JPH10243503A - Hybrid vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To maintain the normal state of an electricity storing device for a long period of time by balancing the input and output power of the electricity storing device. SOLUTION: A hybrid vehicle is provided with an engine 1, a power transmitting means 12 including a first and second rotating electric machines 2000, 3000, an inverter 14, which drives the first and second rotating electric machines 2000, 3000, an electricity storing device 15, an engine controlling device 13, which controls the fuel injection of the engine 1, and a hybrid controlling device 16, which commands a controlled variable to the engine controlling device 13 and also controls the drive of the inverter 14. A current detector 17 detects the current value (state of charge) which flows in the electricity storing device 15. The inverter 14, taking the current value which flows in the electricity storing device 15 as a parameter, corrects the torque command value Mm2* for the second rotating electric machine 3000 calculated by the hybrid controlling device 16 so that the current value can follow a target value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention includes an engine, a first rotating electrical machine connected to the engine for determining an engine speed, and a second rotating electrical machine for determining a driving force of a vehicle. The present invention relates to a control device applied to a hybrid vehicle including a power conversion unit, an inverter device for driving the first and second rotating electric machines, and a power storage device electrically connected to the inverter device. .

[0002]

2. Description of the Related Art Hitherto, various hybrid vehicles have been proposed in which an engine and a rotating electric machine (running motor) are mounted, and both are driven together or selectively to be used as a power source of an automobile. Hybrid vehicles are roughly classified into a parallel hybrid vehicle (for example, Japanese Patent Publication No. 5-46761) in which the vehicle can be driven by both the engine and the rotating electric machine, and a rotating electric machine driven by the engine to generate electric power and store the electric energy in a power storage device (battery). ) And supplies the amount of electricity of the power storage device or the amount of electric power generated by the rotating electric machine to the rotating electric machine for traveling, thereby running the series hybrid vehicle (for example, Japanese Patent Application Laid-Open No. 62-104).
No. 403). Series hybrid vehicles are
Since the engine and the drive train are mechanically separated, the engine can be operated at the point of maximum efficiency. Further, in a parallel hybrid vehicle, since the driving force is generated by the engine and the auxiliary driving force is generated by the rotating electric machine, the mechanical energy can be directly transmitted to the drive system, and it is necessary to convert the mechanical energy into electric energy. The energy transmission efficiency is increased.

However, each of the above-described hybrid vehicles has the following problems. That is, in the series hybrid vehicle, all the energy generated by the engine is converted into electric energy, and this electric energy is converted into mechanical energy by the rotating electric machine for traveling, so that the energy transmission efficiency is reduced. In addition, when the vehicle is accelerated or decelerated, the balance between the energy generated by the engine and the energy supplied to the rotating electric machine for traveling is lost. Therefore, in order to eliminate the above energy imbalance, it is necessary to increase the number of mounted power storage devices. Therefore, there is a disadvantage that the vehicle weight increases and the system efficiency decreases. On the other hand, in a parallel hybrid vehicle, the engine is driven only by the engine when the fuel efficiency of the engine is good, and the low-torque, low-rotation region where the fuel efficiency of the engine is reduced is driven only by the rotating electric machine. That is, the engine is operated in a limited range, and in a region where the engine does not operate, electric energy is taken out of the power storage device. Therefore, in order to perform continuous operation in a region where the engine does not operate, there is a disadvantage that an increase in the vehicle weight due to an increase in the number of mounted power storage devices is inevitable.

[0004] In contrast to the hybrid vehicle described above, a hybrid vehicle of a type that solves the above problems is disclosed in Japanese Patent Laid-Open No. 7-1.
No. 35701 and German Patent No. 4407666 have been proposed. In Japanese Patent Application Laid-Open No. Hei 7-135701,
An engine, a first motor and a second motor, and a gear unit including first, second, and third rotating elements; and controlling the rotation speed of either the first motor or the second motor to control the engine rotation speed. And the other is torque controlled to determine the driving force of the vehicle. According to such a configuration, the engine can be operated at the highest efficiency point, and the generated torque of the engine can be used as it is as the driving force of the vehicle, so that the generated energy of the engine can be efficiently transmitted.

In German Patent No. 4407666, the inner rotor of the first motor and the rotor of the second motor are directly connected, and the outer rotor of the first motor is driven by the engine, and The output torque of the engine is configured to be electromagnetically transmitted by electromagnetically coupling the rotor and the outer rotor to generate power. In such a case, since the torque generated by the second motor can be further assisted by utilizing the energy generated by the first motor, the energy generated by the engine can be efficiently transmitted.

[0006] In these hybrid vehicles, the engine is operated at the point of maximum efficiency by providing power transmission means having two rotating electric machines between the engine and the drive system. As a result, the generated energy of the engine can be provided not only by electric transmission but also by mechanical transmission or electromagnetic transmission, and the energy transmission efficiency can be increased even when the running state changes.

[0007]

However, the above-mentioned prior art (Japanese Patent Laid-Open No. Hei 7-135701, German Patent No. 440)
Even if the technology described in US Pat. No. 7666) is employed, for example, if a large amount of power is taken in or out of the power storage device (battery) during transient running of the vehicle, the life of the battery is shortened, or the battery is deteriorated due to overcharge or overdischarge. There was a risk of dripping or breakage. Such a problem has occurred because the input and output powers of the first motor and the second motor are not balanced.

Therefore, the present invention focuses on the above problems,
It is an object of the present invention to provide a hybrid vehicle control device capable of balancing input and output power of a power storage device and maintaining a normal state of the power storage device for a long time.

[0009]

According to the present invention, there is provided a hybrid vehicle control apparatus comprising: an engine;
Power conversion means coupled to the engine and including a first rotating electric machine for determining an engine speed and a second rotating electric machine for determining a driving force of the vehicle;
The present invention is applied to a hybrid vehicle including an inverter device for driving the rotating electric machine and a power storage device electrically connected to the inverter device, and includes, for example, vehicle operation information such as operation information of an accelerator pedal, a brake pedal, and a shift lever. Controlling an output torque of the engine based on the torque control amount and a target rotation speed of the engine corresponding to a characteristic of the engine, and controlling a torque value generated in the first and second rotating electric machines based on the engine torque. Is assumed.

[0010] With this configuration, the first rotating electric machine is controlled in rotation speed in accordance with the target rotation speed of the engine. At this time, the operation of the engine can be maintained at the engine operating point where the fuel efficiency and the emission of the engine are in the best state while corresponding to the engine characteristics, and highly efficient engine operation can be realized. In such a configuration, the vehicle driving torque is the sum of the torque generated by the first rotating electric machine and the torque generated by the second rotating electric machine, and is appropriately controlled based on the vehicle driving information. At this time, the torque generated in the first rotating electrical machine is balanced with the output torque of the engine, and the output torque of the engine is transmitted electromagnetically as a part of the vehicle driving torque, so that efficient energy transmission can be achieved. Become.

According to the first aspect of the present invention, as a feature thereof, the state of charge of the power storage device is detected (charge state detection means), and the torque command to the second rotating electric machine is set using the state of charge of the power storage device as one parameter. A value or a target engine speed is set (command data setting means). That is, as in the case of existing devices, when the input / output power of the power storage device (battery) cannot be maintained in equilibrium during transient running of the vehicle or the like and the state of charge greatly changes, the power storage device is likely to deteriorate. On the other hand, according to the configuration of the present invention, the torque command value for the second rotating electric machine or the target rotation speed of the engine is set according to the state of charge of the power storage device. Even if the engine speed changes excessively, the charging state of the power storage device is stabilized. Further, input and output of electric power between the first and second rotating electric machines are also stabilized. Therefore, the input / output power of the power storage device is maintained in equilibrium, and the normal state of the power storage device can be maintained for a long time. That is, deterioration and breakage of the power storage device can be suppressed.

The invention described in claim 1 can be embodied as described in claim 2 or claim 3 below. That is, in the inventions according to the second and third aspects, the state-of-charge detecting means is configured to detect the voltage, current, power, or remaining capacity of the power storage device. Then, in the invention of claim 2, the command data setting means includes:
The torque command value of the second rotating electrical machine is set so that the voltage, current, power, or remaining capacity of the power storage device is constant or within a predetermined allowable range. For example, when the voltage value of the power storage device is higher than an allowable level (for example, rated voltage), the torque command value is increased, and when the voltage value of the power storage device is lower than the allowable level, the torque command value is reduced. Good.
Further, the torque command value is increased or decreased by feedback control so that the current value of the power storage device follows a target value (for example, 0 amperes) as an allowable level. In short, any configuration may be used as long as the power consumption of the power storage device is suppressed and the power storage device is held in a stable state.

[0013] On the other hand, in the invention according to claim 3, the charge state detecting means includes: a command data setting means;
The target rotation speed of the engine is set so that the current, the power, or the remaining capacity falls within a fixed or predetermined allowable range.
For example, when the voltage value of the power storage device is higher than an allowable level (for example, rated voltage), the target rotation speed is decreased, and when the voltage value of the power storage device is lower than the allowable level, the target rotation speed is increased. Good. Further, the torque command value is increased or decreased by feedback control so that the current value of the power storage device follows a target value (for example, 0 amperes) as an allowable level. In short, any configuration may be used as long as the power consumption of the power storage device is suppressed and the power storage device is held in a stable state.
According to such a configuration, the above-described effects can be easily realized.

Further, the invention according to claim 4 includes means for variably setting a control target value (allowable level) of the voltage, current, power, or remaining capacity of the power storage device. In such a case, usually, the control target value is set to a state where the power storage device is close to full charge or to a state where there is no input / output of electric power. From this state, the control target value is gradually changed so that charging and discharging are performed. Thus, prevention of deterioration of the power storage device can be realized more reliably. Specifically, for example, when the normal control target voltage is set to the rated voltage, the target value is reduced to about 75% of the rated voltage and gradually approaches the rated voltage.

Further, if the power conversion means is configured as described in claim 5, a small and lightweight power conversion means can be provided, and the weight of the vehicle can be reduced and the system efficiency can be improved.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment according to the present invention will be described below. First, in brief, the hybrid vehicle control system according to the present embodiment determines an engine, a first rotating electric machine connected to the engine and configured to determine an engine speed, and a driving force of the vehicle. Transmission means (power conversion means) including a second rotating electric machine for
And an inverter device for driving the first and second rotating electric machines, and a power storage device electrically connected to the inverter device. Further, an engine control device for performing fuel injection control of the engine, and a torque control amount (the vehicle drive power request value Pv
*) And a hybrid control device for controlling the driving of the inverter device. In the present control system, the output torque of the engine is controlled based on vehicle operation information such as operation information of an accelerator pedal, a brake pedal, and a shift lever, and a torque control amount (vehicle drive power request value Pv *, A torque value generated in the first and second rotating electric machines is controlled based on a vehicle drive torque command value Mv *) and a target engine speed (engine speed command value Ne *) corresponding to the characteristics of the engine. I have to. Next, the configuration of the control system will be described in detail with reference to the drawings.

