JP7225720B2 - Power generation torque control device for rotary electric machine - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for controlling power generation torque of a rotating electric machine that generates power using drive torque of an engine.

Conventionally, in this type of device, there is a device that performs gradual excitation control to gradually increase the exciting current flowing in the field coil of the rotating electric machine in order to suppress a sudden increase in the power generation torque that acts as the load torque on the engine. (See Patent Document 1). In the device described in Patent Document 1, when the battery voltage drops below a target voltage with an excitation duty of 0%, the excitation duty is set to a predetermined duty value (25%), and then gradual excitation control is performed. According to the device described in Patent Literature 1, it is possible to suppress undershoot in which the battery voltage drops significantly below the target voltage.

Japanese Patent No. 5430672

However, in the apparatus disclosed in Patent Document 1, if the predetermined duty value is too large, the generated torque may become excessively large, which may cause the engine to stall. On the other hand, if the predetermined duty value is too small, the undershoot of the battery voltage cannot be suppressed.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and its main object is to provide a power generation torque control device for a rotating electric machine that is capable of suppressing both engine stall and battery voltage undershoot. to do.

The first means for solving the above problems is
A power generation torque control device (14) for controlling the power generation torque of a rotating electrical machine (17) that generates power using the driving torque of an engine (101) and charges a battery (22),
a first calculation unit that calculates a command value for the power generation torque;
a guard value setting unit that sets an upper limit guard value of the command value based on the response speed of the driving torque and the command value;
a second calculation unit that calculates a limit command value by limiting the command value to the upper limit guard value or less;
a control unit that controls the power generation torque to the limit command value;
Prepare.

According to the above configuration, the rotating electrical machine uses the drive torque of the engine to generate power and charge the battery. Therefore, if the power generation torque of the rotary electric machine is too large with respect to the driving torque of the engine, the engine may stall. On the other hand, when the power generation torque is small, if the increase rate (increase speed) when increasing the power generation torque is too small, an undershoot may occur in which the battery voltage drops significantly below the target voltage. On the other hand, the power generation torque control device controls the power generation torque of the rotary electric machine.

Specifically, the command value of the power generation torque is calculated by the first calculator. The upper limit guard value of the command value is set by the guard value setting unit. The second calculator calculates a limit command value that limits the command value to the upper guard value or less. Then, the control unit controls the power generation torque to the limit command value. Therefore, the power generation torque can be limited to the upper guard value or less.

Here, the upper guard value is set based on the response speed of the drive torque of the engine and the command value of the power generation torque. Therefore, compared to the case where the response speed of the drive torque is not taken into consideration, it is possible to suppress the upper limit guard value and, in turn, the power generation torque from becoming too large with respect to the drive torque. Therefore, even if the power generation torque command value rises sharply, engine stall can be suppressed. Furthermore, the command value of the generated torque is only limited to the upper limit guard value or less, and the increase amount and increase rate of the command value are not limited until the upper limit guard value is reached. Therefore, it is possible to rapidly increase the generated torque within a range in which the engine stall can be suppressed, and to suppress the undershoot of the battery voltage.

In the second means, the guard value setting unit increases the upper limit guard value at a rate of increase corresponding to the response speed of the drive torque when the command value is limited based on the upper limit guard value. . According to such a configuration, even when the command value is limited based on the upper guard value, it is possible to increase the power generation torque within a range in which engine stall can be suppressed.

In the third means, when the command value is not limited based on the upper guard value, the guard value setting unit moderates the command value with a coefficient corresponding to the response speed of the drive torque. The upper guard value is set based on the lower value. According to such a configuration, it is possible to set the upper guard value in consideration of the response speed of the driving torque by a simple operation of calculating the smoothed value of the command value.

In the fourth means, when the command value is not restricted based on the upper guard value, the guard value setting unit moderates the command value by a coefficient corresponding to the response speed of the drive torque. The upper limit guard value is set to a value obtained by adding a predetermined value to the preferred value.

According to the above configuration, in the third means, the upper limit guard value is set to a value obtained by adding a predetermined value to the smoothed value. As a result, the upper guard value is likely to be larger than the command value by a predetermined value, and the command value is less likely to be limited by the upper guard value when the command value is changed to a larger value. Therefore, it is possible to improve the responsiveness of the power generation torque and, by extension, the responsiveness of the power generation amount.

Further, as in the fifth means, when the command value is not limited based on the upper limit guard value, the guard value setting unit sets the rate of change of the upper limit guard value to the response speed of the drive torque. It is also possible to employ a configuration in which the rate of change is limited to a value equal to or less than the rate of change corresponding to the . With such a configuration as well, the upper guard value can be set in consideration of the response speed of the driving torque.

In the sixth means, the guard value setting unit maintains the drive torque until the upper limit guard value becomes equal to or greater than the command value plus a predetermined value after the command value becomes equal to or greater than the upper limit guard value. The upper limit guard value is increased at a rate of increase corresponding to the response speed of .

