JPH11332018A - Power output unit and control method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently transmit output power from a prime mover to a drive shaft by an arrangement wherein the rotary shaft of a second motor coupled with the drive shaft can be coupled with the output shaft of the prime mover and the drive shaft or can be uncoupled therefrom. SOLUTION: The rotary shaft of a rotor 41 in a motor MG2 is coupled mechanically which a crankshaft 56 or uncoupled therefrom through a first clutch 45 which is disposed between a planetary gear 200 and a motor MG1. Furthermore, it is coupled mechanically with the ring gear shaft 227 of the planetary gear 200 through a second clutch 46. Consequently, the occurrence of power circulation can be avoided, and the overall efficiency of the apparatus can be enhanced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power output device and a control method thereof, and more particularly, to a power output device that efficiently outputs power output from a prime mover to a drive shaft and a control method thereof.

[0002]

2. Description of the Related Art Conventionally, as a power output device of this type,
2. Description of the Related Art There has been proposed a device mounted on a vehicle, which electromagnetically couples an output shaft of a prime mover and a drive shaft coupled to a rotor of an electric motor by an electromagnetic joint to output power of the prime mover to the drive shaft. (For example, JP-A-53-133814). In this power output device, the vehicle starts running by an electric motor, and when the number of revolutions of the electric motor reaches a predetermined number of revolutions, an exciting current is applied to an electromagnetic coupling to crank the prime mover and supply fuel to the prime mover and spark ignition. To start the prime mover. After the prime mover is started, power from the prime mover is output to a drive shaft by electromagnetic coupling of an electromagnetic joint to drive the vehicle. The electric motor is driven when the power required for the drive shaft is insufficient with the power output to the drive shaft by the electromagnetic coupling, and makes up for this shortfall. When outputting power to the drive shaft, the electromagnetic coupling regenerates electric power according to slippage of the electromagnetic coupling. This regenerated power is stored in a battery as power used at the start of traveling,
It is used as power for the electric motor to make up for the lack of power of the drive shaft.

[0003]

However, such a conventional power output device has a problem that when the rotational speed of the drive shaft increases, the efficiency of the entire device may decrease. In the above-described power output device, even when the rotational speed of the drive shaft becomes large, in order to output power to the drive shaft by the electromagnetic coupling, the rotational speed of the prime mover must be equal to or higher than the rotational speed of the drive shaft. Since the range of the efficient operating point of the prime mover is usually determined by the rotational speed and the load torque, when the drive shaft rotates at a rotational speed exceeding the range, the prime mover operates at a high efficiency. Have to drive outside of good driving points,
As a result, the efficiency of the entire device is reduced.

[0004] As a solution to such a problem, the present applicant has disclosed in Japanese Patent Application Laid-Open No. 9-308012 a drive having a generator, a rotating shaft of the generator, an output shaft of a prime mover, and a motor instead of an electromagnetic coupling. A device using a planetary gear coupled to a shaft has been proposed. This was requested by distributing the power output from the prime mover into two parts by a planetary gear, converting part of the power into electric power by a generator, and then using this electric power to power a motor provided on a drive shaft. Power is output from the drive shaft. When the rotation speed of the drive shaft increases, the generator runs as a motor to perform power running operation.By utilizing the characteristics of the planetary gear, the rotation speed of the drive shaft is increased, and the prime mover is rotated at a rotation speed smaller than the rotation speed of the drive shaft. Operable. At this time, the electric power required to power the generator is provided by making the motor function as the generator.

[0005] However, in the proposed device, when the rotation speed of the drive shaft becomes larger than the rotation speed of the prime mover, there is a problem that the operation efficiency is lowered even though it is not as high as the conventional device. As described above, when the rotation speed of the drive shaft becomes larger than the rotation speed of the prime mover, the generator is powered by using the electric power regenerated by the electric motor coupled coaxially. A part of the power output coaxially from the generator is regenerated as electric power by the electric motor again. That is, some power circulates between the generator and the motor. Generally, conversion between mechanical power and electric power involves a loss due to the conversion efficiency of the device. Therefore, the presence of the circulating power described above reduces the operating efficiency of the device.

A power output apparatus and a control method therefor according to the present invention solve the above problems, and an object of the present invention is to propose an apparatus for more efficiently outputting power output from a prime mover to a drive shaft and a control method for such an apparatus. One of Further, the power output device and the control method of the present invention propose a device that efficiently outputs power to the drive shaft even when the rotation speed of the drive shaft is higher than the rotation speed of the prime mover, and a control method of the device. Is one of the objectives.

[0007]

Means for Solving the Problems and Their Functions and Effects The power output device of the present invention employs the following means to achieve at least a part of the above object.

A power output device according to the present invention is a power output device for outputting power to a drive shaft, comprising a motor having an output shaft, a first shaft connected to the output shaft, and a drive shaft connected to the drive shaft. And a third axis different from the first axis and the second axis. When the power input / output to / from these two axes is determined, the remaining one A power transmission means for determining power input to and output from the shaft, a first electric motor coupled to the third shaft, and a rotation shaft different from the output shaft and the drive shaft; A second electric motor for exchanging power via the motor, first connection means for mechanically connecting and disconnecting the rotary shaft and the output shaft, and a rotary motor and the drive shaft, And a second connection means for performing a mechanical connection and a release of the connection.

In the power output device of the present invention, the rotation shaft of the second electric motor can be connected to or disconnected from the output shaft of the prime mover, and can be connected to or released from the drive shaft. As a result, it is possible to prevent the above-described power circulation from occurring, and it is possible to improve the efficiency of the entire apparatus. In the power output device of the present invention, when the second electric motor is connected to the output shaft of the prime mover, an operation mode in which the electric power regenerated by the first electric motor is supplied to the second electric motor, and the power is regenerated by the second electric motor. An operation mode in which electric power is supplied to the first electric motor can be adopted. Also, the second
When two motors are connected coaxially, two operation modes can be similarly employed. Thus, the power output device of the present invention can employ a total of four operation modes. Therefore, by selecting an operation mode in which power circulation does not occur from among these operation modes, it is possible to avoid power circulation and improve the efficiency of the entire apparatus.

In the power output device of the present invention,
The first connection means and the second connection means may both be constituted by clutches. In this case, each connection means can be realized with a simple configuration.

In the power output device according to the present invention, the drive shaft and the output shaft may be arranged coaxially. It may be arranged coaxially with the drive shaft and the output shaft. In this case, the power output device can be arranged in an advantageous manner for installation in a space formed on a straight line.

In a power output apparatus having a drive shaft, an output shaft, and a rotation shaft of a second motor arranged coaxially,
The motor may be arranged in the order of the motor, the second motor, and the first motor. In this case, the first motor may be further disposed between the second motor and the first motor. And the second connection means may be arranged.

In a state where the second motor is connected to the drive shaft, the operation of the prime mover is stopped, and the motor is driven using only the power of the second motor. Therefore, the second motor is generally larger than the first motor. What can output torque is required. Since the torque output of the motor is proportional to the axial length of the rotor and proportional to the square of the diameter, the size of the second motor is larger than that of the first motor. On the other hand, when an internal combustion engine is used for the prime mover, the size required to output the same energy is larger for the prime mover than for the electric motor. Therefore, when the prime mover, the first electric motor, and the second electric motor are arranged in order of size, the prime mover, the second electric motor, and the first electric motor are in this order. By arranging in order of such size, the power output devices can be made coherent, and the handling and installation space when mounted on a vehicle, a ship, or the like can be made advantageous.

Further, since the first connecting means and the second connecting means can be constituted by the clutch and the like as described above, their sizes are smaller than those of the first and second electric motors. Therefore, the first connecting means and the second connecting means can be arranged in a dead space formed between these large devices, and the whole apparatus can be made more compact.

In the power output device in which the prime mover, the second electric motor, and the first electric motor are arranged in this order, the first connection means and the second connection means can be arranged in various ways. As a method of arranging the first connection means and the second connection means collectively, the first connection means and the second connection means may be arranged between the above-described second electric motor and the first electric motor, or may be arranged between the prime mover and the second electric motor. It may be arranged between them. As a method of separately arranging the first connection means and the second connection means, the first connection means is provided with a motor and a second connection means.
And between the second electric motor and the first electric motor.

Further, in a power output device in which a drive shaft, an output shaft and a rotary shaft are coaxially arranged, the power motor is arranged in the order of the first electric motor and the second electric motor. You can also. As described above, various methods for disposing the first connection means and the second connection means in this case are also available. As described above, the arrangement of the prime mover, the first electric motor, and the second electric motor, and the arrangement of the first connection means and the second connection means can be determined according to the scale of the power output device, the installation space, and the like. Arrangement.

Further, in the power output device of the present invention, the rotation shaft of the second electric motor may be arranged on a shaft different from the drive shaft and the output shaft. In this case, the axial length of the device can be reduced as compared with the case where all the axes are coaxial.

Further, in the power output device of the present invention,
The output shaft and the drive shaft may be arranged on different shafts. In this case, the second
The rotating shaft of the electric motor may be arranged coaxially with the output shaft, or the rotating shaft of the second electric motor may be arranged coaxially with the driving shaft. Also in these power output devices, the axial length of the device can be reduced as compared with a device in which all axes are coaxial.

Further, in the power output apparatus according to the present invention, the first connection means may include a speed change means for changing a rotation speed of a rotation shaft of the second electric motor and transmitting the speed to the output shaft. The second connection means may include a transmission for changing the rotation speed of the rotation shaft of the second electric motor and transmitting the speed to the drive shaft. This way,
The rotation speed of the rotating shaft can be adjusted. As a result, the second electric motor can be operated at a more efficient point, and the efficiency of the device can be improved.

The power output apparatus of the present invention, including these modifications, provides the first motor based on the operating state of the prime mover, the first motor, the second motor and the drive shaft or a predetermined instruction. A connection control means for controlling the connection means and the second connection means may be provided. In this case, connection and disconnection by the first connection means and the second connection means can be performed based on the state of the prime mover, the first electric motor, the second electric motor, and the drive shaft or a predetermined instruction.

In the power output apparatus of the present invention provided with such a connection control means, the connection control means, when the rotation speed of the output shaft is higher than the rotation speed of the drive shaft as the operating state, is set to the second state. Controlling the first connection means so that the connection between the rotation shaft of the electric motor and the output shaft is released, and controlling the second connection means so that the rotation shaft and the drive shaft are connected, When the rotation speed of the output shaft is lower than the rotation speed of the drive shaft as the operation state, the first connection unit is controlled so that the rotation shaft of the second electric motor is connected to the output shaft. And a means for controlling the second connection means so that the connection between the rotation shaft and the drive shaft is released.

Power circulation is likely to occur when the rotation speed of the drive shaft is higher than the rotation speed of the output shaft of the prime mover when the second motor is connected to the drive shaft. In the above invention, since the connection state of the second electric motor can be controlled according to the rotation speed of the drive shaft and the rotation speed of the output shaft, power circulation can be reduced and the efficiency of the entire device can be improved. .

Further, in the power output device of the present invention provided with connection control means, the connection control means may connect the rotation shaft to the drive shaft and connect the rotation shaft to the output shaft. The first connection means and the second connection means;
Means for controlling the connection means. With this configuration, the output shaft and the drive shaft of the prime mover can be integrally rotated, and the power output from the prime mover can be directly output to the drive shaft at the same rotation speed.

In the power output apparatus according to the above aspect, the operating state is a state within a predetermined range in which the prime mover can be operated efficiently when the rotational speed of the drive shaft is the rotational speed of the output shaft of the prime mover. It can also be. In this way, the power output from the prime mover that operates efficiently can be directly output to the drive shaft at the same rotation speed.

Further, in the power output apparatus of the present invention provided with connection control means, the connection control means disconnects the connection between the rotation shaft of the second electric motor and the drive shaft and connects the rotation shaft to the output shaft. The first connection means and the second connection means may be controlled so that the connection with the shaft is released. In this case, the second electric motor can be placed outside the system that outputs power to the drive shaft.

In the power output apparatus according to this aspect, the operating state is such that the torque to be output to the drive shaft can be output without increasing or decreasing the torque by the second electric motor, When you set
The prime mover may be in a state within a predetermined range in which the prime mover can be operated efficiently. In this case, the power output from the prime mover that operates efficiently can be directly output to the drive shaft. Further, the operating state may be a state in which an abnormality of the second electric motor is detected. In this way, the rotation of the second electric motor can be stopped when the abnormality of the second electric motor is detected.

Alternatively, in the power output apparatus according to the present invention having connection control means, when the rotation shaft is connected to one of the output shaft and the drive shaft by the connection control means, an output from the prime mover is provided. Drive control means for controlling the driving of the first electric motor and the second electric motor so as to convert the generated power into torque and output the torque to the drive shaft may be provided. In this case, the power output from the prime mover can be converted to a desired power and output to the drive shaft. As a result, if the operation points output the same energy, the prime mover can be operated at more efficient operation points, and the energy efficiency of the entire apparatus can be improved.

Also, in the power output apparatus of the present invention provided with connection control means, charging / discharging of power consumed or regenerated when power is exchanged by the first motor, and exchange of power by the second motor. Power storage means capable of charging and discharging the power consumed or regenerated at the time of the operation, target power setting means for setting a target power to be output to the drive shaft based on an instruction of an operator, and the target power setting means Wherein the target power set by the motor is output to the drive shaft by energy consisting of power output from the motor and power charged and discharged by the power storage means.
Drive control means for controlling the drive of the first electric motor and the second electric motor may be provided.

[0029] In the power output device of this aspect, the power storage means:
If necessary, charge / discharge of power consumed or regenerated at the time of power exchange by the first motor and charge / discharge of power consumed or regenerated at the time of power exchange by the second motor are performed. The drive control means sets the target power set as the power to be output to the drive shaft based on the instruction of the operator by the target power setting means, the power output from the prime mover and the power charged and discharged by the power storage means. The driving of the prime mover, the first electric motor and the second electric motor is controlled so as to be output to the drive shaft by the energy of According to the power output device of this aspect, since the energy consisting of the power output from the prime mover and the power charged / discharged by the power storage means can be torque-converted into desired power and output to the drive shaft, Even if a target power larger than the maximum power that can be output is set, the target power can be output to the drive shaft. For this reason, a motor that can output less power than the maximum target power that can be set as a prime mover can also be used. As a result, the entire device can be reduced in size.

In the power output apparatus of the present invention having the above-described power storage means and drive control means, the power output apparatus further includes a power storage state detection means for detecting a state of the power storage means, and the drive control means detects the state of the power storage state detection means. Further, the power storage means may be a means for controlling the driving of the prime mover, the first electric motor, and the second electric motor such that the state of the power storage means falls within a predetermined range. By doing so, the power storage means can always be kept in a predetermined range.

Further, in the power output apparatus of the present invention including the power storage means and the drive control means, the connection control means includes:
The connection between the rotation shaft of the second electric motor and the output shaft is released when a predetermined instruction is given by the operator or when the target power set by the target power setting means is within a predetermined range. Controlling the first connection means so that the rotation shaft and the drive shaft are connected to each other.
The drive control means uses the electric power discharged from the power storage means to control the second connection means.
Means for controlling the drive of the electric motor. With this configuration, the drive shaft can be rotationally driven only by the power output from the second electric motor.

Alternatively, in the power output apparatus according to the present invention, comprising a power storage means and a drive control means, the connection control means is configured to output the target power set by a predetermined instruction from an operator or by the target power setting means. When the power is within a predetermined range, while controlling the first connection means so that the rotation shaft of the second electric motor and the output shaft are connected,
The second connection means is controlled so that the connection between the rotation shaft and the drive shaft is released, and the drive control means uses the power discharged from the power storage means to perform the first connection. Means for controlling the first electric motor so as to output power from the electric motor to the drive shaft, and controlling the second electric motor so as to cancel the torque acting on the output shaft of the prime mover with the output of the power. It can also be.
With this configuration, the drive shaft can be rotationally driven by the power output from the first electric motor.

Further, in the power output device according to the present invention, comprising a power storage means and a drive control means, the connection control means is provided when a predetermined instruction is given by an operator or when the target power set by the target power setting means is set. When the power is within a predetermined range, while controlling the first connection means so that the rotation shaft of the second electric motor and the output shaft are connected,
The drive control means controls the second connection means so that the rotation shaft and the drive shaft are connected to each other. The drive control means stops fuel supply and ignition control to the prime mover, and controls the power storage means. Means for controlling the second electric motor so as to output power to the drive shaft while motoring the prime mover using electric power discharged from the motor. With this configuration, it is possible to output power to the drive shaft by the second electric motor while forcibly rotating the prime mover.

In the power output apparatus according to the present invention, in which the motor is motored, when a predetermined start instruction is issued, a motor start control for controlling fuel supply and ignition to the motor in conjunction with motoring of the motor. Means may be provided. With this configuration, the prime mover can be started, and the mode can be easily shifted to a mode in which the prime mover and the second electric motor output power to the drive shaft.

In the power output apparatus according to this aspect, the drive control means controls the second electric motor so as to cancel the power output from the prime mover when the prime mover is started by the prime mover start control means. It can also be a means. In this way, it is possible to reduce or eliminate fluctuations in torque output to the drive shaft that occur when the prime mover starts.

Further, in the power output apparatus according to the present invention provided with a power storage means and a drive control means, the target power setting means provides a power for rotating the drive shaft in a direction opposite to a rotation direction of an output shaft of the prime mover. It may be a means for setting as the target power. In this case, the drive shaft can be rotated in a direction opposite to the rotation direction of the output shaft of the prime mover.

In the power output apparatus of the present invention having connection control means, when a predetermined reverse rotation instruction is issued, connection between the rotation shaft of the second electric motor and the output shaft is established via the connection control means. The first and the second connection means are controlled so that the rotation shaft is connected to the drive shaft after being released, and the rotation direction of the output shaft of the prime mover from the second electric motor to the drive shaft is A reverse rotation control means for controlling the second electric motor so as to output power rotating in the reverse direction may be provided. In this case, the drive shaft can be rotated by the second electric motor in a direction opposite to the rotation direction of the output shaft of the prime mover.

In the power output apparatus of the present invention having connection control means, when a predetermined reverse rotation instruction is given, the rotation shaft of the second electric motor is connected to the output shaft via the connection control means, and The first and second connection means are controlled so that the connection between the shaft and the drive shaft is released, and the direction of rotation of the output shaft of the prime mover from the first electric motor to the drive shaft is opposite to that of the first motor. Reverse rotation control means for controlling the second electric motor so as to output rotating power, and controlling the second electric motor so as to cancel the torque acting on the output shaft as a reaction force of the power output to the drive shaft. May be provided. With this configuration, the drive shaft can be rotated by the first electric motor in a direction opposite to the rotation direction of the output shaft of the prime mover.

In the power output apparatus of the present invention having connection control means, when a predetermined start instruction is given, the rotation shaft of the second electric motor is connected to the output shaft via the connection control means, and Along with controlling the first and second connecting means so that the shaft is disconnected from the drive shaft, the second motor is controlled so as to motor the prime mover. In addition, a motor start control means for controlling fuel supply and ignition to the motor may be provided. With this arrangement, the second motor is not provided for starting the prime mover, and the second motor can be used.
The motor can be started by the electric motor.

