TWI648180B - 車輛控制設備及車輛控制方法 - Google Patents

車輛控制設備及車輛控制方法 Download PDF

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Publication number
TWI648180B
TWI648180B TW106137698A TW106137698A TWI648180B TW I648180 B TWI648180 B TW I648180B TW 106137698 A TW106137698 A TW 106137698A TW 106137698 A TW106137698 A TW 106137698A TW I648180 B TWI648180 B TW I648180B
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Taiwan
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electric motor
rotating member
torque
engine
vehicle
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TW106137698A
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English (en)
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TW201825324A (zh
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後藤田研二
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日商豐田自動車股份有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/24—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the combustion engines
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/38—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
    • B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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    • B60K6/445—Differential gearing distribution type
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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Abstract

本發明提供一種車輛控制設備。車輛包括引擎、第一電動馬達、旋轉構件、及旋轉鎖定機構。旋轉構件設置在引擎和第一電動馬達之間。旋轉鎖定機構係組態以防止引擎側上的旋轉構件的連接部分在至少一方向上旋轉。控制設備包括電子控制單元。電子控制單元係組態以藉由第一電動馬達向旋轉構件施加轉矩並且測量旋轉構件的扭轉角度來學習與旋轉構件之輸入轉矩相關聯的特性，同時旋轉鎖定機構防止連接部分旋轉。

