JP5381157B2 - Control device for hybrid vehicle - Google Patents

Description

  The present invention relates to a control apparatus for a hybrid vehicle that is mounted with an engine and a motor and that can travel using either or both of the engine and motor as a power source.

  The hybrid vehicle as described above has, for example, an engine, a motor, a transmission, and drive wheels as a drive system. The first clutch is between the engine and the motor, and the second clutch is between the motor and the transmission. Are intervened.

  Further, the hybrid vehicle is provided with a control device that controls the engagement / release of the first clutch and the second clutch. This control device opens the second clutch and controls the hydraulic servo provided in the first clutch when the accelerator is greatly depressed in the driving mode by the motor, that is, when there is an engine start request. The first clutch is shifted from the released state to the slip engaged state.

  When the first clutch is shifted to the slip engagement state, oil is supplied as a first fill pressure into the cylinder of the hydraulic servo for the first fill time. Here, the first fill pressure and the first fill time are set to such values that the cylinder can be filled with oil and the clutch piston fitted in the cylinder can be quickly stroked.

  Next, when the first clutch is shifted from the slip engagement state to the engagement state, the standby pressure is supplied for the standby time in the same procedure, and the standby time for achieving the standby state elapses. The engine is started when the clutch is engaged and the engine is cranked by a motor (see, for example, Patent Document 1).

JP-A-11-82260

  However, in the conventional hybrid vehicle control device, when there is an engine start request, the first clutch hydraulic servo is supplied with the first fill pressure or the standby pressure so that the first clutch is in the slip engagement state or the engagement state. Therefore, there is a problem that it takes time to start the engine. In other words, when the hydraulic serve is controlled by the first fill pressure or the standby pressure, the operation of the first clutch is delayed compared to the operation of starting the rotation of the motor, thereby reducing the response of starting the engine.

  An object of the present invention is to provide a control apparatus for a hybrid vehicle that can improve the response of engine start when an engine start request is made.

In order to achieve the above object, in the hybrid vehicle control device of the present invention, the drive system has an engine, a motor, and a clutch interposed between the engine and the motor. The engine is provided with engine start control means for slip-engaging the clutch and controlling cranking operation of the engine using the motor as a start motor.

In this hybrid vehicle control device, the engine start control means is a standby unit that suppresses the drag torque of the clutch when a standby request is input prior to the engine start request in the EV mode with the clutch open. The engine start control means adjusts the clutch hydraulic pressure command from the standby state when an engine start request is input in the standby state.
When the standby request is input, the standby control means performs open control for controlling a clutch hydraulic pressure command value to the clutch at a precharge pressure / standby pressure related to the clutch stored in advance in a map, After the hydraulic response time by the open control elapses, the clutch drag torque of the clutch is estimated from the motor torque command value during the rotational speed control, and the control shifts to the feedback control to match the estimated drag torque with the target drag torque, and the feedback control To control the clutch hydraulic pressure command value.

Therefore, in the hybrid vehicle control apparatus of the present invention, the clutch hydraulic pressure command is adjusted from the standby state, so that when the engine is requested to start during traveling, the start time can be shortened. That is, when the clutch hydraulic pressure command is controlled to the standby state after the engine start request, the clutch operation is delayed compared to the motor rotational drive operation, and the engine start takes time. According to the control device, since the clutch hydraulic pressure command is adjusted from the standby state, it is possible to suppress a delay in the operation of the clutch. As a result, it is possible to improve the response of engine start when there is a request for engine start during traveling.
Further, drag torque can be controlled, and excessive drag during standby can be prevented. As a result, the durable life of the clutch can be improved.
In addition, the clutch hydraulic pressure command value is controlled to the standby state by the open control, and after the hydraulic pressure response time elapses, the control shifts to the feedback control for estimating the drag torque, so that the hydraulic pressure can be made to respond at high speed.

