JP5682347B2 - Vehicle and vehicle control method - Google Patents

Description

  The present invention relates to control of a vehicle equipped with a plurality of power storage devices connected in parallel to a rotating electrical machine.

  In JP 2009-212020 A (Patent Document 1), a circuit in which a resistance element and a short circuit are connected in parallel to each of the first battery array and the second battery array connected in parallel is connected in series. A power storage device is disclosed that turns on or off a switch of a short circuit of each battery row in accordance with a voltage difference between the first battery row and the second battery row.

JP 2009-212020 A

  By the way, in a vehicle equipped with a plurality of power storage devices connected in parallel to a rotating electrical machine, each of the plurality of power storage devices may not be in the same state. Therefore, since the input / output power allowed in each power storage device is different, there is a problem that it is impossible to achieve both protection of each of the plurality of power storage devices and sufficient display of charge / discharge performance of each of the plurality of power storage devices. is there. For example, when charge / discharge control is performed corresponding to the state of one power storage device having a wide range of allowable input / output power among the plurality of power storage devices, the range of input power allowed in the other power storage device May be used beyond. In addition, when charge / discharge control is performed in correspondence with the other state where the range of input / output power is narrow, the charge / discharge performance of one power storage device may not be sufficiently exhibited.

  In the power storage device disclosed in the above publication, capacity imbalance among a plurality of power storage devices connected in parallel is eliminated, and no consideration is given to the above-described problem.

  The present invention has been made to solve the above-described problems, and its purpose is to fully demonstrate the charge / discharge performance of each of the plurality of power storage devices while protecting each of the plurality of power storage devices. Vehicle and a method for controlling the vehicle are provided.

  A vehicle according to an aspect of the present invention includes a rotating electrical machine for generating a driving force for the vehicle, a plurality of power storage devices for transferring power to and from the rotating electrical machine, and an input / output allowed in the plurality of power storage devices. And a control unit for controlling the vehicle so as to satisfy the required power required for the rotating electrical machine within the power range. The plurality of power storage devices include first and second power storage devices connected in parallel. The allowable power range of the plurality of power storage devices is an upper limit value obtained by adding the discharge side limit values of the first and second power storage devices, and a lower limit value obtained by adding the charge side limit values of the first and second power storage devices. The range between. The control unit sets the upper limit value at the first time point when the power of one of the first and second power storage devices matches one of the discharge-side limit value and the charge-side limit value of the one power. If the boundary value corresponding to the required power in the lower limit value is different from the required power, the corresponding boundary value is matched with the required power.

  Preferably, if the magnitude of the power difference between the required power and the corresponding boundary value is greater than or equal to a predetermined value at the first time point, and if the required power is the power on the discharge side, it corresponds. The boundary value is the upper limit value of the allowable power range. When the magnitude of the power difference is equal to or greater than a predetermined value at the first time point and the required power is the power on the charging side, the corresponding boundary value is the lower limit value of the allowable power range. .

  More preferably, the control unit applies the first correction amount to the upper limit value when the upper limit value matches the required power, and applies the second correction amount to the lower limit value when the lower limit value matches the required power. The control unit sets the second correction amount to zero when the first correction amount is applied to the upper limit value, and sets the first correction amount to zero when the second correction amount is applied to the lower limit value.

  A vehicle control method according to another aspect of the present invention is a vehicle control method used in a vehicle equipped with a rotating electrical machine for generating a driving force and a plurality of power storage devices for transmitting and receiving electric power to and from the rotating electrical machine. It is. The plurality of power storage devices includes first and second power storage devices connected in parallel. The vehicle control method includes a step of controlling the vehicle so as to satisfy a required power required for the rotating electrical machine within an allowable power range in which input and output are allowed in a plurality of power storage devices, and first and second power storage devices At a first time point when one of the powers coincides with one of the discharge side limit value and the charge side limit value of the one power, the required power of the upper limit value and the lower limit value of the allowable power range When the boundary value corresponding to 要求 and the required power are different, the step of matching the corresponding boundary value with the required power is included. The upper limit value of the allowable power range is a value obtained by adding the discharge side limit values of the first and second power storage devices. The lower limit value of the allowable power range is a value obtained by adding the charging side limit values of the first and second power storage devices.

  According to the present invention, when the power of either the first power storage device or the second power storage device matches the limit value, the boundary value corresponding to the required power of the upper limit value and the lower limit value and the required power If there is a difference, the corresponding boundary value is made to match the required power. Thus, until the power of either one of the first power storage device and the second power storage device matches the limit value, the discharge side limit of each power storage device is calculated from the lower limit value obtained by adding the charge side limit values of each power storage device. Charging / discharging is allowed in the range up to the upper limit value. Therefore, compared with the case where charging / discharging is permitted in the range of the lower limit value and the upper limit value, which is twice the smaller absolute value, the power of either the first power storage device or the second power storage device is If it matches the limit value, the corresponding boundary value is made to match the required power after the point of matching. Therefore, the power of the first power storage device and the power of the second power storage device are suppressed from exceeding the limit values. As a result, the first power storage device and the second power storage device can be protected. Therefore, it is possible to provide a vehicle and a vehicle control method for sufficiently exerting the charge / discharge performance of each of the plurality of power storage devices while protecting each of the plurality of power storage devices.

It is a block diagram which shows the whole structure of the vehicle which concerns on this Embodiment. FIG. 5 is a diagram (No. 1) illustrating a relationship between discharge power and power usage allowed in each of a plurality of power storage devices. It is a functional block diagram of ECU mounted in the vehicle which concerns on this Embodiment. It is a flowchart (the 1) which shows the control structure of the program performed with ECU mounted in the vehicle which concerns on this Embodiment. It is a flowchart (the 2) which shows the control structure of the program performed by ECU mounted in the vehicle which concerns on this Embodiment. It is a flowchart (the 3) which shows the control structure of the program performed with ECU mounted in the vehicle which concerns on this Embodiment. It is a flowchart (the 4) which shows the control structure of the program performed with ECU mounted in the vehicle which concerns on this Embodiment. It is a timing chart (the 1) which shows operation | movement of ECU mounted in the vehicle which concerns on this Embodiment. It is a timing chart (the 2) which shows operation | movement of ECU mounted in the vehicle which concerns on this Embodiment. It is a timing chart (the 3) which shows operation | movement of ECU mounted in the vehicle which concerns on this Embodiment. It is a timing chart (the 4) which shows operation | movement of ECU mounted in the vehicle which concerns on this Embodiment. It is a timing chart (the 5) which shows operation | movement of ECU mounted in the vehicle which concerns on this Embodiment. FIG. 6 is a diagram (part 2) illustrating a relationship between discharge power and power usage allowed in each of a plurality of power storage devices.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

  As shown in FIG. 1, a vehicle 10 according to the present embodiment is an electric vehicle. Motor generator (hereinafter referred to as MG) 12, inverter 18, first system main relay (hereinafter referred to as first SMR) 26, first battery 28, and second system main relay (hereinafter referred to as second SMR) 30), a second battery 32, and an ECU (Electronic Control Unit) 200.

