JP5250523B2 - Power equipment - Google Patents

Description

  The present invention relates to a power unit including two or more different power sources such as a heat engine and a rotating machine.

  Conventionally, what was disclosed by patent document 1, for example as this kind of power unit is known. This power unit is for driving a drive wheel of a vehicle, and includes an internal combustion engine, a first rotating machine, and a second rotating machine as a power source. This second rotating machine is a general one-rotor type. Moreover, said 1st rotary machine is a 2 rotor type thing, and has a stator, a 1st rotor, and a 2nd rotor. In the first rotating machine, electric power supplied to the stator is converted into power, and this power is output from the first and second rotors. Alternatively, power input to the first rotor and the second rotor is converted into electric power and output from the stator. The first rotor and the second rotating machine are connected to drive wheels, and the second rotor is connected to the crankshaft of the internal combustion engine. Further, a battery is connected to the stator and the second rotating machine.

  In the power unit configured as described above, the crankshaft is driven by supplying electric power from the battery to the stator in order to start the internal combustion engine. Further, in order to drive the vehicle, the drive wheels are driven by supplying electric power from the battery to the second rotating machine.

International Publication No. 08/018539 Pamphlet

  However, since the battery described above is used as a power source for the second rotating machine that drives the vehicle, a relatively large current flows through the battery, so an abnormality such as a rare short may occur. On the other hand, in the above-described conventional power unit, in order to start the internal combustion engine and run the vehicle as described above, the stator or the There is a case where electric power is supplied to the second rotating machine. In such a case, the crankshaft and the driving wheels cannot be driven appropriately, and as a result, there is a possibility that the internal combustion engine cannot be started or the vehicle cannot be properly driven. is there.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is to provide a power unit that can appropriately start a heat engine according to whether there is an abnormality in the first power storage device. And

In order to achieve the above object, the invention according to claim 1 is a power unit 1B, 1C for driving a driven part (drive wheels DW, DW in the embodiments (hereinafter the same in this section)). A heat engine (engine 3) having an output portion (crankshaft 3a) for outputting power, a stationary stator (first stator 63) for generating a rotating magnetic field, and a magnet (permanent magnet 64a). A first rotor 64 that is configured to be opposed to the stator, and a second rotor 65 that is configured by a soft magnetic body (core 65a) and is provided between the stator and the first rotor 64; Between the stator and the first and second rotors 64 and 65, electric power and power are input / output with the generation of the rotating magnetic field, and the rotating magnetic field, the second and first rotor 65 are input with the input / output of the electric power and power. , 64 are each other In the collinear chart showing the relationship between the rotation speeds, a first rotating machine 61 configured so that straight lines representing the respective rotation speeds are arranged in order, and a rotor (second A rotor 23) that converts input electric power into power and outputs it from the rotor, and is configured to be able to be charged / discharged with a second rotating machine 21 that can convert the power input to the rotor into electric power, A first power storage device (main battery 44) electrically connected to the stator and the second rotating machine 21, a starter 31 that drives an output unit to start the heat engine, and a second power storage that is a power source of the starter 31 Control device (ECU2, relay 32, first PDU41, second PDU42, VC) for controlling the operation of the device (auxiliary battery 33) and the heat engine, starter 31, first and second rotating machines 61 and 21 43) and state parameter detection means (voltage sensor 55) for detecting state parameters (first to xth voltages V1 to Vx) representing the state of the first power storage device, and the first and second rotors 64, One of 65 is mechanically connected to the output part, the other of the first and second rotors 64 and 65 is mechanically connected to the driven part, and the rotor is mechanically connected to the driven part. the control device, in order to drive the output unit so as to start the heat engine, as well as selecting one of the first rotating machine 61 and the starter 31 based on the detected state parameter to control the operation of one selected (step of Fig. 5 3,4,9～14, step 91 in FIG. 34, step 53 in FIG. 37, step 111 in FIG. 40, step 53 in FIG. 43), the magnet, the circumferential direction into a plurality of predetermined aligned Magnetic pole In addition, a plurality of magnetic poles are arranged so that each of two adjacent magnetic poles have different polarities, thereby forming a magnetic pole row, and the first rotor 64 is configured to be rotatable in the circumferential direction. The stator generates an armature row (iron core 63a, U phase to W phase) that generates a rotating magnetic field rotating in the circumferential direction between the magnetic pole row by generating a plurality of predetermined armature magnetic poles. The soft magnetic body is composed of a plurality of predetermined soft magnetic bodies arranged in the circumferential direction at intervals from each other, and a soft magnetic body array composed of a plurality of soft magnetic bodies is provided. The second rotor 65 is configured to be rotatable in the circumferential direction, and the ratio between the number of armature magnetic poles, the number of magnetic poles, and the number of soft magnetic bodies is disposed between the magnetic pole array and the armature array. Is set to 1: m: (1 + m) / 2 (m ≠ 1.0). And features.

  According to this configuration, in the first rotating machine, as the rotating magnetic field is generated in the stator, electric power and power are input / output between the stator, the first and second rotors, and the rotating magnetic field, second The first rotor rotates while maintaining a collinear relationship with respect to the rotational speed between them, and in the collinear chart showing the rotational speed relationship, straight lines representing the respective rotational speeds are arranged in order. Also, one of the first and second rotors is mechanically connected to the output part of the heat engine, the other to the driven part, and the rotor of the second rotating machine to the driven part. Furthermore, the chargeable / dischargeable first power storage device is electrically connected to the stator and the second rotating machine, and the operations of the heat engine and the first and second rotating machines are controlled by the control device. As described above, the driven part can be driven by the heat engine or the second rotating machine, or the driven part can be driven by the first rotating machine.

Further, according to the above-described configuration, the output unit is driven by the starter to start the heat engine, the operation of the starter is controlled by the control device, and the second power storage device that is the power source of the starter is One power storage device is provided separately. Further, a state parameter representing the state of the first power storage device is detected by the state parameter detecting means. Further, in order to drive the output unit to start the heat engine, one of the first rotating machine and the starter is selected based on the detected state parameter, and the selected operation is controlled. Thus, when the state parameter is a value indicating that the first power storage device is abnormal, the output unit is switched using a starter that uses a second power storage device that is separate from the first power storage device. It becomes possible to drive properly and thus the heat engine can be started properly.

ここで、ψｆは磁極の磁束の最大値、θ１およびθ２はそれぞれ、Ｕ相コイルに対する磁極の回転角度位置および第１コアの回転角度位置である。また、この場合、電機子磁極の極対数に対する磁極の極対数の比が値２．０であるため、磁極の磁束が回転磁界に対して２倍の周期で回転（変化）するので、上記の式（１）では、そのことを表すために、（θ２−θ１）に値２．０が乗算されている。
したがって、第１コアを介してＵ相コイルを通過する磁極の磁束Ψｕ１は、式（１）にｃｏｓθ２を乗算することで得られた次式（２）で表される。

同様に、軟磁性体のうちの第２コアを通過する磁極の磁束Ψｋ２は、次式（３）で表される。

ステータに対する第２コアの回転角度位置が、第１コアに対して２π／３だけ進んでいるため、上記の式（３）では、そのことを表すために、θ２に２π／３が加算されている。
したがって、第２コアを介してＵ相コイルを通過する磁極の磁束Ψｕ２は、式（３）にｃｏｓ（θ２＋２π／３）を乗算することで得られた次式（４）で表される。

同様に、軟磁性体のうちの第３コアを介してＵ相コイルを通過する磁極の磁束Ψｕ３は、次式（５）で表される。

図６６に示すような第１回転機では、軟磁性体を介してＵ相コイルを通過する磁極の磁束Ψｕは、上記の式（２）、（４）および（５）で表される磁束Ψｕ１〜Ψｕ３を足し合わせたものになるので、次式（６）で表される。

また、この式（６）を一般化すると、軟磁性体を介してＵ相コイルを通過する磁極の磁束Ψｕは、次式（７）で表される。

ここで、ａ、ｂおよびｃはそれぞれ、磁極の極対数、軟磁性体の数および電機子磁極の極対数である。また、この式（７）を、三角関数の和と積の公式に基づいて変形すると、次式（８）が得られる。

この式（８）において、ｂ＝ａ＋ｃとするとともに、ｃｏｓ（θ＋２π）＝ｃｏｓθに基づいて整理すると、次式（９）が得られる。

この式（９）を三角関数の加法定理に基づいて整理すると、次式（１０）が得られる。

この式（１０）の右辺の第２項は、ａ−ｃ≠０を条件として、級数の総和やオイラーの公式に基づいて整理すると、次式（１１）から明らかなように値０になる。

また、上記の式（１０）の右辺の第３項も、ａ−ｃ≠０を条件として、級数の総和やオイラーの公式に基づいて整理すると、次式（１２）から明らかなように値０になる。

以上により、ａ−ｃ≠０のときには、軟磁性体を介してＵ相コイルを通過する磁極の磁束Ψｕは、次式（１３）で表される。

また、この式（１３）において、ａ／ｃ＝αとすると、次式（１４）が得られる。

さらに、この式（１４）において、ｃ・θ２＝θｅ２とするとともに、ｃ・θ１＝θｅ１とすると、次式（１５）が得られる。

ここで、θｅ２は、Ｕ相コイルに対する第１コアの回転角度位置θ２に電機子磁極の極対数ｃを乗算していることから明らかなように、Ｕ相コイルに対する第１コアの電気角度位置を表す。また、θｅ１は、Ｕ相コイルに対する磁極の回転角度位置θ１に電機子磁極の極対数ｃを乗算していることから明らかなように、Ｕ相コイルに対する磁極の電気角度位置を表す。
同様に、軟磁性体を介してＶ相コイルを通過する磁極の磁束Ψｖは、Ｖ相コイルの電気角度位置がＵ相コイルに対して電気角２π／３だけ遅れていることから、次式（１６）で表される。また、軟磁性体を介してＷ相コイルを通過する磁極の磁束Ψｗは、Ｗ相コイルの電気角度位置がＵ相コイルに対して電気角２π／３だけ進んでいることから、次式（１７）で表される。

また、上記の式（１５）〜（１７）でそれぞれ表される磁束Ψｕ〜Ψｗを時間微分すると、次式（１８）〜（２０）がそれぞれ得られる。

ここで、ωｅ１は、θｅ１の時間微分値、すなわち、ステータに対する第１ロータの角速度を電気角速度に換算した値（以下「第１ロータ電気角速度」という）であり、ωｅ２は、θｅ２の時間微分値、すなわち、ステータに対する第２ロータの角速度を電気角速度に換算した値（以下「第２ロータ電気角速度」という）である。
さらに、軟磁性体を介さずにＵ相〜Ｗ相コイルを直接、通過する磁極の磁束は、極めて小さく、その影響は無視できる。このため、軟磁性体を介してＵ相〜Ｗ相コイルをそれぞれ通過する磁極の磁束Ψｕ〜Ψｗの時間微分値ｄΨｕ／ｄｔ〜ｄΨｗ／ｄｔ（式（１８）〜（２０））は、ステータに対して磁極や軟磁性体が回転するのに伴ってＵ相〜Ｗ相コイルに発生する逆起電圧（誘導起電圧）をそれぞれ表す。
このことから、Ｕ相、Ｖ相およびＷ相コイルにそれぞれ流す電流Ｉｕ、ＩｖおよびＩｗは、次式（２１）、（２２）および（２３）で表される。

ここで、Ｉは、Ｕ相〜Ｗ相コイルに流す電流の振幅（最大値）である。
また、これらの式（２１）〜（２３）より、Ｕ相コイルに対する回転磁界のベクトルの電気角度位置θｍｆは、次式（２４）で表されるとともに、Ｕ相コイルに対する回転磁界の電気角速度（以下「磁界電気角速度」という）ωｍｆは、次式（２５）で表される。

さらに、Ｕ相〜Ｗ相コイルに電流Ｉｕ〜Ｉｗがそれぞれ流れることで第１および第２ロータに出力される機械的出力（動力）Ｗは、リラクタンス分を除くと、次式（２６）で表される。

この式（２６）に上記の式（１８）〜（２３）を代入し、整理すると、次式（２７）が得られる。

さらに、この機械的出力Ｗと、前述した第１および第２ロータ伝達トルクＴ１，Ｔ２と、第１および第２ロータ電気角速度ωｅ１，ωｅ２との関係は、次式（２８）で表される。

これらの式（２７）および（２８）から明らかなように、第１および第２ロータ伝達トルクＴ１，Ｔ２は、次式（２９）および（３０）でそれぞれ表される。

また、ステータに入力された電力と機械的出力Ｗが互いに等しい（ただし、損失は無視）ことと、前記式（２５）および（２７）から、前述した駆動用等価トルクＴｅは、次式（３１）で表される。

さらに、これらの式（２９）〜（３１）より、次式（３２）が得られる。

この式（３２）で表されるトルクの関係、および式（２５）で表される電気角速度の関係は、遊星歯車装置のサンギヤとリングギヤとキャリアにおけるトルクおよび回転速度の関係とまったく同じである。
さらに、前述したように、ｂ＝ａ＋ｃおよびａ−ｃ≠０を条件として、式（２５）の電気角速度の関係および式（３２）のトルクの関係が成立する。この条件ｂ＝ａ＋ｃは、磁極の数をｐ、電機子磁極の数をｑとすると、ｂ＝（ｐ＋ｑ）／２、すなわち、ｂ／ｑ＝（１＋ｐ／ｑ）／２で表される。ここで、ｐ／ｑ＝ｍとすると、ｂ／ｑ＝（１＋ｍ）／２が得られることから明らかなように、上記のｂ＝ａ＋ｃという条件が成立していることは、電機子磁極の数と磁極の数と軟磁性体の数との比が、１：ｍ：（１＋ｍ）／２であることを表す。また、上記のａ−ｃ≠０という条件が成立していることは、ｍ≠１．０であることを表す。前述したように、本発明の第１回転機によれば、電機子磁極の数と磁極の数と軟磁性体の数との比が、１：ｍ：（１＋ｍ）／２（ｍ≠１．０）に設定されているので、式（２５）に示す電気角速度の関係と式（３２）に示すトルクの関係が成立し、第１回転機が適正に作動することが分かる。
以上のように、第１回転機では、ステータへの電力の入力により回転磁界を発生させると、前述した磁極と軟磁性体と電機子磁極を結ぶような磁力線が発生し、この磁力線による磁力の作用によって、ステータに入力された電力は動力に変換され、その動力が、第１ロータや第２ロータから出力されるとともに、上述したような電気角速度やトルクの関係が成立する。このため、ステータに電力を入力していない状態で、第１および第２ロータの少なくとも一方に動力を入力することにより、この少なくとも一方のロータをステータに対して回転させると、ステータにおいて、発電が行われるとともに、回転磁界が発生し、この場合にも、磁極と軟磁性体と電機子磁極を結ぶような磁力線が発生するとともに、この磁力線による磁力の作用によって、上述した式（２５）に示す電気角速度の関係と式（３２）に示すトルクの関係が成立する。
すなわち、発電した電力および磁界電気角速度ωｍｆと等価のトルクを「発電用等価トルク」とすると、この発電用等価トルクと、第１および第２ロータ伝達トルクＴ１，Ｔ２の間にも、式（３２）に示すような関係が成立する。以上から明らかなように、本発明の第１回転機は、遊星歯車装置と一般的な１ロータタイプの回転機を組み合わせた装置と同じ機能を有している。
この場合、式（２５）および（３２）から明らかなように、α＝ａ／ｃ、すなわち、電機子磁極の極対数に対する磁極の極対数の比を設定することによって、磁界電気角速度ωｍｆ、第１および第２ロータ電気角速度ωｅ１，ωｅ２の間の関係と、駆動用等価トルクＴｅ（発電用等価トルク）、第１および第２ロータ伝達トルクＴ１，Ｔ２の間の関係を自由に設定できる。したがって、第１回転機の設計の自由度を高めることができ、ひいては、動力装置の設計の自由度を高めることができる。この効果は、ステータのコイルの相数が前述した値３以外の場合にも同様に得られる。
なお、本明細書および特許請求の範囲における「機械的な連結」には、シャフトや、ギヤ、プーリ、チェーンなどを介して各種の要素を連結することに加え、ギヤなどの変速機構を介さずに各要素をシャフトなどで直接的に連結（直結）することも含まれる。また、本明細書および特許請求の範囲における「検出」には、センサによる検出に加え、演算による「算出」や「推定」も含まれる。 On the other hand, when the state parameter is a value indicating that the first power storage device is normal, the output unit is turned on using the first rotating machine connected to the first power storage device. It becomes possible to drive properly and thus the heat engine can be started properly. As described above, the heat engine can be appropriately started according to whether or not the first power storage device is abnormal.
Further, according to the first rotating machine of the power unit, the second rotor rotatable in the circumferential direction is interposed between the magnetic pole row of the first rotor rotatable in the circumferential direction and the armature row of the stationary stator. A soft magnetic material row is arranged. In addition, a plurality of magnetic poles and soft magnetic bodies that respectively constitute the magnetic pole row and the soft magnetic body row are arranged in the circumferential direction. Furthermore, the armature array of the stator can generate a rotating magnetic field rotating in the circumferential direction between the magnetic pole array by generating a plurality of predetermined armature magnetic poles. Moreover, each two adjacent magnetic poles have different polarities, and there is a space between each two adjacent soft magnetic bodies. As described above, since the rotating magnetic field is generated by the plurality of armature magnetic poles and the soft magnetic body row is arranged between the magnetic pole row and the armature row, each soft magnetic body has an armature magnetic pole and a magnetic pole. Is magnetized by. Due to this and the gap between each two adjacent soft magnetic bodies as described above, magnetic lines of force connecting the magnetic pole, the soft magnetic body, and the armature magnetic pole are generated. For this reason, when a rotating magnetic field is generated by the input of electric power to the stator, the electric power input to the stator is converted into power by the action of the magnetic force by the magnetic lines of force, and the power is output from the first rotor and the second rotor. Is done.
Here, the torque equivalent to the electric power input to the stator and the electric angular velocity ωmf of the rotating magnetic field is referred to as “driving equivalent torque Te”. Hereinafter, the relationship between this driving equivalent torque Te 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 rotating magnetic field, The relationship between the electrical angular velocities of the first and second rotors will be described.
When the first rotating machine of the present invention is configured under the following conditions (A) and (B), an equivalent circuit corresponding to the first rotating machine is shown as in FIG.
(A) The stator has a three-phase coil composed of a U phase, a V phase, and a W phase.
(B) Two armature magnetic poles and four magnetic poles, that is, the number of pole pairs in which the N poles and the S poles of the armature magnetic poles are one set, the pole having the N poles and the S poles of the magnetic poles as one set The logarithm is a value of 2, and the soft magnetic material is composed of three soft magnetic materials comprising a first core, a second core, and a third core.
As described above, the “pole pair” used in this specification refers to one set of the N pole and the S pole.
In this case, the magnetic flux Ψk1 of the magnetic pole passing through the first core of the soft magnetic material is expressed by the following equation (1).

Here, ψf is the maximum value of the magnetic flux of the magnetic pole, and θ1 and θ2 are the rotation angle position of the magnetic pole and the rotation angle position of the first core, respectively, with respect to the U-phase coil. In this case, since the ratio of the number of pole pairs of the magnetic poles to the number of pole pairs of the armature magnetic poles is 2.0, the magnetic flux of the magnetic poles rotates (changes) with a period twice that of the rotating magnetic field. In equation (1), to express this, (θ2−θ1) is multiplied by the value 2.0.
Therefore, the magnetic flux Ψu1 of the 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 magnetic pole passing through the second core of the soft magnetic material is expressed by the following formula (3).

Since the rotation angle position of the second core with respect to the stator is advanced by 2π / 3 with respect to the first core, in the above equation (3), 2π / 3 is added to θ2 in order to express this fact. Yes.
Therefore, the magnetic flux Ψu2 of the magnetic pole passing through the U-phase coil via the second core is expressed by the following equation (4) obtained by multiplying equation (3) by cos (θ2 + 2π / 3).

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

In the first rotating machine as shown in FIG. 66, the magnetic flux Ψu of the magnetic pole passing through the U-phase coil via the soft magnetic material is the magnetic flux Ψu1 expressed by the above equations (2), (4), and (5). Since ~ Ψu3 is added, it is expressed by the following equation (6).

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

Here, a, b, and c are the number of pole pairs of the magnetic poles, the number of soft magnetic bodies, and the number of pole pairs of the armature magnetic poles, 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 magnetic pole passing through the U-phase coil via the soft magnetic material 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 represents 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 armature magnetic pole. Represent. Further, θe1 represents the electrical angle position of the magnetic pole with respect to the U-phase coil, as is apparent from the fact that the rotation angle position θ1 of the magnetic pole with respect to the U-phase coil is multiplied by the pole pair number c of the armature magnetic pole.
Similarly, the magnetic flux Ψv of the magnetic pole passing through the V-phase coil via the soft magnetic material is delayed by an electrical angle 2π / 3 with respect to the U-phase coil because the electrical angle position of the V-phase coil is 16). Further, the magnetic flux Ψw of the magnetic pole passing through the W-phase coil via the soft magnetic material is such that the electrical angle position of the W-phase coil is advanced by an electrical angle of 2π / 3 with respect to the U-phase coil. ).

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 the angular velocity of the first rotor relative to the stator into an electrical angular velocity (hereinafter referred to as “first rotor electrical angular velocity”), and ωe2 is a time differential value of θe2. That is, a value obtained by converting the angular velocity of the second rotor with respect to the stator into an electrical angular velocity (hereinafter referred to as “second rotor electrical angular velocity”).
Furthermore, the magnetic flux of the magnetic pole passing directly through the U-phase to W-phase coils without using a soft magnetic material is extremely small, and its influence can be ignored. Therefore, the time differential values dΨu / dt to dΨw / dt (formulas (18) to (20)) of the magnetic fluxes Ψu to Ψw of the magnetic poles passing through the U-phase to W-phase coils via the soft magnetic material are transferred to the stator. On the other hand, the counter electromotive voltage (inductive electromotive voltage) generated in the U-phase to W-phase coils as the magnetic pole and the soft magnetic body rotate is shown.
From this, the currents Iu, Iv, and Iw that flow through the U-phase, V-phase, and W-phase coils are expressed by the following equations (21), (22), and (23).

Here, I is the amplitude (maximum value) of the current passed through the U-phase to W-phase coils.
Further, from these equations (21) to (23), the electric angle position θmf of the rotating magnetic field vector with respect to the U-phase coil is expressed by the following equation (24), and the electric angular velocity of the rotating magnetic field with respect to the U-phase coil ( Ωmf (hereinafter referred to as “magnetic field electrical angular velocity”) is expressed by the following equation (25).

Furthermore, 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, is expressed by the following equation (26) excluding the reluctance. Is done.

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

Further, the relationship among 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).

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 input to the stator and the mechanical output W are equal to each other (however, the loss is ignored), and from the above formulas (25) and (27), the driving equivalent torque Te described above is given 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 magnetic poles and q is the number of armature magnetic poles. Here, assuming that p / q = m, b / q = (1 + m) / 2 is obtained. As is apparent from the fact that the condition of b = a + c is satisfied, the number of armature magnetic poles The ratio between the number of magnetic poles and the number of soft magnetic materials is 1: m: (1 + m) / 2. In addition, the fact that the condition of a−c ≠ 0 is satisfied indicates that m ≠ 1.0. As described above, according to the first rotating machine of the present invention, the ratio of the number of armature magnetic poles and the number of magnetic poles to the number of soft magnetic materials is 1: m: (1 + m) / 2 (m ≠ 1. 0), the relationship between the electrical angular velocity shown in equation (25) and the torque relationship shown in equation (32) is established, and it can be seen that the first rotating machine operates properly.
As described above, in the first rotating machine, when the rotating magnetic field is generated by the input of electric power to the stator, the magnetic field lines connecting the magnetic pole, the soft magnetic material, and the armature magnetic pole are generated, and the magnetic force generated by the magnetic field lines is reduced. By the action, the electric power input to the stator is converted into motive power, and the motive power is output from the first rotor and the second rotor, and the relationship between the electrical angular velocity and torque as described above is established. For this reason, when power is input to at least one of the first and second rotors in a state where no electric power is input to the stator, when at least one of the rotors is rotated with respect to the stator, the stator generates power. In this case, a magnetic field line connecting the magnetic pole, the soft magnetic body, and the armature magnetic pole is generated, and the above-described equation (25) is generated by the action of the magnetic force by the magnetic field line. The relationship between the electrical angular velocity and the torque shown in Expression (32) is established.
That is, when the generated power and the torque equivalent to the magnetic field electrical angular velocity ωmf are “equivalent torque for power generation”, the equation (32) is also generated between this power generation equivalent torque and the first and second rotor transmission torques T1 and T2. ) Is established. As is apparent from the above, the first rotating machine of the present invention has the same function as an apparatus combining a planetary gear device and a general one-rotor type rotating machine.
In this case, as apparent from the equations (25) and (32), α = a / c, that is, by setting the ratio of the number of pole pairs of the magnetic poles to the number of pole pairs of the armature magnetic poles, the magnetic field electrical angular velocity ωmf, The relationship between the first and second rotor electrical angular velocities ωe1 and ωe2, the driving equivalent torque Te (power generation equivalent torque), and the relationship between the first and second rotor transmission torques T1 and T2 can be freely set. Therefore, the freedom degree of design of a 1st rotary machine can be raised, and the freedom degree of design of a power plant can be raised by extension. This effect is also obtained when the number of phases of the stator coils is other than the value 3 described above.
In addition, in the “mechanical connection” in the present specification and the claims, in addition to connecting various elements via a shaft, a gear, a pulley, a chain, etc., a speed change mechanism such as a gear is not used. In addition, it is also included that each element is directly connected (directly connected) by a shaft or the like. Further, “detection” in the present specification and claims includes “calculation” and “estimation” by calculation in addition to detection by a sensor.

The invention according to claim 2, the power plant 1B as claimed in claim 1, in 1C, based on the state parameter, abnormality determination means for determining an abnormality of the first power storage device (ECU 2, step 3 in FIG. 5) to further The control device, when starting the heat engine, selects the starter 31 to drive the output unit to start the heat engine when it is determined that the first power storage device is abnormal (step of FIG. 37). 53, step 53 of FIG. 43).

According to this configuration, based on the state parameter representing the state of the first power storage device, the abnormality determining means, the abnormality of the first power storage device is determined, it is possible to make this determination properly. In addition, when starting the heat engine, if it is determined that the first power storage device is abnormal, a starter is selected to drive the output unit to start the heat engine. As described above, the output unit can be appropriately driven.

The invention according to claim 3, the power plant 1B as claimed in claim 2, in 1C, first and second power storage devices are electrically connected to each other, when starting the heat engine, the first power storage device When it is determined that there is an abnormality, a shut-off means (first contactor 46, second contactor 47, ECU 2, step 51 in FIG. 37, step 51 in FIG. 43) that electrically disconnects the first power storage device and the second power storage device. Step 51) is further provided.

According to this configuration , the first and second power storage devices are electrically connected to each other. For this reason, when the first power storage device is abnormal, the power supply from the second power storage device to the starter cannot be appropriately performed due to the influence, and as a result, the output unit may not be driven appropriately by the starter. . In contrast, according to the above-described configuration, when the first power storage device is determined to be abnormal when the heat engine is started, the electric power is electrically connected between the first power storage device and the second power storage device by the shut-off means. Is blocked. Therefore, the above-described problems can be avoided, and the output unit can be reliably and appropriately driven when starting the heat engine.

According to a fourth aspect of the present invention, in the power plant 1B, 1C according to the second or third aspect , the stator and the second rotating machine 21 are electrically connected to each other, and the control device drives the driven part. At this time, when it is determined that the first power storage device is abnormal, both power transfer between the first power storage device and the stator and power transfer between the first power storage device and the second rotating machine 21 are not performed. The operations of the heat engine and the first and second rotating machines 61 and 21 are controlled so that the required driving force PREQ required for the driven part is transmitted to the driven part (Steps 57 to 59 in FIG. 37, 101, 102, steps 57 to 59, 121, 122 in FIG. 43).

  According to this configuration, the stator and the second rotating machine are electrically connected to each other. By controlling the transfer of electric power between the stator and the second rotating machine from this and the connection relationship between the various components described above, the power of the heat engine is transmitted via the first and second rotating machines. Can be transmitted to the driven part.

  In addition, when driving the driven part, when it is determined that the first power storage device is abnormal, power is transferred between the first power storage device and the stator, and power is transferred between the first power storage device and the second rotating machine. The operations of the heat engine and the first and second rotating machines are controlled so that the required driving force required for the driven part is transmitted to the driven part without any transfer. As a result, the power of the heat engine can be transmitted to the driven part as described above without performing any power transfer between the first power storage device in the abnormal state, the stator, and the second rotating machine. Therefore, coupled with the control of the operation of the heat engine and the first and second rotating machines, the required driving force can be appropriately transmitted to the driven part.

In order to achieve the above object, the invention according to claim 5 is a power unit 1E for driving a driven portion (drive wheels DW and DW in the embodiment (hereinafter, the same in this section)), A heat engine (engine 3) having an output part (crankshaft 3a) for outputting power, a stationary first stator 63 for generating a first rotating magnetic field, and a first magnet (permanent magnet 64a). The second rotor 64 is provided between the first stator 63 and the first rotor 64, and includes a first rotor 64 provided to face the first stator 63 and a first soft magnetic body (core 65 a). The first rotor 63 and the first and second rotors 64 and 65 are used to input and output power and power with the generation of the first rotating magnetic field, and to input and output power and power. Accordingly, the first rotating magnetic field, the second and the first The data 65 and 64 rotate while maintaining a collinear relationship with respect to the rotational speed between them, and in the collinear chart showing the rotational speed relationship, the straight lines representing the respective rotational speeds are arranged in order. A first rotor 61, a stationary second stator 83 for generating a second rotating magnetic field, and a second rotor (permanent magnet 84 a), and a third rotor provided to face the second stator 83. 84, a second soft magnetic body (core 85a), a fourth rotor 85 provided between the second stator 83 and the third rotor 84, and the second stator 83, the third and fourth. Between the rotors 84 and 85, electric power and power are input / output with the generation of the second rotating magnetic field, and the second rotating magnetic field, the fourth and third rotors 85, 84 are input with the input / output of electric power and power. , Keep a collinear relationship about the rotation speed between each other In the collinear diagram showing the relationship between the rotational speeds, the second rotating machine 81 is configured so that the straight lines representing the respective rotational speeds are arranged in order, and is configured to be able to be charged and discharged, and the first and second The first power storage device (main battery 44) electrically connected to the stators 63 and 83, the starter 31 that drives the output unit to start the heat engine, and the second power storage device (auxiliary power source) of the starter 31 Battery 33), a control device (ECU 2, relay 32, first PDU 41, second PDU 42, VCU 43) for controlling the operation of the heat engine, starter 31, first and second rotating machines 61, 81, and first power storage device State parameter detecting means (voltage sensor 55) for detecting state parameters (first to xth voltages V1 to Vx) representing the state of the second and third rotors 65 and 84, the outputs The first and fourth rotors 64 and 85 are mechanically connected to the driven part, and the control device drives the output part to start the heat engine. , as well as selecting one of the at least one starter 31 of the first and second rotating machines 61 and 81 based on the detected state parameter, step 3 and 4 of the control the operation of one selected (Fig. 5, 9-14, step 151 in FIG. 55, step 53 in FIG. 58) , the first magnet forms a plurality of predetermined first magnetic poles arranged in the first circumferential direction, and the plurality of first magnetic poles are adjacent to each other. By arranging the two first magnetic poles so as to have different polarities from each other, a first magnetic pole row is configured, and the first rotor 64 is configured to be rotatable in the first circumferential direction, The first stator 63 is a predetermined By generating a plurality of first armature magnetic poles, a first armature row (iron core 63a, U phase ~) that generates a first rotating magnetic field that rotates in the first circumferential direction between the first magnetic pole row and W-phase coils 63c to 63e), and the first soft magnetic body is composed of a plurality of predetermined first soft magnetic bodies arranged in the first circumferential direction at intervals from each other, and the plurality of first soft magnetic bodies A first soft magnetic body row composed of a body is disposed between the first magnetic pole row and the first armature row, and the second rotor 65 is configured to be rotatable in the first circumferential direction, The ratio of the number of first armature magnetic poles, the number of first magnetic poles, and the number of first soft magnetic bodies is set to 1: m: (1 + m) / 2 (m ≠ 1.0). The magnet constitutes a plurality of predetermined second magnetic poles arranged in the second circumferential direction, and the plurality of second magnetic poles are different from each other in the two adjacent second magnetic poles. The second magnetic pole row is configured, the third rotor 84 is configured to be rotatable in the second circumferential direction, and the second stator 83 has a predetermined plurality of second A second armature array (iron core 83a, U-phase to W-phase coil 83b) that generates a second rotating magnetic field that rotates in the second circumferential direction between the second magnetic pole array by generating two armature magnetic poles And the second soft magnetic body is composed of a predetermined plurality of second soft magnetic bodies arranged in the second circumferential direction at an interval from each other, and the second soft magnetic body is composed of a plurality of second soft magnetic bodies. 2 soft magnetic body rows are arranged between the second magnetic pole row and the second armature row, the fourth rotor 85 is configured to be rotatable in the second circumferential direction, and the second armature magnetic pole row The ratio of the number, the number of the second magnetic poles, and the number of the second soft magnetic bodies is set to 1: n: (1 + n) / 2 (n ≠ 1.0) Characterized in that that.

According to this arrangement, the first rotating machine, as in the first rotating machine of the power unit according to claim 1, as the first rotating magnetic field by the first stator is generated, the first stator, the first and second Electric power and power are input / output between the rotors, and the first rotating magnetic field, the second and first rotors rotate while maintaining a collinear relationship with respect to the rotational speed, and show the rotational speed relationship. In the nomograph, straight lines representing the respective rotation speeds are arranged in order. The second rotating machine is configured in the same manner as the first rotating machine. As the second rotating magnetic field is generated in the second stator, electric power is generated between the second stator, the third rotor, and the fourth rotor. In the collinear chart showing the relationship between the rotational speeds, the second rotating magnetic field, the fourth and third rotors rotate while maintaining a collinear relationship with respect to the rotational speeds, respectively. Straight lines representing the number of rotations are arranged in order.

  Further, the second and third rotors are mechanically connected to the output part of the heat engine, the first and fourth rotors are mechanically connected to the driven parts, respectively, and a first power storage device that can be charged and discharged is It is electrically connected to the first and second stators. The operations of the heat engine and the first and second rotating machines are controlled by the control device. As described above, the driven part can be driven by the heat engine, the first rotating machine, and the second rotating machine, or the output part can be driven by at least one of the first and second rotating machines.

  Furthermore, according to the above-described configuration, in order to start the heat engine, the output unit is driven by the starter, the operation of the starter is controlled by the control device, and the starter power The second power storage device is provided separately from the first power storage device. In addition, a state parameter representing the state of the first power storage device is detected by the state parameter detecting means. Further, in order to drive the output unit to start the heat engine, at least one of the first and second rotating machines and the starter are selected based on the detected state parameter, and the selected one operation Is controlled. Thus, when the state parameter is a value indicating that the first power storage device is abnormal, the output unit is switched using a starter that uses a second power storage device that is separate from the first power storage device. It becomes possible to drive properly and thus the heat engine can be started properly.

