JP5510752B2 - Control device - Google Patents

Description

  The present invention relates to a control device that outputs torque for canceling transmission torque vibration to the rotating electric machine in response to transmission torque vibration that is torque vibration transmitted to a rotating shaft of the rotating electric machine.

  Regarding the control device as described above, for example, Patent Document 1 below discloses the following technique. In the technique of Patent Document 1, the vibration suppression control for correcting the torque commanded to the rotating electrical machine is performed by performing feedback control based on the angular acceleration (rotational angular speed) of the rotating speed of the rotating electrical machine.

The rotational angular velocity of the rotating electrical machine varies with the frequency of the transmission torque vibration. For this reason, in the technique of Patent Document 1, it is necessary to detect a change in rotational angular velocity with respect to a change in torque command and perform feedback control, and change the output torque of the rotating electrical machine at a frequency higher than the frequency of the transmission torque vibration. Thus, it is necessary to detect a change in the rotational angular velocity.
However, the torque output control system of the rotating electrical machine from the torque command to the output torque of the rotating electrical machine includes a response delay of the current feedback control system and a communication delay to the inverter control unit. For this reason, in the technique of Patent Document 1, there is a risk that a sufficient damping effect cannot be obtained by feedback control with a cut-off frequency of a response delay of the control system or a transmission torque vibration in a frequency band where the communication frequency cannot be ignored.

  In the technique of Patent Document 1, it is necessary to change the torque command by feedback control at a frequency higher than the frequency of the transmission torque vibration. For this reason, even when the phase and amplitude of the transmission torque vibration changes at a frequency lower than the frequency of the transmission torque vibration and high feedback response is not required, feedback control is performed with high response according to the frequency of the transmission torque vibration. There is a need to do. For this reason, it is necessary to improve the performance of the control device, which may increase the cost of the control device.

JP 2005-218280 A

  Therefore, there is a demand for a control device that can obtain a sufficient damping effect even in a region where the response delay of the rotating electrical machine from the torque command to the output torque of the rotating electrical machine cannot be ignored with respect to the frequency of the transmitted torque vibration.

According to the present invention, the control device that outputs torque for canceling the transmission torque vibration to the rotary electric machine, with respect to the transmission torque vibration that is the torque vibration transmitted to the rotary shaft of the rotary electric machine, A rotational vibration extraction unit that extracts a rotational speed vibration that is a vibration component in a predetermined frequency band corresponding to the frequency of the transmission torque vibration, and a frequency of the transmission torque vibration based on the rotational speed of the rotating electrical machine. A vibration frequency calculation unit for calculating a torque vibration frequency, and a phase delay for calculating a phase delay rotation speed vibration obtained by delaying the rotation speed vibration by a predetermined phase in the torque vibration frequency based on the rotation speed vibration and the torque vibration frequency. A rotational vibration calculator, a fixed coordinate system setting unit that represents the rotational speed vibration and the phase-delayed rotational speed vibration in a fixed coordinate system, and A rotational coordinate conversion unit that performs rotational coordinate conversion for converting the rotational speed vibration and the phase-delayed rotational speed vibration expressed in a fixed coordinate system into values of a rotational coordinate system rotated at the torque vibration frequency; and the rotation A rotary coordinate system feedback control unit that performs feedback control to calculate a feedback value in the rotary coordinate system so that the values of the rotational speed vibration converted into the coordinate system and the phase-delayed rotational speed vibration are close to zero;
Based on the feedback value converted to the fixed coordinate system, and the transmission torque vibration based on the feedback value converted to the fixed coordinate system, the fixed coordinate conversion unit that converts the feedback value in the rotating coordinate system to the value of the fixed coordinate system A canceling torque control unit that generates a command value of a canceling torque vibration that is a torque vibration for canceling, and controls the rotating electrical machine using the command value of the canceling torque vibration.

  In the present application, the “rotary electric machine” is used as a concept including a motor (electric motor), a generator (generator), and a motor / generator that functions as both a motor and a generator as necessary.

  According to the above characteristic configuration, the rotational speed vibration is stopped by converting the rotational speed vibration value oscillating at the torque vibration frequency into a rotational coordinate system value rotated at the torque vibration frequency. It can be observed in the state. And according to said characteristic structure, since the feedback value is calculated in a rotation coordinate system using the value of the rotation speed vibration converted into this rotation coordinate system, it is feedback with the responsiveness according to a torque vibration frequency. Even if the control is not performed, a sufficient damping effect can be obtained if the feedback control is performed with the responsiveness corresponding to the phase of the rotational speed vibration and the change speed of the amplitude.

  Therefore, the response delay of the torque output control system of the rotating electrical machine from the torque command value to the output torque of the rotating electrical machine due to the response delay of the current feedback control system and the communication delay to the inverter control unit is the frequency of the transmission torque vibration. On the other hand, even in a region that cannot be ignored, feedback control can be performed with a response lower than the response frequency of the torque vibration frequency and the torque output control system, and a sufficient damping effect can be obtained. In addition, it is possible to expand the torque vibration frequency band capable of obtaining a sufficient vibration damping effect to a high frequency band.

  According to the above characteristic configuration, in addition to the rotational speed vibration, the phase delayed rotational speed vibration obtained by delaying the rotational speed vibration by a predetermined phase in the torque vibration frequency is represented by the fixed coordinate system. Can be expanded to two dimensions. Thus, since the fixed coordinate system is two-dimensionalized, it is easy to perform rotational coordinate conversion and fixed coordinate conversion.

  In addition, according to the above characteristic configuration, the feedback value in the rotating coordinate system rotated at the torque vibration frequency is converted to fixed coordinates, thereby automatically generating a canceling torque vibration command value that vibrates at the torque vibration frequency. be able to. Therefore, even if feedback control is performed with a response lower than the torque vibration frequency, a command value for the canceling torque vibration that vibrates at the torque vibration frequency can be generated, and a damping effect can be obtained.

  Here, the phase-delayed rotational vibration calculation unit calculates the phase-delayed rotational speed vibration obtained by delaying the rotational speed vibration by 90 degrees in the torque vibration frequency based on the rotational speed vibration and the torque vibration frequency. The fixed coordinate system setting unit sets a rectangular coordinate system having a first fixed axis and a second fixed axis obtained by rotating the first fixed axis counterclockwise by 90 degrees as the fixed coordinate system, The rotational speed vibration is set to the value of the first fixed axis, the phase-delayed rotational speed vibration is set to the value of the second fixed axis, and the rotational coordinate conversion unit includes the first fixed axis and the second fixed axis. An orthogonal coordinate system having a first rotation axis and a second rotation axis obtained by rotating both fixed axes at the torque vibration frequency is the rotation coordinate system, and the value of the first fixed axis in the fixed coordinate system and the The value of the second fixed axis The rotary coordinate system converts the value of the first rotary axis and the value of the second rotary axis in the rotary coordinate system, and the rotary coordinate system feedback control unit is configured to convert the first rotary axis in the rotary coordinate system. The first feedback value at the first rotating shaft is calculated so that the value approaches zero, and the second feedback value at the second rotating shaft is calculated so that the value of the second rotating shaft approaches zero. The fixed coordinate conversion unit performs fixed coordinate conversion for converting the first feedback value on the first rotation axis and the second feedback value on the second rotation axis into values of the fixed coordinate system, The cancellation torque control unit, based on at least one of the first feedback value and the second feedback value converted into the fixed coordinate system, the cancellation torque Generates a command value of the dynamic, it is preferable to control the rotary electric machine by using a command value of the cancellation torque vibration.

According to this configuration, since the fixed coordinate system and the rotary coordinate system can be represented by an orthogonal coordinate system, the rotation coordinate conversion and the fixed coordinate conversion can be easily performed.
Further, according to the above configuration, the rotational speed vibration is set to the value of the first fixed axis, and the phase delayed rotational speed vibration obtained by delaying the rotational speed vibration by the phase of 90 degrees is set to the value of the second fixed axis. Therefore, in the orthogonal fixed coordinate system, the rotational speed vibration can be expressed by a periodic function that rotates at the torque vibration frequency about the origin with the rotational speed vibration amplitude as the radius. Therefore, in the orthogonal fixed coordinate system, the value of the rotational speed vibration that rotates at the torque vibration frequency around the origin is similarly converted to the value of the orthogonal rotational coordinate system that rotates at the torque vibration frequency around the origin. The rotational speed vibration can be observed in the state where the vibration is stopped at the first rotation axis and the second rotation axis of the rotation coordinate system. Therefore, the first and second feedback values can be calculated based on the value of the first rotating shaft and the value of the second rotating shaft where the vibration of the rotational speed vibration is stopped. Therefore, even if the feedback control is not performed with the responsiveness corresponding to the torque vibration frequency, a sufficient damping effect can be obtained if the feedback control is performed with the responsiveness corresponding to the phase and amplitude change speed of the rotational speed vibration.

  Here, the rotating electrical machine is drivably coupled to the internal combustion engine via a first power transmission mechanism and is drivably coupled to a wheel via a second power transmission mechanism, and the transmission torque vibration is transmitted from the internal combustion engine to the Including a torque vibration transmitted to the rotating shaft of the rotating electrical machine via a first power transmission mechanism, and the rotational vibration extracting section determines a frequency determined according to a characteristic of the internal combustion engine from a rotational speed of the rotating electrical machine. It is preferable that the rotational speed vibration, which is a vibration component of a band, is extracted, and the vibration frequency calculation unit calculates the torque vibration frequency based on the rotational speed of at least one of the rotating electrical machine and the internal combustion engine.

  Further, in the present application, “driving connection” refers to a state where two rotating elements are connected so as to be able to transmit a driving force, and the two rotating elements are connected so as to rotate integrally, or It is used as a concept including a state in which two rotating elements are connected so as to be able to transmit a driving force via one or more transmission members. Examples of such a transmission member include various members that transmit rotation at the same speed or a variable speed, and include, for example, a shaft, a gear mechanism, a belt, a chain, and the like. In addition, as such a transmission member, an engagement element that selectively transmits rotation and driving force, such as a friction clutch or a meshing clutch, may be included.

  According to the above configuration, even when the transmission torque vibration transmitted from the internal combustion engine to the rotating electrical machine via the first power transmission mechanism is large, the rotating electrical machine outputs a torque for canceling the transmitted torque vibration. Torque vibration transmitted to the wheel side rather than the electric machine can be reduced. Therefore, the rotational speed vibration in the vehicle drive device can be reduced, and the discomfort given to the driver can be reduced.

Further, according to the above configuration, the rotational speed vibration, which is the vibration component in the frequency band determined according to the characteristics of the internal combustion engine, is extracted, so the rotational speed vibration caused by the transmission torque vibration transmitted from the internal combustion engine is accurately detected. Extract well.
Further, according to the above configuration, since the torque vibration frequency is calculated based on the rotational speed of at least one of the rotating electrical machine and the internal combustion engine, the rotational coordinate conversion and the rotation are performed at the same frequency as the transmission torque vibration transmitted from the internal combustion engine. Fixed coordinate conversion can be performed, and the cancellation control of the transmission torque vibration can be appropriately performed.

  Here, the transmission torque vibration is a torque ripple generated in the output torque of the rotating electrical machine, and the rotational vibration extracting unit calculates the frequency of the torque ripple according to the characteristics of the rotating electrical machine from the rotational speed of the rotating electrical machine. It is preferable to extract the rotational speed vibration that is a vibration component in a frequency band determined so as to correspond to.

  According to this configuration, since the rotational speed vibration, which is a vibration component in the frequency band determined to correspond to the frequency of the torque ripple, is extracted according to the characteristics of the rotating electrical machine, it is caused by the torque ripple generated in the output torque of the rotating electrical machine. The rotational speed vibration to be extracted can be extracted with high accuracy. Therefore, the torque ripple of the rotating electrical machine can be appropriately canceled, and the generation of unpleasant feeling to the driver and abnormal noise from the rotating electrical machine can be suppressed.

  Here, the phase-delayed rotational vibration calculating unit is configured to extract the rotational speed vibration extracted by the rotational vibration extracting unit at the present time and the past, and the phase at the torque vibration frequency at the time when the current and past rotational speed vibrations are extracted. It is preferable to calculate the phase-delayed rotational speed vibration based on the above.

  According to this configuration, even when the rotational speed vibration extracted in the past does not include the time when the rotational speed vibration extracted this time is delayed by the predetermined phase in the torque vibration frequency, the phase delayed rotational speed vibration that is delayed by the predetermined phase is detected. It is possible to calculate with high accuracy. Therefore, the rotational speed vibration can be accurately observed in the rotating coordinate system, and the feedback control accuracy can be improved.

  Here, the coordinate rotation process is performed so that the phase of the feedback value after the fixed coordinate conversion is advanced by 90 degrees with respect to the phase of the rotational speed vibration and the phase delayed rotational speed vibration before the rotational coordinate conversion is performed. It is preferable to provide a coordinate rotation unit that executes

  The rotational speed vibration is delayed by a phase of 90 degrees with respect to the torque vibration causing the rotational speed vibration. According to the above configuration, the phase of the feedback value used in the cancellation torque control unit is advanced by 90 degrees with respect to the phase of the rotational speed vibration and the phase delayed rotational speed vibration. Can be compensated. That is, the feedback value can be changed in the direction opposite to the torque vibration (phase different by 180 degrees). Therefore, the rotational speed vibration and the torque vibration can be linearly changed in a direction toward zero, and the convergence of the rotational speed vibration can be improved.

  Here, the rotational speed of the output value of the rotating electrical machine with respect to the command value of the canceling torque vibration is calculated and the phase of the feedback value after the fixed coordinate conversion is performed before the rotational coordinate conversion is performed. It is preferable to further include a phase advancer that executes a phase advance process so that the phase of the vibration and the phase-delayed rotational speed vibration is advanced by the delayed phase.

  The output torque of the rotating electrical machine is delayed by a predetermined phase with respect to the command value of the canceling torque vibration due to a response delay or a communication delay of the current feedback control system. According to the above configuration, the phase of the feedback value used in the cancellation torque control unit is 90 degrees in addition to the phase of the rotational speed vibration and the phase delayed rotational speed vibration, and further the phase of the absolute value of the delayed phase. Therefore, in addition to the phase delay of the rotational speed vibration with respect to the torque vibration, the phase delay of the output torque with respect to the torque command value can be compensated. That is, the output torque of the rotating electrical machine can be changed in a direction opposite to the torque vibration. Therefore, the rotational speed vibration and the torque vibration can be changed in a direction toward straight zero, and the convergence of the rotational speed vibration can be improved.

  Here, the phase advance unit is included in any one of the rotation coordinate conversion unit, the fixed coordinate conversion unit, and the coordinate rotation unit, and the phase advance process is executed together with the one coordinate conversion or coordinate rotation. Is preferred.

  According to this configuration, the coordinate rotation for compensating for the phase delay of the output torque with respect to the torque command value can be included in the rotation coordinate conversion, fixed coordinate conversion, or 90-degree coordinate rotation. Therefore, the compensation process for the delay phase φ can be performed without increasing the number of coordinate rotations and increasing the calculation processing load.

  Here, it is preferable that the coordinate rotation unit is included in one of the rotation coordinate conversion unit and the fixed coordinate conversion unit, and the coordinate rotation process is executed together with the one coordinate conversion.

  According to this configuration, the coordinate rotation of 90 degrees can be included in the rotation coordinate conversion or the fixed coordinate conversion. Therefore, the compensation process for the delay phase φ can be performed without increasing the number of coordinate rotations and increasing the calculation processing load.

1 is a schematic diagram illustrating a schematic configuration of a vehicle drive device and a control device according to a first embodiment of the present invention. It is a block diagram which shows the structure of the control apparatus which concerns on 1st embodiment of this invention. It is a figure which shows the structure of the model and control apparatus of the power transmission system which concern on 1st embodiment of this invention. It is a figure explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a figure explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a figure explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a figure explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a figure explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a figure explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a figure explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a block diagram explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a time chart explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a Bode diagram of a power transmission system concerning a first embodiment of the present invention. It is a figure explaining the process of the control apparatus which concerns on 1st embodiment of this invention. It is a block diagram explaining the process of the control apparatus which concerns on 2nd embodiment of this invention. It is a block diagram explaining the process of the control apparatus which concerns on 2nd embodiment of this invention. It is a Bode diagram of a current feedback control system according to a second embodiment of the present invention. It is a block diagram explaining the process of the control apparatus which concerns on 2nd embodiment of this invention.