  The rotation shaft of MG 12 is connected to a drive shaft for rotating the drive wheels. That is, the vehicle 10 travels with the driving force from the MG 12.

  The MG 12 is, for example, a three-phase AC rotating electric machine that includes a rotor in which a permanent magnet is embedded. MG 12 includes three stator coils of U, V, and W phases. One ends of the three stator coils of the U, V, and W phases of the MG 12 are commonly connected to the neutral point. The other end of each phase is connected to the midpoint of the switching elements of the upper and lower arms of each phase.

  The MG 12 generates driving force using the electric power supplied from the inverter 18. The driving force of the MG 12 is transmitted to the driving wheel. When the vehicle 10 is braked, the MG 12 is driven by the drive wheels, and the MG 12 operates as a generator. In this way, the MG 12 operates as a regenerative brake that converts braking energy into electric power. The electric power generated by the MG 12 is supplied to the inverter 18.

  The first battery 28 and the second battery 32 are rechargeable DC power supplies, for example, secondary batteries such as nickel metal hydride batteries and lithium ion batteries, and large-capacity capacitors. The first battery 28 and the second battery 32 are connected in parallel to the inverter 18. In the present embodiment, the first battery 28 and the second battery 32 will be described as main power sources, but the present invention is not limited to two power storage devices. For example, a battery unit in which three or more power storage devices are connected in parallel may be used as the main power source. In the present embodiment, the first battery 28 and the second battery 32 are described as having the same rated voltage and capacity, but may have different capacities.

  The first battery 28 includes a first battery temperature sensor 156 for detecting the battery temperature TB_a of the first battery 28, a first current sensor 158 for detecting the current IB_a of the first battery 28, and the first battery. And a first voltage sensor 160 for detecting 28 voltages VB_a.

  First battery temperature sensor 156 transmits a signal indicating battery temperature TB_a to ECU 200. First current sensor 158 transmits a signal indicating current IB_a to ECU 200. The first voltage sensor 160 transmits a signal indicating the voltage VB_a to the ECU 200.

  The second battery 32 includes a second battery temperature sensor 162 for detecting the battery temperature TB_b of the second battery 32, a second current sensor 164 for detecting the current IB_b of the second battery 32, and a second battery. And a second voltage sensor 166 for detecting 32 voltages VB_b.

  Second battery temperature sensor 162 transmits a signal indicating battery temperature TB_b to ECU 200. Second current sensor 164 transmits a signal indicating current IB_b to ECU 200. Second voltage sensor 166 transmits a signal indicating voltage VB_b to ECU 200.

  The ECU 200 may calculate the average value of the actually measured values for at least one physical quantity of the received battery temperatures TB_a, TB_b, voltages VB_a, VB_b and currents IB_a, IB_b for a predetermined period as a measured value, Or you may calculate the minimum value of the predetermined period of the measured value of at least any one physical quantity as a measured value.

  ECU 200 controls the operation of inverter 18 by software processing by executing a program stored in advance by a CPU (Central Processing Unit) (not shown) and / or hardware processing by a dedicated electronic circuit.

  Inverter 18 includes an IPM (Intelligent Power Module) 32, a capacitor 36, a discharge resistor 38, and phase current sensors 60 and 62.

  Capacitor 36 is connected between power line MPL and ground line MNL. Capacitor 36 reduces power fluctuation components included in power line MPL and ground line MNL.

  IPM 32 is connected to power line MPL and ground line MNL in parallel with each other. The IPM 32 converts DC power supplied from the first battery 28 and the second battery 32 into AC power and outputs the AC power to the MG 12.

  Further, the IPM 32 converts AC power generated in the MG 12 into DC power and outputs it to the first battery 28 and the second battery 32. The IPM 32 is composed of a bridge circuit including switching elements for three phases, for example.

  The IPM 32 includes U-phase, V-phase, and W-phase upper and lower arms. The upper and lower arms of each phase are connected in parallel between the power line MPL and the ground line MNL. The upper and lower arms of each phase include switching elements connected in series between power line MPL and ground line MNL.

  For example, the U-phase upper and lower arms include switching elements Q1 and Q2. The V-phase upper and lower arms include switching elements Q3 and Q4. The upper and lower arms of the W phase include switching elements Q5 and Q6. Antiparallel diodes D1-D6 are connected to switching elements Q1-Q6, respectively. On / off of switching elements Q1-Q6 is controlled by an inverter drive signal from ECU 200.

  As the switching elements Q1-Q6, for example, a power semiconductor switching element such as an IGBT (Insulated Gate Bipolar Transistor), a power MOS (Metal Oxide Semiconductor) transistor, or a power bipolar transistor is used.

  IPM 32 drives MG 12 by performing a switching operation in accordance with an inverter drive signal from ECU 200.

  ECU 200 is connected to phase current sensors 60 and 62. Phase current sensors 60 and 62 detect the motor current (phase current) of each phase flowing through MG 12. Phase current sensors 60 and 62 output the detected motor current of each phase to ECU 200. Since the sum of the instantaneous values of the three-phase currents is zero, the phase current sensors 60 and 62 detect the motor current for two phases of the MG 12. ECU 200 calculates the remaining one-phase motor current from the detected two-phase motor current. In the present embodiment, phase current sensor 60 detects W-phase current Iw of the three phases of MG 12 and outputs a signal indicating detected current Iw to ECU 200. Phase current sensor 62 detects V-phase current Iv of MG 12 and outputs a signal indicating detected current Iv to ECU 200.

  A resolver 50 is connected to the ECU 200. Resolver 50 detects rotation angle θ of the rotation shaft of MG 12 and outputs the detected rotation angle θ to ECU 200. ECU 200 can calculate the rotational speed and angular speed ω (rad / s) of MG 12 based on rotational angle θ.

  Note that the resolver 50 may be omitted when the ECU 200 directly calculates the rotation angle θ from the motor voltage or current.

  In addition, ECU 200 receives inverter information from inverter 18. The inverter information includes, for example, information on at least one of the temperature of the inverter 18, the voltage and current on the first battery 28 and the second battery 32 side, and the current of each phase supplied to the MG 12. The inverter 18 is provided with various sensors (not shown) for acquiring the inverter information described above.

  The first battery 28 is connected to the inverter 18 via the first SMR 26. First battery 28 is connected to one end of power line MPL and one end of ground line MNL. The other end of second power line PL and the other end of second ground line NL are connected to inverter 18.

  Based on a control signal from ECU 200, first SMR 26 switches from one of the conductive state and the blocked state to the other state. The conduction state is a state in which the first battery 28 and the inverter 18 are electrically connected. The disconnected state is a state where the first battery 28 and the inverter 18 are electrically disconnected.

  Second battery 32 is connected to inverter 18 through second SMR 30. Second battery 32 is connected to one end of power line MPL and one end of ground line MNL. Therefore, the first battery 28 and the second battery 32 are connected in parallel to the inverter 18. ECU 200 controls first SMR 26 and second SMR 30 such that, for example, each state of first SMR 26 and second SMR 30 is switched from the cut-off state to the conductive state when system of vehicle 10 is activated.