According to the above configuration, the upper limit guard value is increased until the upper limit guard value becomes equal to or higher than the sum of the command value and the predetermined value after the power generation torque command value becomes equal to or greater than the upper limit guard value. As a result, the upper guard value is likely to be larger than the command value by a predetermined value, and the command value is less likely to be limited by the upper guard value when the command value is changed to a larger value. Therefore, it is possible to improve the responsiveness of the power generation torque and, by extension, the responsiveness of the power generation amount. Furthermore, the upper limit guard value is increased at a rate of increase corresponding to the response speed of the driving torque. Therefore, it is possible to rapidly shift to a state in which the upper guard value is larger than the command value by a predetermined value while suppressing engine stall.

Specifically, as in the seventh means, when the engine is in an idling state, the engine whose driving torque is controlled so that the rotation speed of the engine reaches a predetermined idle rotation speed is provided with the above-described The first to fifth means can be applied.

In the eighth means, the guard value setting unit receives the rate of increase from an external device that controls the drive torque. According to such a configuration, the external device that controls the drive torque of the engine can appropriately set the rate of increase according to the response speed of the drive torque, and the upper limit guard value can be increased at the rate of increase. Therefore, it is possible to rapidly increase the upper guard value while suppressing engine stall.

In the ninth means, the guard value setting unit receives the coefficient from an external device that controls the drive torque. According to this configuration, the coefficient corresponding to the response speed of the driving torque is appropriately set according to the specifications of the engine by an external device that controls the driving torque of the engine, and the command value is smoothed by the coefficient. An upper guard value can be set for the value. Therefore, the upper limit guard value can be appropriately set in order to achieve both suppression of engine stall and suppression of battery voltage undershoot.

FIG. 2 is a circuit diagram showing the configuration of an in-vehicle rotating electric machine system; A time chart showing a control mode of a comparative example. 4 is a flowchart showing a power generation control procedure; FIG. 4 is a flowchart showing a procedure for calculating a torque command value shown in FIG. 3; FIG. FIG. 4 is a flow chart showing the guard determination procedure of FIG. 3 ; FIG. 4 is a flowchart showing the procedure of guard processing in FIG. 3; 4 is a time chart showing a control mode when the target voltage drops; 4 is a time chart showing a control mode when the electrical load is reduced; 4 is a time chart showing a control mode when an electric load is increased;

An embodiment embodied as a rotating electric machine system mounted on a vehicle will be described below with reference to the drawings.

As shown in FIG. 1, the in-vehicle rotating electrical machine system 100 includes a rotating electrical machine unit 10, an engine ECU (Electronic Control Unit) 20, a battery 22, a second capacitor 23, an electrical load 24, and the like. The rotating electrical machine unit 10 includes a rotating electrical machine 17, an inverter 13, a rotating electrical machine ECU 14, and the like. The rotary electric machine unit 10 is a generator with a motor function (power running function), and is configured as an electromechanically integrated ISG (Integrated Starter Generator). The rotary electric machine 17 includes X, Y and Z phase windings 11X, 11Y and 11Z as three-phase armature windings, a field winding 12, a rotational position sensor 18, and current sensors 19X and 19Y. The battery 22 is, for example, a Pb battery that outputs a voltage of 12V. As the battery 22, a battery different from the Pb battery that outputs 12V, a battery that outputs a voltage other than 12V, or the like can be used.

The X-, Y-, and Z-phase windings 11X, 11Y, and 11Z are wound around a stator core (not shown) to form a stator. In this embodiment, first ends of the X-, Y-, and Z-phase windings 11X, 11Y, and 11Z are connected to each other at a neutral point. That is, the rotary electric machine unit 10 is Y-connected.

The field winding 12 forms a rotor by being wound around field poles (not shown) oppositely arranged on the inner peripheral side of the stator core. By passing an excitation current through the field winding 12, the field poles are magnetized. AC voltages are output from the phase windings 11X, 11Y and 11Z by the rotating magnetic fields generated when the field poles are magnetized. In this embodiment, the rotor rotates by obtaining rotational power from a crankshaft of an engine 101 (the body of a vehicle-mounted engine is schematically shown in FIG. 1). A rotational position sensor 18 detects the rotational position of the field winding 12 . The rotational position sensor 18 is composed of a resolver, a Hall element, and the like. A crankshaft of the engine 101 and a rotor of the rotating electric machine 17 are connected by a belt. The engine 101 is, for example, an engine that uses gasoline as fuel, and generates driving force by combustion of the fuel. Note that the engine 101 is not limited to a gasoline engine, and may be a diesel engine that uses light oil as fuel, or an engine that uses other fuels.