FIG. 1 is a configuration diagram showing an outline of a hybrid vehicle control system according to the present embodiment. The engine 1 in the figure is constituted by a 4-cylinder 4-cycle gasoline internal combustion engine. The engine 1 is provided with an output shaft 2, and the output shaft 2 is drivingly connected to power transmission means 12 described later. In the intake pipe 3 of the engine 1, a known fuel injection solenoid valve 4 is provided independently for each cylinder. A throttle valve 5 for adjusting the intake air amount is provided in the intake pipe 3.
The opening and closing operation of the throttle valve 5 is controlled by a throttle actuator 6 which constitutes an intake air amount adjusting means.

Further, the system shown in FIG. 1 includes the following sensor groups. That is, a well-known accelerator sensor 7 is disposed on an accelerator pedal (not shown) operated by the driver, and the sensor 7 outputs an accelerator opening signal corresponding to the amount of depression of the accelerator pedal as a voltage signal.
A known brake sensor 8 is provided on a brake pedal (not shown) operated by the driver.
Outputs an ON / OFF signal of a brake signal corresponding to the amount of depression of the brake pedal. Shift switch 9
Is to detect multiple shift positions,
In the present embodiment, shift signals such as parking (P), reverse (R), neutral (N), and forward (D) are output in parallel by ON / OFF signals. The start switch 10 is built in a known iG key switch (not shown), and outputs an ON / OFF signal according to the presence or absence of start.

The power transmission means 12 includes a first rotating electric machine 2000 and a second rotating electric machine 3000, and the detailed configuration thereof will be described later. Power transmission means 1
2 is transmitted to drive wheels 30 on the left and right sides of the vehicle via a known differential gear device 20.

The engine control unit 13 generates a vehicle drive power demand value P generated by the engine 1 to drive the vehicle.
v * is input from the hybrid controller 16 described later,
The throttle actuator 6 is driven based on this input value. Further, based on a signal from an engine operation state sensor (not shown) mounted on the engine 1,
And the ignition timing of an ignition device (not shown) is determined to drive the ignition device. The combustion state of the engine 1 is controlled by the fuel injection control and the ignition control. Further, the engine control device 13 outputs to the hybrid control device 16 an engine speed command value Ne * calculated inside the engine 1 so as to operate the engine 1 according to the vehicle drive power request value Pv *.

The inverter device 14 includes the first rotating electric machine 2
000 and the second rotating electric machine 3000, which are first and second torque command values of the first rotating electric machine 2000 and the second rotating electric machine 3000 input from the hybrid controller 16 respectively. Torque command value M
Based on m1 *, Mm2 *, the output torques Mm1,
Mm2 and the rotation information Nm1, Nm1 of the first rotating electrical machine 2000 and the second rotating electrical machine 3000, respectively.
Nm2 is output to the hybrid controller 16. The power storage device 15 is constituted by a battery, and the inverter device 1
4 is connected.

The hybrid control device 16 is a device for comprehensively controlling the hybrid vehicle, and includes the above-mentioned sensor group, that is, the accelerator sensor 7, the brake sensor 8,
It is connected to a shift switch 9 and a start switch 10. Then, the hybrid control device 16 controls the accelerator opening signal, the brake signal,
The vehicle drive power request value Pv * is calculated based on the shift signal and the start signal, and the Pv * value is transmitted to the engine control device 13. Further, the control device 16 controls the engine speed command value N transmitted from the engine control device 13.
e * is received. Further, the hybrid control device 16 is connected to the inverter device 14, and the first and second torque command values Mm1 which are the respective torque command values of the first rotary electric machine 2000 and the second rotary electric machine 3000.
*, Mm2 *, and transmits the calculated result to the inverter device 14, and the inverter device 14 outputs the first rotating electrical machine 2000
And rotation information Nm of the second rotating electrical machine 3000
1 and Nm2.

Further, in the present control system, a current detector 17 is provided between the inverter device 14 and the power storage device 15 as charging state detecting means. The current detector 17 detects a current flowing through the power storage device 15,
The detection result is transmitted to the inverter device 14.

Next, the detailed structure of the power transmission means 12 will be described with reference to FIG. The power transmission means 12 is connected to the engine 1 and is integrated with the differential gear device 20 in the present embodiment. The power transmission means 12 has a first rotating electric machine 2000 therein for adjusting the input / output rotation speed.
And a second rotating electric machine 3 for adjusting input / output torque
000 and a deceleration transmission unit 400 for decelerating and transmitting the output
0. Here, the configuration of the joint between the engine 1 and the power transmission means 12, the joint between the differential gear device 20 and the drive wheel 30, and the like are omitted. The output shaft 2 of the engine 1 is driven to rotate together with the driving of the engine 1, and the power transmission means 1 is connected via a joint (not shown).
The engine output is transmitted to the second input shaft 2001.

The power transmission means 12 is connected to the input shaft 200.
A first rotor 2010 provided integrally with the first
Rotor 2310 and stator 301 corresponding to the stator
0. The stator 3010 includes a winding 3011 for generating a rotating magnetic field and a stator core 3012. The first rotor 2010 also has a winding 2011 for generating a rotating magnetic field and a rotor core 2012, and includes a brush holder 2610, a brush 2620, and a slip ring 26.
Power is supplied from outside via the lead 30 and the lead portion 2660. Here, the lead portion 2660 is connected to the shaft 221.
It is buried in an insulating portion 2650 made of a mold or the like on the outer periphery.

The second rotor 2310 is provided with an annular rotor yoke 2311 and magnets 2220 arranged at equal intervals in the circumferential direction to form N and S poles on the inner peripheral surface thereof. And the first together with the winding 2011
Of the rotary electric machine 2000 of FIG. Also, the second rotor 2
310 is provided with magnets 2420 arranged at equal intervals in the circumferential direction to form N and S poles on the outer peripheral surface of an annular rotor yoke 2311.
And the winding 3011 to form a second rotating electric machine 3000. Here, magnets 2220 and 2420 provided on the inner or outer peripheral surface of rotor yoke 2311 are connected to second rotor 2 by rings 2225 and 2425, respectively.
310.

The rotor yoke 2311 of the second rotor 2310 is connected to the housing 17 via rotor frames 2331, 332 and bearings 2510, 2511.
It is disposed rotatably with respect to 10, 1720. On the other hand, the first rotor 2010 is connected to the rotor frames 2331 and 2331 of the second rotor 2310 via the shaft 2213 (input shaft 2001) and the bearings 2512 and 2513.
332 so as to be rotatable.

One end of the second rotor 2310 extends outside the housing 1710 toward the engine 1 via the rotor frame 2332, and a serration 2332a is formed at the tip of the second rotor 2310. The serrations 2332a of the rotor frame 2332 mesh with the small gear 4010 of the reduction transmission unit 4000. Further, the small gear 4010 is connected to the differential gear device 20 via a gear 4020. The gear 4020 is
It is rotatably supported by a shaft part 4030 fixed to a fixed part such as an engine via a bearing 4040.

The gear 4020 meshes with the large gear 4100 in the differential gear device 20 to reduce the rotational force from the power transmission means 12 and to reduce the rotational force to the differential gears 4120 and 4120.
The driving force is transmitted to the driving wheel 30 via 130. The large gear 4100 is formed in a differential gear box 4110 disposed in the differential gear device 20. As shown in FIG. 2, these series of gears are configured to be arranged in a gap between the engine 1 and a side surface of the housing 1710 of the power transmission unit 12. That is, the input shaft 2001 (shaft 2213) to which the rotational force is input from the engine 1 to the power transmission unit 12, and the power transmission unit 1.
2 is arranged on the same side as the tip of the rotor frame 2332 corresponding to an output shaft for outputting a rotational force to the load output side, so that the power transmission means 12 is downsized. .

Each of the rotation sensors 2911 and 2912 is constituted by a known resolver or the like, and permanent magnets 2911a and 2912 are provided at positions opposed to coils constituting the resolver.
a is provided. Then, the rotation sensors 2911 and 291,
Reference numeral 912 denotes the first rotor 2 as rotation information of each of the first rotating electrical machine 2000 and the second rotating electrical machine 3000.
The rotational positions θ1 and θ2 and the rotational speeds Nm1 and Nm2 of the 010 and the second rotor 2310 are detected based on the stator (stator) 3010. Note that reference numeral 17
The member denoted by reference numeral 30 is a cover case for accommodating the brush holder 2610 and the rotation sensor 2911.

Next, a detailed configuration of the engine control device 13 will be described with reference to FIG. 3, a rotation detector 1301 of the engine 1 has a known configuration, and outputs a 12-pulse angle signal and a 1-pulse reference signal each time a crankshaft (not shown) of the engine 1 makes one rotation. The intake air amount sensor 1302 is provided in the intake pipe 3 and changes the vane opening degree according to the amount of air taken into the engine 1 and outputs the change amount as a detection value of a potentiometer. That is, the intake air amount sensor 1302 detects the amount of air taken in by the engine 1 as an intake amount signal in volume per unit time.

The cooling water temperature sensor 1303 is a known thermistor type sensor, detects the cooling water temperature of the engine 1 as a resistance change, and outputs the detected value as a cooling water temperature signal. The intake air temperature sensor 1304 is a known thermistor type sensor, and is attached to the intake air amount sensor 1302.
The intake air temperature sensor 1304 detects the temperature of the air taken into the engine 1 from a change in resistance, and outputs the detected value as an intake air temperature signal. The air-fuel ratio sensor 1305 is
The air-fuel ratio of the exhaust gas is output as a voltage as an air-fuel ratio signal.
The signals of these sensors and the start signal of the start switch 10 are input to the engine control device 13.

The control unit 1306 is composed of a known microcomputer, a drive circuit for the fuel injection solenoid valve 4, and the like. The angle signal and the reference signal of the engine rotation detector 1301, the air amount signal of the intake air amount sensor 1302, the cooling water temperature Cooling water temperature signal of sensor 1303, intake air temperature sensor 13
A valve opening signal of the fuel injection solenoid valve 4 is generated based on the intake air temperature signal at 04, the air-fuel ratio signal of the air-fuel ratio sensor 1305, and the like.
The communication circuit 1307 is a known circuit that can configure start-stop synchronous communication, for example, and is connected to the control unit 1306.

Throttle actuator drive circuit 130
8 is connected to the control unit 1306 and the terminal 131
4, 1315 are connected to the throttle actuator 6. Also, output terminals 1309, 1310, 1
Reference numerals 311 and 1312 are connected to the output of the valve opening signal of the control unit 1306 and to the fuel injection solenoid valve 4. The communication terminal 1313 is connected to the communication circuit 1307 and the hybrid control device 16.