  Contrary to the above, when the state parameter is a value indicating that the first power storage device is normal, at least one of the first and second rotating machines connected to the first power storage device. Can be used to properly drive the output, and thus the heat engine can be started properly. As described above, the heat engine can be appropriately started according to whether or not the first power storage device is abnormal.

In addition, as described above, in the collinear chart representing the relationship between the first rotating magnetic field and the rotation speed of the first rotor and the second rotor, the straight line representing the rotation speed of the first rotating magnetic field and the rotation speed of the second rotor are represented. The straight lines are adjacent to each other, and such a second rotor is connected to the output section. Therefore, when starting the heat engine, when the output unit is driven using at least one of the first and second rotating machines as described above, the operation of the first rotating machine is adopted. Control can be performed appropriately and easily.
Further, according to the above-described configuration, both the first and second rotating machines are configured in the same manner as the first rotating machine in the power plant according to claim 1, and thus have the same function as the first rotating machine. doing. Accordingly, the degree of freedom in designing the first and second rotating machines can be increased, and as a result, the degree of freedom in designing the power plant can be increased.

The invention according to claim 6 further includes abnormality determination means (ECU 2, step 3 of FIG. 5) for determining abnormality of the first power storage device based on the state parameter in the power unit 1E according to claim 5 . When starting the heat engine, if it is determined that the first power storage device is abnormal, the control device selects the starter 31 to drive the output unit to start the heat engine (step 53 in FIG. 58). It is characterized by that.

According to this configuration, as in the power unit of claim 2, the abnormality determination unit determines the abnormality of the first power storage device based on the state parameter representing the state of the first power storage device. It can be carried out. Further, when starting the heat engine, when the first power storage device is determined to be abnormal, in order to drive the output unit so as to start the thermal engine, since the starter is chosen, described in the description of claim 5 As described above, the output unit can be appropriately driven.

According to a seventh aspect of the present invention, in the power plant 1E according to the sixth aspect , the first and second power storage devices are electrically connected to each other, and the first power storage device is abnormal when the heat engine is started. When it is determined, it further includes a shut-off means (first contactor 46, second contactor 47, ECU 2, step 51 in FIG. 58) for electrically shutting off the first power storage device and the second power storage device. Features.

  According to this configuration, the first and second power storage devices are electrically connected to each other, similarly to the power unit according to the third aspect. For this reason, when the first power storage device is abnormal, it is not possible to appropriately input power from the second power storage device to the starter due to the influence thereof, and as a result, the output unit may not be driven appropriately by the starter. . In contrast, according to the above-described configuration, when the first power storage device is determined to be abnormal when the heat engine is started, the electric power is electrically connected between the first power storage device and the second power storage device by the shut-off means. Is blocked. Therefore, the above-described problems can be avoided, and the output unit can be reliably and appropriately driven when starting the heat engine.

The invention according to claim 8 is the power plant 1E according to claim 6 or 7 , wherein the first and second stators 63 and 83 are electrically connected to each other, and the control device drives the driven portion. When it is determined that the first power storage device is abnormal, both power transfer between the first power storage device and the first stator 63 and power transfer between the first power storage device and the second stator 83 are performed. The operations of the heat engine and the first and second rotating machines 61 and 81 are controlled so that the required driving force PREQ required for the driven part is transmitted to the driven part (Steps 57 to 58 in FIG. 58). 59, 161, 162).

  According to this configuration, the first and second stators are electrically connected to each other. From this and the connection relationship between the various components described above, by controlling the power transfer between the first stator and the second stator, the power of the heat engine is supplied to the first and second rotating machines. To the driven part.

  Further, when driving the driven part, when it is determined that the first power storage device is abnormal, power is transferred between the first power storage device and the first stator, and power between the first power storage device and the second stator. The operations of the heat engine and the first and second rotating machines are controlled so that the required driving force required for the driven part is transmitted to the driven part without performing any transfer. As a result, the power of the heat engine can be transmitted to the driven part as described above, without performing any power transfer between the first power storage device in the abnormal state and the first and second stators. Therefore, coupled with the control of the operation of the heat engine and the first and second rotating machines, the required driving force can be appropriately transmitted to the driven part.

In order to achieve the above object, an invention according to claim 9 is a power unit 1F for driving a driven portion (drive wheels DW and DW in the embodiment (hereinafter, the same in this section)), A heat engine (engine 3) having an output part (crankshaft 3a) for outputting power, a stationary stator (first stator 63) for generating a rotating magnetic field, and a magnet (permanent magnet 64a). A first rotor 64 provided to face the stator and a second rotor 65 made of a soft magnetic material (core 65a) and provided between the stator and the first rotor 64, the stator, Between the first and second rotors 64 and 65, electric power and power are input / output with the generation of the rotating magnetic field, and with the input / output of electric power and power, the rotating magnetic field, the second and first rotors 65, 64 are input. But times between each other The first rotating machine 61 is configured to rotate while maintaining the collinear relationship regarding the number, and in the collinear diagram showing the relationship between the number of rotations, the straight lines representing the respective numbers of rotation are arranged in order, and the rotor (second rotor 23). ), And converts the input electric power into power and outputs it from the rotor, and also converts the power input into the rotor into electric power, and is configured to be able to be charged / discharged. Power can be transmitted between the first power storage device (main battery 44) electrically connected to the second rotating machine 21 and a collinear relationship with respect to the number of rotations can be maintained between the two during transmission of power. The first element (second sun gear S2) and the second element (second carrier C2) are configured such that, while rotating, the straight lines representing the respective rotational speeds are arranged in order in the collinear diagram showing the relationship between the rotational speeds. And the third element A power transmission mechanism (second planetary gear device PG2) having a second ring gear R2), a starter 31 that drives an output unit to start a heat engine, and a second power storage device (auxiliary battery 33) that is a power source of the starter 31. ), A control device (ECU2, relay 32, first PDU41, second PDU42, VCU43) for controlling the operation of the heat engine, the starter 31, the first and second rotating machines 61 and 21, and the state of the first power storage device State parameter detection means (voltage sensor 55) for detecting state parameters (first to xth voltages V1 to Vx) representing the first rotor 64 and the second element, and the second rotor 65 and the first element. One is mechanically connected to the output portion, and the other of the first rotor 64 and the second element and the second rotor 65 and the first element is mechanically connected to the driven portion. And the third element is mechanically coupled to the rotor, and the control device is configured to drive the output unit to start the heat engine, based on the state parameters, the first and second rotating machines 61 and 21. at least one selected one of the starter 31, and controls the operation of one selected in (step of FIG. 5 3,4,9～14, step 171 in FIG. 61, step 53 in FIG. 64), by the magnet, A plurality of predetermined magnetic poles arranged in the circumferential direction are configured, and the plurality of magnetic poles are arranged so that each of the two adjacent magnetic poles has different polarities, thereby forming a magnetic pole array, The one rotor 64 is configured to be rotatable in the circumferential direction, and the stator generates an electric field that generates a rotating magnetic field that rotates in the circumferential direction between the stator and the magnetic pole row by generating a plurality of predetermined armature magnetic poles. Child row (The iron core 63a, U-phase to W-phase coils 63c to 63e), and the soft magnetic body is composed of a plurality of predetermined soft magnetic bodies arranged in the circumferential direction at intervals from each other. A soft magnetic body row formed of a body is disposed between the magnetic pole row and the armature row, and the second rotor 65 is configured to be rotatable in the circumferential direction. The number of armature magnetic poles and the number of magnetic poles The ratio between the number and the number of soft magnetic materials is set to 1: m: (1 + m) / 2 (m ≠ 1.0) .

According to this configuration, in the first rotating machine, in the same manner as the first rotating machine in the power plant according to claim 1 , power is generated between the stator, the first and second rotors as a rotating magnetic field is generated in the stator. In the collinear diagram showing the relationship between the rotational speeds, the rotating magnetic field, the second and first rotors rotate while maintaining a collinear relationship with respect to the rotational speeds, Lines representing numbers are arranged in order. In the power transmission mechanism, the first to third elements rotate while maintaining a collinear relationship with respect to the rotational speed between each other during transmission of the power between each other, and collinear indicating the rotational speed relationship. In the figure, the lines representing the respective rotation speeds are arranged in order.

  Further, one of the first rotor and the second element and the second rotor and the first element is mechanically coupled to the output portion, and the other of the first rotor and the second element and the second rotor and the first element is covered. The third element is mechanically connected to the rotor while being mechanically connected to the drive unit. The chargeable / dischargeable power storage device is electrically connected to the stator and the second rotating machine, and the operations of the heat engine and the first and second rotating machines are controlled by the control device. As described above, the driven part can be driven by the heat engine, the first rotating machine, and the second rotating machine, or the output part can be driven by at least one of the first and second rotating machines.

  Further, according to the above-described configuration, the output unit is driven by the starter to start the heat engine, the operation of the starter is controlled by the control device, and the second power storage device that is the power source of the starter is One power storage device is provided separately. Further, a state parameter representing the state of the first power storage device is detected by the state parameter detecting means. Further, in order to drive the output unit to start the heat engine, at least one of the first and second rotating machines and the starter are selected based on the state parameter, and the selected one operation is controlled. The Thus, when the state parameter is a value indicating that the first power storage device is abnormal, the output unit is switched using a starter that uses a second power storage device that is separate from the first power storage device. It becomes possible to drive properly and thus the heat engine can be started properly.

  Contrary to the above, when the state parameter is a value indicating that the first power storage device is normal, at least one of the first and second rotating machines connected to the first power storage device. Can be used to properly drive the output, and thus the heat engine can be started properly. As described above, the heat engine can be appropriately started according to whether or not the first power storage device is abnormal.

Further, as described above, in the collinear diagram showing the relationship between the rotating magnetic field and the rotation speed of the first rotor and the second rotor, the straight line representing the rotation speed of the rotating magnetic field and the straight line representing the rotation speed of the second rotor are adjacent to each other. ing. From this, when starting the heat engine, when the second rotor is connected to the output unit, when the output unit is driven using at least one of the first and second rotating machines as described above. By adopting the first rotating machine, the operation can be controlled appropriately and easily. Further, as is apparent from the above-described function, the second rotating machine can output a driving force or a braking force from the rotor, and the third element is connected to such a rotor. Since this and the straight lines representing the rotational speeds of the second and third elements are adjacent to each other in the collinear diagram representing the relationship between the rotational speeds as described above, when starting the heat engine, In the case where the two elements are connected to the output unit, when the output unit is driven using at least one of the first and second rotating machines as described above, by adopting the second rotating machine, The operation can be controlled appropriately and easily.
Further, according to the above-described configuration, the first rotating machine is configured in the same manner as the first rotating machine in the power unit according to claim 1, and thus has the same function as the first rotating machine. Therefore, the freedom degree of design of a 1st rotary machine can be raised, and the freedom degree of design of a power plant can be raised by extension.

The invention according to claim 10 is the power plant 1F according to claim 9 , further comprising abnormality determining means (ECU 2, step 3 of FIG. 5) for determining abnormality of the first power storage device based on the state parameter. When starting the heat engine, if it is determined that the first power storage device is abnormal, the control device selects the starter 31 to drive the output unit to start the heat engine (step 53 in FIG. 64). It is characterized by that.

According to this configuration, as in the power unit of claim 2, the abnormality determination unit determines the abnormality of the first power storage device based on the state parameter representing the state of the first power storage device. It can be carried out. Further, when starting the heat engine, when the first power storage device is determined to be abnormal, in order to drive the output unit so as to start the thermal engine, since the starter is chosen, described in the description of claims 9 As described above, the output unit can be appropriately driven.

According to an eleventh aspect of the present invention, in the power plant 1F according to the tenth aspect , the first and second power storage devices are electrically connected to each other, and the first power storage device is abnormal when the heat engine is started. When it is determined, it further includes a shut-off means (first contactor 46, second contactor 47, ECU 2, step 51 in FIG. 64) for electrically shutting off the first power storage device and the second power storage device. Features.

  According to this configuration, the first and second power storage devices are electrically connected to each other, similarly to the power unit according to the third aspect. For this reason, when the first power storage device is abnormal, it is not possible to appropriately input power from the second power storage device to the starter due to the influence thereof, and as a result, the output unit may not be driven appropriately by the starter. . In contrast, according to the above-described configuration, when the first power storage device is determined to be abnormal when the heat engine is started, the electric power is electrically connected between the first power storage device and the second power storage device by the shut-off means. Is blocked. Therefore, the above-described problems can be avoided, and the output unit can be reliably and appropriately driven when starting the heat engine.

According to a twelfth aspect of the present invention, in the power unit 1F according to the tenth or eleventh aspect , the stator and the second rotating machine 21 are electrically connected to each other, and when the control device drives the driven part, When it is determined that the first power storage device is abnormal, power is transferred between the first power storage device and the stator and power is not transferred between the first power storage device and the second rotating machine 21. The operations of the heat engine and the first and second rotating machines 61 and 21 are controlled so that the required driving force PREQ required for the driving unit is transmitted to the driven unit (Steps 57 to 59, 181 in FIG. 64, 182).

  According to this configuration, the stator and the second rotating machine are electrically connected to each other. By controlling the transfer of electric power between the stator and the second rotating machine from this and the connection relationship between the various components described above, the power of the heat engine is transmitted to the power transmission mechanism, the first and second power transmission mechanisms. It can be transmitted to the driven part via the rotating machine.

  In addition, when driving the driven part, when it is determined that the first power storage device is abnormal, power is transferred between the first power storage device and the stator, and power is transferred between the first power storage device and the second rotating machine. The operations of the heat engine and the first and second rotating machines are controlled so that the required driving force required for the driven part is transmitted to the driven part without any transfer. As a result, the power of the heat engine can be transmitted to the driven part as described above without performing any power transfer between the first power storage device in the abnormal state, the stator, and the second rotating machine. Therefore, coupled with the control of the operation of the heat engine and the first and second rotating machines, the required driving force can be appropriately transmitted to the driven part.

1 is a diagram schematically showing a power unit according to a first embodiment of the present invention together with drive wheels of a vehicle to which the power unit is applied. FIG. It is a block diagram which shows ECU etc. with which the power plant shown in FIG. 1 is provided. FIG. 2 is a block diagram illustrating a connection relationship between a first stator, a second stator, a main battery, and the like included in the power unit illustrated in FIG. 1. It is a block diagram which shows the connection relations, such as a main battery and an auxiliary battery with which the power plant shown in FIG. 1 is provided. It is a flowchart which shows the process for determining the driving mode of a vehicle performed in the power plant shown in FIG. 2 is a flowchart showing a process for determining an abnormality of a main battery, which is executed in the power plant shown in FIG. 1. It is a flowchart which shows the process for performing control by HV mode performed in the power plant shown in FIG. FIG. 8 is a collinear chart illustrating an example of the relationship between the rotational speed and the torque between various types of rotary elements in the power plant shown in FIG. 1 during execution of the processing shown in FIG. 7 and when the vehicle is stopped. . FIG. 8 is a velocity alignment chart showing an example of the relationship between the rotational speed and the torque between various types of rotary elements in the power plant shown in FIG. 1 while the processing shown in FIG. 7 is being executed and the vehicle is running. . It is a flowchart which shows the process for performing control by FS mode performed in the power plant shown in FIG. FIG. 11 is a collinear chart illustrating an example of a rotational speed relationship and a torque relationship between various types of rotary elements in the power plant shown in FIG. 1 during execution of the processing shown in FIG. 10. It is a figure which shows roughly the power plant by 2nd Embodiment of this invention with the driving wheel of the vehicle to which this is applied. FIG. 13 is a flowchart showing processing for performing control in the HV mode, which is executed in the power plant shown in FIG. 12. FIG. 14 is a velocity alignment chart showing an example of the relationship between the rotational speed and the torque between various types of rotary elements in the power plant shown in FIG. 12 during execution of the processing shown in FIG. 13 and when the vehicle is stopped. . FIG. 14 is a speed alignment chart showing an example of the relationship between the rotational speed and the torque between the various types of rotary elements in the power plant shown in FIG. 12 during execution of the processing shown in FIG. 13 and during travel of the vehicle. . FIG. 13 is a flowchart showing processing for performing control in the FS mode, which is executed in the power plant shown in FIG. 12. FIG. 17 is a velocity alignment chart showing an example of the relationship between the rotational speed and the torque between various types of rotary elements in the power plant shown in FIG. 12 during execution of the process shown in FIG. 16. It is a figure which shows schematically the power plant by 3rd Embodiment of this invention with the drive wheel of the vehicle to which this is applied. It is a block diagram which shows the connection relation of the 1st stator with which the power plant shown in FIG. 18 is equipped, a 2nd stator, a main battery, etc. It is an expanded sectional view of the 1st rotary machine shown in FIG. FIG. 19 is a diagram schematically showing a first stator, a first rotor, and a second rotor of the first rotating machine shown in FIG. 18 developed in the circumferential direction. FIG. 19 is a velocity collinear diagram illustrating an example of a relationship between a first magnetic field electrical angular velocity and first and second rotor electrical angular velocities in the first rotating machine illustrated in FIG. 18. It is a figure for demonstrating the operation | movement when electric power is input into a 1st stator in the state which hold | maintained the 1st rotor of the 1st rotary machine shown in FIG. 18 so that rotation was impossible. FIG. 24 is a diagram for explaining the operation subsequent to FIG. 23. FIG. 25 is a diagram for explaining the operation subsequent to FIG. 24. It is a figure for demonstrating the positional relationship of a 1st armature magnetic pole and a core when a 1st armature magnetic pole rotates only 2 electrical angle from the state shown in FIG. It is a figure for demonstrating the operation | movement when electric power is input into a 1st stator in the state which hold | maintained the 2nd rotor of the 1st rotary machine shown in FIG. 18 so that rotation was impossible. It is a figure for demonstrating the operation | movement following FIG. It is a figure for demonstrating the operation | movement following FIG. As an example of the transition of the U-phase to W-phase back electromotive force voltage of the first rotating machine shown in FIG. 18, the numbers of the first armature magnetic pole, the core, and the first magnet magnetic pole are set to 16, 18 and 20, respectively. It is a figure shown about the case where the 1st rotor is hold | maintained so that rotation is impossible. An example of the transition of the first driving equivalent torque, the first and second rotor transmission torques of the first rotating machine shown in FIG. 18, the numbers of the first armature magnetic poles, the cores, and the first magnet magnetic poles being 16, 18 and It is a figure shown about the case where it sets to 20 and hold | maintains a 1st rotor so that rotation is impossible. As an example of the transition of the U-phase to W-phase back electromotive force voltage of the first rotating machine shown in FIG. 18, the numbers of the first armature magnetic pole, the core, and the first magnet magnetic pole are set to 16, 18 and 20, respectively. It is a figure shown about the case where the 2nd rotor is hold | maintained so that rotation is impossible. An example of the transition of the first driving equivalent torque, the first and second rotor transmission torques of the first rotating machine shown in FIG. 18, the numbers of the first armature magnetic poles, the cores, and the first magnet magnetic poles being 16, 18 and It is a figure shown about the case where it sets to 20 and hold | maintains a 2nd rotor so that rotation is impossible. It is a flowchart which shows the process for performing control by HV mode performed in the power plant shown in FIG. FIG. 35 is a collinear chart showing an example of the relationship between the rotation speed and the torque between various types of rotary elements in the power plant shown in FIG. 18 during execution of the processing shown in FIG. 34 and when the vehicle is stopped. . FIG. 35 is a collinear chart showing an example of the relationship between the number of rotations and the relationship between torques of various types of rotary elements in the power plant shown in FIG. 18 during execution of the processing shown in FIG. 34 and during travel of the vehicle. . It is a flowchart which shows the process for performing control by FS mode performed in the power plant shown in FIG. FIG. 38 is a collinear chart illustrating an example of a rotational speed relationship and a torque relationship between various types of rotary elements of the power plant shown in FIG. 18, during execution of the process shown in FIG. 37. It is a figure which shows roughly the power plant by 4th Embodiment of this invention with the driving wheel of the vehicle to which this is applied. It is a flowchart which shows the process for performing control by HV mode performed in the power plant shown in FIG. 40 is a collinear chart illustrating an example of a rotational speed relationship and a torque relationship between various types of rotary elements of the power plant shown in FIG. 39, during execution of the processing shown in FIG. 40 and when the vehicle is stopped. . 40 is a collinear chart illustrating an example of a rotational speed relationship and a torque relationship between various types of rotary elements of the power plant shown in FIG. 39, during execution of the processing shown in FIG. 40 and during travel of the vehicle. . It is a flowchart which shows the process for performing control by FS mode performed in the power plant shown in FIG. FIG. 44 A velocity collinear chart showing an example of a rotational speed relationship and a torque relationship between various types of rotary elements of the power plant shown in FIG. 39, during execution of the process shown in FIG. 43. It is a figure which shows roughly the power plant by 5th Embodiment of this invention with the driving wheel of the vehicle to which this is applied. It is a flowchart which shows the process for performing control by HV mode performed in the power plant shown in FIG. FIG. 46 is a collinear chart illustrating an example of a relationship between rotation speeds and torques between various types of rotary elements of the power plant shown in FIG. 45, during execution of the processing shown in FIG. 46 and when the vehicle is stopped. . FIG. 47 is a collinear chart illustrating an example of a relationship between rotation speeds and torques between various types of rotary elements in the power plant shown in FIG. 45, during execution of the processing shown in FIG. 46 and during travel of the vehicle. . It is a flowchart which shows the process for performing control by FS mode performed in the power plant shown in FIG. FIG. 50 A collinear chart showing an example of a rotational speed relationship and a torque relationship between various types of rotary elements of the power plant shown in FIG. 45, during execution of the process shown in FIG. 49. It is a figure which shows roughly the power plant by 6th Embodiment of this invention with the driving wheel of the vehicle to which this is applied. FIG. 52 is a block diagram showing a connection relationship between a first stator, a second stator, a main battery, and the like included in the power plant shown in FIG. 51. It is an expanded sectional view of the 1st rotary machine shown in FIG. It is an expanded sectional view of the 2nd rotary machine shown in FIG. It is a flowchart which shows the process for performing control by HV mode performed in the power plant shown in FIG. FIG. 57 is a collinear chart illustrating an example of a rotational speed relationship and a torque relationship between various types of rotary elements in the power plant shown in FIG. 51, during execution of the processing shown in FIG. 55 and when the vehicle is stopped. . FIG. 57 is a collinear chart illustrating an example of a rotational speed relationship and a torque relationship between various types of rotary elements in the power plant shown in FIG. 51, during execution of the processing shown in FIG. 55 and during travel of the vehicle. . It is a flowchart which shows the process for performing control by FS mode performed in the power plant shown in FIG. FIG. 59 A collinear chart showing an example of a rotational speed relationship and a torque relationship between various types of rotary elements of the power plant shown in FIG. 51, during execution of the process shown in FIG. 58. It is a figure which shows roughly the power plant by 7th Embodiment of this invention with the driving wheel of the vehicle to which this is applied. FIG. 61 is a flowchart showing processing for performing control in HV mode, which is executed in the power plant shown in FIG. 60. 61 is a collinear chart illustrating an example of a rotational speed relationship and a torque relationship between various types of rotary elements of the power plant shown in FIG. 60, during execution of the processing shown in FIG. 61 and while the vehicle is stopped. . 61 is a collinear chart illustrating an example of a relationship between rotation speeds and torques between various types of rotary elements of the power plant shown in FIG. 60, during the execution of the process shown in FIG. 61 and during travel of the vehicle. . Fig. 61 is a flowchart showing processing for performing control in FS mode, which is executed in the power plant shown in Fig. 60. FIG. 67 is a collinear chart illustrating an example of a rotational speed relationship and a torque relationship between various types of rotary elements of the power plant shown in FIG. 60, during execution of the process shown in FIG. 64. It is a figure which shows the equivalent circuit of the 1st rotary machine of this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. A power plant 1 according to the first embodiment of the present invention shown in FIGS. 1 and 2 is for driving drive wheels DW and DW of a vehicle (not shown), and is an internal combustion engine 3 as a power source. Controls the operations of the first rotating machine 11 and the second rotating machine 21, the planetary gear device PG and the differential gear DG for transmitting power, the internal combustion engine 3, the first rotating machine 11 and the second rotating machine 21. ECU2 for this is provided. In FIG. 1 and other drawings to be described later, hatching of a portion showing a cross section is appropriately omitted. Moreover, in the following description, connecting each element directly with a shaft or the like without using a speed change mechanism such as a gear is appropriately referred to as “direct connection”.

  The internal combustion engine (hereinafter referred to as “engine”) 3 is a 4-cylinder type gasoline engine, and includes a crankshaft 3a for outputting power, a fuel injection valve 3b, a spark plug 3c, and a throttle valve (not shown). Z). The valve opening time and valve opening timing of the fuel injection valve 3b and the ignition operation of the spark plug 3c are controlled by the ECU 2. Further, the opening degree of the throttle valve is controlled by the ECU 2, whereby the intake air amount of the engine 3 is controlled, whereby the output of the engine 3 is controlled.

  Furthermore, a starter 31 for starting the engine 3 is mechanically connected to the crankshaft 3a of the engine 3 via a one-way clutch (not shown). This one-way clutch connects between the crankshaft 3a and the starter 31 when power is transmitted from the starter 31 to the crankshaft 3a, and is disconnected when power is transmitted from the crankshaft 3a to the starter 31. To do. As shown in FIG. 3, a 12V auxiliary battery 33 is electrically connected to the starter 31 via a relay 32. The relay 32 is electrically connected to the ECU 2, and the operation of the starter 31 is controlled by controlling the supply of electric power from the auxiliary battery 33 to the starter 31 by the control of the relay 32 by the ECU 2. Further, as shown in FIG. 1, a first rotary shaft 4 is directly connected to the crankshaft 3 a coaxially via a flywheel (not shown), and the first rotary shaft 4 is a bearing B. Is supported rotatably.

  The first rotating machine 11 described above is a general one-rotor type brushless DC motor, and includes a stationary first stator 12 and a rotatable first rotor 13. The first stator 12 is constituted by a three-phase coil or the like, and is fixed to a non-movable case CA. The first rotor 13 is composed of a plurality of magnets and the like, and is disposed so as to face the first stator 12.

  Further, the second rotating machine 21 is a general one-rotor type brushless DC motor, like the first rotating machine 11, and has a stationary second stator 22 and a rotatable second rotor 23. . The second stator 22 is composed of a three-phase coil or the like, and is fixed to the case CA. The second rotor 23 is composed of a plurality of magnets and the like, and is disposed so as to face the second stator 22.

  As shown in FIG. 3, the first stator 12 is connected to a main that can be charged and discharged via a first power drive unit (hereinafter referred to as “first PDU”) 41 and a voltage control unit (hereinafter referred to as “VCU”) 43. The battery 44 is electrically connected. Further, the second stator 22 is electrically connected to the main battery 44 via a second power drive unit (hereinafter referred to as “second PDU”) 42 and a VCU 43.

  Each of the first and second PDUs 41 and 42 is configured by an electric circuit such as an inverter having a switching element, and outputs the DC power supplied from the main battery 44 in a state converted into three-phase AC power. Further, the first and second PDUs 41 and 42 are electrically connected to each other. As described above, the first and second stators 12 and 22 are electrically connected to each other via the first and second PDUs 41 and 42.

  The VCU 43 is configured by an electric circuit such as a DC / DC converter, and outputs the first PDU 41 and / or the second PDU 42 while the electric power from the main battery 44 is boosted. The power from the second PDU 42 is output to the main battery 44 in a state where the power is reduced. Further, as shown in FIG. 2, the VCU 43, the first and second PDUs 41, 42 are each electrically connected to the ECU 2 described above. The main battery 44 is formed by connecting a plurality of battery modules (not shown) in series, and is set to a voltage higher than that of the auxiliary battery 33. The plurality of battery modules includes a first battery module, a second battery module,... And an xth battery module.

  With the above configuration, in the first rotating machine 11, when electric power is supplied (input) from the main battery 44 to the first stator 12 via the VCU 43 and the first PDU 41, the supplied electric power is converted into motive power. Output from the rotor 13. Further, when electric power is input to the first stator 13 when the first rotor 13 rotates with respect to the first stator 12 when power is not supplied to the first stator 12, the power input to the first rotor 13. Is converted into electric power (power generation) in the first stator 12 and output from the first stator 12.

  The ECU 2 controls the first PDU 41 and the VCU 43 so that the current supplied to the first rotating machine 11, the current generated by the first rotating machine 11, the rotational speed of the first rotor 13 (hereinafter referred to as “first rotation”). NM1) is controlled.

  In the second rotating machine 21, as with the first rotating machine 11, when power is supplied (input) from the main battery 44 to the second stator 22 via the VCU 43 and the second PDU 42, the supplied power is used as power. It is converted and output from the second rotor 23. In addition, when power is not supplied to the second stator 22 and power is input to the second rotor 23 and the second rotor 23 rotates with respect to the second stator 22, the power input to the second rotor 23. Is converted into electric power (power generation) in the second stator 22 and output from the second stator 22.

  The ECU 2 controls the second PDU 42 and the VCU 43 so that the current supplied to the second rotating machine 21, the current generated by the second rotating machine 21, the rotational speed of the second rotor 23 (hereinafter “second rotation”). NM2) (referred to as machine speed).

  Further, as shown in FIG. 4, the above-described auxiliary battery 33 is electrically connected to the electric wires W <b> 1 and W <b> 2 that connect the VCU 43 and the main battery 44 to each other via a downverter 45. The downverter 45 is configured to supply electric power from the VCU 43 and the main battery 44 to the auxiliary battery 33 in a state where the voltage is lowered, and to be able to charge the auxiliary battery 33, and is electrically connected to the ECU 2. (See FIG. 2). The electric wires W1 and W2 are provided with a first contactor 46 and a second contactor 47 on the main battery 44 side of the connection parts CO1 and CO2 with the downverter 45, respectively. These first and second contactors 46, 47 are electrically connected to the ECU 2, and are turned ON / OFF by the control of the ECU 2, whereby the main battery 44, the VCU 43, and the downverter 45 are connected. Connect / block. Normally, both contactors 46 and 47 are controlled to be in an ON state, whereby the main battery 44 and the VCU 43 and the downverter 45 are held in a connected state.

  As shown in FIG. 1, the planetary gear device PG described above is of a general single pinion type, and includes a sun gear S, a ring gear R provided on the outer periphery of the sun gear S, and both gears S, R. A plurality of planetary gears P that mesh with each other and a carrier C that rotatably supports these planetary gears P are provided. As is well known, the sun gear S, the carrier C, and the ring gear R can transmit power to each other, rotate while maintaining a collinear relationship with respect to the rotational speed during power transmission, In the collinear chart showing the relationship, the straight lines representing the respective rotational speeds are arranged in order. The sun gear S, the carrier C, and the ring gear R are arranged coaxially with the crankshaft 3 a of the engine 3.

  Further, the carrier C is provided integrally with the first rotating shaft 4 described above. Further, the sun gear S and the first rotor 13 of the first rotating machine 11 described above are integrally provided on the hollow second rotating shaft 5, and both S and 13 are directly connected coaxially with each other. The second rotating shaft 5 is rotatably supported by a bearing (not shown) together with the sun gear S and the first rotor 13, and is arranged coaxially with the crankshaft 3a. Further, the first rotary shaft 4 is rotatably fitted inside the second rotary shaft 5. Further, the ring gear R and the second rotor 23 of the second rotating machine 21 described above are provided integrally with the third rotating shaft 6, and both R and 23 are directly connected coaxially with each other. The third rotating shaft 6 is rotatably supported by a bearing (not shown) together with the ring gear R and the second rotor 23, and is arranged coaxially with the crankshaft 3a. Further, the third rotating shaft 6 is integrally provided with a gear G1.

  The above-described differential device DG is for distributing the input power to the left and right drive wheels DW, DW, and to the left and right side gears DS, DS having the same number of teeth, and to both gears DS, DS. A plurality of pinion gears DP that mesh with each other and a differential case DC that rotatably supports these pinion gears DP. The left and right side gears DS, DS are connected to the left and right drive wheels DW, DW via the left and right axles 7, 7, respectively.

  In the differential device DS configured as described above, the power input to the differential case DC is distributed to the left and right side gears DS and DS via the pinion gear DP, and further, the left and right drive via the left and right axles 7 and 7. It is distributed to the wheels DW and DW. Further, the differential case DC is integrally provided with a gear G2, and the gear G2 meshes with the gear G1 described above via an intermediate gear G3.

  As described above, in the power unit 1, the sun gear S of the planetary gear unit PG is mechanically coupled to the first rotor 13 of the first rotating machine 11, and the carrier C is mechanically coupled to the crankshaft 3a. Has been. Further, the ring gear R and the second rotor 23 of the second rotating machine 21 are mechanically connected to each other, and are mechanically connected to the drive wheels DW and DW via the differential device DG and the like.

  Further, as shown in FIG. 2, a crank angle sensor 51, a first rotation angle sensor 52, and a second rotation angle sensor 53 are connected to the ECU 2. The crank angle sensor 51 outputs a CRK signal and a TDC signal, which are pulse signals, as the crankshaft 3a rotates. The CRK signal is output as one pulse every predetermined crank angle (for example, 30 °). The ECU 2 calculates the engine speed (hereinafter referred to as “engine speed”) NE of the engine 3 based on the CRK signal. The TDC signal is a signal indicating that the piston (not shown) of the engine 3 is at a predetermined crank angle position near the TDC (top dead center) at the start of the intake stroke, and the engine 3 is a four-cylinder type. One pulse is output every 180 ° of crank angle.

  Further, the first rotation angle sensor 52 described above indicates the rotation angle position of the first rotor 13 with respect to the first stator 12, and the second rotation angle sensor 53 indicates the rotation angle position of the second rotor 23 with respect to the second stator 22. The detection signals are output to the ECU 2. The ECU 2 calculates the first and second rotating machine rotational speeds NM1 and NM2 (the rotational speeds of the first and second rotors 13 and 23) according to the detection signals from both the sensors 52 and 53, respectively. Further, the ECU 2 outputs a detection signal representing the average value of the rotation speeds of the drive wheels DW and DW (hereinafter referred to as “drive wheel rotation speed”) NDW from the rotation speed sensor 54.

  Further, the main battery 44 described above is provided with a voltage sensor 55 and a current sensor 56. The voltage sensor 55 detects the voltages of the first to x-th battery modules (hereinafter referred to as “first voltage V1,” “second voltage V2,”..., “Xth voltage Vx”, respectively), and detects the detected signals. It outputs to ECU2. Current sensor 56 detects a current value input / output to / from main battery 44 and outputs a detection signal to ECU 2. The ECU 2 calculates the state of charge SOC of the main battery 44 based on the detection signals from the voltage sensor 55 and the voltage sensor 56.

  Further, the ECU 2 outputs a detection signal representing an accelerator pedal operation amount (hereinafter referred to as “accelerator opening”) AP from the accelerator opening sensor 57. Further, the vehicle is provided with an ignition switch (hereinafter referred to as “IG / SW”) 58, and this IG / SW 58 represents an ON / OFF state in response to an operation of an ignition key (not shown). A signal is output to the ECU 2.