1 is an overall system diagram showing a rear-wheel drive FR hybrid vehicle (an example of a vehicle) to which a control device according to the present invention is applied. It is a control block diagram which shows the structure of a control means. It is an operation | movement time chart in the control apparatus of the hybrid vehicle of this invention. It is a flowchart which shows the operation | movement procedure in the hybrid vehicle control apparatus of this invention.

  Hereinafter, the best mode for realizing a hybrid vehicle control device according to the present invention will be described with reference to the drawings.

  First, the configuration will be described. FIG. 1 is an overall system diagram showing a parallel hybrid vehicle (an example of a hybrid vehicle) to which the control device of this embodiment is applied. Hereinafter, based on FIG. 1, the structure of a drive system and a control system is demonstrated.

  As shown in FIG. 1, the drive system of the parallel hybrid vehicle of this embodiment includes an engine Eng, a first clutch CL1, a motor / generator MG, a second clutch CL2, an automatic transmission AT, and a final gear FG. And a left drive wheel LT and a right drive wheel RT. Here, motor / generator MG constitutes a motor, first clutch CL1 constitutes a clutch, and second clutch CL2 constitutes a separate clutch.

  The hybrid drive system of this embodiment includes an electric vehicle travel mode (hereinafter referred to as “EV mode”), a hybrid vehicle travel mode (hereinafter referred to as “HEV mode”), and a semi-electric vehicle travel mode (hereinafter referred to as “ And a driving torque control start mode (hereinafter referred to as “WSC mode”).

  The “EV mode” is a mode in which the first clutch CL1 is opened and the vehicle travels only with the power of the motor / generator MG. The “HEV mode” is a mode in which the first clutch CL1 is engaged and the vehicle travels in any of the motor assist travel mode, travel power generation mode, and engine travel mode. The “quasi-EV mode” is a mode in which the first clutch CL1 is engaged but the engine Eng is turned off and the vehicle travels only with the power of the motor / generator MG. The "WSC mode" controls the number of revolutions of the motor / generator MG at the time of P, N-> D select start from the "HEV mode" or the D range start from the "EV mode" or "HEV mode". While maintaining the slip engagement state of the second clutch CL2, the clutch torque capacity is controlled so that the clutch transmission torque passing through the second clutch CL2 becomes the required drive torque determined according to the vehicle state and driver operation. It is a mode to start. “WSC” is an abbreviation for “Wet Start clutch”.

  The engine Eng is capable of lean combustion, and the engine torque is controlled to match the command value by controlling the intake air amount by the throttle actuator, the fuel injection amount by the injector, and the ignition timing by the spark plug.

The first clutch CL1 is interposed at a position between the engine Eng and the motor / generator MG. As the first clutch CL1, for example, although Ru is used a dry clutch engagement at all times (normally closed) in biasing force of the diaphragm spring, in this embodiment, by using the normally open clutches, engine Eng~ motor / Fastening / semi-fastening / opening between generators MG. If the first clutch CL1 is in the fully engaged state, motor torque + engine torque is transmitted to the second clutch CL2, and if it is in the released state, only motor torque is transmitted to the second clutch CL2. In the case of normal close, half-engagement / release control is performed by stroke control for a hydraulic actuator (hydraulic servo).

  The motor / generator MG has an AC synchronous motor structure, and performs drive torque control and rotation speed control when starting and running, and recovers vehicle kinetic energy to the battery 9 by regenerative brake control during braking and deceleration. Is.

  The second clutch CL2 is a normally open wet multi-plate clutch or a wet multi-plate brake, and generates a transmission torque (clutch torque capacity) according to clutch hydraulic pressure (pressing force). The second clutch CL2 transmits the torque output from the engine Eng and the motor / generator MG (when the first clutch CL1 is engaged) to the left and right drive wheels LT, RT via the automatic transmission AT and the final gear FG. Communicate.

  As shown in FIG. 1, the second clutch CL2 is engaged at each gear stage of the automatic transmission AT, in addition to setting an independent clutch between the motor / generator MG and the automatic transmission AT. A clutch or brake used as a frictional engagement element may be used. Alternatively, the position may be set between the automatic transmission AT and the left and right drive wheels LT and RT.