Next, the control program stored in the control unit 1306 in the engine control device 13 will be described with reference to the flowcharts of FIGS.
The program shown in FIG. 4 is a main program executed by the control unit 1306 in the engine control device 13, and is started when the iG key switch is turned on. In FIG. 4, first, in step S5000, initialization of the input / output port built in the control unit and RAM
Of the variable area and initialization of the stack pointer.

Thereafter, steps S5001 to S5005
Then, an operation state signal of the engine 1 based on the detection signals of the various sensors is read, and these various signals are stored in a variable area of a RAM built in the control unit 1306.
That is, in step S5001, the engine rotation detector 130
In step S5002, the intake air amount sensor 1302
In step S5003, a cooling water temperature Tw based on a cooling water control signal from a cooling water temperature sensor 1303 is captured. The intake air temperature Ta is taken in. Further, in step S5005, the air-fuel ratio sensor 13
The air-fuel ratio A / F based on the air-fuel ratio signal 05 is taken.

Thereafter, in step S5006, an intake air amount Qo per rotation is calculated from the engine speed Ne taken in step S5001 and the intake air amount Q taken in step S5002 (Qo = Q / Ne). The result is stored in a variable area of the built-in RAM. Also,
In step S5007, based on the intake air temperature Ta taken in step S5004, an intake air temperature correction coefficient map stored in a table area of a ROM built in the control unit 1306 is searched to obtain an intake air temperature correction coefficient fTHA. The intake temperature correction coefficient map is, for example, a known map shown in FIG. 6, and a coefficient for converting the intake air amount Q detected by the intake air amount sensor 1302 into mass per unit time is set as a one-dimensional map. .

Next, in step S5008, based on the cooling water temperature Tw taken in step S5003,
The warm-up correction coefficient map stored in the table area of the ROM is searched to determine the warm-up correction coefficient fWL. The warm-up correction coefficient map is, for example, a known map shown in FIG. 7, and the warm-up correction coefficient fWL for the cooling water temperature Tw of the engine 1 is set as a one-dimensional map. Then, step S
In step 5009, an A / F feedback correction coefficient fA / F is calculated based on the air-fuel ratio A / F taken in step S5005. The calculation of the fA / F value is a publicly known one in which the A / F detection value is made to coincide with the target value.
Detailed description is omitted. In step S5010,
The intake air amount Q per rotation obtained in step S5006
o and the intake temperature correction coefficient fTHA obtained in step S5007, the basic injection time Tp is calculated (Tp = K
・ Qo · fTHA). The coefficient K at the time of calculation is a constant that determines the relationship between the valve opening time of the fuel injection solenoid valve 4 and the fuel injection amount.

Next, in step S5011, the valve opening time of the fuel injection solenoid valve 4 is determined based on the basic injection time Tp, the warm-up correction coefficient fWL, and the A / F feedback correction coefficient fA / F obtained in step S5010. (TAU = Tp · fWL · fA / F +)
Tv). Note that Tv is an invalid injection time, which is a delay time due to the time constant of the fuel injection solenoid valve 4 and does not contribute to the fuel amount.

Thereafter, in step S5012, it is determined whether or not the state of a flag fCUT indicating whether or not fuel cut should be performed is "1". If fuel cut is to be performed (if fCUT = 1), step S50 is performed.
In step S5013, the injection time TAU is cleared to "0", and then the process proceeds to step S5014. If the fuel is not cut (fCUT
In the case of = 0, a negative determination is made in step S5012, and the process directly proceeds to step S5014. In step S5014,
Based on the injection time TAU determined in step S5011, an injection signal for driving the fuel injection solenoid valve 4 is generated and output. In step S5015, the state of the iG key switch is checked. If the iG key switch is turned on (if step S5015 is NO), the process returns to step S5001 to repeat the above-described operation, and if it is turned off (step S5015 In the case of YES), this program ends.

The program shown in FIG. 5 is an interrupt program executed by the control unit 1306 in the engine control device 13, and is started when the communication circuit 1307 in FIG. 3 receives communication data. 5, first, in step S5100, the communication circuit 1307 shown in FIG.
And hybrid controller 1 via communication terminal 1313
6. The vehicle drive power request value Pv * transmitted from 6 is read. In the next step S5102, it is determined whether or not the engine is being started based on the vehicle drive power request value Pv * transmitted from the hybrid control device 16. Specifically, the Pv * value is "0FFFFH" in hexadecimal notation.
Is determined. And Pv * = 0FFFF
If H, it is determined that the engine is being started, and the flow advances to step S5110. Incidentally, the data of “0FFFFH” is used as data indicating that the engine is started.

In step S5110, it is determined whether or not the engine 1 is idling due to combustion based on whether or not the engine speed Ne exceeds a predetermined idle speed Neidl. At this time, if it is determined that the engine is not idling (in the case of NO), the flow advances to step S5112 to set the engine speed command value Ne * to the starting speed NeSTA.
Is set, and the flow advances to step S5114. If it is determined in step S5110 that the engine is idling (YES), step S511 is performed.
6 and set the engine speed command value Ne * to "0FFFF
H ”is set, and the flow advances to step S5114. In step S5114, the throttle opening θTH is set to “0” in order to maintain the idle state when the engine is started.
That is, the intake air amount adjustment amount TH by the throttle actuator 6 is set to “0”, and thereafter, the process proceeds to step S51.
Proceed to 22.

On the other hand, in step S5102, Pv ≠
If it is determined that the value is 0FFFFH (NO in this step), it is determined that the engine is not being started, and the flow advances to step S5104. In step S5104, it is determined whether the vehicle drive power request value Pv * is “0”,
If Pv * = 0 (YES), step S51
The program proceeds to step 18 to set the engine speed command value Ne * to "0FFFF".
FH "data is set. Further, the following step S5
At 120, the intake air amount adjustment amount TH is set to “0” (throttle opening θTH = 0), and the process proceeds to step S5122.

In step S5104, Pv * ≠ 0
If (NO), in the next step S5106, the operating point of the engine 1 is determined from the fuel efficiency map of the engine 1 stored in advance, and the engine speed command value Ne * is determined according to the operating point. Is calculated. The fuel efficiency map (g / kWh) of the engine 1 using the engine output torque Me and the engine speed Ne as parameters is stored as a two-dimensional map in the fuel efficiency map based on, for example, the characteristics shown in FIG. That is, if the engine output torque command value Me * is determined, the engine operating point (for example, point C in FIG. 8) at which the fuel efficiency is the best is obtained, and the engine speed corresponding to this operating point is determined by the engine speed command. It will be calculated as the value Ne *.

In step S5108, the throttle opening θTH corresponding to the engine operating point is obtained from a throttle opening map, and the intake air amount adjustment amount TH of the throttle actuator 6 is determined based on the map value.
Is calculated. The throttle opening map is created based on, for example, the characteristics of the engine 1 shown in FIG. In FIG. 9, the engine speed Ne on the horizontal axis is normalized by the maximum speed of the engine 1, and the engine output torque M on the vertical axis.
e is normalized by the maximum output torque of the engine 1.
In the throttle opening map, a throttle opening θTH using the engine output torque Me and the engine speed Ne as parameters is stored as a two-dimensional map. Therefore, in step S5108, the engine speed command value Ne calculated in step S5106 is used.
The throttle opening target value θTH * is obtained based on the * and the engine output torque command value Me *, and the intake air amount adjustment amount TH is calculated from the throttle opening target value θTH *. The conversion from the throttle opening target value θTH * to the intake air amount adjustment amount TH is performed based on a throttle characteristic (the characteristic of the throttle actuator 6) which is obtained and stored in advance.

After calculating the Ne * value and the TH value as described above, in step S5122, the process proceeds to step S51.
The throttle actuator 6 is controlled based on the intake air amount adjustment amount TH obtained in steps 08, S5114, and S5120. Further, in the subsequent step S5124, the engine speed command value Ne * obtained in steps S5106, S5112, S5116, and S5118 is transmitted to the communication circuit 1 shown in FIG.
The signal is transmitted to the hybrid control device 16 via 307.
After performing the above processing, the process returns to the main program before the activation of the interrupt program.

Next, a detailed configuration of the inverter device 14 will be described with reference to FIG. In FIG. 10, main power input terminals 1401, 14 connected to the plus terminal and the minus terminal of power storage device 15 are connected to inverter device 14.
02, and U, V,
W Output terminals 1403 and 140 connected to the windings of each phase
4, 1405, and output terminals 1406 connected to the U, V, W phase windings built in the second rotating electric machine 3000.
1407 and 1408 are provided. In addition, a rotation sensor 2911 built in the power transmission means 12
And a connection terminal 1410 for a rotation sensor 2912 also incorporated in the power transmission means 12. These connection terminals 1409 and 1410 respectively provide an excitation signal and a rotor position signal (sin signal,
cos signal) and has a differential configuration. Further, the communication terminal 1411 has a known configuration capable of performing serial communication with the hybrid control device 16.
An input capacitor 1412 is connected between the main power input terminals 1401 and 1402.

The IGBT modules 1413, 1414,
1415, 1419, 1420, 1421 are IGBT
It has a known configuration in which two elements (insulated gate bipolar transistor elements) and two flywheel diodes are incorporated. The IGBT module 141
The terminal C1 of the module 1413 is connected to one main power input terminal 1401, and the terminal E2 is connected to the other main power input terminal 1402. The terminal C2 and the terminal E1 are connected to the output terminal 1403 to drive the U-phase winding of the first rotating electric machine 2000. Like the IGBT module 1413, the IGBT modules 1414 and 1415 are configured to drive the V-phase winding and the W-phase winding of the first rotating electrical machine 2000, respectively. The IGBT modules 1419, 1420, and 1421 are configured to drive the U-phase winding, the V-phase winding, and the W-phase winding of the second rotating electric machine 3000, respectively.

Further, the present inverter device 14 is provided with current sensors 1416, 1417, 1422, and 1423. The current sensor is, for example, a clamp-type non-contact type sensor using a Hall element, and detects a current flowing through each of the output terminals 1403, 1405, 1406, and 1408, and outputs the detected value as a voltage signal. More specifically, the current sensor 1416 is connected to the first rotating electric machine 20.
00, the current flowing through the U-phase winding
17 detects the current flowing through the W-phase winding of the first rotating electrical machine 2000. Further, current sensor 1422 detects a current flowing through the U-phase winding of second rotating electrical machine 3000, and current sensor 1423 detects a current flowing through the W-phase winding of second rotating electrical machine 3000.