  The ECU 2 is composed of a microcomputer including an I / O interface, CPU, RAM, ROM, and the like. The ECU 2 performs the operations of the engine 3, the starter 31, the first and second rotating machines 11 and 21 according to the control programs stored in the ROM in accordance with the above-described various sensors and detection signals from the switches 51 to 58. Control. Thereby, the vehicle is driven in various driving modes. Hereinafter, the process executed by the ECU 2 will be described with reference to FIGS.

  FIG. 5 shows the process for determining the above operation mode. This process is started when the output signal of the IG / SW 58 is switched from OFF to ON, and every predetermined time until it is switched to OFF again. To be executed. First, in step 1 of FIG. 5 (shown as “S1”, the same applies hereinafter), a request is made by searching a predetermined map (not shown) according to the detected drive wheel rotational speed NDW and accelerator pedal opening AP. Torque TREQ is calculated. This required torque TREQ is a torque required by the driver for the drive wheels DW and DW, and is set to a larger value as the accelerator pedal opening AP is larger.

  Next, the required driving force PREQ is calculated according to the calculated required torque TREQ and the detected driving wheel rotational speed NDW (step 2). This required driving force PREQ is the power required from the driver for the driving wheels DW and DW. Next, abnormality determination processing is executed (step 3). This abnormality determination process is a process for determining an abnormality of the main battery 44, and is executed according to the process shown in FIG. This process is executed when an electric circuit other than the main battery 44 such as the first PDU 41 and the second PDU 42 is normal.

  First, in step 21 of FIG. 6, the average voltage VA is calculated by averaging the detected first to xth voltages V1 to Vx. As is apparent from the calculation method, the average voltage VA is an average value of the first to xth voltages V1 to Vx. Next, the first determination value VAL is calculated by subtracting the first predetermined value from the average voltage VA calculated in step 21 (step 22), and the second predetermined value is added to the average voltage VA. The second determination value VAH is calculated (step 23).

  Next, it is determined whether or not the first to xth voltages V1 to Vx are within predetermined ranges defined by the first and second determination values VAL and VAH calculated in steps 22 and 23, respectively. (Step 24). When the answer to step 24 is NO, that is, when at least one of the first to xth voltages V1 to Vx is not within the predetermined range, it is determined that the main battery 44 is abnormal, and this is indicated. Therefore, the abnormality flag F_BATTNG is set to “1” (step 25), and this process ends.

  Thus, the abnormality of the main battery 44 is determined for the following reason. That is, when a rare short occurs in the main battery 44, that is, when a short circuit occurs in at least one of the first to x-th battery modules, the voltage of the at least one battery module greatly deviates from the average voltage VA. This is because it does not fall within the predetermined range.

  On the other hand, when the answer to step 24 is YES, that is, when the first to xth voltages V1 to Vx are all within the predetermined range, it is determined that the main battery 44 is normal, and that Is set to "0" (step 26), and this process is terminated. When the abnormality flag F_BATTNG is set to “1”, a warning lamp (not shown) is turned on, thereby prompting the driver to replace the main battery 44. Further, once the abnormality flag F_BATTNG is set to “1”, it is held at “1” unless the main battery 44 is replaced thereafter, and is reset to “0” when the battery is replaced.

Returning to FIG. 5, in step 4 following step 3, it is determined whether or not the abnormality flag F_BATTNG set in step 25 or 26 of FIG. 6 is “1”. If the answer is NO (F_BATTNG = 0) and the main battery 44 is normal, it is determined whether or not a predetermined condition is satisfied (step 5). This condition is an execution condition for driving the vehicle in the HV mode, and is satisfied when one of a plurality of predetermined conditions including the following conditions (a) and (b) is satisfied. It is determined that The HV mode is an operation mode in which the driving wheels DW and DW are driven using the engine 3 and the second rotating machine 21 as a power source to drive the vehicle, and details thereof will be described later.
(A) When the calculated state of charge SOC is relatively small and the vehicle cannot be driven using the power of the main battery 44.
(B) When the required torque calculated in step 1 is relatively large and the vehicle cannot be driven only by the second rotating machine 21.

  When the answer to step 5 is NO, that is, when the main battery 44 is normal and the execution condition related to the HV mode is not satisfied, the EV mode flag F_EVMODE is used to drive the vehicle in the EV mode described later. Is set to “1” (step 6), and the operation mode is determined to be the EV mode. Next, in Steps 7 and 8, an HV mode flag F_HVMODE and an FS mode flag F_FSMODE, which will be described later, are reset to “0”, respectively, and this process ends.

  On the other hand, when the answer to step 5 is YES, that is, when the main battery 44 is normal and the execution condition relating to the HV mode is satisfied, the HV mode flag F_HVMODE is set in order to drive the vehicle in the HV mode. “1” is set (step 9), and the operation mode is determined to be the HV mode. Next, in steps 10 and 11, the EV mode flag F_EVMODE and the FS mode flag F_FSMODE are reset to “0”, respectively, and this process ends.

  On the other hand, if the answer to step 4 is YES (F_BATTNG = 1) and the main battery 44 is abnormal, the FS mode flag F_FSMODE is set to “1” in order to drive the vehicle in the FS mode described later (step 12). ), And determines the operation mode to FS mode. Next, in steps 13 and 14, the EV mode flag F_EVMODE and the HV mode flag F_HVMODE are each reset to “0”, and this process is terminated.

  As described above, the abnormality of the main battery 44 is determined, and the operation mode is determined to be the EV mode or the HV mode when the main battery 44 is normal, and is determined to be the FS mode when it is abnormal. As is apparent from the setting of the abnormality flag F_BATTNG described above, once the operation mode is determined to be the FS mode, the operation mode is maintained in the FS mode unless the main battery 44 is subsequently replaced. Both the EV mode flag F_EVMODE and the HV mode flag F_HVMODE are reset to “0” when the output signal of the IG • SW 58 is switched to ON. Hereinafter, the EV mode, the HV mode, and the FS mode will be described in order.

[EV mode]
The EV mode is an operation mode in which the vehicle 3 is driven by driving the drive wheels DW and DW using only the second rotating machine 21 as a power source in a state where the engine 3 is stopped and the output of the engine 3 is not generated. The control in the EV mode is executed when the above-described EV mode flag F_EVMODE is “1”. During the EV mode, power is supplied from the main battery 44 to the second stator 22 of the second rotating machine 21 to cause the second rotor 23 to rotate forward. Thereby, as a result of the output torque of the second rotating machine 21 being transmitted to the drive wheels DW and DW, the drive wheels DW and DW rotate forward and the vehicle travels. In this case, the current supplied to the second stator 22 is controlled such that the torque transmitted to the drive wheels DW and DW becomes the required torque TREQ calculated in step 1 above.

[HV mode]
As described above, the HV mode is an operation mode in which the engine 3 and the second rotating machine 21 are used as a power source. In the HV mode, the main battery using a part of the power of the engine 3 according to the state of charge SOC. 44 is charged, and the engine 3 is assisted by the first rotating machine 11 and the second rotating machine 21. The control in the HV mode is executed according to the process shown in FIG. This process is executed in synchronization with the above-described TDC signal when the above-described HV mode flag F_HVMODE is “1”.

  First, in step 31 of FIG. 7, it is determined whether or not the engine operating flag F_ENGOPE is “1”. The engine operating flag F_ENGOPE indicates that the engine 3 is operating by “1”, and when the output signal of the IG / SW 58 is switched to ON and during the EV mode described above, Reset to “0”.

  If the answer to step 31 is NO (F_ENGOPE = 0) and the engine 3 is stopped, the engine 3 is started by executing the next step 32 and subsequent steps. First, in step 32, the crankshaft 3a is driven by controlling the operation of the first rotating machine 11. Specifically, first, the target value TCOBJ is calculated by a predetermined feedback control algorithm so that the calculated engine speed NE becomes a predetermined start speed NEST. The starting rotation speed NEST is a rotation speed at which the engine 3 can be started, and is set to a predetermined rotation speed within a range of 500 to 700 rpm, for example. Next, when the vehicle is stopped (NDW = 0), electric power is supplied from the main battery 44 to the first stator 12 to cause the first rotor 13 to rotate forward and to supply current to the first stator 12. Is controlled so that the torque acting on the carrier C becomes the calculated target value TCOBJ.

  On the other hand, when the vehicle is running with the second rotating machine 21 as a power source immediately after the transition from the EV mode, the control of the operation of the first rotating machine 11 in step 32 is performed as follows. . That is, as shown in FIG. 8 and the like described later, a predetermined collinear relationship is established among the first rotating machine rotational speed NM1, the drive wheel rotational speed NDW, and the engine rotational speed NE. When the rotational direction of the first rotor 13 determined by the collinear relationship and the engine rotational speed NE and the drive wheel rotational speed NDW is the reverse rotation direction, the second rotor 23 is transmitted to the first rotor 13 via the planetary gear unit PG. A part of the motive power is used to generate power with the first stator 12, and the current generated with the first stator 12 is controlled so that the torque acting on the carrier C becomes the target value TCOBJ. On the other hand, when the rotation direction of the first rotor 13 is the forward rotation direction, the operation of the first rotating machine 11 is controlled in the same manner as when the vehicle is stopped as described above.

In step 33 following step 32, the operation of the second rotating machine 21 is controlled as follows. That is, first, the target value TM2OBJ of the output torque of the second rotating machine 21 is calculated by the following equation (33) using the target value TCOBJ and the required torque TREQ. Next, while supplying electric power from the main battery 44 to the second stator 22, the current supplied to the second stator 22 so that a torque corresponding to the target value TM2OBJ acts on the second rotor 23 in the forward rotation direction. To control.
TM2OBJ = TREQ + A ・ TCOBJ / (1 + A) (33)
Here, A is the ratio of the number of teeth of the ring gear R to the number of teeth of the sun gear S.

  In step 34 following step 33, the engine 3 in the stopped state is started by controlling the ignition operation of the fuel injection valve 3b and the spark plug 3c of the engine 3. Next, it is determined whether or not the engine 3 has completely exploded (step 35). If the answer is NO, the present process is terminated as it is, while if the engine 3 is completely detonated, the engine operating flag F_ENGOPE is set to “1” (step 36), and the present process is terminated.

  On the other hand, the answer to step 31 is YES (F_ENGOPE = 1), and during operation of the engine 3, the target output PEOBJ of the engine 3 is set according to the required driving force PREQ calculated in step 2 and the state of charge SOC. Calculate (step 37). Specifically, when the main battery 44 is charged because the state of charge SOC is relatively small, the target output PEOBJ is calculated as a value obtained by adding the power corresponding to the charged amount to the required driving force PREQ. Is done. When assisting the engine 3 by the first rotating machine 11 and the second rotating machine 21 described above, the target output PEOBJ is calculated to a value obtained by subtracting the power corresponding to the assist amount from the required driving force PREQ. . Further, when neither charging nor assist is performed, the target output PEOBJ is set to the required driving force PREQ.

  In Step 38 following Step 37, a target map NEOBJ, which is a target value of the engine speed NE, is obtained by searching a predetermined map (not shown) according to the required driving force PREQ and the state of charge SOC. calculate. In this map, the target rotational speed NEOBJ is set corresponding to the target output PEOBJ. Next, based on the target output PEOBJ calculated in step 37, the opening of the throttle valve is controlled to control the output of the engine 3 to be the target output PEOBJ (step 39).

  Next, the operation of the first rotating machine 11 is controlled as follows (step 40). That is, first, the target value TCOBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE is equal to the target engine speed NEOBJ calculated in step 38.

  Next, when the rotation direction of the first rotor 13 determined by the engine speed NE and the drive wheel speed NDW is the forward rotation direction, a part of the power transmitted from the engine 3 to the first rotor 13 via the planetary gear unit PG. Is used to generate power in the first stator 12 and supply the generated power to the second stator 22. On the other hand, when the rotation direction of the first rotor 13 is the reverse rotation direction, the power generated by the second stator 22 or the power of the main battery 44 is supplied to the first stator 12 as described later. In these cases, both the current generated by the first stator 12 and the current supplied to the first stator 12 are controlled so that the torque acting on the carrier C becomes the calculated target value TCOBJ.

In step 41 following step 40, the operation of the second rotating machine 21 is controlled as follows, and the present process is terminated. That is, first, the target value TM2OBJ is calculated by the following equation (34) using the target value TCOBJ calculated in step 40 and the required torque TREQ. Next, when the rotation direction of the first rotor 13 determined by the engine speed NE and the drive wheel speed NDW is the normal rotation direction, a torque corresponding to the calculated target value TM2OBJ is generated in the normal rotation direction with respect to the second rotor 23. The electric current supplied from the first stator 12 to the second stator 22 is controlled so as to act. In this case, when the required torque TREQ is very large and power from the first stator 12 is insufficient, power is further supplied from the main battery 44 to the second stator 22. Thereby, the engine 3 is assisted by the second rotating machine 21.
TM2OBJ = TREQ-A · TCOBJ / (1 + A) (34)

  On the other hand, when the rotation direction of the first rotor 13 is the reverse rotation direction and the target value TM2OBJ is a negative value, a part of the power transmitted from the engine 3 to the second rotor 23 via the planetary gear unit PG is used. The second stator 22 generates power, and the generated current is controlled so that a torque corresponding to the absolute value of the calculated target value TM2OBJ acts on the second rotor 23 in the reverse direction. On the other hand, when the rotation direction of the first rotor 13 is the reverse rotation direction and the target value TM2OBJ is a positive value, power is supplied from the main battery 44 to the second stator 22, and the supplied current is changed to the target value TM2OBJ. Control is performed so that the corresponding torque acts on the second rotor 23 in the forward rotation direction. In this case, power is supplied from the main battery 44 to the first stator 12 as described above. As described above, the engine 3 is assisted by the first and second rotating machines 11 and 21.

  In the control of the operations of the first and second rotating machines 11 and 21 in steps 40 and 41, when charging the main battery 44, a part of the electric power generated by the first or second stator 12 or 22 is charged. Is done.

  By executing the above steps 37 to 41, the power transmitted to the drive wheels DW and DW is controlled to become the required drive force PREQ, and the torque transmitted to the drive wheels DW and DW becomes the required torque TREQ. To be controlled.

  Next, an operation example of the above-described processing will be described with reference to FIGS. Specifically, these operation examples shown in FIG. 8 and FIG. 9 show operation examples when the engine 3 is started by executing the steps 32 to 36 in FIG. 7 while the vehicle is stopped and running, respectively. ing. First, these FIG. 8 and FIG. 9 will be described. As is apparent from the connection relationship between the various rotary elements described above, the rotation speeds of the sun gear S, the carrier C, and the ring gear R are respectively the first rotation machine rotation speed NM1, the engine rotation speed NE, and the second rotation machine rotation speed. Equal to NM2. If the shift by the differential device DG or the like is ignored, the rotation speed of the ring gear R and the second rotation machine rotation speed NM2 are equal to the drive wheel rotation speed NDW. Further, the rotational speeds of the sun gear S, the carrier C, and the ring gear R are in a predetermined collinear relationship determined by the ratio A of the number of teeth of the ring gear R to the number of teeth of the sun gear S.

  From the above, the relationship among the first rotating machine speed NM1, the engine speed NE, the drive wheel speed NDW, and the second rotating machine speed NM2 is represented by a speed collinear chart as shown in FIG. 8 or FIG. Is done. In FIGS. 8 and 9 and other velocity collinear charts described later, the distance from the horizontal line indicating the value 0 to the white circle on the vertical line corresponds to the number of rotations of the rotating element indicated on the upper and lower ends of the vertical line. For convenience, a symbol representing the number of rotations of each rotating element is written in the vicinity of the white circle. In FIG. 8 and other drawings to be described later, TEF is the friction of the engine 3 acting on the crankshaft 3a (hereinafter referred to as “engine friction”). TM1 is an output torque (hereinafter referred to as “first power running torque”) of the first rotating machine 11 that acts on the first rotor 13 as power is supplied to the first stator 12, and TM2 is a second torque. This is the output torque of the second rotating machine 21 acting on the second rotor 23 as power is supplied to the stator 22 (hereinafter referred to as “second power running torque”). Further, in the following description, the shift by the differential device DG or the like is ignored.

  As is apparent from FIG. 8, the first power running torque TM1 is transmitted to the crankshaft 3a via the carrier C using the second power running torque TM2 as a reaction force, whereby the crankshaft 3a is driven and rotates forward. . In this case, by controlling the operation of the first rotating machine 11 in step 32, the current supplied to the first stator 12 is controlled so that the torque acting on the carrier C becomes the target value TCOBJ. Feedback control is performed so that the rotational speed NE becomes the rotational speed for starting NEST. In this state, the engine 3 is started.

  Further, as apparent from FIG. 8, the first power running torque TM1 acts to reverse the ring gear R, the second rotor 23, and the drive wheels DW and DW using the engine friction TEF as a reaction force. As is apparent from the function of the planetary gear device PG, the torque acting so as to reverse the ring gear R and the like (hereinafter referred to as “ring gear reverse torque”) is represented by the sun gear S. Using the ratio A of the number of teeth of the ring gear R to the number of teeth of -A · TC / (1 + A).

  On the other hand, by controlling the operation of the second rotating machine 21 in the step 33, the torque corresponding to the target value TM2OBJ is supplied to the second stator 22 so as to act on the second rotor 23 in the normal rotation direction. Current to be controlled. Further, the target value TM2OBJ is calculated by the equation (33), that is, TM2OBJ = TREQ + A · TCOBJ / (1 + A). In this case, the required torque TREQ is 0 because the vehicle is stopped. As is apparent from these and the fact that the ring gear reverse rotation torque is expressed by -A · TC / (1 + A) as described above, the ring gear reverse rotation torque is canceled by the second power running torque TM2, and as a result, the drive wheel DW , DW are held stationary (NDW = 0).

  Further, in FIG. 9 and other drawings to be described later, TG1 is a braking torque (hereinafter referred to as “first power generation torque”) of the first rotating machine 11 that acts on the first rotor 13 as power is generated by the first stator 12. TDDW is a reaction force against the torque transmitted to the drive wheels DW and DW. As is clear from FIG. 9, during traveling of the vehicle, a part of the second power running torque TM2 is transmitted to the ring gear R, and further, the crankshaft via the carrier C using the first power generation torque TG1 as a reaction force. As a result, the crankshaft 3a is driven and rotates forward. Further, the remainder of the second power running torque TM2 is transmitted to the drive wheels DW and DW. As a result, the drive wheels DW and DW are driven to rotate forward, and the vehicle moves forward. Also in this case, the feedback control is performed so that the engine rotational speed NE becomes the starting rotational speed NEST as in the case where the vehicle shown in FIG. 8 is stopped. In this state, the engine 3 is started.

  Further, as is apparent from FIG. 9, the first power generation torque TG1 acts to reverse the ring gear R, the second rotor 23, and the drive wheels DW and DW using the engine friction TEF as a reaction force. The torque acting so as to reverse the ring gear R or the like (ring gear reverse rotation torque) is represented by −A · TC / (1 + A) as in the case where the vehicle shown in FIG. 8 is stopped.

  On the other hand, the current supplied to the second stator 22 is controlled so that the torque corresponding to the target value TM2OBJ acts on the second rotor 23 in the forward rotation direction, as in the case where the vehicle is stopped. At the same time, the target value TM2OBJ is calculated by TM2OBJ = TREQ + A · TCOBJ / (1 + A). As is clear from this and the ring gear reverse rotation torque expressed by -A · TC / (1 + A) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

[FS mode]
In this FS mode, the engine 3 is used as a power source without performing power transfer between the main battery 44 and the first rotating machine 11 and power transfer between the main battery 44 and the second rotating machine 21. This is an operation mode in which the drive wheels DW and DW are driven to drive the vehicle. Further, the control in the FS mode is executed according to the process shown in FIG. This process is executed in synchronization with the TDC signal when the FS mode flag F_FSMODE described above is “1”.

  First, in step 51, both the first and second contactors 46 and 47 described above are controlled to be OFF. As a result, the main battery 44 is disconnected from the VCU 43 and the downverter 45, and as a result, the main battery 44 is disconnected from the auxiliary battery 33, the first PDU 41, and the second PDU 42. In this case, as is apparent from the connection relationship between the VCU 43, the main battery 44, and the first and second contactors 46 and 47, the first and second PDUs 41 and 42 are held in the connected state. The second stators 12 and 22 are held in the connected state.

  Next, it is determined whether or not the aforementioned engine operating flag F_ENGOPE is “1” (step 52). If the answer is NO and the engine 3 is stopped, the engine 3 is started by executing the next step 53 and subsequent steps. First, in step 53, the starter 31 is operated to drive the crankshaft 3a. Next, as in step 34, the engine 3 in the stopped state is started by controlling the ignition operation of the fuel injection valve 3b and the spark plug 3c of the engine 3 (step 54). Next, as in steps 35 and 36, it is determined whether or not the engine 3 has completely detonated (step 55). If the answer is NO, the present process is terminated as it is, and if YES, the engine 3 is completed. When an explosion occurs, the engine operating flag F_ENGOPE is set to “1” (step 56), and this process is terminated.

  On the other hand, the answer to step 52 is YES (F_ENGOPE = 1), and during operation of the engine 3, the operations of the engine 3, the first and second rotating machines 11 and 21 are controlled in the following steps 57 to 61. . First, in step 57, a target output PEOBJ is calculated. This calculation is performed by setting the target output PEOBJ to the required driving force PREQ.

  Next, a target engine speed NEOBJ is calculated by searching a predetermined map (not shown) according to the target output PEOBJ (step 58). In this map, the target engine speed NEOBJ is set to a value such that better fuel consumption of the engine 3 can be obtained with respect to the target output PEOBJ. Next, the output of the engine 3 is controlled to become the target output PEOBJ by controlling the opening degree of the throttle valve based on the target output PEOBJ calculated in step 57 (step 59).

  Next, the operation of the first rotating machine 11 is controlled as follows (step 60). That is, first, the target value TCOBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ calculated in step 58. Next, as shown in FIG. 11 described later, when the rotation direction of the first rotor 13 determined by the engine rotational speed NE and the drive wheel rotational speed NDW is the forward rotation direction, the first rotor from the engine 3 through the planetary gear unit PG. A part of the power transmitted to 13 is used to generate power in the first stator 12 and supply the generated power to the second stator 22 as it is. In this case, as in step 40, the current generated by the first stator 12 is controlled so that the torque TC acting on the carrier C becomes the calculated target value TCOBJ.

  In the control of the first rotating machine 11 described above, when the rotation direction of the first rotor 13 is the reverse rotation direction, the power generated by the second stator 22 is supplied to the first stator 12 as it is, as will be described later. The current supplied to the first stator 12 is controlled so that the torque TC acting on the carrier C becomes the target value TCOBJ.

  In step 61 following step 60, the operation of the second rotating machine 21 is controlled as follows, and this process is terminated. That is, first, the target value TM2OBJ is calculated using the target value TCOBJ calculated in step 60 and the required torque TREQ by the above equation (34), that is, TM2OBJ = TREQ−A · TCOBJ / (1 + A). Next, when the rotation direction of the first rotor 13 determined by the engine speed NE and the drive wheel speed NDW is the normal rotation direction, a torque corresponding to the calculated target value TM2OBJ is generated in the normal rotation direction with respect to the second rotor 23. The electric current supplied from the first stator 12 to the second stator 22 is controlled so as to act.

  On the other hand, when the rotation direction of the first rotor 13 is the reverse direction, the second stator 22 generates power using a part of the power transmitted from the engine 3 to the second rotor 23 via the planetary gear device PG. The generated power is supplied to the first stator 12 as it is. In this case, the target value TM2OBJ calculated by the equation (34) is a negative value, and power is generated by the second stator 22 so that a torque corresponding to the absolute value acts on the second rotor 23 in the reverse rotation direction. Control the current.

  Next, an operation example of the above-described processing will be described with reference to FIG. Specifically, this operation example shows an operation example in the case of running the vehicle by executing the steps 57 to 61. In the drawing and other drawings described later, TENG is an output torque of the engine 3 (hereinafter referred to as “engine torque”). As apparent from FIG. 11, the engine torque TENG transmitted to the carrier C is transmitted to the drive wheels DW and DW via the ring gear R using the first power generation torque TG1 as a reaction force. Further, the second power running torque TM2 is further transmitted to the drive wheels DW and DW. As described above, the drive wheels DW and DW are driven to rotate forward, and the vehicle moves forward.

  In this case, the engine torque TENG acts to cause the ring gear R, the second rotor 23, and the drive wheels DW and DW to rotate in the normal direction using the first power generation torque TG1 as a reaction force. The torque acting so as to rotate the ring gear R or the like in the forward direction (hereinafter referred to as “ring gear forward rotation torque”) is the torque TC acting on the carrier and the ratio A of the number of teeth of the ring gear R to the number of teeth of the sun gear S. It is expressed as A · TC / (1 + A).

  On the other hand, by controlling the operation of the second rotating machine 21 in step 61, the torque corresponding to the target value TM2OBJ is supplied to the second stator 22 so as to act on the second rotor 23 in the normal rotation direction. Current to be controlled. Further, the target value TM2OBJ is calculated by the equation (34), that is, TM2OBJ = TREQ−A · TCOBJ / (1 + A). As is clear from this and the fact that the ring gear forward rotation torque is expressed by A · TC / (1 + A) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  Although not shown, when the rotation direction of the first rotor 13 is the reverse rotation direction, the ring gear forward rotation torque (A · TC / (1 + A)) is larger than the required torque TREQ. In this case, the target value TM2OBJ represents the surplus of the ring gear forward rotation torque with respect to the required torque TREQ, as is apparent from the equation (34). Further, by controlling the operation of the second rotating machine 21 in step 61, the current generated by the second stator 22 is controlled so that the torque corresponding to this surplus acts in the reverse rotation direction on the second rotor 23. Is done. As a result, the torque corresponding to the surplus is canceled out, and in this case as well, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  As described above, in the FS mode, the torque transmitted to the drive wheels DW and DW is controlled to become the required torque TREQ. In this case, as described above, the output of the engine 3 is controlled to be the target output PEOBJ set to the request output PREQ. In addition, no power is exchanged between the first and second rotating machines 11 and 21 and the main battery 44, and the power of the engine 3 is transmitted to the planetary gear unit PG, the first and second rotations. It is transmitted to the drive wheels DW and DW via the machines 11 and 21. As is apparent from the above, the power transmitted to the drive wheels DW and DW is controlled so as to be the required drive force PREQ. When the engine speed NE and the drive wheel speed NDW are different from each other, the output (power) of the engine 3 is shifted and transmitted to the drive wheels DW and DW.

  As described above, according to the first embodiment, the main battery 44 and the auxiliary battery 33 are provided as power sources for the first rotating machine 11 and the starter 31, respectively. The first to x-th voltages V1 to Vx, that is, the voltages of the first to x-th battery modules of the main battery 44 are detected by the voltage sensor 55, and the detected first to x-th voltages V1 are detected. Based on ˜Vx, the abnormality of the main battery 44 is determined (step 3 in FIG. 5). Further, when starting the engine 3, the crankshaft 3a is driven using the starter 31 when the main battery 44 is abnormal, and using the first rotating machine 11 when the main battery 44 is normal (steps 32 and 10 in FIG. 7). Step 53). Further, the auxiliary battery 33 is electrically connected to the main battery 44, and when the engine 3 is started, the auxiliary battery 33 and the main battery 44 are electrically disconnected by the first and second contactors 46, 47. (Step 51 in FIG. 10). As described above, the engine 3 can be appropriately and reliably started according to whether or not the main battery 44 is abnormal.

  Further, when the main battery 44 is abnormal while the vehicle is running, no power is exchanged between the main battery 44 and the first and second rotating machines 11 and 21, which corresponds to the required driving force PREQ. The operations of engine 3, first and second rotating machines 11 and 21 are controlled so that the power is transmitted to drive wheels DW and DW (steps 57 to 61 in FIG. 10). Therefore, the power corresponding to the required driving force PREQ can be appropriately transmitted to the driving wheels DW and DW.

  In the first embodiment, the carrier C is directly connected to the crankshaft 3a, but may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like. In the first embodiment, the sun gear S is directly connected to the first rotor 13, but may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like. Furthermore, in the first embodiment, the ring gear R and the second rotor 23 are directly connected to each other, but may not be directly connected to each other as long as they are mechanically connected to the drive wheels DW and DW. In the first embodiment, the ring gear R and the second rotor 23 are connected to the drive wheels DW and DW via the differential device DG or the like, but may be mechanically connected directly.

  Furthermore, in the first embodiment, the sun gear S is connected to the first rotor 13 and the ring gear R is connected to the drive wheels DW and DW. , DW and the ring gear R may be mechanically coupled to the first rotor 13, respectively. In this case, as a matter of course, the sun gear S and the drive wheels DW and DW, and the ring gear R and the first rotor 13 may be mechanically directly connected, or a gear, a pulley, You may connect mechanically using a chain, a transmission, etc.

  Next, a power plant 1A according to a second embodiment of the present invention will be described with reference to FIGS. This power unit 1A is mainly different from the first embodiment in that the connection relationship between the carrier C and the ring gear R with respect to the crankshaft 3a and the drive wheels DW and DW is reversed. In FIG. 12, the same constituent elements as those in the first embodiment are denoted by the same reference numerals. Hereinafter, a description will be given focusing on differences from the first embodiment.

  As shown in FIG. 12, in the power unit 1 </ b> A, unlike the first embodiment, the carrier C is integrally provided on the third rotating shaft 6 instead of the first rotating shaft 4 described above. Thus, the carrier C is mechanically coupled directly to the second rotor 23 of the second rotating machine 21 and mechanically coupled to the drive wheels DW and DW via the differential device DG and the like. Further, unlike the first embodiment, the ring gear R is provided integrally with the first rotating shaft 4 instead of the third rotating shaft 6. Thus, the ring gear R is mechanically directly connected to the crankshaft 3a.

  Further, the ECU 2 executes various processes according to the control programs stored in the ROM in accordance with the various sensors described above and the detection signals from the switches 51 to 58. Thus, as in the first embodiment, the abnormality of the main battery 44 is determined according to the process shown in FIG. 6, and the operation mode is set to the EV mode or HV when the main battery 44 is normal according to the process shown in FIG. When the mode is abnormal, the FS mode is determined. Further, the operations of the engine 3, the starter 31, the first and second rotating machines 11 and 21 are controlled according to various operation modes, whereby the vehicle is operated in various operation modes. In this case, the control and operation in the HV mode and the FS mode are different from those in the first embodiment due to the difference in configuration described above from the first embodiment, and this point will be described below.

[HV mode]
Control in the HV mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process is different from the process of the first embodiment shown in FIG. 7 described above only in that steps 71, 72, 75 and 76 are executed instead of the steps 32, 33, 40 and 41, respectively. Specifically, only the operation control of the first and second rotating machines 11 and 21 is different. Therefore, this difference will be mainly described below, and steps having the same execution contents as those in FIG. 7 will be denoted by the same step numbers and description thereof will be omitted.

  When the answer to step 31 is NO (F_ENGOPE = 0) and the engine 3 is stopped, the control of the operations of the first and second rotating machines 11 and 21 for starting the engine 3 is performed in steps 71 and 72. The engine 3 is started by executing the steps 34 and the subsequent steps. In this step 71, first, a target value TROBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the above-mentioned start speed NEST. Next, when the vehicle is stopped (NDW = 0), electric power is supplied from the main battery 44 to the first stator 12, the first rotor 13 is rotated in the reverse direction, and torque acting on the ring gear R is calculated. The current supplied to the first stator 12 is controlled so that the target value TROBJ is obtained.

  On the other hand, when the vehicle is running with the second rotating machine 21 as a power source, the control of the operation of the first rotating machine 11 in step 71 is performed as follows. That is, in the power unit 1A, as in the first embodiment, a predetermined collinear relationship is established among the first rotating machine speed NM1, the drive wheel speed NDW, and the engine speed NE. When the rotation direction of the first rotor 13 determined by the collinear relationship and the engine speed NE and the drive wheel speed NDW is the normal rotation direction, the second rotor 23 transmits to the first rotor 13 via the planetary gear unit PG. Electric power is generated by the first stator 12 using a part of the motive power. Next, the current generated by the first stator 12 is controlled so that the torque acting on the ring gear R becomes the target value TROBJ. On the other hand, when the rotation direction of the first rotor 13 is the reverse rotation direction, the operation of the first rotating machine 11 is controlled in the same manner as when the vehicle is stopped.

The control of the operation of the second rotating machine 21 in step 72 is performed as follows. That is, first, the target value TM2OBJ is calculated by the following equation (35) using the target value TROBJ calculated in step 71 and the required torque TREQ. Next, while supplying electric power from the main battery 44 to the second stator 22, the current supplied to the second stator 22 so that a torque corresponding to the target value TM2OBJ acts on the second rotor 23 in the forward rotation direction. To control.
TM2OBJ = TREQ + (A + 1) TROBJ / A (35)

  In step 75 following step 39, the operation of the first rotating machine 11 during operation of the engine 3 is controlled as follows. That is, first, the target value TROBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ calculated in the step 38. Next, when the rotation direction of the first rotor 13 determined by the engine speed NE and the drive wheel speed NDW is the reverse direction, a part of the power transmitted from the engine 3 to the first rotor 13 via the planetary gear unit PG is obtained. In addition, the first stator 12 generates power and the generated power is supplied to the second stator 22. On the other hand, when the rotation direction of the first rotor 13 is the forward rotation direction, the power generated by the second stator 22 or the power of the main battery 44 is supplied to the first stator 12 as described later. In these cases, both the current generated by the first stator 12 and the current supplied to the first stator 12 are controlled so that the torque acting on the ring gear R becomes the calculated target value TROBJ.

In step 76 following step 75, the operation of the second rotating machine 21 during operation of the engine 3 is controlled as follows, and this process ends. That is, first, the target value TM2OBJ is calculated by the following equation (36) using the target value TROBJ calculated in step 75 and the required torque TREQ. Next, when the rotation direction of the first rotor 13 determined by the engine speed NE and the drive wheel speed NDW is the reverse rotation direction, a torque corresponding to the calculated target value TM2OBJ acts on the second rotor 23 in the forward rotation direction. Thus, the current supplied from the first stator 12 to the second stator 22 is controlled. In this case, when the required torque TREQ is large and power from the first stator 12 is insufficient, power is further supplied from the main battery 44 to the second stator 22.
TM2OBJ = TREQ- (A + 1) TROBJ / A (36)

  On the other hand, in the control of the operation of the second rotating machine 21 described above, when the rotation direction of the first rotor 13 is the forward rotation direction and the target value TM2OBJ is a negative value, the first rotation from the engine 3 via the planetary gear unit PG. 2 A part of the power transmitted to the rotor 23 is used to generate electric power in the second stator 22, and the generated electric current is reversed with respect to the second rotor 23 by a torque corresponding to the absolute value of the target value TM2OBJ. Control to act in the direction. On the other hand, when the rotation direction of the first rotor 13 is the forward rotation direction and the target value TM2OBJ is a positive value, power is supplied from the main battery 44 to the second stator 22, and the supplied current is changed to the target value TM2OBJ. Is controlled so that a torque corresponding to the above acts on the second rotor 23 in the forward rotation direction. In this case, power is supplied from the main battery 44 to the first stator 12 as described above. As described above, the engine 3 is assisted by the first and second rotating machines 11 and 21.