  ECU 200 calculates vehicle required power Pm based on detection signals such as a vehicle speed sensor, an accelerator position sensor, and a brake pedal depression force sensor (none of which are shown) and a traveling situation.

  The ECU 200 determines the command power Pc based on the calculated vehicle required power Pm and the allowable power limit value. ECU 200 generates an inverter drive signal based on determined command power Pc. ECU 200 transmits the generated inverter drive signal to inverter 18.

  The allowable power limit value includes an upper limit value Woutf and a lower limit value Winf. The allowable power range is defined by the upper limit value Woutf and the lower limit value Winf. The ECU 200 determines the command power Pc within the allowable power range based on the calculated vehicle required power Pm.

  For example, when calculated vehicle required power Pm exceeds upper limit value Woutf, ECU 200 determines upper limit value Woutf as command power Pc. ECU 200 determines lower limit value Winf as command power Pc when calculated vehicle required power Pm is lower than lower limit value Winf. Furthermore, ECU 200 determines vehicle required power Pm as command power Pc when calculated vehicle required power Pm is within an allowable power range between upper limit value Woutf and lower limit value Winf.

  The ECU 200 uses the first battery 28 and the second battery 32 based on a first allowable power range in which input / output is allowed in the first battery 28 and a first allowable power range in which input / output is allowed in the second battery 32. Determine the overall allowable power range.

  In the vehicle 10 having the above-described configuration, for example, the input power allowed when the ECU 200 charges the first battery 28 (hereinafter referred to as Win_a) and the input power allowed when the second battery 32 is charged. (Hereinafter referred to as Win_b) is used to determine a lower limit value Winf, which is allowed when the first battery 28 is discharged (hereinafter referred to as Wout_a) and when the second battery 32 is discharged. Assume that the upper limit value Woutf is determined by the sum of the output power (hereinafter, Wout_b). Note that Wout_a and Wout_b are positive values, and Win_a and Win_b are negative values.

  In this way, when both the first battery 28 and the second battery 32 are in the same state, the first battery 28 and the second battery 32 perform the same charging / discharging on each battery. Even if this occurs, variations in capacity are unlikely to occur.

  However, when only one of the first battery 28 and the second battery 32 is in a low temperature state, only one of them is deteriorated, or the protection mode is selected for only one of them. When the input / output power (which may be referred to as charge / discharge power in the following description) is more limited than the other, if the same charge / discharge is performed for each battery, Charging / discharging may be performed exceeding the allowable input / output power. Therefore, there is a case where one battery cannot be sufficiently protected.

  On the other hand, it is assumed that ECU 200 determines the allowable power range of first battery 28 and second battery 32 as a whole according to the smaller input / output power of first battery 28 and second battery 32.

  In this case, ECU 200 determines the smaller value of Win_a and Win_b, which is twice as small as lower limit value Winf, and determines the smaller value of Wout_a and Wout_b, which is twice as large as upper limit value Woutf. You can also

  However, in this case, as shown in FIG. 2, for example, the value of the output power Wout_a allowed in the first battery 28 that is not limited to the value of the output power Wout_b allowed in the limited second battery 32 Will be combined. Therefore, the charge / discharge performance of the first battery 28 may not be fully used.

  Therefore, in the present embodiment, ECU 200 determines a value obtained by adding Wout_a and Wout_b as upper limit value Woutf, and determines a value obtained by adding Win_a and Win_b as lower limit value Winf. Further, ECU 200 corresponds to vehicle required power Pm of upper limit value Woutf and lower limit value Winf at a first time point when the power of one of first battery 28 and second battery 32 matches the limit value. When the boundary value and the vehicle required power Pm are deviated, the corresponding boundary value is matched with the vehicle required power Pm at the first time point.

  FIG. 3 shows a functional block diagram of ECU 200 mounted on vehicle 10 according to the present embodiment. ECU 200 includes a first power determination unit 202, a second power determination unit 204, a deviation determination unit 206, a clear processing unit 208, a Woutf determination unit 210, a Winf determination unit 212, and a power control unit 214. .

  The first power determination unit 202 determines whether or not the used power WB_a of the first battery 28 is greater than or equal to Wout_a when the vehicle required power Pm is greater than zero or when the used power WB_a of the first battery 28 is greater than zero. Determine.

  Further, the first power determination unit 202 determines whether the used power WB_a of the first battery 28 is equal to or greater than Win_a when the vehicle required power Pm is smaller than zero or when the used power WB_a of the first battery 28 is smaller than zero. Determine whether or not.

  Note that the first power determination unit 202 may turn on the first upper limit determination flag when, for example, it is determined that the used power WB_a of the first battery 28 is equal to or greater than Wout_a. For example, the first power determination unit 202 may turn on the first lower limit determination flag when it is determined that the used power WB_a of the first battery 28 is equal to or less than Win_a.

  The first power determination unit 202 calculates the used power WB_a based on the voltage VB_a and the current IB_a of the first battery 28, for example. Further, first power determination unit 202 calculates each of Wout_a and Win_a based on temperature TB_a of first battery 28 or remaining capacity of first battery 28 (hereinafter referred to as SOC_a).

  When the current SOC_a of the first battery 28 is lower than the threshold value SOC_a (0), the first power determination unit 202 determines Wout_a as compared with the case where the current SOC_a is higher than the threshold value SOC_a (0). Wout_a and Win_a are determined so that the magnitudes of Win_a and Win_a decrease. The threshold value SOC_a (0) may be a different value when Wout_a is determined and when Win_a is determined.

  Further, the secondary battery used as the first battery 28 has temperature dependency that the internal resistance increases at low temperatures. Further, at a high temperature, it is necessary to prevent the temperature from excessively rising due to further heat generation.

  For this reason, when the battery temperature TB_a of the first battery 28 is lower than the threshold value TB_a (0), the first power determination unit 202 determines Wout_a than when the battery temperature TB_a is higher than TB_a (0). Wout_a and Win_a are determined so that the magnitudes of Win_a and Win_a decrease.

  The first power determination unit 202 determines that the battery temperature TB_a is higher than TB_a (1) when the battery temperature TB_a of the first battery 28 is higher than the threshold value TB_a (1) (> TB_a (0)). Wout_a and Win_a are respectively determined so that the magnitudes of Wout_a and Win_a are lower than those of the low case. Note that threshold value TB_a (0) and threshold value TB_a (1) may be different values when Wout_a is determined and when Win_a is determined.

  The first power determination unit 202 may determine Win_a and Wout_a by using, for example, a map or the like according to the battery temperature TB_a and the current SOC_a.

  Further, the first power determination unit 202 calculates the SOC_a of the first battery 28 based on the current IB_a detected by the first current sensor 158 and the voltage VB_a detected by the first voltage sensor 160. ECU 200 may calculate SOC_a of first battery 28 based on temperature TB of first battery 28 in addition to current IB and voltage VB.

  In the present embodiment, the first power determination unit 202 is described as calculating the SOC_a of the first battery 28 based on OCV (Open Circuit Voltage), but is limited to such a calculation method. Instead, for example, the SOC_a of the first battery 28 may be calculated based on the charging current and the discharging current.