The inverter 13 (corresponding to a power conversion circuit) converts the AC voltage (AC power) output from each phase winding 11X, 11Y, 11Z into a DC voltage (DC power). Inverter 13 converts a DC voltage input from battery 22 into an AC voltage and outputs the AC voltage to phase windings 11X, 11Y, and 11Z. The inverter 13 (corresponding to a rectifier circuit) is a bridge circuit having the same number of upper and lower arms as the number of phases of the armature winding. Specifically, the inverter 13 includes an X-phase module 13X, a Y-phase module 13Y, and a Z-phase module 13Z, and constitutes a three-phase full-wave rectifier circuit. The AC voltage generated by the rotating electric machine 17 is converted into a DC voltage by the inverter 13 and supplied to the battery 22 to charge the battery 22 . That is, the rotating electric machine 17 uses the drive torque of the engine 101 to generate power and charge the battery 22 . Inverter 13 configures a drive circuit that drives rotary electric machine 17 by adjusting AC voltages supplied to respective phase windings 11X, 11Y, and 11Z of rotary electric machine 17 . The current sensor 19X detects the current flowing through the X-phase winding, and the current sensor 19Y detects the current flowing through the Y-phase winding.

Each of the X-, Y-, and Z-phase modules 13X, 13Y, and 13Z has an upper arm switch Sp and a lower arm switch Sn. That is, the switches Sp and Sn (corresponding to switching elements) are bridge-connected. In this embodiment, voltage-controlled semiconductor switching elements are used as the switches Sp and Sn, and more specifically, N-channel MOSFETs are used. An upper arm diode Dp is connected in antiparallel (parallel) to the upper arm switch Sp, and a lower arm diode Dn is connected in antiparallel (parallel) to the lower arm switch Sn. In this embodiment, the body diodes of the switches Sp and Sn are used as the diodes Dp and Dn. The diodes Dp and Dn are not limited to body diodes, and may be diodes separate from the switches Sp and Sn, for example.

A second end of the X-phase winding 11X is connected to the X-terminal PX of the X-phase module 13X. The low potential side terminal (source) of the upper arm switch Sp and the high potential side terminal (drain) of the lower arm switch Sn are connected to the X terminal PX. The drain of the upper arm switch Sp is connected to the B terminal (corresponding to the output terminal) of the rotating electrical unit 10, and the source of the lower arm switch Sn is connected to the ground portion (ground GND) through the E terminal of the rotating electrical unit 10. ) is connected to the body of the engine 101 . The B terminal is a terminal connected to the positive electrode of the battery 22, and is formed in the shape of a detachable connector.

A Y terminal PY of the Y-phase module 13Y is connected to a second end of the Y-phase winding 11Y. A connection point between the upper arm switch Sp and the lower arm switch Sn is connected to the Y terminal PY. The drain of the upper arm switch Sp is connected to the B terminal, and the source of the lower arm switch Sn is connected to the body of the engine 101 as the ground GND via the E terminal.

A second end of the Z-phase winding 11Z is connected to the Z-terminal PZ of the Z-phase module 13Z. A connection point between the upper arm switch Sp and the lower arm switch Sn is connected to the Z terminal PZ. The drain of the upper arm switch Sp is connected to the B terminal, and the source of the lower arm switch Sn is connected to the body of the engine 101 as the ground GND via the E terminal.

A first capacitor 15 and a Zener diode 16 are connected in parallel to the series connection of the switches Sp and Sn that constitute each of the phase modules 13X, 13Y and 13Z. A voltage sensor 41 (corresponding to a voltage detection section) is provided to detect the voltage between the high-voltage side connection point P1 and the low-voltage side connection point P2 of the inverter 13 . The battery voltage detected by the voltage sensor 41 is output to the rotary electric machine ECU 14 .

A rotary electric machine ECU 14 (corresponding to a power generation torque control device for a rotary electric machine) is configured as a microcomputer including a CPU, a ROM, a RAM, an input/output interface, and the like. The rotary electric machine ECU 14 adjusts the excitation current to be supplied to the field winding 12 by an IC regulator (not shown) therein. As a result, the power generation torque of the rotary electric machine unit 10 and, in turn, the power generation voltage (the voltage at the B terminal) are controlled. Further, the rotating electric machine ECU 14 controls the inverter 13 to drive the rotating electric machine 17 after the vehicle starts running, thereby assisting the driving force of the engine 101 . The rotary electric machine 17 can impart rotation to the crankshaft when starting the engine 101 when receiving a command to start the engine 101 from the engine ECU 20, and has a function as a starter. The rotary electric machine ECU 14 is connected to an engine ECU 20 that is a control device outside the rotary electric machine unit 10 via an L terminal that is a communication terminal and a communication line.

The engine ECU 20 (corresponding to an external device) is configured as a microcomputer including a CPU, a ROM, a RAM, an input/output interface, etc., and controls the operating state of the engine 101 . The engine ECU 20 feedback-controls the rotation speed of the engine 101 to a target idle rotation speed (predetermined idle rotation speed) by controlling the driving torque of the engine 101 when the engine 101 is in an idle operation state. Further, the engine ECU 20 automatically stops the engine 101 when a predetermined automatic stop condition is satisfied, and automatically restarts the engine 101 when a predetermined automatic restart condition is satisfied. Engine ECU 20 calculates a target voltage of battery 22 . For example, the engine ECU 20 reduces the target voltage when the engine 101 is started or when the vehicle equipped with the engine 101 is accelerated (during acceleration of the engine 101), and increases the target voltage when the battery voltage is reduced. The engine ECU 20 transmits the target voltage of the battery 22 to the rotary electric machine ECU 14 .