  In the control of the operations of the first and second rotating machines 11 and 21 in steps 75 and 76, when the main battery 44 is charged, a part of the electric power generated by the first or second stator 12 or 22 is charged. Is done.

  By executing the above steps 37 to 39, 75 and 76, the power transmitted to the drive wheels DW and DW is controlled to become the required drive force PREQ, and the torque transmitted to the drive wheels DW and DW is controlled. The required torque TREQ is controlled.

  Next, an operation example of the above-described processing will be described with reference to FIGS. 14 and 15. Specifically, the operation examples shown in FIGS. 14 and 15 are operation examples when the engine 3 is started by executing the steps 71, 72 and 34 to 36, respectively, while the vehicle is stopped and running. Show. First, FIG. 14 and FIG. 15 will be described.

  As is apparent from the connection relationship between the various rotary elements described above, the rotation speeds of the sun gear S, the carrier C, and the ring gear R are the first rotation machine rotation speed NM1, the second rotation machine rotation speed NM2, and the engine rotation speed, respectively. Equal to NE. If the shift by the differential device DG or the like is ignored, the rotation speed of the carrier C and the second rotation machine rotation speed NM2 are equal to the drive wheel rotation speed NDW. Further, the rotational speeds of the sun gear S, the carrier C, and the ring gear R are in a predetermined collinear relationship determined by the ratio A of the number of teeth of the ring gear R to the number of teeth of the sun gear S. From the above, the relationship among the first rotating machine speed NM1, the engine speed NE, the drive wheel speed NDW, and the second rotating machine speed NM2 is represented by a speed collinear chart as shown in FIG. 14 or FIG. Is done.

  As is apparent from FIG. 14, the first power running torque TM1 is transmitted to the crankshaft 3a through the ring gear R using the second power running torque TM2 as a reaction force, whereby the crankshaft 3a is driven and rotates forward. . In this case, by controlling the operation of the first rotating machine 11 in step 71, the current supplied to the first stator 12 is controlled so that the torque acting on the ring gear R becomes the target value TROBJ. Feedback control is performed so that the rotational speed NE becomes the rotational speed for starting NEST. In this state, the engine 3 is started.

  Further, as is apparent from FIG. 14, the first power running torque TM1 acts to reverse the carrier C, the second rotor 23, and the drive wheels DW and DW using the engine friction TEF as a reaction force. As is apparent from the function of the planetary gear device PG, the torque acting so as to reverse the carrier C or the like (hereinafter referred to as “carrier reverse torque”) is defined as the sun gear S when the torque acting on the ring gear R is TR. -(A + 1) TR / A, using the ratio A of the number of teeth of the ring gear R to the number of teeth.

  On the other hand, by controlling the operation of the second rotating machine 21 in the step 72, the torque corresponding to the target value TM2OBJ is supplied to the second stator 22 so as to act on the second rotor 23 in the normal rotation direction. Current to be controlled. Further, the target value TM2OBJ is calculated by the above equation (35), that is, TM2OBJ = TREQ + (A + 1) TROBJ / A. In this case, the required torque TREQ is 0 because the vehicle is stopped. As is clear from these and the carrier reverse torque expressed by-(A + 1) TR / A as described above, the carrier reverse torque is canceled by the second power running torque TM2, and as a result, the drive wheels DW, DW is held stationary (NDW = 0).

  Further, as is apparent from FIG. 15, during traveling of the vehicle, a part of the second power running torque TM2 is transmitted to the carrier C, and further via the ring gear R using the first power generation torque TG1 as a reaction force. As a result, the crankshaft 3a is driven to rotate forward. Further, the remainder of the second power running torque TM2 is transmitted to the drive wheels DW and DW. As a result, the drive wheels DW and DW are driven to rotate forward, and the vehicle moves forward. Also in this case, the feedback control is performed so that the engine rotational speed NE becomes the starting rotational speed NEST as in the case where the vehicle shown in FIG. 14 is stopped. In this state, the engine 3 is started.

  Further, as apparent from FIG. 15, the first power generation torque TG1 acts to reverse the carrier C, the second rotor 23, and the drive wheels DW and DW using the engine friction TEF as a reaction force. The torque acting so as to reverse the carrier C or the like (carrier reverse torque) is represented by-(A + 1) TR / A, as in the case where the vehicle shown in FIG. 14 is stopped.

  On the other hand, the current supplied to the second stator 22 is controlled so that the torque corresponding to the target value TM2OBJ acts on the second rotor 23 in the forward rotation direction, as in the case where the vehicle is stopped. At the same time, this target value TM2OBJ is calculated by TM2OBJ = TREQ + (A + 1) TROBJ / A. As is clear from this and the carrier reverse rotation torque expressed as-(A + 1) TR / A as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

[FS mode]
Control in the FS mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process differs from the process of the first embodiment shown in FIG. 10 described above only in that steps 81 and 82 are executed instead of the steps 60 and 61, respectively. Is different only in operation control of the first and second rotating machines 11 and 21 during operation of the engine 3. Therefore, this difference will be mainly described below, and steps having the same execution contents as those in FIG.

  In step 81 following step 59, the operation of the first rotating machine 11 is controlled as follows. That is, first, the target value TROBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ. Next, as shown in FIG. 17 described later, when the rotation direction of the first rotor 13 determined by the engine rotational speed NE and the drive wheel rotational speed NDW is the reverse rotation direction, the first rotor 13 from the engine 3 via the planetary gear unit PG. A part of the power transmitted to the first stator 12 is used to generate power, and the generated power is supplied to the second stator 22 as it is. In this case, as in step 75, the current generated by the first stator 12 is controlled so that the torque TR acting on the ring gear R becomes the calculated target value TROBJ.

  In the control of the operation of the first rotating machine 11 described above, when the rotation direction of the first rotor 13 is the forward rotation direction, the electric power generated by the second stator 22 is supplied to the first stator 12 as it is, as will be described later. Thus, the current supplied to the first stator 12 is controlled so that the torque TR acting on the ring gear R becomes the target value TROBJ.

  Further, in step 82 following step 81, the operation of the second rotating machine 21 is controlled as follows, and this process ends. That is, first, the target value TM2OBJ is calculated using the target value TROBJ calculated in step 81 and the required torque TREQ by the above equation (36), that is, TM2OBJ = TREQ− (A + 1) TROBJ / A. Next, when the rotation direction of the first rotor 13 determined by the engine speed NE and the drive wheel speed NDW is the reverse rotation direction, a torque corresponding to the calculated target value TM2OBJ acts on the second rotor 23 in the forward rotation direction. Thus, the current supplied from the first stator 12 to the second stator 22 is controlled.

  On the other hand, when the rotation direction of the first rotor 13 is the forward rotation direction, power is generated by the second stator 22 using a part of the power transmitted from the engine 3 to the second rotor 23 via the planetary gear device PG. At the same time, the generated electric power is supplied to the first stator 12 as it is. In this case, the target value TM2OBJ calculated by the equation (36) becomes a negative value, and the second stator 22 generates electric power so that the torque corresponding to the absolute value acts on the second rotor 23 in the reverse rotation direction. Control the current.

  Next, an operation example of the above-described processing will be described with reference to FIG. Specifically, this operation example shows an operation example in the case of running the vehicle by executing the steps 57 to 59, 81 and 82. As apparent from FIG. 17, the engine torque TENG transmitted to the ring gear R is transmitted to the drive wheels DW and DW via the carrier C using the first power generation torque TG1 as a reaction force. Further, the second power running torque TM2 is further transmitted to the drive wheels DW and DW. As described above, the drive wheels DW and DW are driven to rotate forward, and the vehicle moves forward.

  In this case, the engine torque TENG acts to cause the carrier C, the second rotor 23, and the drive wheels DW and DW to rotate forward using the first power generation torque TG1 as a reaction force. The torque that acts to rotate the carrier C or the like in the forward direction (hereinafter referred to as “carrier forward rotation torque”) is the torque TR acting on the ring gear R and the ratio A of the number of teeth of the ring gear R to the number of teeth of the sun gear S. (A + 1) TR / A.

  On the other hand, by controlling the operation of the second rotating machine 21 in step 82, the torque corresponding to the target value TM2OBJ is supplied to the second stator 22 so as to act on the second rotor 23 in the normal rotation direction. Current to be controlled. Further, the target value TM2OBJ is calculated by Expression (36), that is, TM2OBJ = TREQ− (A + 1) TROBJ / A. As is clear from this and the carrier forward rotation torque expressed by (A + 1) TR / A as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  Although not shown, when the rotation direction of the first rotor 13 is the forward rotation direction, the carrier forward rotation torque ((A + 1) TR / A) is larger than the required torque TREQ. In this case, the target value TM2OBJ represents the surplus of the carrier forward rotation torque with respect to the required torque TREQ, as is apparent from the equation (36). Further, by controlling the operation of the second rotating machine 21 in step 82, the current generated by the second stator 22 is controlled so that the torque corresponding to this surplus acts in the reverse direction on the second rotor 23. Is done. As a result, the torque corresponding to the surplus is canceled out, and in this case as well, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  As described above, in the FS mode, similarly to the first embodiment, the torque transmitted to the drive wheels DW and DW is controlled to be the required torque TREQ. In this case, the output of the engine 3 is controlled so as to become the target output PEOBJ set to the request output PREQ. In addition, no power is exchanged between the first and second rotating machines 11 and 21 and the main battery 44, and the power of the engine 3 is transmitted to the planetary gear unit PG, the first and second rotations. It is transmitted to the drive wheels DW and DW via the machines 11 and 21. As is apparent from the above, the power transmitted to the drive wheels DW and DW is controlled so as to be the required drive force PREQ. When the engine speed NE and the drive wheel speed NDW are different from each other, the output (power) of the engine 3 is shifted and transmitted to the drive wheels DW and DW.

  As described above, according to the second embodiment, the above-described effects according to the first embodiment can be obtained in the same manner, such as being able to start the engine 3 appropriately and reliably according to whether or not the main battery 44 is abnormal. it can.

  In the second embodiment, the ring gear R is directly connected to the crankshaft 3a, but may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like. In the second embodiment, the sun gear S is directly connected to the first rotor 13, but may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like. Furthermore, in the second embodiment, the carrier C and the second rotor 23 are directly connected to each other, but may not be directly connected to each other as long as they are mechanically connected to the drive wheels DW and DW. In the second embodiment, the carrier C and the second rotor 23 are coupled to the drive wheels DW and DW via the differential device DG or the like, but may be mechanically coupled directly.

  Further, in the second embodiment, the sun gear S is connected to the first rotor 13 and the ring gear R is connected to the crankshaft 3a. However, these connection relations are reversed, that is, the sun gear S is connected to the crankshaft 3a. The ring gear R may be mechanically connected to the first rotor 13. In this case, as a matter of course, the sun gear S and the crankshaft 3a and the ring gear R and the first rotor 13 may be mechanically directly connected, or the gear, pulley, chain may be connected. Alternatively, the transmission may be mechanically connected using a transmission device or the like.

  Next, a power plant 1B according to a third embodiment of the present invention will be described with reference to FIGS. The power unit 1B is mainly different from the first embodiment in that a two-rotor type first rotating machine 61 is provided instead of the first rotating machine 11 and the planetary gear unit PG. 18 to 20, the same components as those in the first embodiment are denoted by the same reference numerals. Hereinafter, a description will be given focusing on differences from the first embodiment.

  As shown in FIGS. 18 and 20, the first rotating machine 61 is of a two-rotor type, and includes a first stator 63 that does not move and a first rotor 64 that is provided to face the first stator 63. The second rotor 65 is provided between the two 63 and 64. The first rotor 64, the second rotor 65, and the first stator 63 are arranged coaxially with the first rotation shaft 4 described above, and are arranged in this order from the inside in the radial direction of the first rotation shaft 4. .

  The first stator 63 generates a first rotating magnetic field. As shown in FIGS. 20 and 21, the iron core 63a and the U phase, the V phase, and the W phase provided on the iron core 63a. Coils 63c, 63d, and 63e are provided. In FIG. 20, only the U-phase coil 63c is shown for convenience.

  The iron core 63a has a cylindrical shape in which a plurality of steel plates are laminated, and extends in the axial direction of the first rotating shaft 4 (hereinafter simply referred to as “axial direction”). It is fixed. In addition, twelve slots 63b are formed on the inner peripheral surface of the iron core 63a, and these slots 63b extend in the axial direction and are arranged in the circumferential direction of the first rotating shaft 4 (hereinafter simply referred to as “circumferential direction”). ”) At equal intervals. The U-phase to W-phase coils 63c to 63e are wound around the slot 63b by distributed winding (wave winding). Further, as shown in FIG. 19, the first stator 63 including the U-phase to W-phase coils 63c to 63e is electrically connected to the main battery 44 via the first PDU 41 and the VCU 43 described above. That is, the first and second stators 63 and 22 are electrically connected to each other via the first and second PDUs 41 and 42.

  In the first stator 63 configured as described above, when power is supplied from the main battery 44 via the VCU 43 and the first PDU 41, or when power is generated as described later, the iron core 63a on the first rotor 64 side. At the end, four magnetic poles are generated at equal intervals in the circumferential direction (see FIG. 23), and a first rotating magnetic field by these magnetic poles rotates in the circumferential direction. Hereinafter, the magnetic pole generated in the iron core 63a is referred to as “first armature magnetic pole”. The polarities of the two first armature magnetic poles adjacent in the circumferential direction are different from each other. In FIG. 23 and other drawings to be described later, the first armature magnetic pole is represented by (N) and (S) on the iron core 63a and the U-phase to W-phase coils 63c to 63e.

  Further, as shown in FIG. 21, the first rotor 64 has a first magnetic pole row composed of eight permanent magnets 64a. These permanent magnets 64 a are arranged at equal intervals in the circumferential direction, and the first magnetic pole row faces the iron core 63 a of the first stator 63. Each permanent magnet 64 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 63 a of the first stator 63.

  Furthermore, as shown in FIG. 20, the permanent magnet 64a is attached to the outer peripheral surface of the ring-shaped attachment part 64b. The attachment portion 64b 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 64c. The flange 64c is provided integrally with the third rotating shaft 6 described above, whereby the first rotor 64 including the permanent magnet 64a is directly connected to the third rotating shaft 6 in a coaxial manner. Moreover, since the permanent magnet 64a is attached to the outer peripheral surface of the attaching portion 64b made of a soft magnetic material as described above, each permanent magnet 64a has (N) at the end on the first stator 63 side. Or one magnetic pole of (S) appears. In FIG. 21 and other drawings to be described later, the magnetic poles of the permanent magnet 64a are represented by (N) and (S). The polarities of the two permanent magnets 64a adjacent to each other in the circumferential direction are different from each other.

  Further, the second rotor 65 described above has a single first soft magnetic body row composed of six cores 65a. The cores 65a are arranged at equal intervals in the circumferential direction, and the first soft magnetic material rows are arranged at predetermined intervals between the iron core 63a of the first stator 63 and the magnetic pole rows of the first rotor 64, respectively. Are arranged apart from each other. Each core 65a 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 65a in the axial direction is set to be the same as that of the iron core 63a of the first stator 63, like the permanent magnet 64a. Furthermore, the core 65a is attached to the outer end portion of the disc-shaped flange 65b via a cylindrical connecting portion 65c that extends slightly in the axial direction, and the flange 65b is attached to the first rotating shaft 4 described above. It is provided integrally. As described above, the second rotor 65 including the core 65a is directly connected coaxially to the crankshaft 3a via the first rotating shaft 4 and the flywheel. In FIG. 21 and FIG. 23, the connecting portion 65c and the flange 65b are omitted for convenience. Further, in the power unit 1B, the above-described second rotating shaft 5 is omitted.

Next, the operation of the first rotating machine 61 having the above configuration will be described. As described above, the first rotating machine 61 has four first armature magnetic poles, eight magnetic poles of the permanent magnet 64a (hereinafter referred to as “first magnet magnetic pole”), and six cores 65a. That is, the ratio of the number of first armature magnetic poles, the number of first magnet magnetic poles, and the number of cores 65a is set to 1: 2.0: (1 + 2.0) / 2. The ratio of the number of pole pairs of the first magnetic pole to the number of pole pairs (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, the U-phase to W-phase coil 63c as the first rotor 64 and the second rotor 65 rotate with respect to the first stator 63. To 63e (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 (37) and (38), respectively. And (39).

  Here, ψF is the maximum value of the magnetic flux of the first magnet magnetic pole. ΘER1 is the first rotor electrical angle, and the rotational angle position of the specific permanent magnet 64a of the first rotor 64 with respect to the specific U-phase coil 63c (hereinafter referred to as “reference coil”) is converted into an electrical angle position. Value. That is, the first rotor electrical angle θER1 is a value obtained by multiplying the rotation angle position of the specific permanent magnet 64a by the number of pole pairs of the first armature magnetic pole, that is, the value 2. Furthermore, θER2 is the second rotor electrical angle, which is a value obtained by converting the rotation angle position of the specific core 65a of the second rotor 65 with respect to the reference coil into the electrical angle position. That is, the second rotor electrical angle θER2 is a value obtained by multiplying the rotation angle position of the specific core 65a by the number of pole pairs (value 2) of the first armature magnetic pole.

  Further, ωER1 in the above formulas (37) to (39) is the first rotor electrical angular velocity, and the time differential value of the first rotor electrical angle θER1, that is, the angular velocity of the first rotor 64 with respect to the first stator 63 is electrically calculated. It is a value converted into angular velocity. Further, ωER2 is the second rotor electrical angular velocity, and is a value obtained by converting the time differential value of the second rotor electrical angle θER2, that is, the angular velocity of the second rotor 65 with respect to the first stator 63 into the electrical angular velocity.

Further, as is apparent from the first pole pair number ratio α and the equations (21) to (23), the currents flowing in the U-phase, V-phase, and W-phase coils 63c, 63d, 63e (hereinafter referred to as “U”, respectively). (Phase current Iu ”,“ V-phase current Iv ”, and“ W-phase current Iw ”) are expressed by the following equations (40), (41), and (42).

Here, I is the amplitude (maximum value) of the U-phase to W-phase currents Iu to Iw. Further, as is apparent from the first pole pair number ratio α (= 2.0) and the equations (24) and (25), the electrical angle position θMFR of the vector of the first rotating magnetic field of the first stator 63 with respect to the reference coil is The electrical angular velocity of the first rotating magnetic field with respect to the first stator 63 (hereinafter referred to as “first magnetic field electrical angular velocity ωMFR”) is represented by the following equation (44).

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

Also, assuming that the electric power supplied to the first stator 63 and the torque equivalent to the first magnetic field electrical angular velocity ωMFR are the first driving equivalent torque TSE1, the first driving equivalent torque TSE1 and the first driving equivalent torque TSE1 are transmitted to the first rotor 64. Between the torque (hereinafter referred to as “first rotor transmission torque TR1”) and the torque transmitted to the second rotor 65 (hereinafter referred to as “second rotor transmission torque TR2”). 2.0) and the above formula (32), it is expressed by the following formula (45).

  The relationship between the electrical angular velocity and the torque expressed by the above equations (44) and (45), respectively, is as follows: It is exactly the same as the relationship.

  Next, how the electric power supplied to the first stator 63 is specifically converted into power and output from the first rotor 64 and the second rotor 65 will be described. First, a case where electric power is supplied to the first stator 63 in a state where the first rotor 64 is held unrotatable will be described with reference to FIGS. 23 to 25. 23 to 25, 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 armature magnetic pole and core 65a shown in FIGS. 23 to 25 are hatched.

  First, as shown in FIG. 23A, the center of a certain core 65a and the center of a certain permanent magnet 64a coincide with each other in the circumferential direction, and the third core 65a from the core 65a has a third core 65a. 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 64a from the permanent magnet 64a coincide with each other in the circumferential direction. At the start of the occurrence, every other first armature magnetic pole having the same polarity is made to coincide with the center of each permanent magnet 64a whose center coincides with the core 65a in the circumferential direction. The polarity of the first armature magnetic pole is made different from the polarity of the first magnet magnetic pole of the permanent magnet 64a.

  As described above, the first rotating magnetic field generated by the first stator 63 is generated between the first rotor 64 and the second rotor 65 having the core 65 a is disposed between the first stator 63 and the first rotor 64. Therefore, each core 65a is magnetized by the first armature magnetic pole and the first magnet magnetic pole. Because of this and the gap between the adjacent cores 65a, a magnetic force line ML that connects the first armature magnetic pole, the core 65a, and the first magnet magnetic pole is generated. In FIG. 23 to FIG. 25, the magnetic lines of force ML in the iron core 63a and the mounting portion 64b are omitted for convenience. The same applies to other drawings described later.

  In the state shown in FIG. 23A, the magnetic lines of force ML connect the first armature magnetic pole, the core 65a, and the first magnet magnetic pole whose circumferential positions coincide with each other, and the first armature magnetic pole, It is generated so as to connect the first armature magnetic pole, the core 65a, and the first magnet magnetic pole adjacent to each other in the circumferential direction of each of the core 65a and the first magnet 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 65a.

  Then, when the first armature magnetic pole rotates from the position shown in FIG. 23 (a) to the position shown in FIG. 23 (b) along with the rotation of the first rotating magnetic field, the magnetic field lines ML are bent. Magnetic force acts on the core 65a so that the magnetic lines of force ML are linear. In this case, with respect to the straight line connecting the first armature magnetic pole and the first magnet magnetic pole connected to each other by the magnetic force line ML, the magnetic force line ML is the rotation direction of the first rotating magnetic field (hereinafter referred to as “magnetic field rotating direction”) in the core 65a. ), The magnetic force acts to drive the core 65a in the magnetic field rotation direction. The core 65a is driven in the magnetic field rotation direction by the action of the magnetic force due to the magnetic lines of force ML, and the second rotor 65 provided with the core 65a is also rotated in the magnetic field rotation direction. Rotate. The broken lines in FIGS. 23B and 23C indicate that the magnetic flux amount of the magnetic field lines ML is extremely small and the magnetic connection between the first armature magnetic pole, the core 65a, and the first magnet magnetic pole is weak. Yes. 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 65a → the core so that the magnetic force line ML becomes linear. As shown in FIGS. 24 (a) to 24 (d), FIGS. 25 (a) and 25 (b), the magnetic force acts on 65a → the core 65a and the second rotor 65 rotate in the direction of magnetic field rotation. Repeatedly. As described above, when electric power is supplied to the first stator 63 while the first rotor 64 is held unrotatable, the electric power is supplied to the first stator 63 by the action of the magnetic force due to the magnetic lines of force ML as described above. The generated electric power is converted into power, and the power is output from the second rotor 65.

  FIG. 26 shows a state in which the first armature magnetic pole has been rotated by an electrical angle of 2π from the state of FIG. 23A, and as is clear from the comparison between FIG. 26 and FIG. Is rotated in the same direction by a rotation angle of 1/3 with respect to the first armature magnetic pole. This result agrees with the fact that ωER2 = ωMFR / 3 is obtained by setting ωER1 = 0 in the equation (44).

  Next, an operation when electric power is supplied to the first stator 63 while the second rotor 65 is held unrotatable will be described with reference to FIGS. 27 to 29. 27 to 29, as in FIGS. 23 to 25, the same first armature magnetic pole and permanent magnet 64a are hatched for easy understanding. First, as shown in FIG. 27 (a), as in FIG. 23 (a), the center of one core 65a and the center of one permanent magnet 64a coincide with each other in the circumferential direction. From the state in which the center of the third core 65a from the core 65a and the center of the fourth permanent magnet 64a from the permanent magnet 64a coincide with each other in the circumferential direction, the first rotating magnetic field is moved to the left in FIG. Generate to rotate. At the start of the occurrence, every other first armature magnetic pole having the same polarity is made to coincide with the center of each permanent magnet 64a whose center coincides with the core 65a in the circumferential direction. The polarity of the first armature magnetic pole is made different from the polarity of the first magnet magnetic pole of the permanent magnet 64a.

  In the state shown in FIG. 27A, similarly to the case of FIG. 23A, the magnetic force lines ML connect the first armature magnetic pole, the core 65a, and the first magnet magnetic pole, whose positions in the circumferential direction coincide with each other. And it generate | occur | produces so that the 1st armature magnetic pole, the core 65a, and the 1st magnet magnetic pole which adjoin each each circumferential both sides of these 1st armature magnetic poles, the core 65a, and the 1st magnet magnetic pole may be tied. 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 64a.

  When the first armature magnetic pole rotates from the position shown in FIG. 27 (a) to the position shown in FIG. 27 (b) along with the rotation of the first rotating magnetic field, the magnetic field lines ML are bent, and accordingly, A magnetic force acts on the permanent magnet 64a so that the magnetic lines of force ML are linear. In this case, since the permanent magnet 64a is in a position advanced in the magnetic field rotation direction from the extension line of the first armature magnetic pole and the core 65a connected to each other by the magnetic force line ML, the magnetic force is permanently applied to the extension line. It acts to position the magnet 64a, that is, to drive the permanent magnet 64a in the direction opposite to the magnetic field rotation direction. The permanent magnet 64a is driven in the direction opposite to 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. 27C, and the first rotor 64 provided with the permanent magnet 64a is also provided. Rotate 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 field line ML is bent and is more permanent than the extension line of the first armature magnetic pole and the core 65a connected to each other by the magnetic field line ML. The magnet 64a is located at a position advanced in the magnetic field rotation direction. The magnetic force acts on the permanent magnet 64a so that the magnetic field lines ML are linear. The permanent magnet 64a and the first rotor 64 rotate in the direction opposite to the magnetic field rotation direction. The operation of “doing” is repeatedly performed as shown in FIGS. 28A to 28D and FIGS. 29A and 29B. As described above, when electric power is supplied to the first stator 63 while the second rotor 65 is held in a non-rotatable state, the electric power is supplied to the first stator 63 by the action of the magnetic force due to the magnetic force lines ML as described above. The generated electric power is converted into power, and the power is output from the first rotor 64.

  FIG. 29 (b) shows a state in which the first armature magnetic pole has been rotated by an electrical angle of 2π from the state of FIG. 27 (a), which is apparent from a comparison between FIG. 29 (b) and FIG. 27 (a). Thus, it can be seen that the permanent magnet 64a rotates in the opposite direction by a half rotation angle with respect to the first armature magnetic pole. This result coincides with the fact that −ωER1 = ωMFR / 2 is obtained by setting ωER2 = 0 in the equation (44).

  30 and 31 set the numbers of the first armature magnetic poles, the cores 65a, and the permanent magnets 64a to the value 16, the value 18 and the value 20, respectively, A simulation result in the case where power is output from the second rotor 65 by supplying electric power to the first stator 63 is shown. FIG. 30 shows an example of the transition of the U-phase to W-phase back electromotive voltages Vcu to Vcw while the second rotor electrical angle θER2 changes from 0 to 2π.

  In this case, the first rotor 64 is held non-rotatable, the number of pole pairs of the first armature magnetic pole and the first magnet magnetic pole is 8 and 10, respectively, and from the above equation (25), The relationship between the first magnetic field electrical angular velocity ωMFR and the first and second rotor electrical angular velocities ωER1 and ωER2 is expressed by ωMFR = 2.25 · ωER2. As shown in FIG. 30, while the second rotor electrical angle θER2 changes from 0 to 2π, the U-phase to W-phase counter electromotive voltages Vcu to Vcw are generated for approximately 2.25 cycles. FIG. 30 shows a change state of the U-phase to W-phase back electromotive voltages Vcu to Vcw as viewed from the second rotor 65. As shown in FIG. With the angle θER2 as a horizontal axis, the W-phase counter electromotive voltage Vcw, the V-phase counter electromotive voltage Vcv, and the U-phase counter electromotive voltage Vcu are arranged in this order. Represents that. The simulation results shown in FIG. 30 as described above agree with the relationship of ωMFR = 2.25 · ωER2 based on the above-described equation (25).

  Further, FIG. 31 shows an example of the transition of the first driving equivalent torque TSE1, the first and second rotor transmission torques TR1 and TR2. In this case, the number of pole pairs of the first armature magnetic pole and the first magnet magnetic pole is 8 and 10, respectively, and from the above equation (32), the first driving equivalent torque TSE1, the first and second rotor transmissions The relationship between the torques TR1 and TR2 is expressed by TSE1 = TR1 / 1.25 = −TR2 / 2.25. As shown in FIG. 31, the first driving equivalent torque TSE1 is approximately −TREF, the first rotor transmission torque TR1 is approximately 1.25 · (−TREF), and the second rotor transmission torque TR2 is approximately 2 .25 · TREF. This TREF is a predetermined torque value (for example, 200 Nm). Such a simulation result shown in FIG. 31 is in agreement with the relationship of TSE1 = TR1 / 1.25 = −TR2 / 2.25 based on the above-described equation (32).

  32 and 33, the numbers of first armature magnetic poles, cores 65a, and permanent magnets 64a are set in the same manner as in FIGS. 30 and 31, and the second rotor 65 is rotated instead of the first rotor 64. The simulation result is shown in the case where the power is output from the first rotor 64 while the power is supplied to the first stator 63 while being held impossible. FIG. 32 shows an example of the transition of the U-phase to W-phase back electromotive voltages Vcu to Vcw while the first rotor electrical angle θER1 changes from 0 to 2π.

  In this case, the second rotor 65 is held non-rotatable, the number of pole pairs of the first armature magnetic pole and the first magnet magnetic pole is the value 8 and the value 10, respectively, The relationship between the first magnetic field electrical angular velocity ωMFR and the first and second rotor electrical angular velocities ωER1 and ωER2 is represented by ωMFR = −1.25 · ωER1. As shown in FIG. 32, the U-phase to W-phase counter electromotive voltages Vcu to Vcw are generated for approximately 1.25 periods while the first rotor electrical angle θER1 changes from 0 to 2π. FIG. 32 shows a change state of the U-phase to W-phase counter electromotive voltages Vcu to Vcw as viewed from the first rotor 64. As shown in FIG. 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 with the angle θER1 as the horizontal axis. Represents that you are doing. The simulation results shown in FIG. 32 as described above agree with the relationship of ωMFR = −1.25 · ωER1 based on the above-described equation (25).

  Further, FIG. 33 shows an example of transition of the first driving equivalent torque TSE1, the first and second rotor transmission torques TR1 and TR2. Also in this case, as in the case of FIG. 31, the relationship between the first driving equivalent torque TSE1 and the first and second rotor transmission torques TR1 and TR2 is expressed by TSE1 = TR1 / 1.25 from the equation (32). = −TR2 / 2.25 As shown in FIG. 33, the first driving equivalent torque TSE1 is approximately TREF, the first rotor transmission torque TR1 is approximately 1.25 · TREF, and the second rotor transmission torque TR2 is approximately −2.25 ·. It is TREF. Such a simulation result shown in FIG. 33 agrees with the relationship of TSE1 = TR1 / 1.25 = −TR2 / 2.25 based on the above-described equation (32).

  As described above, in the first rotating machine 61, when the first rotating magnetic field is generated by supplying (inputting) power to the first stator 63, the first magnet magnetic pole, the core 65a, and the first armature magnetic pole described above are used. A magnetic field line ML is generated, and the electric power supplied to the first stator 63 is converted into power by the action of the magnetic force by the magnetic field line ML, and the power is output from the first rotor 64 and the second rotor 65. . In this case, the relationship represented by the above equation (44) is established between the first magnetic field electrical angular velocity ωMFR and the first and second rotor electrical angular velocities ωER1 and ωER2, and the first driving equivalent torque TSE1, the first and first The relationship shown in the above equation (45) is established between the two rotor transmission torques TR1 and TR2.

  For this reason, when power is not supplied to the first stator 63, power is input to at least one of the first and second rotors 64 and 65 to rotate at least one of the first stator 63 and the first stator 63. In the first stator 63, power is generated and a first rotating magnetic field is generated. In this case, a magnetic force line ML that connects the first magnetic pole, the core 65a, and the first armature magnetic pole is generated. The relationship between the electrical angular velocity shown in equation (44) and the torque shown in equation (45) is established by the action of the magnetic force generated by the magnetic field lines ML.

  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, the first power generation equivalent torque TGE1, the first and second rotor transmission torques TR1, TR2 In this case, the relationship shown in Expression (45) is established. As is apparent from the above, the first rotating machine 61 has the same function as an apparatus that combines a planetary gear device and a general one-rotor type rotating machine.

  Further, the ECU 2 controls the first PDU 41 and the VCU 43 to thereby control the current supplied to the first stator 63, the current generated by the first stator 63, and the rotational speed of the first rotating magnetic field (hereinafter referred to as “first magnetic field rotation”). NMF1 is controlled.

  As described above, in the power unit 1B, the second rotor 65 of the first rotating machine 61 is mechanically connected to the crankshaft 3a. Further, the first rotor 64 of the first rotating machine 61 and the second rotor 23 of the second rotating machine 21 are mechanically coupled to each other, and the gear G1, the gear G3, the differential device DG, and the axles 7, 7 Is mechanically coupled to the drive wheels DW and DW.

  As described above, since the second rotor 65 of the first rotating machine 61 is directly connected to the crankshaft 3a, the ECU 2 controls the first stator 63 according to the CRK signal and the TDC signal from the crank angle sensor 51. The rotational angle position of the second rotor 65 is calculated. Further, since the first rotor 64 of the first rotating machine 61 and the second rotor 23 of the second rotating machine 21 are directly connected to each other, the ECU 2 rotates the second rotor 23 detected by the second rotation angle sensor 53. Based on the angular position, the rotational angular position of the first rotor 64 relative to the first stator 63 is calculated. Although not shown, in the power unit 1B, since the first rotating machine 11 is not provided, the first rotation angle sensor 52 described above is omitted.

  In addition, the ECU 2 executes various processes according to the control programs stored in the ROM in accordance with the above-described various sensors and detection signals from the switches 51 and 53 to 58. Thus, as in the first embodiment, the abnormality of the main battery 44 is determined according to the process shown in FIG. 6, and the operation mode is set to the EV mode or HV when the main battery 44 is normal according to the process shown in FIG. When the mode is abnormal, the FS mode is determined. Further, the operations of the engine 3, the starter 31, the first and second rotating machines 61 and 21 are controlled according to various operation modes, and the vehicle is thereby operated in various operation modes. In this case, the control and operation in the HV mode and the FS mode are different from those in the first embodiment due to the difference in configuration described above from the first embodiment, and this point will be described below.

[HV mode]
Control in the HV mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process is different from the process of the first embodiment shown in FIG. 7 described above only in that steps 91, 92, 95 and 96 are executed in place of steps 32, 33, 40 and 41, respectively. Specifically, only the operation control of the first and second rotating machines 61 and 21 is different. Therefore, this difference will be mainly described below, and steps having the same execution contents as those in FIG. 7 will be denoted by the same step numbers and description thereof will be omitted.

