gear-type stepped transmissions, but may be belt-type or toroidal-type continuously variable transmissions.

(Sixth embodiment)
Next, a power plant 1E according to a sixth embodiment will be described with reference to FIG. As shown in the figure, the power unit 1E is obtained by adding a brake mechanism BL to the power unit 1 of the first embodiment. Hereinafter, a description will be given focusing on differences from the first embodiment.

  The brake mechanism BL has a one-way clutch OC connected to the first rotating shaft 4 and the case CA described above. The one-way clutch OC connects between the first rotating shaft 4 and a case CA that is configured to be non-rotatable when a reverse power is applied to the crankshaft 3a to which the first rotating shaft 4 is coupled. When the power for forward rotation is applied, the first rotary shaft 4 and the case CA are blocked from each other.

  That is, the rotation of the first rotating shaft 4 is permitted only when the first rotating shaft 4 rotates forward together with the crankshaft 3a, the A2 rotor 25, and the B1 rotor 34 by the brake mechanism BL configured by the one-way clutch OC and the case CA. This is prevented when one rotation shaft 4 rotates in reverse with the crankshaft 3a.

  In the power unit 1E having the above-described configuration, the above-described operation by EV creep and EV start is performed as follows. That is, electric power is supplied to the stators 23 and 33, and accordingly, the first rotating magnetic field generated in the stator 23 is reversed and the second rotating magnetic field generated in the stator 33 is rotated forward. Further, the first and second magnetic field rotational speeds VMF1, VMF2 are controlled so that (β + 1) · | VMF1 | = α · | VMF2 | is established. Furthermore, the electric power supplied to the first and second rotating machines 21 and 31 is controlled so that the torque is sufficiently transmitted to the drive wheels DW and DW.

  As described above, since the reverse rotation of the A2 rotor 25 is prevented by the brake mechanism BL with respect to the first rotating magnetic field of the stator 23 rotating in the reverse direction as described above, it is apparent from the function of the first rotating machine 21 described above. In addition, all of the electric power supplied to the stator 23 is transmitted as power to the A1 rotor 24, whereby the A1 rotor 24 rotates forward. Further, since the reverse rotation of the B1 rotor 34 is prevented by the brake mechanism BL with respect to the second rotating magnetic field of the stator 33 that normally rotates as described above, as apparent from the function of the second rotating machine 31 described above. All the electric power supplied to the stator 33 is transmitted as power to the B2 rotor 35, so that the B2 rotor 35 rotates forward. Further, the power transmitted to the A1 and B2 rotors 24 and 35 is transmitted to the drive wheels DW and DW, and as a result, the drive wheels DW and DW rotate forward.

  Further, in this case, the first and second driving equivalent torques TSE1 and TSE2 act to reversely rotate with respect to the A2 and B1 rotors 25 and 34, which are prevented from being reversely rotated by the brake mechanism BL. Thereby, the rotors 25 and 34 of the crankshafts 3a, A2 and B1 are not only reversed, but are held stationary.

  As described above, according to the present embodiment, the drive wheels DW and DW can be driven by the first and second rotating machines 21 and 31 without using engine power. Further, during this driving, the crankshaft 3a is not only reversely rotated, but is also held stationary, so that the engine 3 is not dragged.

  In the first to sixth embodiments described so far, the first and second pole pair ratios α and β are both set to a value of 2.0, but the first and second poles When the log ratios α and β are set smaller than 1.0, the following effects can be obtained. As is apparent from the relationship between the rotational speeds of the various rotary elements shown in FIG. 33 described above, when the first pole pair number ratio α is set to a relatively large value, the engine speed NE is higher than the vehicle speed VP ( In the case of the two-dot chain line in FIG. 33), the first magnetic field rotational speed VMF1 may be higher than the engine speed NE and may be excessive. On the other hand, by setting the first pole pair number ratio α to be smaller than 1.0, it is clear from the comparison between the speed collinear chart shown by the broken line and the speed collinear chart shown by the two-dot chain line in FIG. In addition, the first magnetic field rotation speed VMF1 can be reduced, and therefore it is possible to prevent the drive efficiency from being lowered due to the occurrence of loss due to the excessive increase in the first magnetic field rotation speed VMF1.

  Further, when the second pole pair number ratio β is set to a relatively large value and the vehicle speed VP is higher than the engine speed NE (see the one-dot chain line in FIG. 33), the second magnetic field rotational speed VMF2 It may be higher than VP and excessive. On the other hand, by setting the second pole pair number ratio β to be smaller than 1.0, as apparent from the comparison between the speed collinear chart shown by the broken line and the speed collinear chart shown by the one-dot chain line in FIG. Therefore, the second magnetic field rotational speed VMF2 can be reduced, and therefore it is possible to prevent the drive efficiency from being lowered due to the generation of loss due to the excessive increase in the second magnetic field rotational speed VMF2.

  Furthermore, in the first to sixth embodiments, the A2 rotor 25 and the B1 rotor 34 are connected to each other, and the A1 rotor 24 and the B2 rotor 35 are connected to each other. However, the A2 rotor 25 and the B1 rotor 34 are connected to the crankshaft. The A1 rotor 24 and the B2 rotor 35 do not have to be connected to each other as long as they are connected to the drive wheels DW and DW. In this case, the transmission 61 of the second embodiment is configured by two transmissions, and one of these two transmissions is driven between the A1 rotor 24 and the drive wheels DW and DW, and the other is driven by the B2 rotor 35. Each may be provided between the wheels DW and DW. Similarly, the transmission 91 of the fifth embodiment is constituted by two transmissions, and one of these two transmissions is between the A2 rotor 25 and the crankshaft 3a, and the other is the B1 rotor 34 and the crankshaft 3a. May be provided between each of them.

  In the first to fifth embodiments, of course, a brake mechanism BL for preventing reverse rotation of the crankshaft 3a may be provided. The brake mechanism BL is composed of the one-way clutch OC and the case CA, but may be composed of other mechanisms such as a band brake as long as the reverse rotation of the crankshaft 3a can be prevented.