The gate drive unit 1418 is provided for each of the IGBs built in the IGBT modules 1413 to 1415.
It has a known configuration for driving the gate of the T element, and the other gate drive unit 1424 includes an IGBT module 141
It has a known configuration for driving the gates of the individual IGBT elements contained in 9-11421.

The signal processing unit 1425 includes the power transmission unit 12
, And outputs a sine wave excitation signal of about 7 kHz from the connection terminal 1409, though not shown in detail. Also, a rotor position signal (sin signal, c
os signal) from the connection terminal 1409 to determine the rotor position, and output the information on the rotor position in 10-bit parallel. Similarly, the other signal processing unit 1426 also includes a circuit for processing a detection signal of the rotation sensor 2912 built in the power transmission unit 12, and connects a rotor position signal (sin signal, cos signal) from the rotation sensor 2912. A rotor position is obtained by inputting from a terminal 1410, and information on the rotor position is output in 10-bit parallel.

The control unit 1427 is mainly composed of, for example, a known single-chip microcomputer, and has a first torque command value Mm1 * (torque command value of the first rotary electric machine 2000) input from the communication terminal 1411.
, The rotor position of the first rotating electrical machine 2000 (the output of the signal processing unit 1425), and the current flowing through the U-phase winding and the W-phase winding of the first rotating electrical machine 2000 (current sensors 1416, 1
417), a known vector control is performed by a program stored in a built-in ROM, and the first rotary electric machine 2000 is controlled according to the first torque command value Mm1 *. The control unit 1427 also controls the second torque command value Mm input from the communication terminal 1411.
2 * (the torque command value of the second rotating electric machine 3000) and the second
Of the rotating electric machine 3000 (signal processing unit 1426)
Output), the U-phase winding of the second rotating electric machine 3000 and W
Based on the currents flowing through the phase windings (outputs of the current sensors 1422 and 1423), known vector control is performed by a program stored in a built-in ROM, and the second rotary electric machine 3000 is set to a second torque command value. Mm2 * is controlled.

FIG. 11 and FIG.
14 is a flowchart showing a control program stored in a ROM built in the control unit 1427. These flows are executed by the control unit 1427 as a main program and an interrupt program, respectively.

The main program shown in FIG. 11 is started when the iG key switch of the vehicle is turned on. First, in step S5200, the control unit 142
Initialize general-purpose registers such as variables, stacks, and input / output ports allocated to the RAM built in the CPU 7. Especially,
A d-axis current command value im of a first rotating electric machine 2000 described later
1d * and the q-axis current command value im1q * and the second rotating electric machine 3
000 d-axis current command value im2d * and q-axis current command value i
m2q * is initialized to "0".

In step S5202, control unit 1
The status of the built-in communication port is read at 427, and a flag indicating whether data has been received at the communication port is read. Thereafter, in step S5204, it is determined whether or not data has been received. If data has not been received, the process proceeds directly to step S5212. If the data has been received, the process advances to step S5206 to fetch the first torque command value Mm1 * and the second torque command value Mm2 *, which are the received data, and store them in the variable area of the built-in RAM.

Then, in step S5207, second torque command value Mm2 * is corrected based on the state of charge of power storage device 15 (battery). Here, the correction process of the torque command value is performed according to a flowchart shown in FIG. That is, in FIG.
0, the torque command value Mm2 * of the second rotating electrical machine 2000
Enter In step S6102, a current value (battery current) flowing through power storage device 15 is measured, and in subsequent step S6104, a target current value (battery target current) of power storage device 15 is input. Then, in step S6106, the correction amount of the second torque command value Mm2 * is calculated so that the current battery current follows the battery target current (0 amps in the present embodiment) as an allowable level, and further continues. In step S6108, the second torque command value Mm2 * is corrected using the calculated correction amount. Here, specifically, if the current value of power storage device 15 is higher than the battery target current, second torque command value Mm2 * is corrected in a negative direction,
Conversely, if the current value of power storage device 15 is lower than the battery target current, second torque command value Mm2 * is corrected in the positive direction.

Thereafter, returning to FIG. 11, step S5208 is performed.
Then, based on the first torque command value Mm1 * stored in step S5206, a field value of a known rotor (not shown) is set as a command value of a current flowing through each phase winding of the first rotary electric machine 2000. D-axis current command value im1d * and q-axis current command value im1q *, which are current components in a dq-axis coordinate system in which coordinates are set in a direction and a direction orthogonal thereto.
Is calculated. At this time, the first torque command value Mm1 *,
Rotation speed Nm1 of first rotating electrical machine 2000 calculated in the previous process (calculated value in step S5216 described later)
A known vector operation is performed based on the motor constants such as the inductance L and the primary resistance R of the first rotating electric machine 2000 stored in the ROM, and the d-axis and q-axis current command values im1d * and im1q * are obtained. It is supposed to be.

Further, in step S5210, the second torque command value Mm corrected in step S5207
Based on 2 *, dq in which coordinates are set in a field direction of a known rotor (not shown) and a direction perpendicular to the field direction as a command value of a current flowing through each phase winding of the second rotating electric machine 3000
A d-axis current command value im2d * and a q-axis current command value im2q *, which are current components in the axis coordinate system, are calculated.
The d-axis and q-axis current command values im2d *, im2q *
Is also calculated by a known vector operation.

Thereafter, in step S 5212, first rotor 201 which is rotation information of first rotating electric machine 2000
The rotation speed Nm1 of 0 is fetched from the signal processing unit 1425, and the data is stored in the built-in memory. In the subsequent step S5214, the rotation speed Nm2 of the second rotor 2310, which is rotation information of the second rotary electric machine 3000, is fetched from the signal processing unit 1426, and the data is stored. Also,
In step S5216, the acquired rotation speed Nm1
, Nm2, the rotation speed Nm1 of the first rotary electric machine 2000.
Is newly calculated. That is, the first rotating electric machine 2000 has a configuration including the first rotor 2010 and the second rotor 2310, and the first rotating electric machine 2000 includes the first rotor
The rotation speed Nm1 of the rotor 2010 is the stator (stator)
Since the rotation speed is based on 3010, the rotation speed Nm1 of the first rotary electric machine 2000 can be calculated by the following equation (1).

Nm 1 = Nm 1 −Nm 2 (1) Thereafter, in step S 5218, step S 52
16, the rotation speed Nm1 of the first rotating electric machine 2000
And the rotation speed Nm2 of the second rotating electric machine 3000 fetched in step S5214 is transmitted from the output terminal 1411 to the hybrid control device 16. Further, step S
At 5220, it is determined whether or not the iG key switch of the vehicle has been turned off.
Returning to step 202, this program is terminated if it has been turned off.

Next, an interrupt program will be described with reference to the flowchart shown in FIG. The present interrupt program is configured to be started by a timer interrupt at a predetermined time interval. After the start, first in step S5300,
U-phase line current i1u and W-phase line current i1w of first rotating electrical machine 2000, which are outputs of current sensors 1416 and 1417,
The U-phase line current i2u and the W-phase line current i2w of the second rotating electric machine 3000, which are the outputs of the current sensors 1422 and 1423, are read and stored in the variable area of the built-in RAM of the control unit 1427. In step S5302, the controller unit 1427 reads the rotor position θ1 of the first rotor 2010 in the first rotary electric machine 2000 and the rotor position θ2 of the second rotor 2310 in the second rotary electric machine 3000. In the variable area of the built-in RAM. At this time, the rotor position θ2 of the second rotor 2310 is the same as the rotor position of the second rotating electric machine 3000.

Thereafter, in step S5304, the relative rotation position between the first rotor 2010 and the second rotor 2310 is calculated, and the calculation result is set as the rotor position θ1 of the first rotary electric machine 2000 (θ1 = Θ1-θ2).

In step S5306, the first and second rotations, which are current components in a dq axis coordinate system in which coordinates are set in a field direction of a known rotor (not shown) and a direction orthogonal to the field direction, respectively. The d-axis current and the q-axis current (i1d, i1q, i2d, i2q) of the electric machines 2000 and 3000 are calculated. That is, the U-phase line current i1u and the W-phase line current i
1w and the first rotating electric machine 200 based on the rotor position θ1.
The three-phase AC current flowing through the 0 winding is converted into a d-axis current i1d and a q-axis current i1q in a dq-axis coordinate system, and the U-phase line current i2u and the W-phase line current i2w, the rotor position θ2 and , The three-phase AC current flowing through the winding of the second rotating electric machine 3000 is converted into a d-axis current i2d and a q-axis current i2q in a dq-axis coordinate system.
Convert to

Next, in step S5308, the d-axis current command values im1d *, im2d * and the q-axis current command values im1q *, im2q * stored in the variable area of the built-in RAM of the control unit 1427, and the aforementioned step S5306 Based on the d-axis currents i1d and i2d and the q-axis currents i1q and i2q calculated by
1d, ε2d, ε1q, ε2q are calculated.

Then, in step S5310, the current deviations ε1d and ε1q calculated in step S5308 and the first
The d-axis voltage command value V1d * and the q-axis voltage command value V1q *, which are dq-axis components of the voltage applied to the first rotating electric machine 2000, are calculated based on the electrical constant of the rotating electric machine 2000. Similarly, in step S5310, based on the current deviations ε2d and ε2q calculated in step S5308 and the electrical constants of the second rotating electric machine 3000, dq axis components of the voltage applied to the second rotating electric machine 3000 D
The shaft voltage command value V2d * and the q-axis voltage command value V2q * are calculated.

In step S5312, the d-axis voltage command value V1d * and the q-axis voltage command value V
From 1q *, three-phase AC phase voltage command values V1u *, V1v *, V1w
*, And the three-phase AC phase voltage command values V2u *, V2v *, V2w * are calculated from the d-axis voltage command value V2d * and the q-axis voltage command value V2q * of the second rotating electric machine 3000. In step S5314, the phase voltage command value V1u
*, V1v *, V1w *, V2u *, V2v *, V2w *, for example, a pulse width modulation (P
WM). And finally, step S531
In step 6, the operation result in step S5314 is written to the PWM register built in the control unit 1427, and the program ends.

Next, a detailed configuration of the hybrid control device 16 will be described with reference to FIG. In FIG. 13, hybrid control device 16 has input terminals 1600, 1601, 160 for inputting signals from various sensors and the like.
2,1603. More specifically, the input terminal 16
00 is connected to the accelerator sensor 7 and
At 00, an accelerator signal is input. Input terminal 1601
Is connected to the brake sensor 8 and the terminal 1601
Receives a brake signal. The input terminal 1602 is connected to the shift switch 9, and a shift signal is input to the terminal 1602. The input terminal 1603 is connected to the start switch 10, and a start signal is input to the terminal 1603.

Further, the communication terminals 1604 and 1605 of the hybrid control device 16 are connected to the engine control device 13 and the inverter device 14, respectively, so that information necessary for control can be communicated with each other.