  When the answer to step 31 is NO (F_ENGOPE = 0) and the engine 3 is stopped, the operation of the first and second rotating machines 61 and 21 for starting the engine 3 is controlled in steps 91 and 92. The engine 3 is started by executing the steps 34 and the subsequent steps. In this step 91, first, a target value TR2OBJ of the second rotor transmission torque TR2 is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the starting speed NEST. Next, when the vehicle is stopped (NDW = 0), electric power is supplied from the main battery 44 to the first stator 63 to cause the first rotating magnetic field to rotate forward, and the second rotor transmission torque TR2 is calculated. The current supplied to the first stator 63 is controlled so that the target value TR2OBJ is obtained.

  On the other hand, when the vehicle is running using the second rotating machine 21 as a power source, the control of the operation of the first rotating machine 11 in step 91 is performed as follows. That is, as is apparent from the connection relationship between the various rotary elements described above, a predetermined collinear relationship is established among the first magnetic field rotational speed NMF1, the drive wheel rotational speed NDW, and the engine rotational speed NE. When the rotation direction of the first rotating magnetic field determined by the collinear relationship and the engine rotational speed NE and the drive wheel rotational speed NDW is the reverse rotation direction, the second rotor 23 of the second rotating machine 21 to the first of the first rotating machine 61 Electric power is generated by the first stator 63 using a part of the power transmitted to the rotor 64. Next, the current generated by the first stator 63 is controlled so that the torque acting on the second rotor 65 becomes the calculated target value TR2OBJ. On the other hand, when the rotation direction of the first rotating magnetic field is the forward rotation direction, the operation of the first rotating machine 61 is controlled in the same manner as when the vehicle is stopped.

Further, the control of the operation of the second rotating machine 21 in the above step 92 is performed as follows. That is, first, the target value TM2OBJ is calculated by the following equation (46) using the target value TR2OBJ calculated in step 91 and the required torque TREQ. Next, while supplying electric power from the main battery 44 to the second stator 22, the current supplied to the second stator 22 so that a torque corresponding to the target value TM2OBJ acts on the second rotor 23 in the forward rotation direction. To control.
TM2OBJ = TREQ + α ・ TR2OBJ / (1 + α) (46)

  In step 95 following step 39, the operation of the first rotating machine 61 during the operation of the engine 3 is controlled as follows. That is, first, the target value TR2OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ calculated in the step 38. Next, when the rotation direction of the first rotating magnetic field determined by the engine rotational speed NE and the drive wheel rotational speed NDW is the forward rotation direction, a part of the power transmitted from the engine 3 to the second rotor 65 is used. The power is generated at 63 and the generated power is supplied to the second stator 22. On the other hand, when the rotation direction of the first rotating magnetic field is the reverse rotation direction, the power generated by the second stator 22 or the power of the main battery 44 is supplied to the first stator 63 as will be described later. In these cases, both the current generated by the first stator 63 and the current supplied to the first stator 63 are controlled so that the second rotor transmission torque TR2 becomes the target value TR2OBJ.

Further, in step 96 following step 95, the operation of the second rotating machine 21 during the operation of the engine 3 is controlled as follows, and this process ends. That is, first, the target value TM2OBJ is calculated by the following equation (47) using the target value TR2OBJ calculated in step 95 and the required torque TREQ. Next, when the rotation direction of the first rotating magnetic field determined by the engine rotation speed NE and the drive wheel rotation speed NDW is the normal rotation direction, a torque corresponding to the calculated target value TM2OBJ is generated in the normal rotation direction with respect to the second rotor 23. The electric current supplied from the first stator 63 to the second stator 22 is controlled so as to act. In this case, when the required torque TREQ is large and the electric power from the first stator 63 is insufficient, electric power is further supplied from the main battery 44 to the second stator 22.
TM2OBJ = TREQ-α ・ TR2OBJ / (1 + α) (47)

  On the other hand, in the control of the second rotating machine 21 described above, when the rotation direction of the first rotating magnetic field is the reverse direction and the target value TM2OBJ is a negative value, the engine 3 passes through the second and first rotors 65 and 64. Then, a part of the power transmitted to the second rotor 23 of the second rotating machine 21 is used to generate power with the second stator 22, and the generated power is converted into a torque corresponding to the absolute value of the target value TM2OBJ. The second rotor 23 is controlled to act in the reverse direction. On the other hand, when the rotation direction of the first rotating magnetic field is the reverse direction and the target value TM2OBJ is a positive value, power is supplied from the main battery 44 to the second stator 22, and the supplied current is changed to the target value TM2OBJ. Control is performed so that the corresponding torque acts on the second rotor 23 in the forward rotation direction. In this case, as described above, power is also supplied from the main battery 44 to the first stator 63. As described above, the engine 3 is assisted by the first and second rotating machines 61 and 21.

  In the control of the operations of the first and second rotating machines 61 and 21 in steps 95 and 96, when charging the main battery 44, a part of the electric power generated by the first or second stator 63, 22 is charged. Is done.

  By executing the above steps 37 to 39, 95 and 96, the power transmitted to the drive wheels DW and DW is controlled to be the required drive force PREQ, as in the first embodiment, and the drive wheels DW, The torque transmitted to the DW is controlled so as to be the required torque TREQ.

  Next, an operation example of the above-described processing will be described with reference to FIGS. Specifically, the operation examples shown in FIGS. 35 and 36 are operation examples when the engine 3 is started by executing the steps 91, 92 and 34 to 36, respectively, while the vehicle is stopped and running. Show. First, these FIG. 35 and FIG. 36 will be described.

  As is apparent from the connection relationship between the various rotary elements described above, the engine speed NE and the second rotor speed NR2 are equal to each other, and the first rotor speed NR1 and the second rotary machine speed NM2 are equal to each other. equal. If the shift by the differential device DG or the like is ignored, the first rotor speed NR1 and the second rotating machine speed NM2 are equal to the drive wheel speed NDW. Further, the first magnetic field rotational speed NMF1, the first and second rotor rotational speeds NR1 and NR2 are in a predetermined collinear relationship as expressed by the formula (44). From the above, the relationship among the first magnetic field rotational speed NMF1, the engine rotational speed NE, the drive wheel rotational speed NDW, and the second rotating machine rotational speed NM2 is represented by a speed collinear chart as shown in FIG. 35 or FIG. The In FIG. 35 and other speed collinear charts to be described later, in order to identify the second rotor 65 of the first rotating machine 61 and the second rotor 23 of the second rotating machine 21, the reference numerals of both are shown in parentheses. ing.

  As is apparent from FIG. 35, the first driving equivalent torque TSE1 is transmitted to the crankshaft 3a via the second rotor 65 using the second power running torque TM2 as a reaction force, and thereby the crankshaft 3a is driven. , Rotate forward. In this case, by controlling the operation of the first rotating machine 61 in step 91, the current supplied to the first stator 63 is controlled so that the second rotor transmission torque TR2 becomes the target value TR2OBJ. Feedback control is performed so that the rotational speed NE becomes the rotational speed for starting NEST. In this state, the engine 3 is started.

  Further, as is apparent from FIG. 35, the first driving equivalent torque TSE1 reverses the first rotor 64, the second rotor 23 of the second rotating machine 21, and the driving wheels DW and DW by using the engine friction TEF as a reaction force. Acts to let you. The torque acting so as to reverse the first rotor 64 and the like (hereinafter referred to as “first rotor reverse torque”) is, as is apparent from the function of the first rotating machine 61, the second rotor transmission torque TR2. And -α · TR2 / (1 + α), using the first pole pair number ratio α.

  On the other hand, by controlling the operation of the second rotating machine 21 in step 92, the torque corresponding to the target value TM2OBJ is supplied to the second stator 22 so as to act on the second rotor 23 in the forward rotation direction. Current to be controlled. Further, the target value TM2OBJ is calculated by the equation (46), that is, TM2OBJ = TREQ + α · TR2OBJ / (1 + α). In this case, the required torque TREQ is 0 because the vehicle is stopped. As is clear from these and the fact that the first rotor reverse torque is represented by -α · TR2 / (1 + α) as described above, the first rotor reverse torque is offset by the second power running torque TM2, and consequently The driving wheels DW and DW are held in a stationary state (NDW = 0).

  Further, as is clear from FIG. 36, during the traveling of the vehicle, a part of the second power running torque TM2 is transmitted to the first rotor 64, and further, the first power generation equivalent torque TGE1 is used as a reaction force. 2 is transmitted to the crankshaft 3a via the rotor 65, and as a result, the crankshaft 3a is driven to rotate forward. Further, the remainder of the second power running torque TM2 is transmitted to the drive wheels DW and DW. As a result, the drive wheels DW and DW are driven to rotate forward, and the vehicle moves forward. Also in this case, feedback control is performed so that the engine rotational speed NE becomes the starting rotational speed NEST as in the case where the vehicle is stopped as shown in FIG. In this state, the engine 3 is started.

  Further, as is apparent from FIG. 36, the first power generation equivalent torque TGE1 reverses the first rotor 64, the second rotor 23 of the second rotating machine 21, and the drive wheels DW and DW using the engine friction TEF as a reaction force. It works to let you. The torque acting so as to reverse the first rotor 64 and the like (first rotor reverse rotation torque) is represented by −α · TR2 / (1 + α) as in the case of the stop of the vehicle shown in FIG. .

  On the other hand, the current supplied to the second stator 22 is controlled so that the torque corresponding to the target value TM2OBJ acts on the second rotor 23 in the forward rotation direction, as in the case where the vehicle is stopped. At the same time, this target value TM2OBJ is calculated by TM2OBJ = TREQ + α · TR2OBJ / (1 + α). As is apparent from this and the fact that the first rotor reverse torque is represented by -α · TR2 / (1 + α) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW. .

[FS mode]
Control in the FS mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process differs from the process of the first embodiment shown in FIG. 10 described above only in that steps 101 and 102 are executed instead of steps 60 and 61, respectively. Is different only in operation control of the first and second rotating machines 61 and 21 during operation of the engine 3. Therefore, this difference will be mainly described below, and steps having the same execution contents as those in FIG.

  In step 101 following step 59, the operation of the first rotating machine 61 is controlled as follows. That is, first, the target value TR2OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ. Next, as shown in FIG. 38 to be described later, when the rotation direction of the first rotating magnetic field determined by the engine speed NE and the drive wheel speed NDW is the forward rotation direction, the power transmitted from the engine 3 to the second rotor 65 is increased. A part of the electric power is generated by the first stator 63 and the generated electric power is supplied to the second stator 22 as it is. In this case, as in step 95, the current generated by the first stator 63 is controlled such that the second rotor transmission torque TR2 becomes the calculated target value TR2OBJ.

  In the control of the first rotating machine 61 described above, when the rotation direction of the first rotating magnetic field is the reverse rotation direction, the electric power generated by the second stator 22 is supplied to the first stator 63 as it is, as will be described later. In this manner, the current supplied to the first stator 63 is controlled so that the second rotor transmission torque TR2 becomes the target value TR2OBJ.

  In step 102 following step 101, the operation of the second rotating machine 21 is controlled as follows, and the present process is terminated. That is, first, the target value TM2OBJ is calculated using the target value TR2OBJ calculated in step 101 and the required torque TREQ by the above equation (47), that is, TM2OBJ = TREQ−α · TR2OBJ / (α + 1). Next, when the rotation direction of the first rotating magnetic field determined by the engine rotation speed NE and the drive wheel rotation speed NDW is the normal rotation direction, a torque corresponding to the calculated target value TM2OBJ is generated in the normal rotation direction with respect to the second rotor 23. The electric current supplied from the first stator 63 to the second stator 22 is controlled so as to act.

  On the other hand, when the rotation direction of the first rotating magnetic field is the reverse direction, a part of the power transmitted from the engine 3 to the second rotor 23 of the second rotating machine 21 via the second and first rotors 65 and 64 is used. Thus, power is generated by the second stator 22 and the generated power is supplied to the first stator 63 as it is. In this case, the target value TM2OBJ calculated by the equation (47) is a negative value, and the second stator 22 generates electric power so that the torque corresponding to the absolute value acts on the second rotor 23 in the reverse rotation direction. Control the current.

  Next, an operation example of the above-described processing will be described with reference to FIG. Specifically, this operation example shows an operation example in the case of running the vehicle by executing the steps 57 to 59, 101 and 102. As is apparent from FIG. 38, the engine torque TENG transmitted to the second rotor 65 is transmitted to the drive wheels DW and DW via the first rotor 64 using the first power generation equivalent torque TGE1 as a reaction force. Further, the second power running torque TM2 is further transmitted to the drive wheels DW and DW. As described above, the drive wheels DW and DW are driven to rotate forward, and the vehicle moves forward.

  In this case, the engine torque TENG acts to cause the first rotor 64, the second rotor 23 of the second rotating machine 21, and the drive wheels DW and DW to rotate in the normal direction using the first power generation equivalent torque TGE1 as a reaction force. The torque (hereinafter referred to as “first rotor forward rotation torque”) acting so as to rotate the first rotor 64 and the like in such a forward direction is expressed as α using the second rotor transmission torque TR2 and the first pole log ratio α. -It is represented by TR2 / (1 + α).

  On the other hand, by controlling the operation of the second rotating machine 21 in step 102, the torque corresponding to the target value TM2OBJ is supplied to the second stator 22 so that it acts on the second rotor 23 in the forward rotation direction. Current to be controlled. Further, the target value TM2OBJ is calculated by the equation (47), that is, TM2OBJ = TREQ−α · TR2OBJ / (1 + α). As is apparent from this and the fact that the first rotor forward rotation torque is expressed by α · TR2 / (1 + α) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW. .

  Although not shown, when the rotation direction of the first rotating magnetic field is the reverse direction, the first rotor forward rotation torque (α · TR2OBJ / (1 + α)) is larger than the required torque TREQ. In this case, the target value TM2OBJ represents the surplus of the first rotor forward rotation torque with respect to the required torque TREQ, as is apparent from the equation (47). Further, by controlling the operation of the second rotating machine 21 in step 102, the current generated by the second stator 22 is controlled so that the torque corresponding to the surplus acts on the second rotor 23 in the reverse rotation direction. Is done. As a result, the torque corresponding to the surplus is canceled out, and in this case as well, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  As described above, in the FS mode, similarly to the first embodiment, the torque transmitted to the drive wheels DW and DW is controlled to be the required torque TREQ. In this case, as described above, the output of the engine 3 is controlled to be the target output PEOBJ set to the request output PREQ. In addition, no power is exchanged between the first and second rotating machines 61 and 21 and the main battery 44, and the power of the engine 3 causes the first and second rotating machines 61 and 21 to be transmitted. To the drive wheels DW and DW. As is apparent from the above, the power transmitted to the drive wheels DW and DW is controlled so as to be the required drive force PREQ. When the engine speed NE and the drive wheel speed NDW are different from each other, the output (power) of the engine 3 is shifted and transmitted to the drive wheels DW and DW.

Moreover, the above 3rd Embodiment respond | corresponds to the invention which concerns on Claims 1-4 described in the claim, The various elements in 3rd Embodiment, and these Claims 1-4 Correspondence relations between various elements of the invention according to the present invention (hereinafter referred to as “ first invention” when collectively referred to) are as follows. That is, the drive wheels DW and DW, the engine 3, the crankshaft 3a, and the second rotor 23 in the third embodiment correspond to the driven part, the heat engine, the output part, and the rotor in the first invention, respectively. Further, the ECU 2, the relay 32, the VCU 43, the first and second PDUs 41 and 42 in the third embodiment correspond to the control device in the first invention. Further, the main battery 44 and auxiliary battery 33 in the third embodiment corresponds to the first and second power storage device in the first invention. The first stator 63, the permanent magnet 64a, and the core 65a in the third embodiment correspond to the stator, magnet, and soft magnetic body in the first invention, respectively, and the iron core 63a and the U phase to W in the third embodiment. Phase coils 63c to 63e correspond to the armature train in the first invention.

Further, the voltage sensor 55 in the third embodiment corresponds to the state parameter detection means in the first invention, the ECU 2 in the third embodiment corresponds to the abnormality determination means in the invention according to claim 2 , and the third implementation. The ECU 2 and the first and second contactors 46 and 47 in the form correspond to the blocking means in the invention according to claim 3 . Further, the first to xth voltages in the third embodiment correspond to the state parameters in the first invention.

  As described above, according to the third embodiment, the main battery 44 and the auxiliary battery 33 are separately provided as power sources for the first rotating machine 61 and the starter 31. Similarly to the first embodiment, the first to xth voltages V1 to Vx, that is, the voltages of the first to xth battery modules of the main battery 44 are detected by the voltage sensor 55 and detected. The abnormality of the main battery 44 is determined based on the first to xth voltages V1 to Vx. Further, when starting the engine 3, the crankshaft 3a is driven using the starter 31 when the main battery 44 is abnormal and using the first rotating machine 61 when the main battery 44 is normal (step 91 in FIG. 34, FIG. 37). Step 53). Further, the auxiliary battery 33 is electrically connected to the main battery 44, and when the engine 3 is started, the auxiliary battery 33 and the main battery 44 are electrically disconnected by the first and second contactors 46, 47. (Step 51 in FIG. 37). As described above, the engine 3 can be appropriately and reliably started according to whether or not the main battery 44 is abnormal.

  Further, when the main battery 44 is abnormal while the vehicle is running, no power is exchanged between the main battery 44 and the first and second rotating machines 61 and 21, and it corresponds to the required driving force PREQ. The operations of the engine 3, the first and second rotating machines 11 and 21 are controlled so that the power is transmitted to the drive wheels DW and DW (steps 57 to 59, 101, and 102 in FIG. 37). Therefore, the power corresponding to the required driving force PREQ can be appropriately transmitted to the driving wheels DW and DW.

  Further, by setting the first pole pair number ratio α, the relationship between the first magnetic field rotational speed NMF1, the first and second rotor rotational speeds NR1 and NR2, and the first driving equivalent torque TSE1 (for the first power generation) The relationship between the equivalent torque TGE1) and the first and second rotor transmission torques TR1 and TR2 can be freely set. Therefore, the degree of freedom of design of the first rotating machine 61 can be increased. The degree of design freedom can be increased.

  In the third embodiment, the second rotor 65 is directly connected to the crankshaft 3a, but may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like. In the third embodiment, the first rotor 64 of the first rotating machine 61 and the second rotor 23 of the second rotating machine 21 are directly connected to each other, but are mechanically connected to the drive wheels DW and DW. As long as they are not directly connected to each other. Further, in the third embodiment, the first rotor 64 and the second rotor 23 are coupled to the drive wheels DW and DW via the differential device DG or the like, but may be mechanically coupled directly.

  Next, a power plant 1C according to a fourth embodiment of the present invention will be described with reference to FIGS. The power unit 1C is mainly different from the third embodiment in that the connection relationship between the second rotor 65 and the first rotor 64 with respect to the crankshaft 3a and the drive wheels DW and DW is reversed. . In FIG. 39, the same components as those of the third embodiment are denoted by the same reference numerals. The following description will focus on differences from the first and third embodiments.

  As shown in FIG. 39, in the power unit 1C, unlike the third embodiment, the first rotor 64 is provided integrally with the first rotating shaft 4 instead of the third rotating shaft 6 described above. Thus, the first rotor 14 is mechanically directly connected to the crankshaft 3a. Further, unlike the third embodiment, the second rotor 65 is provided integrally with the third rotation shaft 6 instead of the first rotation shaft 4. As a result, the second rotor 65 is mechanically coupled directly to the second rotor 23 of the second rotating machine 21 and mechanically coupled to the drive wheels DW and DW via the differential device DG and the like. .

  Since the first rotor 64 of the first rotating machine 61 is directly connected to the crankshaft 3a as described above, the ECU 2 controls the first stator 63 according to the CRK signal and the TDC signal from the crank angle sensor 51. The rotational angle position of the first rotor 64 is calculated. Further, since the second rotor 65 of the first rotating machine 61 and the second rotor 23 of the second rotating machine 21 are directly connected to each other, the ECU 2 rotates the second rotor 23 detected by the second rotation angle sensor 53. Based on the angular position, the rotational angular position of the second rotor 65 relative to the first stator 63 is calculated.

  In addition, the ECU 2 executes various processes according to the control programs stored in the ROM in accordance with the above-described various sensors and detection signals from the switches 51 and 53 to 58. Thus, as in the first embodiment, the abnormality of the main battery 44 is determined according to the process shown in FIG. 6, and the operation mode is set to the EV mode or HV when the main battery 44 is normal according to the process shown in FIG. When the mode is abnormal, the FS mode is determined. Further, the operations of the engine 3, the starter 31, the first and second rotating machines 61 and 21 are controlled according to various operation modes, and the vehicle is thereby operated in various operation modes. In this case, the control and operation in the HV mode and the FS mode are different from those in the third embodiment due to the difference in configuration described above from the first embodiment, and this point will be described below.

[HV mode]
Control in the HV mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Also, this process is different from the process of the third embodiment shown in FIG. 34 described above only in that steps 111, 112, 115, and 116 are executed instead of steps 91, 92, 95, and 96, respectively. Specifically, only the operation control of the first and second rotating machines 61 and 21 is different. Therefore, this difference will be mainly described below, and steps having the same execution contents as those in FIG. 34 will be denoted by the same step numbers and description thereof will be omitted.

  If the answer to step 31 is NO (F_ENGOPE = 0) and the engine 3 is stopped, the control of the operations of the first and second rotating machines 61 and 21 for starting the engine 3 is performed in steps 111 and 112. The engine 3 is started by executing the steps 34 and the subsequent steps. In this step 111, first, the target value TR1OBJ of the first rotor transmission torque TR1 is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the start speed NEST. Next, when the vehicle is stopped (NDW = 0), power is supplied from the main battery 44 to the first stator 63, the first rotating magnetic field is reversed, and the first rotor transmission torque TR1 is calculated. The current supplied to the first stator 63 is controlled so that the target value TR1OBJ is obtained.

  On the other hand, when the vehicle is running using the second rotating machine 21 as a power source, the control of the operation of the first rotating machine 61 in step 111 is performed as follows. That is, also in the power unit 1C, as in the third embodiment, a predetermined collinear relationship is established among the first magnetic field rotational speed NMF1, the drive wheel rotational speed NDW, and the engine rotational speed NE. When the rotation direction of the first rotating magnetic field determined by the collinear relationship and the engine rotational speed NE and the drive wheel rotational speed NDW is the forward rotation direction, the second rotor 23 of the second rotating machine 21 to the first rotating machine 61 Electric power is generated by the first stator 63 using a part of the power transmitted to the two rotors 65. Next, the current generated by the first stator 63 is controlled so that the first rotor transmission torque TR1 becomes the calculated target value TR1OBJ. On the other hand, when the rotation direction of the first rotating magnetic field is the reverse direction, the operation of the first rotating machine 61 is controlled in the same manner as when the vehicle is stopped as described above.

In addition, the control of the operation of the second rotating machine 21 in step 112 is performed as follows. That is, first, the target value TM2OBJ is calculated by the following equation (48) using the target value TR1OBJ calculated in step 111 and the required torque TREQ. Next, while supplying electric power from the main battery 44 to the second stator 22, the current supplied to the second stator 22 so that a torque corresponding to the target value TM2OBJ acts on the second rotor 23 in the forward rotation direction. To control.
TM2OBJ = TREQ + (α + 1) TR1OBJ / α (48)

  In step 115 following step 39, the operation of the first rotating machine 61 during the operation of the engine 3 is controlled as follows. That is, first, the target value TR1OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes equal to the target engine speed NEOBJ calculated in step 38. Next, when the rotation direction of the first rotating magnetic field determined by the engine speed NE and the drive wheel speed NDW is the reverse rotation direction, the first stator 63 is used by using a part of the power transmitted from the engine 3 to the first rotor 64. In addition to generating power, the generated power is supplied to the second stator 22. On the other hand, when the rotation direction of the first rotating magnetic field is the forward rotation direction, the power generated by the second stator 22 or the power of the main battery 44 is supplied to the first stator 63 as described later. In these cases, both the current generated by the first stator 63 and the current supplied to the first stator 63 are controlled so that the first rotor transmission torque TR1 becomes the calculated target value TR1OBJ.

Further, in step 116 following step 115, the operation of the second rotating machine 21 during the operation of the engine 3 is controlled as follows, and this process ends. That is, first, the target value TM2OBJ is calculated by the following equation (49) using the target value TR1OBJ calculated in step 115 and the required torque TREQ. Next, when the rotation direction of the first rotating magnetic field determined by the engine rotation speed NE and the drive wheel rotation speed NDW is the reverse rotation direction, a torque corresponding to the calculated target value TM2OBJ acts on the second rotor 23 in the normal rotation direction. Thus, the current supplied from the first stator 63 to the second stator 22 is controlled. In this case, when the required torque TREQ is large and the electric power from the first stator 63 is insufficient, electric power is further supplied from the main battery 44 to the second stator 22.
TM2OBJ = TREQ− (α + 1) TR1OBJ / α (49)

  On the other hand, in the control of the operation of the second rotating machine 21 described above, when the rotation direction of the first rotating magnetic field is the normal rotation direction and the target value TM2OBJ is a negative value, the first rotation of the first rotating machine 61 from the engine 3 is performed. The second stator 22 generates power using a part of the power transmitted to the second rotor 23 of the second rotating machine 21 via the second rotors 64 and 65, and the generated current is set to the target value. Control is performed so that a torque corresponding to the absolute value of TM2OBJ acts on the second rotor 23 in the reverse rotation direction. On the other hand, when the rotation direction of the first rotating magnetic field is the forward rotation direction and the target value TM2OBJ is a positive value, power is supplied from the main battery 44 to the second stator 22, and the supplied current is changed to the target value TM2OBJ. Is controlled so that a torque corresponding to the above acts on the second rotor 23 in the forward rotation direction. In this case, as described above, power is also supplied from the main battery 44 to the first stator 63. Thus, the engine 3 is assisted by the first and second rotating machines 61 and 21.

  In the control of the operations of the first and second rotating machines 61 and 21 in steps 115 and 116, when the main battery 44 is charged, a part of the electric power generated by the first or second stator 63, 22 is charged. Is done.

  By executing the above steps 37 to 39, 115 and 116, the power transmitted to the drive wheels DW and DW is controlled to become the required drive force PREQ, and the torque transmitted to the drive wheels DW and DW is controlled. The required torque TREQ is controlled.

  Next, an operation example of the above-described processing will be described with reference to FIGS. 41 and 42. Specifically, the operation examples shown in FIGS. 41 and 42 are operation examples when the engine 3 is started by executing the steps 111, 112, and 34 to 36, respectively, while the vehicle is stopped and running. Show. First, FIG. 41 and FIG. 42 will be described.

  As is apparent from the connection relationship between the various rotary elements described above, the engine speed NE and the first rotor speed NR1 are equal to each other, and the second rotor speed NR2 and the second rotating machine speed NM2 are equal to each other. equal. If the shift by the differential device DG or the like is ignored, the second rotor rotational speed NR2 and the second rotating machine rotational speed NM2 are equal to the drive wheel rotational speed NDW. Further, the first magnetic field rotational speed NMF1, the first and second rotor rotational speeds NR1 and NR2 are in a predetermined collinear relationship as expressed by the formula (44). From the above, the relationship among the first magnetic field rotational speed NMF1, the engine rotational speed NE, the drive wheel rotational speed NDW, and the second rotating machine rotational speed NM2 is represented by a speed collinear chart as shown in FIG. 41 and FIG. The

  As is apparent from FIG. 41, the first driving equivalent torque TSE1 is transmitted to the crankshaft 3a through the first rotor 64 using the second power running torque TM2 as a reaction force, and thereby the crankshaft 3a is driven. , Rotate forward. In this case, by controlling the operation of the first rotating machine 61 in step 111, the current supplied to the first stator 63 is controlled so that the first rotor transmission torque TR1 becomes the target value TR1OBJ. Feedback control is performed so that the rotational speed NE becomes the rotational speed for starting NEST. In this state, the engine 3 is started.

  Further, as is apparent from FIG. 41, the first driving equivalent torque TSE1 is driven by the second rotor 65 of the first rotating machine 61, the second rotor 23 of the second rotating machine 21, and the drive using the engine friction TEF as a reaction force. It acts to reverse the wheels DW and DW. The torque acting so as to reverse the second rotor 65 and the like (hereinafter referred to as “second rotor reverse torque”) is apparent from the function of the first rotating machine 61 and the first rotor transmission torque TR1 and the first rotor transmission torque TR1. It is represented by − (α + 1) TR1 / α using a single pole log ratio α.

  On the other hand, by controlling the operation of the second rotating machine 21 in the step 112, the torque corresponding to the target value TM2OBJ is supplied to the second stator 22 so as to act on the second rotor 23 in the forward rotation direction. Current to be controlled. Further, the target value TM2OBJ is calculated by the equation (48), that is, TM2OBJ = TREQ + (α + 1) TR1OBJ / α. In this case, the required torque TREQ is 0 because the vehicle is stopped. As is apparent from these and the fact that the second rotor reverse torque is represented by-(α + 1) TR1 / α as described above, the second rotor reverse torque is offset by the second power running torque TM2, and as a result, The drive wheels DW and DW are held in a stationary state (NDW = 0).

  As is clear from FIG. 42, during the traveling of the vehicle, a part of the second power running torque TM2 is transmitted to the second rotor 65 of the first rotating machine 61, and further, the first power generation equivalent torque TGE1. Is transmitted to the crankshaft 3a via the first rotor 64, and as a result, the crankshaft 3a is driven and rotates forward. Further, the remainder of the second power running torque TM2 is transmitted to the drive wheels DW and DW. As a result, the drive wheels DW and DW are driven to rotate forward, and the vehicle moves forward. Also in this case, feedback control is performed so that the engine rotational speed NE becomes the starting rotational speed NEST as in the case where the vehicle is stopped as shown in FIG. In this state, the engine 3 is started.

  Further, as apparent from FIG. 42, the first power generation equivalent torque TGE1 is driven by the second rotor 65 of the first rotating machine 61, the second rotor 23 of the second rotating machine 21, and the drive using the engine friction TEF as a reaction force. It acts to reverse the wheels DW and DW. The torque acting so as to reverse the second rotor 65 and the like (second rotor reverse rotation torque) is represented by-(α + 1) TR1 / α as in the case where the vehicle shown in FIG. 41 is stopped.

  On the other hand, the current supplied to the second stator 22 is controlled so that the torque corresponding to the target value TM2OBJ acts on the second rotor 23 in the forward rotation direction, as in the case where the vehicle is stopped. At the same time, the target value TM2OBJ is calculated by TM2OBJ = TREQ + (α + 1) TR1OBJ / α. As is apparent from this and the fact that the second rotor reverse rotation torque is expressed by-(α + 1) TR1 / α as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

[FS mode]
The control in the FS mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process differs from the process of the third embodiment shown in FIG. 37 described above only in that steps 121 and 122 are executed instead of the steps 101 and 102, respectively. Is different only in operation control of the first and second rotating machines 61 and 21 during operation of the engine 3. For this reason, the difference will be mainly described below, and steps having the same execution contents as those in FIG. 37 are denoted by the same step numbers and description thereof will be omitted.

  In step 121 following step 59, the operation of the first rotating machine 61 is controlled as follows. That is, first, the target value TR1OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ. Next, as shown in FIG. 44 described later, when the rotation direction of the first rotating magnetic field determined by the engine rotational speed NE and the drive wheel rotational speed NDW is the reverse rotation direction, one of the power transmitted from the engine 3 to the first rotor 64 is obtained. The first stator 63 is used to generate electric power and the generated electric power is supplied to the second stator 22 of the second rotating machine 21 as it is. In this case, as in step 115, the current generated by the first stator 63 is controlled so that the first rotor transmission torque TR1 becomes the calculated target value TR1OBJ.

  Further, in the control of the operation of the first rotating machine 61 described above, when the rotation direction of the first rotating magnetic field is the forward rotation direction, the electric power generated by the second stator 22 is supplied to the first stator 63 as will be described later. Thus, the current supplied to the first stator 63 is controlled so that the first rotor transmission torque TR1 becomes the target value TR1OBJ.

  In step 122 following step 121, the operation of the second rotating machine 21 is controlled as follows, and the present process is terminated. That is, first, using the target value TR1OBJ calculated in step 121 and the required torque TREQ, the target value TM2OBJ is calculated by the above equation (49), that is, TM2OBJ = TREQ− (α + 1) TR1OBJ / α. Next, when the rotation direction of the first rotating magnetic field determined by the engine rotation speed NE and the drive wheel rotation speed NDW is the reverse rotation direction, torque corresponding to the calculated target value TM2OBJ acts on the second rotor 23 in the forward rotation direction. Thus, the current supplied from the first stator 63 to the second stator 22 is controlled.

  On the other hand, when the rotation direction of the first rotating magnetic field is the forward rotation direction, a part of the power transmitted from the engine 3 to the second rotor 23 of the second rotating machine 21 via the first and second rotors 64 and 65 is obtained. In addition, the second stator 22 generates power and the generated power is supplied to the first stator 63 as it is. In this case, the target value TM2OBJ calculated by the equation (49) is a negative value, and the second stator 22 generates power so that a torque corresponding to the absolute value acts in the reverse direction with respect to the second rotor 23. Control the current.

  Next, an operation example of the above-described processing will be described with reference to FIG. Specifically, this operation example shows an operation example in the case of running the vehicle by executing the steps 57 to 59, 121 and 122. As apparent from FIG. 44, the engine torque TENG transmitted to the first rotor 64 is driven by the drive wheels DW, via the second rotor 65 of the first rotating machine 61 using the first power generation equivalent torque TGE1 as a reaction force. Is transmitted to the DW. Further, the second power running torque TM2 is further transmitted to the drive wheels DW and DW. As described above, the drive wheels DW and DW are driven to rotate forward, and the vehicle moves forward.

  In this case, the engine torque TENG rotates the second rotor 65 of the first rotating machine 61, the second rotor 23 of the second rotating machine 21, and the drive wheels DW and DW with the first power generation equivalent torque TGE1 as a reaction force. It works to let you. The torque (hereinafter referred to as “second rotor forward rotation torque”) acting so as to cause the second rotor 65 or the like to rotate forward is expressed as (α + 1) using the first rotor transmission torque TR1 and the first pole log ratio α. ) It is represented by TR1 / α.

  On the other hand, by controlling the operation of the second rotating machine 21 in the step 122, the torque corresponding to the target value TM2OBJ is supplied to the second stator 22 so as to act on the second rotor 23 in the normal rotation direction. Current to be controlled. Further, the target value TM2OBJ is calculated by Expression (49), that is, TM2OBJ = TREQ− (α + 1) TR1OBJ / α. As is apparent from this and the fact that the second rotor forward rotation torque is expressed by (α + 1) TR1 / α as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  Although not shown, when the rotation direction of the first rotating magnetic field is the forward rotation direction, the second rotor forward rotation torque ((α + 1) TR1 / α) is greater than the required torque TREQ. In this case, the target value TM2OBJ represents the surplus of the second rotor forward rotation torque with respect to the required torque TREQ, as is apparent from the equation (49). Further, by controlling the operation of the second rotating machine 21 in step 122, the current generated by the second stator 22 is controlled so that the torque corresponding to this surplus acts in the reverse rotation direction on the second rotor 23. Is done. As a result, the torque corresponding to the surplus is canceled out, and in this case as well, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  As described above, in the FS mode, similarly to the first embodiment, the torque transmitted to the drive wheels DW and DW is controlled to be the required torque TREQ. In this case, as described above, the output of the engine 3 is controlled to be the target output PEOBJ set to the request output PREQ. In addition, no power is exchanged between the first and second rotating machines 61 and 21 and the main battery 44, and the power of the engine 3 causes the first and second rotating machines 61 and 21 to be transmitted. To the drive wheels DW and DW. As is clear from the above, the power transmitted to the drive wheels DW and DW is controlled so as to be the required drive force PREQ. When the engine speed NE and the drive wheel speed NDW are different from each other, the power (output) of the engine 3 is shifted and transmitted to the drive wheels DW and DW.