[First embodiment]
A first embodiment of a rotating electrical machine control device 32 according to the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing a schematic configuration of a vehicle drive device 1 according to the present embodiment. As shown in this figure, a vehicle equipped with the vehicle drive device 1 is a hybrid vehicle including an engine E that is an internal combustion engine and a rotating electrical machine MG as a driving force source of the vehicle. In this figure, the solid line indicates the driving force transmission path, the broken line indicates the hydraulic oil supply path, and the alternate long and short dash line indicates the signal transmission path. In the present embodiment, the rotating electrical machine MG is drivingly connected to the engine E via the first power transmission mechanism 10 and drivingly connected to the wheels W via the second power transmission mechanism 11. In the present embodiment, the first power transmission mechanism 10 is provided with an engine separation clutch CL that connects and disconnects the drive connection between the rotating electrical machine MG and the engine E, and the second power transmission mechanism 11 includes the speed change mechanism TM. Is provided.

  The hybrid vehicle also includes an engine control device 31 that controls the engine E, a rotating electrical machine control device 32 that controls the rotating electrical machine MG, a power transmission control device 33 that controls the speed change mechanism TM and the engine separation clutch CL, and the like. The vehicle control device 34 that integrates these control devices and controls the vehicle drive device 1 is provided. The rotating electrical machine control device 32 is a “control device” in the present invention.

  In such a configuration, as shown in FIG. 2, the rotating electrical machine control device 32 according to the present embodiment performs the transmission torque vibration with respect to the transmission torque vibration Teov that is the torque vibration transmitted to the rotating shaft of the rotating electrical machine MG. A torque vibration canceling control unit 40 is provided that causes the rotating electrical machine MG to output torque for canceling Teov. The torque vibration canceling control unit 40 includes a rotational vibration extraction unit 41, a vibration frequency calculation unit 42, a phase delay rotational vibration calculation unit 43, a fixed coordinate system setting unit 44, a rotational coordinate conversion unit 45, and a rotational coordinate system feedback control unit. 46, the fixed coordinate conversion unit 47, and the canceling torque control unit 48 are provided with functional units, which are characterized by the processing of each functional unit. Hereinafter, the rotating electrical machine control device 32 according to the present embodiment will be described in detail.

1. Configuration of Vehicle Drive Device First, the configuration of the vehicle drive device 1 for a hybrid vehicle according to the present embodiment will be described. As shown in FIG. 1, the hybrid vehicle includes an engine E and a rotating electrical machine MG as a driving force source of the vehicle, and is a parallel hybrid vehicle in which the engine E and the rotating electrical machine MG are connected in series. Yes. The hybrid vehicle includes a speed change mechanism TM. The speed change mechanism TM shifts the rotational speeds of the engine E and the rotating electrical machine MG transmitted to the intermediate shaft M, converts the torque, and transmits the torque to the output shaft O.

  The engine E is an internal combustion engine that is driven by the combustion of fuel. For example, various known engines such as a gasoline engine and a diesel engine can be used. In this example, an engine output shaft Eo such as a crankshaft of the engine E is selectively drive-coupled to an input shaft I that is drive-coupled to the rotating electrical machine MG via an engine separation clutch CL. That is, the engine E is selectively driven and connected to the rotating electrical machine MG via the engine separation clutch CL which is a friction engagement element. Further, the engine output shaft Eo is drivingly connected to an engagement member of the engine separation clutch CL via a damper (not shown).

  The rotating electrical machine MG includes a stator fixed to a non-rotating member and a rotor including a rotating shaft that is rotatably supported on the radially inner side of the stator. The rotating shaft of the rotor of the rotating electrical machine MG is drivingly connected so as to rotate integrally with the input shaft I and the intermediate shaft M. That is, in the present embodiment, both the engine E and the rotating electrical machine MG are drivingly connected to the input shaft I and the intermediate shaft M. The rotating electrical machine MG is electrically connected to a battery (not shown) as a power storage device. The rotating electrical machine MG can perform a function as a motor (electric motor) that generates power upon receiving power supply and a function as a generator (generator) that generates power upon receiving power supply. It is possible. That is, the rotating electrical machine MG is powered by receiving power supplied from the battery, or stores in the battery the power generated by the rotational driving force transmitted from the engine E or the wheels W. Note that the battery is an example of a power storage device, and another power storage device such as a capacitor may be used, or a plurality of types of power storage devices may be used in combination. Hereinafter, power generation by the rotating electrical machine MG is referred to as regeneration, and negative torque output from the rotating electrical machine MG during power generation is referred to as regeneration torque. When the target output torque of the rotating electrical machine is a negative torque (torque in the direction opposite to the rotational direction), the rotating electrical machine MG outputs a regenerative torque while generating power using the rotational driving force transmitted from the engine E or the wheels W. It becomes.

  A transmission mechanism TM is drivingly connected to the intermediate shaft M to which the driving force source is drivingly connected. In the present embodiment, the speed change mechanism TM is a stepped automatic transmission having a plurality of speed stages with different speed ratios. The speed change mechanism TM includes a gear mechanism such as a planetary gear mechanism and a plurality of friction engagement elements B1, C1,. The speed change mechanism TM shifts the rotational speed of the intermediate shaft M at the speed ratio of each speed stage, converts torque, and transmits the torque to the output shaft O. Torque transmitted from the speed change mechanism TM to the output shaft O is distributed and transmitted to the left and right axles AX via the output differential gear unit DF, and is transmitted to the wheels W that are drivingly connected to the respective axles AX. . Here, the gear ratio is the ratio of the rotational speed of the intermediate shaft M to the rotational speed of the output shaft O when each gear stage is formed in the transmission mechanism TM. In this application, the rotational speed of the intermediate shaft M is defined as the output shaft. The value divided by the rotation speed of O. That is, the rotation speed obtained by dividing the rotation speed of the intermediate shaft M by the gear ratio becomes the rotation speed of the output shaft O. Further, torque obtained by multiplying the torque transmitted from the intermediate shaft M to the transmission mechanism TM by the transmission ratio becomes the torque transmitted from the transmission mechanism TM to the output shaft O.

  In this example, the engine separation clutch CL and the plurality of friction engagement elements B1, C1,... Are engagement elements such as clutches and brakes each having a friction material. These friction engagement elements CL, B1, C1,... Can control the engagement pressure by controlling the hydraulic pressure supplied to continuously control the increase / decrease of the transmission torque capacity. ing. As such a friction engagement element, for example, a wet multi-plate clutch or a wet multi-plate brake is preferably used.

  The friction engagement element transmits torque between the engagement members by friction between the engagement members. When there is a rotational speed difference (slip) between the engagement members of the friction engagement element, torque (slip torque) having a large transmission torque capacity is transmitted from the member with the higher rotational speed to the member with the lower rotational speed due to dynamic friction. Is done. When there is no rotational speed difference (slip) between the engagement members of the friction engagement element, the friction engagement element acts between the engagement members of the friction engagement element by static friction up to the size of the transmission torque capacity. Torque is transmitted. Here, the transmission torque capacity is the maximum torque that the friction engagement element can transmit by friction. The magnitude of the transmission torque capacity changes in proportion to the engagement pressure of the friction engagement element. The engagement pressure is a pressure that presses the input side engagement member (friction plate) and the output side engagement member (friction plate) against each other. In the present embodiment, the engagement pressure changes in proportion to the magnitude of the supplied hydraulic pressure. That is, in the present embodiment, the magnitude of the transmission torque capacity changes in proportion to the magnitude of the hydraulic pressure supplied to the friction engagement element.

  Each friction engagement element includes a return spring and is biased toward the release side by the reaction force of the spring. When the force generated by the hydraulic pressure supplied to each friction engagement element exceeds the reaction force of the spring, a transmission torque capacity starts to be generated in each friction engagement element, and each friction engagement element is engaged from the released state. To change. The hydraulic pressure at which this transmission torque capacity begins to occur is called the stroke end pressure. Each friction engagement element is configured such that, after the supplied hydraulic pressure exceeds the stroke end pressure, the transmission torque capacity increases in proportion to the increase in the hydraulic pressure.

  In the present embodiment, the engaged state is a state where a transmission torque capacity is generated in the friction engagement element, and the released state is a state where no transmission torque capacity is generated in the friction engagement element. The slip engagement state is an engagement state in which there is a rotational speed difference (slip) between the engagement members of the friction engagement element, and the direct engagement state is between the engagement members of the friction engagement element. The engaged state has no rotational speed difference (slip). Further, the non-directly coupled state is an engaged state other than the directly coupled state, and includes a released state and a sliding engaged state.

2. Next, the hydraulic control system of the vehicle drive device 1 will be described. The hydraulic control system includes a hydraulic control device PC for adjusting the hydraulic pressure of hydraulic oil supplied from the hydraulic pump to a predetermined pressure. Although detailed explanation is omitted here, the hydraulic control device PC drains from the regulating valve by adjusting the opening of one or more regulating valves based on the signal pressure from the linear solenoid valve for hydraulic regulation. The hydraulic oil pressure is adjusted to one or more predetermined pressures by adjusting the amount of hydraulic oil. The hydraulic oil adjusted to a predetermined pressure is supplied to each friction engagement element of the speed change mechanism TM and the engine separation clutch CL at a required level of hydraulic pressure.

3. Next, the configuration of the control devices 31 to 34 that control the vehicle drive device 1 will be described.
Each of the control devices 31 to 34 includes an arithmetic processing device such as a CPU as a core member, and a RAM (random access memory) configured to be able to read and write data from the arithmetic processing device, and an arithmetic processing device And a storage device such as a ROM (Read Only Memory) configured to be able to read data from. Then, each function unit 40 of the rotating electrical machine control device 32 as shown in FIG. 2 is realized by software (program) stored in the ROM or the like of each control device, hardware such as a separately provided arithmetic circuit, or both. -48 are constructed. The control devices 31 to 34 are configured to communicate with each other, share various information such as sensor detection information and control parameters, and perform cooperative control, thereby realizing the functions of the functional units 40 to 48. Is done.

  The vehicle drive device 1 includes sensors Se1 to Se3, and electrical signals output from the sensors are input to the control devices 31 to 34. The control devices 31 to 34 calculate detection information of each sensor based on the input electric signal. The engine rotation speed sensor Se1 is a sensor for detecting the rotation speed and rotation angle of the engine output shaft Eo (engine E). The engine control device 31 detects the rotational speed (angular speed) ωe and the rotational angle θe of the engine E based on the input signal of the engine rotational speed sensor Se1. The input shaft rotation speed sensor Se2 is a sensor for detecting the rotation speed and rotation angle of the input shaft I and the intermediate shaft M. Since the rotating shaft of the rotating electrical machine MG is integrally connected to the input shaft I and the intermediate shaft M, the rotating electrical machine control device 32 rotates the rotating electrical machine MG based on the input signal of the input shaft rotational speed sensor Se2. The speed (angular speed) ωm, the rotation angle θm, and the rotation speeds of the input shaft I and the intermediate shaft M are detected. The output shaft rotational speed sensor Se3 is a sensor that is attached to the output shaft O in the vicinity of the speed change mechanism TM and detects the rotational speed of the output shaft O in the vicinity of the speed change mechanism TM. The power transmission control device 33 detects the rotational speed (angular speed) ωo of the output shaft O in the vicinity of the speed change mechanism TM based on the input signal of the output shaft rotational speed sensor Se3. Since the rotational speed of the output shaft O is proportional to the vehicle speed, the power transmission control device 33 calculates the vehicle speed based on the input signal of the output shaft rotational speed sensor Se3.

3-1. Vehicle Control Device The vehicle control device 34 performs various torque controls performed on the engine E, the rotating electrical machine MG, the speed change mechanism TM, the engine separation clutch CL, and the like, and engagement control of each friction engagement element as a whole vehicle. It has a functional unit that performs integrated control.

  The vehicle control device 34 calculates a vehicle required torque, which is a target driving force transmitted from the intermediate shaft M side to the output shaft O side, according to the accelerator opening, the vehicle speed, the amount of charge of the battery, and the like. And the operation mode of the rotating electrical machine MG is determined. Then, the vehicle control device 34 outputs an engine required torque that is an output torque required for the engine E, a rotating electrical machine required torque that is an output torque required for the rotating electrical machine MG, and a target transmission torque capacity of the engine separation clutch CL. Are calculated and commanded to the other control devices 31 to 33 to perform integrated control.

  The vehicle control device 34 determines the operation mode of each driving force source based on the accelerator opening, the vehicle speed, the amount of charge of the battery, and the like. Here, the charge amount of the battery is detected by a battery state detection sensor. In the present embodiment, as the operation mode, an electric mode using only the rotating electrical machine MG as a driving force source, a parallel mode using at least the engine E as a driving force source, and regenerative power generation of the rotating electrical machine MG using the rotational driving force of the engine E are performed. There are an engine power generation mode to be performed, a regenerative power generation mode in which regenerative power generation of the rotating electrical machine MG is performed by the rotational driving force transmitted from the wheels, and an engine start mode in which the engine E is started by the rotational driving force of the rotating electrical machine MG. Here, the operation modes in which the engine separation clutch CL is brought into the direct engagement state are a parallel mode, an engine power generation mode, and an engine start mode.

3-2. Engine Control Device The engine control device 31 includes a functional unit that controls the operation of the engine E. In this embodiment, when the engine request torque is commanded from the vehicle control device 34, the engine control device 31 sets the engine request torque commanded from the vehicle control device 34 to the output torque command value, and the engine E Torque control is performed to control to output the output torque Te of the output torque command value.
The engine control device 31 is configured to estimate the output torque Te of the engine E and transmit the estimated torque as an estimated engine output torque to another control device. The engine control device 31 may calculate and transmit the estimated engine output torque based on the output torque command value.

3-3. Power Transmission Control Device The power transmission control device 33 includes a function unit that controls the speed change mechanism TM and the engine separation clutch CL. Detection information of a sensor such as the output shaft rotation speed sensor Se3 is input to the power transmission control device 33.

3-3-1. Control of transmission mechanism The power transmission control device 33 performs control to form a shift stage in the transmission mechanism TM. In the present embodiment, the power transmission control device 33 determines a target gear position in the speed change mechanism TM based on sensor detection information such as a vehicle speed, an accelerator opening, and a shift position. Then, the power transmission control device 33 controls each of the friction engagements by controlling the hydraulic pressure supplied to each of the friction engagement elements C1, B1,... Provided in the speed change mechanism TM via the hydraulic control device PC. Engagement or release of the elements causes the speed change mechanism TM to form a target gear position. Specifically, the power transmission control device 33 instructs the target hydraulic pressure (command pressure) of each friction engagement element B1, C1,... To the hydraulic control device PC, and the hydraulic control device PC outputs the commanded target. A hydraulic pressure (command pressure) is supplied to each friction engagement element.

3-3-2. Control of Engine Separation Clutch Further, the power transmission control device 33 engages or disengages the engine separation clutch CL. In the present embodiment, the power transmission control device 33 uses the engine separation clutch via the hydraulic control device PC so that the transmission torque capacity of the engine separation clutch CL matches the target transmission torque capacity commanded from the vehicle control device 34. The hydraulic pressure supplied to CL is controlled. Specifically, the power transmission control device 33 commands the target hydraulic pressure (command pressure) set based on the target transmission torque capacity to the hydraulic control device PC, and the hydraulic control device PC sends the commanded target hydraulic pressure (command pressure). ) Is supplied to the engine separation clutch CL. In the present embodiment, the engine separation clutch CL is assumed to be in a direct engagement state unless otherwise specified.