In the power output apparatus of the present invention having connection control means, when a predetermined start instruction is issued, the connection between the rotation shaft of the second electric motor and the output shaft is released via the connection control means. The first and second connection means are controlled so that the rotation shaft and the drive shaft are connected, and the second electric motor is controlled so that the rotation shaft does not rotate, so that the motor is driven. The motor control device may further include a motor start control unit that controls the first electric motor, and further controls fuel supply and ignition to the motor in association with motoring of the motor. This way,
The prime mover can be started by the first electric motor and the second electric motor without separately providing a motor for starting the prime mover.

[0041] In the power output apparatus of the present invention provided with connection control means, the connection between the rotation shaft of the second electric motor and the output shaft is released, and the connection between the rotation shaft and the drive shaft is reduced. When a predetermined start instruction is issued while power is being output from the second motor to the drive shaft, the first motor is controlled so as to motor the prime mover, and the motor is driven in conjunction with the motoring of the prime mover. A motor start control means for controlling fuel supply and ignition to the motor may be provided. Thus, the prime mover can be started even while the drive shaft is being driven by the second electric motor. Needless to say, there is no need to separately provide an electric motor for starting the prime mover.

In the power output apparatus according to this aspect, the prime mover starting means is configured to cancel the torque output from the first electric motor to the drive shaft as a reaction force of the torque required for motoring the prime mover. It may be a means for controlling the electric motor. This way,
It is possible to further reduce the torque fluctuation generated in the drive shaft.

[0043] In the power output apparatus of the present invention provided with connection control means, the second motor is connected to the output shaft and the rotating shaft, and the connection between the rotating shaft and the drive shaft is released. And a second motor configured to motor the prime mover when a predetermined start instruction is given while the output shaft is fixed by the second motor and power is being output from the first motor to the drive shaft. And a motor start control means for controlling fuel supply and ignition to the prime mover along with motoring of the prime mover. Thus, the prime mover can be started even while the drive shaft is being driven by the first electric motor. Needless to say, there is no need to separately provide an electric motor for starting the prime mover.

In the power output apparatus according to this aspect, the motor starting means is means for controlling the first electric motor so as to cancel the torque output to the drive shaft as a reaction force of the torque required for motoring the motor. It can be. In this case, it is possible to further reduce the torque fluctuation generated in the drive shaft.

According to a first method of controlling a power output device of the present invention, a motor having an output shaft, a first shaft connected to the output shaft, and a second shaft connected to the drive shaft are provided. It has a third axis different from the first axis and the second axis. When the power input / output to / from these two axes is determined, the power input / output to / from the remaining one axis is determined. A power transmission means to be determined, a first electric motor coupled to the third shaft, and a rotation shaft different from the output shaft and the drive shaft, and power is exchanged via the rotation shaft. A second electric motor;
First connecting means for mechanically connecting and disconnecting the rotary shaft and the output shaft; and a first connecting means for mechanically connecting the rotary shaft and the drive shaft and releasing the connection. A power output device for outputting power to the drive shaft, wherein when the rotation speed of the output shaft is higher than the rotation speed of the drive shaft, the rotation of the second electric motor is controlled. The first shaft so that the shaft is disconnected from the output shaft.
Controlling the connection means and controlling the second connection means so that the rotation shaft and the drive shaft are connected, and when the rotation speed of the output shaft is lower than the rotation speed of the drive shaft,
The gist is that the first connection means is controlled so that the rotation shaft and the output shaft are connected, and the second connection means is controlled such that the connection between the rotation shaft and the drive shaft is released. And

According to a second control method of a power output device of the present invention, a motor having an output shaft, a first shaft connected to the output shaft, a second shaft connected to the drive shaft, It has a third axis different from the first axis and the second axis. When the power input / output to / from these two axes is determined, the power input / output to / from the remaining one axis is determined. A power transmission means to be determined, a first electric motor coupled to the third shaft, and a rotation shaft different from the output shaft and the drive shaft, and power is exchanged via the rotation shaft. A second electric motor;
First connecting means for mechanically connecting and disconnecting the rotary shaft and the output shaft; and a first connecting means for mechanically connecting the rotary shaft and the drive shaft and releasing the connection. A power output device that outputs power to the drive shaft, wherein the drive motor can be operated efficiently when the rotation speed of the drive shaft is the rotation speed of the output shaft of the motor. When the state is within a predetermined range, the first connecting means and the second connecting means are connected so that the rotating shaft of the second electric motor is connected to the driving shaft and the rotating shaft is connected to the output shaft. The gist is to control the connection means.

In the control method of the first or second power output device, the power output device is configured to charge or discharge power consumed or regenerated when power is exchanged by the first electric motor, and Power storage means capable of charging and discharging power consumed or regenerated at the time of power exchange by the electric motor, wherein the control method of the power output device further outputs to the drive shaft based on an instruction of an operator. A target power setting step of setting a target power to be set, and the set target power is output to the drive shaft by energy including power output from the prime mover and power charged and discharged by the power storage means. The prime mover, the first
And a drive control step of controlling the drive of the second electric motor.

According to the control method of this aspect, since the energy consisting of the power output from the prime mover and the power charged / discharged by the power storage means can be torque-converted to desired power and output to the drive shaft, Even if a target power larger than the maximum power that can be output from the prime mover is set, the target power can be output to the drive shaft. For this reason, a motor that can output less power than the maximum target power that can be set as a prime mover can also be used.
In such a control method, the drive control step further includes detecting a state of the power storage unit, and setting the state of the prime mover and the first motor so that the state of the power storage unit is within a predetermined range.
And the step of driving and controlling the second motor and the second motor. By doing so, the power storage means can always be kept in a predetermined range.

According to a third control method of a power output device of the present invention, a motor having an output shaft, a first shaft connected to the output shaft, a second shaft connected to the drive shaft, It has a third axis different from the first axis and the second axis. When the power input / output to / from these two axes is determined, the power input / output to / from the remaining one axis is determined. A power transmission means to be determined, a first electric motor coupled to the third shaft, and a rotation shaft different from the output shaft and the drive shaft, and power is exchanged via the rotation shaft. A second electric motor;
First connecting means for mechanically connecting and disconnecting the rotary shaft and the output shaft; and a first connecting means for mechanically connecting the rotary shaft and the drive shaft and releasing the connection. A power output device for outputting power to the drive shaft, wherein one of the connection by the first connection means and the connection by the second connection means is performed. Controlling the first connection means and the second connection means to drive the first motor and the second motor so as to convert the torque output from the prime mover into torque and output the torque to the drive shaft. The point is to control.

[0050]

DETAILED DESCRIPTION OF THE INVENTION Configuration Hereinafter, embodiments of the present invention will be described based on examples. FIG. 1 is a configuration diagram showing a schematic configuration of a power output device 20 as a first embodiment of the present invention. As shown
This vehicle includes a gasoline engine driven by gasoline as an engine 50 as a power source. The engine 50 draws a mixture of air sucked from an intake system and gasoline injected from a fuel injection valve 51 into a combustion chamber 52, and moves a piston 54, which is depressed by the explosion of the mixture, to a crankshaft 56. Convert to rotational motion. The spark plug 62 forms an electric spark by a high voltage guided from the igniter 58 via the distributor 60, and the air-fuel mixture is ignited by the electric spark to explode and burn.

The operation of the engine 50 is controlled by an electronic control unit (hereinafter referred to as EFIECU) 70. Various sensors indicating the operating state of the engine 50 are connected to the EFIECU 70. For example, a throttle valve position sensor for detecting an opening degree (position) of a throttle valve, an intake pipe negative pressure sensor for detecting a load on the engine 50, a water temperature sensor for detecting a water temperature of the engine 50, and a crankshaft 56 provided in the distributor 60. A rotation speed sensor 76 and a rotation angle sensor 78 for detecting the rotation speed and the rotation angle are provided. In addition,
In addition, a starter switch 79 for detecting the state ST of the ignition key, for example, is also connected to the EFIECU 70, but illustration of other sensors and switches is omitted.

The drive shaft 22 is connected to the crankshaft 56 of the engine 50 via motors MG1, MG2 and a planetary gear 220, which will be described later. The drive shaft 22 is connected to a differential gear 24, and the torque from the power output device 20 is finally transmitted to the left and right drive wheels 26, 28. This motor MG1, MG
2 is controlled by the control device 80. Control device 8
Although the configuration of 0 is described in detail later, a control CPU is provided therein, and a shift position sensor 84 provided on the shift lever 82, an accelerator pedal position sensor 64a provided on the accelerator pedal 64, and a brake pedal 65 are provided. Brake pedal position sensor 65 provided in
a is also connected. Further, the control device 80 exchanges various information with the above-mentioned EFIECU 70 by communication. Control including the exchange of such information will be described later.

The power output device 20 is configured to mechanically connect the engine 50, the motor MG 1, the planetary gear 200 coupled to both the drive shaft 22 and the first clutch 45 and the second clutch 46 to the crankshaft 56 or the drive shaft 22. The motor MG2 is connected to the rotor 41, and a control device 80 controls these operations.

The planetary gear 200 includes a sun gear 221 rotating at the center, a ring gear 222 arranged concentrically with the sun gear 221 and rotating around the sun gear 221, and a planetary pinion gear that revolves while rotating between the sun gear 221 and the ring gear 222. And a planetary carrier 223 having the same. Sun gear 221
The sun gear shaft 225 connected to the motor MG1 is connected to the rotor 31 of the motor MG1. The ring gear shaft 227 is connected to the drive shaft 22 via a power extraction gear 228 and a power transmission belt 229, and can be connected to the rotor of the motor MG2 by the second clutch 46. The planetary carrier shaft 226 is coupled to the crankshaft 45 and can be coupled to the rotor of the motor MG2 by the first clutch 45.

As shown in FIG. 1, the motor MG1 has eight permanent magnets on the outer peripheral surface of
The synchronous motor is configured to wind a three-phase coil around twelve slots formed in the motor. The main bodies of the stator 33 and the rotor 31 are each formed by laminating thin sheets of non-oriented electrical steel sheets. The permanent magnets attached to the rotor 31 are arranged such that N poles and S poles alternately appear on the outer peripheral surface. When a three-phase alternating current flows through the coil of the stator 33, a rotating magnetic field is generated. The motor MG1 is rotated by the interaction between the rotating magnetic field and the next time formed by the permanent magnet attached to the rotor 31. Further, the motor MG1 also functions as a generator that generates electric power by using an electromotive force generated in a coil of the stator 33 due to the rotation of the rotor 31.

The motor MG2 also includes a stator 43 and a rotor 42 having the same configuration as the motor MG1. Motor MG2 also rotates by the interaction between the rotating magnetic field generated by the coil of stator 43 and the magnetic field formed by the permanent magnet attached to rotor 41, and also functions as a generator. The rotation shaft of the rotor 41 of the motor MG2 is mechanically connected to or released from the crankshaft 56 by the first clutch 45 disposed between the planetary gear 200 and the motor MG1. The second clutch 46 mechanically connects or disconnects the ring gear shaft 227 of the planetary gear 200. Note that the first clutch 45 and the second clutch 46 are operated by a hydraulic circuit (not shown).

Although not shown in FIG. 1, the drive shaft 2
2. A resolver for detecting the rotation angles θd, θr, θe is provided on the rotor rotation shaft 38 and the crankshaft 56. Rotation angle θ of crankshaft 56
The resolver that detects e can also be used as the rotation angle sensor 78 provided in the distributor 60.

As described later, the motors MG1 and MG2 can be arranged from the engine 50 side to the motors MG2 and MG1. However, as in the power output device 20 of the embodiment, the motor MG1 is connected to the engine 50 and the motor MG2. Is arranged in the middle of the motor MG1 compared to the motor MG1 because the vehicle needs to be driven only by the motor MG2 as described later.
Since G2 is large, the power output device 2
This is because 0 is coherent. Also, the first
The arrangement of the clutch 45 and the second clutch 46 can be variously arranged as described later.
The reason why the power output device 20 is disposed between the motor MG1 and the motor MG2 is that it is disposed between the motor MG1 and the motor MG2 because the clutches 45 and 46 are relatively small. This is to make it compact.

Next, the control device 80 will be described. Control device 80 includes a first drive circuit 91 for driving motor MG1 and a second drive circuit 92 for driving motor MG2.
And a control CP for controlling both the driving circuits 91 and 92 and for controlling the driving of the first clutch 45 and the second clutch 46.
U90 and a battery 94 as a secondary battery. The control CPU 90 is a one-chip microprocessor and includes a work RAM, a ROM storing a processing program, an input / output port,
A serial communication port for communicating with the FIECU 70 is provided. The rotation angle θd of the drive shaft 22, the rotation angle θr of the rotor 41 of the motor MG2, and the rotation angle θe of the engine 50 are input to the control CPU 90 from the respective resolvers. The accelerator pedal position sensor 6
4a, accelerator pedal position (accelerator pedal depression amount) AP, brake pedal position sensor 65
a from the brake pedal position (brake pedal 6
5) BP, shift position SP from shift position sensor 84, on / off signals for both clutches from first clutch 45 and second clutch 46, and values of currents Iuc and Ivc flowing through first drive circuit 91. , The values of the currents Iua and Iva flowing through the second drive circuit, the remaining capacity BRM from the remaining capacity detector 99 for detecting the remaining capacity of the battery 94, and the like are input via the input port. The remaining capacity detector 99 detects the remaining capacity by measuring the specific gravity of the electrolyte of the battery 94 or the total weight of the battery 94, or calculates the current value and time of charging / discharging to determine the remaining capacity. There are known ones that detect the remaining capacity by instantaneously shorting the terminals of the battery, flowing a current and measuring the internal resistance.

A control signal from the control CPU 90 drives six transistors, which are switching elements provided in the first drive circuit 91, and six control signals as switching elements provided in the second drive circuit 92. , A drive signal for driving the first clutch 45 and the second clutch 46, and the like. The six transistors in the first drive circuit 91 constitute a transistor inverter, and are arranged in pairs each of which serves as a source side and a sink side with respect to a pair of power supply lines. The three-phase coil of motor MG1 (U
VW) are connected. The power supply line is connected to the positive side and the negative side of the battery 94, respectively. The control CPU 90 sequentially controls the ratio of the ON time of the paired transistors, and sets the current flowing through each coil to PW
When a pseudo sine wave is generated by the M control, a rotating magnetic field is formed by the three-phase coil. The six transistors of the second drive circuit 92 also constitute a transistor inverter, and can form a rotating magnetic field in the same manner.

B. Operation Principle The operation of the power output device 20 of the embodiment whose configuration has been described above will be described. In the following description, it is assumed that the power transmission efficiency of the device is 100%. First, the basic operation of the planetary gear 200 will be described. As is well known in mechanics, the planetary gear 200 includes a sun gear shaft 225, a ring gear shaft 227,
When the power of two of the three rotation shafts of the planetary carrier shaft 226 is determined, the power of the remaining one rotation shaft is determined. The relationship between the rotation speed and the torque of each rotating shaft is expressed by the following equation (1).

Nr = (1 + ρ) Nc−ρNs; Nc = (Nr + ρNs) / (1 + ρ); Ns = (Nc−Nr) / ρ + Nc; Ts = ρ / (1 + ρ) × Tc; Tr = 1 / (1 + ρ) × Tc ... (1)

Here, Ns and Ts are the rotation speed and torque of the sun gear shaft 225, Nr and Tr are the rotation speed and torque of the ring gear shaft 227, and Nc and Tc are the rotation speed and torque of the planetary carrier shaft 226. is there.
Ρ is a gear ratio between the sun gear 221 and the ring gear 222 as represented by the following equation. ρ = number of teeth of sun gear 221 / number of teeth of ring gear 222

When the first clutch 45 is turned off and the second clutch 46 is turned on (hereinafter referred to as "under drive coupling"), conversely, when the first clutch 45 is turned on and the second clutch 46 is turned off (hereinafter referred to as "under drive coupling"). , Called overdrive coupling). The former corresponds to a configuration in which the motor MG2 is attached to the ring gear 222, that is, the drive shaft 22, as shown in the schematic diagram of FIG. In the latter case, as shown in the schematic diagram of FIG.
This corresponds to the configuration attached to.

First, the former operation (when the first clutch 45 is turned off and the second clutch 46 is turned on) will be described. The operating principle in this case, in particular, the principle of torque conversion is as follows. FIG. 4 shows a state of the torque conversion. The engine 50 is operated at a point corresponding to P0 in FIG. 4, that is, at a rotation speed Ne and a torque Te, and a power corresponding to P1 in FIG. It is assumed that Nd
1 <Ne and Td1> Te. In addition, the magnitude of the power is assumed to be the same for both. That is, Nd1 × Td1 =
Ne × Te.

Ring gear shaft 22 connected to drive shaft 22
When the engine 7 is rotating at the rotation speed Nd1 and the above-described power is output from the engine 50, the sun gear shaft 225 rotates at the rotation speed Ns and the torque Ts obtained by the above equation (1). Also, the torque Tr obtained by the above equation (1) is output from the ring gear shaft 227. Naturally, the torque Tr is smaller than the torque Te output from the engine 50.

The rotation of the sun gear shaft 225 causes the motor MG to rotate.
Since the first rotor 31 is rotating, when the control CPU 90 of the control device 80 outputs a control signal to switch the transistor of the drive circuit 91, the motor MG1 functions as a generator. In motor MG1, electric power corresponding to Ns × Ts is regenerated. On the other hand, power is supplied to the motor MG
2 can apply a torque to the ring gear shaft 227. By controlling the amount of power supplied to the motor MG2, the torque Tr output from the engine 50 to the ring gear shaft 227 and the torque Td to be output from the drive shaft 22
A torque corresponding to the difference from 1 can be added by the motor MG2. At this time, the power to be supplied to the motor MG2 is given by the above equation (1) and Nd1 × Td1 = Ne × Te
It can be easily calculated based on the following relationship. Its value is equal to electric power Ns × Ts regenerated by motor MG1.

That is, by supplying the electric power regenerated by the motor MG1 to the motor MG2, the power output from the engine 50 is converted from the drive shaft 22 by converting the rotation speed and torque without changing the magnitude thereof. can do.

Next, the engine 50 is operated at the above-mentioned operating point P0, and the power corresponding to the point P2 in FIG.
2. Consider a case where a power having a torque Td2 smaller than the torque Te is being output. At this time, in order to rotate the ring gear shaft 227 at a higher rotation speed than the engine 50, power is supplied to the motor MG1 and the motor M
The speed is increased by powering G1. On the other hand, at the operating point P2, it is sufficient to output a torque lower than the torque Te output from the engine 50. As a result of increasing the rotation of the ring gear shaft 227 by powering the motor MG1, a torque higher than the required torque Td2 is output from the ring gear shaft 227. Therefore, the electric power is generated by the motor MG2, and the surplus torque is regenerated as electric power. This electric power is used for powering the motor MG1. Point P from drive shaft 22
As in the case where the power corresponding to 1 is output, the power regenerated by the motor MG2 is equal to the power supplied to the motor MG1 in consideration of the above equation (1) and the like. A part of the power output by the power running of the motor MG1 is regenerated by the motor MG2 again, so that the power circulates at this time.

