JP6874650B2 - ハイブリッド車の制御装置 - Google Patents
ハイブリッド車の制御装置 Download PDFInfo
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- JP6874650B2 JP6874650B2 JP2017215735A JP2017215735A JP6874650B2 JP 6874650 B2 JP6874650 B2 JP 6874650B2 JP 2017215735 A JP2017215735 A JP 2017215735A JP 2017215735 A JP2017215735 A JP 2017215735A JP 6874650 B2 JP6874650 B2 JP 6874650B2
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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
- B60W20/15—Control strategies specially adapted for achieving a particular effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
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- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
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- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/54—Transmission for changing ratio
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- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/62—Gearings having three or more central gears
- F16H3/66—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another
- F16H3/663—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another with conveying rotary motion between axially spaced orbital gears, e.g. RAVIGNEAUX
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
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- B60W2050/0028—Mathematical models, e.g. for simulation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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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
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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
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Transmission Device (AREA)
- Hybrid Electric Vehicles (AREA)
Description
この発明では、前記コントローラは、更に、前記第1モータと前記第2モータとのうちのいずれか一方のモータが、前記出力トルクの変化量を少なくするためのトルクを出力できないことが判断された場合に、前記第1モータと前記第2モータとのうちの他方のモータを、前記出力トルクの変化量を予め定めた前記所定値に制限するために使用するモータとして選択するように構成されていてもよい。
この発明では、前記自動変速機は、入力軸と出力軸とのトルクの伝達を遮断したニュートラル状態と、前記入力軸と前記出力軸との変速比が大きい第1変速段と、前記変速比が前記第1変速段よりも小さい第2変速段と、前記変速比が前記第2変速段よりも小さい第3変速段とを少なくとも設定することができるように構成され、前記他方のモータは、前記第2モータを含んでよい。
この発明では、前記エンジンの出力トルクが伝達されるトルクの伝達経路での前記自動変速機の入力側に前記第1モータが連結され、前記自動変速機の出力側に前記第2モータが連結され、前記出力トルクの変化量は、前記自動変速機の出力軸のトルクの変化量であってよい。
To=α・Te−β・Tcb ・・・(1)
dωe/dt=0・Te+0・Tcb
ここで、Toは自動変速機4の出力トルク、αおよびβはギヤトレーンの構造によって決まる定数、Teはエンジントルクもしくは自動変速機4の入力トルク、Tcbは係合する係合機構のトルク容量、ωeはエンジン回転速度(回転数)である。
To=α1・Te+β1・Tk1+γ1・Tk2−δ・Tb2 ・・・(2)
ついで第2クラッチK2の係合時には、
To=α2・Te+β2・Tk1+γ2・Tk2 ・・・(3)
第1クラッチK1の係合時には、
To=α3・Te+β3・Tk1 ・・・(4)
となる。ここで、α1〜α3、β1〜β3、γ1〜γ2、ならびにδはギヤトレーンの構造によって決まる定数、Tk1は第1クラッチK1のトルク容量、Tk2は第2クラッチK2のトルク容量、Tb2は第2ブレーキB2のトルク容量である。
To=α・Te−β・Tk2
となり、第1モータ3によって出力トルクToの変化量を抑制する場合には、第1モータ3による補正トルクTHmg1を
THmg1=β・Tk2/α
とすることになる。これに対して、第2モータ22によって出力トルクToの変化量を抑制する場合には、第2モータ22による補正トルクTHmg2を