3-4. Rotating electrical machine control device The rotating electrical machine control device 32 includes a functional unit that controls the operation of the rotating electrical machine MG. In the present embodiment, the rotating electrical machine control device 32 includes an inverter 50, an inverter control unit 51, a base torque determination unit 52, and a torque vibration canceling control unit 40, as shown in FIG. The inverter 50 includes a plurality of switching elements for driving the rotating electrical machine MG by converting DC power of a battery (not shown) into AC power. The inverter control unit 51 drives the inverter 50 by outputting a signal for driving on and off a plurality of switching elements included in the inverter 50 based on the torque command value transmitted by communication from the torque vibration canceling control unit 40 or the like. Control. The base torque determination unit 52 sets a base torque command value Tb based on the rotating electrical machine required torque commanded from the vehicle control device 34. The torque vibration cancellation control unit 40 calculates a cancellation torque vibration command value Tp for canceling the transmission torque vibration Teov. Then, as shown in FIG. 2, the rotating electrical machine control device 32 sets an output torque command value Tmo based on a base torque command value Tb and a command value Tp of a cancellation torque vibration described later, and outputs an output torque command value Tmo. The output torque Tm is controlled to be output to the rotating electrical machine MG.

3-4-1. Torque Vibration Cancellation Control Unit As shown in FIG. 2, the torque vibration cancellation control unit 40 is configured to cancel the transmission torque vibration Teov with respect to the transmission torque vibration Teov transmitted to the rotating shaft of the rotating electrical machine MG. Is a functional unit that generates a command value Tp for canceling torque vibration, and executes torque vibration canceling control for controlling the rotating electrical machine MG using the command value Tp for canceling torque vibration. In the present embodiment, as will be described later with reference to FIGS. 3 and 4, the transmission torque vibration Teov transmitted to the rotating shaft of the rotating electrical machine MG is transmitted from the engine E to the rotating electrical machine MG via the first power transmission mechanism 10. Includes transmitted torque vibration.

In order to execute such torque vibration canceling control, as shown in FIG. 2, the torque vibration canceling control unit 40 includes a rotational vibration extracting unit 41, a vibration frequency calculating unit 42, a phase delayed rotational vibration calculating unit 43, A fixed coordinate system setting unit 44, a rotary coordinate conversion unit 45, a rotary coordinate system feedback control unit 46, a fixed coordinate conversion unit 47, and a cancellation torque control unit 48 are provided.
The rotational vibration extraction unit 41 extracts a rotational speed vibration ωmv that is a vibration component in a predetermined frequency band corresponding to the frequency of the transmission torque vibration Teov from the rotational speed ωm of the rotating electrical machine MG. The vibration frequency calculation unit 42 calculates a torque vibration frequency ωp that is a frequency of the transmission torque vibration Teov based on the rotation speed ωm of the rotating electrical machine MG. Based on the rotational speed vibration ωmv and the torque vibration frequency ωp, the phase delayed rotational vibration calculation unit 43 calculates a phase delayed rotational speed vibration ωmvdly obtained by delaying the rotational speed vibration ωmv by a predetermined phase at the torque vibration frequency ωp.

The fixed coordinate system setting unit 44 represents the rotation speed vibration ωmv and the phase delay rotation speed vibration ωmvdly in a fixed coordinate system. The rotational coordinate conversion unit 45 converts the rotational speed vibration ωmv and the phase-delayed rotational speed vibration ωmvdly expressed in the fixed coordinate system into values in the rotational coordinate system rotated at the torque vibration frequency ωp. The rotational coordinate system feedback control unit 46 calculates a feedback value in the rotational coordinate system so that the values of the rotational speed vibration ωmv and the phase-delayed rotational speed vibration ωmvdly converted to the rotational coordinate system are close to zero. The fixed coordinate conversion unit 47 converts the feedback value in the rotating coordinate system into a value in the fixed coordinate system. The canceling torque control unit 48 generates a canceling torque vibration command value Tp, which is a torque vibration for canceling the transmission torque vibration Teov, based on the feedback value converted into the fixed coordinate system, and the canceling torque vibration command value Tp. Is used to control the rotating electrical machine MG.
Hereinafter, the torque vibration canceling control process executed by the torque vibration canceling control unit 40 will be described in detail.

3-4-2. First, the power transmission system of the vehicle drive device 1 will be described. FIG. 3 shows a model of the power transmission system. The power transmission system is modeled as a three-inertia torsional vibration system.
The engine E, the rotating electrical machine MG, and the load (vehicle) are rigid bodies having moments of inertia (inertia) Je, Jm, and Jl, respectively.
The engine E and the rotating electrical machine MG are connected by a first power transmission mechanism 10 having elasticity, and the rotating electrical machine MG and a load (vehicle) are connected by a second power transmission mechanism 11 having elasticity. Yes. In the present embodiment, the first power transmission mechanism 10 is configured by members such as a damper, an engine output shaft Eo, and an input shaft I. The first power transmission mechanism 10 has a predetermined torsion spring constant and a viscous friction coefficient, and shaft torsion occurs. The second power transmission mechanism 11 includes members such as an intermediate shaft M, a speed change mechanism TM, an output shaft O, and an axle AX. In particular, the shaft twist between the output shaft O and the axle AX is large, and the output shaft O and the axle AX are collectively referred to as an output shaft. The second power transmission mechanism 11 has a predetermined torsion spring constant and a viscous friction coefficient, and shaft torsion occurs.

Here, Te is an output torque output by the engine E, and an output torque vibration Tev that is a vibration component with respect to an average value of the output torque is generated in the output torque. ωe is the rotational speed (angular speed) of the engine E.
Teo is a transmission torque in which the output torque Te of the vibrating engine E is transmitted to the rotating electrical machine MG via the first power transmission mechanism 10, and the transmission torque is relative to the average value of the transmission torque. A transmission torque vibration Teov, which is a vibration component, is generated. Tm is an output torque output by the rotating electrical machine MG, and a torque vibration of a cancellation torque vibration command value Tp for canceling the transmission torque vibration Teov is generated in the output torque by torque vibration cancellation control described later. Yes. Here, the command value Tp of the cancellation torque vibration is a vibration component with respect to the average value of the output torque Tm of the rotating electrical machine MG.

  In the total torque To obtained by summing the transmission torque Teo and the output torque Tm of the rotating electrical machine MG, a total torque vibration Tov that is a torque vibration obtained by summing the transmission torque vibration Teov and the command value Tp of the cancellation torque vibration is generated. Here, the total torque vibration Tov is a vibration component with respect to the average value of the total torque To. Then, the sum of the total torque To and the torque transmitted from the second power transmission mechanism 11 to the rotating electrical machine MG is divided by the inertia moment Jm of the rotating electrical machine MG, and the integrated value is the rotational speed of the rotating electrical machine MG. (Angular velocity). A rotational speed vibration ωmv corresponding to a value obtained by dividing and integrating the total torque vibration Tov by the moment of inertia Jm is generated in the rotational speed ωm of the rotating electrical machine MG. Here, the rotational speed vibration ωmv is a vibration component with respect to the average value of the rotational speed ωm of the rotating electrical machine MG. Note that ωl is the rotational speed (angular speed) of the load side end portion of the output shaft, and is the rotational speed (angular speed) of the load (wheel).

3-4-3. Torque vibration transmitted from the engine Next, the transmission torque vibration Teov transmitted from the engine E to the rotating electrical machine MG via the first power transmission mechanism 10 will be described in more detail.
As shown in FIG. 4, the output torque Te of the engine E is generated by combustion in the combustion process of the engine E. In the case of a spark ignition engine, combustion starts after the ignition timing. That is, the pressure in the combustion chamber that has risen due to combustion is transmitted to the crankshaft (engine output shaft Eo) via the piston and the connecting rod according to the geometrical relationship such as the crank angle, and converted into the output torque Te of the engine E. Is done. The output torque Te of the engine E increases after the ignition timing, and decreases as the piston approaches the bottom dead center. Therefore, the output torque Te of the engine E periodically vibrates in rotation synchronization as shown in FIG. The vibration frequency (angular frequency) ωp of the output torque Te of the engine E changes according to the rotational speed ωe of the engine E. In a four-cycle engine with N cylinders, ωp = N / 2 × ωe, and in a four-cylinder engine, ωp = 2 × ωe. Note that in a compression auto-ignition engine such as a diesel engine, the ignition timing, that is, the combustion start timing, can be the fuel injection timing into the combustion chamber.

As shown in FIG. 4, when the output torque Te of the engine E is Fourier-transformed, the zero-order (frequency = 0), the first-order (frequency (Hz) = ωp / 2π), the second-order (frequency) Frequency (Hz) = 2ωp / 2π), 3rd order (frequency (Hz) = 3ωp / 2π), 4th order (frequency (Hz) = 4ωp / 2π),. . . The amplitude of the frequency component is obtained. The amplitude of the zeroth-order frequency component in the Fourier transform corresponds to the average value of the output torque Te of the engine E. The amplitude of the primary frequency component in the Fourier transform generally corresponds to the amplitude of Tev of the output torque vibration. The amplitude of the second or higher frequency component in the Fourier transform is smaller than the amplitude of the first frequency component, and the amplitude decreases as the order becomes higher.
Further, since the output torque Te of the engine E varies to near zero, the amplitude of the output torque vibration Tev is large. The amplitude of the output torque vibration Tev increases approximately in proportion to the increase in the average value of the output torque Te of the engine E. In the following description, the output torque Te of the engine E indicates an average value of the vibrating torque unless otherwise specified.

  The output torque Te of the engine E that is vibrating is transmitted to the rotating electrical machine MG via the first power transmission mechanism 10 and becomes the transmission torque Teo. The torque transmission characteristic of the first power transmission mechanism 10 is a Bode diagram of the torque transmission characteristic shown in FIG. 4 and FIG. 13B in the band of the vibration frequency ωp corresponding to the operating region of the rotational speed ωe of the engine E. As in the example, the gain decreases from 0 dB as the vibration frequency ωp increases. For example, in the band of the vibration frequency ωp, the gain decreases at about −40 dB / dec. Therefore, as shown in the Bode diagram example of FIG. 4, the gain of the first-order frequency component is also reduced from 0 dB, but the decrease in the gain of the second-order or higher frequency component is larger than that of the first-order. This decrease in the second or higher gain is an exponential decrease because it is a decrease in dB, and the amount of decrease is large. Note that since the gain of the zeroth-order frequency component is 0 dB, the average value of the output torque Te of the engine E is not decreased but is directly the average value of the output torque vibration Tev.

ここで、ΔＴｅｏｖは、伝達トルク振動Ｔｅｏｖの振幅であり、βは、伝達トルク振動Ｔｅｏｖの位相である。
また、図４に示すように、出力トルク振動Ｔｅｖは、第一動力伝達機構１０の伝達特性により、位相遅れが生じて、回転電機ＭＧに伝達される。図１３の（ｂ）のボード線図の位相曲線の例に示すように、約−１８０ｄｅｇ〜−１６０ｄｅｇの位相遅れが生じる。 Therefore, the amplitude of the second or higher order vibration component in the output torque vibration Tev is greatly reduced by the transfer characteristic of the first power transmission mechanism 10 as compared with the decrease in the amplitude of the first order vibration component, and the rotating electrical machine MG. Is transmitted to. Therefore, as shown in FIG. 4, the transmission torque vibration Teov in the transmission torque Teo is close to the primary vibration component with the amplitude of the second-order or higher-order vibration component greatly reduced. Note that the amplitude of the primary vibration component also decreases. Therefore, the transmission torque vibration Teov can be approximated by a primary vibration component with respect to the vibration frequency ωp, as shown by the following equation.

Here, ΔTeov is the amplitude of the transmission torque vibration Teov, and β is the phase of the transmission torque vibration Teov.
Further, as shown in FIG. 4, the output torque vibration Tev is transmitted to the rotating electrical machine MG with a phase delay due to the transmission characteristics of the first power transmission mechanism 10. As shown in the example of the phase curve in the Bode diagram of FIG. 13B, a phase delay of about −180 deg to −160 deg occurs.

As can be seen from FIG. 13B, the torque transmission characteristic of the first power transmission mechanism 10 shows that the gain decreases in proportion to the rotational speed ωe of the engine E in the operating region of the engine E. Therefore, at a low rotational speed ωe (for example, 1000 pm), the gain decrease is small and the amplitude ΔTeov of the transmission torque vibration is large. Further, the larger the average value of the output torque Te of the engine E, the larger the amplitude of the output torque vibration Tev in the output torque Te, and the larger the amplitude of the transmission torque vibration even with the same gain (rotational speed).
Therefore, as shown in FIG. 14, the region where the rotational speed ωe is low and the output torque Te is high is a high vibration region where the transmission torque vibration Teov increases to a level that makes the driver feel uncomfortable. As shown in FIG. 14, the high vibration region overlaps with the high efficiency region where the thermal efficiency of the engine E is increased. When the torque vibration canceling control is not performed as in the present application, it is necessary to operate the engine E while avoiding the high vibration region, and the high efficiency region of the engine E may not be used. Therefore, in the control device according to the present embodiment, torque vibration canceling control is performed to cancel the transmission torque vibration Teov so that the high vibration region can be used.

ここで、ΔＴｐは、打消トルク振動の指令値Ｔｐの振幅であり、ωｐは、打消トルク振動の指令値Ｔｐの振動周波数であり、αは、打消トルク振動の指令値Ｔｐの位相である。打消トルク振動の指令値Ｔｐが、伝達トルク振動Ｔｅｏｖを打ち消すためには、打消トルク振動の指令値Ｔｐの振動周波数ωｐは、伝達トルク振動Ｔｅｏｖと同じ振動周波数ωｐに設定され、位相αが、位相βに対してπ（１８０ｄｅｇ）だけ進み又は遅れた、逆位相に設定され、振幅ΔＴｐは、振幅ΔＴｅｏｖに等しく設定されればよいことがわかる。 3-4-4. Cancellation torque vibration command value In order to cancel the transmission torque vibration Teov that can be approximated by a first-order vibration component with respect to the vibration frequency ωp, the phase is opposite to the transmission torque vibration Teov of the equation (1), that is, the phase is π (180 deg). It can be seen that the forward or delayed torque vibration may be output to the rotating electrical machine MG.
Therefore, as shown in FIG. 5 and the following equation, the torque vibration canceling control unit 40 forms the command value Tp of the canceling torque vibration with a primary vibration component with respect to the vibration frequency ωp, as will be described later.

Here, ΔTp is the amplitude of the cancellation torque vibration command value Tp, ωp is the vibration frequency of the cancellation torque vibration command value Tp, and α is the phase of the cancellation torque vibration command value Tp. In order for the cancellation torque vibration command value Tp to cancel the transmission torque vibration Teov, the vibration frequency ωp of the cancellation torque vibration command value Tp is set to the same vibration frequency ωp as the transmission torque vibration Teov, and the phase α is It can be seen that it is only necessary to set the amplitude ΔTp to be equal to the amplitude ΔTeov, which is set to an antiphase which is advanced or delayed by π (180 deg) with respect to β.

ここで、γは、合計トルク振動Ｔｏｖの位相であり、ΔＴｏｖは、合計トルク振動Ｔｏｖの振幅である。 The total torque vibration Tov of the transmission torque vibration Teov and the cancellation torque vibration command value Tp is a torque vibration having the same vibration frequency ωp as shown in the following equation.

Here, γ is the phase of the total torque vibration Tov, and ΔTov is the amplitude of the total torque vibration Tov.

ここで、γは、回転速度振動ωｍｖの位相であり、Δωｍｖは、回転速度振動ωｍｖの振幅であって、合計トルク振動Ｔｏｖの振幅ΔＴｏｖに対して次式の関係となる。

また、式（４）の回転速度振動ωｍｖは、次式に示すように、式（３）の合計トルク振動Ｔｏｖに対して、９０度（π／２）だけ遅れた位相になる。

The rotational speed vibration ωmv generated by the total torque vibration Tov is a value obtained by dividing the total torque vibration Tov of Expression (3) by the moment of inertia Jm and integrating as shown in the following expression.

Here, γ is the phase of the rotational speed vibration ωmv, Δωmv is the amplitude of the rotational speed vibration ωmv, and has the following relationship with respect to the amplitude ΔTov of the total torque vibration Tov.