To summarize the above operations, in the underdrive coupling, the power output device 20 performs the regenerative operation of the motor MG1 as the first operation mode and the power output from the engine 50 by performing the power running operation of the motor MG2. ,
It can be converted into a state in which the rotation speed is low and the torque is high, and output from the drive shaft 22. In the second operation mode, the motor MG1 is driven by power and the motor MG2 is regeneratively operated, so that the power output from the engine 50 is converted to a high rotation speed and low torque state and output from the drive shaft 22. be able to. No power circulation occurs in the first operation mode, and power circulation occurs in the second operation mode.

On the other hand, the operation principle (the principle of torque conversion) in the overdrive coupling (schematic diagram of FIG. 3) is as follows. Now, when the engine 50 has the rotation speed Ne and the torque T
It is assumed that the operation is being performed at the operation point P0 of e, and the drive shaft 22 is rotating in a state corresponding to the point P1. If a torque is output from the motor MG2 attached to the crankshaft 56 to the crankshaft 56, the torque of the planetary carrier shaft 226 becomes larger than the output torque Te from the engine 50. By controlling the magnitude of the additional torque, it is possible to control the magnitude of the torque output from the ring gear shaft 227 to be the required torque Td1 based on the above equation (1). On the other hand, at this time, a part of the power input from the planetary carrier shaft 226 is distributed by the planetary gear 200 and
25, the power can be regenerated as electric power by the motor MG1. This power is the motor M
Used for powering G2. As in the case of the underdrive coupling, both powers are equal. Since a part of the power output by the power running of the motor MG2 is regenerated as electric power by the motor MG1, the power circulates at this time.

Next, a case is considered in which the engine 50 is operated at the operating point P0 and the power corresponding to the point P2 is output from the drive shaft 22. At this time, the required power is smaller than the power Te output from the engine 50. Therefore,
The motor MG2 is regenerated and the planetary carrier shaft 22
6, the required power Td2 can be output from the ring gear shaft 227. On the other hand, in order to increase the rotation speed of ring gear shaft 227, motor MG1 needs to run. The electric power regenerated by the motor MG2 is used for powering the motor MG1. As in the case of the underdrive coupling, both powers are equal.

To summarize the above operation, in the overdrive coupling, the power output device 20 is set as the first operation mode.
Is the power output from the engine 50 by regenerating the motor MG1 and powering the motor MG2.
It can be converted into a state in which the rotation speed is high and the torque is low, and output from the drive shaft 22. In the second operation mode, the motor MG1 is driven by power and the motor MG2 is regeneratively operated, so that the power output from the engine 50 is converted to a low rotation speed and high torque state and output from the drive shaft 22. be able to. In the first operation mode, power circulation occurs, and in the second operation mode, power circulation does not occur.

The power output device 20 performs the torque conversion of all the power output from the engine 50 described above and outputs it to the drive shaft 22.
Output from the motor (product of torque Te and rotational speed Ne)
And the electric energy regenerated or consumed by the motors MG1 and MG2 to charge the battery 94 with surplus power or to transfer the insufficient power to the battery 94.
Various operations, such as an operation of supplying from the server, can also be performed.

C. Operation Control (1) Setting of Operation Mode Next, the operation control of the power output device 20 thus configured will be described based on an operation control routine illustrated in FIG. The driving control routine is repeatedly executed at predetermined time intervals (for example, every 8 msec) after an instruction to start running of the vehicle is issued. When the operation control routine is executed, the control CPU 90 of the control device 80 first
To input the number of revolutions Nd (step S10)
0). The rotation speed Nd of the drive shaft 22 can be obtained from the rotation angle θd of the drive shaft 22 read from the resolver. Next, an accelerator pedal position AP detected by the accelerator pedal position sensor 64a is read (step S102). Since the accelerator pedal 64 is depressed when the driver feels that the output torque is insufficient, the accelerator pedal position AP corresponds to the output torque desired by the driver (that is, the torque to be output to the drive shaft 22). Becomes

Subsequently, a process of deriving a torque command value Td * which is a target value of the torque to be output to the drive shaft 22 based on the read accelerator pedal position AP and the rotation speed Nd of the drive shaft 22 is performed ( Step S104).
In the embodiment, a map indicating the relationship between the torque command value Td *, the rotation speed Nd of the drive shaft 22, and the accelerator pedal position AP is stored in advance in the ROM in the control CPU 90,
When the accelerator pedal position AP is read, a torque command value Td corresponding to the map, the read accelerator pedal position AP, and the rotation speed Nd of the drive shaft 22 is obtained.
The value of * was derived. An example of this map is shown in FIG.
Shown in

Next, the drive shaft 22 is determined from the derived torque command value Td * and the read rotation speed Nd of the drive shaft 22.
Calculate the energy Pd to be output to (Pd = Td * × N
d) (Step S106). Subsequently, the remaining capacity B of the battery 94 detected by the remaining capacity detector 99
A process for reading the RM is performed to determine the operation mode (step S110). The operation mode determination process is performed by an operation mode determination process routine illustrated in FIG. In the operation mode determination processing routine, a more appropriate operation mode of the power output device 20 at that time is determined using the data read or calculated in steps S100 to S108 of the operation control routine. Here, the description of the operation control routine of FIG. 5 is temporarily interrupted, and first, the operation mode determination processing based on the operation mode determination processing routine of FIG. 7 will be described.

When the operation mode determination processing routine is executed, control CPU 90 of control device 80 determines whether remaining capacity BRM of battery 94 is within a range represented by threshold value BL and threshold value BH (step S130). If not within this range, it is determined that charging / discharging of battery 94 is necessary, and charging / discharging mode is set as the operation mode of power output device 20 (step S132). Here, the threshold value BL and the threshold value BH indicate the lower limit value and the upper limit value of the remaining capacity BRM of the battery 94, and in the embodiment, the threshold value BL
Is set to a value equal to or more than the amount of power required to continuously drive for a predetermined period of time, for example, the drive by only the motor MG2 in the motor drive mode described later or the addition of power by the discharge power from the battery 94 in the power assist mode. The threshold value BH is the remaining capacity BRM when the battery 94 is fully charged.
When stopping the vehicle in the normal running state from the motor MG
It is set to be equal to or less than 1 or a value obtained by reducing the amount of electric power regenerated by the motor MG2.

When the remaining capacity BRM of the battery 94 is within the range represented by the threshold value BL and the threshold value BH in step S130, the energy Pd to be output to the drive shaft 22 exceeds the maximum energy Pemax that can be output from the engine 50. It is determined whether or not there is (step S134). When the energy Pd exceeds the maximum energy Pemax, the maximum energy Pem output from the engine 50
ax determines that it is necessary to cover the insufficient energy with the energy stored in the battery 94,
The power assist mode is set as the operation mode (step S136).

On the other hand, the energy P to be output to the drive shaft 22
d is the maximum energy Pema that can be output from the engine 50
x, it is determined whether the torque command value Td * and the rotation speed Nd are within a predetermined range (step S13).
8) When the power output device 20 is within the predetermined range, the first clutch 45 and the second clutch 4
The direct output mode is set in a state where both of them are turned on (step S140). Here, the predetermined range is a range in which the engine 50 can be operated efficiently with both clutches 45 and 46 turned on. Specifically, the engine 5
A range appropriate to control as the direct output mode among the 0 operation points is stored in the ROM in advance as a map, and whether the operation point represented by the torque command value Td * and the rotation speed Nd is in this appropriate range is determined. Will be determined. FIG. 8 shows an example of an appropriate range when controlling the engine 50 as the direct output mode. In the figure, a region PE is a region in which the operation of the engine 50 is possible, and a region PA is an appropriate range when controlling as the direct output mode. Note that the appropriate range PA is determined by the efficiency of the engine 50, the emission, and the like, and can be set in advance by an experiment or the like.

When the torque command value Td * and the rotation speed Nd of the drive shaft 22 are not within the predetermined range in step S138, the energy Pd to be output to the drive shaft 22 is smaller than the predetermined energy PML, and It is determined whether or not the rotation speed Nd is smaller than the predetermined rotation speed NML (step S142). If both are smaller, a motor drive mode of driving only the motor MG2 is set as the operation mode of the power output device 20 (step S144). . The predetermined energy PML and the predetermined rotation speed NML set their ranges based on the fact that the efficiency is reduced when the engine 50 is at a low rotation speed and a low torque, and is an operation region of the engine 50 that is less than the predetermined efficiency. It is set as energy Pd and rotation speed Nd. The specific value is determined by the characteristics of the engine 50 and the like. Step S142
When the energy Pd is equal to or higher than the predetermined energy PML or the rotation speed Nd is equal to or higher than the predetermined rotation speed NML, it is determined that the normal operation is to be performed, and the normal operation mode is set as the operation mode of the power output apparatus 20 (step S14
6).

Step S11 of the operation control routine of FIG.
When the normal operation mode is set as the operation mode based on the result of the operation mode determination processing routine, the normal operation torque control processing (step S112) is performed.
When the charge / discharge mode is set, charge / discharge torque control processing (step S114) is performed. When the power assist mode is set, power assist torque control processing (step S116) is performed. When the direct output mode is set, direct output torque control is performed. The process (step S118) is executed, and when the motor drive mode is set, the motor drive torque control process (step S120) is executed. In the embodiment, each of these torque control processes is described as a step of an operation control routine for convenience of illustration.
In each of the torque control processes, when the operation mode is set by the operation mode determination process routine, the torque control routine of the set operation mode is executed separately from the operation control routine at a timing different from that of the operation control routine at predetermined time intervals ( For example, it is repeatedly executed every 4 msec). Less than,
Each torque control process will be described.

(2) Normal Operation Torque Control Process Normal Operation Torque Control Process (Step S112 in FIG. 5)
Is performed by a normal operation torque control routine illustrated in FIGS. 9 and 10. When this routine is executed, the control CPU 90 of the control device 80 first executes a process of reading the rotation speed Nd of the drive shaft 22 and the rotation speed Ne of the engine 50 (steps S150 and S152). Engine 5
The rotation speed Ne of 0 can be obtained from the rotation angle θe of the crankshaft 56 detected by the resolver provided on the crankshaft 56, or can be directly detected by the rotation speed sensor 76 provided on the distributor 60. . When the rotation speed sensor 76 is used, information on the rotation speed Ne is received from the EFIECU 70 connected to the rotation speed sensor 76 by communication.
Then, based on the rotation speed Nd of the drive shaft 22 and the rotation speed Ne of the engine 50 thus read, a rotation speed difference Nc between the two shafts is calculated.
Is calculated (Nc = Ne−Nd) (step S
154).

Subsequently, the energy Pd calculated in step S106 of the operation control routine of FIG. 5 is compared with the energy Pd used when the routine was last started (the previous energy Pd) (step S156). Here, the last time refers to a time immediately before the normal operation torque control process of step S112 is continuously executed in the operation control routine of FIG. Energy P
When d is different from the previous energy Pd, the target torque Te *, the target rotation speed Ne * of the engine 50 and the torque command value Tc * of the motor MG1 are set by the processing of steps S170 to S188 shown in FIG. Is the same as the previous energy Pd, the torque command value Tc * of the motor MG1 is set by the processing of steps S158 and S160 shown in FIG. First, processing when the energy Pd is different from the previous energy Pd will be described, and then processing when the energy Pd is the same will be described.

When the energy Pd is different from the previous energy Pd, first, a process for setting the target torque Te * and the target rotation speed Ne * of the engine 50 based on the energy Pd to be output to the drive shaft 22 is performed ( Step S1
70). Here, the energy Pd to be output to the drive shaft 22
Is supplied by the engine 50, the energy output from the engine 50 is
Since it is equal to the product of the torque Te of 0 and the rotation speed Ne, the relationship between the output energy Pd and the target torque Te * and the target rotation speed Ne * of the engine 50 is Pd = Te * × Ne *. However, there are countless combinations of the target torque Te * and the target rotation speed Ne * of the engine 50 that satisfy the above relationship. Therefore, in the embodiment, the engine 50 is operated in a state where the efficiency is as high as possible for each energy Pd,
In addition, the target torque Te * and the target rotational speed N at which the operating state of the engine 50 smoothly changes with respect to the change in the energy Pd.
e * is determined by experiments, etc.
OM is stored as a map, and a combination of the target torque Te * and the target rotation speed Ne * corresponding to the energy Pd is derived from this map. This map will be further described.

FIG. 11 is a graph showing the relationship between the operating point of the engine 50 and the efficiency of the engine 50. The curve B in the figure indicates the boundary of the operable region of the engine 50.
In the operable region of the engine 50, an iso-efficiency line such as curves α1 to α6 indicating operating points having the same efficiency can be drawn according to the characteristics. Engine 5
In the operable region of 0, the energy represented by the product of the torque Te and the rotation speed Ne is a constant curve, for example, a curve C1.
-C1 to C3-C3 can be drawn. The energy Pe thus drawn has a constant curve C1-C1 to C3.
A graph of FIG. 12 shows the efficiency of each operating point along -C3 when the rotation speed Ne of the engine 50 is represented on the horizontal axis.

As shown in the figure, even if the energy Pe output from the engine 50 is the same, the efficiency of the engine 50 varies greatly depending on at which operating point the vehicle is operated. For example, on the curve C1-C1 where the energy is constant, the engine 50 is switched to the operating point A1 (torque Te1, rotation speed Ne).
By operating in 1), the efficiency can be maximized. The operating points with the highest efficiency are the operating points A2 and A2 on the curves C2-C2 and C3-C3 where the output energy Pe is constant.
As corresponds to 3, the energy Pe exists on each constant curve. A curve A in FIG. 11 is obtained by connecting operating points at which the efficiency of the engine 50 is as high as possible with respect to each energy Pe output from the engine 50 based on these, by continuous lines. In the embodiment, the engine 50 is used by using a map of the relationship between each operating point (torque Te, rotation speed Ne) on the curve A and the energy Pe.
The target torque Te * and the target rotation speed Ne * are set.

The reason why the curve A is connected by a continuous curve is that if the operating point of the engine 50 is determined by a discontinuous curve with respect to the change of the energy Pe, the energy Pe changes over the discontinuous operating point. This is because the operating state of the engine 50 changes suddenly when the engine is turned on, and depending on the degree of the change, it is not possible to smoothly shift to the target operating state and knocking or stopping may occur. Therefore, if the curve A is connected by a continuous curve in this manner, each operating point on the curve A may not be the operating point with the highest efficiency on the curve where the energy Pe is constant.

After setting the target torque Te * and the target rotation speed Ne * of the engine 50, the control CPU 90 compares the set target rotation speed Ne * with the rotation speed Nd of the drive shaft 22 (step S172). Then, the target rotation speed Ne *
Is larger than the rotation speed Nd of the drive shaft 22, the first clutch 45 and the second clutch 46 are operated so that the first clutch 45 is off and the second clutch 46 is on (the configuration shown in the schematic diagram of FIG. 2). (Steps S174 to S17
7) The torque command value Tc * of the motor MG1 is
The torque calculated by the above equation (1) is set based on the target torque Te * of 0 (step S178). In the operation of the first clutch 45 and the second clutch 46, first, the state of both clutches 45 and 46 is detected, and it is checked whether or not the state is to be set (step S174).
If it is not in the state to be set, both clutches 45 and 46 are turned off (step S17).
6) Then, the second clutch 46 is turned on (step S177). The reason why both clutches 45 and 46 are temporarily turned off in this way is to facilitate control of motor MG2 and the like when the clutch is connected. Note that the torque command value Tc * of the motor MG1 is set to a load torque required to stably operate the engine 50 at an operation point represented by a target torque Te * and a target rotation speed Ne *. Become.

When the target rotation speed Ne * of the engine 50 is smaller than the rotation speed Nd of the drive shaft 22 at step S170, the first clutch 45 is turned on and the second clutch 46 is turned off (the configuration shown in the schematic diagram of FIG. 3). By operating the first clutch 45 and the second clutch 46 as described above (Steps S184 to S187), the torque command value Tc * of the motor MG1 is substituted for the torque command value Td * to be output to the drive shaft 22, and The torque set based on (1) is set (step S188). First clutch 45 and second clutch
The operation of the clutch 46 is performed when the target rotation speed Ne * is equal to the rotation speed Nd.
First, both clutches 45, 46
Is detected, and it is checked whether or not the state is going to be set (step S184).
46 are turned off (step S186).
The clutch 45 is turned on (step S187).

Here, the target rotation speed Ne * of the engine 50
Is greater than the rotational speed Nd of the drive shaft 22, the clutches 45 and 46 are operated so that the power output device 20 of the embodiment is in an underdrive connection (see FIG. 2), and the target rotational speed Ne * is greater than the rotational speed Nd. When the clutches are small, the two clutches 45 and 4 are over-coupled (see FIG. 3).
The reason for operating No. 6 is as follows. As described above, in the underdrive coupling, power does not circulate in the first operation mode in which the power output from the engine 50 is converted into power having a lower rotation speed and output. Conversely, in the overdrive coupling, the second power that converts the power output from the engine 50 into power having a higher rotation speed and outputs the converted power.
In this operation mode, power does not circulate. Therefore,
The rotation speed Nd of the drive shaft 22 is equal to the target rotation speed N of the engine 50.
In the case of an underdrive lower than e *, the clutches 45 and 46 are operated so as to realize the underdrive connection, and in the reverse case, the power output device 20 is operated by operating the overdrive connection. Operation efficiency can be increased. The operation of the clutch described above is based on such a reason.

On the other hand, when the energy Pd is the same as the previous energy Pd in step S156, the engine speed Ne is subtracted from the target engine speed Ne * of the engine 50, and the engine speed deviation ΔN
e is calculated (step S158). Then, Tc * is calculated by the following equation (2) using the calculated rotation speed deviation ΔNe, and the calculated value is used as the torque command value Tc * of the motor MG1.
Is set (step S160). Here, the second term on the right side of the equation (2) is the target rotation speed Ne * of the rotation speed Ne.
The third term on the right side is an integral term for eliminating the steady-state error. Therefore, the torque command value Tc * of the motor MG1 is in a steady state (rotation speed Ne).
(When the rotational deviation ΔNe from the target rotational speed Ne * is 0), the previous torque command value Tc * is set. Note that Kc1 and Kc2 in equation (2) are proportional constants. By setting the torque command value Tc * of the motor MG1 in this manner, the engine 50 can be stabilized at the operating point of the target torque Te * and the target rotation speed Ne *.

[0093]

(Equation 1)

Next, the torque command value Tc * of the motor MG1
The torque output from the drive shaft 22 according to the equation (1)
Calculated based on Then, a torque command value Ta * of motor MG2 is set such that the required torque is output from the drive shaft (step S164).

Thus, the target torque Te of the engine 50
*, Target rotation speed Ne *, motor MG1 and motor MG
2 are set such that the motors MG1, MG2 and the engine 50 operate at the set values.
And control of the engine 50 (step S166)
To S169). In the embodiment, each control of the motor MG1, the motor MG2, and the engine 50 is described as a separate step of this routine for convenience of illustration, but actually, these controls are performed independently and comprehensively from this routine. It is performed. For example, the control CPU 90 executes the control of the motor MG1 and the motor MG2 in parallel at a timing different from that of the present routine using interrupt processing, transmits an instruction to the EFI ECU 70 by communication,
The FIECU 70 controls the engine 50 in parallel.