Moreover, 4th Embodiment described so far respond | corresponds to the invention which concerns on Claims 1-4 described in the claim, Various elements in 4th Embodiment, Claims 1-, and correspondence between the various elements in the invention according to 4 are the same as those in the third embodiment.

  As described above, according to the fourth embodiment, the effects described above according to the third embodiment can be obtained in the same manner, such that the engine 3 can be appropriately and reliably started according to whether the main battery 44 is abnormal. it can.

  In the fourth embodiment, the first rotor 64 is directly connected to the crankshaft 3a, but may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like. In the fourth embodiment, the second rotor 65 of the first rotating machine 61 and the second rotor 23 of the second rotating machine 21 are directly connected to each other, but are mechanically connected to the drive wheels DW and DW. As long as they are not directly connected to each other. Further, in the fourth embodiment, the second rotor 65 and the second rotor 23 are coupled to the drive wheels DW and DW via the differential device DG or the like, but may be mechanically coupled directly.

  Next, a power plant 1D according to a fifth embodiment of the present invention will be described with reference to FIGS. The power unit 1D includes a first planetary gear unit PG1 and a second planetary gear unit PG2 instead of the planetary gear unit PG described above, and both planetary gear units PG1, PG2 as compared with the first embodiment. The crankshaft 3a, the drive wheels DW and DW, and the first and second rotors 13 and 23 are mechanically connected to the four rotating elements constructed by mechanically connecting the two to each other. Is different. In FIG. 45 and other drawings to be described later, the same components as those in the first embodiment are denoted by the same reference numerals. Hereinafter, a description will be given focusing on differences from the first embodiment.

  Each of the first and second planetary gear devices PG1 and PG2 is of a general single pinion type similar to the planetary gear device PG. The first planetary gear device PG1 includes a first sun gear S1, a first ring gear R1, a plurality of first planetary gears P1 meshing with both gears S1 and R1, and a first carrier that rotatably supports these first planetary gears P1. C1. As is well known, the first sun gear S1, the first carrier C1, and the first ring gear R1 can transmit power to each other and rotate while maintaining a collinear relationship with respect to the rotational speed during power transmission. In the collinear chart showing the relationship between the rotation speeds, straight lines representing the respective rotation speeds are arranged in order. Further, the first sun gear S1, the first carrier C1, and the first ring gear R1 are arranged coaxially with the crankshaft 3a of the engine 3.

  Further, the second planetary gear device PG2 includes a second sun gear S2, a second ring gear R2, a plurality of second planetary gears P2 meshing with both gears S2 and R2, and a second planetary gear P2 that rotatably supports the second planetary gears P2. It has two carriers C2. As is well known, the second sun gear S2, the second carrier C2, and the second ring gear R2 can transmit power to each other and rotate while maintaining a collinear relationship with respect to the rotational speed during power transmission. In the collinear chart showing the relationship between the rotation speeds, straight lines representing the respective rotation speeds are arranged in order. Further, the second sun gear S2, the second carrier C2, and the second ring gear R2 are arranged coaxially with the crankshaft 3a of the engine 3.

  Further, the first carrier C1 and the second sun gear S2 are integrally provided on the first rotating shaft 71. The first rotating shaft 71 is rotatably supported by bearings B1 and B2 together with the first carrier C1 and the second sun gear S2, and is directly connected coaxially to the crankshaft 3a via a flywheel.

  The first sun gear S1 and the second carrier C2 are integrally provided on the hollow second rotating shaft 72. The second rotating shaft 72 is rotatably supported by the bearing B3 together with the first sun gear S1 and the second carrier C2, and is arranged coaxially with the crankshaft 3a. Further, the first rotary shaft 71 is rotatably fitted inside the second rotary shaft 72. Further, a hollow first sprocket SP1 is coaxially attached to the second carrier C2. The first rotor 13 of the first rotating machine 11 is attached to the first ring gear R1, and the second rotor 23 of the second rotating machine 21 is coaxially attached to the second ring gear R2.

  The differential case DG of the differential device DG described above is provided with a planetary gear device PGS. This planetary gear device PGS is configured in the same manner as the first and second planetary gear devices PG1, PG2, and includes a sun gear PS, a ring gear PR, a plurality of planetary gears PP meshing with both gears PS, PR, and these planetary gears. It has carrier PC which supports PP rotatably. The carrier PC is provided integrally with the differential case DC, and the ring gear PR is fixed to the case CA. The sun gear PS is provided integrally with the hollow third rotating shaft 73, and the right axle 7 is rotatably fitted inside the third rotating shaft 73. Further, a second sprocket SP2 is integrally provided on the third rotating shaft 73, and a chain CH is wound around the second sprocket SP2 and the first sprocket SP1 described above. With the above configuration, the power transmitted to the second sprocket SP2 is transmitted to the differential device DG while being decelerated by the planetary gear device PGS.

  As described above, in the power unit 1D, the first carrier C1 and the second sun gear S2 are mechanically directly connected to each other and mechanically directly connected to the crankshaft 3a. The first sun gear S1 and the second carrier C2 are mechanically directly connected to each other and mechanically connected to the drive wheels DW and DW via the chain CH, the planetary gear device PGS, the differential device DG, and the like. Has been. Further, the first and second ring gears R1, R2 are mechanically directly connected to the first and second rotors 13, 23, respectively.

  Further, the ECU 2 executes various processes according to the control programs stored in the ROM in accordance with the various sensors described above and the detection signals from the switches 51 to 58. Thus, as in the first embodiment, the abnormality of the main battery 44 is determined according to the process shown in FIG. 6, and the operation mode is set to the EV mode or HV when the main battery 44 is normal according to the process shown in FIG. When the mode is abnormal, the FS mode is determined. Further, the operations of the engine 3, the starter 31, the first and second rotating machines 11 and 21 are controlled according to various operation modes, whereby the vehicle is operated in various operation modes. In this case, the control and operation in the EV mode, the HV mode, and the FS mode are different from those in the first embodiment due to the difference in the configuration described above from the first embodiment, and this point will be described below.

[EV mode]
The execution condition of the control in the EV mode is the same as that in the first embodiment. Further, during the EV mode, power is supplied from the main battery 44 to the second stator 22 to cause the second rotor 23 to rotate forward. In this case, as shown in FIG. 48, which will be described later, when the rotation direction of the first rotor 13 is the reverse rotation direction, transmission from the second rotor 23 to the first rotor 13 via the first and second planetary gear devices PG1, PG2. The generated power is generated by the first stator 12 using the generated power, and the generated power is supplied to the second stator 22. As described above, the second power running torque TM2 is transmitted to the drive wheels DW and DW using the first power generation torque TG1 as a reaction force. As a result, the drive wheels DW and DW rotate forward and the vehicle travels. In this case, the current supplied to the second stator 22 is controlled so that the torque transmitted to the drive wheels DW and DW becomes the required torque TREQ, and the current generated by the first stator 12 is the engine speed. Control is performed so that NE is 0.

[HV mode]
The control in the HV mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process is different from the process of the first embodiment shown in FIG. 7 described above only in that steps 131, 132, 135, and 136 are executed instead of the steps 32, 33, 40, and 41, respectively. Specifically, only the operation control of the first and second rotating machines 11 and 21 is different. For this reason, the following description will focus on this difference, and steps having the same execution contents as those in FIG.

  When the answer to step 31 is NO (F_ENGOPE = 0) and the engine 3 is stopped, the control of the operations of the first and second rotating machines 11 and 21 for starting the engine 3 is performed in steps 131 and 132. The engine 3 is started by executing the steps 34 and the subsequent steps. In this step 131, first, the target value TC1OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes equal to the engine speed NE for starting. Next, when the vehicle is stopped (NDW = 0), as in the first embodiment, power is supplied from the main battery 44 to the first stator 12, causing the first rotor 13 to rotate forward, and the first The current supplied to the first stator 12 is controlled so that the torque acting on the carrier C1 becomes the calculated target value TC1OBJ.

  On the other hand, when the vehicle is running with the second rotating machine 21 as a power source, the control of the operation of the first rotating machine 11 in step 131 is performed as follows. That is, as shown in FIG. 48 described later, a predetermined collinear relationship is established among the first rotating machine rotational speed NM1, the drive wheel rotational speed NDW, and the engine rotational speed NE. When the rotation direction of the first rotor 13 determined by the collinear relationship and the engine speed NE and the drive wheel speed NDW is the reverse direction, the second rotor 23 passes through the first and second planetary gear units PG1 and PG2. Electric power is generated by the first stator 12 using a part of the power transmitted to the first rotor 13. Further, the current generated by the first stator 12 is controlled so that the torque acting on the first carrier C1 becomes the target value TC1OBJ. On the other hand, when the rotation direction of the first rotor 13 is the forward rotation direction, the operation of the first rotating machine 11 is controlled in the same manner as when the vehicle is stopped as described above.

The control of the operation of the second rotating machine 21 in step 132 is performed as follows. That is, first, the target value TC2OBJ is calculated by the following equation (50) using the target value TC1OBJ calculated in step 131 and the required torque TREQ. Next, when the vehicle is stopped, the second stator 22 generates power using the power transmitted from the first rotor 13 to the second rotor 23 via the first and second planetary gear devices PG1 and PG2. I do. On the other hand, when the vehicle is running with the second rotating machine 21 as a power source, power is supplied from the main battery 44 to the second stator 22. In these cases, both the current generated by the second stator 22 and the current supplied to the second stator 22 are such that the torque corresponding to the target value TC2OBJ acts in the forward direction on the second carrier C2. ,Control.
TC2OBJ = TREQ + X · TC1OBJ / (1 + X) (50)
Here, X is the ratio of the number of teeth of the first sun gear S1 to the number of teeth of the first ring gear R1.

  In step 135 following step 39, the operation of the first rotating machine 11 during the operation of the engine 3 is controlled as follows. That is, first, the target value TC1OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes equal to the target engine speed NEOBJ calculated in step 38. Next, when the rotational directions of the first and second rotors 13 and 23 determined by the engine rotational speed NE and the drive wheel rotational speed NDW are both normal rotation directions, the first rotor from the engine 3 via the first planetary gear unit PG1. A part of the power transmitted to 13 is used to generate power in the first stator 12 and supply the generated power to the second stator 22. On the other hand, when the rotation direction of the first rotor 12 is the reverse rotation direction, the power generated by the second stator 22 or the power of the main battery 44 is supplied to the first stator 12 as described later. In these cases, both the current generated by the first stator 12 and the current supplied to the first stator 12 are controlled so that the torque acting on the first carrier C1 becomes the calculated target value TC1OBJ.

In step 136 following step 135, the operation of the second rotating machine 21 during operation of the engine 3 is controlled as follows, and this process is terminated. That is, first, the target value TC2OBJ is calculated by the following equation (51) using the target value TC1OBJ calculated in step 135 and the required torque TREQ. Next, when the rotational directions of the first and second rotors 13 and 23 determined by the engine rotational speed NE and the drive wheel rotational speed NDW are both normal rotation directions, the torque corresponding to the calculated target value TC2OBJ is the second carrier C2. The current supplied from the first stator 12 to the second stator 22 is controlled as described above so as to act in the forward rotation direction. In this case, when the required torque TREQ is very large and power from the first stator 12 is insufficient, power is further supplied from the main battery 44 to the second stator 22. Thereby, the engine 3 is assisted by the second rotating machine 21.
TC2OBJ = TREQ-X · TC1OBJ / (1 + X) (51)

  On the other hand, in the control of the operation of the second rotating machine 21 described above, when the rotation direction of the first rotor 12 is the reverse rotation direction and the target value TC2OBJ is a negative value, the engine 3 passes through the second planetary gear unit PG2. A part of the power transmitted to the second rotor 23 is used to generate power in the second stator 22 and supply the generated power to the first stator 12. In this case, the current generated by the second stator 22 is controlled so that the torque corresponding to the absolute value of the target value TC2OBJ acts in the reverse direction with respect to the second carrier C2. On the other hand, when the rotation direction of the first rotor 12 is the reverse rotation direction and the target value TC2OBJ is a positive value, power is supplied from the main battery 44 to the second stator 22, and the supplied power is set to the target value TC2OBJ. Control is performed so that the corresponding torque acts in the forward rotation direction on the second carrier C2. In this case, power is supplied from the main battery 44 to the first stator 12 as described above. As described above, the engine 3 is assisted by the first and second rotating machines 11 and 21.

  In the control of the operations of the first and second rotating machines 11 and 21 in steps 135 and 136, when charging the main battery 44, a part of the power generated by the first or second stator 12 or 22 is charged. Is done.

  By executing the above steps 37 to 39, 135 and 136, as in the first embodiment, the power transmitted to the drive wheels DW and DW is controlled to become the required drive force PREQ, and the drive wheels DW, The torque transmitted to the DW is controlled so as to be the required torque TREQ.

  Next, an operation example of the above-described processing will be described with reference to FIGS. Specifically, these operation examples shown in FIGS. 47 and 48 are performed when the engine 3 is started by executing the steps 131, 132, and 34 to 36 in FIG. 46 while the vehicle is stopped and running, respectively. An example of the operation is shown. First, FIG. 47 and FIG. 48 will be described.

  As is apparent from the connection relationship between the various rotary elements described above, the rotation speeds of the first carrier C1 and the second sun gear S2 are equal to each other and equal to the engine rotation speed NE. Further, the rotation speeds of the first sun gear S1 and the second carrier C2 are equal to each other, and are equal to the drive wheel rotation speed NDW if the shift by the planetary gear device PGS is ignored. Further, the rotational speeds of the first and second ring gears R1 and R2 are equal to the first and second rotating machine rotational speeds NM1 and NM2, respectively. The rotational speeds of the first sun gear S1, the first carrier C1, and the first ring gear R1 are in a predetermined collinear relationship determined by the number of teeth of the first sun gear S1 and the first ring gear R1, and the second sun gear S2, the second The rotation speeds of the carrier C2 and the second ring gear R2 are in a predetermined collinear relationship determined by the number of teeth of the second sun gear S2 and the second ring gear R2.

  From the above, the relationship among the first rotating machine speed NM1, the engine speed NE, the drive wheel speed NDW, and the second rotating machine speed NM2 is represented by a speed collinear chart as shown in FIG. 47 or FIG. Is done. As shown in the figure, the first rotor 13, the crankshaft 3a, the drive wheels DW and DW, and the second rotor 23 are composed of a first element, a first element constituted by the connection of the first and second planetary gear units PG1 and PG2. The two elements, the third element, and the fourth element are mechanically coupled to each other. 47 and other drawings to be described later, Y is the ratio of the number of teeth of the second sun gear S2 to the number of teeth of the second ring gear R2.

  As is apparent from FIG. 47, the first power running torque TM1 is transmitted to the crankshaft 3a via the first carrier C1 using the second power generation torque TG2 as a reaction force, thereby driving the crankshaft 3a to be positive. Roll. In this case, by controlling the operation of the first rotating machine 11 in step 131, the current supplied to the first stator 12 is controlled so that the torque acting on the first carrier C1 becomes the target value TC1OBJ. Then, feedback control is performed so that the engine speed NE becomes the start speed NEST. In this state, the engine 3 is started.

  Further, as apparent from FIG. 47, the first power running torque TM1 acts to reverse the first sun gear S1, the second carrier C2, and the drive wheels DW and DW using the engine friction TEF as a reaction force. The torque acting so as to reverse the first sun gear S1 and the like (hereinafter referred to as “first sun gear reverse torque”) is the torque acting on the first carrier C1, as is apparent from the function of the planetary gear device PG1. Assuming that TC1, the ratio X of the number of teeth of the first sun gear S1 with respect to the number of teeth of the first ring gear R1 is used to express -X · TC1 / (1 + X).

  On the other hand, by the control of the operation of the second rotating machine 21 in step 132, the second stator 22 generates power so that the torque corresponding to the target value TC2OBJ acts in the forward rotation direction on the second carrier C2. Current to be controlled. Further, the target value TC2OBJ is calculated by the equation (50), that is, TC2OBJ = TREQ + X · TC1OBJ / (1 + X). In this case, the required torque TREQ is 0 because the vehicle is stopped. As is clear from these and the fact that the first sun gear reverse rotation torque is represented by -X · TC1 / (1 + X) as described above, the torque acting on the second carrier C2 by the second power generation torque TG2 The first sun gear reverse rotation torque is canceled, and as a result, the drive wheels DW and DW are held in a stationary state (NDW = 0).

  As is apparent from FIG. 48, during the traveling of the vehicle, the second power running torque TM2 is transmitted to the drive wheels DW, DW and the crankshaft 3a using the first power generation torque TG1 as a reaction force, and as a result, The drive wheels DW and DW and the crankshaft 3a are driven to rotate forward. Also in this case, feedback control is performed so that the engine rotational speed NE becomes the starting rotational speed NEST as in the case where the vehicle is stopped as shown in FIG. In this state, the engine 3 is started.

  Further, as is apparent from FIG. 48, the first power generation torque TG1 acts to reverse the first sun gear S1, the second carrier C2, and the drive wheels DW and DW using the engine friction TEF as a reaction force. The torque acting so as to reverse the first sun gear S1 and the like (first sun gear reverse rotation torque) is represented by −X · TC1 / (1 + X), as in the case where the vehicle is stopped as shown in FIG. .

  On the other hand, the current supplied to the second stator 22 is controlled so that the torque corresponding to the target value TC2OBJ acts in the forward direction with respect to the second carrier C2, as in the case where the vehicle is stopped. The target value TC2OBJ is calculated by TC2OBJ = TREQ + X · TC1OBJ / (1 + X). As is clear from this and the fact that the first sun gear reverse rotation torque is represented by -X · TC1 / (1 + X) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW. .

[FS mode]
Control in the FS mode is executed according to the processing shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process differs from the process of the first embodiment shown in FIG. 10 described above only in that steps 141 and 142 are executed instead of steps 60 and 61, respectively. Is different only in operation control of the first and second rotating machines 11 and 21 during operation of the engine 3. Therefore, this difference will be mainly described below, and steps having the same execution contents as those in FIG.

  In step 141 following step 59, the operation of the first rotating machine 11 is controlled as follows. That is, first, the target value TC1OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ. Next, as shown in FIG. 50 described later, when the rotation directions of the first and second rotors 13 and 23 determined by the engine rotational speed NE and the drive wheel rotational speed NDW are both normal rotation directions, the engine 3 performs the first planetary operation. Using a part of the power transmitted to the first rotor 13 via the gear device PG1, the first stator 12 generates power and the generated power is supplied to the second stator 22 as it is. In this case, as in step 135, the current generated by the first stator 12 is controlled so that the torque acting on the first carrier C1 becomes the calculated target value TC1OBJ.

  In the control of the operation of the first rotating machine 11 described above, when the rotation direction of the first rotor 13 is the reverse rotation direction, the electric power generated by the second stator 22 is supplied to the first stator 12 as it is, as will be described later. Thus, the current supplied to the first stator 12 is controlled so that the torque acting on the first carrier C1 becomes the target value TC1OBJ.

  Further, in step 142 following step 141, the operation of the second rotating machine 21 is controlled as follows, and this process is terminated. That is, first, the target value TC2OBJ is calculated by using the target value TC1OBJ calculated in step 141 and the required torque TREQ by the above equation (51), that is, TC2OBJ = TREQ−X · TC1OBJ / (1 + X). Next, when the rotational directions of the first and second rotors 13 and 23 determined by the engine rotational speed NE and the drive wheel rotational speed NDW are both normal rotation directions, the torque corresponding to the calculated target value TC2OBJ is the second carrier C2. The current supplied from the first stator 12 to the second stator 22 is controlled so as to act in the forward rotation direction.

  On the other hand, when the rotation direction of the first rotor 12 is the reverse rotation direction, the second stator 22 generates power using a part of the power transmitted from the engine 3 to the second rotor 23 via the second planetary gear device PG2. In addition, the generated electric power is supplied to the first stator 12 as it is. In this case, the target value TC2OBJ calculated by the equation (51) is a negative value, and the second stator 22 generates power so that the torque corresponding to the absolute value acts in the reverse direction with respect to the second carrier C2. Control the current.

  Next, an operation example of the above-described processing will be described with reference to FIG. Specifically, this operation example shows an operation example in the case of running the vehicle by executing the steps 57 to 59, 141 and 142. As apparent from FIG. 50, the engine torque TENG is transmitted to the drive wheels DW and DW using the first power generation torque TG1 and the second power running torque TM2 as reaction forces, thereby driving the drive wheels DW and DW. The vehicle rotates forward and the vehicle moves forward.

  In this case, the engine torque TENG acts so as to cause the first sun gear S1, the second carrier C2, and the drive wheels DW and DW to rotate forward using the first power generation torque TG1 as a reaction force. The torque that acts to rotate the first sun gear S1 and the like in the forward direction (hereinafter referred to as “first sun gear forward rotation torque”) is the torque TC1 that acts on the first carrier and the number of teeth of the first ring gear R1. Using the ratio X of the number of teeth of one sun gear S1, X · TC1 / (1 + X).

  On the other hand, the control corresponding to the target value TC2OBJ is supplied to the second stator 22 so that the torque corresponding to the target value TC2OBJ acts in the forward direction with respect to the second carrier C2 by controlling the operation of the second rotating machine 21 in step 142. Current to be controlled. Further, the target value TC2OBJ is calculated by the equation (51), that is, TC2OBJ = TREQ−X · TC1OBJ / (1 + X). As is apparent from this and the fact that the first sun gear forward rotation torque is expressed as X · TC1 / (1 + X) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW. .

  Although not shown, when the rotation direction of the first rotor 13 is the reverse rotation direction, the first sun gear forward rotation torque (X · TC1 / (1 + X)) is larger than the required torque TREQ. In this case, the target value TC2OBJ represents the surplus of the first sun gear forward rotation torque with respect to the required torque TREQ, as is apparent from the equation (51). Further, by controlling the operation of the second rotating machine 21 in step 142, the current generated by the second stator 22 is controlled so that the torque corresponding to this surplus acts in the reverse direction with respect to the second carrier C2. Is done. As a result, the torque corresponding to the surplus is canceled out, and in this case as well, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  As described above, in the FS mode, similarly to the first embodiment, the torque transmitted to the drive wheels DW and DW is controlled to be the required torque TREQ. In this case, the output of the engine 3 is controlled so as to become the target output PEOBJ set to the request output PREQ. In addition, no power is exchanged between the first and second rotating machines 11 and 21 and the main battery 44, and the power of the engine 3 is supplied to the first and second planetary gear units PG1 and PG2. , And the first and second rotating machines 11 and 21 are transmitted to the drive wheels DW and DW. As is apparent from the above, the power transmitted to the drive wheels DW and DW is controlled so as to be the required drive force PREQ. When the engine speed NE and the drive wheel speed NDW are different from each other, the output (power) of the engine 3 is shifted and transmitted to the drive wheels DW and DW.

  As described above, according to the fifth embodiment, the main battery 44 and the auxiliary battery 33 are separately provided as power sources for the first rotating machine 11 and the starter 31 as in the first embodiment. The first to x-th voltages V1 to Vx, that is, the voltages of the first to x-th battery modules of the main battery 44 are detected by the voltage sensor 55, and the detected first to x-th voltages V1 are detected. Based on ~ Vx, the abnormality of the main battery 44 is determined. Further, when starting the engine 3, the crankshaft 3a is driven using the starter 31 when the main battery 44 is abnormal and using the first rotating machine 11 when the main battery 44 is normal (steps 131 and 49 in FIG. 46). Step 53). Further, the auxiliary battery 33 is electrically connected to the main battery 44, and when the engine 3 is started, the auxiliary battery 33 and the main battery 44 are electrically disconnected by the first and second contactors 46, 47. (Step 51 in FIG. 49). As described above, the engine 3 can be appropriately and reliably started according to whether or not the main battery 44 is abnormal.

  Further, when the main battery 44 is abnormal while the vehicle is running, no power is exchanged between the main battery 44 and the first and second rotating machines 11 and 21, which corresponds to the required driving force PREQ. Operations of engine 3, first and second rotating machines 11 and 21 are controlled so that power is transmitted to drive wheels DW and DW (steps 57 to 59, 141, and 142 in FIG. 49). Therefore, the power corresponding to the required driving force PREQ can be appropriately transmitted to the driving wheels DW and DW.

  Further, in a collinear diagram representing the relationship between the rotation speeds of the first ring gear R1 and the first carrier C1, the straight lines representing the relationship between the rotation speeds are adjacent to each other, and the former R1 and the latter C1 are the first rotor. 13 and the crankshaft 3a are connected to the crankshaft 3a, so that the operation of the crankshaft 3a for starting the engine 3 is appropriately and easily controlled by using the first rotating machine 11. be able to.

  In the fifth embodiment, the first carrier C1 and the second sun gear S2 are directly connected to each other, but may not be directly connected to each other as long as they are mechanically connected to the crankshaft 3a. The first sun gear S1 and the second carrier C2 are directly connected to each other, but may not be directly connected to each other as long as they are mechanically connected to the drive wheels DW and DW. In the fifth embodiment, the first carrier C1 and the second sun gear S2 are directly connected to the crankshaft 3a. However, the first carrier C1 and the second sun gear S2 may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like.

  Further, in the fifth embodiment, the first sun gear S1 and the second carrier C2 are coupled to the drive wheels DW and DW via the differential device DG or the like, but may be mechanically coupled directly. In the fifth embodiment, the first and second ring gears R1 and R2 are directly connected to the first and second rotors 13 and 23, respectively, but mechanically through gears, pulleys, chains, transmissions, and the like. You may connect to.

  Further, in the fifth embodiment, the first ring gear R1 is connected to the first rotor 13 and the first sun gear S1 is connected to the drive wheels DW and DW. However, these connection relations are reversed, that is, the first The ring gear R1 may be mechanically connected to the drive wheels DW and DW, and the first sun gear S1 may be mechanically connected to the first rotor 13, respectively. Similarly, the second ring gear R2 is connected to the second rotor 23, and the second sun gear S2 is connected to the crankshaft 3a. However, these connections are reversed, that is, the second ring gear R2 is connected to the crankshaft 3a. The second sun gear S2 may be mechanically coupled to the second rotor 23, respectively. In these cases, of course, between the first ring gear R1 and the drive wheels DW and DW, between the first sun gear S1 and the first rotor 13, between the second ring gear R2 and the crankshaft 3a, and Each of the two sun gears S2 and the second rotor 23 may be mechanically directly connected, or may be mechanically connected using a gear, a pulley, a chain, a transmission, or the like.

  In the fifth embodiment, a combination of the first and second planetary gear devices PS1 and PS2 is used as the power transmission mechanism in the invention according to claim 10. If it has the first to fourth elements that can transmit power while maintaining the relationship, the carrier and the ring gear are shared in other appropriate mechanisms, for example, single pinion type and double pinion type planetary gear devices, A so-called Ravigneaux type planetary gear device may be used.

  Further, as shown in FIG. 47 and the like described above, the engine rotational speed NE, the drive wheel rotational speed NDW, and the first and second rotating machine rotational speeds NM1 and NM2 are collinear with each other. Both the second power running torque TM2 and the second power generation torque TG2 act not only on the drive wheels DW and DW but also on the crankshaft 3a. On the other hand, in the fifth embodiment, a method of driving the crankshaft 3a by controlling the operation of the first rotating machine 11 is adopted. However, the second power running torque TM2 and the second power generation torque TG2 are the above-described values. Thus, the crankshaft 3 a can be driven by controlling the operation of the second rotating machine 21. In this case, the control of the operation of the first rotating machine 11 described in the fifth embodiment is performed on the second rotating machine 21. Further, it is possible to drive the crankshaft 3a by controlling the operations of both the first and second rotating machines 11 and 21.

  Next, a power plant 1E according to a sixth embodiment of the present invention will be described with reference to FIGS. This power unit 1E is different from the fifth embodiment in that the first and second planetary gear devices PG1, PG2 and the first and second rotating machines 11, 21 are replaced with the first described in the third embodiment. The main difference is that the rotating machine 61 and the second rotating machine 81 are provided. 51 to 53, the same components as those in the first, third, and fifth embodiments are denoted by the same reference numerals. The following description will focus on differences from the first, third, and fifth embodiments.

  As shown in FIG. 53, the mounting portion 64b of the first rotor 64 of the first rotating machine 61 is provided integrally with the second rotating shaft 72 described above via a donut plate-like flange 64d. Further, the flange 65b of the second rotor 65 is provided integrally with the first rotating shaft 71 described above.

  The second rotating machine 81 is configured in the same manner as the first rotating machine 61, and the configuration and operation thereof will be briefly described. As shown in FIGS. 51 and 54, the second rotating machine 81 is disposed between the engine 3 and the first rotating machine 61, and is provided to face the second stator 83 and the second stator 83. The third rotor 84 and a fourth rotor 85 provided between the both 83 and 84 are provided. The third rotor 84, the fourth rotor 85, and the second stator 83 are arranged coaxially with the first rotating shaft 71, and are arranged in this order from the inside in the radial direction of the first rotating shaft 71. .

  The second stator 83 generates a second rotating magnetic field, and includes an iron core 83a and U-phase, V-phase, and W-phase coils 83b provided on the iron core 83a. The iron core 83a has a cylindrical shape in which a plurality of steel plates are laminated, extends in the axial direction of the first rotation shaft 71, and is fixed to the case CA. Further, twelve slots (not shown) are formed on the inner peripheral surface of the iron core 83a, and these slots extend in the axial direction of the first rotating shaft 71, and They are lined up at equal intervals in the circumferential direction. The U-phase to W-phase coil 83b is wound around the slot by distributed winding (wave winding). As shown in FIG. 52, the second stator 83 including the U-phase to W-phase coils 83b is electrically connected to the main battery 44 via the second PDU 42 and the VCU 43 described above. That is, the first and second stators 63 and 83 are electrically connected to each other via the first and second PDUs 41 and 42.

  In the second stator 83 configured as described above, when power is supplied from the main battery 44 to the U-phase to W-phase coil 83b via the VCU 43 and the second PDU 42, or when power generation is performed as described later. Four magnetic poles are generated at equal intervals in the circumferential direction of the first rotating shaft 71 at the end of the iron core 83a on the third rotor 84 side, and the second rotating magnetic field by these magnetic poles rotates in the circumferential direction. . Hereinafter, the magnetic pole generated in the iron core 83a is referred to as “second armature magnetic pole”. The polarities of the two second armature magnetic poles adjacent to each other in the circumferential direction are different from each other.

  The third rotor 84 has a second magnetic pole row composed of eight permanent magnets 84a (only two are shown). These permanent magnets 84 a are arranged at equal intervals in the circumferential direction of the first rotating shaft 71, and the second magnetic pole row faces the iron core 83 a of the second stator 83. Each permanent magnet 84 a extends in the axial direction of the first rotating shaft 71, and the length in the axial direction is set to be the same as that of the iron core 83 a of the second stator 83.

  Moreover, the permanent magnet 84a is attached to the outer peripheral surface of the ring-shaped attachment part 84b. The mounting portion 84b 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 84c. The flange 84c is provided integrally with the first rotating shaft 71 described above. As described above, the third rotor 84 including the permanent magnet 84a is directly connected coaxially to the second rotor 65 and the crankshaft 3a.

  Furthermore, since the permanent magnet 84a is attached to the outer peripheral surface of the attachment portion 84b made of a soft magnetic material as described above, each permanent magnet 84a has (N) at the end on the second stator 83 side. Or one magnetic pole of (S) appears. The polarities of the two permanent magnets 84a adjacent to each other in the circumferential direction of the first rotating shaft 71 are different from each other.

  Further, the above-described fourth rotor 85 has a second soft magnetic body row composed of six cores 85a (only two are shown). These cores 85a are arranged at equal intervals in the circumferential direction of the first rotating shaft 71, and the second soft magnetic material row includes the iron core 83a of the second stator 83 and the second magnetic pole row of the third rotor 84. Are arranged at predetermined intervals. Each core 85 a is a soft magnetic material, for example, a laminate of a plurality of steel plates, and extends in the axial direction of the first rotation shaft 71. Further, the length of the core 85a in the axial direction is set to be the same as that of the iron core 83a of the second stator 83, like the permanent magnet 84a.

  Further, the end portion of the core 85a on the first rotating machine 61 side is attached to the outer end portion of the doughnut plate-like flange 85b via a cylindrical connecting portion 85c that slightly extends in the axial direction of the first rotating shaft 71. ing. The flange 85b is provided integrally with the second rotating shaft 72 described above. As described above, the fourth rotor 85 including the core 85a is directly connected to the first rotor 64 coaxially. Further, the end of the core 85a on the engine 3 side is attached to the outer end of the doughnut-shaped flange 85d via a cylindrical connecting portion 85e that extends slightly in the axial direction of the first rotating shaft 71. The flange 85d is integrally provided with the first sprocket SP1 described above.

  As described above, the second rotating machine 81 includes four second armature magnetic poles, eight magnetic poles of the permanent magnet 84a (hereinafter referred to as “second magnet magnetic pole”), and six cores 85a. That is, the ratio of the number of second armature magnetic poles, the number of second magnet magnetic poles, and the number of cores 85a is determined by the number of first armature magnetic poles of the first rotating machine 61, the number of first magnet magnetic poles, and the number of cores 65a. Similar to the ratio to the number, it is set to 1: 2.0: (1 + 2.0) / 2. Further, the ratio of the number of pole pairs of the second magnet magnetic pole to the number of pole pairs of the second armature magnetic pole (hereinafter referred to as “second pole pair ratio β”) is a value similar to the first pole pair ratio α of the first rotating machine 61. 2.0 is set. As described above, the second rotating machine 81 is configured in the same manner as the first rotating machine 61, and thus has the same function as the first rotating machine 61.