  The automatic transmission AT is a machine that obtains stepped gears, and includes a plurality of planetary gears. The clutch and the brake inside the transmission are respectively engaged / released, and the speed is changed by changing the torque transmission path.

  As shown in FIG. 1, the control system of the parallel hybrid vehicle of this embodiment includes a second clutch input rotational speed sensor 6 (= motor rotational speed sensor), a second clutch output rotational speed sensor 7, and a high voltage inverter 8. A high-voltage battery 9, an accelerator position sensor 10, an engine speed sensor 11, a clutch oil temperature sensor 12, a stroke position sensor 13, an integrated controller 14, a transmission controller 15, a clutch controller 16, An engine controller 17, a motor controller 18, a battery controller 19, and a brake sensor 20 are provided.

  The high voltage inverter 8 performs DC / AC conversion and generates a driving current for the motor / generator MG. The high voltage battery 9 stores regenerative energy from the motor / generator MG via the high voltage inverter 8.

  The integrated controller 14 calculates a target drive torque from the battery state, the accelerator opening, and the vehicle speed (a value synchronized with the transmission output speed). Based on the result, command values for the actuators (motor / generator MG, engine Eng, first clutch CL1, second clutch CL2, automatic transmission AT) are calculated, and the controllers 15, 16, 17, 18, 19 are calculated. Send to.

  The transmission controller 15 performs shift control so as to achieve a shift command from the integrated controller 14.

  The clutch controller 16 inputs sensor information from the second clutch input rotational speed sensor 6, the second clutch output rotational speed sensor 7, and the clutch oil temperature sensor 12, and the first clutch hydraulic pressure command value from the integrated controller 14. The solenoid valve current is controlled so as to realize the clutch hydraulic pressure (current) command value with respect to the second clutch hydraulic pressure command value.

  The engine controller 17 inputs sensor information from the engine speed sensor 11 and performs engine torque control so as to achieve an engine torque command value from the integrated controller 14.

  The motor controller 18 controls the motor / generator MG so as to achieve the motor torque command value and the motor rotation speed command value from the integrated controller 14.

  The battery controller 19 manages the state of charge (SOC) of the high voltage battery 9 and transmits the information to the integrated controller 14.

  In this embodiment, the integrated controller 14, the clutch controller 16 and the motor controller 18 constitute a control means, and a control block diagram of the control means is shown in FIG.

  As shown in FIG. 2, in the control means 30, the motor rotational speed command value and the motor rotational speed detected by the rotational speed sensor 6 are input to the subtractor 31, and the subtractor 31 receives the motor rotational speed command value and A difference from the motor rotation speed is obtained, and motor rotation speed F / B (feedback) control 32 is executed based on the difference data. Then, a motor torque command is output while the motor rotation speed F / B control 32 is executed.

The motor torque command is averaged 33 and then input to the subtractor 35 via the switch 34. The switch 34 has two input terminals 34a and 34b and one output terminal 34c, and an averaged motor torque command 33 is input to the input terminal 34b. The output terminal 34 c of the switch 34 is connected to the input terminal 34 a via the Z converter 36. In switch 34, normally, the output terminal 34c is connected to the input terminal 34 b side, when the standby start flag 37 is set, the output terminal 34c is adapted to be connected to the input terminal 34 a side switched .

  Further, the motor torque command resulting from the execution of the motor rotation speed F / B control 32 is input to the subtracter 35 via the low pass filter LPF. In the subtractor 35, a difference between the motor torque command from the low-pass filter LPF and the motor torque command from the averaged switch 34 is obtained, and an estimated drag torque is calculated based on the difference data.

The estimated drag torque calculated by the subtractor 35 is further input to the subtractor 38. A target torque (target drag torque, CL1 drag torque command value) is input to the subtractor 38, and the subtractor 38 obtains a difference between the estimated drag torque from the subtractor 35 and the target torque. The difference data is input to the adder 41 after the PI control 39 and the unit conversion process 40 are executed. In FIG. 2, a portion surrounded by a broken line A is a control portion newly added in the present embodiment, and feedback (F / B) control is executed.