(Seventh embodiment)
Next, a power plant 1F according to a seventh embodiment will be described with reference to FIG. Compared with the power unit 1 of the first embodiment, the power unit 1F includes a second rotating machine 31 that is a general single-pinion type first planetary gear unit PS1 and a general one-rotor type rotating machine 101. The only difference is that it is replaced with. In addition, in the same figure, about the same component as 1st Embodiment, it has shown using the same code | symbol. The same applies to other embodiments described later. Hereinafter, a description will be given focusing on differences from the first embodiment.

  As shown in FIG. 57, the first planetary gear unit PS1 includes a first sun gear S1, a first ring gear R1 provided on the outer periphery of the first sun gear S1, and a plurality of (for example, three) meshing gears S1 and R1. ) First planetary gear P1 (only two are shown) and a first carrier C1 that rotatably supports the first planetary gear P1. The ratio between the number of teeth of the first sun gear S1 and the number of teeth of the first ring gear R1 (the number of teeth of the first sun gear S1 / the number of teeth of the first ring gear R1, hereinafter referred to as “first planetary gear ratio r1”) is a value of 1. It is set to a predetermined value slightly smaller than 0.0, and is set to a relatively large value among values that can be taken by a general planetary gear device.

  The first sun gear S1 is mechanically directly connected to the A2 rotor 25 via the first rotating shaft 4 and mechanically directly connected to the crankshaft 3a via the first rotating shaft 4 and the flywheel 5. ing. The first carrier C1 is mechanically coupled directly to the A1 rotor 24 via the connecting shaft 6, and the second rotating shaft 7, the gear 7b, the first gear 8b, the idler shaft 8, the second gear 8c, It is mechanically connected to the drive wheels DW and DW via the gear 9a, the differential gear mechanism 9, and the like. That is, the A1 rotor 24 and the first carrier C1 are mechanically coupled to the drive wheels DW and DW.

Further, the first planetary gear device PS1 has the same well-known function as a general planetary gear device due to its configuration. That is, the function of distributing the power input to the first carrier C1 to the first sun gear S1 and the first ring gear R1 when the rotation directions of the first sun gear S1, the first ring gear R1 and the first carrier C1 are the same. And the function of synthesizing the power input to the first sun gear S1 and the first ring gear R1 and outputting the combined power to the first carrier C1. Further, during such power distribution / combination, the first sun gear S1, the first ring gear R1, and the first carrier C1 rotate while maintaining a collinear relationship with respect to the rotational speed. In this case, the rotational speed relationship among the first sun gear S1, the first ring gear R1, and the first carrier C1 is expressed by the following equation (53).
VRI1 = (r1 + 1) VCA1-r1 · VSU1 (53)
Here, VRI1 is the rotational speed of the first ring gear R1 (hereinafter referred to as “first ring gear rotational speed”), and VCA1 is the rotational speed of the first carrier C1 (hereinafter referred to as “first carrier rotational speed”). , VSU1 is the rotational speed of the first sun gear S1 (hereinafter referred to as “first sun gear rotational speed”).

  The rotating machine 101 is a three-phase brushless DC motor, and includes a stator 102 composed of a plurality of coils and a rotor 103 composed of magnets. Further, the rotating machine 101 has a function of converting electric power supplied to the stator 102 into power and outputting it to the rotor 103, and a function of converting power inputted into the rotor 103 into electric power and outputting it to the stator 102. ing. The rotor 103 is provided integrally with the first ring gear R1, and is rotatable together with the first ring gear R1. The stator 102 is electrically connected to the battery 43 via the second PDU 42. That is, the stator 23 of the first rotating machine 21 and the stator 102 of the rotating machine 101 are electrically connected to each other via the first and second PDUs 41 and 42.

  FIG. 58 is a conceptual diagram showing an example of a schematic configuration of the power unit 1F and a power transmission state. In FIG. 58, the first rotating machine 21 is the “first rotating machine”, the stator 23 is the “first stator”, the A1 rotor 24 is the “first rotor”, the A2 rotor 25 is the “second rotor”, the first The planetary gear unit PS1 is “differential device”, the first sun gear S1 is “first element”, the first carrier C1 is “second element”, the first ring gear R1 is “third element”, and the rotating machine 101 is “first element”. "Two-rotor machine", engine 3 is represented as "heat engine", drive wheels DW and DW are represented as "driven parts", first PDU 41 is represented as "first controller", and second PDU 42 is represented as "second controller". . The differential device has the same function as the planetary gear device. Further, the second element of the first rotor and the differential device are mechanically connected to the driven portion, and the first element of the second rotor and the differential device are mechanically connected to the first output portion of the heat engine. The third element of the differential device is mechanically coupled to the second output of the second rotating machine, and the stator and the second rotating machine are electrically connected to each other via the first and second controllers. It is connected to the.

  With the above configuration, in the power unit, the power of the heat engine is transmitted to the driven part as follows, for example. Hereinafter, the power device in which the second rotor and the first element are coupled to the first output portion of the heat engine and the first rotor and the second element are coupled to the driven portion is referred to as a “first power device”. The power device in which the first rotor and the second element are connected to the first output portion of the heat engine and the second rotor and the first element are connected to the driven portion is referred to as a “second power device”. Further, transmission of power from the heat engine to the driven part in these first and second power units will be described in order from the first power unit. In FIG. 58, as in FIG. 19, the mechanical connection is indicated by a solid line, the electrical connection is indicated by a one-dot chain line, and the magnetic connection is indicated by a broken line. Moreover, the flow of motive power and electric power is shown by the thick line with an arrow.