Furthermore, the engine ECU 20 calculates an increase rate limit (upper limit increase rate) of an upper guard value, which will be described later, according to the response speed of the driving torque of the engine 101 , and transmits it to the rotary electric machine ECU 14 . The response speed of the power generation torque of the rotary electric machine 17 is higher than the response speed of the drive torque of the engine 101 . The increase rate limit is set to the maximum increase rate (maximum increase speed) of the driving torque of the engine 101 . The engine ECU 20 calculates a smoothing coefficient (corresponding to a coefficient) for smoothing a torque command value, which will be described later, in calculating the upper limit guard value, and transmits the smoothing coefficient to the rotary electric machine ECU 14 . The smoothing coefficient is set so that the rate of change of the smoothed value of the torque command value becomes the maximum rate of change (maximum rate of change) of the driving torque of the engine 101 . The rotary electric machine ECU 14 and the engine ECU 20 perform two-way communication (for example, serial communication using the LIN protocol) to exchange information with each other.

Based on the serial communication signal transmitted from the engine ECU 20, the rotary electric machine ECU 14 outputs a power running command that is a command for power running by the rotary electric machine 17, a power generation command that is a command for power generation by the rotary electric machine 17, or a neutral that is neither of them. The command and the required torque (power running torque, power generation torque, braking torque) required for the rotating electric machine 17 are grasped. The rotary electric machine ECU 14 controls the PWM voltage applied to the field winding 12 and the ON/OFF states of the switches Sp and Sn so that the rotary electric machine 17 generates the required torque. Specifically, the rotating electrical machine ECU 14 calculates the rotational speed of the field winding 12 (that is, the rotating electrical machine 17 ) based on the rotational position of the field winding 12 detected by the rotational position sensor 18 . The rotary electric machine ECU 14 determines the ON/OFF period of the PWM voltage applied to the field winding 12 based on the X-phase and Y-phase currents detected by the current sensors 19X and 19Y and the rotational position and rotational speed of the field winding 12. (duty, etc.), and the on-off phase and on-off period (duty, etc.) of each switch Sp, Sn are controlled by PWM control.

Further, the rotating electrical machine ECU 14 (corresponding to a first calculation unit) calculates a command value for power generation torque (hereinafter referred to as a "torque command value") based on the target voltage of the battery 22 received from the engine ECU 20 when the rotating electrical machine 17 generates power. ) is calculated. The rotary electric machine ECU 14 (corresponding to a guard value setting unit) sets the upper limit guard value of the torque command value based on the response speed of the driving torque of the engine 101 and the torque command value. At that time, the rotary electric machine ECU 14 receives the increase rate limit of the upper guard value and the smoothing coefficient from the engine ECU 20 . The rotary electric machine ECU 14 (corresponding to a second calculation unit) calculates a guarded torque command value (corresponding to a limit command value) after guarding (limiting) the torque command value to an upper limit guard value or less. The rotary electric machine ECU 14 (corresponding to a control unit) controls the generated torque to the post-guard torque command value.

An engine ECU 20 and a positive terminal of a battery 22 are connected to the B terminal via a relay 21 . A body of the engine 101 as a ground GND is connected to the negative terminal of the battery 22 . A second capacitor 23 and an electric load 24 are connected to the B terminal. The electric load 24 includes, for example, an electronically controlled brake system of a vehicle, an electric power steering, or the like, which operates at a predetermined voltage or higher. The operating voltage is a voltage at which an electric load can exhibit specified performance, such as a guaranteed voltage or a rated voltage of the electric load. Electrical loads 24 may include air conditioners, car audio, headlamps, and the like. The relay 21 is turned on by turning on the ignition switch.

FIG. 2 shows the control mode of the comparative example. The power generation torque control device of the comparative example performs gradual excitation control to gradually increase the excitation current flowing through the field winding 12 of the rotary electric machine 17 in order to suppress a rapid increase in the power generation torque acting as load torque on the engine 101. It is carried out. In FIG. 2, the engine 101 is in an idling state, and by controlling the driving torque of the engine 101, the rotation speed of the engine 101 is feedback-controlled to the target idle rotation speed.

Before time t11, the rotation speed of the engine 101 is controlled to the target idle rotation speed, and the actual torque of the engine 101, the target voltage of the battery 22, the battery voltage, the torque command value of the rotary electric machine 17, and the actual generated torque are is constant. At time t11, the target voltage of battery 22 drops, and the torque command value of rotary electric machine 17 drops to zero. As a result, the actual torque of engine 101 and the battery voltage decrease, and the battery voltage falls below the target voltage of battery 22 at time t12. Therefore, the torque command value increases, and the exciting current flowing through the field winding 12 is increased. However, since the gradual excitation control is performed to gradually increase the excitation current flowing through the field winding 12, the torque command value and the actual generated torque increase only gradually, and the battery voltage drops significantly below the target voltage. A shoot occurs. After that, at time t13, the battery voltage matches the target voltage, and the actual torque of the engine 101, the target voltage of the battery 22, the battery voltage, the torque command value of the rotary electric machine 17, and the actual generated torque become constant.