  The second power determination unit 204 determines whether or not the used power WB_b of the second battery 32 is greater than or equal to Wout_b when the vehicle required power Pm is greater than zero or when the used power WB_b of the second battery 32 is greater than zero. Determine.

  The second power determination unit 204 determines whether or not the used power WB_b of the second battery 32 is equal to or less than Win_b when the vehicle required power Pm is smaller than zero or when the used power WB_b of the second battery 32 is smaller than zero. Determine.

  Note that the second power determination unit 204 may turn on the second upper limit determination flag when, for example, it is determined that the used power WB_b of the second battery 32 is equal to or greater than Wout_b. For example, the second power determination unit 204 may turn on the second lower limit determination flag when it is determined that the used power WB_b of the second battery 32 is equal to or less than Win_b.

  In addition, the calculation method of used power WB_b, SOC_b, Wout_b, and Win_b is the same as the above-described calculation method of used power WB_a, SOC_a, Wout_a, and Win_a, and thus detailed description thereof will not be repeated.

  The deviation determination unit 206 determines that the command power Pc and the upper limit value Woutf are different at the time point when either one of the power consumption WB_a of the first battery 28 and the power consumption WB_b of the second battery 32 matches the limit value. It is determined whether or not.

  Specifically, the divergence determination unit 206 determines the difference between the command power Pc and the upper limit value Woutf when the first power determination unit 202 determines that the used power WB_a of the first battery 28 is equal to or greater than Wout_a. It is determined whether or not the size is a predetermined value or more. Alternatively, the divergence determination unit 206 determines the magnitude of the difference between the command power Pc and the upper limit value Woutf when the second power determination unit 204 determines that the used power WB_a of the second battery 32 is greater than or equal to Wout_b. It is determined whether or not it is equal to or greater than a predetermined value.

  Further, the deviation determination unit 206 determines that the command power Pc and the lower limit value Winf are different at the time point when either one of the used power WB_a of the first battery 28 and the used power WB_b of the second battery 32 matches the limit value. It is determined whether or not.

  Specifically, the divergence determination unit 206 determines the difference between the command power Pc and the lower limit value Winf when the first power determination unit 202 determines that the used power WB_a of the first battery 28 is equal to or less than Win_a. It is determined whether or not the size is a predetermined value or more. Alternatively, the divergence determining unit 206 determines the magnitude of the difference between the command power Pc and the lower limit value Winf when the second power determining unit 204 determines that the used power WB_b of the second battery 32 is equal to or less than Win_b. It is determined whether or not it is equal to or greater than a predetermined value.

  The deviation determination unit 206 determines that the command power Pc and the upper limit value Woutf or the lower limit value Winf are different when the magnitude of the difference between the command power Pc and the upper limit value Woutf or the lower limit value Winf is equal to or greater than a predetermined value. To do. The predetermined value may be a constant value or a value determined according to the state of at least one of the first battery 28 and the second battery 32.

  Note that if the command power Pc deviates from the upper limit value Woutf or the lower limit value Winf at the time point when either one of the used power WB_a and WB_b matches the limit value, the command power Pc is equal to the vehicle required power Pm. Match.

  For example, when the first upper limit determination flag or the second upper limit determination flag is turned on, the deviation determination unit 206 determines whether or not the command power Pc and the upper limit value Woutf are deviated, and the command power Pc The upper limit deviation determination flag may be turned on when the upper limit value Woutf is different from the upper limit value Woutf.

  Alternatively, for example, when the first lower limit determination flag or the second lower limit determination flag is turned on, the deviation determination unit 206 determines whether or not the command power Pc and the lower limit value Winf are deviated, and the command power Pc The lower limit deviation determination flag may be turned on when the difference between the lower limit value Winf and the lower limit value Winf.

  When the divergence determination unit 206 determines that the command power Pc and the upper limit value Woutf are deviated, the clear processing unit 208 clears the Winf side correction amount and sets the Winf side correction amount to zero. In addition, when the deviation determination unit 206 determines that the command power Pc and the lower limit value Winf are deviated, the clear processing unit 208 clears the Woutf side correction amount and sets the Woutf side correction amount to zero.

  For example, the clear processing unit 208 clears the Winf correction amount when the upper limit deviation determination flag is on, and clears the Woutf correction amount when the lower limit deviation determination flag is on. Also good.

  Woutf determining unit 210 calculates the sum of the FF term and the FB term to determine the upper limit value Woutf. The Woutf determination unit 210 calculates the FF term for determining the upper limit value Woutf by calculating the sum of the above Wout_a and Wout_b.

  The Woutf determination unit 210 calculates a Woutf-side correction amount based on a deviation between the sum WB_a + WB_b of the used power WB_a of the first battery 28 and the used power WB_b of the second battery 32 and the upper limit value Woutf. The Woutf side correction amount is a value of zero or less. Therefore, the Woutf determination unit 210 sets the Woutf side correction amount to zero when the calculated Woutf side correction amount is larger than zero. The Woutf determination unit 210 calculates the sum of the Woutf side correction amount and the Winf side correction amount described later as an FB term.

  The Woutf determination unit 210 calculates the Woutf side correction amount from the sum of the proportional term and the integral term. The Woutf determination unit 210 calculates a value obtained by multiplying the deviation between WB_a + WB_b and the upper limit value Woutf by a proportional gain as a proportional term. Further, Woutf determination unit 210 calculates, as an integral term, a value obtained by multiplying a value obtained by time-integrating a deviation between WB_a + WB_b and upper limit value Woutf by an integral gain.

  When WB_a + WB_b is higher than the upper limit value Woutf determined in the previous calculation cycle, the Woutf determination unit 210 is lower than Wout by the magnitude of the Woutf side correction amount according to the deviation between WB_a + WB_b and the upper limit value Woutf. The value is determined as the upper limit value Woutf in the current calculation cycle. As the magnitude of the deviation increases, the magnitude of the Woutf side correction amount increases. The magnitude of the FB term increases as the magnitude of the Woutf side correction amount increases.

  Although the Woutf side correction amount has been described as being calculated from the proportional term and the integral term in the present embodiment, it may be calculated from the differential term in addition to the proportional term and the integral term. The Woutf determination unit 210 may calculate, as a differential term, a value obtained by multiplying a value obtained by time-differentiating the deviation between WB_a + WB_b and the upper limit value Woutf by a differential gain. The sign of the Woutf side correction amount may be adjusted by the difference between WB_a + WB_b and the upper limit value Woutf or the sign of various gains.

  In the present embodiment, Woutf determination unit 210 further executes Woutf addition processing when divergence determination unit 206 determines that command power Pc and upper limit value Woutf are different from each other. Woutf is determined.

  The Woutf determination unit 210 determines whether WB_a is smaller than Wout_a in the first power determination unit, determines that WB_b is smaller than Wout_b in the second power determination unit, or instructs the divergence determination unit 206 to When it is determined that the power Pc and the upper limit value Woutf are not deviated, a normal Woutf determination process for determining the upper limit value Woutf from the sum of the FF term and the FB term described above is executed, and the upper limit value is determined. Woutf is determined.