THmg2=β・Tk2
とすることになる。ここで、エンジントルクTeについての定数である上記の「α」はアンダードライブ段では「1」より大きいから、第1モータ3による補正トルクTHmg1が第2モータ22による補正トルクTHmg2より小さくなる。
THmg1=δ・Tb2/α1
となる。これに対して、第2モータ22によってトルク補正を行うとすれば、その補正トルクTHmg2が第2ブレーキB2が係合することにより変化するトルクに相当すればよいから、第2モータ22による補正トルクTHmg2は、
THmg2=δ・Tb2
となる。ここで、エンジントルクTeについての項における定数「α1」は「1」より遙かに小さい値である。そのため、この場合は第1モータ3による補正トルクTHmg1が第2モータ22による補正トルクTHmg2よりも遙かに大きい値になる。歯車変速部10の構造によっては第1モータ3による補正トルクTHmg1が第2ブレーキB2のトルク容量の100倍程度もしくはそれ以上になることがあり、したがって第1モータ3によるトルク補正は不可能であり、あるいは消費電力が多いなどの点でトルク補正制御には不利であり、さらには放電量と充電量との電力収支が成り立たなくなる可能性がある。
THmg1=−γ2・Tk2/α2
となる。これに対して、第2モータ22によってトルク補正を行うとすれば、その補正トルクTHmg2が第2クラッチK2が係合することにより変化するトルクに相当すればよいから、第2モータ22による補正トルクTHmg2は、
THmg2=−γ2・Tk2
となる。ここで、エンジントルクTeについての項における定数「α2」は「1」より遙かに小さい値である。そのため、この場合は第1モータ3による補正トルクTHmg1が第2モータ22による補正トルクTHmg2よりも遙かに大きい値になる。歯車変速部10の構造によっては第1モータ3による補正トルクTHmg1が第2クラッチK2のトルク容量の数十倍程度もしくはそれ以上になることがあり、第1モータ3によるトルク補正は不可能であり、あるいは消費電力が多いなどの点でトルク補正制御に不利であり、さらには放電量と充電量との電力収支が成り立たなくなる可能性がある。
Claims (7)
- 複数の係合機構を有しかつ所定の係合機構を係合させることにより変速が実行される自動変速機の入力側にエンジンと第1モータとが連結され、前記自動変速機の出力側に第2モータが連結されているハイブリッド車の制御装置において、
前記第1モータおよび前記第2モータを制御するコントローラを有し、
前記コントローラは、
前記所定の係合機構を係合させて所定の変速段を設定する変速開始から変速終了までの間における、係合させる前記所定の係合機構のトルク容量と前記自動変速機の入力トルクとの関係に基づいて決まる前記自動変速機の出力トルクの変化量を求め、
前記自動変速機の出力トルクの変化量を、予め定めた所定値に制限するために要する前記第1モータのパワーと前記第2モータのパワーとをそれぞれ求め、
前記第1モータと前記第2モータとのうち、前記出力トルクの変化量を前記所定値とするのに要するパワーが小さい方のモータを、前記出力トルクの変化量を前記所定値とするモータとして選択する
ことを特徴とするハイブリッド車の制御装置。 - 請求項1に記載のハイブリッド車の制御装置において、
前記所定の変速段は、複数の前記係合機構を予め定められた順序で係合させることにより設定される変速段であり、
前記コントローラは、
複数の前記係合機構を予め定められた順序で係合させる場合に、前記出力トルクの変化量を、複数の前記係合機構のうち解放から係合に切り換えられる係合機構のトルク容量と前記入力トルクとに基づいて求める
ことを特徴とするハイブリッド車の制御装置。 - 請求項1または2に記載のハイブリッド車の制御装置において、
前記出力トルクの変化量は、前記自動変速機についての運動方程式から求められ、
前記所定値はゼロである
ことを特徴とするハイブリッド車の制御装置。 - 請求項1ないし3のいずれか一項に記載のハイブリッド車の制御装置において、
前記コントローラは、更に、
前記出力トルクの変化量を少なくするためのトルクを前記第1モータおよび前記第2モータの両方のモータが出力できるか否かの判断を行い、
前記第1モータおよび前記第2モータの両方のモータが前記出力トルクの変化量を少なくするためのトルクを出力できることが判断された場合に、前記出力トルクの変化量を予め定めた前記所定値に制限するために使用するモータとして、前記第1モータと前記第2モータとのうち、前記出力トルクの変化量を前記所定値とするのに要するパワーが小さい方のモータを選択する
ことを特徴とするハイブリッド車の制御装置。 - 請求項4に記載のハイブリッド車の制御装置において、
前記コントローラは、更に、
前記第1モータと前記第2モータとのうちのいずれか一方のモータが、前記出力トルクの変化量を少なくするためのトルクを出力できないことが判断された場合に、前記第1モータと前記第2モータとのうちの他方のモータを、前記出力トルクの変化量を予め定めた前記所定値に制限するために使用するモータとして選択する
ことを特徴とするハイブリッド車の制御装置。 - 請求項5に記載のハイブリッド車の制御装置において、
前記自動変速機は、入力軸と出力軸とのトルクの伝達を遮断したニュートラル状態と、前記入力軸と前記出力軸との変速比が大きい第1変速段と、前記変速比が前記第1変速段よりも小さい第2変速段と、前記変速比が前記第2変速段よりも小さい第3変速段とを少なくとも設定することができるように構成され、
前記ニュートラル状態から前記第1変速段への変速時、または前記第2変速段から前記第3変速段への変速時には、前記出力トルクの変化量を前記所定値に制限するために使用するモータとして、前記第2モータを選択する
ことを特徴とするハイブリッド車の制御装置。 - 請求項1ないし6のいずれか一項に記載のハイブリッド車の制御装置において、
前記エンジンの出力トルクが伝達されるトルクの伝達経路での前記自動変速機の入力側に前記第1モータが連結され、前記自動変速機の出力側に前記第2モータが連結され、前記出力トルクの変化量は、前記自動変速機の出力軸のトルクの変化量である
ことを特徴とするハイブリッド車の制御装置。
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