The analog signal input section 1610 is composed of a well-known voltage amplifier circuit including an operational amplifier.
The accelerator signal input from 600 is amplified to a predetermined voltage level. The digital signal input unit 1620 includes a well-known digital signal input circuit including a comparator or a transistor, and includes a brake signal input from an input terminal 1601, a shift signal input from an input terminal 1602, and an input from an input terminal 1603. The starting signal is converted into a TTL level signal.

A control unit 1630 for executing the control of the hybrid controller 16 is mainly composed of a known single-chip microcomputer, and has a ROM in which a control program and data are stored, a RAM required for calculation,
An A / D converter for taking in analog signals, a serial communication function unit, and the like are built in. This control unit 16
Reference numeral 30 is connected to the analog signal input unit 1610 and the digital signal input unit 1620, and the accelerator opening ACC based on the detection result of the accelerator sensor 7 and the brake state BR based on the detection result of the brake sensor 8
K, a shift position SFT based on a shift signal of the shift switch 9, and ON / OFF of the start switch 10.
The starting state STA based on the signal is captured.

Communication unit 164 comprising communication buffer circuit
0, 1650 have the same configuration.
40 is provided between the control unit 1630 and the communication terminal 1604, and the other communication unit 1650 is connected to the control unit 1630.
30 and a communication terminal 1605.

Next, the RO built in the control unit 1630
The configuration of the control program stored in M will be described with reference to FIGS. The program shown in FIG. 14 is executed by the control unit 16 in the hybrid controller 16.
This is a main program executed by 30 and is started when an iG key switch is turned on. After startup, first, in step S5400, initialization is performed. In this initialization, the initial settings of the input / output ports and the communication ports built in the control unit 1630, the initial settings of the data in the variable area allocated to the RAM also built in the control unit 1630, and the stack pointer Initial settings are performed.

Thereafter, in step S5402, the accelerator signal input from analog signal input
After the D conversion, the converted signal is taken in as the accelerator opening ACC. In the next step S5404, a brake state BRK corresponding to the brake signal input from the digital signal input unit 1620 is fetched. Brake state BRK
Is configured to be "1" when the brake is operated and "0" when the brake is not operated.

In step S5406, a shift position SFT corresponding to the shift signal input from digital signal input section 1620 is fetched. The shift position SFT is
This is a 4-bit parallel signal. When the shift switch 9 is operated to park (P), reverse (R), neutral (N), advance (D), etc., the SFT values are “1” and “1”, respectively.
The logic is configured so as to be 2 "," 4 "," 8 "Further, in step S5408, the starting state STA corresponding to the starting signal input from the digital signal input unit 1620 is taken in. The starting state STA Is set to "1" when the start operation is performed by operating the iG key switch, and is set to "0" when the start operation is not performed.

Thereafter, in step S5410, the number of rotations Nm1 of first rotating electrical machine 2000 is received from inverter device 14 via communication unit 1650, and then in step S5
At 412, the inverter device 1 is connected via the communication unit 1650.
4, the rotation speed Nm2 of the second rotary electric machine 3000 is received. Further, in step S5414, the vehicle speed V is calculated by the following equation (2) based on the rotational speed Nm2.

V = C 1 · Nm 2 (2) where C 1 is a preset coefficient in the above equation (2). Thereafter, steps S5416 to S543
In step 2, based on the shift position SFT and the starting state STA taken in steps S5406 and S5408, hybrid control according to the vehicle state is performed.

That is, in step S5416, it is determined whether or not the starting state STA is "1", and STA = "
If "1", the step is determined to be affirmative and the step S
Proceed to 5418. In such a case, since the engine is in the starting state, an engine starting process described later in FIG.
Is performed, and then the process proceeds to step S5434.
Also, in the step S5416, the starting state STA changes to “
If "0", the step is determined to be negative and the step S
Proceed to 5420. In such a case, the shift position SFT is determined in steps S5420, S5424, and S5428 because the vehicle is not in the starting state.

Here, in step S5420, it is determined whether or not shift position SFT is "1". If shift position SFT is "1", the same step is affirmatively determined, and the flow advances to step S5422. In this case, SFT = “1” means that the shift position is at the parking (P) position, and after performing the P range process (the process of FIG. 17) described later in step S5422, the process proceeds to step S5434. . Also, the shift position SFT is determined in step S5420.
If “1” is not “1”, a negative determination is made in this step, and the flow advances to step S5424.

In step S5424, shift position SF
It is determined whether or not T is “2”, and the shift position SFT is determined.
Is "2", the step is affirmatively determined, and the flow advances to step S5426. In this case, SFT = “2” means that the shift position is in the reverse (R) position,
In step S5426, processing of the R range described later (FIG. 18)
After the processing of (1) is performed, the process proceeds to step S5434. In step S5424, the shift position SFT is changed to "
If it is not 2 ", a negative decision is made in this step and the flow advances to step S5428.

At step S5428, shift position SF
It is determined whether or not T is “4”, and the shift position SFT is determined.
Is "4", the step is affirmatively determined, and the flow advances to step S5430. In this case, SFT = “4” means that the shift position is in the neutral (N) position, and after executing the process of the N range (the process of FIG. 19) described later in step S5430, the process proceeds to step S5434. . In step S5428, the shift position SFT is set.
If is not “4”, the step is determined to be negative, and the flow proceeds to step S5432.

The above steps S5420, S5424,
If all the determinations in S5428 are negative, the shift position SF
T is considered to be "8". In this case, SFT = ”
8 ”means that the shift position is at the forward (D) position, and after executing a D range process (the process of FIG. 20) described later in step S5432, proceeds to step S5434. In step S5434, the iG key Switch is O
It is determined whether or not the flip-flop is turned off. If it is not turned off (NO), the process returns to step S5402 to repeat the above processing. If the iG key switch has been turned off (in the case of YES), this program ends.

Next, the engine start processing in step S5418 in the program shown in FIG. 14 will be described with reference to the flowchart in FIG. In this engine start process, first, in step S5500, the vehicle drive torque command value Mv * is cleared to "0", and in the subsequent step S5502, the vehicle drive power request value Pv *
Is set to “0FFFFH (hexadecimal number)”. In the next step S5504, the vehicle drive power request value Pv * set in step S5502 is transmitted to the engine control device 13. Further, in step S5506,
An engine speed command value Ne * is received from a communication port connected to the engine control device 13.

Thereafter, in step S5508, first and second torque command values Mm1 *, Mm2 *, which are the torque command values of first and second rotary electric machines 2000, 3000, are calculated. This calculation is executed by calling a subroutine shown in FIG. Further, the following step S5510
Then, the first and second torque command values Mm1 * and Mm2 * (torque command values of the first and second rotary electric machines 2000 and 3000) calculated in step S5508 are transmitted to the communication port built in the control unit 1630 and The data is transmitted to the inverter device 14 via the communication unit 1650.

The subroutine called in step S5508 will now be described with reference to FIG. First, in step S5600, it is determined whether or not the engine speed command value Ne * received from the engine control device 13 is "0FFFFH". If this step is determined to be affirmative, the process proceeds to step S5606, where the first torque command value Mm
After setting 1 * to “0”, the process advances to step S5608.
If a negative determination is made in step S5600, the flow advances to step S5602 to calculate the rotational speed deviation εi based on the engine rotational speed command value Ne * and the current engine rotational speed Ne by the following equation (3).

Εi = {(Ne * −Ne) + C2 · εi−1} / (1 + C2) (3) where C2 is a preset coefficient, and i is This is a code indicating the number of operations.

Here, the current engine speed Ne
Is the same rotation speed as the first rotor 2010 and the output shaft 2 of the engine 1 shown in FIG. Accordingly, the first and second rotating electrical machines 2000, 2000, received from the inverter device 14,
The present engine speed Ne is calculated from the following equation (4) based on the respective 3000 speeds Nm1 and Nm2.

Ne = Nm1 + Nm2 (4) After calculating the rotational speed deviation εi, in step S5604, the first torque command value M for instructing the first rotary electric machine 2000.
m1 * is calculated by the following equation (5).

Mm1 * = Mm1 * + K1 · εi + K2 · εi−1 + K3 · εi−2 (5) In the above equation (5), K1, K2, and K3 are preset coefficients. .

Further, in step S5608, the second rotating electric machine 3000 is used by using the vehicle driving torque command value Mv *.
Is calculated by the following equation (6).

Mm2 * = Mv * −Mm1 * (6) After calculating the torque command value Mm2 *, the program returns to the program from which the subroutine was called.

Next, the P range process (parking process) in step S5422 in the program shown in FIG.
Will be described with reference to the flowchart of FIG.
In this P range processing, first, in step S5700, the vehicle drive torque command value Mv * is cleared to "0". In the next step S5702, “0FFFFH (hexadecimal)” is set to the vehicle drive power request value Pv *. After that, in step S5704,
The required vehicle drive power value Pv * set at 5702 is transmitted to the engine control device 13.

Further, in step S5706, an engine speed command value Ne * is received from a communication port connected to the engine control device 13. Step S5
In 708, the first and second rotating electric machines 2000, 300
The first and second torque command values Mm1 *, Mm2 *, which are the respective torque command values of 0, are both cleared to "0". In the subsequent step S5710, the first and second torque command values Mm1 *, Mm1 *,
Mm2 * is transmitted to the inverter device 14 via the communication port and the communication unit 1650 built in the control unit 1630.

Next, the R range process of step S5426 in the program shown in FIG.
Will be described with reference to the flowchart of FIG.
In the R range process, first, in step S5800, a vehicle drive torque command value Mv * is calculated. This calculation includes the vehicle speed V, the accelerator opening ACC, and the brake state BRK.
And the shift position SFT is used as an input parameter by a map search. That is, the control unit 1
For example, a map having the characteristics shown in FIG. Here, FIG. 21A shows the characteristics when the shift position SFT is in the “R” range, that is, the characteristics of the vehicle drive torque command value Mv * using the vehicle speed V, the accelerator opening ACC, and the brake state BRK as parameters. Is shown. In FIG. 21, the vehicle speed V
Is normalized by the maximum vehicle speed of the vehicle, but the stored map value is retrieved by the absolute value of the vehicle speed V.

Further, in step S5802, a required vehicle drive power value Pv * is calculated. In this calculation, based on the coefficient Ca, the vehicle drive torque command value Mv *, and the vehicle speed V, the required vehicle drive power value Pv * is obtained by the following equation: Pv * = Ca · Mv * · V.