  The Woutf determination unit 210 determines the command power Pc (0) at the time point when either the used power WB_a of the first battery 28 or the used power WB_b of the second battery 32 matches the corresponding upper limit value (Wout_a or Wout_b). The process of making the upper limit value Woutf coincide with is executed as an addition process of Woutf.

  The Woutf determination unit 210 adds the magnitude of Wout−Pc (0) to the integral term when calculating the above-described Woutf side correction amount. That is, by adding the above integral term by the magnitude of Wout-Pc (0), the magnitude of the FB term is increased by the magnitude of Wout-Pc (0).

  In the present embodiment, Woutf determining section 210 may add the magnitude of Wout−Pc (0) to the proportional term when calculating the above-mentioned Woutf-side correction amount when executing Woutf addition processing. Good. Alternatively, the Woutf determination unit 210 may add the magnitude of Wout−Pc (0) to the sum of the integral term and the proportional term.

  For example, when the upper limit deviation determination flag is in the on state, Woutf determination unit 210 may execute the Woutf addition process when the on state is turned on to determine the upper limit value Woutf.

  Alternatively, Woutf determination unit 210 may be configured such that, for example, when both the first upper limit determination flag and the second upper limit determination flag are in an off state, or when the first upper limit determination flag or the second upper limit determination flag is in an on state. When the upper limit deviation determination flag is in the off state, the upper limit value Woutf may be determined by executing a normal Woutf determination process.

  The Winf determining unit 212 determines the lower limit Winf by calculating the sum of the FF term and the FB term. The Winf determination unit 212 calculates the FF term for determining the lower limit value Winf by calculating the sum of the above-described Win_a and Win_b.

  The Winf determination unit 212 calculates the Winf-side correction amount based on the deviation between the sum WB_a + WB_b of the used power WB_a of the first battery 28 and the used power WB_b of the second battery 32 and the lower limit value Winf. The Winf side correction amount is a value of zero or more. Therefore, the Winf determination unit 212 sets the Winf-side correction amount to zero when the calculated Winf-side correction amount is smaller than zero. The Winf determination unit 210 calculates the sum of the Winf side correction amount and the above-described Woutf side correction amount as an FB term.

  The Winf determination unit 212 calculates the Winf side correction amount from the sum of the proportional term and the integral term. The Winf determination unit 212 calculates a value obtained by multiplying the deviation between WB_a + WB_b and the lower limit value Winf by a proportional gain as a proportional term. Further, the Winf determination unit 212 calculates, as an integral term, a value obtained by multiplying a value obtained by time-integrating the deviation between WB_a + WB_b and the lower limit value Winf by an integral gain.

  When the WB_a + WB_b is lower than the lower limit value Winf determined in the previous calculation cycle, the Winf determination unit 212 is higher than the Win by the magnitude of the Winf side correction amount according to the deviation between the WB_a + WB_b and the lower limit value Winf. The value is determined as the lower limit value Winf in the current calculation cycle. The larger the magnitude of the deviation, the greater the magnitude of the Winf side correction amount. As the Winf side correction amount increases, the size of the FB term increases.

  In the present embodiment, the Winf-side correction amount has been described as being calculated from the proportional term and the integral term, but may be calculated from the differential term in addition to the proportional term and the integral term. The Winf determination unit 212 may calculate, as a differential term, a value obtained by multiplying a value obtained by time-differentiating the deviation between WB_a + WB_b and the lower limit value Winf by a differential gain. Note that the sign of the Winf side correction amount may be adjusted by the difference between WB_a + WB_b and the lower limit Winf or the sign of various gains.

  In the present embodiment, the Winf determination unit 212 further executes the Winf addition process when the deviation determination unit 206 determines that the command power Pc and the lower limit value Winf are different from each other. Winf is determined.

  When the first power determination unit determines that WB_a is greater than Win_a, the Winf determination unit 212 determines that WB_b is greater than Win_b, or the divergence determination unit 206 instructs When it is determined that the power Pc and the lower limit value Winf are not deviated from each other, a normal Winf determination process for determining the lower limit value Winf from the sum of the FF term and the FB term described above is executed, and the lower limit value is determined. Winf is determined.

  The Winf determination unit 212 uses the command power Pc (1) at the time point when either the used power WB_a of the first battery 28 or the used power WB_b of the second battery 32 matches the corresponding lower limit value (Win_a or Wout_b). The process of matching the lower limit value Winf with the Winf addition process is executed.

  The Winf determination unit 212 adds the amount of Pc (1) −Win to the integral term when calculating the above-described Winf side correction amount. That is, by adding the above-mentioned integral term by the magnitude of Pc (1) −Win, the magnitude of the FB term increases by the magnitude of Pc (1) −Win.

  In the present embodiment, the Winf determining unit 212 may add the amount of Pc (1) −Win to the proportional term when calculating the Winf-side correction amount during execution of the Winf addition process. Good. Alternatively, the Winf determining unit 212 may add the sum of the integral term and the proportional term to the sum of Pc (1) −Win.

  For example, when the lower limit deviation determination flag is in the on state, the Winf determining unit 212 may execute the Winf addition process when the on state is turned on to determine the lower limit value Winf.

  Alternatively, the Winf determination unit 212, for example, when both the first lower limit determination flag and the second lower limit determination flag are in an off state, or even when the first lower limit determination flag or the second lower limit determination flag is in an on state. When the lower limit deviation determination flag is in the OFF state, the normal Winf determination process may be executed to determine the lower limit value Winf.

  Power control unit 214 controls MG 12 in accordance with upper limit value Woutf, lower limit value Winf, and command power Pc. The power control unit 214 generates an inverter drive signal and a boost converter drive signal, and transmits the generated drive signal to the PCU 16.

  In the present embodiment, the first power determination unit 202, the second power determination unit 204, the deviation determination unit 206, the clear processing unit 208, the Woutf determination unit 210, the Winf determination unit 212, and the power control unit 214. Is described as functioning as software realized by the CPU of the ECU 200 executing a program stored in the memory, but may be realized by hardware. Such a program is recorded on a storage medium and mounted on the vehicle.

  With reference to FIG. 4, a control structure of a program for determining upper limit value Woutf in accordance with electric power WB_a used by first battery 28, executed by ECU 200 mounted on the vehicle according to the present embodiment, will be described. ECU 200 executes a program based on the flowchart shown in FIG. 4 every predetermined calculation cycle.

  In step (hereinafter, step is referred to as S) 100, ECU 200 determines whether or not electric power WB_a used by first battery 28 is greater than or equal to Wout_a. If power consumption WB_a of first battery 28 is equal to or greater than Wout_a (YES in S100), the process proceeds to S102. If not (NO in S100), the process proceeds to S108.

  In S102, ECU 200 determines whether or not command power Pc and upper limit value Woutf are deviated. If command power Pc and upper limit value Woutf are different (YES in S102), the process proceeds to S104. If not (NO in S102), the process proceeds to S108.