Further, the rotational speed vibration ωmv in Expression (4) has a phase delayed by 90 degrees (π / 2) with respect to the total torque vibration Tov in Expression (3) as shown in the following expression.

  The phase and amplitude of the rotational speed vibration ωmv vary due to variations in the ignition timing of the engine E or variations in the gain and phase of the torque transmission characteristic of the first power transmission mechanism 10. Further, when the engine separation clutch CL is released and engaged, the relative phase between the rotational speed ωe of the engine E and the rotational speed ωm of the rotating electrical machine MG changes. Therefore, after the engine separation clutch CL is released and engaged, the phase of the rotational speed vibration ωmv varies.

  Therefore, in the configuration of the vehicle drive device 1 as shown in FIG. 1, the canceling torque vibration is reduced so that the transmission torque vibration Teov can be canceled based on the rotational speed ωm of the rotating electrical machine MG detected by the input shaft rotational speed sensor Se2. It is necessary to perform feedback control that changes the phase and amplitude of the command value Tp. Further, as described above, there is an equation (6) between the phase and amplitude of the total torque vibration Tov obtained by adding the transmission torque vibration Teov and the command value Tp of the canceling torque vibration and the phase and amplitude of the rotational speed vibration ωmv. ). Therefore, it is required to detect the phase and amplitude of the rotational speed vibration ωmv from the rotational speed ωm of the rotating electrical machine MG and to control the phase and amplitude of the total torque vibration Tov.

However, since the rotational speed vibration ωmv constantly vibrates, it is not easy to detect the phase and amplitude of the rotational speed vibration ωmv from the rotational speed ωm of the rotating electrical machine MG with good responsiveness and accuracy.
Therefore, as described below, in the present embodiment, by converting the value of the rotational speed vibration ωmv oscillating at the torque vibration frequency ωp into the value of the rotational coordinate system rotated at the torque vibration frequency ωp, The rotational speed vibration ωmv can be observed with the vibration stopped.

式（７）に示すように、回転速度振動ωｍｖを表す周期関数の座標Ｐは、第一固定軸ｘの値ωｍｖが、位相（ωp t＋γ）の余弦（コサイン）の値に振幅Δωｍｖを乗算した値であるのに対して、第二固定軸ｙの値ωｍｖｓが、同じ位相（ωp t＋γ）の正弦（サイン）の値に振幅Δωｍｖを乗算した値となる。 3-4-5. Expansion of fixed coordinate system (2D)
As shown in FIG. 6A, the rotational speed vibration ωmv shown in the equation (4) is expressed by a value in a one-dimensional fixed coordinate system. In the present embodiment, in order to perform rotational coordinate conversion in a two-dimensional coordinate system, the fixed coordinate system is expanded from a one-dimensional to a two-dimensional coordinate system as shown in FIG.
Specifically, as shown in FIG. 6B, a two-dimensional fixed coordinate system is rotated by a first fixed axis x and the first fixed axis x counterclockwise by 90 degrees (π / 2). And an orthogonal coordinate system having the second fixed axis y. Then, the rotational speed vibration ωmv is expressed by a periodic function that rotates at the torque vibration frequency (angular speed) ωp around the origin with the radius Δωmv of the rotational speed vibration ωmv as a radius in an orthogonal fixed coordinate system. The coordinate P of the periodic function representing the rotational speed vibration ωmv is set when the rotational speed vibration ωmv shown in the equation (4) is set to the value of the first fixed axis x and the value of the second fixed axis y is set to ωmvs. Is as follows.

As shown in the equation (7), the coordinate P of the periodic function representing the rotational speed vibration ωmv is obtained by multiplying the value ωmv of the first fixed axis x by the amplitude Δωmv by the cosine value of the phase (ωp t + γ). On the other hand, the value ωmvs of the second fixed axis y is a value obtained by multiplying the sine value of the same phase (ωpt + γ) by the amplitude Δωmv.

  Accordingly, in order to set the two-dimensional fixed coordinate system, it is necessary to newly set the value ωmvs of the second fixed axis y in addition to the rotational speed vibration ωmv set to the value of the first fixed axis x. . The value of the rotational speed vibration ωmv can be detected from the rotational speed ωm of the rotating electrical machine MG as will be described later.

  As shown in the time chart of FIG. 6B, the value ωmvs of the second fixed axis y has the phase of the rotational speed vibration ωmv set to the value of the first fixed axis x by 90 degrees (π / 2). Corresponds to the delayed value. Therefore, in the present embodiment, the value ωmvs of the second fixed axis y is substituted by a value obtained by delaying the phase of the value of the rotational speed vibration ωmv by 90 degrees (π / 2). That is, the value ωmvs of the second fixed axis y is set to the value of the past rotational speed vibration ωmv for the time corresponding to the phase delay of 90 degrees (π / 2).

3-4-6. Rotational coordinate transformation In this embodiment, as shown in FIG. 7C, a rotational coordinate system obtained by rotating the fixed coordinate system at a torque vibration frequency (angular velocity) ωp is set, and the first fixed coordinate system is represented by the fixed coordinate system. The value ωmv of the axis x and the value ωmvs of the second fixed axis y are converted into the value Q of the rotating coordinate system.
Specifically, an orthogonal coordinate system having a first rotation axis u and a second rotation axis v obtained by rotating both the first fixed axis x and the second fixed axis y at a torque vibration frequency (angular velocity) ωp is expressed as a rotational coordinate. The system is set. Then, as shown in the following equation, the value ωmv of the first fixed axis and the value ωmvs of the second fixed axis in the fixed coordinate system are changed to the value ωmv_uv of the first rotary axis and the value of the second rotary axis in the orthogonal rotating coordinate system. It is converted to ωmvs_uv.

As shown in FIG. 7D, fixed coordinate system values P (ωmv (t), ωmvs (t)) rotated (vibrated) at the torque vibration frequency (angular velocity) ωp by this rotational coordinate conversion are as shown in FIG. In the rotating coordinate system, observation can be performed with rotation (vibration) stopped. Also in the mathematical formula, as shown in the following formula, when formula (8) is substituted into formula (8) and rearranged, values Q (ωmv_uv (t), ωmvs_uv (t)) of the rotating coordinate system become constants, It can be seen that it is stationary in the rotating coordinate system.

3-4-7. Feedback system design Feedback control is performed to change the command value Tp of the canceling torque vibration so that both the rotational speed vibration values Q (ωmv_uv (t), ωmvs_uv (t)) expressed in the rotating coordinate system approach zero. For example, the rotational speed vibration ωmv can be brought close to zero. Here, the feedback value is changed in the rotating coordinate system.

なお、以下で説明する場合のように、速度トルク座標変換に、振幅を変換する（Ｊｍ×ωｐ）の乗算を含めないようにしてもよい。 3-4-8. Total torque vibration As shown in the equations (3) and (6) and the time chart of FIG. 8, the rotational speed vibration ωmv is delayed from the total torque vibration Tov by a phase δ of 90 degrees, and the amplitude is 1 / (Jm × ωp) times. Accordingly, the total torque vibration Tov advances by a phase δ of 90 degrees with respect to the rotational speed vibration ωmv, and the amplitude is (Jm × ωp) times. Therefore, as shown in FIG. 8, the rotational speed vibration value Q (ωmv_uv (t), ωmvs_uv (t)) expressed in the rotational coordinate system is advanced by a phase δ of 90 degrees (coordinates are rotated), and the amplitude is increased. When the conversion is multiplied by (Jm × ωp), the total torque vibration value R (Tov_uv (t), Tovs_uv (t)) expressed in the rotating coordinate system is obtained. This conversion from speed to torque (speed torque coordinate rotation) can be expressed by the following equation.

Note that, as described below, the speed torque coordinate conversion may not include multiplication of the amplitude (Jm × ωp).

3-4-9. Change in Cancellation Torque Vibration Command Value As shown in FIG. 8, in order to bring the total torque vibration value R (Tov_uv (t), Tovs_uv (t)) expressed in the rotating coordinate system close to zero, In the direction opposite to the value R (the direction from the total torque vibration value R toward zero), in other words, in the direction in which the rotational speed vibration value Q expressed in the rotating coordinate system is rotated by (π + phase δ). The command value Tp for canceling torque vibration may be changed.
More specifically, as shown in FIG. 9, the total torque vibration value R (Tov_uv (t), Tovs_uv (t)) expressed in the rotational coordinate system is the transmission torque vibration value W ( Teov_uv (t), Teovs_uv (t)) and a cancellation torque vibration command value S (Tp_uv (t), Tps_uv (t)) expressed in a rotating coordinate system. Then, if the cancellation torque vibration command value S is changed in a direction opposite to the total torque vibration value R (a direction from the total torque vibration value R toward zero), the total torque vibration value R is brought close to zero. And the value Q of the rotational speed vibration expressed in the rotational coordinate system can also approach zero.

3-4-10. Fixed Coordinate Conversion As shown in FIG. 10, the canceling torque vibration command value S (Tp_uv (t), Tps_uv (t)) expressed in the rotating coordinate system is converted into fixed coordinates, and the canceling torque vibration expressed in the fixed coordinate system. A command value T (Tp (t), Tps (t)) is obtained. This fixed coordinate transformation can be expressed by the following equation.

  As shown in the time chart of FIG. 10, when the canceling torque vibration command value S (Tp_uv (t), Tps_uv (t)) of the rotating coordinate system is converted to fixed coordinates, the canceling of the fixed coordinate system that vibrates at the torque vibration frequency ωp is performed. A torque vibration command value T (Tp (t), Tps (t)) can be obtained. That is, the cancellation torque vibration command value S (Tp_uv (t), Tps_uv (t)) changed by feedback control in the rotating coordinate system is automatically converted to a fixed coordinate to cancel the vibration that vibrates at the torque vibration frequency ωp. A command value Tp for torque vibration can be generated.

3-4-11. Summary of coordinate transformations The coordinate transformations according to the present embodiment described above are summarized as shown in FIG. That is, the rotational speed vibration value P (ωmv (t), ωmvs (t)) expressed in the fixed coordinate system is rotated at the torque vibration frequency (angular speed) ωp as shown in the equation (8). It is converted into a coordinate system value Q (ωmv_uv (t), ωmvs_uv (t)). Then, the rotational torque vibration value Q (ωmv_uv (t), ωmvs_uv (t)) expressed in the rotating coordinate system is rotated by the speed torque coordinate expressed by the equation (10), and the total torque expressed in the rotating coordinate system. The vibration value is converted to R (Tov_uv (t), Tovs_uv (t)). Then, the cancellation torque vibration command value S (Tp_uv (t), Tps_uv (t)) is changed by feedback control in the rotating coordinate system so that the total torque vibration value R approaches zero. As shown in the equation (11), the rotating coordinate system canceling torque vibration command value S is subjected to fixed coordinate conversion, and the canceling torque vibration command value T (Tp (t)) of the fixed coordinate system that vibrates at the torque vibration frequency ωp. , Tps (t)).

ここで、回転位相δが９０度（π／２）の場合は、式（１２）の回転座標変換は次式のようになる。

また、図１１（ｃ）に示す場合は、固定座標変換に、速度トルク座標回転を含ませて、次式で示す固定座標変換を行うようにしてもよい。

ここで、回転位相δが９０度（π／２）の場合は、式（１４）の固定座標変換は次式のようになる。

As shown in FIGS. 11B and 11C, the rotational coordinate conversion or the fixed coordinate conversion may include speed torque coordinate rotation. That is, in the case shown in FIG. 11B, the rotational coordinate conversion may be performed by including the speed torque coordinate rotation in the rotational coordinate conversion and represented by the following equation.

Here, when the rotational phase δ is 90 degrees (π / 2), the rotational coordinate transformation of Expression (12) is as follows.

In the case shown in FIG. 11C, the fixed coordinate conversion may be performed by including the speed torque coordinate rotation and the fixed coordinate conversion represented by the following equation.

Here, when the rotational phase δ is 90 degrees (π / 2), the fixed coordinate transformation of the equation (14) is as follows.

  Further, as shown in FIG. 11D, the speed torque coordinate rotation may be performed after the rotation coordinate conversion, feedback control (feedback calculation), and fixed coordinate conversion are performed.

  Further, as shown in FIG. 11 (e), after rotating coordinate conversion and feedback control (feedback calculation), speed torque coordinate rotation may be performed, and then fixed coordinate conversion may be performed.

  In the cases shown in FIGS. 11B and 11C, a rotational phase difference corresponding to the rotational phase δ of the speed torque coordinate rotation is provided between the coordinate rotation in the rotational coordinate conversion and the coordinate rotation in the fixed coordinate conversion. It is done. Therefore, the fixed coordinate conversion may be performed by advancing the phase by the rotation phase δ with respect to the coordinate rotation in the rotation coordinate conversion.

  As shown in FIGS. 11A to 11E, the phase of the canceling torque vibration command value T (Tp (t), Tps (t)) of the fixed coordinate system, which is a feedback value after performing the fixed coordinate conversion, is The rotation phase δ (for example, 90 degrees (π / 2)) is advanced with respect to the phase of the rotational speed vibration value P (ωmv (t), ωmvs (t)) of the fixed coordinate system before the rotational coordinate conversion. Coordinate rotation processing may be performed. A processing unit that performs the coordinate rotation process of the rotation phase δ is referred to as a coordinate rotation unit.

  In the cases shown in FIGS. 11A, 11D, and 11E, the coordinate rotation process that advances the rotation phase δ (for example, 90 degrees) is executed by the coordinate rotation unit that includes the speed torque coordinate rotation. In the case shown in FIG. 11A, the process of the coordinate rotation unit for rotating the speed torque coordinate is executed after the rotation coordinate conversion is executed and before the feedback control is executed. In the case shown in FIG. 11D, after the fixed coordinate conversion is executed, the processing of the coordinate rotation unit for rotating the speed torque coordinate is executed. In the case shown in FIG. 11E, the process of the coordinate rotation unit for rotating the speed torque coordinate is executed after the feedback control is executed and before the fixed coordinate conversion is executed. Although not shown in FIG. 11, in FIG. 11A, the processing order of the rotation coordinate conversion and the speed torque coordinate rotation is changed, and the processing of the coordinate rotation unit of the speed torque coordinate rotation is executed. Coordinate transformation may be performed, and then feedback control and fixed coordinate transformation may be performed.

  In the cases shown in FIGS. 11B and 11C, the coordinate rotation unit that advances the rotation phase δ (for example, 90 degrees) is included in one of the rotation coordinate conversion unit and the fixed coordinate conversion unit, and the one of the coordinates Coordinate rotation processing is executed along with the conversion. In the case shown in FIG. 11B, a coordinate rotation unit that advances the rotation phase δ (for example, 90 degrees) is included in the rotation coordinate conversion unit, and the rotation phase (ωp × t) used when performing the fixed coordinate conversion is Rotational coordinate conversion is executed using a rotational phase (ωp × t−δ) delayed by the rotational phase δ (for example, 90 degrees). In the case shown in FIG. 11C, a coordinate rotation unit that advances the rotation phase δ (for example, 90 degrees) is included in the fixed coordinate conversion unit, and the rotation phase (ωp × t) used when the rotation coordinate conversion is executed. The fixed coordinate transformation is executed using the rotation phase (ωp × t + δ) advanced by the rotation phase δ (for example, 90 degrees).