  On the other hand, when the standby start flag 37 is set, the clutch hydraulic pressure command value is read from data such as the precharge pressure / standby pressure 43 relating to the first clutch CL1 stored in advance in the map, and the read clutch hydraulic pressure command value is read out. Is input to the adder 41. In FIG. 2, a portion surrounded by a broken line B is a conventionally known control portion, and feedforward (F / F) control is executed.

In the adder 41, and the clutch oil pressure command value read out from the data, such as pre-charge pressure standby pressure 43, the differential data after the PI control 39 and unit conversion processing 40 (estimated drag torque and the target torque (target drag torque , The difference from the CL1 drag torque command value), and the addition result is input to the switch 42.

  The switch 42 has two input terminals 42a and 42b and one output terminal 42c, and the addition data from the adder 41 is input to the input terminal 42a. Further, the addition data from the adder 41 is Z-converted by the Z converter 44, further multiplied by a safety factor 45, and then input to the input terminal 42b of the switch 42. In the switching device 42, the output terminal 42c is normally connected to the input terminal 42a side. From the switching device 42, the added data from the adder 41 remains as it is, that is, the conventional feedforward surrounded by the broken line B. The control data by the new feedback (F / B) control surrounded by the broken line A is added to the control data by (F / F) control, and the addition result is output as the first clutch CL1 hydraulic pressure command.

  Further, a CL1 (first clutch) F / B (feedback) control stop determination unit 46 is connected to the switch 42, and a stop command for feedback control of the first clutch CL1 is input from the CL1F / B control stop determination unit 46. The output terminal 42c of the switch 42 is switched to the input terminal 42b side.

  When a CL2 (second clutch) hydraulic pressure command is input, the CL1F / B control stop determination unit 46 performs feedback control of the first clutch CL1, that is, the F / F of the portion surrounded by the broken line A in FIG. The B control is stopped, and control data based only on the conventional F / F control surrounded by the broken line B is output as the first clutch CL1 hydraulic pressure command.

  Next, the operation of the control device for the hybrid vehicle according to this embodiment will be described.

  FIG. 3 is an operation time chart in the hybrid vehicle control apparatus according to this embodiment. In FIG. 3, (a) shows the change in the CL2 (second clutch) hydraulic pressure command, and (b) shows the timing of the engine start request. The CL2 hydraulic pressure command is set to be OFF from time 0 to t5 and to be turned on at time t5, and the engine start request is set to be turned on at time t6.

  In FIG. 3, (c) shows the CL1 oil pressure command (solid line) and the actual CL1 oil pressure change (dashed line), respectively. The CL1 hydraulic pressure command instructs the hydraulic actuator to precharge pressure at time t1, and immediately thereafter decreases the standby pressure to the standby pressure and further decreases the hydraulic pressure in stages until time t6. Here, the area where the CL1 hydraulic pressure command is lowered by one step from the standby pressure is the hydraulic pressure at which drag torque is generated. Further, the CL1 hydraulic pressure command that has decreased most in the range of time t5 to t6 is a hydraulic pressure command that considers the drag safety factor. Then, the CL1 hydraulic pressure command instructs to increase the hydraulic pressure simultaneously with the engine start at time t6.

  In FIG. 3C, the actual hydraulic pressure of CL1 changes so as to follow the CL1 hydraulic pressure command with a slight delay from the CL1 hydraulic pressure command. In FIG. 3C, as a reference example, the actual hydraulic pressure change of CL1 when there is no CL1 hydraulic pressure command as described above is indicated by a dotted line.

3, (d) shows a CL1 (first clutch) drag torque command value (solid line) and a CL1 drag torque estimated value (broken line), respectively. The CL1 drag torque command value is set to be a predetermined value (initial drag torque command value) at an initial time (time 0 to t4), and is zero (final drag torque command value) at time t4. In FIG. 3C, a time point of time t3 is a time point at which feedback (F / B) control (control in a range surrounded by a broken line A in FIG. 2) is started.