Control of motor MG1 (step S1 in FIG. 9)
62) is performed by a clutch motor control routine illustrated in FIG. When this routine is executed, the control CPU 90 of the control device 80 first performs a process of inputting the rotation angle θd of the rotating shaft of the rotor 31 from the resolver (step S190), and sets the electrical angle θc of the motor MG1 to the two axes. Perform processing to obtain from the rotation angle θd (step S
194). In the embodiment, since a 4-pole pair synchronous motor is used as the motor MG1, θc = 4θd is calculated.

Next, current detectors 95 and 96 detect the current I flowing in the U-phase and V-phase of the three-phase coil of motor MG1.
uc and Ivc are detected (step S19).
6). The current flows in the three phases U, V, and W, but since the sum is zero, it is sufficient to measure the current flowing in the two phases. The coordinate conversion (three-phase / two-phase conversion) is performed using the three-phase current thus obtained (step S198). The coordinate conversion is to convert d-axis and q-axis current values of the permanent magnet type synchronous motor, and is performed by calculating the following equation (3). Here, coordinate conversion is performed because, in a permanent magnet type synchronous motor, currents of the d-axis and the q-axis are:
This is because it is an essential amount for controlling the torque. Of course, it is also possible to control with three phases.

[0098]

(Equation 2)

Next, after the current values of the two axes are converted, the current command values Idc *, Iqc * of the respective axes obtained from the torque command value Tc * of the motor MG1 and the currents Idc, Iqc actually flowing through the respective axes are obtained. Obtain the deviation and obtain the voltage command value Vd for each axis.
A process for obtaining c and Vqc is performed (step S20).
0). That is, the calculation of the following equation (4) is performed first, and then the calculation of the following equation (5) is performed. Here, Kp1,
2 and Ki1, 2 are coefficients, respectively. These coefficients are adjusted to suit the characteristics of the motor to be applied.
Note that the voltage command values Vdc and Vqc are a portion proportional to the deviation ΔI from the current command value I * (the first term on the right side of the equation (5)) and the past cumulative amount (i.e. Section).

[0100]

(Equation 3)

[0101]

(Equation 4)

Thereafter, the voltage command value thus obtained is subjected to coordinate conversion (two-phase / three-phase conversion) corresponding to the inverse conversion of the conversion performed in step S198 (step S202).
The voltages Vuc, Vvc, Vw actually applied to the three-phase coil
A process for obtaining c is performed. Each voltage is obtained by the following equation (6).

[0103]

(Equation 5)

Since the actual voltage control is performed by the on / off time of the transistor of the first drive circuit 91, the on time of each transistor is PWM-controlled so that each voltage command value obtained by the equation (6) is obtained (step S20
4). Control of motor MG2 (step S168 in FIG. 9)
Is a similar process.

Next, control of the engine 50 (step S169 in FIG. 9) will be described. The engine 50 is shown in FIG.
0, the target torque T set in step S170.
The torque Te and the rotation speed Ne are controlled such that a steady operation state is established at the operation point of e * and the target rotation speed Ne *. Specifically, the engine 50 is operated at an operation point of the target torque Te * and the target rotation speed Ne *,
The EFIECU 70, which receives the target torque Te * and the target rotation speed Ne * through communication from the control CPU 90, controls the opening of the throttle valve, controls the fuel injection from the fuel injection valve 51, and controls the ignition by the spark plug 62, and controls the control device. The control CPU 90 of 80 controls the torque Tc of the motor MG1 as the load torque of the engine 50. The output torque Te and the rotation speed Ne of the engine 50 change according to the load torque.
It is not possible to operate at the operation point of the target torque Te * and the target rotation speed Ne * only by the control by the FIECU 70, and the torque Tc of the motor MG1 for applying the load torque
Is also required. The control of the torque Tc of the motor MG1 has been described in the control of the motor MG1 described above.

According to the normal operation torque control process described above, when the rotation speed Ne of the engine 50 is higher than the rotation speed Nd of the drive shaft 22, the underdrive coupling (FIG.
), The power circulation can be reduced, and the energy efficiency of the power output device 20 as a whole can be increased. When the rotation speed Ne of the engine 50 is smaller than the rotation speed Nd of the drive shaft 22, the overdrive coupling (the configuration of the schematic diagram of FIG. 3) is employed.
Again, power circulation can be reduced, and the energy efficiency of the power output device 20 as a whole can be increased. Therefore, the energy efficiency can be improved as compared with the case where the configuration is fixed to the schematic diagrams of FIGS.

Further, according to the normal operation torque control processing,
The target torque Te * and the target rotational speed Ne * of the engine 50 are set so that the efficiency of the engine 50 is as high as possible if the energy Pe output from the engine 50 is the same. Can have higher energy efficiency. Also, the motor MG1
If the efficiency Ksc and Ksa of the motor MG2 are considered to be 1, the power represented by the target torque Te * and the target rotation speed Ne * output from the engine 50 is expressed by the motor MG1.
And the motor MG2 converts the torque into the power represented by the torque command value Td * and the rotation speed Nd,
2 can be output. In addition, the torque (torque command value Td *) to be output to the drive shaft 22 depends on the amount of depression of the accelerator pedal 64 by the driver, and the target torque Te * and the target rotation speed Ne * of the engine 50 are Since it is determined based on the torque command value Td *, the driver's desired power can be output to the drive shaft 22.

(3) Charge / Discharge Torque Control Processing Next, charge / discharge torque control processing (step S11 in FIG. 5)
4) will be described based on the charge / discharge torque control routine of FIGS. As described above, this routine is performed in steps S130 and S132 of FIG.
The charge / discharge mode is set and executed when it is determined that the remaining capacity BRM of the battery 4 is outside the range represented by the threshold value BL and the threshold value BH and that the battery 94 needs to be charged / discharged.

When this routine is executed, the control CPU 9
In step S220, the remaining capacity BRM of the battery 94 is compared with the threshold value BL and the threshold value BH. Threshold value BL
The threshold value BH has been described in step S130 of FIG. When the remaining capacity BRM of the battery 94 is less than the threshold value BL, it is determined that the battery 94 needs to be charged, and the process of setting the energy Pd in consideration of the energy required for charging the battery 94 (charging energy Pbi) ( Steps S222 to S228) are performed, and the battery 9
When the remaining capacity BRM of No. 4 is larger than the threshold value BH, it is determined that the battery 94 needs to be discharged, and the energy Pd is set in consideration of the energy discharged from the battery 94 (charging energy Pbo) (steps S232 to S238). ).

In the process of setting energy Pd in consideration of charging energy Pbi required to charge battery 94 (steps S222 to S228), control device 80
The control CPU 90 first determines the remaining capacity BRM of the battery 94.
A process is performed to set the charging energy Pbi on the basis of (step S222). The reason why the charging energy Pbi is set based on the remaining capacity BRM of the battery 94 in this manner is that the chargeable power (energy) of the battery 94 changes according to the remaining capacity BRM, and the appropriate charging voltage and charging current are also changed. It depends on the BRM. FIG. 16 shows an example of the relationship between the remaining capacity BRM of the battery 94 and the chargeable power. In the embodiment, the optimal charging energy Pbi is obtained by experiment or the like for each remaining capacity BRM of the battery 94.
This is stored in the ROM in advance as a map, and the charging energy Pbi corresponding to the remaining capacity BRM of the battery 94 is derived. Subsequently, the derived charging energy Pbi is added to the energy Pd to be output to the drive shaft 22, and the energy Pd is reset (step S224). And
It is checked whether or not the reset energy Pd exceeds the maximum energy Pemax that can be output from the engine 50 (step S226). If the energy Pd exceeds the maximum, the energy Pd is limited to the maximum energy Pemax.
The maximum energy Pemax is set to the energy Pd (step S228).

In the process of setting the energy Pd in consideration of the energy required for discharging the battery 94 (charging energy Pbo) (steps S232 to S238),
First, the control CPU 90 of the control device 80
A process for setting the discharge energy Pbo based on the remaining capacity BRM is performed (step S232). The reason why the discharge energy Pbo is set based on the remaining capacity BRM of the battery 94 is that the dischargeable power (energy) of the battery 94 may vary depending on the remaining capacity BRM. In the embodiment, the optimum discharge energy Pbo is obtained by experiment or the like for each remaining capacity BRM of the battery 94 used.
This is stored in advance in the ROM as a map (not shown), and the discharge energy Pbo corresponding to the remaining capacity BRM of the battery 94 is derived. Subsequently, the discharge energy Pb derived from the energy Pd to be output to the drive shaft 22
o, and reset the energy Pd (step S23).
4). Then, the reset energy Pd is applied to the engine 5
It is checked whether it is less than the minimum energy Pemin that can be output from 0 (step S236), and the minimum energy Pemin is determined.
If the energy Pd is less than the minimum energy Pemi,
The energy Pd is set to the minimum energy P
emin is set (step S218).

When the energy Pd to be output to the drive shaft 22 is reset in consideration of the charging energy Pbi or the discharging energy Pbo, the reset energy Pd
The target torque Te * and the target rotation speed Ne * of the engine 50 are set based on d (step S240). The setting process of the target torque Te * and the target rotation speed Ne * is described in FIG.
Is the same as the process in step S170.

Next, a process of reading the rotation speed Nd of the drive shaft 22 is performed (step S242), and the set target rotation speed Ne * of the engine 50 is compared with the read rotation speed Nd of the drive shaft 22 (step S244). ). The target rotation speed Ne * of the engine 50 is the rotation speed N of the drive shaft 22.
When d is greater than d, the first clutch 45 is off and the
The first clutch 45 and the second clutch 46 are operated so that the clutch 46 is turned on (the configuration of the schematic diagram of FIG. 2) (steps S250 to S254). The process of operating the first clutch 45 and the second clutch 46 so that the power output device 20 of the embodiment has the configuration shown in the schematic diagram of FIG.
The process is the same as that of steps S174 to S177 in the normal operation torque control routine of FIGS. 9 and 10, including the reason that both clutches 45 and 46 are temporarily turned off when they are not in the state to be set. .

On the other hand, when the target rotation speed Ne * of the engine 50 is smaller than the rotation speed Nd of the drive shaft 22, the first clutch 45 is turned on and the second clutch 46 is turned off (the configuration shown in the schematic diagram of FIG. 3). Operate the first clutch 45 and the second clutch 46 (steps S260 to S26)
4). The process of operating the first clutch 45 and the second clutch 46 so that the power output device 20 of the embodiment has the configuration shown in the schematic diagram of FIG. 3 (steps S250 to S25).
The processing of step S184 in the normal operation torque control routine of FIGS. 9 and 10 includes the reason that both clutches 45 and 46 are temporarily turned off when both clutches 45 and 46 are not in the state to be set. Or S
187 is the same as the process.

After connecting the clutch, the engine 50
The torque command value Tc * of the motor MG1 is set so that the target torque Te * is realized (step S266), and the torque command value of the motor MG2 is set so that the torque command value Td * to be output to the drive shaft 22 is achieved. The value Ta * is set (step S268). These values are calculated based on the above equation (1).

As described above, the target rotation speed Ne of the engine 50 is
* And both clutches 45,
46 and the torque command value Tc of the motor MG1.
When * and the torque command value Ta * of the motor MG2 are set, each control of the motor MG1, the motor MG2 and the engine 50 is performed using these set values (steps S270 to S274). These controls are the same as the controls in steps S166 to S169 in the normal operation torque control routine of FIGS. 9 and 10, and therefore description thereof will be omitted. Each control of the motor MG1, the motor MG2, and the engine 50 is also performed in each routine of other torque control processing. Unless otherwise specified, steps S166 to S166 in the normal operation torque control routine of FIGS.
Since the control is the same as that of each control in step 169, the description thereof is omitted.

Next, how the battery 94 is charged and discharged from the battery 94 by such charge / discharge torque control processing will be described. Step S220
When the remaining capacity BRM of the battery 94 is smaller than the threshold BL, the energy Pd is reset by adding the charging energy Pbi to the energy Pd, and the reset energy Pd
, A target torque Te * and a target rotation speed Ne * of the engine 50 are set. On the other hand, the torque command value Tc * of the motor MG1 and the torque command value Ta * of the motor MG2 are determined by the target rotation speed Ne * of the engine 50 and the rotation speed N of the drive shaft 22.
The torque command value Td * is set to be output to the drive shaft 22 irrespective of d. Therefore, the energy Pe output from the engine 50 is larger than the energy Pd output to the drive shaft 22. As a result, when the target rotation speed Ne * of the engine 50 is smaller than the rotation speed Nd of the drive shaft 22, as shown in the schematic diagram of FIG. 2, the power regenerated by the motor MG1 becomes larger than the power consumed by the motor MG2, The target rotation speed Ne * of the engine 50 is the drive shaft 2
In the configuration of the schematic diagram of FIG. 3 which is larger than the rotation speed Nd of the motor MG2, the electric power regenerated by the motor MG2 is
Therefore, the power consumption becomes larger than in the case of any of the schematic diagrams, and surplus power is generated. In the embodiment, the battery 94 is charged by the surplus power.

On the other hand, if the remaining capacity BRM of the battery 94 is larger than the threshold value BL in step S220, the energy P
The energy Pd is reset by subtracting the discharge energy Pbo from d, and the target torque Te * and the target rotation speed Ne * of the engine 50 are set based on the reset energy Pd. On the other hand, the torque command value Tc * of the motor MG1 and the torque command value Ta * of the motor MG2 are equal to the torque command value Td * of the drive shaft 22 regardless of the target rotation speed Ne * of the engine 50 and the rotation speed Nd of the drive shaft 22. Is set to be output. Therefore, the energy Pe output from the engine 50 is smaller than the energy Pd output to the drive shaft 22. As a result, the target rotation speed Ne * of the engine 50 is obtained.
Is smaller than the rotational speed Nd of the drive shaft 22, the electric power regenerated by the motor MG1 becomes smaller than the electric power consumed by the motor MG2, and the target rotational speed Ne * of the engine 50 becomes smaller than the electric power consumed by the motor MG2. 22 rpm Nd
In the configuration of the larger schematic diagram of FIG. 3, the motor MG
2, the power regenerated by the motor MG1 becomes smaller than the power consumed by the motor MG1, and the power becomes insufficient in any of the schematic diagrams. In the embodiment, this insufficient power is covered by the discharge from the battery 94.

According to the charge / discharge torque control process described above, the remaining capacity BRM of the battery 94 can be set in a desired range. As a result, overdischarge and overcharge of the battery 94 can be avoided. In addition, the energy Pe output from the engine 50 and the power charged / discharged by the battery 94 are converted into the desired power and the drive shaft 22
Can be output to Of course, the first clutch 45 and the second clutch 46 are operated based on the rotation speed Ne of the engine 50 and the rotation speed Nd of the drive shaft 22 to obtain the configuration of the schematic diagram of FIG. 2 and the configuration of the schematic diagram of FIG. Thereby, the energy loss due to motor MG1 and motor MG2 can be reduced, and the energy efficiency of the entire apparatus can be increased. The operating point of the engine 50 may be any operating point as long as the operating point outputs the set energy Pd. Therefore, the engine 50 can be operated at a more efficient operating point. As a result, the energy efficiency of the entire device can be further increased.

In the power output device 20 of the embodiment, the charging energy Pbi is determined based on the remaining capacity BRM of the battery 94.
And discharge energy Pbo are set, but charging energy Pb
i and the discharge energy Pbo may be set to predetermined values.

(4) Power Assist Torque Control Process Next, the power assist torque control process (step S116 in FIG. 5) will be described based on the power assist torque control routine in FIG. This routine is executed when the energy Pd to be output to the drive shaft 22 exceeds the maximum energy Pemax that can be output from the engine 50 in steps S134 and S136 in FIG.

When this routine is executed, the control device 80
First, the control CPU 90 performs a process of setting a target torque Te * and a target rotation speed Ne * of the engine 50 based on the maximum energy Pemax that can be output from the engine 50 (step S280). Thus, the engine 50
Is the maximum energy Pemax
The reason is that the energy Pd to be output to the drive shaft 22 is larger than the maximum energy Pemax in step S134 of the operation mode determination processing routine of FIG. In order to cover as much energy as possible with the energy output from the engine 50.

Subsequently, the maximum energy Pe that can be output from the engine 50 is calculated from the energy Pd to be output to the drive shaft 22.
The energy that is insufficient in the energy Pe output from the engine 50 is calculated as the assist power Pas by subtracting max (step S282). Subsequently, the battery 9
The maximum discharge energy Pbmax, which is the maximum value of the energy that can be discharged from the battery 94, is derived based on the remaining capacity BRM of No. 4 (step S284), and it is determined whether the calculated assist power Pas is greater than the derived maximum discharge energy Pbmax. A determination is made (step S286). Here, the maximum discharge energy Pbmax is set to the remaining capacity BRM of the battery 94.
The reason is that the power (energy) that can be discharged from the battery 94 may vary depending on the remaining capacity BRM. In the embodiment, the maximum discharge energy Pbma is determined by experiment or the like for each remaining capacity BRM of the battery 94 used.
x is obtained and stored in advance in the ROM as a map (not shown), and the maximum discharge energy Pbmax corresponding to the remaining capacity BRM of the battery 94 is derived. If the assist power Pas is larger than the maximum discharge energy Pbmax, the assist power Pas is set to the maximum discharge energy Pbmax (step S288) so that the assist power Pas does not become larger than the maximum discharge energy Pbmax.

Next, a process of reading the rotational speed Nd of the drive shaft 22 is performed (step S290), and the target rotational speed Ne * of the engine 50 is compared with the rotational speed Nd of the drive shaft 22 (step S292). When the target rotation speed Ne * of the engine 50 is higher than the rotation speed Nd of the drive shaft 22, the first clutch 45 is turned off and the second clutch 46 is turned on (the configuration shown in the schematic diagram of FIG. 2). 45 and the second clutch 46 are operated (steps S294 to S298). This process is a process of operating the first clutch 45 and the second clutch 46 in the normal operation torque control routine of FIGS. 9 and 10 (the processes of steps S174 to S177 and step S18).
4 to S187).

When the target rotation speed Ne * of the engine 50 is smaller than the rotation speed Nd of the drive shaft 22, the first clutch 4
The first clutch 45 and the second clutch 4 are turned on so that
6 is operated (steps S304 to S308). This is the same as the process of operating the first clutch 45 and the second clutch 46 (the processes of steps S174 to S177 and the processes of steps S184 to S187) in the normal operation torque control routine of FIGS.

After connection of the clutch, the engine 50
The torque command value Tc * of the motor MG1 is set so that the target torque Te * is realized (step S266), and the torque command value of the motor MG2 is set so that the torque command value Td * to be output to the drive shaft 22 is achieved. The value Ta * is set (step S268). These values are calculated based on the above equation (1).