In this embodiment, the power generation control shown in FIG. 3 and the processes shown in FIGS. 4 to 6 are executed in order to achieve both suppression of engine stall and suppression of battery voltage undershoot. A series of these processes are repeatedly executed at a predetermined cycle by the rotary electric machine ECU 14 .

As shown in FIG. 3, first, a torque command value for the rotary electric machine 17 is calculated based on the target voltage of the battery 22 and the battery voltage (S10). Next, it is determined whether the torque command value is guarded below the upper limit guard value, or the guard is released (S20). Subsequently, guard processing is performed to guard the torque command value with the upper limit guard value (S30). After that, this series of processes is temporarily terminated (END). Note that the process of S10 corresponds to the process of the first calculator.

FIG. 4 is a flow chart showing the details of the torque command value calculation process in S10 of FIG. This series of processes is executed by the rotary electric machine ECU 14 .

First, the deviation between the target voltage and the battery voltage is calculated (S101). Specifically, the target voltage is received from the engine ECU 20, and the deviation is calculated by subtracting the battery voltage detected by the voltage sensor 41 from the target voltage.

Subsequently, the calculated deviation is multiplied by a proportional coefficient KP to calculate a proportional term (S102). Further, the calculated deviation is added to the previous value of the integrated deviation value to calculate the integrated deviation value (S103). An integral term is calculated by multiplying the calculated integrated deviation value by an integral coefficient KI (S104). The integrated deviation value is stored as the previous value of the integrated deviation value (S105).

Subsequently, the calculated proportional term and integral term are added to calculate a torque command value (S106). The torque command value is stored as the previous value of the torque command value (S107). After that, this series of processing ends (END).

FIG. 5 is a flow chart showing the details of the guard determination in S20 of FIG. This series of processes is executed by the rotary electric machine ECU 14 .

First, it is determined whether or not the guard state of the torque command value is released (S201). The guard state is set in the process of S203 or S205, which will be described later, and the initial state is guard release.

If it is determined in S201 that the guard state of the torque command value is released (S201: YES), it is determined whether or not the torque command value is equal to or greater than the upper guard value (S202). The upper guard value is set in the process of S302 or S305 in FIG. 6, which will be described later. In this determination, if it is determined that the torque command value is equal to or greater than the upper guard value (S202: YES), the guard state is set to guarding (S203). On the other hand, if it is determined in this determination that the torque command value is not equal to or greater than the upper guard value (S202: NO), the current guard state is maintained. After these processes, this series of processes is terminated (END).

Further, when it is determined in S201 that the guard state of the torque command value is not released (S201: NO), it is determined whether or not the value obtained by subtracting the torque command value from the upper limit guard value is equal to or greater than the offset value ( S204). The offset value (corresponding to a predetermined value) is set to the maximum value within the range in which engine stall can be suppressed even if the torque command value suddenly increases by the offset value. In this determination, if it is determined that the value obtained by subtracting the torque command value from the upper limit guard value is equal to or greater than the offset value (S204: YES), the guard state is set to guard release (S205). On the other hand, if it is determined in this determination that the value obtained by subtracting the torque command value from the upper limit guard value is not equal to or greater than the offset value (S204: NO), the current guard state is maintained. After these processes, this series of processes is terminated (END).

FIG. 6 is a flow chart showing the details of the guard processing in S30 of FIG. This series of processes is executed by the rotary electric machine ECU 14 .

First, it is determined whether or not the torque command value is being guarded (S301). In this determination, if it is determined that the guard state of the torque command value is being guarded (S301: YES), the upper limit guard value is set to a value obtained by adding the increase rate limit to the previous value of the upper limit guard value (S302). . The climb rate limit is received from the engine ECU 20 . The increase rate limit is set to the maximum increase rate (maximum increase speed) of the driving torque of the engine 101 .

Subsequently, it is determined whether or not the torque command value is equal to or greater than the upper guard value (S303). In this determination, if it is determined that the torque command value is equal to or greater than the upper guard value (S303: YES), the upper guard value is set as the post-guard torque command value (S304). On the other hand, when it is determined that the torque command value is not equal to or greater than the upper guard value (S303: NO), the torque command value is set as the post-guard torque command value (S306). After these processes, this series of processes is terminated (END).

If it is determined that the guard state of the torque command value is not guarding (S301: NO), the upper limit guard value is set to the sum of the torque command value smoothed by the smoothing coefficient and the offset value. (S305). Specifically, upper limit guard value=torque command value (previous value)+{torque command value−torque command value (previous value)}/smoothing coefficient+offset value. The smoothing coefficient is received from the engine ECU 20 . The smoothing coefficient is set so that the rate of change of the smoothed value of the torque command value becomes the maximum rate of change (maximum rate of change) of the driving torque of the engine 101 . As described above, the offset value (corresponding to the predetermined value) is set to the maximum value within the range in which engine stall can be suppressed even if the torque command value suddenly increases by the offset value. Then, the process proceeds to S306.