Then, in step S5804, the vehicle drive power demand value P calculated in step S5802 is calculated.
v * is transmitted to the engine control device 13. In the following step S5806, an engine speed command value Ne * is received from a communication port connected to the engine control device 13. Further, in step S5808, the first and second torque command values Mm1 *, Mm2 *, which are the respective torque command values of the first and second rotating electric machines 2000, 3000, are calculated. This calculation is performed by calling the subroutine in FIG. 16 as in the start-up process (the routine in FIG. 15). Finally, in step S5810, the first and second torque command values Mm1 *, Mm2 * are stored in the control unit 163.
0 to the inverter device 14 via the built-in communication port and the communication unit 1650.

Next, the N range process (the process at the time of neutral) in step S5430 in the program shown in FIG. 14 will be described with reference to the flowchart in FIG. In this N range processing, first, in step S5
At 900, the vehicle drive torque command value Mv * is cleared to "0", and at step S5902, "0FFFFH (hexadecimal)" is set to the vehicle drive power request value Pv *. Thereafter, in step S5904, the required vehicle drive power value Pv * set in step S5902 is set.
Is transmitted to the engine control device 13.

Further, in step S5906, an engine speed command value Ne * is received from a communication port connected to the engine control device 13. Step S59
08, the first and second rotating electric machines 2000, 3000
The first and second torque command values M which are the respective torque command values of
m1 * and Mm2 * are both cleared to "0" and the following step S
At 5910, the first and second torque command values Mm1 *, M
m2 * is transmitted to the inverter device 14 via the communication port and the communication unit 1650 built in the control unit 1630.

Next, the D range processing (processing at the time of forward movement) of step S5432 in the program shown in FIG.
Will be described with reference to the flowchart of FIG.
In the D range processing, first, in step S6000, a vehicle drive torque command value Mv * is calculated. This calculation includes the vehicle speed V, the accelerator opening ACC, and the brake state BRK.
And the shift position SFT is used as an input parameter by a map search. That is, the control unit 1
For example, a map having the characteristics shown in FIG. Here, FIG. 21 (b) shows the characteristics when the shift position SFT is in the “D” range, that is, the characteristics of the vehicle drive torque command value Mv * using the vehicle speed V, the accelerator opening ACC, and the brake state BRK as parameters. Is shown. The map shown in FIG. 21B has basically the same structure as that shown in FIG. 21A.

Further, in step S6002, a required vehicle drive power value Pv * is calculated. In this calculation, based on the coefficient Ca, the vehicle drive torque command value Mv *, and the vehicle speed V, the required vehicle drive power value Pv * is obtained by the following equation: Pv * = Ca · Mv * · V.

Thereafter, in step S6004, the required vehicle drive power value P calculated in step S6002 is obtained.
v * is transmitted to the engine control device 13. Step S6
At 006, the engine speed command value Ne * is received from the communication port connected to the engine control device 13. Further, in step S6008, the first and second torque command values Mm1 *, Mm2 *, which are the respective torque command values of the first and second rotating electrical machines 2000, 3000, are calculated. This calculation is performed by a start process and an R range process (see FIGS. 15 and 18).
This routine is performed by calling the subroutine of FIG. Finally, in step S6010, the first and second torque command values Mm1 *, Mm2 * are stored in the communication port and communication unit 165 built in the control unit 1630.
0 to the inverter device 14.

Incidentally, in the present embodiment, the control unit 1427 in the inverter device 14
Step 207 corresponds to the command data setting means described in the claims.

The operation of the present embodiment having the above configuration will be described below by dividing it into (a) a starting state, (b) a forward running state, and (c) a backward running state. (A) Starting state First, the starting state will be described. By the way, i not shown
When the G key switch is turned on, the engine control device 13
And inverter device 14 and hybrid control device 16
Power is supplied from a 12 V [volt] auxiliary battery (not shown). As a result, the control unit 1306 in the engine control device 13, the control unit 1427 in the inverter device 14, and the control unit 1630 in the hybrid control device 16 activate the programs stored in the ROMs built therein.

In this starting state, the engine control device 1
The operation of No. 3 will be described with reference to the program of FIG. 4. In such a case, since the engine 1 is not rotating, no air is sucked, and the intake air amount Q taken in at that time and the The calculated intake air amount Qo per rotation is both "0" (steps S5002 and S50 in FIG. 4).
06). Therefore, the injection time TAU is only the invalid injection time Tv (steps S5010 and S5011), and even if the injection signal TAU is output (step S5014), no fuel is supplied to the engine 1 and the engine 1 remains stopped.

In the inverter device 14, when the iG key switch is turned on, the program shown in FIG. 11 is started. First, the first and second torque command values Mm
1 *, Mm2 * and current command values im1d *, im2d *, im1q *
, Im2q * are initialized to “0” (step S5200 in FIG. 11). Immediately after the iG key switch is turned on, communication with the external device is not performed (step S5204 is N
O), the processing of steps S5206-S5210 is not performed. In this case, in the torque control of the first and second rotating electric machines 2000 and 3000 executed in the flowchart of FIG. 12, the torque is controlled to “0”.
Further, since the rotation speeds Nm1 and Nm2 taken in steps S5212 and S5214 of FIG. 11 are also "0", Nm1 = 0 and Nm2 = 0 as rotation speed information of the first and second rotary electric machines 2000 and 3000. It is transmitted to the hybrid control device 16 (step S5218).

On the other hand, in the hybrid controller 16, i
The program shown in FIG. 14 is started by turning on the G key switch. Then, when the start switch 10 is turned “ON” with the turning on of the iG key switch, the start state STA is set.
Shifts from "0" to "1", and the starting state STA is captured (step S5408 in FIG. 14). At this point, the engine 1 is not rotating and the first and second
Of the first and second rotating electric machines 2000 and 3000 received from the inverter device 14 are both "0" (step S5410). S541
2).

In this case, when the starting state STA becomes "1" (YES in step S5416), a starting process is executed (step S5418). In this starting process, the vehicle drive torque command value Mv in the program of FIG.
Is set to "0" (step S550)
0), the vehicle drive power request value Pv * is “0FFFFH
(Hexadecimal) "and transmitted to the engine control device 13 (steps S5502, S5504). As described above, the data of “0FFFFH” is stored in the engine 1
Is the information indicating the starting state, and is not the absolute value of the vehicle drive power request value itself.

When a reception interrupt occurs in the interrupt program of FIG. 5, the engine control device 13 receives the vehicle drive power request value Pv * (step S5100). At this time, since the Pv * value is data representing the engine start state (YES in step S5102), it is determined whether the engine speed Ne is equal to or lower than a predetermined idle speed Neidl until the engine 1 starts combustion rotation. It is determined (step S5110) that the engine 1 is not rotating at the start of the start, so that the engine start rotational speed NeSTA previously stored in the ROM is set as the engine rotational speed command value Ne *, and the intake air amount adjustment amount is also set. T
H is set to “0” (Steps S5112, S51)
14). Further, the throttle actuator 6 is controlled so that the throttle valve 5 is fully closed (step S512).
2). Further, the engine start rotation speed NeSTA is transmitted to the hybrid control device 16 (step S512).
4).

Then, in the hybrid control device 16,
In the program shown in FIG. 15, the above-mentioned engine start rotation speed NeSTA is received as an engine rotation speed command value Ne * (step S5506), and this engine rotation speed command value N * is received.
e * and the vehicle drive torque command value Mv set to "0"
*, The first and second torque command values Mm1 * and Mm2 *, which are the torque command values of the first and second rotating electrical machines, are calculated (step S5508). At this time, the subprogram shown in FIG. 16 is called and the calculation is performed, and the calculated first and second torque command values Mm1 * and Mm2 * are
It is transmitted to the inverter device 14 (step S551)
0).

The first and second torque command values Mm1 *,
By receiving the data of Mm2 *, the inverter device 14
An affirmative determination is made in step S5204 of FIG. 11, and the received data is captured and stored in the memory (step S520).
5206). At this time, the power storage device 15 (battery)
The second torque command value Mm2 * is corrected according to the value of the current flowing through (step S5207). More specifically, as described above, if the current value of power storage device 15 is higher than the battery target current, second torque command value Mm2 * is corrected to decrease, and conversely, the current value of power storage device 15 becomes If the current is lower than the current, the second torque command value Mm2 * is corrected to the increasing side. Thereby, power consumption of power storage device 15 is suppressed, and power storage device 15 is held in a stable state.

[0110] The d-axis and q-axis current command values im1d *, i
m1q * is calculated, and d-axis and q-axis current command values im are supplied as current command values to be supplied to the second rotating electric machine 3000.
2d * and im2q * are calculated (steps S5208, S5
210), these calculated values are stored in the memory. The current command values im1d *, im1q *, im2d * thus calculated
, Im2q *, the first and second rotating electrical machines 2000 and 3000 are controlled in accordance with the program shown in FIG.
Further, the rotational speeds Nm1 and Nm2 of the first and second rotating electric machines 2000 and 3000 are calculated, and the Nm1 and Nm1 are calculated.
, Nm2 are transmitted to the hybrid controller 16 (steps S5212-S5218).

By the above operation, the engine 1 is started by controlling the first and second rotating electric machines 2000 and 3000. Then, when the engine 1 starts burning and rotating,
The engine control device 13 determines that the engine speed Ne exceeds the idle speed Neidl (step S5110 in FIG. 5 is YES), and transmits “0FFFFH” to the hybrid control device 16 as the engine speed command value Ne *. . Upon receiving this transmission signal, the hybrid controller 16 determines that Ne * = 0FFFFH (YES in step S5600 in FIG. 16), and sets the first torque command value Mm1 * to "0". Therefore, in this state, the start switch of the iG key switch is turned off.
When F is pressed, the vehicle is maintained in a stopped state, and the engine rotates in an idle state.

(B) Forward running state Next, a forward running state corresponding to a state in which the shift lever is operated in the "D" range will be described. That is, when the shift lever is operated to the “D” range, the shift position SFT captured by the hybrid control device 16 becomes “8”, and the process of the D range is executed (step S5432 in FIG. 14). For the details of the D range processing, the program shown in FIG. 20 is applied. At this time, the accelerator opening A
If CC is "0", the state is the same as the state after the start is completed, but when the accelerator pedal is depressed, the vehicle drive torque command value Mv * in the D range processing increases according to the accelerator opening ACC ( Step S600 in FIG.
0). This calculation is performed by the ROM built in the control unit 1630.
21 (b) stored in the data area of FIG.

For example, when the accelerator opening ACC becomes 20% from a state where the vehicle is stopped, the vehicle drive torque command value Mv * becomes 20% of the maximum torque (Mv * = 1.0). In the D range processing, the vehicle drive power demand value P is determined according to the vehicle drive torque command value Mv * and the vehicle speed V.
v * is calculated (step S6002). When the vehicle is stopped, the vehicle speed V = 0, so that the required vehicle drive power value Pv * is “0”. The vehicle drive power demand value Pv * calculated in this manner is used as the engine control device 1
3 is sent.