3-4-12. Rotational vibration extraction unit 41
Below, the detail of each function part with which the torque vibration cancellation control part 40 was equipped is demonstrated.
As described above, the rotational vibration extraction unit 41 extracts the rotational speed vibration ωmv that is a vibration component in a predetermined frequency band corresponding to the frequency of the transmission torque vibration Teov from the rotational speed ωm of the rotating electrical machine MG.
In the present embodiment, the transmission torque vibration Teov includes torque vibration transmitted from the engine E through the first power transmission mechanism 10 to the rotating shaft of the rotating electrical machine MG. Therefore, in the present embodiment, the rotational vibration extraction unit 41 is configured to extract the rotational speed vibration ωmv that is the vibration component in the frequency band determined according to the characteristics of the engine E from the rotational speed ωm of the rotating electrical machine MG. ing. As shown in FIG. 14, this frequency band is set corresponding to the rotational speed ωe of the engine E within a predetermined range that becomes a high vibration region. That is, as described above, the vibration frequency ωp of the output torque Te of the engine E changes according to the rotational speed ωe of the engine E, and in a four-cycle engine with N cylinders, ωp = N / 2 × ωe. The rotational speed ωm of the rotating electrical machine MG is substantially equal to the rotational speed ωe of the engine E except for the vibration component, and the torque vibration frequency ωp of the transmission torque vibration Teov is equal to the vibration frequency ωp of the output torque Te of the engine E. . Therefore, the frequency band determined according to the characteristics of the engine E is set to a band of the torque vibration frequency ωp corresponding to the rotation speed ωe of the engine E in a predetermined range that is a high vibration region. The predetermined frequency band may be configured to be set based on the torque vibration frequency ωp that changes according to the rotational speed ωm of the rotating electrical machine MG or the rotational speed ωe of the engine E. In this case, the predetermined frequency band is variably set to a frequency band centered on a torque vibration frequency ωp calculated by a vibration frequency calculation unit 42 described later.

  In the present embodiment, the rotational vibration extraction unit 41 is configured to extract a rotational speed vibration ωmv by performing a bandpass filter process that passes a predetermined frequency band with respect to the rotational speed ωm of the rotating electrical machine MG. Yes. Alternatively, the rotational vibration extraction unit 41 is configured to perform, for example, low-pass filter processing that passes a frequency lower than a predetermined frequency band on the rotational speed ωm of the rotating electrical machine MG to extract the rotational speed vibration ωmv. May be. In this case, first-order lag filter processing, moving average processing, or the like can be used as low-pass filter processing.

3-4-13. Vibration frequency calculation unit 42
The vibration frequency calculation unit 42 calculates a torque vibration frequency ωp that is a frequency of the transmission torque vibration Teov based on the rotation speed ωm of the rotating electrical machine MG.
As described above, in the present embodiment, the transmission torque vibration Teov includes torque vibration transmitted from the engine E to the rotation shaft of the rotating electrical machine MG via the first power transmission mechanism 10.
Therefore, the vibration frequency calculation unit 42 calculates the torque vibration frequency ωp based on the rotation speed of at least one of the rotating electrical machine MG and the engine E. As described above, the torque vibration frequency ωp of the transmission torque vibration Teov is equal to the vibration frequency ωp of the output torque Te of the engine E, and the rotational speed ωm of the rotating electrical machine MG is obtained by removing the rotational speed ωe of the engine E and the vibration component. It becomes almost equal. Therefore, when the engine E is a four-cycle engine with the number of cylinders N, the vibration frequency calculation unit 42 is based on at least one of the rotational speed ωm of the rotating electrical machine MG and the rotational speed ωe of the engine E as shown in the following equation: The torque vibration frequency ωp is calculated.

3-4-14. Phase-delayed rotational vibration calculation unit 43
As described above, the phase-delayed rotational vibration calculation unit 43 calculates the phase-delayed rotational speed vibration ωmvdly obtained by delaying the rotational speed vibration ωmv by a predetermined phase at the torque vibration frequency ωp based on the rotational speed vibration ωmv and the torque vibration frequency ωp. .

In the present embodiment, the phase-delayed rotational vibration calculation unit 43 calculates the phase-delayed rotational speed vibration ωmvdly obtained by delaying the rotational speed vibration ωmv by 90 degrees at the torque vibration frequency ωp based on the rotational speed vibration ωmv and the torque vibration frequency ωp. calculate.
Specifically, the phase-delayed rotational vibration calculation unit 43 is configured to store the data of the rotational speed vibration ωmv detected in the past together with the phase at the torque vibration frequency ωp at the time when the rotational speed vibration ωmv is detected. Then, the phase-delayed rotational vibration calculation unit 43 extracts the data of the rotational speed vibration ωmv detected in the past by 90 degrees from the current (current) from the stored data, and uses the data as the phase-delayed rotational speed. Set to vibration ωmvdly.

  Alternatively, the phase-delay rotational vibration calculation unit 43 extracts the rotational speed vibration ωmv extracted by the rotational vibration extraction unit 41 this time (current) and the past, and the torque vibration frequency ωp at the time when the current and past rotational speed vibrations ωmv are extracted. The phase-delayed rotational speed vibration ωmvdly may be calculated based on the phase at. With this configuration, the phase delay rotational speed vibration ωmvdly corresponding to the phase delay of 90 degrees can be calculated by setting the calculation timing interval of the rotational speed vibration ωmv even when there is no phase delay data of exactly 90 degrees. Can do.

また、今回の演算時期ｎで算出され、今回より９０度位相分だけ遅らせた位相遅れ回転速度振動ωｍｖｄｌｙ（ｎ）は、次式で表せる。

式（１７）のａ回前の回転速度振動ωｍｖ（ｎ−ａ）は、式（１８）を用いて、次式のように変形できる。

式（１７）と式（１９）を行列式にまとめると次式を得る。

式（２０）を、右辺の（ωｍｖ（ｎ），ωｍｖｄｌｙ（ｎ））について整理すると、次式を得る。

よって、位相遅れ回転振動算出部４３は、式（２１）の演算式に従い、今回の演算時期ｎで検出した回転速度振動ωｍｖ（ｎ）と、今回よりもａ回前の演算時期（ｎ−ａ）であって、今回よりｂ位相分だけ過去に検出した回転速度振動ωｍｖ（ｎ−ａ）とを用いて、今回より９０度位相分だけ遅らせた位相遅れ回転速度振動ωｍｖｄｌｙ(n)を算出するように構成されてもよい。 A specific calculation method is derived below. The rotation speed vibration ωmv (n) detected at the current calculation time n and the calculation time (na) a time before this time and the rotation speed vibration ωmv (b) detected in the past by b phase from this time (na) is represented by the following equation.

Further, the phase-delayed rotational speed vibration ωmvdly (n) calculated at the current calculation time n and delayed by 90 degrees from the current time can be expressed by the following equation.

The rotational speed vibration ωmv (na) before a times in the equation (17) can be transformed into the following equation using the equation (18).

When Expression (17) and Expression (19) are combined into a determinant, the following expression is obtained.

When formula (20) is arranged with respect to (ωmv (n), ωmvdly (n)) on the right side, the following formula is obtained.

Therefore, the phase-delayed rotation vibration calculation unit 43 follows the calculation formula (21) and the rotation speed vibration ωmv (n) detected at the current calculation time n and the calculation time (na) a time before this time. ), And using the rotational speed vibration ωmv (na) detected in the past by b phase from the current time, the phase delayed rotational speed vibration ωmvdly (n) delayed by 90 degrees from the current time is calculated. It may be configured as follows.

3-4-15. Fixed coordinate system setting unit 44
The fixed coordinate system setting unit 44 represents the rotation speed vibration ωmv and the phase delay rotation speed vibration ωmvdly in a fixed coordinate system.
In the present embodiment, as described above, the fixed coordinate system setting unit 44 includes the first fixed axis x and the second fixed axis y obtained by rotating the first fixed axis x counterclockwise by 90 degrees. The orthogonal coordinate system is a fixed coordinate system. Then, the fixed coordinate system setting unit 44 sets the rotational speed vibration ωmv to the value of the first fixed axis x, and sets the phase delayed rotational speed vibration ωmvdly delayed by the phase of 90 degrees to the value ωmvs of the second fixed axis y. To do. As described above with reference to FIG. 6B, the value ωmvs of the second fixed axis y is set with the rotational speed vibration ωmv in the orthogonal fixed coordinate system with the amplitude Δωmv as the radius and the origin as the center. It is expressed by a periodic function rotating at a torque vibration frequency (angular velocity) ωp, and the second fixed axis when the value ωmv of the first fixed axis x and the value ωmvs of the second fixed axis y are set as shown in Expression (7). This corresponds to substituting the value ωmvs of the axis y with the phase lag rotation speed vibration ωmvdly. That is, as shown in the time chart of FIG. 6B, the value ωmvs of the second fixed axis y is the rotation speed vibration ωmv set to the value of the first fixed axis x by 90 degrees (π / 2). In order to correspond to the value obtained by delaying the phase, the fixed coordinate system setting unit 44 delays the value ωmvs of the second fixed axis y from the phase-delayed rotational speed vibration obtained by delaying the rotational speed vibration ωmv by 90 degrees at the torque vibration frequency ωp. ωmvdly is substituted.

3-4-16. Rotating coordinate converter 45
The rotation coordinate conversion unit 45 rotates the rotation speed vibration ωmv and the phase delay rotation speed vibration ωmvdly (value ωmvs of the second fixed axis y) expressed in the fixed coordinate system by rotating the fixed coordinate system at the torque vibration frequency ωp. Convert to coordinate system values.
In the present embodiment, as described above with reference to FIG. 7, the rotation coordinate conversion unit 45 rotates both the first fixed shaft x and the second fixed shaft y at the torque vibration frequency (angular velocity) ωp. An orthogonal coordinate system having the rotation axis u and the second rotation axis v is a rotation coordinate system. Then, as shown in Expression (8), the rotational coordinate conversion unit 45 uses the value ωmv of the first fixed axis x and the value ωmvs of the second fixed axis y in the fixed coordinate system as the first rotational axis in the rotational coordinate system. The value is converted into the value ωmv_uv of u and the value ωmvs_uv of the second rotation axis v.

  Here, as described with reference to FIG. 11B, the rotational coordinate conversion includes the rotational torque coordinate rotation, and the rotational coordinate conversion represented by the equation (12) or the equation (13) is performed. May be.

In addition, the torque vibration canceling control unit 40 determines the rotational phase (ωp × t) used in the rotational coordinate conversion and the fixed coordinate conversion expressed by the equations (8) and (11) to (15) as the rotating electrical machine MG. Is set based on the rotation angle θm. For example, when the engine E is a four-cycle engine with N cylinders, the torque vibration canceling control unit 40 is based on the rotation angle θm of the rotating electrical machine MG and, as shown in the following equation, the rotation phase (ωp × t) Is calculated.

3-4-17. Rotary coordinate system feedback control unit 46
The rotational coordinate system feedback control unit 46 in the rotational coordinate system so that the values of the rotational speed vibration ωmv and the phase delay rotational speed vibration ωmvdly (the value ωmvs of the second fixed axis y) converted to the rotational coordinate system are close to zero. Calculate the feedback value.

In the present embodiment, the rotational coordinate system feedback control unit 46 calculates the first feedback value Tp_uv on the first rotational axis u so that the value ωmv_uv of the first rotational axis u in the rotational coordinate system approaches zero, and the first A second feedback value Tps_uv on the second rotation axis v is calculated so that the value ωmvs_uv of the two rotation axes approaches zero.
The feedback value can be calculated using various feedback controls such as PID control. In the present embodiment, in order to calculate the first feedback value Tp_uv, the first feedback gain (for example, the first integral gain Ki) multiplied by the value ωmv_uv of the first rotating shaft u and the second feedback value Tps_uv are calculated. In order to calculate, the second feedback gain (for example, the second integral gain Kis) multiplied by the value ωmvs_uv of the second rotation axis is set to the same value. As a result, the first feedback value Tp_uv and the second feedback value Tps_uv that can change the value Q of the rotational speed vibration expressed in the rotational coordinate system in a direction toward straight zero can be calculated. For example, when I control is used as feedback control, an integrator (1 / s) is used to form the following equation.

  Here, as described with reference to FIGS. 8, 9, and 11A, the rotational coordinate system feedback control unit 46 determines the value ωmv_uv of the first rotational axis u and the second rotational axis in the rotational coordinate system. The speed torque coordinate rotation represented by the equation (10) is performed on the value ωmvs_uv of v to calculate the total torque vibration values Tov_uv and Tovs_uv represented in the rotational coordinate system, and then the total torque vibration value Tov_uv. And Tovs_uv may be configured to calculate a feedback value in the rotating coordinate system so as to approach zero. That is, the rotational coordinate system feedback control unit 46 calculates the first feedback value Tp_uv on the first rotational axis u so that the value ωmv_uv (Tov_uv) of the first rotational axis u after rotating the speed torque coordinate is close to zero. The second feedback value Tps_uv on the second rotation axis v may be calculated so that the value ωmvs_uv (Tovs_uv) of the second rotation axis after rotation of the speed torque coordinate is close to zero.

3-4-18. Fixed coordinate conversion unit 47
The fixed coordinate conversion unit 47 converts the feedback value in the rotating coordinate system into a value in the fixed coordinate system.
In the present embodiment, the fixed coordinate conversion unit 47 calculates the first feedback value Tp_uv on the first rotation axis u and the second feedback value Tps_uv on the second rotation axis v as shown in Expression (11). Values Tp and Tps.

  Here, as described with reference to FIG. 11C, the fixed coordinate conversion includes the speed torque coordinate rotation, and the fixed coordinate conversion represented by the equation (14) or the equation (15) is performed. May be.

3-4-19. Canceling torque control unit 48
The canceling torque control unit 48 generates a canceling torque vibration command value Tp, which is a torque vibration for canceling the transmission torque vibration Teov, based on the feedback value converted into the fixed coordinate system, and the canceling torque vibration command value Tp. Is used to control the rotating electrical machine MG.
In the present embodiment, the canceling torque control unit 48 generates a canceling torque vibration command value Tp based on at least one of the first feedback value Tp and the second feedback value Tps converted into the fixed coordinate system, and the canceling torque The rotating electrical machine MG is controlled using the vibration command value Tp.

Here, as shown in FIGS. 11A, 11 </ b> B, 11 </ b> C, and 11 </ b> E, when the speed torque coordinate rotation is performed before the fixed coordinate conversion is performed, the cancellation torque control is performed. The unit 48 sets the first feedback value Tp converted into the fixed coordinate system as it is to the canceling torque vibration command value Tp (T′p in the equation (24)).

On the other hand, as shown in the case of FIG. 11 (d), when executing the rotation of the speed torque coordinate after executing the fixed coordinate conversion, the cancellation torque control unit 48 uses the fixed coordinate as shown in the following equation. A speed torque coordinate rotation is performed on the first feedback value Tp and the second feedback value Tps converted into the system, and a canceling torque vibration command value Tp (T′p in Expression (25)) is set. When the rotational phase δ is 90 degrees (π / 2), a value obtained by multiplying the second feedback value Tps by −1 is set as a command value Tp for canceling torque vibration (T′p in Expression (25)). The

  In the second embodiment to be described later, as will be described with reference to Expression (40) and FIG. 18, the command value Tp for the canceling torque vibration is finally set in the matrix calculation of fixed coordinate conversion or speed torque coordinate rotation. It may be configured such that only the operation of the line reflected in the above is performed, and the operation of the line not reflected is not performed.

3-4-20. Behavior of Torque Vibration Cancellation Control Next, FIG. 12 shows an example of the behavior of torque vibration cancellation control. FIG. 12 shows an example of the control behavior when the torque vibration canceling control unit 40 is configured as shown in FIG. Even when the torque vibration canceling control unit 40 is configured as shown in FIGS. 11B, 11C, 11D, and 11E, a canceling torque vibration command similar to that shown in FIG. The control behavior of the value Tp and the vibration convergence behavior of the rotational speed vibration ωmv are obtained.

Until the torque vibration cancellation control is started (until time t11), the transmission torque vibration Teov cannot be sufficiently canceled with the cancellation torque vibration command value Tp, and the total torque vibration Tov is generated. For this reason, a rotational speed vibration ωmv is generated in the rotational speed ωm of the rotating electrical machine MG.
The torque vibration canceling control unit 40 calculates a phase-delayed rotational speed vibration ωmvdly obtained by delaying the rotational speed vibration ωmv extracted from the rotational speed ωm of the rotating electrical machine MG by a phase of 90 degrees at the torque vibration frequency ωp. As shown in FIG. 12, the rotational speed vibration ωmv and the phase-delayed rotational speed vibration ωmvdly (ωmvs) expressed in the fixed coordinate system vibrate at the torque vibration frequency ωp.