The estimated drag torque value starts to increase from zero when the hydraulic pressure at which the hydraulic drag torque of CL1 is generated (see FIG. 3C), that is, at time t2, and from time t3 immediately after the end of the standby pressure. Decrease gradually. Here, when the estimated drag torque value gradually decreases from the time point t3 , the range from the time point matching the control determination threshold value to the time point matching the initial drag torque command value is the control convergence determination time. Further, the range of time t1 to t3 is the hydraulic response time.

Further, in FIG. 3, (e) shows a motor rotation speed (solid line), a T / M (transmission) input rotation speed (one-dot chain line), and an engine rotation speed (dashed line). The motor is rotating at a constant rotational speed from the initial time point (time 0), and when the CL2 hydraulic pressure command is turned ON, the second clutch CL2 is engaged and the T / M input rotational speed starts to increase. Then, the motor rotation speed starts to increase between times t5 and t6, and then increases according to the increase in the T / M input rotation speed. When the estimated CL1 drag torque value becomes zero at times t5 to t6, the first clutch CL1 is slip- engaged. At this time, the rotational speed of the motor starts to increase, so the engine start request is turned on. As a result, the engine is driven to rotate, and the engine speed increases.

  In FIG. 3 (e), as a reference example, a change in engine speed when there is no CL1 hydraulic pressure command as shown in FIG. 3 (c) is indicated by a dotted line. As can be seen from FIG. 3 (e), according to this embodiment, the engine can be driven to rotate quickly.

FIG. 4 is a flowchart showing an operation procedure of the hybrid vehicle control apparatus according to this embodiment. 4, first, CL1 standby request from the host is determined whether come (step S1), the when CL1 standby request comes, standing standby start flag to hold the average value of the motor Tatoruku command (step S2 ). Then, while taking the difference between the average value of the motor torque command and the current motor torque command value, the CL1 drag torque estimated value is calculated based on the difference result, and the precharge pressure, standby pressure, and precharge time are mapped. Search and output the search result (step S3). At the same time, the timer 1 starts counting up (step S4).

  Next, it is determined whether timer 1 has exceeded the hydraulic pressure response time (step S5). If the hydraulic pressure response time has been exceeded, CL1F / B control (PI control) is started (step S6). Then, it is determined whether or not the estimated CL1 drag torque is less than the control determination threshold (step S7). When the CL1 drag torque estimated value is less than the control determination threshold, the timer 2 starts counting up (step S8).

  Next, it is determined whether timer 2 has exceeded the determination time (step S9). If the determination time has been exceeded, the CL1 drag torque command value is set to the final drag torque command value (step S10). Here, the initial drag torque command value is set to a large value in advance, and the final drag torque command value is set to a value considering the heat resistance of CL1.

  F / B control is performed until a CL2 hydraulic pressure command is generated (step S11). When the CL2 oil pressure is generated, the F / B control is stopped, and the CL1 oil pressure command value is set to a value obtained by multiplying the oil pressure command value immediately before the stop by a safety factor (step S12).

In step S5, if timer 1 is less than the hydraulic pressure response time, F / F control is performed until a CL2 hydraulic pressure command is generated (step S13). CL2 et oil pressure is generated, CL1 hydraulic pressure command value is a value obtained by multiplying a safety factor to the standby pressure (step S14).

  In step S7, if the estimated torque value exceeds the control determination threshold, F / B control is performed until a CL2 hydraulic pressure command is generated (step S15). When the CL2 oil pressure is generated, the F / B control is stopped, and the CL1 oil pressure command value is set to a value obtained by multiplying the smaller of the standby pressure and the previous value of the CL1 oil pressure command by a safety factor (step S16).