  When the power of the heat engine is transmitted to the driven part, the first rotating machine uses a part of the power of the heat engine to generate power by the control of the first and second controllers, and the generated power is Supply to two-rotor machine. During power generation by the first rotating machine, as shown in FIG. 58, a part of the power of the heat engine is transmitted to the second rotor connected to the first output portion of the heat engine, and further, due to the above-described magnetic field lines. The magnetic force is distributed to the first rotor and the stator. In this case, a part of the power transmitted to the second rotor is converted into electric power and distributed to the stator. The power distributed as described above to the first rotor is transmitted to the driven part, while the power distributed to the stator is supplied to the second rotating machine. Furthermore, when the electric power generated by the first rotating machine as described above is supplied to the second rotating machine, this electric power is converted into power and then transmitted to the third element. Further, the remaining power of the heat engine is transmitted to the first element, combined with the power transmitted to the third element as described above, and then transmitted to the driven part via the second element. As a result, power having the same magnitude as that of the heat engine is transmitted to the driven part.

  As described above, in the first power unit 1F of the present embodiment, as in the power unit 1 of the first embodiment, the first rotating machine is an apparatus that combines a planetary gear unit and a general one-rotor type rotating machine. Unlike the above-described conventional power unit that requires two planetary gear units to distribute and combine and transmit power because it has the same function, only one differential unit for the same purpose is required. Therefore, the first power unit can be reduced in size accordingly. The same applies to the second power unit described above. Also, in the first power unit, unlike the above-described conventional case, the power of the heat engine is transmitted to the driven part without being recirculated as described above, so that the first rotating machine, the differential unit, and the second The power passing through the rotating machine can be reduced. Therefore, it is possible to reduce the size and cost of the first rotating machine, the differential device, and the second rotating machine, thereby achieving further downsizing and cost reduction of the first power unit. Further, by using the first rotating machine, the differential device, and the second rotating machine that have a torque capacity commensurate with the reduced power as described above, the loss of power is suppressed, and the driving efficiency of the first power device is increased. Can be increased.

  Further, the power of the heat engine includes the second rotor, the first transmission path composed of the magnetic force by the magnetic field lines and the first rotor, the second rotor, the magnetic force by the magnetic field lines, the stator, the first controller, the second controller, and the second rotation. The driven part in a divided state through a total of three transmission paths: a second transmission path composed of a machine, a third element, and a second element; and a third transmission path composed of the first and second elements. Communicated. As a result, the electric power (energy) passing through the first and second controllers via the second transmission path can be reduced, so that the first and second controllers can be reduced in size and cost. Thereby, further downsizing and cost reduction of the first power plant can be achieved.

  Further, when the power is transmitted to the driven part as described above, the first and second controllers respectively control the rotational speed of the rotating magnetic field of the stator and the rotational speed of the second output part of the second rotating machine. By doing so, the power of the heat engine can be changed steplessly and transmitted to the driven part. Hereinafter, this point will be described. In the first rotating machine, as is apparent from the above-described function, during the energy distribution / synthesis between the stator, the first and second rotors, the rotating magnetic field, the first and second rotors are expressed by the equation (25). ) Rotating while maintaining the collinear relationship with respect to the rotation speed as shown in () In the differential device, during energy distribution / synthesis between the first to third elements, the first to third elements rotate while maintaining a collinear relationship with respect to the rotational speed. Furthermore, in the connection relationship described above, when the second rotor and the first element are directly connected to the first output portion of the heat engine, the rotational speeds of the second rotor and the first element are both the first and second rotational speeds of the heat engine. It is equal to the rotation speed of one output unit. Further, when the first rotor and the second element are directly connected to the driven part, the rotational speeds of the first rotor and the second element are both equal to the speed of the driven part. Furthermore, when the second output unit and the third element of the second rotating machine are directly connected to each other, the rotation speeds of the second rotating machine and the third element are equal to each other.

  Here, the rotational speed of the first output unit of the heat engine is defined as “the rotational speed of the heat engine”, and the rotational speed of the second output unit of the second rotating machine is defined as “the rotational speed of the second rotating machine”. Further, the rotation speed of the rotating magnetic field is “magnetic field rotation speed VF”, the rotation speeds of the first and second rotors are “first and second rotor rotation speeds VR1 and VR2,” respectively, The rotation speeds of the elements are respectively “first to third element rotation speeds V1 to V3”. From the relationship between the rotational speeds of the various rotary elements described above, the rotational speed of the heat engine, the speed of the driven part, the magnetic field rotational speed VF, the first and second rotor rotational speeds VR1 and VR2, The relationship between the third element rotational speeds V1 to V3 and the rotational speed of the second rotating machine is shown as a thick solid line in FIG. 59, for example.

  Therefore, as shown by a two-dot chain line in FIG. 59, for example, the magnetic field rotational speed VF is increased with respect to the second rotor rotational speed VR2 and the first element rotational speed V1, and the rotational speed of the second rotating machine is increased. By reducing the power, the power of the heat engine can be decelerated steplessly and transmitted to the driven part. Conversely, as indicated by the one-dot chain line in FIG. 59, the magnetic field rotational speed VF is decreased and the rotational speed of the second rotating machine is increased with respect to the second rotor rotational speed VR2 and the first element rotational speed V1. Thus, the power of the heat engine can be increased steplessly and transmitted to the driven part.

  Further, when the pole pair number ratio α of the first rotating machine is relatively large, when the rotational speed of the heat engine is higher than the speed of the driven part (see the two-dot chain line in FIG. 59), the magnetic field rotational speed VF is It may be higher than the rotational speed of the heat engine and may become excessive. Therefore, by setting the pole pair number ratio α of the first rotating machine to a smaller value, as is clear from the comparison between the speed collinear diagram shown by the broken line and the speed collinear diagram shown by the two-dot chain line in FIG. The magnetic field rotation speed VF can be reduced, thereby preventing the drive efficiency from being reduced due to the occurrence of loss due to the excessive magnetic field rotation speed VF.