On the other hand, the engine control device 13 receives the vehicle drive power request value Pv * transmitted from the hybrid control device 16 (step S510 in FIG. 5).
0). At this time, if Pv * = 0, step S51
02 is negatively determined, and step S5104 is positively determined. Therefore, the engine speed command value Ne *
Is set to “0FFFFH”, and the intake air amount adjustment amount TH is set to “0” (step S5118,
S5120). At this time, since the intake air amount adjustment amount TH is controlled at “0”, the engine 1 is maintained in an idle state. On the other hand, in the hybrid control device 16, since the vehicle is stopped and the engine 1 is in the idle rotation state, the rotation speed Nm 1 of the first rotary electric machine 2000 is set.
The idle rotation speed Neidl is received (step S5410 in FIG. 14), and the second rotating electric machine 3000
Nm1 = 0 when the vehicle is stopped is received as the number of revolutions Nm2 (step S5412).

In the hybrid control device 16, D
The process of FIG. 20 which is a detailed range program is executed. At this time, since the engine speed command value Ne * received from the engine control device 13 is "0FFFFH" at the beginning, the process is called in step S6008 of FIG. In the subroutine of FIG. 16, step S5600 is determined to be affirmative. Therefore, the first torque command value Mm1 * is set to "0" (step S560 in FIG. 16).
6) The second torque command value Mm2 * is set as the same value as the vehicle drive torque command value Mv * (step S56).
08). These two torque command values Mm1 * and Mm2 * are transmitted to the inverter device 14 and the inverter device 14 controls the torque of the first and second rotating electric machines 2000 and 3000. That is, the vehicle is started and accelerated only by the output torque of the second rotating electric machine 3000 while the engine 1 is in the idle state.

When the vehicle starts and the vehicle speed V is generated, the program shown in FIG.
The vehicle drive power demand value Pv * calculated in 02 is “0”
And the required value Pv * is
(Step S6004).

On the other hand, in the engine control unit 13, the interruption program shown in FIG.
The vehicle drive power demand value Pv * calculated by the hybrid control device 16 is read and stored in the memory (step S5100). At this time, under such a running state of the vehicle, both steps S5102 and S5104 in FIG. 5 are negatively determined, and the process of step S5106 is performed. In other words, by searching the engine characteristic map shown in FIG.
From v * (curve B in FIG. 8), an operating point (point C in FIG. 8) at which the engine 1 outputs the torque with the highest efficiency and an engine speed command value Ne * corresponding to the operating point are determined.
The memory storage data is updated.

By searching the engine characteristic map shown in FIG. 9, the throttle opening target value θTH *, which is the opening of the throttle valve 5 for maintaining the operating point (point C in FIG. 8), is determined. At the same time, the intake air amount adjustment amount TH is calculated based on the throttle opening target value θTH *, and the memory storage data is updated (step S510).
8). Then, when the throttle actuator 6 is controlled by the calculated intake air amount adjustment amount TH (step S5122), the engine 1 sets the vehicle drive power request value P
As a result, v * output torque is generated (the amount of intake air is appropriately adjusted). Simultaneously with the generation of the output torque of the engine 1, the engine speed command value Ne * is transmitted to the hybrid control device 16 (step S5124).

Further, at the same time when the output of the engine 1 is generated, the engine speed command value Ne * is received by the hybrid controller 16 (step S600 in FIG. 20).
6) In the hybrid control device 16, the first and second rotating electric machines 2 are controlled based on the engine speed command value Ne *.
The first and second torque command values Mm1 * and Mm2 *, which are the torque command values of 000 and 3000, are calculated (step S).
6008).

At this time, the first and second torque command values M
As described above, m1 * and Mm2 * are calculated based on the program shown in FIG. That is, in the hybrid control device 16, the engine speed command value Ne * transmitted from the engine control device 13 and the rotation speeds Nm 1 and Nm 2 of the first and second rotary electric machines 2000 and 3000 received from the inverter device 14 are used. Actual engine speed Ne based on
Then, the rotational speed deviation εi is calculated (step S in FIG. 16).
5602), the present value εi of the rotational speed deviation, the previous value εi−
A first torque command value Mm1 *, which is a torque command value of the first rotary electric machine 2000, is calculated from 1 and the value εi−2 before last (step S5604 in FIG. 16, equation (5)).

Thereafter, the first torque command value Mm1 * is transmitted to inverter device 14 (step S6 in FIG. 20).
100), the inverter device 14 controls the torque of the first rotating electric machine 2000 with the first torque command value Mm1 * taken in step S5206 in FIG. At this time, when the inverter device 14 controls the torque of the first rotating electric machine 2000 with the first torque command value Mm1 *, the engine 1 rotates with the first rotating electric machine 2000 as a load. In such a case, since the engine 1 outputs the vehicle drive power required value Pv *, this power required value Pv *
The first rotating electric machine 2000 generates electric power so as to be balanced.

When first rotating electric machine 2000 generates electric power, first rotor 2010 (see FIG. 2) has engine 1
, The electromagnetic force Mm1 acts between the second rotor 2310 (see FIG. 2). Therefore, the reaction torque (electromagnetic force) Mm1 of the torque generated by the engine 1 is transmitted to the second rotor 2310, and further transmitted to the deceleration transmission unit 4000. This reaction torque Mm
1 is controlled to be equal to the first torque command value Mm1 *, which is the torque command value of the first rotating electric machine 2000.

On the other hand, in the hybrid control device 16, the second torque command value Mm2 *, which is the torque command value of the second rotating electric machine 3000, is calculated using the above equation (6) (step S5608 in FIG. 16). . That is, the second torque command value Mm2 * is calculated by subtracting the first torque command value Mm1 * from the vehicle drive torque command value Mv *. Then, the second torque command value Mm2 * is
4 and taken into the inverter device 14 in step S5206 in FIG. At this time, the second torque command value Mm2 * is corrected according to the current value flowing through the power storage device 15 (battery) (step S5207), and the second torque command value Mm2 * is corrected based on the corrected second torque command value Mm2 *. The rotating electric machine 3000 is torque-controlled.

At this time, the torque generated between the stator 3010 and the second rotor 2310 becomes the second torque command Mm2 *, and the torque control is performed.
Has a first torque command value Mm1 *, which is a torque command value of the first rotating electric machine 2000, and a second torque command value M, which is a torque command value of the second rotating electric machine 3000.
The resultant torque with m2 * acts. That is,
The same torque as vehicle drive torque command value Mv * is transmitted to second rotor 2310, and further transmitted to deceleration transmission section 4000. Therefore, the vehicle drive torque command value M
The vehicle is driven according to v * (= Mm1 * + Mm2 *).

Consider the above-described power balance during running of the vehicle. In such a case, as shown in the following equation (7), the torque Me generated by the engine 1 and the generated torque Mm1 of the first rotary electric machine 2000 are balanced.

Me = Mm1 (7) The electric power Pe generated by the engine 1 is calculated from the engine speed Ne and the engine output torque Me based on the following equation (8).

Pe = C · Ne · Me (8) where C is a preset coefficient in the above equation (8). Further, the generated power Pm1 of the first rotating electric machine 2000 is equal to the rotation speed Nm of the first rotating electric machine 2000.
1 and the generated torque Mm1 are calculated based on the following equation (9).

Pm1 = C · Nm1 · Mm1 (9) where C is a preset coefficient in the above equation (9). Here, since the first rotor 2010 and the second rotor 2310 in the first rotating electric machine 2000 have an action and a reaction relationship with each other, the first rotor 2010 and the second rotor 2310 have the same torque Mm1 generated in the first rotor 2010. Torque is second
Occur in the rotor 2310. And the second rotor 2
The power obtained from the torque generated at 310 and the engine speed Ne is the difference between the generated power Pe of the engine 1 and the generated power Pm1 of the first rotating electric machine 2000,
By using the equations (7) to (9), the following equation (10) is established.

Pe−Pm1 = C · (Ne−Nm1) · Me (10) In the equation (10), a part of the power output by the engine 1 is generated by the first rotating electric machine 2000. At the same time that the energy is converted into electricity, the output torque Me of the engine 1 is changed by the first rotor 2010 constituting the first rotating electric machine 2000.
And the second rotor 2310 is electromagnetically transmitted. Further, the second rotary electric machine 3000 is electrically operated to generate a torque based on the second torque command value Mm2 * calculated by the above equation (6), so that the engine 1
A vehicle drive torque command value Mv * required for traveling is generated irrespective of the rotation speed of the vehicle. At this time, if the energy conversion efficiency of the first and second rotating electric machines 2000 and 3000 and the inverter device 14 that drives the first and second rotating electric machines 2000 is ignored, the electric power generated by the first rotating electric machine 2000 is converted to the second rotating electric machine 300.
By supplying the power to 0, the energy generated by the engine 1 is transmitted to the traveling drive system without taking out the electric power from the power storage device 15, whereby the vehicle can travel forward.

(C) Backward traveling state Next, a backward traveling state corresponding to a state in which the shift lever is operated to the "R" range will be described. That is, when the shift lever is operated to the “R” range, the shift position SFT taken by the hybrid control device 16 becomes “2”, and the affirmative determination is made in step S5424 of the program in FIG. Be executed. The program shown in FIG. 18 is applied to the details of the processing of the R range.

Note that the outline of the program in FIG. 18 matches the above-described D range processing in FIG. 20 during forward traveling (only the step numbers are different). In other words, in the R range processing, the rotation direction of the second rotary electric machine 3000 is reversed. The characteristics of the search map for the vehicle drive torque command value Mv * are as shown in FIG. However, the difference is the same as that of the D range processing, and the description is omitted here.

According to the device of the present embodiment described in detail above, the following effects can be obtained. (A) In the hybrid vehicle control system according to the present embodiment, first rotating electric machine 2000 uses engine speed command value N
The rotation speed is controlled according to e * (target rotation speed). At this time, the operation of the engine 1 can be maintained at the engine operating point where the fuel efficiency and the emission of the engine 1 are in the best state while corresponding to the engine characteristics, and the highly efficient engine operation can be realized. In such a configuration, the vehicle driving torque is the sum of the torque generated by first rotating electric machine 2000 and the torque generated by second rotating electric machine 3000, and is appropriately controlled based on the vehicle driving information. Become. At this time, the first rotating electric machine 2000
Is balanced with the output torque of the engine 1, and the output torque of the engine 1 is electromagnetically transmitted as a part of the vehicle driving torque, so that efficient energy transmission can be achieved.