That is, the electric power supplied (input) to the second stator 83 is converted into power and output from the third rotor 84 or the fourth rotor 85, and the power input to the third rotor 84 or the fourth rotor 85 is converted into electric power. And output from the second stator 83. Further, during the input / output of such electric power and power, the second rotating magnetic field, the third and fourth rotors 84 and 85 are collinear with respect to the rotational speed as shown in the equation (44) relating to the first rotating machine 61 described above. Rotate while maintaining the relationship. That is, in this case, the rotational speed of the second rotating magnetic field (hereinafter referred to as “second magnetic field rotational speed NMF2”), the rotational speeds of the third and fourth rotors 84 and 85 (hereinafter referred to as “third rotor rotational speed NR3”, “ (Referred to as “fourth rotor speed NR4”).
NMF2 = (β + 1) NR4-β · NR3
= 3 ・ NR4-2 ・ NR3 (52)

Further, assuming that the electric power supplied to the second stator 83 and the torque equivalent to the second magnetic field rotational speed NMF2 are the second driving equivalent torque TSE2, the second driving equivalent torque TSE2, the third and fourth rotors 84, 85. The following equation (53) is established between the torques transmitted to the motor (hereinafter referred to as “third rotor transmission torque TR3” and “fourth rotor transmission torque TR4”, respectively).
TSE2 = TR3 / β = −TR4 / (β + 1)
= TR3 / 2 = -TR4 / 3 (53)

Furthermore, assuming that the electric power generated by the second stator 83 and the torque equivalent to the second magnetic field rotational speed NMF2 are the second electric power generation equivalent torque TGE2, the second electric power generation equivalent torque TGE2, the third and fourth rotor transmission torques TR3, The following equation (54) is established between TR4. As described above, similarly to the first rotating machine 61, the second rotating machine 81 has the same function as an apparatus combining a planetary gear device and a general one-rotor type rotating machine.
TGE2 = TR3 / β = −TR4 / (1 + β)
= TR3 / 2 = -TR4 / 3 (54)

  Further, the ECU 2 controls the second PDU 42 and the VCU 43 to control the current supplied to the second stator 83, the current generated by the second stator 83, and the second magnetic field rotation speed NMF2 of the second rotating magnetic field. .

  As described above, in the power unit 1E, the second rotor 65 of the first rotating machine 61 and the third rotor 84 of the second rotating machine 81 are mechanically directly connected to each other and mechanically directly connected to the crankshaft 3a. Has been. The first rotor 64 of the first rotating machine 61 and the fourth rotor 85 of the second rotating machine 81 are mechanically directly connected to each other, and the first sprocket SP1, the chain CH, the second sprocket SP2, and the planetary gear device. It is mechanically connected to the drive wheels DW and DW via the PGS, the differential device DG, and the axles 7 and 7.

  In addition, since the second and third rotors 65 and 84 are directly connected to the crankshaft 3a as described above, the ECU 2 performs the first operation according to the CRK signal and the TDC signal detected by the crank angle sensor 51 described above. The rotational angle positions of the second and third rotors 65 and 84 are calculated. Further, the rotation angle position of the first rotor 64 is detected by a rotation angle sensor (not shown), and the detection signal is output to the ECU 2. Since the first and fourth rotors 64 and 85 are directly connected to each other as described above, the ECU 2 determines the rotation angle position of the fourth rotor 85 based on the detected rotation angle position of the first rotor 64. Is calculated. In the power unit 1E, since the first and second rotating machines 11 and 21 are not provided, the first and second rotation angle sensors 52 and 53 described above are omitted.

  In addition, the ECU 2 executes various processes according to the control programs stored in the ROM in accordance with the above-described various sensors and detection signals from the switches 51 and 54 to 58. Thus, as in the first embodiment, the abnormality of the main battery 44 is determined according to the process shown in FIG. 6, and the operation mode is set to the EV mode or HV when the main battery 44 is normal according to the process shown in FIG. When the mode is abnormal, the FS mode is determined. Further, the operations of the engine 3, the starter 31, the first and second rotating machines 61 and 81 are controlled according to various operation modes, and thereby the vehicle is operated in various operation modes. In this case, the control and operation in the EV mode, the HV mode, and the FS mode are different from those in the first, third, and fifth embodiments due to the difference in configuration described above from the first embodiment. The point will be described.

[EV mode]
The execution condition of the control in the EV mode is the same as that in the first embodiment. Further, during the EV mode, the power of the main battery 44 is supplied to the second stator 83 to cause the second rotating magnetic field to rotate normally. In this case, as shown in FIG. 57 to be described later, when the rotation direction of the first rotating magnetic field is the reverse rotation direction, the first stator 63 generates power using the power transmitted from the fourth rotor 85 to the first rotor 64. In addition, the generated power is supplied to the second stator 83. As described above, the second driving equivalent torque TSE2 is transmitted to the driving wheels DW and DW by using the first power generation equivalent torque TGE1 as a reaction force. As a result, the driving wheels DW and DW rotate forward and the vehicle travels. In this case, the current supplied to the second stator 83 is controlled so that the torque transmitted to the drive wheels DW and DW becomes the required torque TREQ, and the current generated by the first stator 63 is the engine speed. Control is performed so that NE is 0.

[HV mode]
Control in the HV mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Also, this process is different from the process of the first embodiment shown in FIG. 7 described above only in that steps 151, 152, 155 and 156 are executed instead of steps 32, 33, 40 and 41, respectively. Specifically, only the operation control of the first and second rotating machines 61 and 81 is different. For this reason, the following description will focus on this difference, and steps having the same execution contents as those in FIG.

  If the answer to step 31 is NO (F_ENGOPE = 0) and the engine 3 is stopped, the operations of the first and second rotating machines 61 and 81 for starting the engine 3 are controlled in steps 151 and 152. The engine 3 is started by executing the steps 34 and the subsequent steps. In this step 151, first, the target value TR2OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the start speed NEST. Next, when the vehicle is stopped (NDW = 0), electric power is supplied from the main battery 44 to the first stator 63 to cause the first rotating magnetic field to rotate forward, and the second rotor transmission torque TR2 is calculated. The current supplied to the first stator 63 is controlled so that the target value TR2OBJ is obtained.

  On the other hand, when the vehicle is running using the second rotating machine 81 as a power source, the control of the operation of the first rotating machine 61 in step 151 is performed as follows. That is, as shown in FIG. 57 described later, a predetermined collinear relationship is established among the first magnetic field rotational speed NMF1, the engine rotational speed NE, and the drive wheel rotational speed NDW. When the rotation direction of the first rotating magnetic field determined by the collinear relationship and the engine speed NE and the drive wheel speed NDW is the reverse direction, a part of the power transmitted from the fourth rotor 85 to the first rotor 64 is used. The first stator 63 generates power. Next, the current generated by the first stator 63 is controlled so that the second rotor transmission torque TR2 becomes the target value TR2OBJ. On the other hand, when the rotation direction of the first rotating magnetic field is the forward rotation direction, the operation of the first rotating machine 61 is controlled in the same manner as when the vehicle is stopped.

In addition, the control of the operation of the second rotating machine 81 in step 152 is performed as follows. That is, first, the target value TR4OBJ is calculated by the following equation (55) using the target value TR2OBJ calculated in step 151 and the required torque TREQ. Next, when the vehicle is stopped, the second stator 83 generates power using the power transmitted from the second rotor 65 to the third rotor 84. On the other hand, immediately after the transition from the EV mode described above, when the vehicle is running using the second rotating machine 81 as a power source, electric power is supplied from the main battery 44 to the second stator 83. In these cases, both the current generated by the second stator 83 and the current supplied to the second stator 83 are such that the torque corresponding to the target value TR4OBJ acts on the fourth rotor 85 in the forward rotation direction. ,Control.
TR4OBJ = TREQ + α ・ TR2OBJ / (1 + α) (55)

  In step 155 following step 39, the operation of the first rotating machine 61 during operation of the engine 3 is controlled as follows. That is, first, the target value TR2OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ calculated in the step 38. Next, when the rotation directions of the first and second rotating magnetic fields determined by the engine speed NE and the drive wheel speed NDW are both normal rotation directions, a part of the power transmitted from the engine 3 to the second rotor 65 is used. The first stator 63 generates power and supplies the generated power to the second stator 83. On the other hand, when the rotation direction of the first rotating magnetic field is the reverse direction, the power generated by the second stator 83 or the power of the main battery 44 is supplied to the first stator 63 as will be described later. In these cases, both the current generated by the first stator 63 and the current supplied to the first stator 63 are controlled so that the second rotor transmission torque TR2 becomes the calculated target value TR2OBJ.

In step 156 following step 155, the operation of the second rotating machine 81 during the operation of the engine 3 is controlled as follows, and this process ends. That is, first, the target value TR4OBJ is calculated by the following equation (56) using the target value TR2OBJ calculated in step 155 and the required torque TREQ. Next, when the rotational directions of the first and second rotating magnetic fields determined by the engine rotational speed NE and the drive wheel rotational speed NDW are both normal rotation directions, torque corresponding to the calculated target value TR4OBJ is applied to the fourth rotor 85. Thus, the current supplied from the first stator 63 to the second stator 83 is controlled so as to act in the forward rotation direction. In this case, when the required torque TREQ is large and the electric power from the first stator 63 is insufficient, electric power is further supplied from the main battery 44 to the second stator 83. Thereby, the engine 3 is assisted by the second rotating machine 81.
TR4OBJ = TREQ-α / TR2OBJ / (1 + α) (56)

  On the other hand, in the control of the operation of the second rotating machine 81, when the rotation direction of the first rotating magnetic field is the reverse direction and the target value TR4OBJ is a negative value, the power transmitted from the engine 3 to the third rotor 84 Is used to generate power in the second stator 83 and supply the generated power to the first stator 63. In this case, the current generated by the second stator 83 is controlled so that the torque corresponding to the target value TR4OBJ acts on the fourth rotor 85 in the reverse rotation direction. On the other hand, when the rotation direction of the first rotating magnetic field is the reverse direction and the target value TR4OBJ is a positive value, power is supplied from the main battery 44 to the second stator 83, and the supplied current is set to the target value TR4OBJ. Control is performed so that the corresponding torque acts in the forward rotation direction on the fourth rotor 85. In this case, as described above, power is also supplied from the main battery 44 to the first stator 63. Thus, the engine 3 is assisted by the first and second rotating machines 61 and 81.

  In the control of the operations of the first and second rotating machines 61 and 81 in steps 155 and 156, when the main battery 44 is charged, a part of the power generated by the first or second stator 63 or 83 is charged. Is done.

  By executing the above steps 37 to 39, 155 and 156, the power transmitted to the drive wheels DW and DW is controlled to be the required drive force PREQ, as in the first embodiment, and the drive wheels DW, The torque transmitted to the DW is controlled so as to be the required torque TREQ.

  Next, an operation example of the above-described processing will be described with reference to FIGS. Specifically, these operation examples shown in FIGS. 56 and 57 are performed when the engine 3 is started by executing the steps 151, 152, and 34 to 36 in FIG. 55 while the vehicle is stopped and running, respectively. An example of the operation is shown. First, these FIG. 56 and FIG. 57 will be described.

  As is apparent from the connection relationship between the various rotary elements described above, the second and third rotor rotational speeds NR2 and NR3 are equal to each other and equal to the engine rotational speed NE. Further, the first and fourth rotor rotational speeds NR1 and NR4 are equal to each other, and are equal to the drive wheel rotational speed NDW if shifting by the planetary gear device PGS is ignored. Further, the first magnetic field rotation speed NMF1, the first and second rotor rotation speeds NR1, NR2 are in a predetermined collinear relationship as expressed by the above equation (44), and the second magnetic field rotation speed NMF2, The third and fourth rotor rotational speeds NR3 and NR4 are in a predetermined collinear relationship as expressed by the equation (52). From the above, the relationship among the first magnetic field rotational speed NMF1, the engine rotational speed NE, the drive wheel rotational speed NDW, and the second magnetic field rotational speed NMF2 is represented by a speed collinear chart as shown in FIG. 56 or FIG. .

  As is apparent from FIG. 56, the first driving equivalent torque TSE1 is transmitted to the crankshaft 3a through the second rotor 65 using the second power generation equivalent torque TGE2 as a reaction force, whereby the crankshaft 3a is Driven and rotates forward. In this case, by controlling the operation of the first rotating machine 61 in step 151, the current supplied to the first stator 63 is controlled so that the second rotor transmission torque TR2 becomes the target value TR2OBJ. Feedback control is performed so that the rotational speed NE becomes the rotational speed for starting NEST. In this state, the engine 3 is started.

  Further, as is apparent from FIG. 56, the first driving equivalent torque TSE1 acts to reverse the first rotor 64, the fourth rotor 85, and the driving wheels DW and DW using the engine friction TEF as a reaction force. The torque acting so as to reverse the first rotor 64 and the like (hereinafter referred to as “first rotor reverse torque”) is, as is apparent from the function of the first rotating machine 61, the second rotor transmission torque TR2 and Using the first pole logarithmic ratio α, −α · TR2 / (1 + α).

  On the other hand, the second stator 63 generates electric power so that the torque corresponding to the target value TR4OBJ acts on the fourth rotor 85 in the normal rotation direction by controlling the operation of the second rotating machine 81 in step 152. Current to be controlled. Further, the target value TR4OBJ is calculated by the equation (55), that is, TR4OBJ = TREQ + α · TR2OBJ / (1 + α). In this case, the required torque TREQ is 0 because the vehicle is stopped. As is clear from these and the fact that the first rotor reverse rotation torque is represented by -α · TR2 / (1 + α) as described above, the torque acting on the fourth rotor 85 by the second power generation equivalent torque TGE2 As a result, the first rotor reverse rotation torque is canceled, and as a result, the drive wheels DW and DW are held in a stationary state (NDW = 0).

  As is apparent from FIG. 57, during driving of the vehicle, the second driving equivalent torque TSE2 is transmitted to the driving wheels DW and DW and the crankshaft 3a using the first power generation equivalent torque TGE1 as a reaction force. As a result, the drive wheels DW and DW and the crankshaft 3a are driven to rotate forward. Also in this case, feedback control is performed so that the engine rotational speed NE becomes the starting rotational speed NEST as in the case where the vehicle is stopped as shown in FIG. In this state, the engine 3 is started.

  Further, as apparent from FIG. 57, the first power generation equivalent torque TGE1 acts to reverse the first rotor 64, the fourth rotor 85, and the drive wheels DW and DW using the engine friction TEF as a reaction force. The torque acting so as to reverse the first rotor 64 and the like (first rotor reverse torque) is represented by −α · TR2 / (1 + α), as in the case of the stop of the vehicle shown in FIG. .

  On the other hand, the current supplied to the second stator 63 is controlled so that the torque corresponding to the target value TR4OBJ acts in the forward rotation direction on the fourth rotor 85, as in the case where the vehicle is stopped. The target value TR4OBJ is calculated by TR4OBJ = TREQ + α · TR2OBJ / (1 + α). As is apparent from this and the fact that the first rotor reverse torque is represented by -α · TR2 / (1 + α) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW. .

[FS mode]
Control in the FS mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process differs from the process of the first embodiment shown in FIG. 10 described above only in that steps 161 and 162 are executed instead of steps 60 and 61, respectively. Is different only in the control of the operations of the first and second rotating machines 61 and 81 during operation of the engine 3. Therefore, this difference will be mainly described below, and steps having the same execution contents as those in FIG.

  In step 161 following step 59, the operation of the first rotating machine 11 is controlled as follows. That is, first, the target value TR2OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ. Next, as shown in FIG. 59 described later, when both the rotation directions of the first and second rotating magnetic fields determined by the engine speed NE and the drive wheel speed NDW are normal rotation directions, the engine 3 changes to the second rotor 65. Using a part of the transmitted power, the first stator 63 generates power and the generated power is supplied to the second stator 83 as it is. In this case, as in step 155, the current generated by the first stator 63 is controlled so that the torque acting on the second rotor 65 becomes the calculated target value TR2OBJ.

  In the control of the operation of the first rotating machine 61 described above, when the rotation direction of the first rotating magnetic field is the reverse rotation direction, the electric power generated by the second stator 83 is supplied to the first stator 63 as it will be described later. Thus, the current supplied to the first stator 63 is controlled so that the second rotor transmission torque TR2 becomes the target value TR2OBJ.

  In Step 162 following Step 161, the operation of the second rotating machine 81 is controlled as follows, and this process is terminated. That is, first, the target value TR4OBJ is calculated using the target value TR2OBJ calculated in step 161 and the required torque TREQ by the above equation (56), that is, TR4OBJ = TREQ−α · TR2OBJ / (1 + α). Next, when the rotational directions of the first and second rotating magnetic fields determined by the engine rotational speed NE and the drive wheel rotational speed NDW are both normal rotation directions, torque corresponding to the calculated target value TR4OBJ is applied to the fourth rotor 85. Thus, the current supplied from the first stator 63 to the second stator 83 is controlled so as to act in the forward rotation direction.

  On the other hand, when the rotation direction of the first rotating magnetic field is the reverse rotation direction, the second stator 83 generates power using a part of the power transmitted from the engine 3 to the third rotor 84, and the generated power is used as it is. 1 is supplied to the stator 63. In this case, the target value TR4OBJ calculated by the equation (56) becomes a negative value, and the second stator 83 generates power so that the torque corresponding to the absolute value acts on the fourth rotor 85 in the reverse rotation direction. Control the current.

  Next, an operation example of the above-described processing will be described with reference to FIG. Specifically, this operation example shows an operation example in the case of running the vehicle by executing the steps 57 to 59, 161 and 162. As is apparent from FIG. 59, the engine torque TENG is transmitted to the drive wheels DW and DW using the first power generation equivalent torque TGE1 and the second drive equivalent torque TSE2 as reaction forces, and thereby the drive wheels DW and DW. Is driven to rotate forward, and thus the vehicle moves forward.

  In this case, the engine torque TENG acts to cause the first rotor 64, the fourth rotor 85, and the drive wheels DW and DW to rotate in the normal direction using the first power generation equivalent torque TGE1 as a reaction force. The torque acting so as to rotate the first rotor 64 and the like in the forward direction (hereinafter referred to as “first rotor forward rotation torque”) is expressed as α ·· using the second rotor transmission torque TR2 and the first pole log ratio α. It is represented by TR2 / (1 + α).

  On the other hand, by controlling the operation of the second rotating machine 81 in the step 162, the torque corresponding to the target value TR4OBJ is supplied to the second stator 63 so as to act on the fourth rotor 85 in the normal rotation direction. Current to be controlled. Further, the target value TR4OBJ is calculated by the equation (56), that is, TR4OBJ = TREQ−α · TR2OBJ / (1 + α). As is apparent from this and the fact that the first rotor forward rotation torque is expressed by α · TR2 / (1 + α) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW. .

  Although not shown, when the rotation direction of the first rotating magnetic field is the reverse direction, the first rotor forward rotation torque (α · TR2 / (1 + α)) is larger than the required torque TREQ. In this case, the target value TR4OBJ represents the surplus of the first rotor forward rotation torque with respect to the required torque TREQ, as is apparent from the equation (56). Further, by controlling the operation of the second rotating machine 81 in step 162, the current generated by the second stator 83 is controlled so that the torque corresponding to this surplus acts in the reverse rotation direction on the fourth rotor 85. Is done. As a result, the torque corresponding to the surplus is canceled out, and in this case as well, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  As described above, in the FS mode, similarly to the first embodiment, the torque transmitted to the drive wheels DW and DW is controlled to be the required torque TREQ. In this case, the output of the engine 3 is controlled so as to become the target output PEOBJ set to the request output PREQ. In addition, no power is exchanged between the first and second rotating machines 61 and 81 and the main battery 44, and the power of the engine 3 causes the first and second rotating machines 61 and 81 to move. To the drive wheels DW and DW. As is clear from the above, the power transmitted to the drive wheels DW and DW is controlled so as to be the required drive force PREQ. When the engine speed NE and the drive wheel speed NDW are different from each other, the power (output) of the engine 3 is shifted and transmitted to the drive wheels DW and DW.

Moreover, the above 6th Embodiment respond | corresponds to the invention which concerns on Claims 5-8 described in the claim, The various elements in 6th Embodiment, and these Claims 5-8. Correspondences with various elements of the invention according to (hereinafter collectively referred to as “ second invention”) are as follows. That is, the drive wheels DW and DW, the engine 3 and the crankshaft 3a in the sixth embodiment correspond to the driven part, the heat engine and the output part in the second invention, respectively. The ECU 2, the relay 32, the VCU 43, the first and second PDUs 41 and 42 in the sixth embodiment correspond to the control device in the second invention, and the main battery 44 and the auxiliary battery 33 in the sixth embodiment are the second. It corresponds to the first and second power storage devices in the invention, respectively. Furthermore, the permanent magnet 64a, the core 65a, the permanent magnet 84a, and the core 85a in the sixth embodiment correspond to the first magnet, the first soft magnetic body, the second magnet, and the second soft magnetic body in the second invention, respectively. . The iron core 63a and the U-phase to W-phase coils 63c to 63e in the sixth embodiment correspond to the first armature array in the second invention, and the iron core 83a and the U-phase to W in the sixth embodiment. coil 83b of the phase corresponds to the second armature row in the second invention.

Further, the voltage sensor 55 in the sixth embodiment corresponds to the state parameter detecting means in the second invention, the ECU 2 in the sixth embodiment corresponds to the abnormality determining means in the invention according to claim 6 , and the sixth embodiment. The ECU 2 and the first and second contactors 46 and 47 in the embodiment correspond to the blocking means in the invention according to claim 7 . Further, the first to xth voltages V1 to Vx in the sixth embodiment correspond to the state parameters in the second invention.

  As described above, according to the sixth embodiment, the main battery 44 and the auxiliary battery 33 are separately provided as power sources for the first rotating machine 61 and the starter 31. Similarly to the first embodiment, the first to xth voltages V1 to Vx, that is, the voltages of the first to xth battery modules of the main battery 44 are detected by the voltage sensor 55 and detected. The abnormality of the main battery 44 is determined based on the first to xth voltages V1 to Vx. Further, when starting the engine 3, the crankshaft 3a is driven using the starter 31 when the main battery 44 is abnormal, and using the first rotating machine 61 when the main battery 44 is normal (steps 151 and 58 in FIG. 55). Step 53). Further, the auxiliary battery 33 is electrically connected to the main battery 44, and when the engine 3 is started, the auxiliary battery 33 and the main battery 44 are electrically disconnected by the first and second contactors 46, 47. (Step 51 in FIG. 58). As described above, the engine 3 can be appropriately and reliably started according to whether or not the main battery 44 is abnormal.

  Further, when the main battery 44 is abnormal while the vehicle is running, no power is exchanged between the main battery 44 and the first and second rotating machines 61 and 81, which corresponds to the required driving force PREQ. The operations of the engine 3 and the first and second rotating machines 61 and 81 are controlled so that the power is transmitted to the drive wheels DW and DW (steps 57 to 59, 161 and 162 in FIG. 58). Therefore, the power corresponding to the required driving force PREQ can be appropriately transmitted to the driving wheels DW and DW.

  Further, in the collinear diagram showing the relationship between the rotation speeds of the first magnetic field rotation speed NMF1 and the second rotor rotation speed NR2, the second rotor 65 is connected to the crankshaft 3a. Since they are connected, the operation of the crankshaft 3a for starting the engine 3 can be appropriately and easily controlled by using the first rotating machine 61 to drive the crankshaft 3a.

  Similarly to the third embodiment, by setting the first pole pair number ratio α, the relationship between the first magnetic field rotational speed NMF1, the first and second rotor rotational speeds NR1 and NR2, and the first driving equivalent The relationship between the torque TSE1 (first power generation equivalent torque TGE1) and the first and second rotor transmission torques TR1 and TR2 can be freely set. Therefore, the degree of freedom in designing the first rotating machine 61 can be increased. . Further, by setting the second pole pair number ratio β, the relationship between the second magnetic field rotation speed NMF2, the third and fourth rotor rotation speeds NR3 and NR4, and the second driving equivalent torque TSE2 (second power generation The relationship between the equivalent torque TGE2) and the third and fourth rotor transmission torques TR3 and TR4 can be freely set. Therefore, the degree of freedom in designing the second rotating machine 81 can be increased. As described above, the degree of freedom in designing the power unit 1E can be increased.

  In the sixth embodiment, the second and third rotors 65 and 84 are directly connected to each other, but may be not directly connected to each other as long as they are mechanically connected to the crankshaft 3a. The first and fourth rotors 64 and 85 are directly connected to each other, but may not be directly connected to each other as long as they are mechanically connected to the drive wheels DW and DW. In the sixth embodiment, the second and third rotors 65 and 84 are directly connected to the crankshaft 3a. However, the second and third rotors 65 and 84 may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like. Furthermore, in the sixth embodiment, the first and fourth rotors 64 and 85 are connected to the drive wheels DW and DW via the chain CH and the differential device DG, but may be mechanically connected directly. In the sixth embodiment, the first and second rotating machines 61 and 81 are arranged coaxially with each other, but instead, their axes are orthogonal to each other or parallel to each other. As such, they may be arranged.

  Further, as shown in FIG. 56 and the like described above, as is apparent from the fact that the engine speed NE, the drive wheel speed NDW, and the first and second magnetic field speeds NMF1, NMF2 are collinear with each other, Both the drive equivalent torque TSE2 and the second power generation equivalent torque TGE2 act not only on the drive wheels DW and DW but also on the crankshaft 3a. On the other hand, in the sixth embodiment, the method of driving the crankshaft 3a by controlling the operation of the first rotating machine 61 is adopted. However, the second driving equivalent torque TSE2 and the second power generation equivalent torque are used. Since TGE2 acts as described above, the crankshaft 3a can be driven by controlling the operation of the second rotating machine 81. In this case, the control of the operation of the first rotating machine 61 described in the sixth embodiment is performed on the second rotating machine 81. Further, the crankshaft 3a can be driven by controlling the operations of both the first and second rotating machines 61 and 81.

  Next, a power plant 1F according to a seventh embodiment of the present invention will be described with reference to FIGS. Compared with the sixth embodiment, this power unit 1F is mainly provided with the second planetary gear unit PG2 and the second rotating machine 21 described in the fifth embodiment instead of the second rotating machine 81. Is different. In other words, the power unit 1F mainly differs from the fifth embodiment in that the first rotating machine 61 is provided instead of the first planetary gear unit PG1 and the first rotating machine 11. In FIG. 60, the same components as those in the fifth and sixth embodiments are denoted by the same reference numerals. The following description will focus on differences from the fifth and sixth embodiments.

  As shown in FIG. 60, in power unit 1F, second rotor 65 and second sun gear S2 are mechanically directly connected to each other and mechanically directly connected to crankshaft 3a. The first rotor 64 and the second carrier C2 are mechanically directly connected to each other and mechanically connected to the drive wheels DW and DW via the chain CH, the planetary gear device PGS, the differential device DG, and the like. Has been. Further, the second ring gear R <b> 2 is mechanically directly connected to the second rotor 23.

  Further, as in the sixth embodiment, since the second rotor 65 is directly connected to the crankshaft 3a as described above, the ECU 2 performs the first operation according to the CRK signal and the TDC signal detected by the crank angle sensor 51. (2) The rotational angle position of the rotor 65 is calculated. Further, the rotation angle position of the first rotor 64 is detected by a rotation angle sensor, and the detection signal is output to the ECU 2. The rotation angle position of the second rotor 23 is detected by the second rotation angle sensor 52 described above. In the power unit 1F, since the first rotating machine 11 is not provided, the first rotation angle sensor 52 described above is omitted.

  Further, the ECU 2 executes various processes in accordance with the control programs stored in the ROM in accordance with the above-described various sensors and detection signals from the switches 51 and 53 to 58. Thus, as in the first embodiment, the abnormality of the main battery 44 is determined according to the process shown in FIG. 6, and the operation mode is set to the EV mode or HV when the main battery 44 is normal according to the process shown in FIG. When the mode is abnormal, the FS mode is determined. Further, the operations of the engine 3, the starter 31, the first and second rotating machines 61 and 21 are controlled according to various operation modes, and the vehicle is thereby operated in various operation modes. In this case, the control and operation in the EV mode, the HV mode, and the FS mode are different from those in the fifth and sixth embodiments due to the above-described difference in configuration from the fifth and sixth embodiments. The point will be described.

[EV mode]
The execution condition of the control in the EV mode is the same as that in the first embodiment. Further, during the EV mode, the power of the main battery 44 is supplied to the second stator 22 and the second rotor 23 is rotated forward. In this case, as shown in FIG. 63 to be described later, when the rotation direction of the first rotating magnetic field is the reverse rotation direction, the power transmitted from the second rotor 23 to the first rotor 64 via the second planetary gear device PG2 is used. The first stator 63 generates power and supplies the generated power to the second stator 22. As described above, the second power running torque TM2 is transmitted to the drive wheels DW and DW using the first power generation equivalent torque TGE1 as a reaction force. As a result, the drive wheels DW and DW rotate forward and the vehicle travels. In this case, the current supplied to the second stator 22 is controlled so that the torque transmitted to the drive wheels DW and DW becomes the required torque TREQ, and the current generated by the first stator 63 is the engine speed. Control is performed so that NE is 0.

[HV mode]
Control in the HV mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process is different from the process of the first embodiment shown in FIG. 7 described above only in that steps 171, 172, 175, and 176 are executed instead of steps 32, 33, 40, and 41, respectively. Specifically, only the operation control of the first and second rotating machines 61 and 21 is different. For this reason, the following description will focus on this difference, and steps having the same execution contents as those in FIG.

  When the answer to step 31 is NO (F_ENGOPE = 0) and the engine 3 is stopped, the control of the operations of the first and second rotating machines 61 and 21 for starting the engine 3 is performed in steps 171 and 172. The engine 3 is started by executing the steps 34 and the subsequent steps. In this step 171, first, the target value TR2OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes equal to the starting speed NEST. Next, when the vehicle is stopped (NDW = 0), electric power is supplied from the main battery 44 to the first stator 63 to cause the first rotating magnetic field to rotate forward, and the second rotor transmission torque TR2 is calculated. The current supplied to the first stator 63 is controlled so that the target value TR2OBJ is obtained.

  On the other hand, when the vehicle is running with the second rotating machine 21 as a power source, the control of the operation of the first rotating machine 61 in step 171 is performed as follows. That is, as shown in FIG. 63 described later, a predetermined collinear relationship is established among the first magnetic field rotational speed NMF1, the engine rotational speed NE, and the drive wheel rotational speed NDW. When the rotation direction of the first rotating magnetic field determined by the collinear relationship and the engine speed NE and the drive wheel speed NDW is the reverse direction, the second rotor 23 of the second rotating machine 21 passes through the second planetary gear unit PG2. The first stator 63 generates power using a part of the power transmitted to the first rotor 64. Further, the current generated by the first stator 63 is controlled so that the second rotor transmission torque TR2 becomes the calculated target value TR2OBJ. On the other hand, when the rotation direction of the first rotating magnetic field is the forward rotation direction, the operation of the first rotating machine 61 is controlled in the same manner as when the vehicle is stopped.

Further, the control of the operation of the second rotating machine 21 in step 172 is performed as follows. That is, first, the target value TC2OBJ is calculated by the following equation (57) using the target value TR2OBJ calculated in step 171 and the required torque TREQ. Next, when the vehicle is stopped, the power transmitted from the second rotor 65 of the first rotating machine 61 to the second rotor 23 of the second rotating machine 21 via the second planetary gear device PG2 is used. 2 Electric power is generated by the stator 22. On the other hand, when the vehicle is running with the second rotating machine 21 as a power source, power is supplied from the main battery 44 to the second stator 22. In these cases, both the current generated by the second stator 22 and the current supplied to the second stator 22 are such that the torque corresponding to the target value TC2OBJ acts in the forward direction on the second carrier C2. ,Control.
TC2OBJ = TREQ + α ・ TR2OBJ / (1 + α) (57)

  In step 175 following step 39, the operation of the first rotating machine 61 during operation of the engine 3 is controlled as follows. That is, first, the target value TR2OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ calculated in the step 38. Next, when both the first rotating magnetic field determined by the engine rotational speed NE and the drive wheel rotational speed NDW and the rotational direction of the second rotor 23 of the second rotating machine 21 are forward rotation directions, the engine 3 to the first rotating machine 61 A part of the power transmitted to the second rotor 65 is used to generate power in the first stator 63 and supply the generated power to the second stator 22. On the other hand, when the rotation direction of the first rotating magnetic field is the reverse rotation direction, the power generated by the second stator 22 or the power of the main battery 44 is supplied to the first stator 63 as will be described later. In these cases, both the current generated by the first stator 63 and the current supplied to the first stator 63 are controlled so that the second rotor transmission torque TR2 becomes the calculated target value TR2OBJ.

In step 176 following step 175, the operation of the second rotating machine 21 during the operation of the engine 3 is controlled as follows, and this process is terminated. That is, first, the target value TC2OBJ is calculated by the following equation (58) using the target value TR2OBJ calculated in step 175 and the required torque TREQ. Next, when both the first rotating magnetic field determined by the engine speed NE and the driving wheel speed NDW and the rotation direction of the second rotor 23 of the second rotating machine 21 are normal rotation directions, this corresponds to the calculated target value TC2OBJ. The current supplied from the first stator 63 to the second stator 22 is controlled so that the torque acts in the forward direction with respect to the second carrier C2. In this case, when the required torque TREQ is large and the electric power from the first stator 63 is insufficient, electric power is further supplied from the main battery 44 to the second stator 22. Thereby, the engine 3 is assisted by the second rotating machine 21.
TC2OBJ = TREQ-α ・ TR2OBJ / (1 + α) (58)

  On the other hand, in the control of the operation of the second rotating machine 21 described above, when the rotation direction of the first rotating magnetic field is the reverse direction and the target value TC2OBJ is a negative value, the engine 3 passes through the second planetary gear unit PG2. A part of the power transmitted to the second rotor 23 is used to generate power in the second stator 22 and supply the generated power to the first stator 63. In this case, the current generated by the second stator 22 is controlled so that the torque corresponding to the absolute value of the target value TC2OBJ acts in the reverse direction with respect to the second carrier C2. On the other hand, when the rotation direction of the first rotating magnetic field is the reverse direction and the target value TC2OBJ is a positive value, power is supplied from the main battery 44 to the second stator 22, and the supplied current is set to the target value TC2OBJ. Control is performed so that the corresponding torque acts in the forward rotation direction on the second carrier C2. In this case, as described above, power is also supplied from the main battery 44 to the first stator 63. As described above, the engine 3 is assisted by the first and second rotating machines 61 and 21.

  In the control of the operation of the first and second rotating machines 61 and 21 in steps 175 and 176, when charging the main battery 44, a part of the power generated by the first or second stator 63, 22 is charged. Is done.

  By executing the above steps 37 to 39, 175 and 176, the power transmitted to the drive wheels DW and DW is controlled to become the required drive force PREQ, as in the first embodiment, and the drive wheels DW, The torque transmitted to the DW is controlled so as to be the required torque TREQ.

  Next, an operation example of the above-described processing will be described with reference to FIGS. 62 and 63. Specifically, these operation examples shown in FIGS. 62 and 63 are performed when the engine 3 is started by executing steps 171, 172, and 34 to 36 in FIG. 61 while the vehicle is stopped and running, respectively. An example of the operation is shown. First, FIGS. 62 and 63 will be described.