The processes of S301, S302, and S305 correspond to the processes of the guard value setting section, and the processes of S304 and S306 correspond to the processes of the second calculation section.

FIG. 7 shows a control mode when the target voltage drops in this embodiment. The power generation torque control apparatus of this embodiment does not perform the gradual excitation control for gradually increasing the excitation current flowing through the field winding 12 of the rotary electric machine 17, but performs the control described with reference to FIGS. In FIG. 7, the engine 101 is in an idling state, and by controlling the driving torque of the engine 101, the rotation speed of the engine 101 is feedback-controlled to the target idle rotation speed. Note that this figure shows a case where the torque command value of the rotary electric machine 17 is lowered, and since the effect of the offset value is small, the effect of the offset value is omitted for convenience.

Before time t21, the rotation speed of the engine 101 is controlled to the target idle rotation speed. The guard value is constant. At time t21, the target voltage of battery 22 drops, and the torque command value of rotary electric machine 17 drops to zero. As a result, the actual torque of the engine 101 and the battery voltage are lowered. At this time, the upper guard value is set to a value obtained by adding a torque command value smoothed by a smoothing coefficient and an offset value. Therefore, the upper guard value decreases with a delay of the torque command value.

At time t22, the battery voltage falls below the target voltage and the torque command value increases. At this time, the increase amount and increase rate of the torque command value are not limited until the torque command value reaches the upper guard value. Therefore, the actual power generation torque rises more rapidly than in the comparative example of FIG. 2, and undershoot of the battery voltage is suppressed. Then, when the torque command value reaches the upper limit guard value, the torque command value is guarded below the upper limit guard value, and the guard state is set during guarding. During guarding, the upper guard value is set to a value obtained by adding the rate-of-increase limit to the previous value of the upper guard value. Therefore, the upper guard value and the torque command value increase at the increase rate limit, and the actual generated torque reaches the upper guard value later than these. After that, at time t23, the battery voltage matches the target voltage, and the actual torque of the engine 101, the target voltage of the battery 22, the battery voltage, the torque command value of the rotary electric machine 17, the actual generated torque, and the upper guard value become constant. Become.

FIG. 8 shows a control mode when the electric load is reduced in this embodiment. The power generation torque control apparatus of this embodiment does not perform the gradual excitation control for gradually increasing the excitation current flowing through the field winding 12 of the rotary electric machine 17, but performs the control described with reference to FIGS. In FIG. 8, the engine 101 is in an idling state, and by controlling the drive torque of the engine 101, the rotation speed of the engine 101 is feedback-controlled to the target idle rotation speed. Note that this figure shows a case where the torque command value of the rotary electric machine 17 is lowered, and since the effect of the offset value is small, the effect of the offset value is omitted for convenience.

Before time t31, the rotation speed of the engine 101 is controlled to the target idle rotation speed. The guard value is constant. At time t31, the electrical load of the vehicle decreases, and the torque command value of rotating electric machine 17 decreases to zero. As a result, the actual torque of the engine 101 decreases and the battery voltage increases. At this time, the upper guard value is set to a value obtained by adding a torque command value smoothed by a smoothing coefficient and an offset value. Therefore, the upper guard value decreases with a delay of the torque command value. After that, the battery voltage drops as the amount of power generated by the rotating electric machine 17 decreases.

At time t32, the battery voltage falls below the target voltage and the torque command value increases. At this time, the increase amount and increase rate of the torque command value are not limited until the torque command value reaches the upper guard value. Therefore, the actual power generation torque rises more rapidly than in the comparative example of FIG. 2, and undershoot of the battery voltage is suppressed. The rest is the same as in FIG.

FIG. 9 shows a control mode when the electrical load is increased in this embodiment. The power generation torque control apparatus of this embodiment does not perform the gradual excitation control for gradually increasing the excitation current flowing through the field winding 12 of the rotary electric machine 17, but performs the control described with reference to FIGS. In FIG. 9, the engine 101 is in an idling state, and by controlling the driving torque of the engine 101, the rotation speed of the engine 101 is feedback-controlled to the target idle rotation speed. In the figure, the effect of the offset value is shown without omission.

Before time t41, the rotation speed of the engine 101 is controlled to the target idle rotation speed. The guard value is constant. Here, the upper guard value is set to a value obtained by adding an offset value to a torque command value smoothed by a smoothing coefficient. At time t41, the electrical load of the vehicle increases and the torque command value of rotating electric machine 17 increases. As a result, the actual torque of the engine 101 increases and the battery voltage decreases. At this time, since the torque command value rises faster than the upper guard value, the torque command value reaches the upper guard value. That is, when the torque command value increases, the torque command value can be rapidly increased by the offset value. Then, the torque command value is guarded below the upper limit guard value, and the guard state is set during guarding.