  In S104, ECU 200 clears the Winf side correction amount. That is, ECU 200 sets the Winf side correction amount to zero.

  In S106, ECU 200 executes Woutf addition processing to determine upper limit value Woutf. In S108, ECU 200 executes normal Woutf determination processing to determine upper limit value Woutf. Since Woutf addition processing and normal Woutf determination processing are as described above, detailed description thereof will not be repeated.

  Next, referring to FIG. 5, a control structure of a program for determining upper limit value Woutf in accordance with electric power WB_b used by second battery 32, executed by ECU 200 mounted on the vehicle according to the present embodiment, will be described. To do. ECU 200 executes a program based on the flowchart shown in FIG. 5 every predetermined calculation cycle.

  In the flowchart shown in FIG. 5, the same steps as those in the flowchart shown in FIG. 4 are given the same step numbers. The processing for them is the same. Therefore, detailed description thereof will not be repeated here.

  In S150, ECU 200 determines whether or not used electric power WB_b of second battery 32 is equal to or greater than Wout_b. If power consumption WB_b of second battery 32 is equal to or greater than Wout_b (YES in S150), the process proceeds to S102. If not (NO in S150), the process proceeds to S108.

  ECU 200 executes the Woutf addition process with priority over the normal Woutf determination process. Therefore, ECU 200 determines that execution of normal Woutf determination processing is determined according to the other flowchart when execution of Woutf addition processing is determined according to one of flowcharts of FIGS. 4 and 5. However, the Woutf addition process is executed.

  With reference to FIG. 6, a control structure of a program for determining lower limit value Winf in accordance with electric power used WB_a of first battery 28, executed by ECU 200 mounted on the vehicle according to the present embodiment, will be described. ECU 200 executes a program based on the flowchart shown in FIG. 6 every predetermined calculation cycle.

  In S200, ECU 200 determines whether or not used electric power WB_a of first battery 28 is equal to or less than Win_a. If power consumption WB_a of first battery 28 is equal to or less than Win_a (YES in S200), the process proceeds to S202. If not (NO in S200), the process proceeds to S208.

  In S202, ECU 200 determines whether or not command power Pc and lower limit value Winf are deviated. If command power Pc and lower limit value Winf are different (YES in S202), the process proceeds to S204. If not (NO in S202), the process proceeds to S208.

  In S204, ECU 200 clears the Woutf side correction amount. That is, the ECU 200 sets the Woutf side correction amount to zero.

  In S206, ECU 200 executes a Winf addition process to determine lower limit value Winf. In S208, ECU 200 executes normal Winf determination processing to determine lower limit value Winf. Since the Winf addition process and the normal Winf determination process are as described above, detailed description thereof will not be repeated.

  Next, referring to FIG. 7, a control structure of a program for determining lower limit value Winf in accordance with electric power WB_b used by second battery 32, executed by ECU 200 mounted on the vehicle according to the present embodiment, will be described. To do. ECU 200 executes a program based on the flowchart shown in FIG. 7 for each predetermined calculation cycle.

  In the flowchart shown in FIG. 7, the same steps as those in the flowchart shown in FIG. 6 are given the same step numbers. The processing for them is the same. Therefore, detailed description thereof will not be repeated here.

  In S250, ECU 200 determines whether or not used power WB_b of second battery 32 is equal to or less than Win_b. If power consumption WB_b of second battery 32 is equal to or smaller than Win_b (YES in S250), the process proceeds to S202. If not (NO in S250), the process proceeds to S208.

  The ECU 200 executes the Winf addition process with priority over the normal Winf determination process. Therefore, when the execution of the Winf addition process is determined according to one of the flowcharts of FIGS. 6 and 7, the ECU 200 is determined to execute the normal Winf determination process according to the other flowchart. However, the Winf addition process is executed.

  The operation of ECU 200 mounted on the vehicle according to the present embodiment based on the above-described structure and flowchart will be described with reference to FIGS.

<When power consumption WB_a of first battery 28 is equal to or greater than Wout_a>
For example, it is assumed that the vehicle 10 is in a stopped state. At this time, when the depression amount of the accelerator pedal is 0%, power is not supplied to the MG 12. Therefore, as shown in FIG. 8, the total power consumption WB (that is, WB_a + WB_b), the power consumption WB_a of the first battery 28, the power consumption WB_b of the second battery 32, the command power Pc and the FB term (correction amount) are substantially Will be zero. As a result, the upper limit value Woutf is the same value as Wout (= Wout_a + Wout_b). In addition, for example, it is assumed that Wout_a of the first battery 28 is lower than Wout_b of the second battery 32 due to factors such as the fact that only the first battery 28 is in a low temperature state.

  When the driver starts depressing the accelerator pedal at time T (0), electric power is supplied to the MG 12 and the vehicle 10 starts to travel. Thereafter, the driver increases the amount of depression of the accelerator pedal until the amount of depression of the accelerator pedal reaches 100%. Therefore, the power consumption WB_a of the first battery 28 increases toward Wout_a.

  When power consumption WB_a of first battery 28 becomes equal to or greater than Wout_a at time T (1) (YES in S100), command power Pc (0) at the time of matching and the previous calculation cycle Is different from the upper limit value Woutf calculated in (YES in S102). Therefore, the Winf side correction amount is cleared (S104), and Woutf addition processing is executed (S106).

  At this time, the integral term of the Woutf side correction amount is added by the magnitude of Wout−Pc (0). Note that when the power consumption WB_a of the first battery 28 matches Wout_a, the Woutf side correction amount and the Winf side correction amount are both zero. Therefore, the Woutf side correction amount is Pc (0) −Wout. Therefore, the upper limit value Woutf becomes Pc (0) by the sum of the FF term (Wout) and the FB term. That is, at time T (1), upper limit value Woutf is made to coincide with Pc (0).

  Therefore, after time T (1), ECU 200 determines upper limit value Woutf, that is, Pc (0) as command power Pc even when vehicle required power Pm is larger than Pc (0).

  As a result, an increase in the command power Pc is suppressed, so that an increase in each of the used power WB_a of the first battery 28 and the used power WB_b of the second battery 32 is suppressed. In addition, when the state in which used electric power WB_a and Wout_a of first battery 28 match (YES in S100), command power Pc and upper limit value Woutf do not deviate (NO in S102). Therefore, the upper limit value Woutf is determined by the normal Woutf determination process (S108). At this time, since the deviation between WB_a + WB_b and the upper limit value Woutf is zero, the value of the FB term in the previous calculation cycle is maintained. Therefore, the upper limit value Woutf is the same value as Pc (0).

<When the power consumption WB_b of the second battery 32 is greater than or equal to Wout_b>
For example, it is assumed that the vehicle 10 is in a stopped state. At this time, when the depression amount of the accelerator pedal is 0%, power is not supplied to the MG 12. Therefore, as shown in FIG. 9, the total power consumption WB, the power consumption WB_a of the first battery 28, the power consumption WB_b of the second battery 32, the command power Pc, and the FB term (correction amount) are substantially zero. . As a result, the upper limit value Woutf is the same value as Wout (= Wout_a + Wout_b). In addition, for example, it is assumed that Wout_b of the second battery 32 is lower than Wout_a of the first battery 28 due to factors such as only the second battery 32 being in a low temperature state.