  Furthermore, the collinear relationship regarding the rotational speeds of the first to third elements in the differential device is expressed by the difference between the rotational speeds of the first and second elements and the rotational speeds of the second and third elements of value 1. .0: When the value X (X> 0) is set and the value X is set relatively large, the speed of the driven part is higher than the rotational speed of the heat engine (one point in FIG. 59). (Refer to the chain line), the rotation speed of the second rotating machine may be higher than the speed of the driven part and may be excessive. Therefore, by setting the value X to a smaller value, as is apparent from a comparison between the speed collinear diagram shown by the broken line and the speed collinear diagram shown by the one-dot chain line in FIG. The speed can be reduced, thereby preventing the drive efficiency from being reduced due to the occurrence of loss due to the excessive increase in the rotational speed of the second rotating machine.

  Further, in the first power unit, while supplying electric power to the second rotating machine and generating electric power with the first stator, torque output to the second output unit of the second rotating machine (hereinafter referred to as “second rotating machine torque”). Can be transmitted to the driven part while the first output part of the heat engine is stopped, thereby driving the driven part. Can do. Furthermore, during the driving of such driven parts, it is possible to start the internal combustion engine when the heat engine is an internal combustion engine. FIG. 60 shows the relationship between the torques of various rotating elements in this case, together with the relationship between the rotational speeds. In the same figure, TOUT is the driven part transmission torque as in claim 1, and TDHE, Tg and TM2 are torques transmitted to the first output part of the heat engine (hereinafter referred to as "heat engine transmission torque"). ), The power generating equivalent torque and the second rotating machine torque.

When starting the heat engine as described above, as is apparent from FIG. 60, the second rotating machine torque TM2 uses the power generation equivalent torque Tg of the first rotating machine as a reaction force and the driven part and the heat engine. Therefore, the torque required for the first rotating machine is larger than in other cases. In this case, the torque required for the first rotating machine, that is, the power generation equivalent torque Tg is expressed by the following equation (54).
Tg = − {X · TOUT + (X + 1) TDHE} / (α + 1 + X) (54)

  As is apparent from this equation (54), the larger the pole pair number ratio α of the first rotating machine, the more the power generation equivalent torque Tg with respect to the driven part transmission torque TOUT and the heat engine transmission torque TDHE of the same magnitude. Get smaller. Therefore, by setting the pole pair number ratio α to a larger value, it is possible to further reduce the size and cost of the first rotating machine.

  Furthermore, in the first power unit, the speed of the driven part in the low speed state can be rapidly increased by controlling the heat engine and the first and second rotating machines as follows. FIG. 61 shows the relationship between the rotational speeds of the various rotating elements at the start when the speed of the driven part is rapidly increased as described above, together with the relationship between the torques of the various rotating elements. In the figure, the THE is the torque of the heat engine as in the first aspect, and Te is the driving equivalent torque of the first rotating machine described above. In this case, the rotational speed of the heat engine is increased to a predetermined rotational speed at which the maximum torque can be obtained. As shown in FIG. 61, since the speed of the driven part does not increase immediately, the rotational speed of the heat engine becomes higher than the speed of the driven part, and the difference between the two becomes large. The second output of the reverse. Moreover, in order to make a positive torque act on a to-be-driven part from the 2nd output part of the 2nd rotary machine which reverses in that way, electric power generation is performed in a 2nd rotary machine. Further, the electric power generated by the second rotating machine is supplied to the stator of the first rotating machine, and the rotating magnetic field generated by the stator is rotated forward.

As described above, the torque THE of the heat engine, the driving equivalent torque Te, and the second rotating machine torque TM2 are all transmitted as positive torque to the driven part, and as a result, the speed of the driven part rapidly increases. . Further, when the speed of the driven part in the low speed state is rapidly increased as described above, as is apparent from FIG. 61, the torque THE of the heat engine and the driving equivalent torque Te cause the second rotating machine torque TM2 to be increased. Since it is transmitted to the driven part as a reaction force, the torque required for the second rotating machine is larger than in other cases. In this case, the torque required for the second rotating machine, that is, the second rotating machine torque TM2 is expressed by the following equation (55).
TM2 = − {α · THE + (1 + α) TOUT} / (X + 1 + α) (55)

  As is clear from this equation (55), the larger the value X, the smaller the second rotating machine torque TM2 with respect to the driven portion transmission torque TOUT and the heat engine torque THE of the same magnitude. Therefore, by setting the value X to a larger value, the second rotating machine can be further reduced in size and cost.

  FIG. 62 schematically shows an example of the state of power transmission from the heat engine to the driven part in the second power unit described above. In addition, the notation methods, such as the connection relationship of the various rotation elements in the same figure, are the same as FIG. In this second power unit, the power of the heat engine is transmitted to the driven part as follows, for example. That is, by the control by the first and second controllers, power is generated by the second rotating machine using a part of the power of the heat engine, and the generated power is supplied to the stator of the first rotating machine. During power generation by the second rotating machine, as shown in FIG. 62, a part of the power of the heat engine is transmitted to the second element connected to the first output portion of the heat engine, and the first and third Distributed to the elements. The power distributed to the first element is transmitted to the driven part, while the power distributed to the third element is transmitted to the second rotating machine and converted to electric power and then supplied to the stator. .

  Furthermore, when the electric power generated by the second rotating machine is supplied to the stator as described above, this electric power is converted into power and transmitted to the second rotor by the magnetic force generated by the magnetic lines of force. Accordingly, the remaining power of the heat engine is transmitted to the first rotor, and further transmitted to the second rotor by the magnetic force generated by the magnetic lines of force. Further, the power transmitted to the second rotor is transmitted to the driven part. As a result, power having the same magnitude as that of the heat engine is transmitted to the driven part.

  As described above, also in the second power unit, the power of the heat engine is transmitted to the driven part without recirculation, as in the first power unit described above. The power passing through the two-rotor can be reduced. Therefore, similarly to the first power unit, the first rotating machine, the differential unit, and the second rotating machine can be reduced in size and cost, thereby further reducing the size and cost of the second power unit. Can be achieved, and the driving efficiency of the second power unit can be increased. Also, between the first power unit and the second power unit, the power distribution / combination in the first rotating machine and the differential unit is in an opposite relationship. As shown, the power of the heat engine is transmitted to the driven part in a divided state via a total of three transmission paths, the first to third transmission paths described above. Therefore, similarly to the first power unit, the first and second controllers can be reduced in size and cost, thereby achieving further downsizing and cost reduction of the second power unit. it can.

