JP5494800B2 - 車両用動力伝達装置の制御装置 - Google Patents
車両用動力伝達装置の制御装置 Download PDFInfo
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/38—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/40—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the assembly or relative disposition of components
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/184—Preventing damage resulting from overload or excessive wear of the driveline
- B60W30/1846—Preventing of breakage of drive line components, e.g. parts of the gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
- F16F15/12—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon
- F16F15/129—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon characterised by friction-damping means
- F16F15/1297—Overload protection, i.e. means for limiting torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
- B60W2030/206—Reducing vibrations in the driveline related or induced by the engine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/02—Clutches
- B60W2510/0241—Clutch slip, i.e. difference between input and output speeds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B60W2710/025—Clutch slip, i.e. difference between input and output speeds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—Speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
- F02N11/00—Starting of engines by means of electric motors
- F02N11/04—Starting of engines by means of electric motors the motors being associated with current generators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D43/00—Automatic clutches
- F16D43/02—Automatic clutches actuated entirely mechanically
- F16D43/20—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure
- F16D43/21—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure with friction members
- F16D43/213—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure with friction members with axially applied torque-limiting friction surfaces
- F16D43/215—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure with friction members with axially applied torque-limiting friction surfaces with flat friction surfaces, e.g. discs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Description
NSes=((1+ρ)NE−NM2)/ρ ・・・(1)
dNM1≧dNM1cr+β(β>0) ・・・(2)
dNM1cr+β=(TM1cr−Tf)/IM1−α ・・・(3)
18:エンジン(駆動力源)
26:遊星歯車装置(差動機構)
28:トルクリミッタ装置
40:駆動輪
50:カバー部材(第1回転部材及び第2回転部材の一方)
58:プレート部材(第1回転部材及び第2回転部材の他方)
80:電子制御装置(制御装置)
MG1:第1電動機(電動機)
MG2:第2電動機(走行用電動機)
RE1:第1回転要素
RE2:第2回転要素
RE3:第3回転要素
S:サンギヤ
CA:キャリヤ
R:リングギヤ
Claims (7)
- 第1回転部材と第2回転部材との差回転を伴う作動によって所定トルクを超えるトルク分の伝達を遮断するトルクリミッタ装置と、該第1回転部材及び該第2回転部材の一方に動力伝達可能に連結される電動機と、駆動力源に動力伝達可能に連結された第1回転要素と前記電動機に動力伝達可能に連結された第2回転要素と駆動輪に動力伝達可能に連結された第3回転要素との3つの回転要素を有する差動機構とを備える車両用動力伝達装置の、制御装置であって、
前記トルクリミッタ装置は、前記電動機と前記第2回転要素との間に配置されており、
前記トルクリミッタ装置の作動によって前記第1回転部材と前記第2回転部材との間で回転速度差が生じているときには、該回転速度差を抑制するように前記電動機を作動させることを特徴とする車両用動力伝達装置の制御装置。 - 前記電動機の実際の回転速度と、前記第1回転要素乃至第3回転要素の各回転速度の相対関係から算出した前記第2回転要素の回転速度との回転速度差に基づいて前記トルクリミッタ装置の作動を判定し、
前記トルクリミッタ装置の作動を判定した場合には、前記電動機の実際の回転速度を前記算出した前記第2回転要素の回転速度とするように前記電動機を作動させることを特徴とする請求項1に記載の車両用動力伝達装置の制御装置。 - 前記駆動輪に動力伝達可能に連結された走行用電動機を更に備え、
前記電動機が前記回転速度差を抑制するように作動させられているときには、前記走行用電動機の出力を抑制することを特徴とする請求項1又は2に記載の車両用動力伝達装置の制御装置。 - 前記差動機構は、サンギヤとキャリヤとリングギヤとの3つの回転要素を有する遊星歯車装置であり、該3つの回転要素は前記第1回転要素乃至第3回転要素であることを特徴とする請求項1乃至3の何れか1項に記載の車両用動力伝達装置の制御装置。
- 前記差動機構は、前記電動機の運転状態が制御されることにより差動状態が制御されることを特徴とする請求項1乃至4の何れか1項に記載の車両用動力伝達装置の制御装置。