Thus, the target rotation speed Ne * of the engine 50 is obtained.
And both clutches 45, 4 according to the rotational speed Nd of the drive shaft 22
6 and the torque command value Tc * of the motor MG1.
And the torque command value Ta * of the motor MG2,
The control of motor MG1, motor MG2, and engine 50 is performed using these set values (steps S314 to S318).

According to the power assist torque control process described above, energy equal to or greater than the maximum energy Pemax of the engine 50 can be output to the drive shaft 22. As a result, an engine having a low rated capacity, in which the maximum energy is smaller than the energy Pd to be output to the drive shaft 22, can be employed in the power output device 20, and the entire device can be reduced in size and energy can be saved. it can. Of course, the first clutch 45 and the second clutch 46 are operated based on the rotation speed Ne of the engine 50 and the rotation speed Nd of the drive shaft 22 to obtain the configuration of the schematic diagram of FIG. 2 and the configuration of the schematic diagram of FIG. Thereby, the energy loss due to motor MG1 and motor MG2 can be reduced, and the energy efficiency of the entire apparatus can be increased. The operating point of the engine 50 may be any operating point as long as the operating point outputs the set energy Pd. Therefore, the engine 50 can be operated at a more efficient operating point. As a result, the energy efficiency of the entire device can be further increased.

(5) Direct output torque control processing Next, direct output torque control processing (step S11 in FIG. 5)
8) will be described based on the direct output torque control routine of FIG. This routine sets the torque command value Td in step S138 in FIG. 7 to a range that can be output without increasing or decreasing the torque by the motor MG2 when the engine 50 is operated in a range that can be operated efficiently (region PA in FIG. 8).
This is executed when * and the rotation speed Nd of the drive shaft 22 are present.
When this routine is executed, the control CPU of the control device 80
90 first performs a process of reading the rotation speed Nd of the drive shaft 22 (step S320). Next, a target torque Te * and a target rotation speed Ne * of the engine 50 are set (step S322). The rotation speed Nd of the drive shaft 22 is set as the target rotation speed Ne *. Further, a torque command value Td * of the drive shaft 22 is set as the target torque Te *.

Subsequently, it is checked whether both the first clutch 45 and the second clutch 46 are on (step S).
324) If both clutches 45 and 46 are not on, both clutches 45 and 46 are turned on (step S326). By operating the first clutch 45 and the second clutch 46 in this manner, the power output device 20 has a configuration in which the crankshaft 56 and the drive shaft 22 are directly connected. As a result, the planetary gear 20
0 disables the power distribution function.

Next, the torque command value Tc * of the motor MG1
And the torque command value Ta * of the motor MG2 is set to 0 (steps S328 and S330).
1. Each control of the motor MG2 and the engine 50 is performed (steps S332 to S336). Here, the control of motors MG1 and MG2 when torque command value Ta * is set to 0 can be performed according to the motor control routine of FIG.
Since all the currents of the phases G1 and MG2 may be set to the value 0, all the transistors of the drive circuits 91 and 92 are turned off.

According to the above-described direct output torque control process, by turning on both the first clutch 45 and the second clutch 46, the power output from the engine 50 can be directly transmitted to the drive shaft 22 without converting the torque. Can be output to Therefore, motor MG1 and motor M
Energy loss due to G2 can be made zero. Moreover, this direct output torque control process is performed when the torque (torque command value Td *) to be output to the drive shaft 22 and the rotation speed Nd of the drive shaft 22 are within a range where the engine 50 can be operated efficiently. Power can be output to the drive shaft 22 more efficiently.

In the power output device 20 of this embodiment, the torque command value Tc * of the motor MG1 and the torque command value Ta * of the motor MG2 are both set to 0, and the power output device 20 has the same configuration as the motor MG1 and the motor MG2. Of the motor MG using the electric energy discharged from the battery 94.
The power may be output from the drive shaft 2 to the drive shaft 22, or the battery 94 may be charged by regenerating electric power from the drive shaft 22 by the motor MG2. In this case, the torque (torque command value Td *) for which the direct output torque control process is to be output to the drive shaft 22 and the rotation speed Nd of the drive shaft 22 are in a range where the engine 50 can be efficiently operated (region PA in FIG. 8). The rotation speed Nd of the drive shaft 22 is not limited to
Can be executed as long as it can be operated efficiently. Hereinafter, such a direct output torque control process will be briefly described based on a direct output torque control routine of FIG.

When the direct output torque control routine of FIG. 20 is executed, the control CPU 90 of the control device 80 first
The rotation speed Nd of the drive shaft 22 is read (step S34).
0), the read rotation speed Nd of the drive shaft 22 is
The target rotation speed Ne * is set to 0 (step S34).
2) and the first clutch 45 and the second clutch 4
It is checked whether both clutches 6 and 6 are on (step S344). If both clutches 45 and 46 are not on, both clutches 45 and 46 are turned on (step S34).
6). Next, a process of reading the minimum torque T1 and the maximum torque T2 within the range (region PA in FIG. 8) in which the engine 50 can be operated efficiently at the rotation speed Nd of the drive shaft 22 is performed (step S348), and the torque command value Td * Is compared with the read minimum torque T1 and maximum torque T2 (step S350). In the embodiment, the reading of the minimum torque T1 and the maximum torque T2 is performed by the drive shaft 2
The minimum torque T1 and the maximum torque T2 in the range in which the engine 50 can be efficiently operated with respect to each of the rotation speeds Nd are obtained by an experiment or the like, stored in the ROM in advance, and
When the rotation speed Nd is read, the minimum torque T1 and the maximum torque T2 are derived from the rotation speed Nd and the map.

If the torque command value Td * is not less than the minimum torque T1 and not more than the maximum torque T2, the torque command value Td * is set to the target torque Te * of the engine 50 (step S).
354) When the torque command value Td * is less than the minimum torque T1, the minimum torque T1 is set to the target torque Te * (step S352). When the torque command value Td * is larger than the maximum torque T2, the target torque Te * is set to the maximum torque. T2 is set (step S356). By setting in this way, the operating point of the target torque Te * and the target rotational speed Ne * of the engine 50 can
0 is within the range in which the operation can be performed efficiently (region PA in FIG. 8).

Subsequently, the torque command value Tc of the motor MG1
* Is set to the value 0 (step S358), and the value obtained by subtracting the target torque Te * of the engine 50 from the torque command value Td * is set as the torque command value Ta * of the motor MG2 (step S360). Thus, the target torque Te * of the engine 50, the target rotation speed Ne *, the torque command value Tc * of the motor MG1, and the torque command value T of the motor MG2.
When a * is set, the motor MG is used by using these set values.
1. Each control of the motor MG2 and the engine 50 (steps S362 to S366) is performed.

FIG. 21 is an explanatory diagram exemplifying a state in which power is output to the drive shaft 22 when the direct output torque control routine of FIG. 20 is executed. Now, the drive shaft 22
Is rotating at the rotation speed Nd1, and the torque command value Td * determined according to the depression amount of the accelerator pedal 64 is the value Td1, that is, the drive shaft 22 is operated at the operation point Pd1. The rotation speed Nd1 is within the range PA in which the engine 50 can be operated efficiently, but the torque command value Td * is in a state that greatly exceeds the upper limit of this range PA. At this time, the target torque Te * of the engine 50 includes the torque (value Te) of the upper limit value of the range PA at the rotation speed Nd1.
1) is set as the maximum torque T2 (step S35).
6) The target rotational speed Ne * of the engine 50 is represented by the rotational speed Nd.
Since 1 is set as it is (step S342), the engine 50 is operated at the operating point Pe1 represented by the torque Te1 and the rotation speed Nd1.
The torque command value Ta * of the motor MG2 is the torque command value T
From d * (value Td1), target torque Te * of engine 50
Since the torque (value Ta1) obtained by subtracting the value (value Te1) is obtained (step S360), the energy applied to the drive shaft 22 is reduced by turning on both the first clutch 45 and the second clutch 46 to the engine 50. (Td1 × Nd) obtained by adding the energy (Ta1 × Nd1) directly output from the motor MG2 to the drive shaft 22 to the energy (Te1 × Nd1) output directly to the drive shaft 22 from the motor
1). The energy output from motor MG2 to drive shaft 22 is covered by the electric power discharged from battery 94.

Next, when the drive shaft 22 is rotating at the rotation speed Nd2 and the output torque command value Td * is the value Td2,
That is, it is assumed that the drive shaft 22 is to be operated at the operation point Pd2 in FIG. The engine speed Nd2 is 50
Is within the range PA that can be operated efficiently, but the torque command value Td * is below the lower limit of this range PA. At this time, the target torque Te * of the engine 50 is
The torque (value Te2) of the lower limit of the range PA in d2 is set as the minimum torque T1 (step S352).
Since the target rotation speed Ne * of the engine 50 is directly set to the rotation speed Nd2 (step S342), the engine 50 operates at the operating point Pe2 represented by the torque Te2 and the rotation speed Nd2. Motor MG2
Is a torque obtained by subtracting the target torque Te * of the engine 50 from the torque command value Td * (negative value T *).
a2) (step S360), the energy given to the drive shaft 22 is the energy directly output from the engine 50 to the drive shaft 22 when the first clutch 45 and the second clutch 46 are both turned on. (T
e2 × Nd2), the energy (Td2 × Nd2) obtained by subtracting the energy (Ta2 × Nd2) corresponding to the electric power regenerated by the motor MG2. The electric power regenerated by motor MG2 is used for charging battery 94.

As described above, if the direct output torque control routine of the modification shown in FIG. 20 is executed by the power output device 20 of the embodiment, the torque (torque command value Td *) to be output to the drive shaft 22 can be reduced. Even if the engine 50 is not within the range in which the engine 50 can be operated efficiently (region PA in FIG. 8), the output torque control processing can be performed directly if the rotation speed Nd of the drive shaft 22 is within this range. Moreover, since the motor MG2 is driven by the torque of the deviation between the target torque Te * of the engine 50 and the torque command value Td * by charging and discharging the battery 94, a desired torque can be applied to the drive shaft 22.

(6) Motor Drive Torque Control Process Next, the motor drive torque control process (step S1 in FIG. 5)
20) will be described based on the motor drive torque control routine of FIG. This routine corresponds to step S1 in FIG.
42 and S144, energy Pd to be output to drive shaft 22 is smaller than predetermined energy PML, and drive shaft 2
This is executed when it is determined that the second rotation speed Nd is smaller than the predetermined rotation speed NML.

When this routine is executed, the control device 80
First, the control CPU 90 checks whether or not an instruction to stop the operation of the engine 50 has been output (step S37).
0), when a command to stop the operation of the engine 50 is output, a signal for stopping the operation of the engine 50 is sent to the EFIE
The data is transmitted to the CU 70 (step S372), and the
When the command to stop the operation of the engine 50 is not output, a signal for setting the engine 50 to the idling operation state is output to the EFIECU 70
(Step S374). Where engine 5
0 is output from the EFIECU 70 in accordance with the operating state of the engine 50, the state of a catalyst device (not shown) provided in the exhaust pipe of the engine 50, or the like. There is a case where a signal is output when a switch for instructing stop is turned on. For convenience of illustration, FIG. 22 shows the control of the engine 50 as step S390. However, as described above, the control of the engine 50 is performed independently of such a torque control routine. When the control CPU 90 transmits a signal for stopping the operation of the engine 50 or a signal for setting the engine 50 to an idle operation state to the EFIECU 70, the EFIECU 70 immediately starts the control of the engine 50 so as to stop the engine 50 or enter the idle operation state. I do. The control of the engine 50 is a control to stop the fuel injection from the fuel injection valve 51 and stop the application of the voltage to the ignition plug 62 when the stop command of the operation of the engine 50 is output,
When the engine 50 is in the idling operation state, the throttle valve is fully closed, and the idle valve (not shown) provided in a communication pipe (not shown) for idle control that bypasses the throttle valve so that the engine 50 is operated at the idle speed. The control of the opening of the speed control valve and the control of the fuel injection amount are performed.

Next, it is checked whether the first clutch 45 is off and the second clutch 46 is on (the structure shown in the schematic diagram of FIG. 2) (step S376), and the state is set in which both clutches 45 and 46 are to be set. , When both clutches 4
5 and 46 are temporarily turned off (step S378),
Thereafter, the second clutch 46 is turned on (step S38).
0). Then, the torque command value Td *, which is the torque to be output to the drive shaft 22, is added to the torque command value Ta * of the motor MG2.
Is set (step S382), the torque command value Tc * of the motor MG1 is set to a value corresponding to the reaction torque (step S384), and each control of the motor MG1, the motor MG2 and the engine 50 is performed (step S386).
To S390).

According to the motor drive torque control process described above, the first clutch 45 is turned off and the second clutch 46
Is turned on, the power output device 20 is configured as shown in the schematic diagram of FIG. 2, and the motor MG1 supports the reaction torque of the motor MG2, so that the vehicle can be driven only by the power output from the motor MG2. In addition, such a motor drive torque control process is performed when the energy Pd to be output to the drive shaft 22 is at an operation point where the efficiency of the engine 50 is low, and the operation of the engine 50 is stopped or the engine 50 is set in an idle operation state. Therefore, it is possible to avoid a decrease in energy efficiency caused by operating the engine 50 at an operation point with low efficiency.

In the motor drive torque control processing of the embodiment,
While the first clutch 45 is turned off and the second clutch 46 is turned on, the power output device 20 is configured as shown in the schematic diagram of FIG. 2 to output power from the motor MG2 to the drive shaft 22, but the first clutch 45 is turned on. The second clutch 46 is turned off, and the power output device 20 is configured as shown in the schematic diagram of FIG.
The power may be output to the drive shaft 22 by the motor MG1 and the motor MG2. Such a motor drive torque control process is performed, for example, by a motor drive torque control routine according to a modification illustrated in FIG. Hereinafter, the motor driving torque control processing of this modified example will be briefly described.

In the routine of this modification, the engine 50
After the signal for stopping the operation of the engine 50 or the signal for putting the engine 50 into the idling operation state is transmitted to the EFIECU 70 (steps S400 to S404), the first clutch 45 is turned on and the second clutch 46 is turned off (the configuration of the schematic diagram of FIG. ) Is checked (step S406), and when both clutches 45 and 46 are not in a state to be set, both clutches 45 and 46 are temporarily turned off (step S406).
408) Then, the first clutch 45 is turned on (step S410). Then, a torque command value Tc * of motor MG1 (step S412) and a torque command value Ta * of motor MG2 are set. The values of both are determined by the drive shaft 22
Is set based on the above equation (1) so that the desired torque is output from Each control of motor MG1, motor MG2 and engine 50 is performed according to the torque command value set in this way (steps S416 to S419).
By setting the torque command values Tc * and Ta * in this way, the torque command value T
A torque corresponding to d * can be output. In addition,
When the operation of the engine 50 is stopped, the motor MG
2 may be locked up. When the engine 50 is in the idling operation state, the motor MG
The second torque command value Ta * may be feedback-controlled so that the rotation speed Ne of the crankshaft 56 becomes the idle rotation speed.

In the motor drive torque control process of the embodiment, the first clutch 45 is turned off, the second clutch 46 is turned on, and the power output device 20 is configured as shown in the schematic diagram of FIG. Although the power is output, both the clutches 45 and 46 may be turned on and the drive shaft 22 may be driven by the motor MG2. Such a motor drive torque control process is performed, for example, by a motor drive torque control routine according to a modification illustrated in FIG. Hereinafter, the motor driving torque control processing of this modified example will be briefly described.

When the routine of this modified example is executed, control CPU 90 of control device 80 first transmits a signal for stopping operation of engine 50 to EFIECU 70 (step S420). The EFIECU 70 that has received the signal for stopping the operation of the engine 50 stops the fuel injection and the ignition to the engine 50 and stops the operation of the engine 50. Subsequently, it is determined whether both the first clutch 45 and the second clutch 46 are on (step S421).
If both clutches 45 and 46 are not on, both clutches 45 and 46 are turned off (step S422). Then, the torque command value Tc of the motor MG1
The value 0 is set to * (step S423). Next, the rotational speed Ne of the crankshaft 56 of the engine 50 is read (step S424), and the friction torque Tef of the engine 50 is derived based on the read rotational speed Ne (step S425). Here, the friction torque Tef is determined by setting the rotation speed N of the stopped engine 50.
e is the torque required to rotate at
The relationship between the rotational speed Ne of the engine 50 and the friction torque Tef is obtained in advance by an experiment or the like, and RO is obtained as a map.
When the rotational speed Ne is stored in M and the rotational speed Ne is read, the friction torque Tef corresponding to the read rotational speed Ne is derived using this map. Then, a value obtained by adding the derived friction torque Tef and the torque (torque command value) Td * to be output to the drive shaft 22 is set as the torque command value Ta * of the motor MG2 (step S).
426), the motors MG1 and MG2 are controlled so that the motors MG1 and MG2 operate at the set values (steps S427 and S428).

As described above, according to the motor drive torque control process of the modified example, by setting a value obtained by adding the friction torque Tef and the torque command value Td * to the torque command value Ta * of the motor MG2, A torque (value Td *) corresponding to the depression amount of the accelerator pedal 64 can be output to the drive shaft 22 while the engine 50 is being motored with both 46 turned on. In this modification, the friction torque Tef of the engine 50 is derived based on the rotation speed Ne of the engine 50.
Since both clutches 45 and 46 are turned on and the crankshaft 56 and the drive shaft 22 are mechanically connected,
Obviously, it may be derived based on the rotation speed Nd of the drive shaft 22.

According to the operation control described above, the power desired by the driver can be output to the drive shaft 22. In addition, since a more efficient operation mode is selected according to the power (energy Pd) desired by the driver, the remaining capacity BRM of the battery 94, and the rotation speed Nd of the drive shaft 22, the energy efficiency of the entire apparatus is further increased. be able to. Further, by operating the first clutch 45 and the second clutch 46 according to the target rotation speed Ne * of the engine 50 and the rotation speed Nd of the drive shaft 22 in each operation mode, the power output from the engine 50 is reduced to a torque. Energy loss of motor MG1 and motor MG2 during conversion can be reduced. As a result, the energy efficiency of the entire device can be further increased.

In the operation control of the present embodiment, the normal operation torque control processing, the charge / discharge torque control processing, the charge / discharge torque control processing, The power assist torque control process, the direct output torque control process, and the motor drive torque control process are selected and executed. However, some of these processes may not be performed.