  Further, in the second power unit, similarly to the first power unit, when the power is transmitted to the driven parts as described above, the first and second controllers use the magnetic field rotational speed VF and the second rotating machine. By controlling the respective rotation speeds, the power of the heat engine can be changed steplessly and transmitted to the driven parts. Specifically, in the second power unit, the rotational speed of the heat engine, the speed of the driven part, the magnetic field rotational speed VF, the first and second rotor rotational speeds VR1 and VR2, and the first to third The relationship between the element rotation speeds V1 to V3 and the rotation speed of the second rotating machine is indicated by a thick solid line in FIG. 63, for example. As indicated by a two-dot chain line in the figure, for example, the rotational speed of the second rotating machine is increased and the magnetic field rotational speed VF is decreased with respect to the second element rotational speed V2 and the first rotor rotational speed VR1. Thus, the power of the heat engine can be decelerated steplessly and transmitted to the driven part. On the other hand, as indicated by the one-dot chain line in FIG. 63, the rotational speed of the second rotating machine is decreased and the magnetic field rotational speed VF is increased with respect to the second element rotational speed V2 and the first rotor rotational speed VR1. Thus, the power of the heat engine can be increased steplessly and transmitted to the driven part.

  In addition, when the pole pair number ratio α of the first rotating machine is relatively large, when the speed of the driven part is higher than the rotational speed of the heat engine (see the dashed line in FIG. 63), the magnetic field rotational speed VF is The speed of the driven part may be higher and may be excessive. Therefore, by setting the pole pair number ratio α to a smaller value, the magnetic field rotational speed VF is set to be as apparent from the comparison between the speed collinear diagram shown by the broken line in FIG. Accordingly, it is possible to prevent the driving efficiency from being lowered due to the loss caused by the excessive magnetic field rotation speed VF.

  Further, when the value X that defines the collinear relationship regarding the rotational speed in the above-described differential device is relatively large, when the rotational speed of the heat engine is higher than the speed of the driven part (see the two-dot chain line in FIG. 63). The rotational speed of the second rotating machine becomes higher than the rotational speed of the heat engine and may become excessive. Therefore, by setting this value X to a smaller value, it is clear from the comparison between the speed collinear diagram shown by the broken line in FIG. The speed can be reduced, thereby preventing the drive efficiency from being reduced due to the occurrence of loss due to the excessive increase in the rotational speed of the second rotating machine.

  In the second power unit, power is supplied to the stator of the first rotating machine and power is generated by the second rotating machine, whereby the driving equivalent torque Te of the first rotating machine is converted to the second rotating machine torque TM2. Can be transmitted to the driven part while the first output part of the heat engine is stopped, thereby driving the driven part. Furthermore, when the heat engine is an internal combustion engine during the driving of such driven parts, it is possible to start the internal combustion engine as in the case of the first power unit. FIG. 64 shows the relationship between the torques of the various rotating elements in this case, together with the relationship between the rotational speeds.

When the heat engine is started as described above, as is apparent from FIG. 64, the driving equivalent torque Te takes both the driven part and the output part of the heat engine as the reaction force using the second rotating machine torque TM2. Therefore, the torque required for the second rotating machine is larger than in other cases. In this case, the torque required for the second rotating machine, that is, the second rotating machine torque TM2 is expressed by the following equation (56).
TM2 = − {α · TOUT + (1 + α) TDHE} / (X + α + 1) (56)

  As is clear from this equation (56), the larger the value X, the smaller the second rotating machine torque TM2 with respect to the driven part transmission torque TOUT and the heat engine transmission torque TDHE of the same magnitude. Therefore, by setting the value X to a larger value, the second rotating machine can be further reduced in size and cost.

  Furthermore, in the second power unit, the speed of the driven portion in the low speed state is rapidly increased by controlling the heat engine and the first and second rotating machines as follows, similarly to the first power unit. be able to. FIG. 65 shows the relationship between the rotational speeds of the various rotating elements at the start when the speed of the driven part is rapidly increased in this way, together with the relationship between the torques of the various rotating elements. In this case, the rotational speed of the heat engine is increased to a predetermined rotational speed at which the maximum torque can be obtained. As shown in FIG. 65, since the speed of the driven part does not increase immediately, the rotational speed of the heat engine becomes higher than the speed of the driven part, and the difference between the two becomes large. The rotating direction of the rotating magnetic field determined by is the reverse direction. For this reason, in order to apply a positive torque to the driven part from the stator of the first rotating machine that generates such a rotating magnetic field, power is generated in the stator. Furthermore, the electric power generated by the stator is supplied to the second rotating machine, and the second output unit is rotated forward.

As described above, the torque THE of the heat engine, the second rotating machine torque TM2, and the power generation equivalent torque Tg are all transmitted as positive torque to the driven part, and as a result, the speed of the driven part rapidly increases. . Further, when the speed of the driven portion in the low speed state is rapidly increased as described above, as is clear from FIG. 65, the torque THE of the heat engine and the second rotating machine torque TM2 are the same as those of the first rotating machine. Since the power generation equivalent torque Tg is transmitted to the driven part as a reaction force, the torque required for the first rotating machine is larger than in other cases. In this case, the torque required for the first rotating machine, that is, the power generation equivalent torque Tg is expressed by the following equation (57).
Tg = − {X · THE + (1 + X) TOUT} / (α + 1 + X) (57)

  As is apparent from this equation (57), the larger the pole pair number ratio α, the smaller the power generation equivalent torque Tg with respect to the driven portion transmission torque TOUT and the heat engine torque THE of the same magnitude. Therefore, by setting the pole pair number ratio α to a larger value, it is possible to further reduce the size and cost of the first rotating machine.