After that, during guarding, the upper guard value is set to a value obtained by adding the increase rate limit to the previous value of the upper guard value. Therefore, the upper guard value and the torque command value increase at the increase rate limit, and the actual generated torque increases with a delay. After that, at time t42, the battery voltage matches the target voltage, and the actual torque of the engine 101, the target voltage of the battery 22, the battery voltage, the torque command value of the rotary electric machine 17, and the actual generated torque become constant. The upper guard value increases at the rate-of-increase limit until it reaches a value obtained by adding the offset value to the torque command value smoothed by the smoothing coefficient. After that, the upper guard value is set to a value obtained by smoothing the torque command value with a smoothing coefficient and adding the offset value.

The embodiment detailed above has the following advantages.

・The generated torque is controlled to the torque command value after guarding. Therefore, the power generation torque can be limited to the upper guard value or less. Here, the upper guard value is set based on the response speed of the driving torque of the engine 101 and the torque command value. Therefore, compared to the case where the response speed of the drive torque is not taken into consideration, it is possible to suppress the upper limit guard value and, in turn, the power generation torque from becoming too large with respect to the drive torque. Therefore, even if the torque command value suddenly increases, engine stall can be suppressed. Furthermore, the torque command value is only limited to be equal to or lower than the upper guard value, and the increase amount and rate of increase of the torque command value are not limited until the upper limit guard value is reached. Therefore, it is possible to rapidly increase the generated torque within a range in which the engine stall can be suppressed, and to suppress the undershoot of the battery voltage.

- When the torque command value is limited based on the upper limit guard value, the rotary electric machine ECU 14 increases the upper limit guard value with an increase rate limit corresponding to the response speed of the driving torque. According to such a configuration, even when the torque command value is limited based on the upper guard value, the power generation torque can be increased within a range in which engine stall can be suppressed.

・When the torque command value is not restricted based on the upper limit guard value, the rotary electric machine ECU 14 smoothes the torque command value with a smoothing coefficient according to the response speed of the drive torque, and adjusts the torque command value to the upper limit guard value based on the smoothed value. set the value. According to such a configuration, it is possible to set the upper guard value in consideration of the response speed of the driving torque by a simple operation of calculating the smoothed value of the torque command value.

・The upper limit guard value is set to the value obtained by adding the offset value to the smoothed value. Therefore, the upper limit guard value is likely to shift to a state where the offset value is larger than the torque command value, and the torque command value is less likely to be limited by the upper limit guard value when the torque command value is changed to a larger value. . Therefore, it is possible to improve the responsiveness of the power generation torque and, by extension, the responsiveness of the power generation amount.

・After the torque command value becomes equal to or greater than the upper limit guard value, the upper limit guard value is increased until the upper limit guard value becomes equal to or greater than the value obtained by adding the offset value to the torque command value. Therefore, the upper guard value is likely to be larger than the torque command value by the offset value, and the torque command value is less likely to be limited by the upper guard value when the torque command value is changed to a larger value. can. Therefore, it is possible to improve the responsiveness of the power generation torque and, by extension, the responsiveness of the power generation amount. Furthermore, the upper limit guard value is increased by a rate of increase limit according to the response speed of the driving torque. Therefore, it is possible to rapidly shift to a state in which the upper guard value is greater than the torque command value by the offset value while suppressing engine stall.

- The rotary electric machine ECU 14 receives the increase rate from the engine ECU 20 that controls the driving torque. According to such a configuration, the engine ECU 20 that controls the drive torque of the engine 101 appropriately sets the increase rate limit according to the response speed of the drive torque, and the upper limit guard value can be increased at the increase rate limit. Therefore, it is possible to rapidly increase the upper guard value while suppressing engine stall.

- The rotary electric machine ECU 14 receives the smoothing coefficient from the engine ECU 20 that controls the driving torque. According to such a configuration, the engine ECU 20 that controls the drive torque of the engine 101 appropriately sets the smoothing coefficient according to the response speed of the drive torque according to the specifications of the engine 101, and the torque command value is smoothed. An upper guard value can be set for the smoothed value with a coefficient. Therefore, the upper limit guard value can be appropriately set in order to achieve both suppression of engine stall and suppression of battery voltage undershoot.

It should be noted that the above embodiment can be modified as follows. Parts that are the same as those in the above embodiment are denoted by the same reference numerals, and descriptions thereof are omitted.

- The increase rate limit (increase rate upper limit) may be set to a value slightly smaller than the maximum increase rate (maximum increase speed) of the driving torque of the engine 101 .

The smoothing coefficient may be set such that the rate of change of the smoothed value of the torque command value is slightly smaller than the maximum rate of change (maximum rate of change) of the driving torque of the engine 101 .

- The smoothing coefficient and the rate-of-increase limit may be stored in advance in the rotary electric machine ECU 14 .

When the torque command value is not limited based on the upper limit guard value, the rotary electric machine ECU 14 (corresponding to a guard value setting unit) adjusts the rate of change of the upper limit guard value according to the response speed of the driving torque of the engine 101. It is also possible to employ a configuration in which the rate of change is limited to a rate of change (rate of change limit) or less. With such a configuration as well, the upper guard value can be set in consideration of the response speed of the driving torque of the engine 101 . The change rate limit (change rate upper limit) may be set to the maximum change rate (maximum change speed) of the driving torque of the engine 101, or may be set to a value slightly smaller than the maximum change rate. Note that the change rate limit may be received from the engine ECU 20 or may be stored in advance in the rotary electric machine ECU 14 .