  The torque vibration canceling control unit 40 is configured to rotate the rotational speed vibration ωmv and the phase-delayed rotational speed vibration ωmvdly (ωmvs) expressed in the fixed coordinate system, and the rotational coordinate system value ωmv_uv obtained by rotating the fixed coordinate system at the torque vibration frequency ωp. And ωmvs_uv are subjected to rotational coordinate transformation. As shown in FIG. 12, the rotational speed vibration value ωmv_uv and the phase delayed rotational speed vibration value ωmvs_uv converted into the rotational coordinate system are not oscillated at the torque vibration frequency ωp, and are shown on the right side of FIG. As shown, the rotational speed vibration ωmv can be observed in the rotating coordinate system with the vibration stopped.

  As shown in FIG. 11A, the torque vibration canceling control unit 40 uses the speed torque coordinates represented by Expression (10) with respect to the rotational speed vibration values ωmv_uv and ωmvs_uv represented in the rotational coordinate system. Rotation is performed to calculate total torque vibration values Tov_uv and Tovs_uv expressed in the rotating coordinate system. As shown on the right side of FIG. 12, the total torque vibration values Tov_uv and Tovs_uv expressed in the rotating coordinate system are 90 degrees (π / 2) with respect to the rotational speed vibration values ωmv_uv and ωmvs_uv expressed in the rotating coordinate system. Is advanced by the phase δ.

  The torque vibration canceling control unit 40 performs feedback control to change the canceling torque vibration command values Tp_uv and Tps_uv of the rotating coordinate system so that the total torque vibration values Tov_uv and Tovs_uv expressed in the rotating coordinate system approach zero. Yes. As shown on the right side of FIG. 12, the canceling torque vibration command values Tp_uv and Tps_uv in the rotating coordinate system are changed by feedback control in a direction in which the total torque vibration values Tov_uv and Tovs_uv expressed in the rotating coordinate system are brought close to zero. . Accordingly, the total torque vibration values Tov_uv and Tovs_uv, which are the sum of the transmission torque vibration and the cancellation torque vibration command value, converge to zero. The rotational speed vibration values ωmv_uv and ωmvs_uv expressed in the rotational coordinate system also converge to zero.

  The torque vibration canceling control unit 40 performs the canceling coordinate vibration command values Tp_uv and Tps_uv in the rotating coordinate system by performing the fixed coordinate conversion represented by the equation (11), and the canceling torque vibration command value Tp expressed in the fixed coordinate system. Is calculated. As shown in FIG. 12, by this fixed coordinate conversion, the canceling torque vibration that vibrates automatically at the torque vibration frequency ωp is automatically derived from the canceling torque vibration command values Tp_uv and Tps_uv where the vibration is stopped in the rotating coordinate system. The command value Tp can be generated.

  As shown in FIG. 12, with the feedback change of the canceling torque vibration command values Tp_uv and Tps_uv in the rotating coordinate system, the canceling torque vibration command value Tp expressed in the fixed coordinate system changes in a direction to cancel the transmission torque vibration Teov. As a result, the amplitude of the total torque vibration Tov converges to zero.

これにより、速度トルク座標回転により、各種遅れを補償することができ、フィードバック制御による収束性を向上させることができる。よって、回転座標系で表した回転速度振動の値Ｑを、真直ぐゼロに向かう方向に変化させることができる。
このように速度トルク座標変換に遅れ位相φの補償（位相遅れ補償）を含ませる座標変換は、図１１と同様に、以下で説明するような数学的に等価な処理に変形することができる。 [Second Embodiment]
Next, a second embodiment of the rotating electrical machine control device 32 according to the present invention will be described.
In the first embodiment described above, the torque vibration canceling control unit 40 advances the phase δ of 90 degrees in the speed torque coordinate rotation represented by the equations (10) and (12) to (15). The case where (coordinates are rotated) has been described as an example. However, the embodiment of the present invention is not limited to this. That is, the torque vibration cancellation control unit 40 may be configured to advance by a phase δ other than 90 degrees. In this case, for example, various delays such as a communication delay in the rotating electrical machine control device 32 and a response delay of the actual output torque Tm of the rotating electrical machine MG with respect to the command value Tp of the canceling torque vibration are represented by a delay phase φ at the torque vibration frequency ωp. In other words, as shown in the following equation, the delay phase φ (absolute value) due to the various delays may be added to 90 degrees and set to the phase δ.

Thereby, various delays can be compensated by rotation of the speed torque coordinates, and convergence by feedback control can be improved. Therefore, the rotational speed vibration value Q expressed in the rotational coordinate system can be changed in a direction toward straight zero.
In this way, the coordinate transformation that includes the compensation of the lag phase φ (phase lag compensation) in the velocity torque coordinate transformation can be transformed into a mathematically equivalent process as described below, as in FIG.

この式（２７）の場合は、回転座標変換を実行する際に用いた、トルク振動周波数ωｐで変化している回転位相（ωｐ×ｔ）の固定座標変換と、９０度（π／２）の位相進み座標回転と、遅れ位相φの位相進み座標回転と、を１つの固定座標変換（座標回転）で行うように構成されている。すなわち、回転位相（ωｐ×ｔ）に９０度（π／２）と遅れ位相φとを加算した回転位相（ωｐ×ｔ＋π／２＋φ）の固定座標変換を行うように構成されている。よって、座標変換（座標回転）の回数が増加して演算処理負荷を増加させることなく、遅れ位相φの補償処理を行うことができる。なお、所定位相の固定座標変換は、所定位相の位相進み座標回転と数学的に同じである。 <When speed torque coordinate conversion and phase lag compensation are performed after feedback control>
First, a case where speed torque coordinate conversion and phase delay compensation are performed after feedback control will be described.
As shown in FIG. 11C, the equation (14) in the case where the speed torque coordinate rotation is included in the fixed coordinate transformation is obtained by substituting the equation (26) into the following equation and FIG. It becomes like this.

In the case of this equation (27), the fixed coordinate transformation of the rotational phase (ωp × t) changing at the torque vibration frequency ωp and 90 degrees (π / 2) used when the rotational coordinate transformation is executed. The phase advance coordinate rotation and the phase advance coordinate rotation of the delayed phase φ are performed by one fixed coordinate conversion (coordinate rotation). That is, it is configured to perform fixed coordinate transformation of the rotational phase (ωp × t + π / 2 + φ) obtained by adding 90 degrees (π / 2) and the delayed phase φ to the rotational phase (ωp × t). Therefore, the compensation process for the delay phase φ can be performed without increasing the number of times of coordinate transformation (coordinate rotation) and increasing the calculation processing load. Note that the fixed coordinate transformation of the predetermined phase is mathematically the same as the phase advance coordinate rotation of the predetermined phase.

式（２８）及び図１５（ｂ１）の場合は、９０度（π／２）の位相進み座標回転を行った後、回転位相（ωｐ×ｔ＋φ）の固定座標変換を行う場合である。
式（２９）及び図１５（ｂ２）の場合は、回転位相（ωｐ×ｔ＋φ）の固定座標変換を行った後、９０度（π／２）の位相進み座標回転を行う場合である。 Alternatively, the processing of Expression (27) and FIG. 15A can be transformed into mathematically equivalent processing as described below.
For example, the equation (27) is converted into a fixed coordinate transformation of the rotational phase (ωp × t + φ) obtained by adding the delay phase φ to the rotational phase (ωp × t) used in executing the rotational coordinate transformation, and 90 degrees (π / When divided into the phase advance coordinate rotation of 2), it can be transformed as shown in Equation (28) and FIG. 15 (b1), or Equation (29) and FIG. 15 (b2).

In the case of Expression (28) and FIG. 15 (b1), the phase advance coordinate rotation of 90 degrees (π / 2) is performed, and then the fixed coordinate conversion of the rotation phase (ωp × t + φ) is performed.
In the case of Expression (29) and FIG. 15 (b2), the phase advance coordinate rotation of 90 degrees (π / 2) is performed after the fixed coordinate conversion of the rotation phase (ωp × t + φ) is performed.

  In the case of the equation (28) and FIG. 15 (b1), as shown in the equation (25) by the matrix calculation of [0−1, 10] which is the phase advance coordinate rotation of 90 degrees (π / 2). A value obtained by multiplying the value of the second rotation axis v by −1 is set as the value of the first rotation axis u, and the value of the first rotation axis u is set as the value of the second rotation axis v. Similarly, a value obtained by multiplying the value of the second fixed axis y by −1 by the matrix calculation of [0−1, 10] in Expression (29) and FIG. 15B2 is the value of the first fixed axis x. As a value, the value of the first fixed axis x is set as the value of the second fixed axis y. Therefore, since the processing of Expression (28) and Expression (29) includes simple processing for exchanging the axis values and processing for one fixed coordinate transformation (coordinate rotation), the processing load is increased. And phase lag compensation processing can be performed.

式（３０）及び図１５（ｃ１）の場合は、回転位相（π／２＋φ）の位相進み座標回転を行った後、回転位相（ωｐ×ｔ）の固定座標変換を行う場合である。
式（３１）及び図１５（ｃ２）の場合は、回転位相（ωｐ×ｔ）の固定座標変換を行った後、回転位相（π／２＋φ）の位相進み座標回転を行う場合である。 Alternatively, the equation (27) can be converted into a fixed coordinate transformation of the rotational phase (ωp × t) used when executing the rotational coordinate transformation and 90 degrees (π / 2) used when the rotational coordinate transformation is executed. When divided into rotation phase (π / 2 + φ) phase advance coordinate rotation to which the delay phase φ is added, it can be transformed as shown in Equation (30) and FIG. 15 (c1), or Equation (31) and FIG. 15 (c2). .

In the case of Expression (30) and FIG. 15 (c1), the phase advance coordinate rotation of the rotation phase (π / 2 + φ) is performed, and then the fixed coordinate conversion of the rotation phase (ωp × t) is performed.
In the case of the equation (31) and FIG. 15 (c2), the fixed coordinate transformation of the rotational phase (ωp × t) is performed, and then the phase advance coordinate rotation of the rotational phase (π / 2 + φ) is performed.

  In the case of formula (30) or formula (31), calculation of the sine (sin (φ)) and cosine (cos (φ)) of the delayed phase φ is necessary in the phase advance coordinate rotation of the rotational phase (π / 2 + φ). However, the sine of the rotational phase (ωp × t) (sin (ωp × t)) and the fixed coordinate transformation of Equation (30) or Equation (31) and the rotational coordinate transformation of Equation (8) and Since the cosine (cos (ωp × t)) calculation can be made common, an increase in calculation processing load can be suppressed as a whole.

この式（３２）の場合は、固定座標変換を実行する際にも用いる、トルク振動周波数ωｐで変化している回転位相（ωｐ×ｔ）の回転座標変換と、９０度（π／２）の位相進み座標回転と、遅れ位相φの位相進み座標回転と、を１つの回転座標変換（座標回転）で行うように構成されている。すなわち、回転位相（ωｐ×ｔ）から９０度（π／２）と遅れ位相φとを減算した回転位相（ωｐ×ｔ−π／２−φ）の回転座標変換を行うように構成されている。よって、座標変換（座標回転）の回数が増加して演算処理負荷を増加させることなく、遅れ位相φの補償処理を行うことができる。なお、所定位相の回転座標変換は、所定位相の位相遅れ座標回転と数学的に同じである。 <When speed torque coordinate conversion and phase lag compensation are performed before feedback control>
Next, a case where speed torque coordinate conversion and phase delay compensation are performed before feedback control will be described.
As shown in FIG. 11B, the equation (12) in the case where the rotation torque coordinate rotation is included in the rotation coordinate transformation is obtained by substituting the equation (26) into the following equation and FIG. It becomes like this.

In the case of this equation (32), the rotational coordinate transformation of the rotational phase (ωp × t) changing at the torque vibration frequency ωp, which is also used when executing the fixed coordinate transformation, and 90 degrees (π / 2). The phase advance coordinate rotation and the phase advance coordinate rotation of the delay phase φ are configured to be performed by one rotation coordinate conversion (coordinate rotation). That is, the rotation coordinate transformation of the rotation phase (ωp × t−π / 2−φ) obtained by subtracting 90 degrees (π / 2) and the delay phase φ from the rotation phase (ωp × t) is performed. . Therefore, the compensation process for the delay phase φ can be performed without increasing the number of times of coordinate transformation (coordinate rotation) and increasing the calculation processing load. The rotation coordinate transformation of the predetermined phase is mathematically the same as the phase delay coordinate rotation of the predetermined phase.

式（３３）及び図１６（ｂ１）の場合は、９０度（π／２）の位相進み座標回転を行った後、回転位相（ωｐ×ｔ−φ）の回転座標変換を行う場合である。
式（３４）及び図１６（ｂ２）の場合は、回転位相（ωｐ×ｔ−φ）の回転座標変換を行った後、９０度（π／２）の位相進み座標回転を行う場合である。 Alternatively, the processing of Expression (32) and FIG. 16A can be transformed into mathematically equivalent processing as described below.
For example, the equation (32) is converted into a rotation coordinate transformation of the rotation phase (ωp × t−φ) obtained by subtracting the delay phase φ from the rotation phase (ωp × t) also used when executing the fixed coordinate transformation, and −90 degrees. When divided into phase lag coordinate rotation of (−π / 2), it can be transformed as shown in Expression (33) and FIG. 16 (b1), or Expression (34) and FIG. 16 (b2). Here, a phase delay coordinate rotation of −90 degrees (−π / 2) is equivalent to a phase advance coordinate rotation of 90 degrees (π / 2).

In the case of Expression (33) and FIG. 16 (b1), the phase advance coordinate rotation of 90 degrees (π / 2) is performed, and then the rotation coordinate conversion of the rotation phase (ωp × t−φ) is performed.
In the case of the equation (34) and FIG. 16 (b2), the rotation coordinate transformation of the rotation phase (ωp × t−φ) is performed, and then the phase advance coordinate rotation of 90 degrees (π / 2) is performed.

  The value of the second fixed axis y as shown in Expression (25) by the matrix calculation of [0−1, 10] that is the phase advance coordinate rotation of 90 degrees (π / 2) in Expression (33). A value obtained by multiplying -1 by -1 is set as the value of the first fixed axis x, and the value of the first fixed axis x is set as the value of the second fixed axis y. Similarly, a value obtained by multiplying the value of the second rotation axis v by −1 is set as the value of the first rotation axis u by the matrix calculation of [0−1, 1 0] in Expression (34), The value of one rotation axis u is set as the value of the second rotation axis v. Therefore, since the processing of Expression (33) and Expression (34) includes simple processing for exchanging the axis values and processing for one rotation coordinate transformation (coordinate rotation), the processing load is increased. And phase lag compensation processing can be performed.

式（３５）及び図１６（ｃ１）の場合は、回転位相（π／２＋φ）の位相進み座標回転を行った後、回転位相（ωｐ×ｔ）の回転座標変換を行う場合である。
式（３６）及び図１６（ｃ２）の場合は、回転位相（ωｐ×ｔ）の回転座標変換を行った後、回転位相（π／２＋φ）の位相進み座標回転を行う場合である。 Alternatively, the equation (32) is converted into a rotational coordinate transformation of the rotational phase (ωp × t) used also when executing the fixed coordinate transformation, and a rotational phase obtained by subtracting the delay phase φ from −90 degrees (−π / 2) ( When divided into phase lag coordinate rotation (rotation phase (π / 2 + φ) phase advance coordinate rotation) of −π / 2−φ), equation (35) and FIG. 16 (c1), or equation (36) and FIG. It can be deformed as in (c2).

In the case of Expression (35) and FIG. 16 (c1), after rotating the phase advance coordinate of the rotation phase (π / 2 + φ), the rotation coordinate conversion of the rotation phase (ωp × t) is performed.
In the case of Expression (36) and FIG. 16 (c2), the rotational coordinate conversion of the rotational phase (ωp × t) is performed, and then the phase advance coordinate rotation of the rotational phase (π / 2 + φ) is performed.