  66, a rotation angle sensor 59 is connected to the ECU 2. The rotation angle sensor 59 detects the rotation angle position of the rotor 103 of the rotating machine 101, and sends the detection signal to the ECU 2. Output. The ECU 2 calculates the rotational speed of the rotor 103 (hereinafter referred to as “rotor rotational speed”) based on this detection signal. Further, the ECU 2 controls the power supplied to the stator 102 of the rotating machine 101, the power generated by the stator 102, and the rotor rotation speed by controlling the second PDU 42 based on the detected rotation angle position of the rotor 103. To do. The ECU 2 reads data from the memory 45 that stores various maps and the like necessary for performing the control. Further, the ECU 2 derives the temperature of the battery 43 from the signal detected by the battery temperature sensor 62 attached to the exterior body of the battery 43 or the periphery thereof.

  Hereinafter, the driving force control performed by the ECU 2 in the power unit 1F having the above-described one-collinear four-element mechanism will be described with reference to FIGS. 67 and 68. FIG. FIG. 67 is a block diagram showing driving force control in the power plant 1F of the seventh embodiment. FIG. 68 is a collinear chart of the power unit 1F having a 1-collinear 4-element structure.

  As shown in FIG. 67, the ECU 2 acquires a detection signal representing the accelerator opening AP described above and a detection signal representing the vehicle speed VP. Next, the ECU 2 uses the driving force map stored in the memory 45 to derive a driving force (hereinafter referred to as “required driving force”) corresponding to the accelerator opening AP and the vehicle speed VP. Next, the ECU 2 calculates an output (hereinafter referred to as “request output”) according to the required driving force and the vehicle speed VP. The requested output is an output required for the vehicle to travel according to the driver's accelerator pedal operation.

  Next, the ECU 2 acquires information on the remaining capacity (SOC: State of Charge) of the battery 43 from the detection signal representing the current and voltage values input to and output from the battery 43 described above. Next, the ECU 2 determines the ratio of the output of the engine 3 in the required output according to the SOC of the battery 43. Next, the ECU 2 uses the ENG operation map stored in the memory 45 to derive an optimum operating point corresponding to the output of the engine 3. The ENG operation map is a map based on BSFC (Brake Specific Fuel Consumption) indicating the fuel consumption rate at each operation point in accordance with the relationship between the shaft rotational speed, torque, and output of the engine 3. Next, the ECU 2 derives the shaft speed of the engine 3 at the optimum operating point (hereinafter referred to as “required ENG shaft speed”). Further, the ECU 2 derives the torque of the engine 3 at the optimum operating point (hereinafter referred to as “ENG required torque”).

  Next, the ECU 2 controls the engine 3 to output the ENG request torque. Next, the ECU 2 detects the shaft speed of the engine 3. The shaft speed of the engine 3 detected at this time is referred to as “actual ENG shaft speed”. Next, the ECU 2 calculates a difference Δrpm between the required ENG shaft rotational speed and the actual ENG shaft rotational speed. The ECU 2 controls the output torque of the first rotating machine 21 so that the difference Δrpm approaches zero. The control is performed by generating regenerative power with the stator 23 of the first rotating machine 21, and as a result, the torque T12 shown in the alignment chart of FIG. 68 is applied to the A2 rotor 25 of the first rotating machine 21 (MG1). Will be added.

When torque T12 is applied to the A2 rotor 25 of the first rotating machine 21, torque T11 is generated in the A1 rotor 24 of the first rotating machine 21 (MG1). The torque T11 is calculated by the following equation (58).
T11 = α / (1 + α) × T12 (58)

  In addition, electric energy (regenerative energy) generated by regenerative power generation in the stator 23 of the first rotating machine 21 is sent to the first PDU 41. In the alignment chart of FIG. 68, the regenerative energy generated in the stator 23 of the first rotating machine 21 is indicated by a dotted line A.

  Next, the ECU 2 controls the second PDU 42 such that a torque T22 obtained by subtracting the calculated torque T11 from the previously calculated required driving force is applied to the first carrier C1 of the first planetary gear unit PS1. As a result, torque is applied to the rotor 103 of the rotating machine 101 (MG2) and is transmitted to the first carrier C1 of the first planetary gear unit PS1. 68 shows a case where electric energy is supplied to the stator 102 of the rotating machine 101, and the electric energy at that time is indicated by a dotted line B. FIG. At this time, when supplying electric energy to the rotating machine 101, the regenerative energy obtained by the regenerative power generation of the first rotating machine 21 may be used.

  Thus, the torque T11 is applied to the A1 rotor 24 of the first rotating machine 21, and the torque T22 is applied to the first carrier C1 of the first planetary gear device PS1. The A1 rotor 24 of the first rotating machine 21 is connected to the first carrier C1 of the first planetary gear device PS1 via the connecting shaft 6, and the first carrier C1 of the first planetary gear device PS1 is connected to the second rotating shaft 7. Therefore, the sum of the torque T11 and the torque T22 is added to the drive wheels DW and DW.

However, when the torque T22 is applied to the first carrier C1 of the first planetary gear device PS1, the torque T21 is generated in the first sun gear S1 of the first planetary gear device PS1. The torque T21 is expressed by the following formula (59).
T21 = β / (1 + β) × T22 (59)

  Since the first sun gear S1 of the first planetary gear unit PS1 is connected to the shaft of the engine 3, the actual ENG shaft rotational speed of the engine 3 is affected by the torque T21. However, even if the actual ENG shaft rotation speed changes, the ECU 2 controls the output torque of the first rotating machine 21 so that the difference Δrpm approaches zero. The torque T12 is changed by the control, and the torque T11 generated in the A1 rotor 24 of the first rotating machine 21 is also changed. Therefore, the ECU 2 changes the torque applied to the rotor 103 of the rotating machine 101. At this time, the torque T21 generated by the changed torque also changes. Thus, the torque applied to each of the A1 rotor 24 and A2 rotor 25 of the first rotating machine 21 and the first sun gear S1 and the first carrier C1 of the first planetary gear device PS1 circulates (T12 → T11 → From T22 to T21), each torque converges.