In the operation control of the embodiment, the drive shaft 22
When the torque command value Td *, which is the torque to be output, and the rotation speed Nd of the drive shaft 22 are within the range in which the engine 50 can be operated efficiently (region PA in FIG. 8), the output torque control process is performed directly. , The target rotational speed Ne of the engine 50
When * and the rotation speed Nd of the drive shaft 22 are within a predetermined range, or when a rotation speed difference Nc which is a deviation between the rotation speed Ne of the engine 50 and the rotation speed Nd of the drive shaft 22 is within a predetermined range, Output torque control processing may be performed.
Normally, the motor has the highest efficiency in an operating state near the rated value, and has a low efficiency in an operating state far away from the operating state. The rotation speed of the motor MG1 is determined by the rotation speed Ne of the engine 50 and the rotation speed N of the drive shaft 22.
is the difference between the target rotation speed Ne * of the engine 50 and the rotation speed Nd of the drive shaft 22 in a steady state. When the difference is small, the motor MG1 is driven at a low rotation speed Nc. Will be driven by
Its efficiency is also reduced. Therefore, as described above, if the output torque control process is performed directly when the rotation speed of the motor MG1 is low, the first clutch 45 and the second clutch 46 are both turned on, and the crankshaft 56 and the drive shaft 22 are mechanically connected. , It is possible to prevent a decrease in the energy efficiency of the entire apparatus due to a decrease in the efficiency of the motor MG1. When the deviation between the target rotation speed Ne * of the engine 50 and the rotation speed Nd of the drive shaft 22 is small, the deviation between the target torque Te * of the engine 50 and the torque to be output to the drive shaft 22 (torque command value Td *). Therefore, this usually corresponds to a range where the engine 50 can be operated efficiently (region PA in FIG. 8).

In the operation control of the embodiment, the torque to be output to the drive shaft 22 (torque command value Td *) and the rotation speed Nd of the drive shaft 22 are in a range where the engine 50 can be operated efficiently (region PA in FIG. 8). And the torque command value Td
* Indicates that the output torque control processing (FIG. 19 or FIG. 20) was performed when the rotation speed Nd of the drive shaft 22 was within the range where the engine 50 could be efficiently operated. Not limited to such a case, for example, when some abnormality occurs in the motor MG1, the first clutch 45 and the second clutch
The clutch 46 may be turned on to output power from the engine 50 and the motor MG2 to the drive shaft 22. In this case, when the vehicle is started or when the vehicle speed is small and the rotation speed Nd of the drive shaft 22 becomes equal to or less than the minimum operable rotation speed of the engine 50, the engine 50
Is driven by the motor MG2 with the motor shaft 2
2 to drive the vehicle. When the rotation speed Nd of the drive shaft 22 becomes equal to or higher than the minimum operable rotation speed of the engine 50, the engine 50 is started to drive the power output from the engine 50 and the power output from the motor MG2. What is necessary is just to output to the shaft 22 and drive a vehicle. In this way, even when abnormality occurs in motor MG1, power can be output to drive shaft 22 to drive the vehicle.

In the operation control of the embodiment, the energy Pd to be output to the drive shaft 22 is smaller than the predetermined energy PML,
Further, when it is determined that the rotation speed Nd of the drive shaft 22 is smaller than the predetermined rotation speed NML, the motor drive torque control process is performed. However, the energy Pd to be output to the drive shaft 22 and the rotation speed of the drive shaft 22 The motor drive torque control process may be executed irrespective of Nd. For example, the motor drive torque control process may be executed when the driver turns on a motor drive mode setting switch (not shown).

D. Engine Start Control Next, the engine 50 in the power output device 20 of the embodiment will be described.
Will be described. In the power output device 20 of the embodiment, when the vehicle is stopped, the engine 50
When the vehicle is started by the above-described motor drive torque control process in a state where the engine 50 is stopped, and then the engine 50 is started when switching to another torque control, that is, when the vehicle is in the running state. The engine 50 may be started when it is in the state. First, a start process of the engine 50 when the vehicle is in a stopped state is shown in FIG.
A description will be given based on the engine start processing routine, and then a start processing of the engine 50 when the vehicle is in a running state will be described.

The engine start processing routine of FIG. 25 is executed, for example, when the starter switch 79 is turned on by the driver. When this routine is executed, the control CPU 90 of the control device 80 first turns on the first clutch 45 (step S430), turns off the second clutch 46 (step S432), and turns off the power output device 20. The configuration shown in FIG. Then, the motor MG
The starter torque TST is set to the second torque command value Ta * (step S434), and the motor MG2 is controlled (step S436). At this time, the planetary gear 20
0, the torque command value Tc * of the motor MG1 is set so that power is not output to the drive shaft 22 (step S0).
435), and controls the motor MG1 (step S4).
36). By operating both clutches 45 and 46 to control motor MG2 in this manner, crankshaft 56 of engine 50 is motored. Here, the starter torque TST is set as a torque that can overcome the friction torque of the engine 50 and rotate the engine 50 at a rotation speed equal to or higher than the predetermined rotation speed NST.

Next, the rotational speed Ne of the engine 50 is read (step S437), and the read rotational speed Ne is compared with a predetermined rotational speed NST (step S438). here,
The predetermined rotation speed NST is set as a rotation speed equal to or higher than a minimum rotation speed at which the engine 50 can be stably operated continuously. When the rotation speed Ne of the engine 50 is smaller than the predetermined rotation speed NST, the process returns to step S436 and returns to step S436.
436 to S440 are repeated, and the engine 50
Wait until the rotation speed Ne becomes equal to or higher than the predetermined rotation speed NST. When the rotation speed Ne of the engine 50 becomes equal to or higher than the predetermined rotation speed NST, a signal for starting the fuel injection control and the ignition control by the EFIECU 70 is transmitted to the EFIECU 70 (step S439), and this routine ends. It should be noted that the EFIECU 7 having received the signal for starting the fuel injection control and the ignition control.
0 indicates that the fuel injection control from the fuel injection valve 51 and the ignition control in the ignition plug 62 are started so that the engine 50 is operated at the idle speed, and the opening degree of the idle speed control valve (not shown) is controlled. .

According to the engine start processing described above,
The engine 50 can be started while the vehicle is stopped. In addition, the first clutch 45 is turned on, the second clutch 46 is turned off, and the motor M
G2 rotor 41 is connected, and motor MG2
Therefore, there is no need to provide a separate motor for starting the engine 50. As a result, the entire device can be made compact.

In the engine start processing of the embodiment, the first clutch 45 is turned on, the second clutch 46 is turned off, and the engine 50 is motored by the motor MG2. However, the first clutch 45 is turned off and the second clutch 46 is turned on. In this state, the engine 50 may be motored by the motor MG1. In this case, the engine start processing routine illustrated in FIG. 26 may be executed. Hereinafter, this processing will be briefly described.

When the engine start processing routine shown in FIG. 26 is executed, the control CPU 90 of the control device 80 first turns off the first clutch 45 and turns on the second clutch 46 so that the power output device 20 is turned on in FIG. (Steps S440 and S441). And the motor MG1
(Step S442), the current Ia (Iua, Iva, Iw) flowing through each phase of the three-phase coil 44 of the motor MG2.
a) is set to a predetermined current IST (IuST, IvST, IwST) (step S443), and the motor MG1 and the motor M
G2 is controlled (steps S445 and S44).
6). Here, the predetermined current IST is set as a current value that causes the motor MG2 to generate a torque at which the drive shaft 22 does not rotate even when the starter torque TST is applied to the crankshaft 56. By controlling the motor MG1 and the motor MG2 in this manner, the rotation of the drive shaft 22 is limited by the motor MG2 and fixed, and the crankshaft 56 of the engine 50 has the starter torque TST
Is motored by the motor MG1 that outputs Then, similarly to the engine start processing routine of FIG. 25, after waiting for the rotation speed Ne of the engine 50 to be equal to or higher than the predetermined rotation speed NST (steps S447 and S448), the EFI
A signal to start fuel injection control and ignition control by the ECU 70 is transmitted to the EFIECU 70 (step S44).
9).

As described above, even in the configuration of the schematic diagram of FIG. 2 in which the first clutch 45 is turned off and the second clutch 46 is turned on, the motors MG1 and MG
2, the engine 50 can be started. Therefore, even in this case, there is no need to separately provide a motor for starting the engine 50, and the entire apparatus can be made compact.

Next, a process of starting the engine 50 when the vehicle is in a running state will be described. The process of starting the engine 50 when the vehicle is in a running state is performed by a motor-driven engine start process routine illustrated in FIG. This routine is performed when the motor drive torque control process is performed while the engine 50 is stopped, when the driver turns on a switch (not shown) for starting the engine 50, or when the remaining capacity BRM of the battery 94 is equal to the threshold BL. This is executed when an operation mode different from the motor drive mode is set in the operation mode determination processing routine of FIG. 7, such as when it becomes smaller. The motor drive torque control process is a process according to a motor drive torque control routine illustrated in FIG. 22, that is, the first clutch 45 is turned off, the second clutch 46 is turned on, and the power output device 20 is turned on.
2 is configured as shown in the schematic diagram of FIG. 2, and in this state, the motor MG2 outputs the torque command value Td * to the drive shaft 22 by the processing.

When this routine is executed, the control device 80
First, the control CPU 90 sets the starter torque TST to the torque command value Tc * of the motor MG1 (step S450), and adds the starter torque TST to the torque command value Td * to the torque command value Ta * of the motor MG2. Is set (step S452). And the motor MG1
And control of motor MG2 (step S45).
4 and S456). This routine is performed when the power output device 20 has the configuration shown in the schematic diagram of FIG. 2 as described above. When starter torque TST is output from motor MG1 to crankshaft 56 in this configuration, engine 50
Is motored by this torque. At this time, the operation of the planetary gear 200 causes the starter torque TST
Is output to the drive shaft 22 as a reaction force.
Therefore, similarly to step S384 of the motor drive torque control routine of FIG.
Assuming that the torque command value Td * is set in a *, a torque smaller than the torque desired by the driver (torque command value Td *) by the counter torque output from the motor MG1 to the drive shaft 22 is obtained. , And a torque shock is generated when the engine 50 is started. In the embodiment, as shown in step S452, the torque command value Ta * of the motor MG2 is changed to the torque command value Td *.
The torque shock is canceled by setting a value obtained by adding the starter torque TST to the torque.

When the motor MG1 of the engine 50 is thus motored, the rotation speed Ne of the engine 50 is increased to the predetermined rotation speed N, similarly to the processing of steps S437 and S438 of the engine start processing routine of FIG.
Waiting for ST or more (steps S458 and S4
60), a signal to start fuel injection control and ignition control by the EFIECU 70 is transmitted to the EFIECU 70 (step S462).

According to the motor-driven engine start processing routine of the embodiment described above, the engine 50 can be started while the vehicle is running only with the power output from the motor MG2. Since the start of the engine 50 is performed by the motor MG1, there is no need to provide a separate motor for starting the engine 50. Moreover, since the torque output from the motor MG2 to the drive shaft 22 is controlled so as to cancel the torque output from the motor MG1 to the drive shaft 22 during the motoring of the engine 50, the torque shock generated when the engine 50 is started is reduced. It can be reduced or eliminated.

In the motor start-up engine start processing routine of the embodiment, the first clutch 45 is turned off and the second clutch 4
The motor drive torque control routine of FIG. 22 for outputting a desired torque (torque command value Td *) from the motor MG2 to the drive shaft 22 in a state where the power output device 20 is turned on and the power output device 20 is configured as shown in the schematic diagram of FIG. While the engine 50 is being started, the first clutch 45 is turned on, the second clutch 46 is turned off, and the power output device 20 is configured as shown in the schematic diagram of FIG. Also, when the motor drive torque control routine shown in FIG. 23 for fixing torque 56 and outputting the torque command value Td * from the motor MG1 to the drive shaft 22 is performed,
The engine 50 is started by a control routine similar to the motor-driven engine start processing routine illustrated in FIG.

According to this routine, the engine 50 can be started while the vehicle is running with the power output by obtaining the reaction force from the motor MG1 by the motor MG2. Since the start of the engine 50 is performed by the motor MG2, there is no need to provide a separate motor for starting the engine 50. Moreover, even when the engine 50 is motored, there is no change in the torque output from the motor MG1 to the drive shaft 22, so that there is no torque shock even when the engine 50 is started.

In the motor start-up engine start processing routine of the embodiment, the first clutch 45 is turned off and the second clutch 4
The motor drive torque control routine of FIG. 22 for outputting a desired torque (torque command value Td *) from the motor MG2 to the drive shaft 22 in a state where the power output device 20 is turned on and the power output device 20 is configured as shown in the schematic diagram of FIG. This is a process for starting the engine 50 when the first clutch 45 and the second clutch
24 outputs desired torque (torque command value Td *) to drive shaft 22 while motoring engine 50 with motor MG2 with clutch 46 both turned on.
When the motor drive torque control routine is performed, the engine 50 is started by a motor drive-time engine start processing routine illustrated in FIG.

When the motor start-up engine start processing routine illustrated in FIG. 28 is executed, the control CPU 90 of the control device 80 first executes the same processing as steps S424 to S427 of the motor drive torque control routine in FIG. That is, the rotational speed Ne of the engine 50 is read (step S490), the friction torque Tef of the engine 50 is derived based on the read rotational speed Ne (step S491), and the derived friction torque T
The torque command value Td * is added to ef to set the torque command value Ta * of the motor MG2 (step S492), and the motor MG2 is controlled (step S493).

Next, the read rotation speed Ne is compared with a predetermined rotation speed NST (step S438). When the rotation speed Ne is smaller than the predetermined rotation speed NST, the rotation speed is set to a rotation speed at which the engine 50 can be operated stably. If not, the process returns to step S490, and the processes of steps S490 to S494 are repeated until the rotation speed Ne becomes equal to or higher than the predetermined rotation speed NST. The reason why the same processing as steps S424 to S427 of the motor drive torque control routine in FIG. 24 is repeated is that this start processing routine is executed when the motor MG2 is driving. That is, since the crankshaft 56 and the drive shaft 22 are coupled by the first clutch 45 and the second clutch 46, the rotation speed Ne of the engine 50 is reduced by the rotation speed N of the drive shaft 22.
This is because control cannot be performed prior to d.

The engine speed Ne of the engine 50 is equal to the predetermined engine speed N.
When the engine speed is equal to or higher than ST, the engine 50 is operated with no load and the rotation speed Ne.
(Step S49)
5) The fuel injection control for injecting the calculated fuel injection amount from the fuel injection valve 51 and the ignition control are performed.
A signal is transmitted to U70 (step S496).
In this embodiment, the fuel injection amount at no load and the rotation speed Ne is determined in advance in the embodiment by determining the rotation speed Ne of the engine 50 in the no-load state and the fuel injection amount at that time by experiments and the like as a map in the ROM. When the engine speed Ne is stored and stored, the fuel injection amount corresponding to the engine speed Ne is derived from this map. Then, the torque command value Ta * of the motor MG2 is set to the torque command value Td * (step S497), the motor MG2 is controlled (step S498), and this routine ends. The reason why the friction torque Tef of the engine 50 is excluded from the calculation of the setting of the torque command value Ta * of the motor MG2 is that the engine 50 is operated at a rotational speed Ne with no load.

According to the motor start-up engine start processing routine of the modified example described above, the engine 50 can be started while the power is being output to the drive shaft 22 while the engine 50 is being rotated by the motor MG2. . Moreover, since the fuel injection amount is adjusted so that the engine 50 is operated at the rotation speed Ne with no load, and the torque command value Td * is set to the torque command value Ta * of the motor MG2, the torque at the time of starting the engine 50 is increased. Shock can be reduced. Note that, in the motor drive-time engine start processing routine of the modified example, the engine 50 is loaded with no load and the rotation speed Ne
, But with the load torque Te and the rotation speed Ne.
It is good also as what drives by. In this case, the engine 50
In order to reduce the torque shock at the time of starting, the torque command value Ta * of the motor MG2 is changed to the torque command value Td *.
What is necessary is just to set a value obtained by subtracting the load torque Te from. In the motor-driven engine start processing routine of the modified example, the rotation speed Ne of the engine 50 is changed to the rotation speed N of the drive shaft 22.
In step S494, the rotation speed Ne of the engine 50 is reduced to the predetermined rotation speed NST.
When it is smaller, the processing of steps S490 to S494 is repeated, but the power output device 20 can be freely changed by comparing the rotation speed Nd of the drive shaft 22,
For example, when mounted on a ship or aircraft, the rotation speed Ne of the engine 50 may be controlled prior to the rotation speed Nd of the drive shaft 22.

E. Reverse Control Next, control when the vehicle is moved backward by the power output device 20 of the embodiment will be described. The reverse control of the vehicle is shown in FIG.
This is performed by a reverse torque control routine exemplified in FIG. This routine is executed at predetermined time intervals (for example, 8 seconds) when the shift position sensor 84 detects that the shift lever 82 has been set to the reverse position by the driver.
msec).

When this routine is executed, the control device 80
First, the control CPU 90 checks whether the first clutch 45 is off and the second clutch 46 is on (the configuration of the schematic diagram in FIG. 2) (step S500). After the clutches 45 and 46 are both turned off once (step S502), the second clutch 46 is turned on (step S504). Double clutch 45, 4
When both clutches 45 and 46 are not in the state to be set,
Has been described above. next,
While reading the rotation speed Nd of the drive shaft 22 (step S
506), the accelerator pedal position AP detected by the accelerator pedal position sensor 64a is read (step S508), and the torque to be output to the drive shaft 22 based on the read rotation speed Nd of the drive shaft 22 and the accelerator pedal position AP (step S508). The torque command value Td *) is derived. The method of deriving the torque command value Td * is the same as the method described in the processing in step S104 of the operation control routine in FIG. 5, but here, since the shift lever 82 is set to reverse, the torque command value Td
A negative value is derived as *.

After deriving the torque command value Td *, the remaining capacity BRM of the battery 94 is read (step S512),
The read remaining capacity BRM of the battery 94 is compared with the threshold value BL (step S514). Remaining capacity BRM of battery 94
Is equal to or greater than the threshold value BL, the remaining capacity BRM of the battery 94 is
Determines that the engine is in a state sufficient to drive the motor MG2 and checks whether the engine 50 is operating (step S516). When the engine 50 is operating, the engine 50 is set to the idle operating state. Signal EF
The information is transmitted to the IECU 70 (step S518).

On the other hand, when the remaining capacity BRM of the battery 94 is smaller than the threshold value BL in step S514, first, the drive shaft 2
The energy Pd to be output to the drive shaft 22 is calculated by multiplying the torque (torque command value Td *) to be output to the drive shaft 22 by the rotation speed Nd of the drive shaft 22 (step S523), and the engine 50 is calculated based on the calculated energy Pd. The target torque Te * and the target rotation speed Ne * are set (step S524).
Here, the method of setting the target torque Te * and the target rotation speed Ne * of the engine 50 is the same as the method described in step S170 in the normal operation torque control of FIGS. 9 and 10. As described above, the torque command value Td
Although * is a negative value, the rotational speed Nd of the drive shaft 22 is also a negative value because the vehicle is moving backward, so that the energy Pd is a positive value as when the vehicle is moving forward.

Next, the torque command value Tc * of the motor MG1
Is set based on the target torque Te * of the engine 50 in accordance with the above equation (1).
The torque command value Ta * is set to the difference between the torque output to the drive shaft 22 according to the target torque Te * of the engine 50 and the torque command value Td * (Step S).
530), each control of the motor MG1, the motor MG2, and the engine 50 is performed (step S532). If it is determined in step S514 that the remaining capacity BRM of the battery 94 is less than the threshold value BL, the engine 50 is rotating in the forward direction, but by rotating the motor MG1 at a rotation speed higher than the rotation speed of the engine 50, The drive shaft 22 rotates in the reverse direction.