  In the case of Equation (35) or Equation (36), the calculation of the sine (sin (φ)) and cosine (cos (φ)) of the lag phase φ is necessary in the phase advance coordinate rotation of the rotation phase (π / 2 + φ). However, the sine of the rotational phase (ωp × t) (sin (ωp × t)) and the rotation coordinate transformation of the equation (35) or (36) and the fixed coordinate transformation of the equation (11) Since the cosine (cos (ωp × t)) calculation can be made common, an increase in calculation processing load can be suppressed as a whole.

<Summary>
15 (a) to 15 (c2) and FIGS. 16 (a) to 16 (c2), the fixed coordinate system canceling torque vibration command value T (Tp ( t), Tps (t)) is 90 degrees (π) with respect to the phase of the rotational speed vibration value P (ωmv (t), ωmvs (t)) of the fixed coordinate system before the rotational coordinate transformation. / 2) In addition to the coordinate rotation process to be advanced, the phase advance process to advance by the delayed phase φ (absolute value) may be performed. Such a processing unit that performs the phase advance processing of the delayed phase φ is referred to as a phase advance processing unit.

  15 (c1), (c2), FIG. 16 (c1), and (c2), the phase advance unit that executes the phase advance process to advance by the delayed phase φ (absolute value) is 90 degrees (π / 2) It is included in the coordinate rotation unit that performs the coordinate rotation process to be advanced, and the phase advance process is executed together with the coordinate rotation. In the case shown in FIG. 15C1, the process of the coordinate rotation unit including the phase advancer is executed after the feedback control is executed and before the fixed coordinate conversion is executed. In the case shown in FIG. 15C2, after the fixed coordinate conversion is executed, the process of the coordinate rotation unit including the phase advancement unit is executed. In the case shown in FIG. 16C1, the process of the coordinate rotation unit including the phase advancer is executed before the rotation coordinate conversion is executed. In the case shown in FIG. 16C2, the process of the coordinate rotation unit including the phase advancement unit is executed after the rotation coordinate conversion is executed and before the feedback control is executed. It should be noted that the coordinate rotation processing unit for executing the coordinate rotation processing advanced by 90 degrees (π / 2) and the phase advancement unit advanced by the delayed phase φ (absolute value) may be separated and provided as separate rotational coordinate transformations. Good.

15 (a), (b1), (b2), and FIGS. 16 (a), (b1), and (b2), the phase advance unit is included in one of the rotation coordinate conversion unit and the fixed coordinate conversion unit. Then, the phase advance processing is executed together with the one coordinate transformation.
In the cases shown in FIGS. 15B1 and 15B2, the phase advancement unit is included in the fixed coordinate conversion unit, and the rotation phase (ωp × t) used when executing the rotation coordinate conversion is changed to the delayed phase φ (absolute value). ) The fixed coordinate transformation is executed using the rotation phase advanced by (ωp × t + φ). In the case shown in FIG. 15A, the phase advancer and the coordinate rotation unit are included in the fixed coordinate conversion unit, and the rotation phase (ωp × t) used when executing the rotation coordinate conversion is 90 degrees ( Fixed coordinate transformation is executed using the rotation phase (ωp × t + π / 2 + φ) advanced by (π / 2) and the delay phase φ (absolute value).
In the case shown in FIGS. 16B1 and 16B2, the rotational phase conversion unit (ωp × t) used when the fixed coordinate conversion is executed is included in the rotational coordinate conversion unit, and the phase advancement unit is the delayed phase φ (absolute value). The rotational coordinate transformation is executed using the rotational phase delayed by (ωp × t−φ). In the case shown in FIG. 16 (a), the phase advancement unit and the coordinate rotation unit are included in the rotation coordinate conversion unit, and the rotation phase (ωp × t) used when executing the fixed coordinate conversion is 90 degrees (π / 2) and the rotational phase (ωp × t−π / 2−φ) delayed by the delayed phase φ (absolute value) is executed.
In the case shown in FIG. 15 (b1), after the feedback control is executed, the process of the coordinate rotation unit that advances 90 degrees (π / 2) is executed, and then the process of fixed coordinate conversion including the phase advancement unit is executed. Is done. In the case shown in FIG. 15 (b2), after the feedback control is executed, the process of the fixed coordinate conversion including the phase advancement unit is executed, and then the process of the coordinate rotation unit advanced by 90 degrees (π / 2) is executed. The In the case shown in FIG. 16 (b1), the process of the coordinate rotation unit advanced by 90 degrees (π / 2) is executed before the rotation coordinate conversion including the phase advancement unit is executed. In the case shown in FIG. 16 (b2), after the rotation coordinate conversion including the phase advancement unit is executed and before the feedback control is executed, the process of the coordinate rotation unit advanced 90 degrees (π / 2) is performed. Executed.

<Calculation of delayed phase φ>
In the present embodiment, the torque vibration canceling control unit 40 includes a phase delay calculating unit that calculates the delay phase φ.
The phase delay calculation unit calculates a delay phase φ of the output torque Tm of the rotating electrical machine MG with respect to the command value Tp for the canceling torque vibration. This delay phase φ is caused by a processing delay caused by a communication delay (communication cycle) or a calculation cycle in the rotating electrical machine control device 32, a response delay of the current feedback control system, or the like.

The arithmetic processing delay and the response delay of the current feedback control system will be described in detail below.
<Calculation processing delay>
The output torque command value Tmo is transmitted from the torque vibration canceling control unit 40 to the inverter control unit 51 by communication, and an arithmetic processing delay occurs due to the communication cycle. The inverter control unit 51 is a current command setting control unit that sets a current command based on the transmitted output torque command value Tmo, a current that changes the voltage command so that the actual current flowing through the rotating electrical machine MG approaches the current command. Consists of multiple control units such as a feedback control unit and a pulse width modulation control unit that drives the switching element on and off by a pulse width modulation method based on a voltage command. The calculation cycle of each control unit, or between control units There is a delay in computation processing due to the communication cycle.
Due to these arithmetic processing delays, the voltage applied to the rotating electrical machine MG changes in a dead time delay with respect to the change in the output torque command value Tmo. Therefore, a phase delay of the output torque of the rotating electrical machine MG with respect to the output torque command value Tmo occurs.

<Response delay of current feedback control system>
Due to the inductance and resistance of the coil, the actual current changes in a first order lag with respect to the change in the applied voltage. Due to the response delay of the control target and the response characteristics of the current feedback control unit including integration calculation and proportional calculation, the current feedback control system has an actual current corresponding to the current command set based on the output torque command value Tmo. A phase lag occurs. In accordance with the phase delay of the actual current with respect to this current command, a phase delay of the output torque of the rotating electrical machine MG with respect to the output torque command value Tmo occurs.

In the present embodiment, as shown in the following equation, the phase delay calculation unit calculates the operation processing delay phase φ1 that is the delay phase φ caused by the operation processing delay and the current that is the delay phase φ generated by the response delay of the current feedback control system. The control system delay phase φ2 is added to calculate the delay phase φ.

ここで、トルク振動周波数ωｐは、式（１６）に示したように、回転電機ＭＧの回転速度ωｍ又はエンジンＥの回転速度ωｅに応じて算出される。演算処理遅れ時間Ｔ１は、上記したように、演算処理遅れによって出力トルク指令値Ｔｍｏが変化してから回転電機ＭＧに印加される電圧が変化するまでのむだ時間に対応して、予め設定されている。ここで、むだ時間が、ランダムに高周波で変動する場合は、むだ時間の平均値が演算処理遅れ時間Ｔ１に予め設定される。また、むだ時間が、運転条件又は制御モードによって変化する場合は、演算処理遅れ時間Ｔ１は、運転条件又は制御モードに応じて、予め個別に設定された値に設定される。
このように、むだ時間に対応する演算処理遅れ時間Ｔ１にトルク振動周波数ωｐを乗算することで、演算処理遅れによる遅れ位相φ１を算出することができる。 <Calculation of arithmetic processing delay phase φ1>
The phase delay calculation unit is configured to calculate the calculation processing delay phase φ1 based on the torque vibration frequency ωp and the calculation processing delay time T1.
In the present embodiment, the phase delay calculation unit sets a value obtained by multiplying the torque vibration frequency ωp (angular frequency, angular velocity) and the calculation processing delay time T1 as the calculation processing delay phase φ1, as shown in Expression (38). Is configured to do.

Here, the torque vibration frequency ωp is calculated according to the rotational speed ωm of the rotating electrical machine MG or the rotational speed ωe of the engine E as shown in the equation (16). As described above, the arithmetic processing delay time T1 is set in advance corresponding to the dead time from when the output torque command value Tmo changes due to the arithmetic processing delay until the voltage applied to the rotating electrical machine MG changes. Yes. Here, when the dead time fluctuates randomly at a high frequency, an average value of the dead time is set in advance as the arithmetic processing delay time T1. In addition, when the dead time changes depending on the operation condition or the control mode, the calculation processing delay time T1 is set to a value set individually in advance according to the operation condition or the control mode.
Thus, by multiplying the calculation processing delay time T1 corresponding to the dead time by the torque vibration frequency ωp, the delay phase φ1 due to the calculation processing delay can be calculated.

<Calculation of current control system delay phase φ2>
The phase delay calculation unit is configured to calculate the current control system delay phase φ2 based on the torque vibration frequency ωp and the response characteristic of the current feedback control system.
FIG. 17 shows an example of response characteristics of the current feedback control system. FIG. 17 is a Bode diagram showing the response characteristics of the actual current with respect to the current command in the current feedback control system in terms of gain and phase in the frequency domain. FIG. 17 shows an example in which the current feedback control unit is configured such that the response characteristic of the current feedback control system is first-order lag, and the control gain of the current feedback control unit is set. In the case of the first-order lag, as shown in FIG. 17, the phase is 45 degrees (π / 4) at the first-order lag cutoff frequency ωf (angular frequency) that is the reciprocal (2π / Tf) of the time constant Tf of the first-order lag. Be late.

In the present embodiment, the phase lag calculation unit is configured to calculate the current control system lag phase φ2 based on the relative frequency of the torque vibration frequency ωp with respect to the cutoff frequency ωf in the response characteristic of the current feedback control system. . For example, the phase delay calculation unit includes a map in which a relational characteristic between the relative frequency obtained by dividing the torque vibration frequency ωp by the cutoff frequency ωf and the current control system delay phase φ2 is set in advance. The phase delay calculation unit is configured to calculate the current control system delay phase φ2 using the map based on the relative frequency calculated by dividing the torque vibration frequency ωp by the cutoff frequency ωf. When the cutoff frequency ωf changes according to the operating conditions, the cutoff frequency ωf is changed according to the operating conditions.
Even when the response characteristic of the current feedback control system is not the primary delay, the current control system delay phase φ2 can be calculated based on the relative frequency of the torque vibration frequency ωp with respect to the cutoff frequency ωf of the response characteristic. Here, the cutoff frequency is defined as a frequency at which the gain is −3 dB in the Bode diagram.

  Alternatively, without using the relative frequency, the phase delay calculation unit includes a map in which the relational characteristic between the torque vibration frequency ωp and the current control system delay phase φ2 is set in advance based on the response characteristic of the current feedback control system. Therefore, the current control system delay phase φ2 may be calculated using the map based on the torque vibration frequency ωp.

ここで、式（３９）において、第一固定軸ｘにおける第一フィードバック値Ｔｐ（ｔ）が、最終的に打消トルク振動の指令値Ｔｐとして設定されるので、第二固定軸ｙにおける第二フィードバック値Ｔｐｓ（ｔ）を算出する必要がない。よって、本実施形態では、次式及び図１８に示すように、第二固定軸ｙにおける第二フィードバック値Ｔｐｓ（ｔ）を算出せずに、第一固定軸ｘにおける第一フィードバック値Ｔｐ（ｔ）のみを算出するように構成されている。

すなわち、９０度（π／２）の位相進み座標回転により、フィードバック制御により算出された第二回転軸ｖの第二フィードバック値Ｔｐｓ＿ｕｖに−１を乗算した値が、第一回転軸ｕの値として設定され、第一回転軸ｕの第一フィードバック値Ｔｐ＿ｕｖが、第二回転軸ｖの値として設定される。すなわち、第一回転軸ｕの値と、第二回転軸ｖの値とが入れ替えられる。そして、固定座標変換により、第一回転軸ｕの値（符号を反転した第二フィードバック値Ｔｐｓ＿ｕｖ）に、回転座標変換を実行する際に用いた、トルク振動周波数ωｐで変化している回転位相（ωｐ×ｔ）に遅れ位相φを加算した回転位相（ωｐ×ｔ＋φ）の余弦（cos(ωｐ×ｔ＋φ)）の値を乗算した値と、第二回転軸ｖの値（第一フィードバック値Ｔｐ＿ｕｖ）に、符号を反転した回転位相（ωｐ×ｔ＋φ）の正弦（sin(ωｐ×ｔ＋φ)）を乗算した値と、を加算した値を、打消トルク振動の指令値Ｔｐとして設定するように構成されている。 <Operation example>
Hereinafter, an example in the case of being configured as shown in Expression (28) and FIG. 15B1 will be described.
With respect to the canceling torque vibration command value S (Tp_uv (t), Tps_uv (t)) of the rotating coordinate system calculated by the feedback control, fixed coordinate conversion and coordinate rotation shown in Expression (28) and FIG. 15 (b1) are performed. The calculation for performing the cancellation torque vibration command value T (Tp (t), Tps (t)) in the fixed coordinate system is as follows.

Here, in the equation (39), the first feedback value Tp (t) on the first fixed shaft x is finally set as the command value Tp for the canceling torque vibration, so the second feedback on the second fixed shaft y. There is no need to calculate the value Tps (t). Therefore, in this embodiment, as shown in the following equation and FIG. 18, the first feedback value Tp (t (t) on the first fixed axis x is calculated without calculating the second feedback value Tps (t) on the second fixed axis y. ) Only.

That is, a value obtained by multiplying the second feedback value Tps_uv of the second rotation axis v calculated by feedback control by −1 by the phase advance coordinate rotation of 90 degrees (π / 2) is the value of the first rotation axis u. The first feedback value Tp_uv of the first rotation axis u is set as the value of the second rotation axis v. That is, the value of the first rotation axis u and the value of the second rotation axis v are interchanged. Then, by the fixed coordinate transformation, the rotational phase (the second feedback value Tps_uv with the sign inverted) is changed to the value of the first rotational axis u, which is changed at the torque vibration frequency ωp used when the rotational coordinate transformation is performed ( The value obtained by multiplying the value of the cosine (cos (ωp × t + φ)) of the rotational phase (ωp × t + φ) obtained by adding the delayed phase φ to ωp × t) and the value of the second rotation axis v (first feedback value Tp_uv) And a value obtained by multiplying the value obtained by multiplying the sine (sin (ωp × t + φ)) of the rotation phase (ωp × t + φ) with the sign inverted, is set as the command value Tp for the canceling torque vibration. Yes.

  In the end, as shown in Expression (40), this calculation is performed by using the cosine (cos (ωp × t + φ) of the rotation phase (ωp × t + φ) whose sign is inverted to the second feedback value Tps_uv of the second rotation axis v. ) And the value obtained by multiplying the first feedback value Tp_uv of the first rotation axis u by the value of the sine (sin (ωp × t + φ)) of the rotation phase (ωp × t + φ) with the sign reversed. The added value is configured to be set as a canceling torque vibration command value Tp.

[Other Embodiments]
Finally, other embodiments of the present invention will be described. Note that the configuration of each embodiment described below is not limited to being applied independently, and can be applied in combination with the configuration of other embodiments as long as no contradiction arises.

(1) In each of the embodiments described above, the hybrid vehicle includes the control devices 31 to 34, and the rotating electrical machine control device 32 includes the torque vibration canceling control unit 40 as an example. However, the embodiment of the present invention is not limited to this. That is, the rotating electrical machine control device 32 may be provided as a control device integrated in any combination with the plurality of control devices 31, 33, and 34, and the sharing of the functional units provided in the control devices 31 to 34 is also arbitrary. Can be set to

(2) In each of the above embodiments, apart from the speed change mechanism TM, a frictional engagement element that connects and disconnects the drive connection between the rotating electrical machine MG and the wheel W, or a direct connection between the torque converter and the input / output members of the torque converter. A configuration provided with a friction engagement element to be engaged is also one preferred embodiment of the present invention.