  When the driver starts depressing the accelerator pedal at time T (0), electric power is supplied to the MG 12 and the vehicle 10 starts to travel. Thereafter, the driver increases the amount of depression of the accelerator pedal until the amount of depression of the accelerator pedal reaches 100%. Therefore, the power consumption WB_b of the second battery 32 increases toward Wout_b.

  When power consumption WB_b of second battery 32 becomes equal to or greater than Wout_b at time T (1) (YES in S150), command power Pc (0) at the time of matching and the previous calculation cycle Is different from the upper limit value Woutf calculated at (YES in S102). Therefore, the Winf side correction amount is cleared (S104), and Woutf addition processing is executed (S106). Therefore, at time T (1), upper limit value Woutf is matched with Pc (0).

  After time T (1), ECU 200 determines upper limit value Woutf, that is, Pc (0) as command power Pc even when vehicle required power Pm is larger than Pc (0).

  As a result, increase in the command power Pc is suppressed, and thus increase in each of the power usage WB_a of the first battery 28 and the power usage WB_b of the second battery 32 is suppressed. Further, when the state in which power consumption WB_b and Wout_b of second battery 32 match (YES in S150), command power Pc and upper limit value Woutf do not deviate (NO in S102), so normal Woutf determination is made. The upper limit value Woutf is determined by the processing (S108). At this time, since the deviation between WB_a + WB_b and the upper limit value Woutf is zero, the value of the FB term in the previous calculation cycle is maintained. Therefore, the upper limit value Woutf is the same value as Pc (0).

<When the electric power WB_a used by the first battery 28 is equal to or less than Win_a>
As shown in FIG. 10, it is assumed that the state where the accelerator pedal depression amount is 100% is maintained. At this time, the 1st battery 28 and the 2nd battery 32 are the discharge states which supply electric power to MG12.

  When the driver depresses the accelerator pedal at time T (0) and the amount of depression of the accelerator pedal becomes 0%, regenerative braking using MG12 is performed. Therefore, after time T (0), the used power WB_a of the first battery 28 decreases toward Win_a.

  When power consumption WB_a of first battery 28 becomes equal to or less than Win_a at time T (1) (YES in S200), command power Pc (1) and lower limit value Winf at the time of matching are Are different (YES in S202). Therefore, the Woutf side correction amount is cleared (S204), and the Winf addition process is executed (S206).

  At this time, the integral term of the Winf side correction amount is added by the magnitude of Pc (1) −Win. Note that when the power consumption WB_a of the first battery 28 matches Win_a, the Woutf side correction amount and the Winf side correction amount are both zero. Therefore, the Winf side correction amount is Pc (1) −Win. Therefore, the lower limit value Winf becomes Pc (1) by the sum of the FF term (Win) and the FB term. That is, at time T (1), the lower limit value Winf is matched with Pc (1).

  Therefore, after time T (1), ECU 200 determines lower limit Winf, that is, Pc (1) as command power Pc even when vehicle required power Pm is smaller than Pc (1).

  As a result, since the decrease in the command power Pc is suppressed, the decrease in each of the used power WB_a of the first battery 28 and the used power WB_b of the second battery 32 is suppressed. Further, when the state where used power WB_a and Win_a of first battery 28 match (YES in S200), command power Pc and lower limit value Winf do not deviate (NO in S202). Therefore, the lower limit value Winf is determined by the normal Winf determination process (S208). At this time, since the deviation between WB_a + WB_b and the lower limit value Winf is zero, the value of the FB term in the previous calculation cycle is maintained. Therefore, the lower limit value Winf is the same value as Pc (1).

<When the power consumption WB_b of the second battery 32 is equal to or less than Win_b>
As shown in FIG. 11, it is assumed that the state where the accelerator pedal depression amount is 100% is maintained. At this time, the 1st battery 28 and the 2nd battery 32 are the discharge states which supply electric power to MG12.

  When the driver depresses the accelerator pedal at time T (0) and the amount of depression of the accelerator pedal becomes 0%, regenerative braking using MG12 is performed. Therefore, after time T (0), the used power WB_b of the second battery 32 decreases toward Win_b.

  When power consumption WB_b of second battery 32 becomes equal to or less than Win_b at time T (1) (YES in S250), command power Pc (1) and lower limit value Winf at the time of matching are Are different (YES in S252). Therefore, the Woutf side correction amount is cleared (S204), and the Winf addition process is executed (S206). Therefore, at time T (1), lower limit value Winf is made to coincide with Pc (1).

  The ECU 200 determines the lower limit value Winf, that is, Pc (1) as the command power Pc even when the vehicle required power Pm is smaller than Pc (1) after the time T (1).

  As a result, since the decrease in the command power Pc is suppressed, the decrease in each of the used power WB_a of the first battery 28 and the used power WB_b of the second battery 32 is suppressed. In addition, when the state where used power WB_b and Win_b of second battery 32 match (YES in S250), command power Pc and lower limit value Winf do not deviate (NO in S202). Therefore, the lower limit value Winf is determined by the normal Winf determination process (S208). At this time, since the deviation between WB_a + WB_b and the lower limit value Winf is zero, the value of the FB term in the previous calculation cycle is maintained. Therefore, the lower limit value Winf is the same value as Pc (1).

<When used power WB_b varies from Wout_b to Win_b>
For example, it is assumed that the vehicle 10 is in a stopped state. At this time, when the depression amount of the accelerator pedal is 0%, power is not supplied to the MG 12. Therefore, as shown in FIG. 12, the total power consumption WB, the power consumption WB_a of the first battery 28, the power consumption WB_b of the second battery 32, the command power Pc, and the FB term are substantially zero. As a result, the upper limit value Woutf is the same value as Wout (= Wout_a + Wout_b). At this time, for example, it is assumed that Wout_b of the second battery 32 is lower than Wout_a of the first battery 28 and Win_a of the first battery 28 is higher than Win_b of the second battery 32.

  When the driver starts depressing the accelerator pedal at time T (0), electric power is supplied to the MG 12 and the vehicle 10 starts to travel. Thereafter, the driver increases the amount of depression of the accelerator pedal until the amount of depression of the accelerator pedal reaches 100%. Therefore, the power consumption WB_b of the second battery 32 increases toward Wout_b.

  When power consumption WB_b of second battery 32 becomes equal to or greater than Wout_b by matching Wout_b (YES in S150), command power Pc (0) at the time of matching and upper limit value Woutf calculated in the previous calculation cycle Are different (YES in S102). Therefore, the Winf side correction amount is cleared (S104), and Woutf addition processing is executed (S106). Therefore, at time T (1), upper limit value Woutf is matched with Pc (0).

  When the driver depresses the accelerator pedal at time T (1) and the amount of depression of the accelerator pedal becomes 0%, regenerative braking using MG12 is performed. Therefore, after time T (1), the used power WB_a of the first battery 28 decreases toward Win_a.