  As described above, the ECU 2 controls the torque generated in the A2 rotor 25 of the first rotating machine 21 so that the engine 3 operates at the optimum operating point, and the required driving force is applied to the drive wheels DW and DW. The torque generated in the rotor 103 of the rotating machine 101 is controlled so as to be transmitted.

  In the above description, the vehicle speed VP is used when the required driving force is derived and when the required output is derived, but information on the rotational speed of the axle may be used instead of the vehicle speed VP.

  As described above, the power plant 1F according to the present embodiment is merely a replacement of the second rotating machine 31 with the first planetary gear unit PS1 and the rotating machine 101 as compared with the power plant 1 of the first embodiment. The power unit 1 has exactly the same function. Further, in the power unit 1F, operation in various operation modes such as EV creep described in the first embodiment is performed in the same manner. In this case, the operation in these operation modes is performed by replacing various parameters related to the second rotating machine 31 (such as the second magnetic field rotation speed VMF2) with various parameters of the corresponding rotating machine 101. Hereinafter, these operation modes will be briefly described focusing on differences from the first embodiment.

-EV creep During EV creep, while supplying electric power from the battery 43 to the stator 102 of the rotary machine 101, the rotor 103 is rotated forward. In addition, the power transmitted to the A1 rotor 24 of the first rotating machine 21 as described later is used to generate power in the stator 23 and further supply the generated power to the stator 102. Along with this, the torque output to the rotor 103 of the rotating machine 101 (hereinafter referred to as “rotating machine torque”) acts to rotate the first carrier C1 in the forward direction and acts to reverse the first sun gear S1. To do. Further, part of the torque transmitted to the first carrier C1 is transmitted to the drive wheels DW and DW via the second rotating shaft 7 and the like, whereby the drive wheels DW and DW are rotated forward.

  Furthermore, during EV creep, the remainder of the torque transmitted to the first carrier C1 is transmitted to the A1 rotor 24 via the connecting shaft 6, and then the stator 23 of the first rotating machine 21 generates power along with the power generation. 23 is transmitted as electrical energy. Further, as described in the first embodiment, since the first rotating magnetic field generated along with the power generation is reversed, the first power generation equivalent torque TGE1 acts to cause the A2 rotor 25 to rotate forward. Further, the torque transmitted to the A1 rotor 24 is further transmitted to the A2 rotor 25 so as to be balanced with the first power generation equivalent torque TGE1 and acts to cause the A2 rotor 25 to rotate forward.

  In this case, by controlling the electric power supplied to the stator 102 and the electric power generated by the stator 23 so that the torque for reversing the first sun gear S1 described above and the torque for rotating the A2 rotor 25 forward are balanced, The connected A2 rotor 25, first sun gear S1, and crankshaft 3a are held stationary. As a result, during EV creep, the A2 rotor rotational speed VRA2 and the first sun gear rotational speed VSU1 become the value 0, and the engine speed NE also becomes the value 0.

  Further, during EV creep, the electric power supplied to the stator 102, the electric power generated by the stator 23, the first magnetic field rotational speed VMF1 and the rotor rotational speed are the speeds shown in the equations (43) and (53), respectively. The first carrier rotational speed VCA1 and the A1 rotor rotational speed VRA1 are controlled to be very small so that the relationship is maintained. Thus, the creep operation with a very low vehicle speed VP is performed. As described above, the creep operation can be performed by the first rotating machine 21 and the rotating machine 101 with the engine 3 stopped.

EV Start At the time of EV start, both the electric power supplied to the stator 102 of the rotating machine 101 and the electric power generated by the stator 23 of the first rotating machine 21 are increased. Furthermore, the first magnetic field of the first rotating magnetic field that was reversed during EV creep while maintaining the rotational speed relationship as shown in equations (43) and (53) and maintaining the engine speed NE at a value of zero. The rotational speed VMF1 and the rotor rotational speed of the rotor 103 that has been normally rotated are increased in the same rotational direction as before. As a result, the vehicle speed VP increases and the vehicle starts.

ENG start during EV travel At the time of ENG start during EV travel, the first magnetic field rotation speed VMF1 of the first rotation magnetic field that has been reversed as described above at the time of EV start-up while maintaining the vehicle speed VP at the value at that time The control is performed so as to be 0, and the rotor rotational speed of the rotor 103 that has been normally rotated is controlled to be reduced. Then, after the first magnetic field rotation speed VMF1 reaches the value 0, power is supplied from the battery 43 to the stator 23 of the first rotating machine 21 in addition to the stator 102 of the rotating machine 101, and is generated in the stator 23. The first rotating magnetic field is rotated forward and the first magnetic field rotation speed VMF1 is increased.

  As the electric power is supplied to the stator 102 as described above, the rotating machine torque of the rotating machine 101 is transmitted to the first carrier C1 via the first ring gear R1, and the first sun gear S1 will be described later. Thus transmitted torque is transmitted to the first carrier C1. That is, the rotating machine torque and the torque transmitted to the first sun gear S1 are combined and transmitted to the first carrier C1. A part of the torque transmitted to the first carrier C1 is transmitted to the A1 rotor 24 via the connecting shaft 6, and the rest is transmitted to the drive wheels DW and DW via the second rotating shaft 7 and the like. .

  Further, as described in the first embodiment, when the ENG is started during EV traveling, power is supplied from the battery 43 to the stator 23, whereby the first driving equivalent torque TSE1 is transmitted to the A2 rotor 25. Accordingly, the torque transmitted to the A1 rotor 24 as described above is transmitted to the A2 rotor 25. A part of the torque transmitted to the A2 rotor 25 is transmitted to the first sun gear S1 via the first rotating shaft 4, and the rest is transmitted to the crankshaft 3a via the first rotating shaft 4 and the like. Thereby, the crankshaft 3a rotates forward. Furthermore, in this case, the electric power supplied to both the stators 102 and 23 is controlled so that the power is sufficiently transmitted to the drive wheels DW and DW and the engine 3.

