JP6389025B2 - ハイブリッド駆動装置のトルク制御のための装置 - Google Patents
ハイブリッド駆動装置のトルク制御のための装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/12—Controlling the power contribution of each of the prime movers to meet required power demand using control strategies taking into account route information
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K2006/4808—Electric machine connected or connectable to gearbox output shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0657—Engine torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/18—Distance travelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
12 熱エンジン
14 変速機
16 差動装置
18 駆動シャフト・アセンブリ
20 エンジン制御器
22 センサ
24 エンジン速度センサ
26 車輪
28 クラッチ
30 電気モータ/発電器ユニット
32 速度センサ
34、36 自在継手
38 スプライン結合
40、42 駆動シャフト
44 ハイブリッド駆動装置制御システム
46 駆動制御
48 エネルギ貯蔵システム
50 利用者インタフェイス
52 トルク制御
54 実効ギア比計算アルゴリズム
56 利用者入力
58 利用者表示
60 アクセル・ペダル
62 ブレーキ・ペダル
64 アクセル・ペダル信号
66 ブレーキ・ペダル位置信号
68 ハイブリッド駆動装置制御システム
70 利用者インタフェイス
72 駆動制御
74 信号
76 エンジン・データ
78 モータ信号
80 モータ・データ
82 ハイブリッド制御器
84 車輛速度データ
86 利用者入力
88 表示器
90、94 視覚型インジケータ
92 故障インジケータ
96 制御法
98 エンジン速度信号
100 電気モータ信号
102 アクセル・ペダル信号
104 ブレーキ・ペダル信号
106 操作者入力信号
108 モータ計算ブロック
110 計算ブロック
112 出力
114 実効ギア比
116 低域通過フィルタ
118 トルク・リミッタ
120 トルク出力
122 勾配関数
124 利得フィルタ
126 アクセル入力
128 ハイブリッド駆動装置アクセル・トルク
130 電気モータ・トルク・リミッタ
132 ブレーキ・トルク・リミット
134 ブレーキ・トルク信号
136 アクセル・トルク信号
138 ハイブリッド駆動装置トルク命令
140 ハイブリッド車輛
142 自動変速機
144 熱エンジン
146 トルク・コンバータ
148 エンジン制御器
150 アクセル・ペダル
152 ブレーキ・ペダル
154 車輛システム制御
156 車輪
158 差動装置
160 電気モータ
162 駆動シャフト・アセンブリ
164 熱エンジン速度センサ
166 電気モータ速度センサ
168 ハイブリッド駆動装置システム
170 操作者インタフェイス
172 ハイブリッド・トルク制御
174 実効ギア比計算
176 エネルギ貯蔵システム
178 変速機制御ユニット
180 信号
182、184、186 双方向信号
188 エンジン速度信号
190 変速機出力速度信号
192 アクセル・ペダル信号
194 ブレーキ信号
196 変速機制御信号
198 制御法
200 エンジン速度信号
202 変速機出力シャフト又はモータ速度信号
204 アクセル・ペダル信号
206 実効ギア比
208 低域通過フィルタ
210 トルク・リミット関数
212 出力
214 勾配関数
216 可変の定数
218 修正後アクセル信号
220 アクセル・ペダル・トルク
Claims (10)
- 変速機(14)と、
該変速機(14)の入力側に結合されているエンジン(12)と、
前記変速機(14)の出力側に結合されている電気機械装置(30)と、
該電気機械装置(30)の出力側に結合されている差動装置(16)と、
前記電気機械装置(30)に結合されている制御器(44)と
を備えた装置であって、前記制御器(44)は、
走行範囲推定値を受け取り、
前記エンジン(12)の動作特性を第1のセンサを使用して監視し、
前記変速機(14)の動作特性を監視し、
前記電気機械装置(30)の動作特性を監視し、
前記走行範囲推定値、前記エンジン(12)の前記動作特性、前記変速機(14)の前記動作特性、及び前記電気機械装置(30)の前記動作特性に基づいて前記電気機械装置(30)の動作を制御し、
前記走行範囲推定値、前記エンジン(12)の前記動作特性、及び前記電気機械装置(30)の前記動作特性に基づいてギア・シフト命令を生成する
ようにプログラムされており、
前記制御器(44)は、スロットル命令信号を受け、前記電気機械装置(30)に結合されている駆動制御器(46)と、