- 前記駆動力源は、エンジンであり、
前記電動機は、エンジン始動に際して前記エンジンを回転駆動する始動用モータとしての機能を有するものであり、
前記エンジン始動に際して、前記トルクリミッタ装置が作動しているときには、前記エンジンを回転駆動する為の前記電動機の出力トルクを零に向かって減少させることを特徴とする請求項1乃至5の何れか1項に記載の車両用動力伝達装置の制御装置。 - 前記エンジン始動の際には、前記電動機により前記エンジンを回転駆動しているときの該電動機の回転速度変化率の実際値が所定値を超えているか否かに基づいて前記トルクリミッタ装置の作動を判定し、
前記トルクリミッタ装置の作動を判定した場合には、前記電動機の出力トルクを零に向かって減少させることを特徴とする請求項6に記載の車両用動力伝達装置の制御装置。
Applications Claiming Priority (1)
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US (1) | US9096218B2 (ja) |
EP (1) | EP2573381B1 (ja) |
JP (1) | JP5494800B2 (ja) |
CN (1) | CN103003561B (ja) |
WO (1) | WO2011145221A1 (ja) |
Families Citing this family (13)
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JP5316105B2 (ja) * | 2009-03-09 | 2013-10-16 | アイシン精機株式会社 | 油圧制御装置 |
FR2990729B1 (fr) * | 2012-05-16 | 2015-11-13 | Valeo Equip Electr Moteur | Demarreur a lanceur muni d'une roue libre immobile en translation |
US9580065B2 (en) * | 2012-07-17 | 2017-02-28 | Altigreen Propulsion Labs Private Limited | Dual-structured electric drive and power system for hybrid vehicles |
US9441599B2 (en) | 2012-07-17 | 2016-09-13 | Altigreen Propulsion Labs Private Limited | Induction motor-permanent magnet generator tandem configuration starter-generator for hybrid vehicles |
KR101510343B1 (ko) * | 2013-10-31 | 2015-04-07 | 현대자동차 주식회사 | 플러그인 하이브리드 자동차의 방전지향모드 제어장치 및 방법 |
US9738265B2 (en) * | 2014-03-24 | 2017-08-22 | Ford Global Technologies, Llc | System and method for determining engine disconnect clutch torque |
JP6213494B2 (ja) * | 2015-02-18 | 2017-10-18 | トヨタ自動車株式会社 | ハイブリッド車両 |
JP2018098868A (ja) * | 2016-12-12 | 2018-06-21 | Ntn株式会社 | 車両制御装置 |
DE102018103245A1 (de) * | 2017-11-29 | 2019-05-29 | Schaeffler Technologies AG & Co. KG | Antriebseinheit für Hybridkraftfahrzeug mit variabler Abtriebsübersetzung |
JP6982538B2 (ja) * | 2018-04-05 | 2021-12-17 | 本田技研工業株式会社 | ハイブリッド車両の駆動装置 |
EP3627000A3 (en) | 2018-09-20 | 2020-05-20 | Dana Limited | Slip detection and mitigation for an electric drive powertrain having a high ratio traction drive transmission |
DE102018126881A1 (de) * | 2018-10-29 | 2020-04-30 | Schaeffler Technologies AG & Co. KG | Verfahren für einen Antriebsstrang und Hybridmodul in einem Antriebsstrang |
WO2023029039A1 (zh) * | 2021-09-06 | 2023-03-09 | 舍弗勒技术股份两合公司 | 车辆用扭矩限制机构及车辆用减振器 |
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- 2010-05-21 JP JP2012515700A patent/JP5494800B2/ja not_active Expired - Fee Related
- 2010-05-21 US US13/699,009 patent/US9096218B2/en not_active Expired - Fee Related
- 2010-05-21 EP EP10851785.5A patent/EP2573381B1/en not_active Not-in-force
- 2010-05-21 WO PCT/JP2010/058674 patent/WO2011145221A1/ja active Application Filing
- 2010-05-21 CN CN201080068117.3A patent/CN103003561B/zh active Active
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JP2008162315A (ja) * | 2006-12-27 | 2008-07-17 | Bosch Corp | ハイブリッド車両の制御方法 |
Also Published As
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US20130131941A1 (en) | 2013-05-23 |
US9096218B2 (en) | 2015-08-04 |
WO2011145221A1 (ja) | 2011-11-24 |
CN103003561B (zh) | 2015-07-15 |
EP2573381A4 (en) | 2014-04-23 |
EP2573381A1 (en) | 2013-03-27 |
CN103003561A (zh) | 2013-03-27 |
JPWO2011145221A1 (ja) | 2013-07-22 |
EP2573381B1 (en) | 2016-04-13 |
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