  Thus, at the time of ENG start during EV traveling, the vehicle speed VP is held at the value at that time, and the engine speed NE increases. In this state, as in the first embodiment, the engine 3 is started by controlling the ignition operation of the fuel injection valve and the spark plug of the engine 3 according to the crank angle position. Further, by controlling the first magnetic field rotational speed VMF1 and the rotor rotational speed, the engine rotational speed NE is controlled to a relatively small value suitable for starting the engine 3.

FIG. 69 shows an example of the relationship between the rotational speeds and torques of various rotary elements at the start of the ENG start during EV traveling. In the figure, VRO and TMOT are the rotor rotational speed and the rotating machine torque of the rotating machine 101, respectively. In this case, as is apparent from FIG. 69, the rotating machine torque TMOT is transmitted to both the drive wheels DW and DW and the crankshaft 3a using the first power generation equivalent torque TGE1 as a reaction force. Similarly to the above, the torque required for the first rotating machine 21 is larger than in other cases. In this case, as in the first embodiment, the torque required for the first rotating machine 21, that is, the first power generation equivalent torque TGE1 is expressed by the following equation (60).
TGE1 = − {r1 · TDDW + (1 + r1) TDENG} / (α + 1 + r1) (60)

  As is apparent from this equation (60), the first power generation equivalent torque TGE1 becomes smaller with respect to the drive wheel transmission torque TDDW and the engine transmission torque TDENG of the same magnitude as the first pole log ratio α is larger. In the present embodiment, as in the first embodiment, the first pole-to-log ratio α is set to a value of 2.0, so the first power generation equivalent torque TGE1 is made smaller than when the value is set to less than 1.0. be able to.

-ENG traveling During ENG traveling, operation in the battery input / output zero mode, the assist mode, and the driving charging mode is performed according to the execution conditions described in the first embodiment. During the battery input / output zero mode, the engine power transmitted to the A2 rotor 25 is used to generate power with the stator 23 of the first rotating machine 21, and the generated power is not charged into the battery 43 without rotating the rotating machine. 101 is supplied to the stator 102. In this case, as in the first embodiment, a part of the engine torque TENG is distributed to the stator 23 and the A1 rotor 24 via the A2 rotor 25. The remainder of the engine torque TENG is transmitted to the first sun gear S1 via the first rotating shaft 4. Further, similarly to the above-described ENG start during EV traveling, the rotating machine torque TMOT and the torque transmitted to the first sun gear S1 as described above are combined and transmitted to the first carrier C1. Further, the engine torque TENG distributed as described above to the A1 rotor 24 is further transmitted to the first carrier C1 via the connecting shaft 6.

  As described above, the composite torque obtained by combining the engine torque TENG distributed to the A1 rotor 24, the rotating machine torque TMOT, and the engine torque TENG transmitted to the first sun gear S1 is transmitted to the first carrier C1. The The combined torque is transmitted to the drive wheels DW and DW via the second rotating shaft 7 and the like. As a result, if there is no transmission loss due to each gear during the battery input / output zero mode, power equal to the engine power is transmitted to the drive wheels DW and DW as in the first embodiment. .

  Further, during the battery input / output zero mode, the engine power is shifted steplessly and transmitted to the drive wheels DW and DW by controlling the first magnetic field rotational speed VMF1 and the rotor rotational speed VRO. That is, the first rotating machine 21, the first planetary gear device PS1, and the rotating machine 101 function as a continuously variable transmission.

  Specifically, as indicated by a two-dot chain line in FIG. 70, the A2 rotor rotational speed VRA2 and the first sun gear rotational speed VSU1, that is, the engine speed, are maintained while maintaining the speed relationship represented by the equations (43) and (53). The A1 rotor rotational speed VRA1 and the first carrier rotational speed VCA1, that is, the vehicle speed VP are continuously reduced by increasing the first magnetic field rotational speed VMF1 and decreasing the rotor rotational speed VRO with respect to several NE. Can do. On the other hand, as shown by the one-dot chain line in FIG. 70, the vehicle speed VP is increased steplessly by decreasing the first magnetic field rotational speed VMF1 and increasing the rotor rotational speed VRO with respect to the engine rotational speed NE. can do. Further, in this case, the first magnetic field rotational speed VMF1 and the rotor rotational speed VRO are controlled so that the engine rotational speed NE becomes the target rotational speed.

As described above, in the battery input / output zero mode, the engine power is temporarily divided in the first rotating machine 21, the first planetary gear unit PS1, and the rotating machine 101, and the following first to third transmission paths are transmitted. To the first carrier C1 and to the drive wheels DW and DW in a combined state.
First transmission path: A2 rotor 25 → magnetic force by magnetic field line ML → A1 rotor 24 → connection shaft 6 → first carrier C1
Second transmission path: first sun gear S1 → first planetary gear P1 → first carrier C1
Third transmission path: A2 rotor 25 → magnetic force due to magnetic field line ML → stator 23 → first PDU 41 → second PDU 42 → rotating machine 101 → first ring gear R1 → first planetary gear P1 → first carrier C1
In these first and second transmission paths, the engine power is transmitted to the drive wheels DW and DW by a magnetic path or a so-called mechanical path by meshing of gears without being converted into electric power.

  Further, during the battery input / output zero mode, the electric power generated by the stator 23, the first magnetic field rotational speed VMF1, and the rotor rotational speed VRO are controlled so as to maintain the speed relationship shown in the equations (43) and (53). Is done.

  During the assist mode, the engine power transmitted to the A2 rotor 25 is used to generate power in the stator 23, and in addition to the generated power, the power charged in the battery 43 is supplied to the rotating machine 101. It is supplied to the stator 102. Therefore, the rotating machine torque TMOT based on the electric power supplied from the stator 23 and the battery 43 to the stator 102 is transmitted to the first carrier C1. Further, as in the battery input / output zero mode described above, the rotating machine torque TMOT, the engine torque TENG distributed to the A1 rotor 24 a