前記スロットル命令信号に基づいて、前記駆動制御器(46)から独立して前記エンジン(12)の動作を制御するエンジン制御器(20)と、
を含み、
前記駆動制御器(46)は、前記走行範囲推定値に基づいて前記スロットル命令信号を修正し、修正されたスロットル命令信号に基づいて前記電気機械装置(30)の動作を制御し、
前記第1のセンサは、前記駆動制御器(46)に接続される一方、前記エンジン制御器(20)から独立している、装置。 - 前記制御器(44)は、前記エンジン(12)の前記動作特性を監視するようにプログラムされているときに、エンジン速度を監視するようにプログラムされており、
前記制御器(44)は、前記電気機械装置(30)の前記動作特性を監視するようにプログラムされているときに、電気機械装置速度を監視するようにプログラムされている、
請求項1に記載の装置。 - 前記制御器(44)は、前記エンジン速度及び前記電気機械装置速度に基づいて実効ギア比を決定するようにプログラムされている、請求項2に記載の装置。
- アクセル・ペダル(150)及びブレーキ・ペダル(152)に結合され、
前記スロットル命令信号を前記エンジン制御器(20)と前記駆動制御器(46)に送信し、
前記ブレーキ・ペダル(152)の位置に関する情報を含むブレーキ信号(194)を前記駆動制御器(46)に送信する、
車輛システム制御(154)を含み、
前記駆動制御器(46)は、前記スロットル命令信号及び前記ブレーキ信号(194)に基づいて、前記電気機械装置(30)の動作を制御するようにプログラムされている、請求項1乃至3のいずれかに記載の装置。 - 前記制御器(44)に電気的に結合されて前記ギア・シフト命令を操作者に対して表示する表示パネル(58)をさらに含んでいる請求項1乃至4のいずれかに記載の装置。
- 前記制御器(44)は、前記電気機械装置(30)の動作を制御するようにプログラムされているときに、エネルギ効率マップに従って前記電気機械装置(30)の動作を制御するようにプログラムされている、請求項1乃至5のいずれかに記載の装置。
- 前記電気機械装置(30)に結合されているエネルギ貯蔵システム(48)と、
回生制動によりエネルギ捕獲を行う手段と、
をさらに含んでいる請求項1乃至6のいずれかに記載の装置。 - 前記変速機(14)は、前記エンジン(12)に結合されているクラッチ(28)を含む手動変速機(14)を含んでいる、請求項5に記載の装置。
- 前記変速機(14)は、自動変速機(142)及びトルク・コンバータ(146)の少なくとも一方を含んでいる、請求項1乃至7のいずれかに記載の装置。
- 前記駆動制御器(46)と前記エンジン(12)との間に結合されており、前記トルク・コンバータ(146)のロックアップ作用を実行し、且つ/又は前記自動変速機(142)へギア・シフト命令を伝達するように構成されている変速機制御ユニット(178)をさらに含んでいる請求項9に記載の装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/751,612 | 2010-03-31 | ||
US12/751,612 US9145048B2 (en) | 2010-03-31 | 2010-03-31 | Apparatus for hybrid engine control and method of manufacture same |
Publications (2)
Publication Number | Publication Date |
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JP2011213341A JP2011213341A (ja) | 2011-10-27 |
JP6389025B2 true JP6389025B2 (ja) | 2018-09-12 |
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JP2011065108A Active JP6389025B2 (ja) | 2010-03-31 | 2011-03-24 | ハイブリッド駆動装置のトルク制御のための装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9145048B2 (ja) |
EP (1) | EP2371646B1 (ja) |
JP (1) | JP6389025B2 (ja) |
CN (1) | CN102205844B (ja) |
ES (1) | ES2655892T3 (ja) |
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CN102205844B (zh) | 2016-08-17 |
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US20110246005A1 (en) | 2011-10-06 |
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US9145048B2 (en) | 2015-09-29 |
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