(B) In the present embodiment, as a feature, a current flowing through power storage device 15 is detected, and a torque command value Mm2 * for second rotating electric machine 3000 is set using the current value as one parameter. I made it. With this configuration, even when the output torque of the rotating electrical machine changes excessively, such as during transient running of the vehicle, the power storage device 1
The current value (charge state) of No. 5 is stabilized. Further, the input and output of electric power between the first and second rotating electric machines 2000 and 3000 are also stabilized. Therefore, the input / output power of the power storage device 15 is maintained in equilibrium, and the normal state of the power storage device 15 can be maintained for a long time. That is, deterioration and breakage of power storage device 15 can be suppressed.

(C) Further, since the current value of the power storage device 15 is used as a parameter indicating the state of charge of the power storage device 15, the above-described effects can be easily realized. (D) According to the configuration of the power transmission means 12 in the present embodiment, the power transmission means 12 can be reduced in size and weight, so that the vehicle weight can be reduced and the system efficiency can be improved.

(E) Further, in the present control system, the required amount of engine power is output in accordance with the required vehicle drive power Pv *, and the first and second engine powers are transmitted during the energy transmission process.
And the rotary electric machines 2000 and 3000 transmit and receive energy. Therefore, charging and discharging of power storage device 15 are suppressed as much as possible, and the amount of power storage device 15 brought out during traveling is reduced. Therefore, the size of the power storage device 15 can be reduced, and the efficiency of the entire vehicle is improved. Also, since the amount of power storage device 15 taken out is reduced, power storage device 15
The battery life can be improved even if a battery is used.

(F) Further, a vehicle equipped with the hybrid vehicle control system according to the present embodiment can be realized as a vehicle with significantly lower fuel consumption compared to a vehicle widely used at present.

The embodiments of the present invention can be embodied as follows in addition to the above. In the above embodiment, the power storage device 1 is used as a parameter indicating the state of charge of the power storage device 15.
Although the configuration using the current value flowing through 5 is used, this may be changed as follows. The terminal voltage of the power storage device 15 is adopted as a parameter indicating the state of charge of the power storage device 15. In this case, the state-of-charge detecting means is constituted by a known voltage detector. Then, step S52 in FIG.
07, the second rotating electric machine 300 is set so that the voltage value becomes a predetermined allowable value (for example, 288 volts of the rated voltage).
The torque command value Mm2 * of 0 is corrected. Power used by the power storage device 15 is adopted as a parameter indicating the state of charge of the power storage device 15. In this case, the state-of-charge detecting means is constituted by a known power detector. Then, step S5 in FIG.
In 207, the torque command value Mm2 * of the second rotary electric machine 3000 is corrected so that the power becomes a predetermined allowable value (for example, 0 watt). The remaining capacity of the power storage device 15 is adopted as a parameter indicating the state of charge of the power storage device 15. Incidentally, this remaining capacity is determined by a remaining capacity detector as a state-of-charge detecting means.
A current signal of the power storage device 15 detected by a known current sensor or the power storage device 1 detected by a known voltage sensor
The calculation is performed by a known method from the terminal voltage signal of No. 5, the temperature signal of the power storage device 15 detected by a known temperature sensor, and the like. Then, in step S5207 in FIG. 11 by the inverter device 14, the second rotating electric machine 3 is controlled so that the remaining capacity is within a predetermined allowable range (for example, 60 to 80%).
000 is corrected. A combination of at least two of the terminal voltage, current value, power, and remaining capacity of the power storage device 15 that are the above-described parameters of the state of charge, Rotary electric machine 30
The torque command value Mm2 * of 00 may be corrected.

In the above embodiment, the second rotating electric machine 30
The basic value of the torque command value Mm2 * with respect to 00 is obtained (see FIG. 1).
6, step S5608), and the basic value is stored in power storage device 15
(Step S5207 in FIG. 11), this configuration was changed to change the torque command value Mm2 *.
May be performed at the same time as calculating the basic value of. In such a case, the correction process (setting process) of the second torque command value Mm2 * is performed by the hybrid control device 16, and the hybrid control device 16 corresponds to command data setting means.

In addition, the voltage, current, power,
Alternatively, the control target value (allowable level) of the remaining capacity may be set variably. In such a case, the control target value is usually set to a state where the power storage device 15 is close to full charge or a state where there is no input / output of electric power. By gradually changing the control target value, it is possible to more reliably prevent the deterioration of the power storage device 15. Specifically, for example, the control target voltage at normal time is set to a rated voltage (288 volts).
In this case, the target value is reduced to about 75% of the target value, and gradually approaches the rated voltage. Further, for example, when the target remaining capacity at normal time is set to 60 to 80%, the target value is once reduced to 30%, and the original target value (60 to 80%) is gradually reduced.
%). Such a change of the control target value may be performed about once every two to three months.

In the above embodiment, the torque command value Mm2 * for the second rotating electric machine 3000 is modified or set in accordance with the state of charge of the power storage device 15, but this is changed and the charging of the power storage device 15 is changed. The engine speed command value Ne * (target speed) may be modified or set according to the state. In such a case, for example, a process of correcting the engine speed command value Ne * may be added between step S5122 and step S5124 in FIG. Therefore, in this configuration, the engine control device 13 corresponds to a command data setting unit. At this time, parameters representing the state of charge of the charging device 15 include voltage, current, power, remaining capacity,
Alternatively, a combination of these may be used.

In the above-described embodiment, the structure shown in FIG. 2 has been described as the power transmission means 12.
No. 66, JP-A-7-135
The present invention can be applied even to JP-A-701. In addition, although the drive function of the intake air amount adjusting means (throttle actuator 6) is incorporated in the engine control device 13, the gist of the present invention does not change even if it is separated from the engine control device 13.

Although a known battery is used as power storage device 15, a flywheel battery or the like, an electric double layer capacitor, or a combination thereof may be used.

Further, although the in-line four-cylinder gasoline internal combustion engine is used as the engine 1, the number of cylinders is irrelevant to the present invention, and other internal combustion engines may be used. In addition, as a method of transmitting information between the engine control device 13, the inverter device 14, and the hybrid control device 16, a known start-stop synchronization type communication means is used. is not.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing an outline of a hybrid vehicle control system according to an embodiment of the invention.

FIG. 2 is a sectional view showing a configuration of a power transmission unit.

FIG. 3 is a block diagram showing a configuration of an engine control device.

FIG. 4 is a flowchart showing a main program of control by the engine control device.

FIG. 5 is a flowchart showing an interrupt program for control by the engine control device.

FIG. 6 shows an intake air temperature correction coefficient fT built in the engine control device.
FIG.

FIG. 7 shows a warm-up correction coefficient fWL built in the engine control device.
FIG.

FIG. 8 is a characteristic diagram showing an engine operating point determined by the engine control device.

FIG. 9 is a characteristic diagram showing a throttle opening target value determined by the engine control device.

FIG. 10 is a block diagram illustrating a configuration of an inverter device.

FIG. 11 is a flowchart showing a main program of control by the inverter device.

FIG. 12 is a flowchart showing an interrupt program for control by the inverter device.

FIG. 13 is a block diagram showing a configuration of a hybrid control device.

FIG. 14 is a flowchart showing a main program of control by the hybrid control device.

FIG. 15 is a flowchart showing a start processing program by the hybrid control device.

FIG. 16 is a flowchart showing a subprogram by the hybrid control device.

FIG. 17 is a flowchart showing a P range program by the hybrid control device.

FIG. 18 is a flowchart showing an R range program by the hybrid control device.

FIG. 19 is a flowchart showing an N range program by the hybrid control device.

FIG. 20 is a flowchart showing a D range program by the hybrid control device.

FIG. 21 is a characteristic diagram of a vehicle drive torque command value determined by the hybrid control device.

FIG. 22 is a flowchart showing a torque command value correction program by the inverter device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Engine, 7 ... Accelerator sensor, 8 ... Brake sensor, 9 ... Shift switch, 10 ... Start switch, 12 ...
Power transmission means (power conversion means), 13: an engine control device constituting command data setting means, 14: an inverter device constituting command data setting means, 15: a power storage device, 1
6 ... Hybrid control device constituting command data setting means, 17 ... Current detector as charge state detecting means, 20
00: the first rotating electric machine, 3000: the second rotating electric machine.

Claims (5)

[Claims] Power conversion means coupled to the engine and including a first rotating electric machine for determining an engine speed and a second rotating electric machine for determining a driving force of a vehicle; The present invention is applied to a hybrid vehicle including an inverter device for driving the first and second rotating electric machines, and a power storage device electrically connected to the inverter device. The output torque of the engine is determined based on vehicle operation information. Control, and based on the torque control amount and the target engine speed corresponding to the characteristics of the engine, the first
And a control device configured to control a torque value generated in the second rotating electric machine, wherein a charge state detection unit that detects a charge state of the power storage device; and a charge state of the power storage device as one parameter, A hybrid vehicle control device comprising: a command data setting unit that sets a torque command value for a second rotating electric machine or a target rotation speed of the engine. 2. The charge state detecting means detects voltage, current, power or remaining capacity of the power storage device, and the command data setting means includes voltage, current, power or remaining capacity of the power storage device. The hybrid vehicle control device according to claim 1, wherein a torque command value of the second rotating electric machine is set so that the torque command value falls within a fixed or predetermined allowable range. 3. The charge state detecting means detects voltage, current, power or remaining capacity of the power storage device, and the command data setting means includes voltage, current, power or remaining capacity of the power storage device. 2. The hybrid control device according to claim 1, wherein the target rotational speed of the engine is set such that is within a predetermined or predetermined allowable range. 4. A hybrid vehicle according to claim 1, further comprising means for variably setting a control target value of voltage, current, power, or remaining capacity of said power storage device. Control device. 5. The power conversion means includes: a housing; first and second rotors housed in the housing and capable of relatively rotating to transmit a torque from the engine to a load output; and fixed to the housing. With a stator,
The second rotor has a first magnetic circuit that performs a mutual electromagnetic action by being driven to rotate relative to the first rotor, and has a mutual electromagnetic force that is driven to rotate relative to the stator. A second magnetic circuit that performs an operation, wherein the first rotor is wound with a first coil capable of controlling energization of a relative angular velocity and a torque with respect to the second rotor. A first coil is configured together with a magnetic circuit, and a second coil is wound around the stator to control the relative speed and torque between the second rotor and the second rotor. A second rotating electrical machine is configured, and either the first rotor or the second rotor is connected to the engine, and is driven to rotate by driving the engine, while the other rotor is the load. An output coupled to the first rotor; The second rotor and the stator are arranged concentrically, the second rotor is arranged inside the stator, the first rotor is arranged inside the second rotor, and the second rotor is arranged inside the second rotor. The rotor has a magnetic pole formed of a permanent magnet, and an input shaft connected to the engine and an output shaft connected to a load output in the first rotor and the second rotor are on the same side of the housing. The hybrid vehicle control device according to any one of claims 1 to 4, wherein the hybrid vehicle control device is disposed in a vehicle.