- By setting the offset value (corresponding to a predetermined value) to 0, the offset value may be omitted.

- As the rotary electric machine 17, an alternator (generator) or an MG (Motor Generator) that generates a torque that allows the vehicle to run can be employed.

The power generation control described above can also be executed during cruise control in which the engine ECU 20 controls the vehicle to run at a constant speed, not limited to the idling state of the engine 101 .

14... Rotary electric machine ECU, 17... Rotary electric machine, 22... Battery, 101... Engine.

Claims (10)

A power generation torque control device (14) for controlling the power generation torque of a rotating electrical machine (17) that generates power using the driving torque of an engine (101) and charges a battery (22),
a first calculation unit that calculates a command value for the power generation torque;
a guard value setting unit that sets an upper limit guard value of the command value based on the response speed of the driving torque and the command value;
a second calculation unit that calculates a limit command value by limiting the command value to the upper limit guard value or less;
a control unit that controls the power generation torque to the limit command value;
with
The guard value setting unit, when the command value is not limited based on the upper limit guard value, adjusts the command value based on the smoothed value with a coefficient corresponding to the response speed of the drive torque. A power generation torque control device for a rotating electric machine that sets an upper guard value . The guard value setting unit smoothes the command value with a coefficient corresponding to the response speed of the drive torque when the command value is not limited based on the upper guard value, and adds a predetermined value to the smoothed value. 2. The power generation torque control device for a rotary electric machine according to claim 1 , wherein said upper limit guard value is set to the added value. A power generation torque control device (14) for controlling the power generation torque of a rotating electrical machine (17) that generates power using the driving torque of an engine (101) and charges a battery (22),
a first calculation unit that calculates a command value for the power generation torque;
a guard value setting unit that sets an upper limit guard value of the command value based on the response speed of the driving torque and the command value;
a second calculation unit that calculates a limit command value by limiting the command value to the upper limit guard value or less;
a control unit that controls the power generation torque to the limit command value;
with
When the command value is not limited based on the upper limit guard value, the guard value setting unit limits the rate of change of the upper limit guard value to a rate of change corresponding to the response speed of the drive torque or less. Power generation torque control device for rotary electric machine. After the command value becomes equal to or greater than the upper limit guard value, the guard value setting unit adjusts the response speed of the drive torque until the upper limit guard value becomes equal to or greater than a value obtained by adding a predetermined value to the command value. 4. The power generation torque control device for a rotary electric machine according to claim 1 , wherein said upper limit guard value is increased at an increase rate. A power generation torque control device (14) for controlling the power generation torque of a rotating electrical machine (17) that generates power using the driving torque of an engine (101) and charges a battery (22),
a first calculation unit that calculates a command value for the power generation torque;
a guard value setting unit that sets an upper limit guard value of the command value based on the response speed of the driving torque and the command value;
a second calculation unit that calculates a limit command value by limiting the command value to the upper limit guard value or less;
a control unit that controls the power generation torque to the limit command value;
with
After the command value becomes equal to or greater than the upper limit guard value, the guard value setting unit adjusts the response speed of the drive torque until the upper limit guard value becomes equal to or greater than a value obtained by adding a predetermined value to the command value. A power generation torque control device for a rotary electric machine, which increases the upper limit guard value at an increase rate. The rotating electrical machine according to any one of claims 1 to 5 , wherein the drive torque is controlled so that the rotation speed of the engine reaches a predetermined idle rotation speed when the engine is in an idling state. Power generation torque controller. 6. The generator torque control device for a rotary electric machine according to claim 4 , wherein said guard value setting unit receives said increase rate from an external device ( 20 ) that controls said drive torque. 3. The power generation torque control device for a rotary electric machine according to claim 1 , wherein said guard value setting unit receives said coefficient from an external device that controls said drive torque. 9. The guard value setting unit increases the upper guard value at a rate corresponding to the response speed of the drive torque when the command value is limited based on the upper guard value. A power generation torque control device for a rotary electric machine according to any one of Claims 1 to 3 . A power generation torque control device (14) for controlling the power generation torque of a rotating electrical machine (17) that generates power using the driving torque of an engine (101) and charges a battery (22),
a first calculation unit that calculates a command value for the power generation torque;
a guard value setting unit that sets an upper limit guard value of the command value based on the response speed of the driving torque and the command value;
a second calculation unit that calculates a limit command value by limiting the command value to the upper limit guard value or less;
a control unit that controls the power generation torque to the limit command value;
with
The guard value setting unit increases the upper limit guard value at a rate of increase corresponding to a response speed of the drive torque when the command value is limited based on the upper limit guard value,
A power generation torque control device for a rotary electric machine, wherein the guard value setting unit receives the rate of increase from an external device (20) that controls the driving torque.

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