  In step S9, if timer 2 is less than the determination time, F / B control is performed until a CL2 hydraulic pressure command is generated (step S17). When the CL2 oil pressure is generated, the F / B control is stopped, and the CL1 oil pressure command value is set to a value obtained by multiplying the smaller of the standby pressure and the previous value of the CL1 oil pressure command by a safety factor (step S18).

  According to the present embodiment, since the clutch hydraulic pressure command is adjusted by the motor torque command value in addition to the clutch hydraulic pressure command value, the operation delay of the first clutch CL1 can be suppressed. Engine start time when shifting to HEV mode can be shortened.

  Further, drag torque can be controlled, and excessive drag during standby can be prevented. As a result, the durability life of the first clutch CL1 can be improved.

  Further, according to the present embodiment, the clutch hydraulic pressure command value is controlled to the standby state by the open control, and after the hydraulic pressure response time elapses, the control shifts to the feedback control for estimating the drag torque, so that the hydraulic pressure can be made to respond at high speed. .

  Further, since the CL1 hydraulic pressure command value changes during the F / B control, in this embodiment, a control convergence determination time until the F / B control is stabilized is provided. As a result, the stability of the F / B control can be ensured. In this embodiment, the initial drag torque is set to be large so that a certain amount of drag is allowed. As a result, even when the hydraulic pressure varies low, the robustness can be improved so that the F / B control operates properly. In addition, by setting the final drag torque command value to a value that takes into account the heat resistance of the first clutch CL1 (this value is determined by hardware), it is possible to control to zero touch hydraulic pressure without promoting wear of clutch fading. it can.

In addition, when a clutch oil pressure command for the second clutch (another clutch) CL2 is generated, control is performed to reduce the oil pressure to the first clutch CL1, so an error occurs in the estimated CL1 drag torque and the CL1 drag torque is generated. Can be prevented. Further, the drag of the first clutch CL1 can be prevented by reducing the oil pressure of the CL1.

In the above embodiment, an example of application to the FR hybrid vehicle, for example, even for the FF hybrid vehicle both can be applied to the control device of the present invention. In short, any control device for a hybrid vehicle can be applied.

AT automatic transmission
Eng engine
MG motor / generator
CL1 1st clutch
CL2 2nd clutch
RL left rear wheel
RR Right rear wheel 8 High voltage inverter 9 High voltage battery 14 Integrated controller 15 Transmission controller 16 Clutch controller 17 Engine controller 18 Motor controller 19 Battery controller 30 Control means

Claims (3)

The drive system has an engine, a motor, and a clutch interposed between the engine and the motor,
In a hybrid vehicle control device comprising an engine start control means for controlling the cranking operation of the engine with the clutch being slip-engaged by an engine start request and using the motor as a start motor,
The engine start control means includes a standby control means for controlling to a standby state for suppressing the drag torque of the clutch when a standby request is input prior to the engine start request in an EV mode in which the clutch is disengaged. Have
When the engine start request is input in the standby state, the engine start control means adjusts the hydraulic pressure command of the clutch from the standby state ,
The standby control means includes
When the standby request is input, an open control is performed to control a clutch hydraulic pressure command value to the clutch at a precharge pressure / standby pressure related to the clutch stored in advance in the map,
After the hydraulic response time by the open control elapses, the clutch drag torque of the clutch is estimated from the motor torque command value during the rotational speed control, and the control shifts to the feedback control to match the estimated drag torque with the target drag torque, and the feedback control A control apparatus for a hybrid vehicle, characterized in that the clutch hydraulic pressure command value is controlled . In the hybrid vehicle control device according to claim 1 ,
The standby control means sets the target drag torque from the start of the feedback control until it becomes stable in advance to be larger than the target drag torque in the standby state. In the hybrid vehicle control device according to claim 1 or 2 ,
The clutch is a normally open clutch,
Between the motor and the drive wheel, another clutch different from the clutch is provided,
The control device for a hybrid vehicle, wherein the standby control means reduces the hydraulic pressure to the clutch when a clutch hydraulic pressure command for the other clutch is generated.