(3) In each of the above embodiments, the case where the speed change mechanism TM is a stepped automatic transmission has been described as an example. However, the embodiment of the present invention is not limited to this. That is, a configuration in which the transmission mechanism TM is a transmission other than the stepped automatic transmission, such as a continuously variable automatic transmission capable of continuously changing the gear ratio, is also a preferred embodiment of the present invention. .

(4) In each of the above embodiments, the first power transmission mechanism 10 is configured by members such as a damper, the engine output shaft Eo, and the input shaft I, and the second power transmission mechanism 11 includes the intermediate shaft M, The case where it is configured by members such as the speed change mechanism TM, the output shaft O, and the axle AX has been described as an example. However, the embodiment of the present invention is not limited to this. That is, the first power transmission mechanism 10 and the second power transmission mechanism 11 may be any mechanism that can connect at least power transmission, and may be, for example, only a shaft. The first power transmission mechanism 10 and the second power transmission mechanism 11 may have one or more components selected from a shaft, a clutch, a damper, a gear, a transmission mechanism, and the like.

(5) In each of the above-described embodiments, the torque vibration canceling control unit 40 advances the speed torque coordinate rotation by advancing the phase δ by adding the delay phase φ to 90 degrees or the phase δ of 90 degrees (rotating the coordinates). The case where the corresponding coordinate rotation is performed has been described as an example. However, the embodiment of the present invention is not limited to this. That is, the torque vibration canceling control unit 40 does not perform coordinate rotation corresponding to speed torque coordinate rotation, and performs feedback control so that the values ωmv_uv and ωmvs_uv of the rotational speed vibration expressed in the rotational coordinate system approach zero, The canceling torque vibration command values Tp_uv and Tps_uv of the rotating coordinate system are calculated, the fixed torque conversion of the canceling torque vibration command values Tp_uv and Tps_uv is performed, and the canceling torque vibration command value Tp expressed in the fixed coordinate system is calculated. It may be configured. Even in this case, the rotational speed vibration ωmv can be brought close to zero by setting an appropriate feedback gain or feedback control method.

(6) In each of the embodiments described above, the torque vibration canceling control unit 40 performs a speed torque coordinate rotation that advances (rotates coordinates) by a phase δ of 90 degrees or a phase δ obtained by adding a delay phase φ to 90 degrees. The case where the corresponding coordinate rotation is performed has been described as an example. However, the embodiment of the present invention is not limited to this. If there is a setting difference between the first feedback gain and the second feedback gain, the change direction of the rotation speed vibration value Q expressed in the rotation coordinate system due to the setting difference is taken into account, for example, the rotation speed vibration The phase δ may be adjusted so as to change the value Q in a direction toward straight zero.

この場合は、遅れ位相φ（絶対値）分進める位相進め処理が、フィードバック制御の制御ゲインの設定に含まれ、当該フィードバック制御と共に位相進め処理が実行される。
これにより、遅れ位相φがある場合でも、回転速度振動の値Ｑを、真直ぐゼロに向かう方向に変化させることができる。また、遅れ位相φの変化に応じて、第一フィードバックゲインと第二フィードバックゲインとの間の設定差が調整されるように構成されてもよい。
また、第一フィードバックゲイン及び第二フィードバックゲインを、トルク振動周波数ωｐに応じて（例えば、比例して）、変化させるように構成されてもよい。上記したように、合計トルク振動Ｔｏｖの振幅に対して回転速度振動ωｍｖの振幅が１／（Ｊｍ×ωｐ）倍になる。よって、上記のように構成することで、トルク振動周波数ωｐに比例して低下する、回転速度振動ωｍｖにおける合計トルク振動Ｔｏｖの検出感度を補償することができる。 (7) In each of the above embodiments, the case where the first feedback gain and the second feedback gain are set to the same value has been described as an example. However, the embodiment of the present invention is not limited to this. That is, the first feedback gain and the second feedback gain may be set to different values. Even in this case, it is possible to calculate the first feedback value Tp_uv and the second feedback value Tps_uv that can change the rotational speed vibration value Q expressed in the rotating coordinate system in a direction toward zero. In this case, for example, various delays such as a communication delay in the rotating electrical machine control device 32, a response delay of the actual output torque Tm of the rotating electrical machine MG with respect to the command value Tp of the canceling torque vibration, and the setting of the phase δ are considered. Thus, for example, the first feedback gain value and the second feedback gain value are set to different values so that the rotation speed vibration value Q expressed in the rotating coordinate system is changed in a direction toward straight zero. It may be. In this case, the torque vibration canceling control unit 40 performs coordinate rotation corresponding to speed torque coordinate rotation advanced by 90 degrees phase δ, and provides a setting difference between the first feedback gain and the second feedback gain. (Set to a different value) to compensate for the lagging phase φ. For example, with respect to the first and second feedback gains Kb set to the same value, as shown in the following equation, a value obtained by performing phase advance coordinate rotation of the delay phase φ is set as the final first feedback gain K1. The second feedback gain K2 is set.

In this case, the phase advance process advanced by the delay phase φ (absolute value) is included in the setting of the control gain of the feedback control, and the phase advance process is executed together with the feedback control.
Thereby, even when there is a delay phase φ, the value Q of the rotational speed vibration can be changed in a direction toward straight zero. Further, the setting difference between the first feedback gain and the second feedback gain may be adjusted according to the change in the delay phase φ.
Further, the first feedback gain and the second feedback gain may be changed in accordance with the torque vibration frequency ωp (for example, in proportion). As described above, the amplitude of the rotational speed vibration ωmv is 1 / (Jm × ωp) times the amplitude of the total torque vibration Tov. Therefore, by configuring as described above, it is possible to compensate the detection sensitivity of the total torque vibration Tov in the rotational speed vibration ωmv that decreases in proportion to the torque vibration frequency ωp.

(8) In each of the above embodiments, the case where the transmission torque vibration Teov includes torque vibration transmitted from the engine E to the rotating shaft of the rotating electrical machine MG via the first power transmission mechanism 10 has been described as an example. However, the embodiment of the present invention is not limited to this. That is, the transmission torque vibration Teov transmitted to the rotating shaft of the rotating electrical machine MG is a torque vibration other than the torque vibration transmitted from the engine E to the rotating shaft of the rotating electrical machine MG via the first power transmission mechanism 10. Good. That is, the torque vibration canceling control unit 40 may be configured to perform torque vibration canceling control on the transmission torque vibration Teov other than the torque vibration transmitted from the engine E. The transmission torque vibration Teov to be subjected to torque vibration cancellation control may be singular or plural. The rotating electrical machine control device 32 includes one or a plurality of torque vibration canceling control units 40 corresponding to each transmission torque vibration Teov, and each torque vibration canceling control unit 40 is a torque vibration of the transmission torque vibration Teov to be controlled. You may comprise so that torque vibration cancellation control according to the frequency (omega) p may be performed. In this case, the rotating electrical machine control device 32 causes the rotating electrical machine MG to output a torque command value obtained by summing up the canceling torque vibration command values Tp calculated by each torque vibration canceling control unit 40.

For example, the transmission torque vibration Teov is a torque ripple generated in the output torque Tm of the rotating electrical machine MG, and the rotational vibration extracting unit 41 determines the frequency of the torque ripple from the rotational speed ωm of the rotating electrical machine MG according to the characteristics of the rotating electrical machine MG. The rotational speed vibration ωmv, which is a vibration component in a frequency band determined so as to correspond to ωp, may be extracted. In this case, the torque vibration frequency ωp corresponding to the torque ripple is set to, for example, the torque clip frequency corresponding to the sixth harmonic, and the rotational phase (ωp × t) is replaced by the following equation (22): It may be configured to be calculated as follows.

  Alternatively, the transmission torque vibration Teov is a torque vibration that vibrates at the frequency of the resonance point of the shaft torsional vibration of the power transmission mechanism of the vehicle drive device 1, and the rotational vibration extraction unit 41 is obtained from the rotational speed ωm of the rotating electrical machine MG. The rotational speed vibration ωmv, which is a vibration component in a frequency band determined so as to correspond to the frequency ωp of the resonance point of the axial torsional vibration of the power transmission mechanism of the vehicle drive device 1, may be extracted. The vibration frequency calculation unit 42 sets the frequency of the resonance point of the shaft torsional vibration of the power transmission mechanism of the vehicle drive device 1 to the torque vibration frequency ωp.

  INDUSTRIAL APPLICABILITY The present invention can be suitably used for a control device that outputs torque for canceling the transmission torque vibration to the rotating electric machine with respect to transmission torque vibration that is torque vibration transmitted to the rotating shaft of the rotating electric machine.

θm: rotational angle ωe of rotating electrical machine: rotational speed ωm of engine: rotational speed ωmv of rotating electrical machine: rotational speed vibration ωmvdly: phase delay rotational speed vibration ωp: torque vibration frequency 1: vehicle drive device 10: first power transmission mechanism 11: second power transmission mechanism 31: engine control device 32: rotating electrical machine control device (control device)
33: Power transmission control device 34: Vehicle control device 41: Rotation vibration extraction unit 42: Vibration frequency calculation unit 43: Phase lag rotation vibration calculation unit 44: Fixed coordinate system setting unit 45: Rotation coordinate conversion unit 46: Rotation coordinate system feedback Control unit 47: fixed coordinate conversion unit 48: cancellation torque control unit 50: inverter 51: inverter control unit 52: base torque determination unit CL: engine separation clutch E: engine (internal combustion engine)
I: Input shaft Jm: Inertia moment of rotating electrical machine M: Intermediate shaft MG: Rotary electrical machine N: Engine cylinder number O: Output shaft PC: Hydraulic controller Se1: Engine rotational speed sensor Se2: Input shaft rotational speed sensor Se3: Output Shaft rotational speed sensor TM: transmission mechanism Tb: base torque command value Te: engine output torque Teo: transmission torque Teov: transmission torque vibration Tev: output torque vibration Tm: output torque Tmo of rotating electric machine: output torque command value of rotating electric machine To: Total torque Tov: Total torque vibration Tp: Command value of cancellation torque vibration W: Wheel u: First rotation axis v: Second rotation axis x: First fixed axis y: Second fixed axis

Claims (9)

A control device that causes the rotating electrical machine to output torque for canceling the transmitted torque vibration with respect to the transmitted torque vibration that is torque vibration transmitted to the rotating shaft of the rotating electrical machine,
A rotational vibration extracting unit that extracts rotational speed vibration that is a vibration component of a predetermined frequency band corresponding to the frequency of the transmission torque vibration from the rotational speed of the rotating electrical machine;
A vibration frequency calculation unit that calculates a torque vibration frequency that is a frequency of the transmission torque vibration based on a rotation speed of the rotating electrical machine;
A phase-delayed rotational vibration calculation unit that calculates a phase-delayed rotational speed vibration obtained by delaying the rotational speed vibration by a predetermined phase in the torque vibration frequency based on the rotational speed vibration and the torque vibration frequency;
A fixed coordinate system setting unit that represents the rotational speed vibration and the phase-delayed rotational speed vibration in a fixed coordinate system;
A rotational coordinate conversion unit that performs rotational coordinate conversion for converting the rotational speed vibration and the phase-delayed rotational speed vibration represented in the fixed coordinate system into values of a rotational coordinate system rotated at the torque vibration frequency;
A rotary coordinate system feedback control unit that executes feedback control for calculating a feedback value in the rotary coordinate system so that the values of the rotational speed vibration and the phase-delayed rotational speed vibration converted to the rotary coordinate system are close to zero; ,
A fixed coordinate conversion unit that performs fixed coordinate conversion for converting the feedback value in the rotating coordinate system into a value in the fixed coordinate system;
Based on the feedback value converted to the fixed coordinate system, a command value of a canceling torque vibration that is a torque vibration for canceling the transmission torque vibration is generated, and the rotating electrical machine is configured using the command value of the canceling torque vibration. A canceling torque control unit to control,
A control device comprising: The phase-delayed rotational vibration calculation unit calculates the phase-delayed rotational speed vibration obtained by delaying the rotational speed vibration by 90 degrees in the torque vibration frequency based on the rotational speed vibration and the torque vibration frequency.
The fixed coordinate system setting unit sets an orthogonal coordinate system having a first fixed axis and a second fixed axis obtained by rotating the first fixed axis counterclockwise by 90 degrees as the fixed coordinate system, and Set the rotational speed vibration to the value of the first fixed axis, set the phase delay rotational speed vibration to the value of the second fixed axis,
The rotational coordinate conversion unit uses, as the rotational coordinate system, an orthogonal coordinate system having a first rotational axis and a second rotational axis obtained by rotating both the first fixed axis and the second fixed axis at the torque vibration frequency. And a rotary coordinate transformation for converting the value of the first fixed axis and the value of the second fixed axis in the fixed coordinate system into the value of the first rotary axis and the value of the second rotary axis in the rotary coordinate system. Run
The rotational coordinate system feedback control unit calculates a first feedback value in the first rotational axis so that the value of the first rotational axis in the rotational coordinate system approaches zero, and the value of the second rotational axis. Calculating a second feedback value at the second rotation axis so as to approach zero.
The fixed coordinate conversion unit performs fixed coordinate conversion for converting the first feedback value on the first rotation axis and the second feedback value on the second rotation axis to values of the fixed coordinate system,
The cancellation torque control unit generates a command value of the cancellation torque vibration based on at least one of the first feedback value and the second feedback value converted into the fixed coordinate system, and the command value of the cancellation torque vibration The control apparatus of Claim 1 which controls the said rotary electric machine using. The rotating electrical machine is drivingly connected to the internal combustion engine via the first power transmission mechanism, and drivingly connected to the wheels via the second power transmission mechanism,
The transmission torque vibration includes torque vibration transmitted from the internal combustion engine to the rotating shaft of the rotating electrical machine via the first power transmission mechanism,
The rotational vibration extraction unit extracts the rotational speed vibration, which is a vibration component in a frequency band determined according to the characteristics of the internal combustion engine, from the rotational speed of the rotating electrical machine,
The control device according to claim 1, wherein the vibration frequency calculation unit calculates the torque vibration frequency based on a rotation speed of at least one of the rotating electrical machine and the internal combustion engine. The transmission torque vibration is a torque ripple generated in the output torque of the rotating electrical machine,
The rotational vibration extraction unit extracts, from the rotational speed of the rotating electrical machine, the rotational speed vibration that is a vibration component in a frequency band determined so as to correspond to the frequency of the torque ripple according to characteristics of the rotating electrical machine. Item 4. The control device according to any one of Items 1 to 3.   The phase-delayed rotational vibration calculation unit is based on the rotational speed vibration extracted by the rotational vibration extraction unit this time and in the past, and the phase at the torque vibration frequency at the time when the current and past rotational speed vibrations are extracted. The control device according to claim 1, wherein the phase-delayed rotational speed vibration is calculated.   Coordinate rotation processing is executed so that the phase of the feedback value after the fixed coordinate conversion is advanced 90 degrees with respect to the phase of the rotational speed vibration and the phase delayed rotational speed vibration before the rotational coordinate conversion is performed. The control device according to claim 1, further comprising a coordinate rotation unit.   The phase of the feedback value after performing the fixed coordinate conversion and the rotational speed vibration before performing the rotational coordinate conversion and the delay phase of the output torque of the rotating electrical machine with respect to the command value of the cancellation torque vibration is calculated. The control device according to claim 6, further comprising a phase advancement unit that executes a phase advancement process so as to advance the phase of the phase delay rotational speed vibration by the delay phase.   The phase advance unit is included in any one of the rotation coordinate conversion unit, the fixed coordinate conversion unit, and the coordinate rotation unit, and the phase advance processing is executed together with the one coordinate conversion or coordinate rotation. Item 8. The control device according to Item 7.   The coordinate rotation unit is included in one of the rotation coordinate conversion unit and the fixed coordinate conversion unit, and the coordinate rotation process is executed together with the one coordinate conversion. Control device.

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