  As is apparent from the connection relationship between the various rotary elements described above, the second rotor speed NR2 and the second sun gear S2 are equal to each other and equal to the engine speed NE. The first rotor speed NR1 and the second carrier C2 are equal to each other, and are equal to the drive wheel speed NDW if shifting by the planetary gear unit PGS is ignored. Further, the first magnetic field rotation speed NMF1, the first and second rotor rotation speeds NR2 and NR3 are in a predetermined collinear relationship as expressed by the formula (44), and the second sun gear S2 and the second carrier The rotational speeds of C2 and second ring gear R2 are in a predetermined collinear relationship determined by the number of teeth of second sun gear S2 and second ring gear R2. From the above, the relationship among the first magnetic field rotational speed NMF1, the engine rotational speed NE, the drive wheel rotational speed NDW, and the second rotating machine rotational speed NM2 is represented by a speed collinear chart as shown in FIGS. The

  As is apparent from FIG. 62, the first driving equivalent torque TSE1 is transmitted to the crankshaft 3a via the second rotor 65 using the second power generation torque TG2 as a reaction force, thereby driving the crankshaft 3a. , Rotate forward. In this case, by controlling the operation of the first rotating machine 61 in step 171, the current supplied to the first stator 63 is controlled so that the second rotor transmission torque TR2 becomes the target value TR2OBJ. Feedback control is performed so that the rotational speed NE becomes the rotational speed for starting NEST. In this state, the engine 3 is started.

  Further, as is apparent from FIG. 62, the first driving equivalent torque TSE1 acts to reverse the first rotor 64, the second carrier C2, and the driving wheels DW and DW using the engine friction TEF as a reaction force. As described in the sixth embodiment, the torque acting so as to reverse the first rotor 64 and the like (the first rotor reverse torque) is the second rotor transmission torque TR2 and the first pole log ratio α. It is represented by -α · TR2 / (1 + α).

  On the other hand, by the control of the operation of the second rotating machine 21 in step 172, the second stator 22 generates power so that the torque corresponding to the target value TC2OBJ acts in the normal rotation direction on the second carrier C2. Current to be controlled. Further, the target value TC2OBJ is calculated by the equation (57), that is, TC2OBJ = TREQ + α · TR2OBJ / (1 + α). In this case, the required torque TREQ is 0 because the vehicle is stopped. As is clear from these and the fact that the first rotor reverse torque is expressed by -α · TR2 / (1 + α) as described above, the torque acting on the second carrier C2 by the second power generation equivalent torque TG2 Thus, the first rotor reverse rotation torque is canceled, and as a result, the drive wheels DW and DW are held in a stationary state (NDW = 0).

  Further, as apparent from FIG. 63, during traveling of the vehicle, the second power running torque TM2 is transmitted to the drive wheels DW, DW and the crankshaft 3a using the first power generation equivalent torque TGE1 as a reaction force, As a result, the drive wheels DW and DW and the crankshaft 3a are driven and rotate forward. Also in this case, the feedback control is performed so that the engine rotational speed NE becomes the starting rotational speed NEST as in the case where the vehicle is stopped as shown in FIG. In this state, the engine 3 is started.

  Further, as is apparent from FIG. 63, the first power generation equivalent torque TGE1 acts to reverse the first rotor 64, the second carrier C2, and the drive wheels DW and DW using the engine friction TEF as a reaction force. The torque acting so as to reverse the first rotor 64 and the like (first rotor reverse torque) is represented by −α · TR2 / (1 + α), as in the case where the vehicle shown in FIG. 62 is stopped. .

  On the other hand, as in the case where the vehicle is stopped, the current supplied to the second stator 63 is controlled so that the torque corresponding to the target value TC2OBJ acts in the forward direction with respect to the second carrier C2. The target value TC2OBJ is calculated by TC2OBJ = TREQ + α · TR2OBJ / (1 + α). As is apparent from this and the fact that the first rotor reverse torque is represented by -α · TR2 / (1 + α) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW. .

[FS mode]
The control in the FS mode is executed according to the process shown in FIG. The execution conditions of this process are the same as those in the first embodiment. Further, this process differs from the process of the first embodiment shown in FIG. 10 described above only in that steps 181 and 182 are executed instead of steps 60 and 61, respectively. Is different only in operation control of the first and second rotating machines 61 and 21 during operation of the engine 3. Therefore, this difference will be mainly described below, and steps having the same execution contents as those in FIG.

  In step 181 following step 59, the operation of the first rotating machine 11 is controlled as follows. That is, first, the target value TR2OBJ is calculated by a predetermined feedback control algorithm so that the engine speed NE becomes the target engine speed NEOBJ. Next, as shown in FIG. 65 to be described later, when the first rotating magnetic field determined by the engine speed NE and the drive wheel speed NDW and the rotation direction of the second rotor 23 of the second rotating machine 21 are both in the normal rotation direction, A part of the power transmitted from the engine 3 to the second rotor 65 is used to generate power in the first stator 63 and supply the generated power to the second stator 22 as it is. In this case, similarly to the step 175, the current generated by the first stator 63 is controlled so that the torque acting on the second rotor 65 becomes the calculated target value TR2OBJ.

  In the control of the operation of the first rotating machine 61, when the rotation direction of the first rotating magnetic field is the reverse direction, the electric power generated by the second stator 22 is supplied to the first stator 63 as it is, as will be described later. Thus, the current supplied to the first stator 63 is controlled so that the second rotor transmission torque TR2 becomes the target value TR2OBJ.

  In step 182 following step 181, the operation of the second rotating machine 21 is controlled as follows, and the present process is terminated. That is, first, the target value TC2OBJ is calculated using the target value TR2OBJ calculated in step 181 and the required torque TREQ by the above equation (58), that is, TC2OBJ = TREQ−α · TR2OBJ / (1 + α). Next, when both the first rotating magnetic field determined by the engine speed NE and the driving wheel speed NDW and the rotation direction of the second rotor 23 of the second rotating machine 21 are normal rotation directions, this corresponds to the calculated target value TC2OBJ. The current supplied from the first stator 63 to the second stator 22 is controlled so that the torque acts in the forward direction with respect to the second carrier C2.

  On the other hand, when the rotation direction of the first rotating magnetic field is the reverse direction, the second stator 22 generates power using a part of the power transmitted from the engine 3 to the second rotor 23 via the second planetary gear device PG2. In addition, the generated electric power is supplied to the first stator 63 as it is. In this case, the target value TC2OBJ calculated by the equation (58) is a negative value, and the second stator 22 generates power so that the torque corresponding to the absolute value acts in the reverse direction with respect to the second carrier C2. Control the current.

  Next, an operation example of the above-described processing will be described with reference to FIG. Specifically, this operation example shows an operation example in the case of running the vehicle by executing the steps 57 to 59, 181 and 182. As is apparent from FIG. 65, the engine torque TENG is transmitted to the drive wheels DW and DW using the first power generation equivalent torque TGE1 and the second power running torque TM2 as reaction forces, thereby driving the drive wheels DW and DW. Then, it rotates forward and the vehicle moves forward.

  In this case, the engine torque TENG acts to cause the first rotor 64, the second carrier C2, and the drive wheels DW and DW to rotate forward using the first power generation equivalent torque TGE1 as a reaction force. As described in the sixth embodiment, the torque acting so as to cause the first rotor 64 and the like to rotate forward (first rotor forward rotation torque) is the second rotor transmission torque TR2 and the first pole log ratio α. Is expressed as α · TR2 / (1 + α).

  On the other hand, the control corresponding to the target value TC2OBJ is supplied to the second stator 22 so that the torque corresponding to the target value TC2OBJ acts in the forward direction with respect to the second carrier C2 by controlling the operation of the second rotating machine 21 in the step 182. Current to be controlled. Further, the target value TC2OBJ is calculated by the equation (58), that is, TC2OBJ = TREQ−α · TR2OBJ / (1 + α). As is apparent from this and the fact that the first rotor forward rotation torque is expressed by α · TR2 / (1 + α) as described above, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW. .

  Although not shown, when the rotation direction of the first rotating magnetic field is the reverse direction, the first rotor forward rotation torque (α · TR2 / (1 + α)) is larger than the required torque TREQ. In this case, the target value TC2OBJ represents the surplus of the first rotor forward rotation torque with respect to the required torque TREQ, as is apparent from the equation (58). Further, by controlling the operation of the second rotating machine 21 in step 182, the current generated by the second stator 22 is controlled so that the torque corresponding to this surplus acts in the reverse direction with respect to the second carrier C 2. Is done. As a result, the torque corresponding to the surplus is canceled out, and in this case as well, torque equal to the required torque TREQ is transmitted to the drive wheels DW and DW.

  As described above, in the FS mode, similarly to the first embodiment, the torque transmitted to the drive wheels DW and DW is controlled to be the required torque TREQ. In this case, the output of the engine 3 is controlled so as to become the target output PEOBJ set to the request output PREQ. In addition, no power is exchanged between the first and second rotating machines 11 and 21 and the main battery 44, and the power of the engine 3 is supplied to the first rotating machine 61 and the second planetary gear device. It is transmitted to the drive wheels DW and DW via PG2 and the second rotating machine 21. As is clear from the above, the power transmitted to the drive wheels DW and DW is controlled so as to be the required drive force PREQ. When the engine speed NE and the drive wheel speed NDW are different from each other, the power (output) of the engine 3 is shifted and transmitted to the drive wheels DW and DW.

Further, the seventh embodiment described above corresponds to the invention according to claims 9 to 12 described in the claims, and various elements in the seventh embodiment and these claims 9 to 12. Correspondences with various elements of the invention according to (hereinafter collectively referred to as “ third invention”) are as follows. That is, the drive wheels DW and DW, the engine 3, the crankshaft 3a, and the second rotor 23 in the seventh embodiment correspond to the driven part, the heat engine, the output part, and the rotor in the third invention, respectively. The ECU 2, the relay 32, the VCU 43, the first and second PDUs 41 and 42 in the seventh embodiment correspond to the control device in the third invention, and the main battery 44 and the auxiliary battery 33 in the seventh embodiment are the third. It corresponds to the first and second power storage devices in the invention, respectively.

Further, the second planetary gear device PG2 in the seventh embodiment corresponds to the power transmission mechanism in the third invention, and the second sun gear S2, the second carrier 2, and the second ring gear R2 in the seventh embodiment are the third It corresponds to the first element, the second element, and the third element in the invention. The permanent magnet 64a and the core 65a in the seventh embodiment correspond to the magnet and the soft magnetic body in the third invention, respectively, and the iron core 63a and the U-phase to W-phase coils 63c to 63e in the seventh embodiment. This corresponds to the armature train in the third invention.

Further, the voltage sensor 55 in the seventh embodiment corresponds to the state parameter detection means in the third invention, the ECU 2 in the seventh embodiment corresponds to the abnormality determination means in the invention according to claim 10 , and the seventh implementation. The ECU 2 and the first and second contactors 46 and 47 in the form correspond to the blocking means in the invention according to claim 11 . In addition, the first to xth voltages V1 to Vx in the seventh embodiment correspond to the state parameters in the third invention.

  As described above, according to the seventh embodiment, the main battery 44 and the auxiliary battery 33 are separately provided as power sources for the first rotating machine 61 and the starter 31. Similarly to the first embodiment, the first to xth voltages V1 to Vx, that is, the voltages of the first to xth battery modules of the main battery 44 are detected by the voltage sensor 55 and detected. The abnormality of the main battery 44 is determined based on the first to xth voltages V1 to Vx. Further, when starting the engine 3, the crankshaft 3a is driven using the starter 31 when the main battery 44 is abnormal, and using the first rotating machine 61 when the main battery 44 is normal (steps 171 and 64 in FIG. 61). Step 53). Further, the auxiliary battery 33 is electrically connected to the main battery 44, and when the engine 3 is started, the auxiliary battery 33 and the main battery 44 are electrically disconnected by the first and second contactors 46, 47. (Step 51 in FIG. 64). As described above, the engine 3 can be appropriately and reliably started according to whether or not the main battery 44 is abnormal.

  Furthermore, when the main battery 44 is abnormal while the vehicle is running, power is not exchanged between the main battery 44 and the first and second rotating machines 61 and 21, and it corresponds to the required driving force PREQ. The operations of the engine 3 and the first and second rotating machines 61 and 21 are controlled so that the power is transmitted to the drive wheels DW and DW (steps 57 to 59, 181 and 182 in FIG. 64). Therefore, the power corresponding to the required driving force PREQ can be appropriately transmitted to the driving wheels DW and DW.

  Similarly to the sixth embodiment, the straight lines representing the first magnetic field rotational speed NMF1 and the second rotor rotational speed NR2 are adjacent to each other in the collinear diagram representing the relationship between the rotational speeds, and the second Since the rotor 65 is connected to the crankshaft 3a, the operation of the crankshaft 3a for starting the engine 3 is appropriately and easily controlled by using the first rotating machine 61 to drive the crankshaft 3a. Can do.

  Further, as in the third embodiment, by setting the first pole pair number ratio α, the relationship between the first magnetic field rotational speed NMF1, the first and second rotor rotational speeds NR1 and NR2, and the first driving equivalent The relationship between the torque TSE1 (first power generation equivalent torque TGE1) and the first and second rotor transmission torques TR1 and TR2 can be freely set. Therefore, the degree of freedom in designing the first rotating machine 61 can be increased. As a result, the degree of freedom in designing the power unit 1F can be increased.

  In the seventh embodiment, the second rotor 65 and the second sun gear S2 are directly connected to each other, but may be not directly connected to each other as long as they are mechanically connected to the crankshaft 3a. The first rotor 64 and the second carrier C2 are directly connected to each other, but may not be directly connected to each other as long as they are mechanically connected to the drive wheels DW and DW. In the seventh embodiment, the second rotor 65 and the second sun gear S2 are directly connected to the crankshaft 3a. However, the second rotor 65 and the second sun gear S2 may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like.

  Furthermore, in the seventh embodiment, the first rotor 64 and the second carrier C2 are coupled to the drive wheels DW and DW via the chain CH and the differential device DG, but may be mechanically coupled directly. In the seventh embodiment, the second ring gear R2 is directly connected to the second rotor 23, but may be mechanically connected via a gear, a pulley, a chain, a transmission, or the like.

  Furthermore, in the seventh embodiment, the second ring gear R2 is connected to the second rotor 23, and the second sun gear S2 is connected to the crankshaft 3a. However, these connection relations are reversed, that is, the second ring gear R2 is connected. May be mechanically coupled to the crankshaft 3a and the second sun gear S2 to the second rotor 23, respectively. In this case, as a matter of course, the second ring gear R2 and the crankshaft 3a, and the second sun gear S2 and the second rotor 23 may be mechanically connected to each other directly, , A pulley, a chain, a transmission, or the like may be used for mechanical connection.

  Further, as shown in FIG. 62 and the like described above, the engine rotational speed NE, the drive wheel rotational speed NDW, the first magnetic field rotational speed NMF1, and the second rotating machine rotational speed NM2 are collinear with each other. The second power running torque TM2 and the second power generation torque TG2 both act not only on the drive wheels DW and DW but also on the crankshaft 3a. On the other hand, in the seventh embodiment, a method of driving the crankshaft 3a by controlling the operation of the first rotating machine 61 is employed. However, the second power running torque TM2 and the second power generation torque TG2 are the above-described values. Thus, the crankshaft 3 a can be driven by controlling the operation of the second rotating machine 21. In this case, the control of the operation of the first rotating machine 61 described in the seventh embodiment is performed on the second rotating machine 21. Further, the crankshaft 3a can be driven by controlling the operations of both the first and second rotating machines 61 and 21.

  Furthermore, in the first and second embodiments, the single pinion type planetary gear device PG is used, but the first to third elements that can transmit power while maintaining a collinear relationship with respect to the rotational speed between the first and third elements. Other mechanisms such as a double pinion type planetary gear device or a differential device DG may be used as long as the mechanism has the same. Alternatively, instead of the gear of the planetary gear device, a mechanism having a plurality of rollers that transmit power by friction between the surfaces and having a function equivalent to that of the planetary gear device may be used. Moreover, although detailed description is abbreviate | omitted, you may use the mechanism comprised by the combination of the several magnet and soft magnetic body which are disclosed by Unexamined-Japanese-Patent No. 2008-39045. The same applies to the first and second planetary gear devices PG1 and PG2 in the fifth embodiment and the second planetary gear device PG2 in the seventh embodiment.

  Furthermore, in the first, second, and fifth embodiments, the first and second rotating machines 11 and 21 are synchronous DC motors. However, the supplied (input) electric power is converted into power and output. In addition, as long as it is a device that can convert input power into electric power, another device such as a synchronous or induction motor may be used. This also applies to the second rotating machine 21 in the third, fourth, and seventh embodiments.

  In the third, fourth, sixth and seventh embodiments, the first rotating machine 61 has four first armature magnetic poles, eight first magnet magnetic poles, and six cores 65a. The ratio of the number of first armature magnetic poles, the number of first magnet magnetic poles, and the number of cores 65a is an example of 1: 2: 1.5, but the ratio of these numbers is 1: m: (1 + m). Any number can be adopted as the number of the first armature magnetic poles, the first magnet magnetic poles, and the cores 65a as long as / 2 (m ≠ 1.0) is satisfied. Furthermore, in 3rd, 4th, 6th and 7th embodiment, although the core 65a is comprised with the steel plate, you may comprise with another soft magnetic body. In the third, fourth, sixth, and seventh embodiments, the first stator 63 and the first rotor 64 are disposed on the outer side and the inner side in the radial direction, respectively. You may arrange | position at the inner side and the outer side, respectively.

  Further, in the third, fourth, sixth and seventh embodiments, the first stator 63, the first and second rotors 64, 65 are arranged so as to be aligned in the radial direction, and the first rotating machine 61 is formed as a so-called radial type. However, the first rotating machine 61 may be configured as a so-called axial type by arranging the first stator 63 and the first and second rotors 64 and 65 so as to be aligned in the axial direction. In the third, fourth, sixth and seventh embodiments, one first magnet magnetic pole is composed of the magnetic poles of a single permanent magnet 64a, but is composed of magnetic poles of a plurality of permanent magnets. Also good. For example, by arranging these two permanent magnets in an inverted V shape so that the magnetic poles of the two permanent magnets approach each other on the first stator 63 side, one magnetic pole is configured as described above. The directivity of the magnetic field lines ML can be increased. Furthermore, in the third, fourth, sixth and seventh embodiments, an electromagnet may be used instead of the permanent magnet 64a.

  Further, in the third, fourth, sixth, and seventh embodiments, the coils 63c to 63e are configured by U-phase to W-phase three-phase coils, but if the first rotating magnetic field can be generated, The number of phases is not limited to this and is arbitrary. Furthermore, in the third, fourth, sixth and seventh embodiments, as a matter of course, any number other than those shown in the embodiment may be adopted as the number of slots 63b. In the third, fourth, sixth, and seventh embodiments, the U-phase to W-phase coils 63c to 63e are wound around the slots 63b by distributed winding, but the present invention is not limited thereto, and concentrated winding may be used. Furthermore, in the third, fourth, sixth, and seventh embodiments, the slots 63b, the permanent magnets 64a, and the core 65a are arranged at equal intervals, but may be arranged at unequal intervals.

  Furthermore, the first and second rotating machines 61 in the third, fourth, sixth, and seventh embodiments may be other devices, for example, Japanese Patent Application Laid-Open No. 2008-2008, as long as the devices have the functions described in the claims. The rotating machine disclosed in Japanese Patent No. 179344 may be used. The above modification regarding the first rotating machine 61 applies similarly to the second rotating machine 81 in the sixth embodiment.

  In the first to seventh embodiments (hereinafter collectively referred to as “embodiments”), the abnormality of the main battery 44 is determined based on the state of the main battery 44 represented by the first voltage V1 to the xth voltage Vx. The determination result is represented by the abnormality flag F_BATTNG, and the first rotating machines 11 and 61 and the starter 31 are selected based on the setting state of the abnormality flag F_BATTNG. However, the abnormality flag F_BATTNG is set. Alternatively, the first rotating machines 11 and 61 and the starter 31 may be selected based on the first voltage V1 to the xth voltage Vx.

  Furthermore, in the embodiment, the control device for controlling the operation of the engine 3, the first and second rotating machines 11, 61, 21, 81 is configured by the ECU 2, the relay 32, the VCU 43, and the first and second PDUs 41, 42. However, a combination of a microcomputer and an electric circuit may be used. Further, in the embodiment, the main battery 44 is used as the first power storage device in the invention according to each claim, but other devices such as a capacitor may be used as long as the power storage device can be charged and discharged. This also applies to the auxiliary battery 33 as the second power storage device. Furthermore, in the embodiment, the main battery 44 and the auxiliary battery 33 are connected to each other, but may not be connected to each other. In the embodiment, the first voltage V1 to the xth voltage Vx are detected by sensors, but may be obtained by calculation or estimation. Furthermore, in the embodiment, the state parameters representing the state of the main battery 44 are the first voltage V1 to the xth voltage Vx. However, if the parameters represent the state of the main battery 44, other parameters such as the first to the first voltages Vx are used. It may be a current flowing through each of the xth battery modules. Also in this case, the state parameter may be obtained by detection by a sensor, calculation, or estimation.

  Further, in the embodiment, the blocking means in the invention according to each claim is the first and second contactors 46 and 47. However, if the main battery 44 and the auxiliary battery 33 can be electrically disconnected, for example, A breaker may be used. Furthermore, in the embodiment, the abnormality of the main battery 44 is determined based on the comparison result between the first voltage V1 to the xth voltage Vx and the average voltage VA. However, the abnormality may be determined by another method. . For example, the load of the main battery 44 is detected, a determination threshold value is calculated based on the detected load, and the calculated threshold value is compared with the first voltage V1 to the xth voltage Vx. Abnormality may be determined based on the result.

  In the embodiment, the engine 3 as the heat engine of the present invention is a gasoline engine, but may be an arbitrary heat engine having an output unit capable of outputting power. For example, various industrial internal combustion engines including a marine propulsion engine such as a diesel engine or an outboard motor with a crankshaft arranged in a vertical direction may be used, or an external combustion engine such as a Stirling engine may be used. . Furthermore, the means for connecting the various rotary elements in the embodiment can be arbitrarily adopted as long as the conditions in the present invention are satisfied. For example, a pulley or the like may be used instead of the gear described in the embodiment. Moreover, although embodiment has the example which applied the power unit by this invention to the vehicle, you may apply to a ship and an aircraft, for example. In addition, it is possible to appropriately change the detailed configuration and control method within the scope of the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Power device 1A Power device 1B Power device 1C Power device 1D Power device 1E Power device 1F Power device DW, DW Drive wheel (driven part)
2 ECU (control device, abnormality determination means, interruption means)
3 Engine (heat engine)
3a Crankshaft (output part)
11 First Rotating Machine 13 First Rotor 21 Second Rotating Machine 23 Second Rotor (Rotor)
31 Starter 32 Relay (control device)
33 Auxiliary battery (second power storage device)
41 First PDU (control device)
42 Second PDU (control device)
43 VCU (control unit)
44 Main battery (first power storage device)
46 1st contactor (blocking means)
47 Second contactor (blocking means)
PG planetary gear unit (power transmission mechanism)
S Sungear (first element)
C carrier (2nd element)
R ring gear (third element)
55 Voltage sensor (status parameter detection means)
61 First rotating machine 63 First stator (stator)
63a Iron core (armature row, first armature row)
63c U-phase coil (armature array, first armature array)
63d V-phase coil (armature array, first armature array)
63e W-phase coil (armature array, first armature array)
64 First rotor 64a Permanent magnet (magnet, first magnet)
65 Second rotor 65a Core (soft magnetic body, first soft magnetic body)
81 Second rotating machine 83 Second stator 83a Iron core (second armature row)
83b U-phase, V-phase and W-phase coils (second armature train)
84 Third rotor 84a Permanent magnet (second magnet)
85 Fourth rotor 85a Core (second soft magnetic body)
PG1 first planetary gear unit (power transmission mechanism)
S1 First sun gear (third element)
R1 first ring gear (first element)
C1 First carrier (second element)
PG2 Second planetary gear unit (power transmission mechanism)
S2 Second sun gear (second element, first element)
R2 2nd ring gear (4th element, 3rd element)
C2 2nd carrier (3rd element, 2nd element)
V1 to Vx 1st to xth voltage (state parameter)
PREQ Required driving force

Claims (12)

A power device for driving a driven part,
A heat engine having an output for outputting power;
A stationary stator for generating a rotating magnetic field, a first rotor made of a magnet and provided so as to face the stator, a soft magnetic body, and provided between the stator and the first rotor A second rotor configured to input and output power and power between the stator and the first and second rotors along with the generation of the rotating magnetic field, and to input and output the power and power. The rotating magnetic field, the second rotor, and the first rotor rotate while maintaining a collinear relationship with respect to the rotational speed between them. A first rotating machine configured to be arranged in order;
Has a rotor, and converts the input power to the power, before and outputs the kilometers over data, those 該Ro over the second rotating machine capable of converting an input power to the power motor,
A first power storage device configured to be chargeable / dischargeable and electrically connected to the stator and the second rotating machine;
A starter for driving the output unit to start the heat engine;
A second power storage device as a power source of the starter;
A control device for controlling operations of the heat engine, the starter, and the first and second rotating machines;
State parameter detection means for detecting a state parameter representing the state of the first power storage device,
One of the first and second rotors is mechanically connected to the output part, the other of the first and second rotors is mechanically connected to the driven part, and the rotor is connected to the driven part. Mechanically connected to the
The control device selects one of the first rotating machine and the starter based on the detected state parameter in order to drive the output unit to start the heat engine. Control the operation ,
A plurality of predetermined magnetic poles arranged in the circumferential direction are configured by the magnet, and the plurality of magnetic poles are arranged such that each of the two adjacent magnetic poles has different polarities, whereby the magnetic pole row is formed. Configured,
The first rotor is configured to be rotatable in the circumferential direction,
The stator has an armature row that generates the rotating magnetic field rotating in the circumferential direction between the magnetic pole row by generating a plurality of predetermined armature magnetic poles,
The soft magnetic body is composed of a plurality of predetermined soft magnetic bodies arranged in the circumferential direction at intervals from each other, and a soft magnetic body array composed of the plurality of soft magnetic bodies includes the magnetic pole array and the armature. Between the columns,
The second rotor is configured to be rotatable in the circumferential direction,
The ratio of the number of the armature magnetic poles, the number of the magnetic poles, and the number of the soft magnetic bodies is set to 1: m: (1 + m) / 2 (m ≠ 1.0). apparatus. An abnormality determining means for determining an abnormality of the first power storage device based on the state parameter;
The control device selects the starter to drive the output unit to start the heat engine when the first power storage device is determined to be abnormal when starting the heat engine. The power plant according to claim 1, wherein the power plant is characterized. The first and second power storage devices are electrically connected to each other;
When starting the heat engine, it further comprises a shut-off means for electrically shutting off the first power storage device and the second power storage device when it is determined that the first power storage device is abnormal. The power unit according to claim 2. The stator and the second rotating machine are electrically connected to each other;
When the first power storage device is determined to be abnormal when driving the driven part, the control device transmits and receives power between the first power storage device and the stator , and the first power storage device and the The heat engine, the first and the second, so that the required driving force required for the driven part is transmitted to the driven part without performing both power transfer between the second rotating machines. The power unit according to claim 2, wherein the operation of the rotating machine is controlled. A power device for driving a driven part,
A heat engine having an output for outputting power;
A stationary first stator for generating a first rotating magnetic field; a first rotor composed of a first magnet; and provided to face the first stator; a first soft magnetic material; A first rotor and a second rotor provided between the first rotor and the electric power generated by the first rotating magnetic field between the first stator and the first and second rotors. In addition to inputting / outputting power, the first rotating magnetic field, the second and first rotors rotate while maintaining a collinear relationship with respect to the number of rotations between each other in accordance with the input / output of the power and power. In a collinear diagram showing the relationship of the number, a first rotating machine configured such that straight lines representing the respective rotational speeds are arranged in order,
A stationary second stator for generating a second rotating magnetic field, a second magnet, a third rotor provided to face the second stator, a second soft magnetic body, And a fourth rotor provided between the second stator and the third rotor, and between the second stator, the third and the fourth rotor, the electric power is generated along with the generation of the second rotating magnetic field. In addition to inputting / outputting power, the second rotating magnetic field, the fourth and third rotors rotate while maintaining a collinear relationship with respect to the number of rotations between each other in accordance with input / output of the electric power and power. In a collinear diagram showing the relationship between the numbers, a second rotating machine configured such that straight lines representing the respective rotational speeds are arranged in order ,
A first power storage device configured to be chargeable / dischargeable and electrically connected to the first and second stators ;
A starter for driving the output unit to start the heat engine;
A second power storage device as a power source of the starter;
A control device for controlling operations of the heat engine, the starter, and the first and second rotating machines;
State parameter detection means for detecting a state parameter representing the state of the first power storage device,
The second and third rotors, Rutotomoni is mechanically coupled to said output portion, the first and fourth rotors is mechanically connected to the driven part,
The controller selects at least one of the first and second rotating machines and the starter based on the detected state parameter in order to drive the output unit to start the heat engine. And control one of the selected actions ,
A plurality of predetermined first magnetic poles arranged in the first circumferential direction are constituted by the first magnet, and the plurality of first magnetic poles have two adjacent first magnetic poles having different polarities. The first magnetic pole row is configured by being arranged in
The first rotor is configured to be rotatable in the first circumferential direction,
The first stator generates the first rotating magnetic field that rotates in the first circumferential direction between the first stator and the first magnetic pole row by generating a plurality of predetermined first armature magnetic poles. Has child rows,
The first soft magnetic body is composed of a plurality of predetermined first soft magnetic bodies arranged in the first circumferential direction at intervals from each other, and the first soft magnetic body is configured by the plurality of first soft magnetic bodies. A row is disposed between the first magnetic pole row and the first armature row;
The second rotor is configured to be rotatable in the first circumferential direction,
The ratio of the number of the first armature magnetic poles, the number of the first magnetic poles, and the number of the first soft magnetic bodies is set to 1: m: (1 + m) / 2 (m ≠ 1.0). ,
A plurality of predetermined second magnetic poles arranged in the second circumferential direction are constituted by the second magnet, and the plurality of second magnetic poles have two adjacent second magnetic poles having different polarities. The second magnetic pole row is configured by being arranged in
The third rotor is configured to be rotatable in the second circumferential direction,
The second stator generates the second rotating magnetic field that rotates in the second circumferential direction between the second stator and the second magnetic pole row by generating a predetermined plurality of second armature magnetic poles. Has child rows,
The second soft magnetic body is composed of a plurality of predetermined second soft magnetic bodies arranged in the second circumferential direction at intervals from each other, and the second soft magnetic body is configured by the plurality of second soft magnetic bodies. A row is disposed between the second magnetic pole row and the second armature row;
The fourth rotor is configured to be rotatable in the second circumferential direction,
The ratio of the number of the second armature magnetic poles, the number of the second magnetic poles, and the number of the second soft magnetic bodies is set to 1: n: (1 + n) / 2 (n ≠ 1.0). A power plant characterized by that. An abnormality determining means for determining an abnormality of the first power storage device based on the state parameter;
The control device selects the starter to drive the output unit to start the heat engine when the first power storage device is determined to be abnormal when starting the heat engine. The power plant according to claim 5, wherein the power plant is characterized. The first and second power storage devices are electrically connected to each other;
When starting the said heat engine, when the said 1st electrical storage apparatus is determined to be abnormal, it further has the interruption | blocking means which electrically interrupts between the said 1st electrical storage apparatus and the said 2nd electrical storage apparatus. The power unit according to claim 6. The first and second stators are electrically connected to each other;
When the control device drives the driven part and the first power storage device is determined to be abnormal, the control device transfers power between the first power storage device and the first stator and the first power storage device. And the second stator so that the required driving force required for the driven part is transmitted to the driven part without performing power transfer between the second stator and the second stator . The power unit according to claim 6 or 7, wherein operation of the two-rotor machine is controlled. A power device for driving a driven part,
A heat engine having an output for outputting power;
A stationary stator for generating a rotating magnetic field, a first rotor made of a magnet and provided so as to face the stator, a soft magnetic body, and provided between the stator and the first rotor A second rotor configured to input and output power and power between the stator and the first and second rotors along with the generation of the rotating magnetic field, and to input and output the power and power. The rotating magnetic field, the second rotor, and the first rotor rotate while maintaining a collinear relationship with respect to the rotational speed between them. A first rotating machine configured to be arranged in order;
A second rotating machine that has a rotor, converts input electric power into power, outputs the power from the rotor, and converts the power input into the rotor into electric power;
A first power storage device configured to be chargeable / dischargeable and electrically connected to the stator and the second rotating machine;
Power can be transmitted between each other, and during transmission of the power, while rotating while maintaining a collinear relationship with respect to the rotational speed between each other, in the collinear chart showing the relationship of the rotational speed, A power transmission mechanism having a first element, a second element, and a third element configured such that the straight lines to represent are arranged in order;
A starter for driving the output unit to start the heat engine;
A second power storage device as a power source of the starter;
A control device for controlling operations of the heat engine, the starter, and the first and second rotating machines;
State parameter detection means for detecting a state parameter representing the state of the first power storage device,
One of the first rotor and the second element, and the second rotor and the first element is mechanically coupled to the output unit, and the first rotor and the second element, the second rotor, and the first The other one of the elements is mechanically connected to the driven part, and the third element is mechanically connected to the rotor;
The control device selects at least one of the first and second rotating machines and the starter based on the state parameter in order to drive the output unit to start the heat engine. Control one of the selected actions,
A plurality of predetermined magnetic poles arranged in the circumferential direction are configured by the magnet, and the plurality of magnetic poles are arranged such that each of the two adjacent magnetic poles has different polarities, whereby the magnetic pole row is formed. Configured,
The first rotor is configured to be rotatable in the circumferential direction,
The stator has an armature row that generates the rotating magnetic field rotating in the circumferential direction between the magnetic pole row by generating a plurality of predetermined armature magnetic poles,
The soft magnetic body is composed of a plurality of predetermined soft magnetic bodies arranged in the circumferential direction at intervals from each other, and a soft magnetic body array composed of the plurality of soft magnetic bodies includes the magnetic pole array and the armature. Between the columns,
The second rotor is configured to be rotatable in the circumferential direction,
The ratio between the number of the number and the soft magnetic body of the magnetic pole and the number of the armature magnetic poles, 1: m: you, characterized in that it is set to (1 + m) / 2 ( m ≠ 1.0) dynamic force apparatus. An abnormality determining means for determining an abnormality of the first power storage device based on the state parameter;
The control device selects the starter to drive the output unit to start the heat engine when the first power storage device is determined to be abnormal when starting the heat engine. The power plant according to claim 9, characterized in that The first and second power storage devices are electrically connected to each other;
When starting the said heat engine, when the said 1st electrical storage apparatus is determined to be abnormal, it further has the interruption | blocking means which electrically interrupts between the said 1st electrical storage apparatus and the said 2nd electrical storage apparatus. The power unit according to claim 10. The stator and the second rotating machine are electrically connected to each other;
When the first power storage device is determined to be abnormal when driving the driven part, the control device transmits and receives power between the first power storage device and the stator, and the first power storage device and the The heat engine, the first and the second, so that the required driving force required for the driven part is transmitted to the driven part without performing both power transfer between the second rotating machines. The power unit according to claim 10 or 11, wherein operation of the rotating machine is controlled .

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