According to the vehicle reverse control described above, the vehicle can be moved backward. Remaining capacity B of battery 94
When RM is sufficient, the vehicle can be moved backward by outputting power from motor MG2 using the electric power discharged from battery 94. Further, the torque can be converted by the motor MG1 and the motor MG2 from the power output from the engine 50 into power in a direction opposite to the rotation direction of the engine 50, so that the vehicle can be moved backward. Since the reverse movement by the torque conversion can be performed regardless of the remaining capacity BRM of the battery 94, the vehicle can be moved backward even when the remaining capacity BRM of the battery 94 is insufficient and the discharge from the battery 94 cannot be achieved. .

In the reverse control of the vehicle in the embodiment, the battery 9
4 is less than the threshold BL, the engine 5
All of the energy Pe output from the motor MG1
The torque is converted by the motor MG2 and output to the drive shaft 22. However, the battery 94 is charged by a part of the energy Pe output from the engine 50, or the energy Pd to be output to the drive shaft 22. May be covered by the discharge from the battery 94. In this case, the target torque Te * and the target rotation speed Ne * of the engine 50 may be set according to the energy Pe to be output to the drive shaft 22 and the energy Pe smaller than the energy Pd.

In the reverse control of the vehicle of the embodiment, the first clutch 45 is turned off and the second clutch 46 is turned on, and the power output device 20 is configured as shown in the schematic diagram of FIG. May be turned on, the second clutch 46 may be turned off, and the power output device 20 may be configured to move backward as shown in the schematic diagram of FIG. In this case, FIG.
The reverse torque control routine exemplified in FIG. The reverse torque control routine of FIG. 30 is such that the first clutch 45 is turned on and the second clutch 46 is turned off, and the power output device 20 operates both clutches 45 and 46 so as to have the configuration shown in the schematic diagram of FIG. (Steps S540 to S544) and the difference between the torque command value Tc * of the motor MG1 and the value set as the torque command value Ta * of the motor MG2 based on the difference between the on / off states of the clutches 45 and 46. Except for this, it is the same as the reverse torque control routine in FIG. 29.

In the reverse torque control routine shown in FIG. 30, the control CPU 90 of the control device 80 executes step S55.
4, when the remaining capacity BRM of the battery 94 is equal to or greater than the threshold value BL, a torque that can output the torque command value Td * to the drive shaft 22 based on the above equation (1) is set as the torque command value Tc * of the motor MG1. The torque corresponding to the counter torque of the motor MG1 is set as the torque command value Ta * of the motor MG2 (step S570). The engine 5
When 0 is in the operation stop state, the motor MG2 may be locked up. When the engine 50 is set to the idling operation state, the torque command value Ta * of the motor MG2 may be feedback-controlled so that the rotation speed Ne of the crankshaft 56 becomes the idle rotation speed.

On the other hand, when the remaining capacity BRM of the battery 94 is smaller than the threshold value BL in step S554, the torque command value Tc * of the motor MG1 is the same as described above,
As the second torque command value Ta *, a value obtained by subtracting the target torque Te * of the engine 50 from the torque command value corresponding to the counter torque is set (step S570).

The vehicle can also be moved backward by the reverse control described above. When the remaining capacity BRM of the battery 94 is sufficient, the power can be output from the motor MG1 by using the electric power discharged from the battery 94, and the reaction can be received by the motor MG2 to move the vehicle backward. Further, the torque can be converted by the motor MG1 and the motor MG2 from the power output from the engine 50 into power in a direction opposite to the rotation direction of the engine 50, so that the vehicle can be moved backward. Since the reverse movement by the torque conversion can be performed regardless of the remaining capacity BRM of the battery 94, the vehicle can be moved backward even when the remaining capacity BRM of the battery 94 is insufficient and the discharge from the battery 94 cannot be achieved. .

In the reverse control of the modified example, when the remaining capacity BRM of the battery 94 is less than the threshold value BL, all of the energy Pe output from the engine 50 is torque-converted by the motors MG1 and MG2 and output to the drive shaft 22. The energy P output from the engine 50
e to charge the battery 94,
A part of the energy Pd to be output to the drive shaft 22 may be covered by the discharge from the battery 94. In this case, the target torque Te * and the target rotation speed Ne * of the engine 50 may be set according to the energy Pe to be output to the drive shaft 22 and the energy Pe smaller than the energy Pd.

F. Other Operation Control Next, an operation when both clutches 45 and 46 are turned off will be described with reference to FIG. When the torque control routine of FIG. 31 is executed, the control CPU 90 of the control device 80 firstly sets the target torque Te * of the engine 50.
Command value T, which is the torque to be output to the drive shaft 22
d * is set (step S600). Subsequently, it is determined whether both the first clutch 45 and the second clutch 46 are off (step S602). If both clutches 45 and 46 are not off, both clutches 45 and 46 are turned off (step S604). . Next, the rotation speed Nd of the drive shaft 22 is read (step S606). And
Torque command value Td, which is the torque to be output to drive shaft 22
A process of reading the minimum rotation speed N1 and the maximum rotation speed N2 within the range (area PA in FIG. 8) in which the engine 50 can be operated efficiently in * is performed (step S608), and the rotation speed Nd of the drive shaft 22 is read. A comparison is made between the minimum rotation speed N1 and the maximum rotation speed N2 (step S610). In the embodiment, the minimum rotation speed N1 and the maximum rotation speed N2
Is read from an experiment or the like to obtain the minimum rotation speed N1 and the maximum rotation speed N2 of the range in which the engine 50 can be operated efficiently for each torque command value Td * and store them in the ROM in advance. Once derived, the minimum rotation speed N1 and the maximum rotation speed N2 are derived from the torque command value Td * and the map.

The rotational speed Nd of the drive shaft 22 is equal to the minimum rotational speed N1.
If the rotational speed is equal to or less than the maximum rotational speed N2, the rotational speed determined by the above equation (1) based on the rotational speed Nd of the drive shaft 22 is set as the target rotational speed Ne * of the engine 50 (step S61).
4) When the rotation speed Nd of the drive shaft 22 is less than the minimum rotation speed N1, the minimum rotation speed N1 is set as the target rotation speed Ne * (step S612), and the rotation speed Nd of the drive shaft 22 is larger than the maximum rotation speed N2. At times, the maximum rotation speed N2 is set as the target rotation speed Ne * (step S616). By setting as described above, the target torque Te of the engine 50 is set.
The operating point of * and the target rotation speed Ne * is within the range (the area PA in FIG. 8) in which the engine 50 can be operated efficiently.

Subsequently, the torque command value Tc of the motor MG1
As *, the torque determined by the above equation (1) is set based on the target torque Te * of the engine 50 (step S618), and the torque command value Ta * of the motor MG2 is set to 0 (step S620). Each control of MG1, motor MG2 and engine 50 (step S6
22 to S626) are performed.

FIG. 32 is an explanatory diagram exemplifying a state in which power is output to the drive shaft 22 when the torque control routine of FIG. 31 is executed. Now, when the drive shaft 22 is rotating at the rotation speed Nd1 and the torque command value Td * determined according to the depression amount of the accelerator pedal 64 is the value Td1,
That is, it is assumed that the drive shaft 22 is to be operated at the operation point Pd1. In the following description, it is assumed that the gear ratio ρ of the planetary gear 200 is set so that the torque output to the drive shaft 22 and the output torque of the engine 50 have the same value. In FIG. 32, drive shaft 2
2, the torque Td1 (torque command value Td *) is within the range PA in which the engine 50 can be operated efficiently, but the rotational speed Nd1 of the drive shaft 22 is much lower than the lower limit of this range PA. At this time, the torque command value Td * (value Td1) is set as the target torque Te * of the engine 50 (step S600), and the target rotation speed Ne * of the engine 50 is set as the rotation speed of the lower limit value of the range PA in the torque Td1. Since (value Ne1) is set as the minimum rotation speed N1 (step S612), the engine 50 is operated at the operation point Pe1 represented by the torque Td1 and the rotation speed Ne1. At this time, the motor MG
1 is driven by a rotation speed difference Nc1 (positive value) between the rotation speed Ne1 of the engine 50 and the rotation speed Nd1 of the drive shaft 22, so that the power (Td) corresponding to the rotation speed difference Nc1
1 × Nc1) will be regenerated. This regenerative power is used for charging the battery 94.

Next, when the drive shaft 22 is rotating at the rotation speed Nd2 and the output torque command value Td * is the value Td2,
That is, it is assumed that the drive shaft 22 is to be operated at the operation point Pd2 in FIG. The torque Td2 (torque command value Td *) to be output to the drive shaft 22 is within the range PA in which the engine 50 can be operated efficiently, but the rotational speed Nd2 of the drive shaft 22 is in a state exceeding the upper limit of this range PA. At this time, the torque command value Td * (value Td2) is set as the target torque Te * of the engine 50 (step S60).
0), the target rotation speed Ne * of the engine 50 is equal to the torque Td.
2 is set as the maximum rotation speed N2 (step S61).
6) The engine 50 operates at the operating point Pe2 represented by the torque Te2 and the rotation speed Nd2. At this time, the motor MG1 operates at the rotational speed N of the engine 50.
The rotation speed difference Nc2 between e2 and the rotation speed Nd2 of the drive shaft 22
Since the operation is performed with (negative value), electric power (Td2 × Nc2) corresponding to the rotation speed difference Nc2 is consumed. The power consumed by motor MG1 is covered by the discharge from battery 94.

Both the torque (torque command value Td *) to be output to the drive shaft 22 and the rotation speed Nd of the drive shaft 22 are in a range where the engine 50 can be operated efficiently (region PA in FIG. 32).
, The torque command value Td * is set as the target torque Te * of the engine 50 (step S600),
The rotation speed Nd of the drive shaft 22 is set as the target rotation speed Ne * of the engine 50 (step S614). Therefore, the rotation speed Ne of the engine 50 and the rotation speed N of the drive shaft 22 are determined.
d has the same value.

According to the torque control routine described above, even if the rotation speed Nd of the drive shaft 22 is not within the range in which the engine 50 can be operated efficiently (region PA in FIG. 8), the torque to be output to the drive shaft 22 ( If the torque command value Td *) is within this range, the clutch 45 and 46 are both turned off and the engine 50 is driven within a range in which the engine 50 can be operated efficiently, and a torque corresponding to the torque command value Td * is output to the drive shaft 22. can do.

[0191] Such a torque control routine is not limited to control when the above-described torque command value Td * is within a range where the engine 50 can be operated efficiently. For example, when any abnormality occurs in the motor MG2, the first clutch 45 and the second clutch 46 are both turned off, and the power output from the engine 50 is supplied to the drive shaft 2 by the motor MG1.
It is also possible to change the number of revolutions to 2 and output.

G. Modification In the power output device 20 of the embodiment described above, the first clutch 45 and the second clutch 46 are arranged between the motor MG2 and the motor MG1, but as shown in the power output device 20A of the modification of FIG. The first clutch 45A and the second
The first clutch 45B is disposed between the engine 50 and the motor MG2, and the first clutch 45B is disposed between the engine 50 and the motor MG2. The two clutch 46B may be arranged between the motor MG2 and the motor MG1. In the power output device 20 of the embodiment, the motor MG
2 is arranged between the engine 50 and the motor MG1,
As shown in a power output device 20C of a modified example of FIG. 35, motor MG1 may be arranged between engine 50 and motor MG2.

The connection between the engine, the motors MG1 and MG2 and the planetary gears can be variously changed. For example, in the power output device 20 of the embodiment, the motor MG1 is connected to the sun gear 221 and the engine 50 is connected to the planetary carrier 223. On the other hand, as shown in the power output device of FIG. 36, the motor MG1 may be connected to a planetary carrier, and the engine may be connected to a sun gear. Of course, various combinations of the state of coupling with other gears are conceivable.

In the power output device 20 of the embodiment, the motor M
Although G1 and the motor MG2 are arranged coaxially, they may be arranged on different axes as shown in a power output device 20E of a modification of FIG. In the power output device 20E of the modification, the engine 50, the motor MG1, and the planetary gear 200E are arranged coaxially, and the motor MG
2 are arranged on different axes, and the planetary gear 200
The ring gear shaft and the crankshaft of E are respectively connected to one shaft of clutches 45E and 46E by belts.

As shown in power output device 20F of FIG. 38, engine 50 may be arranged coaxially with motor MG2, and motor MG1 and planetary gear 200F may be arranged on different shafts. In this configuration, the crankshaft of the engine is connected to the ring gear shaft of the planetary gear 200F, and one rotation shaft of the clutch 46F is connected to the planetary carrier by a belt. The ring gear is connected to the drive shaft 22 by a belt.

If the motors MG1 and MG2 are arranged on different axes as in these modified examples, the axial length of the device can be greatly reduced. As a result, the device can be advantageously mounted on a front-wheel drive vehicle. The motor MG1 and the motor M
In the case where the G2 and G2 are arranged on different axes, the first clutch 4
There is a degree of freedom in the arrangement of the fifth and second clutches 46 and the like.

Power output device 20E or power output device 20F in which motor MG1 and motor MG2 are arranged on different axes.
Then, the crankshaft 56 of the engine 50 and the drive shaft 2
2 is on a different axis, but may be on the same axis. Further, in the power output device 20E of the modified example, the different shafts are connected by a belt. However, as shown in the power output device 20G of the modified example of FIG. 39, the gear 10 attached to the crankshaft 56 and the drive shaft 22.
2 and a gear 104, and a gear 106 coupled to one rotation shaft of the planetary gear 200G and the clutch 46G.
And the gear 108 and the gear 108.

In the power output device 20 of the embodiment, the motor M
The connection and disconnection between G2 and the crankshaft 56 or the drive shaft 22 are performed by the clutch. However, as shown in the power output device 20H of the modified example of FIG. 40, the connection may be performed by switching the gear connection. The configuration of a power output device 20H of a modified example will be briefly described. As shown in the figure, the rotor rotation shaft 38 of the power output device 20H of the modified example is shown.
H is a gear 1 attached to the crankshaft 56.
A gear 106 that can be gear-coupled to the gear 02 and a gear 108 that can be gear-coupled to the gear 104 attached to the drive shaft 22 are mounted in an arrangement in which the two gears can be selectively coupled. An actuator 100 that moves the rotor rotation shaft 38H in the axial direction is provided at an end of the rotor rotation shaft 38H to which the gear 108 is attached. Therefore, by driving this actuator 100,
By sliding the rotor rotation shaft 38H in the axial direction, as shown in FIGS. 40A and 40B, the gear connection between the gear 102 and the gear 106 and the gear connection between the gear 104 and the gear 108 are reduced. Can be selectively performed.

In the power output device 20 of the embodiment, the connection between the rotor rotation shaft 38 and the crankshaft 56 and the connection between the rotor rotation shaft 38 and the drive shaft 22 are performed by the first clutch 45 and the second clutch 46. Such connection may be made by combining a transmission and a clutch. For example, the power output device 20J of the modification of FIG.
, The crankshaft 56 and the rotor rotation shaft are connected by the transmission 120 and the first clutch 45J,
The drive shaft 22 and the rotor rotation shaft may be connected by the transmission 130 and the second clutch 46J. The transmission 120 includes a pair of belt holding members 122 and 124 attached to the crankshaft 56, a belt 125 held by two pairs of belt holding members 122 and 124,
And an actuator 126 for changing the diameter of the belt holding member 124. Therefore, in the transmission 120, the rotation speed of the crankshaft 56 can be changed and transmitted to the rotor rotation shaft by changing the rotation radius of the belt 125 of the belt holding member 124 by the actuator 126. The transmission 130 attached to the second clutch 46J also has the same configuration.

According to the power output device 20J of the modified example including the transmission 120 and the transmission 130, the transmission 12
The rotation speed of the rotor rotation shaft can be adjusted by using 0 or the transmission 130. As a result, motor MG2 can be operated at a more efficient operation point. Further, by adjusting the gear ratio by the transmission 120, the clutch 4
5J and 46J can be connected smoothly. As a result, torque shock that may occur when the first clutch 45J is engaged can be reduced.

In the power output device 20J of the modified example, the transmission 12 is connected to both the connection between the crankshaft 56 and the rotor rotation shaft 38J and the connection between the drive shaft 22 and the rotor rotation shaft 38J.
Although 0 and 130 are provided, they may be provided on only one of them. Further, in the power output device 20J of the modified example, the rotation speed is changed by a method of changing the circling radius of the belt 125. However, the rotation speed of the rotor rotation shaft 38J is changed and transmitted to the crankshaft 56 and the drive shaft 22. Anything that can do it,
The speed may be changed by gear coupling such as a planetary gear.

Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments at all, and can be implemented in various forms without departing from the gist of the present invention. Of course.

For example, the power output device 2 of the above-described embodiment
In the case of 0, a gasoline engine driven by gasoline is used as the engine 50, but various internal combustion or external combustion engines such as a diesel engine, a turbine engine, and a jet engine can also be used.

Further, in the power output device 20 of the embodiment, the PM (Permanent Magnet type) synchronous motor is used as the motor MG1 and the motor MG2. , Besides, VR type (variable reluctance type; Variable Rel
(Uctance type) Synchronous motors, vernier motors, DC motors, induction motors, superconducting motors, step motors, and the like can also be used.

Alternatively, in the power output device 20 of the embodiment, transistor inverters are used as the first and second drive circuits 91 and 92. However, an IGBT (insulated gate bipolar mode transistor;
te Bipolar mode Transistor) inverter, thyristor inverter, voltage PWM (pulse width modulation; Pulse Wi
dth Modulation) inverters, square-wave inverters (voltage-type inverters, current-type inverters), and resonant inverters can also be used.

As the battery 94, a Pb battery, a NiMH battery, a Li battery or the like can be used, but a capacitor can be used instead of the battery 94.

Further, in the power output device 20 of the embodiment, the case where the power output device is mounted on the vehicle has been described.
The present invention is not limited to this, and can be mounted on transportation means such as ships and aircraft, and various other industrial machines.

[Brief description of the drawings]

FIG. 1 shows a power output device 2 according to a first embodiment of the present invention.
FIG. 3 is a configuration diagram illustrating a schematic configuration of a zero.

FIG. 2 is a schematic diagram illustrating a configuration of a power output device 20 according to an embodiment when a first clutch 45 is turned off and a second clutch 46 is turned on.

FIG. 3 is a schematic diagram illustrating a configuration of a power output device 20 according to an embodiment when a first clutch 45 is turned on and a second clutch 46 is turned off.

4 is an explanatory diagram illustrating a state of torque conversion when Ne <Nd in the configuration of the schematic diagram of FIG. 2;

FIG. 5 is a flowchart illustrating an operation control routine executed by a control CPU 90 of the control device 80.

FIG. 6 is an explanatory diagram exemplifying a map showing a relationship among a torque command value Td *, a rotation speed Nd, and an accelerator pedal position AP.

FIG. 7 is a flowchart illustrating an operation mode determination processing routine executed by a control CPU 90 of the control device 80;

FIG. 8 is an explanatory diagram showing an example of a range in which the engine 50 can be operated efficiently.