  When power consumption WB_a of first battery 28 becomes equal to or less than Win_a at time T (2) (YES in S200), command power Pc (1) and lower limit value Winf at the time of matching are Are deviated (YES in S202). Therefore, the Woutf side correction amount is cleared (S204), and the Winf addition process is executed (S206). Therefore, at time T (2), lower limit value Winf is matched with Pc (1). By clearing the Woutf side correction amount, the additional amount of the upper limit value Woutf is eliminated. Thereafter, the same operation as that of ECU 200 from time T (0) to time T (1) is performed by repeating the state where the amount of depression of the accelerator pedal is 0% and 100%.

  As described above, according to the vehicle according to the present embodiment, the Woutf addition process or the Winf addition process is executed at the time when WB_a of first battery 28 or WB_b of second battery 32 matches the limit value. Thus, until the power used by either one of the first battery 28 or the second battery 32 matches the limit value, the value obtained by adding the Win_a of the first battery 28 and the Win_b of the second battery 32 is added to the first value. Charging / discharging is permitted in the power range from the value of Wout_a of one battery 28 to the sum of the second battery Wout_b. Therefore, the power of the first battery 28 and the second battery 32 can be used up compared to the case where charging / discharging is allowed in the lower power range up to twice.

  Therefore, for example, when the second battery 32 is in a low temperature state, the internal resistance of the second battery 32 is increased, so that power is preferentially taken out from the first battery 28. Therefore, for example, as shown in FIG. 13, the power consumption WB_a and WB_b of each battery is close to Wout_a and Wout_b, respectively. That is, the charge / discharge performance of the first battery 28 and the second battery 32 can be sufficiently exhibited.

  On the other hand, when the power used by either one of the first battery 28 and the second battery 32 coincides with the limit value, the first battery 28 is obtained by executing the Winf addition process or the Woutf addition process after the coincidence time. Increase in power consumption WB_a of the second battery 32 and power consumption WB_b of the second battery 32 are suppressed. As a result, both the first battery 28 and the second battery 32 are prevented from being used exceeding the limit value. As a result, the first battery 28 and the second battery 32 can be protected. Therefore, it is possible to provide a vehicle and a vehicle control method for sufficiently exerting the charge / discharge performance of each of the plurality of power storage devices while protecting each of the plurality of power storage devices.

  In addition, when executing the Woutf addition process, the Winf side correction amount is set to zero. When the Winf addition process is executed, both the Winf side and the Woutf side are corrected by setting the Woutf side correction amount to zero. Can be suppressed. Therefore, when the Woutf addition process is executed, it is possible to suppress an increase in the used power WB_a of the first battery 28 and the used power WB_b of the second battery 32 with high responsiveness. Furthermore, when the Winf addition process is executed, it is possible to suppress a decrease in the power consumption WB_a of the first battery 28 and the power consumption WB_b of the second battery 32 with high responsiveness.

  In the present embodiment, a boost converter may be provided between inverter 18 and first battery 28 or second battery 32. In the present embodiment, the vehicle 10 has been described as an electric vehicle. However, the vehicle 10 is not particularly limited to this, and may be a hybrid vehicle on which an engine is further mounted.

  Furthermore, in the present embodiment, at the time of executing the Woutf addition process or the Winf addition process, the Winf correction amount according to the deviation between WB_a + WB_b and the lower limit value Winf or the Woutf according to the deviation between WB_a + WB_b and the upper limit value Woutf Although it has been described that it is added to the integral term of the side correction amount, for example, when the upper limit value Woutf or the lower limit value Winf is corrected based on the deviation between the current IB and the limit value or the deviation between the voltage VB and the limit value. May be added to an integral term or a proportional term when calculating the correction amount.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  10 vehicle, 18 inverter, 26, 30 SMR, 28, 32 battery, 36 capacitor, 38 discharge resistance, 50 resolver, 60, 62 phase current sensor, 156, 162 battery temperature sensor, 158, 164 current sensor, 160, 166 voltage Sensor, 200 ECU, 202 First power determination unit, 204 Second power determination unit, 206 Deviation determination unit, 208 Clear processing unit, 210 Woutf determination unit, 212 Winf determination unit, 214 Power control unit.

Claims (3)

A rotating electric machine for generating driving force in the vehicle;
A plurality of power storage devices for transmitting and receiving electric power to and from the rotating electrical machine;
A control unit for controlling the vehicle so as to satisfy a required power required for the rotating electrical machine within an allowable power range in which input / output is allowed in the plurality of power storage devices,
The plurality of power storage devices include first and second power storage devices connected in parallel,
The allowable power range of the plurality of power storage devices includes an upper limit value that is a sum of discharge side limit values of the first and second power storage devices, and a charge side limit value of the first and second power storage devices. A range between the combined lower limit value and
The control unit has a first point in time when the power of one of the first and second power storage devices coincides with one of the discharge-side limit value and the charge-side limit value of the one power In addition, when a boundary value corresponding to the required power out of the upper limit value and the lower limit value is deviated from the required power, the corresponding boundary value is matched with the required power ,
When the magnitude of the power difference between the required power and the corresponding boundary value is greater than or equal to a predetermined value at the first time point, and the required power is a discharge-side power, The corresponding boundary value is the upper limit value of the allowable power range ,
When the magnitude of the power difference is greater than or equal to the predetermined value at the first time point, and the required power is the power on the charging side, the corresponding boundary value is the allowable power. A vehicle that is the lower limit of the range . The control unit applies a first correction amount to the upper limit value when the upper limit value is matched with the required power, and sets a second correction amount as the lower limit value when the lower limit value is matched with the required power. Apply,
When the first correction amount is applied to the upper limit value, the second correction amount is set to zero,
The vehicle according to claim 1, wherein the first correction amount is set to zero when the second correction amount is applied to the lower limit value. A vehicle control method used in a vehicle equipped with a rotating electrical machine for generating a driving force and a plurality of power storage devices for transmitting and receiving electric power to and from the rotating electrical machine, wherein the plurality of power storage devices are arranged in parallel Including connected first and second power storage devices;
The vehicle control method includes:
Controlling the vehicle so as to satisfy a required power required for the rotating electrical machine within an allowable power range in which input / output is allowed in the plurality of power storage devices;
At a first point in time when the power of one of the first and second power storage devices matches one of the discharge-side limit value and the charge-side limit value of the one power, the allowable power range A boundary value corresponding to the required power out of an upper limit value and a lower limit value is different from the required power, the step of matching the corresponding boundary value to the required power,
The upper limit value of the allowable power range is a sum of the discharge side limit values of the first and second power storage devices,
Wherein the lower limit of the allowable power range, I the first and second power storage devices each value der wherein the sum of the charge side limit value of,
When the magnitude of the power difference between the required power and the corresponding boundary value is greater than or equal to a predetermined value at the first time point, and the required power is a discharge-side power, The corresponding boundary value is the upper limit value of the allowable power range ,
When the magnitude of the power difference is greater than or equal to the predetermined value at the first time point, and the required power is the power on the charging side, the corresponding boundary value is the allowable power. The vehicle control method which is the lower limit value of the range .

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