FIG. 9 is a flowchart illustrating a part of a normal operation torque control routine executed by a control CPU 90 of the control device 80;

FIG. 10 is a flowchart illustrating a part of a normal operation torque control routine executed by a control CPU 90 of the control device 80;

FIG. 11 is a graph illustrating a relationship between an operating point of the engine 50 and efficiency.

FIG. 12 shows the efficiency of the operating point of the engine 50 and the rotational speed Ne of the engine 50 along a curve with a constant energy Pe.
6 is a graph illustrating a relationship with the graph.

FIG. 13 is a flowchart illustrating a clutch motor control routine executed by a control CPU 90 of the control device 80;

FIG. 14 is a flowchart illustrating a part of a charge / discharge torque control routine executed by a control CPU 90 of the control device 80;

FIG. 15 is a flowchart illustrating a part of a charge / discharge torque control routine executed by a control CPU 90 of the control device 80;

FIG. 16 is a graph showing an example of a relationship between a remaining capacity BRM of a battery 94 and chargeable power.

FIG. 17 is a flowchart illustrating a part of a power assist torque control routine executed by a control CPU 90 of the control device 80.

FIG. 18 is a flowchart illustrating a part of a power assist torque control routine executed by a control CPU 90 of the control device 80.

FIG. 19 is a flowchart illustrating a direct output torque control routine executed by a control CPU 90 of the control device 80.

FIG. 20 is a flowchart illustrating a direct output torque control routine according to a modified example.

FIG. 21 is an explanatory diagram illustrating a state where power is output to a drive shaft 22 by a direct output torque control routine according to a modified example.

FIG. 22 is a flowchart illustrating a motor drive torque control routine executed by a control CPU 90 of the control device 80;

FIG. 23 is a flowchart illustrating a motor drive torque control routine according to a modified example.

FIG. 24 is a flowchart illustrating a motor drive torque control routine according to a modified example.

FIG. 25 is a flowchart illustrating an engine start processing routine executed by a control CPU 90 of the control device 80.

FIG. 26 is a flowchart illustrating an engine start processing routine of a modified example.

FIG. 27 is a flowchart illustrating a motor drive-time engine start processing routine executed by the control CPU 90 of the control device 80;

FIG. 28 is a flowchart illustrating a motor drive-time engine start processing routine according to a modified example.

FIG. 29 is a flowchart illustrating a reverse torque control routine executed by a control CPU 90 of the control device 80;

FIG. 30 is a flowchart illustrating a reverse torque control routine according to a modified example.

31 is a flowchart illustrating a torque control routine executed by the control CPU 90 of the control device 80 when the configuration shown in the schematic diagram of FIG. 10 is used.

FIG. 32 is an explanatory diagram illustrating an example in which power is output to the drive shaft 22 by the torque control routine of FIG. 31;

FIG. 33 is a configuration diagram showing a schematic configuration of a power output device 20A of a modified example.

FIG. 34 is a configuration diagram showing a schematic configuration of a power output device 20B of a modified example.

FIG. 35 is a configuration diagram showing a schematic configuration of a power output device 20C of a modified example.

FIG. 36 is a configuration diagram showing a schematic configuration of a power output device 20D of a modified example.

FIG. 37 is a configuration diagram showing a schematic configuration of a power output device 20E of a modified example.

FIG. 38 is a configuration diagram showing a schematic configuration of a power output device 20F according to a modification.

FIG. 39 is a configuration diagram showing a schematic configuration of a power output device 20G of a modified example.

FIG. 40 is a configuration diagram showing a schematic configuration of a power output device 20H of a modified example.

FIG. 41 is a configuration diagram showing a schematic configuration of a power output device 20J of a modified example.

[Explanation of symbols]

 Reference Signs List 20 power output device 20A-20J power output device 22 drive shaft 24 differential gear 26, 28 drive wheel 31 rotor 33 stator 41 rotor 42 permanent magnet 43 stator 44 three-phase coil 45 first 1 clutch 46 ... second clutch 49 ... case 50 ... engine 51 ... fuel injection valve 52 ... combustion chamber 54 ... piston 56 ... crankshaft 58 ... igniter 60 ... distributor 62 ... spark plug 64 ... accelerator pedal 64a ... accelerator pedal position sensor 65 ... Brake pedal 65a ... Brake pedal position sensor 66 ... Throttle valve 67 ... Throttle valve position sensor 68 ... Actuator 70 ... EFIECU 72 ... Intake pipe negative pressure sensor 74 ... Water temperature sensor 76 ... Rotation speed sensor 78 ... Roll angle sensor 79 ... Starter switch 80 ... Control device 82 ... Shift lever 84 ... Shift position sensor 90 ... Control CPU 90a ... RAM 90b ... ROM 91 ... First drive circuit 92 ... Second drive circuit 94 ... Batteries 95 and 96 ... Current detectors 97, 98 ... Current detector 99 ... Remaining capacity detector 100 ... Actuator 102-108 ... Gear 120 ... Transmission device 122 ... Belt holding member 124 ... Belt holding member 125 ... Belt 126 ... Actuator 129 ... Connection shaft 130 ... Transmission device 200 ... Planetary gear 221 ... Sine gear 222 ... Ring gear 223 ... Planetary pinion gear 223 ... Planetary carrier 225 ... Sun gear shaft 226 ... Ring gear shaft 227 ... Planetary carrier shaft 228 ... Power extraction gear 229 ... Power transmission belt L , L2 ... power line Tr1~Tr6 ... transistor Tr11~Tr16 ... transistor MG1, MG2 ... motor

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI // H02P 15/00 F16D 25/14 640K

Claims (41)

[Claims] 1. A power output device for outputting power to a drive shaft, comprising: a prime mover having an output shaft; a first shaft connected to the output shaft; and a second shaft connected to the drive shaft. And a third axis different from the first axis and the second axis, and when the power input / output to / from these two axes is determined, the power is input / output to the remaining one axis A power transmission unit whose power is determined, a first electric motor coupled to the third shaft, and a rotation shaft different from the output shaft and the drive shaft;
A second motor for exchanging power via the rotating shaft; first connecting means for mechanically connecting and disconnecting the rotating shaft and the output shaft; and connecting the rotating shaft to the output shaft. A power output device comprising: a second connection means for mechanically connecting to and disconnecting from a drive shaft. 2. The first connection means and the second connection means are both constituted by a clutch.
A power output device as described. 3. The power output device according to claim 1, wherein the drive shaft and the output shaft are coaxially arranged. 4. The power output device according to claim 3, wherein a rotation shaft of the second electric motor is arranged coaxially with the drive shaft and the output shaft. 5. The power output apparatus according to claim 4, wherein the power generator is arranged in the order of the prime mover, the second electric motor, and the first electric motor. 6. The power output device according to claim 5, wherein said first connection means and said second connection means are arranged between said second electric motor and said first electric motor. 7. The power output device according to claim 3, wherein a rotation shaft of the second electric motor is arranged on a shaft different from the drive shaft and the output shaft. 8. The power output device according to claim 1, wherein the output shaft and the drive shaft are arranged on different shafts. 9. The power output device according to claim 8, wherein a rotation shaft of the second electric motor is arranged coaxially with the output shaft. 10. The power output device according to claim 8, wherein a rotation shaft of said second electric motor is arranged coaxially with said drive shaft. 11. The power output apparatus according to claim 1, wherein the first connection means includes a speed change means for changing a rotation speed of a rotation shaft of the second electric motor and transmitting the speed to the output shaft. 12. The power output apparatus according to claim 1, wherein the second connection unit includes a transmission that changes the rotation speed of a rotation shaft of the second electric motor and transmits the speed to the drive shaft. 13. A connection for controlling said first connection means and said second connection means based on operating states of said prime mover, said first electric motor, said second electric motor and said drive shaft or predetermined instructions. The power output device according to any one of claims 1 to 12, further comprising control means. 14. The power output device according to claim 13, wherein the connection control means is configured to perform the second operation when the rotational speed of the output shaft is higher than the rotational speed of the drive shaft as the operation state. Controlling the first connection means so that the connection between the rotation shaft of the electric motor and the output shaft is released, and controlling the second connection means so that the rotation shaft and the drive shaft are connected, When the rotation speed of the output shaft is lower than the rotation speed of the drive shaft as the operation state, the first connection unit is controlled so that the rotation shaft of the second electric motor is connected to the output shaft. A power output device for controlling the second connection means so that the connection between the rotation shaft and the drive shaft is released. 15. The connection control means, wherein the first connection means and the first connection means are connected so that a rotation shaft of the second electric motor is connected to the drive shaft and the rotation shaft is connected to the output shaft. 2. A means for controlling the second connection means.
3. The power output device according to 3. 16. The operating state is a state within a predetermined range in which the prime mover can be efficiently operated when the rotational speed of the drive shaft is the rotational speed of the output shaft of the prime mover.
A power output device as described. 17. The connection control unit according to claim 1, wherein the connection between the rotation shaft of the second electric motor and the drive shaft is released and the connection between the rotation shaft and the output shaft is released.
14. The power output device according to claim 13, wherein the power output device is means for controlling the connection means and the second connection means. 18. The driving state, when the torque output from the prime mover is set to a state where the torque to be output to the drive shaft can be output without increasing or decreasing the torque by the second electric motor, The power output device according to claim 17, wherein the power output device is in a state within a predetermined range in which the prime mover can be operated efficiently. 19. The power output apparatus according to claim 17, wherein the operating state is a state in which an abnormality of the second electric motor is detected. 20. The connection control means, when a rotation shaft of the second electric motor is connected to one of the output shaft and the drive shaft, torque-converts power output from the prime mover. 14. The power output device according to claim 13, further comprising: drive control means for controlling the driving of the first electric motor and the second electric motor so as to output to the drive shaft. 21. The power output apparatus according to claim 13, wherein charging and discharging of power consumed or regenerated when power is exchanged by the first electric motor, and power generated by the second electric motor. Power storage means capable of charging and discharging power consumed or regenerated during power exchange; target power setting means for setting a target power to be output to the drive shaft based on an instruction of an operator; The motor, the first electric motor, and the motor so that the target power set by the power setting unit is output to the drive shaft by energy including power output from the motor and electric power charged and discharged by the power storage unit. And a drive control means for controlling the drive of the second electric motor. 22. The power output device according to claim 21, further comprising: a power storage state detecting unit that detects a state of the power storage unit, wherein the drive control unit detects the power storage unit detected by the power storage state detecting unit. A power output device that is means for controlling the driving of the prime mover, the first electric motor, and the second electric motor such that the state of the first motor is within a predetermined range. 23. The power output device according to claim 21, wherein the connection control means is configured to output a power within a predetermined range when a target power set by the target power setting means is given by a predetermined instruction from an operator. And controlling the first connection means so that the connection between the rotation shaft of the second electric motor and the output shaft is released, and controlling the first connection means so that the rotation shaft and the drive shaft are connected. 2. A power output device, comprising: means for controlling the connection means of No. 2, wherein the drive control means is means for controlling the drive of the second electric motor using electric power discharged from the power storage means. 24. The power output apparatus according to claim 21, wherein the connection control means is configured to output a power within a predetermined range when a target power set by the operator or when a target instruction set by the target power setting means is given. When controlling the first connection means so that the rotation shaft of the second electric motor and the output shaft are connected, and the second connection means such that the connection between the rotation shaft and the drive shaft is released. The drive control means controls the first electric motor so as to output power from the first electric motor to a drive shaft by using electric power discharged from the power storage means. A power output device that controls the second electric motor so as to cancel a torque acting on an output shaft of the prime mover in accordance with the output of the power. 25. The power output device according to claim 21, wherein the connection control means is configured to output a power within a predetermined range when a predetermined instruction is given by an operator or when the target power set by the target power setting means is within a predetermined range. When controlling the first connection means so that the rotation shaft of the second electric motor and the output shaft are connected, the second connection means so that the rotation shaft and the drive shaft are connected. Means for controlling connection means, wherein the drive control means stops the control of fuel supply and ignition to the prime mover and performs the drive while motoring the prime mover using electric power discharged from the power storage means. A power output device which is means for controlling the second electric motor so as to output power to a shaft. 26. The power output apparatus according to claim 25, further comprising a motor start control means for controlling fuel supply and ignition to the motor in accordance with motoring of the motor when a predetermined start instruction is issued. 27. The drive control unit according to claim 26, wherein the drive control unit controls the second electric motor so as to cancel power output from the prime mover when the prime mover is started by the prime mover start control unit. Power output device. 28. The target power setting means is means for setting a power for rotating the drive shaft in a direction opposite to a rotation direction of an output shaft of the prime mover as a target power.
27. The power output device according to any one of claims 26 to 26. 29. The power output device according to claim 13, wherein when a predetermined reverse rotation instruction is issued, the connection between the rotation shaft of the electric motor and the output shaft is released via the connection control means. And controlling the first and second connection means so that the rotation shaft and the drive shaft are connected to each other, and the rotation direction of the output shaft of the prime mover is opposite to the rotation direction of the output shaft from the second electric motor to the drive shaft. Output the power to rotate in the second direction.
A power output device comprising reverse rotation control means for controlling the electric motor. 30. The power output apparatus according to claim 13, wherein when a predetermined reverse rotation instruction is issued, the rotation shaft of the second electric motor is connected to the output shaft via the connection control means. The first and second connection means are controlled so that the connection between the rotating shaft and the drive shaft is released, and the direction of rotation of the output shaft of the prime mover from the first electric motor to the drive shaft is opposite to that of the first motor. Output the power to rotate in the first direction.
And a reverse output control means for controlling the second motor so as to cancel the torque acting on the output shaft as a reaction force of the power output to the drive shaft. 31. The power output device according to claim 13, wherein when a predetermined start instruction is issued, the rotation shaft of the second electric motor is connected to the output shaft via the connection control means. Controlling the first and second connecting means so that the connection between the rotating shaft and the drive shaft is released, and controlling the second electric motor to motor the prime mover;
A power output device comprising a motor start control means for controlling fuel supply and ignition to the motor in conjunction with motoring of the motor. 32. The power output device according to claim 13, wherein when a predetermined start instruction is issued, the connection between the rotation shaft of the second electric motor and the output shaft is released via the connection control means. Controlling the first and second connection means so that the rotating shaft is connected to the driving shaft, and controlling the second electric motor so that the rotating shaft is not rotated, and motoring the prime mover. A power output apparatus comprising: a motor start control means for controlling the first electric motor as described above, and further controlling fuel supply and ignition to the motor in association with motoring of the motor. 33. The power output device according to claim 13, wherein the connection between the rotation shaft of the second electric motor and the output shaft is released and the rotation shaft and the drive shaft are connected. When a predetermined start instruction is issued while outputting power to the drive shaft from the second electric motor, the first electric motor is controlled so as to motor the prime mover, and the motor is driven by the motoring of the prime mover. A power output device comprising a motor start control means for controlling fuel supply and ignition to the motor. 34. The motor starting means is means for controlling the second motor to cancel the torque output from the first motor to the drive shaft as a reaction force of the torque required for motoring the motor. The power output device according to claim 33. 35. The power output device according to claim 13, wherein the rotation shaft of the second electric motor is connected to the output shaft and the connection between the rotation shaft and the drive shaft is released. The output shaft is fixed by a second motor and the first
When a predetermined start instruction is issued while power is being output from the motor to the drive shaft, the second motor is controlled to motor the prime mover, and the prime mover is driven with the motoring of the prime mover. Power output device comprising a motor start control means for controlling fuel supply and ignition to the engine. 36. The motor according to claim 35, wherein the prime mover starting means is means for controlling the first electric motor to cancel a torque output to the drive shaft as a reaction force of a torque required for motoring the prime mover. Power output device. 37. A motor having an output shaft, a first shaft connected to the output shaft, a second shaft connected to the drive shaft, and the first shaft and the second shaft. A power transmission means having a different third shaft, wherein the power input / output to / from the remaining two shafts is determined when the power input / output to / from the two shafts is determined; A first motor coupled to a shaft, having a different rotation shaft from the output shaft and the drive shaft;
A second electric motor that exchanges power via the rotating shaft; a first connection unit that mechanically connects and disconnects the rotating shaft and the output shaft; A method for controlling a power output device, comprising: a second connection unit configured to mechanically connect to and release the connection with a drive shaft, and output power to the drive shaft, wherein the rotation speed of the output shaft is When the rotation speed is higher than the rotation speed of the drive shaft, the first connection means is controlled so that the connection between the rotation shaft of the second electric motor and the output shaft is released, and the rotation shaft is connected to the drive shaft. Controlling the second connection means so that when the rotation speed of the output shaft is lower than the rotation speed of the drive shaft, the first connection means is connected so that the rotation shaft and the output shaft are connected to each other. Control and the connection between the rotating shaft and the drive shaft is released. A method of controlling a power output device for controlling the second connection means as described above. 38. A motor having an output shaft, a first shaft connected to the output shaft, a second shaft connected to the drive shaft, and the first shaft and the second shaft. A power transmission means having a different third shaft, wherein the power input / output to / from the remaining two shafts is determined when the power input / output to / from the two shafts is determined; A first motor coupled to a shaft, having a different rotation shaft from the output shaft and the drive shaft;
A second electric motor that exchanges power via the rotating shaft; a first connection unit that mechanically connects and disconnects the rotating shaft and the output shaft; A method of controlling a power output device that includes a second connection unit that performs mechanical connection with a drive shaft and cancels the connection, and that outputs a power to the drive shaft, comprising: When the rotation speed of the output shaft of the motor is within a predetermined range where the motor can operate efficiently, the rotation shaft of the second electric motor and the drive shaft are connected, and the rotation shaft and the output shaft are connected. A control method of a power output device for controlling the first connection means and the second connection means so that the shaft is connected to the power output device. 39. The control method for a power output device according to claim 37, wherein the power output device is configured to charge and discharge power consumed or regenerated when power is exchanged by the first electric motor. A power storage unit capable of charging and discharging power consumed or regenerated at the time of power exchange by the second electric motor. The control method of the power output device further includes: A target power setting step of setting a target power to be output to the drive shaft; and the set target power is controlled by an energy consisting of power output from the prime mover and power charged and discharged by the power storage means. And a drive control step of controlling the drive of the prime mover, the first electric motor, and the second electric motor so as to be output to the power output device. 40. The drive control step detects a state of the power storage means and drives the prime mover, the first electric motor, and the second electric motor such that the state of the electric power storage means falls within a predetermined range. 40. The controlling step.
The control method of the power output device described. 41. A motor having an output shaft, a first shaft connected to the output shaft, a second shaft connected to the drive shaft, and the first shaft and the second shaft. A power transmission means having a different third shaft, wherein the power input / output to / from the remaining two shafts is determined when the power input / output to / from the two shafts is determined; A first motor coupled to a shaft, having a different rotation shaft from the output shaft and the drive shaft;
A second electric motor that exchanges power via the rotating shaft; a first connection unit that mechanically connects and disconnects the rotating shaft and the output shaft; A method of controlling a power output device that includes a second connection unit that performs mechanical connection with a drive shaft and cancels the connection, and that outputs power to the drive shaft. Controlling the first connection means and the second connection means so as to perform either the connection or the connection by the second connection means; A method for controlling a power output device for controlling the driving of the first electric motor and the second electric motor so as to output the electric power to the first electric motor and the second electric motor.