Description

車輛控制設備及車輛控制方法
[0001] 本發明係有關於車輛控制設備及車輛控制方法。
[0002] 已知的車輛配備有引擎、電動馬達以及設置在引擎與電動馬達之間並具有與輸入轉矩相關聯特性的旋轉構件。應注意到本文中的旋轉構件為例如吸收引擎之旋轉振動的阻尼裝置、具有預定剛性的動力傳輸軸等。旋轉構件之特性包括相應於扭轉角度中的變化相對於輸入轉矩中的變化之剛性、當扭轉角度增大時的輸入轉矩與扭轉角度減少時的輸入轉矩之差的磁滯、當輸入轉矩的符號反轉時的扭轉角度的變化量的齒隙尺寸等。順便提及，旋轉構件的特性可能影響功率效能、振動性質、噪音性質等。因此可以考慮在硬體和軟體方面採取措施，以便根據特性改善功率效能、振動性質、雜訊性質等。例如，日本專利申請號No.2016-107673(JP2016-107673A)提出一種用於改變電動馬達的轉矩的技術，以此種方式在當車輛以電動馬達為驅動力源行駛時基於阻尼裝置之輸入轉矩和阻尼裝置之剛性值之間的關係來改變阻尼裝置的剛性值。因此，車輛由於阻尼裝置的剛性防止共振。
[0003] 然而，如果特性由於旋轉構件個別差異等而變化，基於預先判定的特性之控制可能不會帶來期望的結果。 　　[0004] 本發明提供一種車輛控制設備以及車輛控制方法，以確保基於旋轉構件之特性的控制被適當地執行，而不管由於旋轉構件的個別差異等引起的特性的變化。 　　[0005] 本發明的第一態樣為車輛控制設備。車輛包括引擎、第一電動馬達、旋轉構件以及旋轉鎖定機構。該旋轉構件設置在該引擎和該第一電動馬達之間。該旋轉構件具有與輸入轉矩相關聯的特性。該旋轉鎖定機構係組態以防止該引擎側上的該旋轉構件的連接部分在至少一方向上旋轉。該控制設備包括電子控制單元。該電子控制單元係組態以藉由該第一電動馬達向該旋轉構件施加轉矩並且測量該旋轉構件的扭轉角度來學習該旋轉構件的特性，同時該旋轉鎖定機構防止該連接部分旋轉。該電子控制單元係組態以基於該旋轉構件之該學習的特性執行預定的控制。 　　[0006] 在該控制設備中，該車輛可以更包括第二電動馬達，其組態以被利用作為驅動力源。當該第一電動馬達向該旋轉構件施加轉矩時，該車輛之驅動力可由於該旋轉鎖定機構所產生的反作用力而產生，同時該旋轉鎖定機構防止該連接部分旋轉。當藉由該第一電動馬達向該旋轉構件施加該轉矩以學習該特性時，該電子控制單元可組態成以抗衡由該反作用力產生的該驅動力的方式控制該第二電動馬達之轉矩。 　　[0007] 利用這種組態，該第二電動馬達的該轉矩以抗衡由該電動馬達向該旋轉構件施加該轉矩時產生的該驅動力的方式控制，而學習該旋轉構件的特性。因此，可以學習該旋轉構件的該特性，同時抑制乘客由於該驅動力的波動而產生不適感。 　　[0008] 在該控制設備中，該旋轉構件可為阻尼裝置。 　　[0009] 在該控制設備中，該車輛可更包括驅動輪以及差動機構。該差動機構可組態成將該引擎的輸出分配到該第一電動馬達側和該驅動輪側。該阻尼裝置可設置在該引擎和該差動機構之間。當該轉矩經由該差動機構藉由該第一電動馬達施加至該阻尼裝置同時該旋轉鎖定機構防止該連接部分旋轉時，由該旋轉鎖定機構產生的該反作用力可經由該差動機構傳輸至該驅動輪側，並且該電子控制單元可組態以使用該第一電動馬達為驅動力源。 　　[0010] 利用這種組態，該旋轉構件為阻尼裝置。該阻尼裝置具有諸如相應於扭轉角度中的變化相對於輸入轉矩中的變化的剛性、當扭轉角度增大時的輸入轉矩與扭轉角度減少時的輸入轉矩之差的磁滯、當輸入轉矩的符號反轉時的扭轉角度的變化量的齒隙尺寸等的特性。當該車輛以施加至該阻尼裝置的該轉矩運行時、當該引擎啟動和停止時、或當該引擎制動器被操作時等，該特性可能影響功率效能、振動性質、噪音性質等。改善功率效能、振動性質、噪音性質等的控制可以基於那些特性執行。於此情況下，該電子控制單元學習該特性，所以無論由該阻尼裝置的個別差異等引起的特性的變化如何，控制因此基於實際特性適當地執行。 　　[0011] 在該控制設備中，該特性可以是關於剛性的特性，其相應於該扭轉角度中的變化相對於該阻尼裝置之該輸入轉矩中的變化。該特性可以配備有具有不同剛性值之複數個輸入轉矩範圍。該電子控制單元可組態成控制該第一電動馬達的轉矩，使得當該車輛使用該第一電動馬達作為驅動力源行駛同時藉由該旋轉鎖定機構防止該連接部分旋轉時，基於該剛性值和該輸入轉矩之間的關係，獲得抑制該車輛共振的剛性值。 　　[0012] 在這用於車輛的控制設備中，該旋轉構件之該特性係藉由該電動馬達向該旋轉構件施加該轉矩以及測量該旋轉構件之該扭轉角度而學習，並且預定的控制係基於該學習的特性執行，同時藉由該旋轉鎖定機構防止在該引擎側上的該旋轉構件之該連接部分旋轉。因此，所以無論由該旋轉構件的個別差異等引起的特性的變化如何，預定的控制可基於實際特性適當地執行。 　　[0013] 利用這種組態，當該阻尼裝置的該剛性值在複數個輸入轉矩範圍中具有不同的值時以及當該電動馬達的該轉矩係基於關於剛性的該特性控制以使得車輛被抑制共振時，關於剛性的該特性係由特性學習單元學習。因此，無論該阻尼裝置的個別差異等如何，該電動馬達的該轉矩係基於準確度特性控制，並且可以適當地抑制共振。 　　[0014] 本發明的第二態樣為車輛控制方法。車輛包括引擎、第一電動馬達、旋轉構件、旋轉鎖定機構以及電子控制單元。該旋轉構件設置在該引擎和該第一電動馬達之間。該旋轉構件具有與輸入轉矩相關聯的特性。該旋轉鎖定機構係組態以防止該引擎側上的該旋轉構件的連接部分在至少一方向上旋轉。該控制方法包括：由該電子控制單元藉由該第一電動馬達向該旋轉構件施加轉矩來學習該旋轉構件的特性，並且因此由該電子控制單元測量該旋轉構件的扭轉角度，同時該旋轉鎖定機構防止該連接部分旋轉；以及由該電子控制單元基於該旋轉構件之該學習的特性執行預定的控制。
[0016] 應用了本發明之車輛的引擎是透過諸如汽油引擎、柴油引擎等燃料的燃燒來發電的內燃機(internal combustion engine)。可以用作發電機之馬達發電機(motor-generator)較佳地用為電動馬達。具有輸入轉矩之特性的旋轉構件為例如吸收引擎之旋轉振動的阻尼裝置、具有預定剛性的動力傳輸軸等。用於輸入轉矩之旋轉構件的特性包括相應於扭轉角度中的變化相對於輸入轉矩中的變化的剛性、當扭轉角度增大時的輸入轉矩與扭轉角度減少時的輸入轉矩之差的磁滯、當輸入轉矩的符號反轉時的扭轉角度的變化量的齒隙尺寸等。本發明適用於基於其中一個特性執行用於改善功率效能、振動性質、噪音性質等的預定的控制之情況。 　　[0017] 用作為防止引擎側上的旋轉構件之連接部分在至少一方向上旋轉的旋轉鎖定機構較佳地使用液壓式等之摩擦制動器或網格式制動器、單向離合器等。在單向離合器之情形下，單向離合器被設置成使得引擎被防止在例如反向旋轉方向上旋轉。在藉由離合器等使引擎和旋轉構件之間的動力傳輸停止的情況下，其足以能夠防止引擎向任一方向旋轉。例如，當引擎停止並且車速等於0時，學習旋轉構件之特性的電子控制單元期望在例如車輛停止期間學習該特性。電子控制單元也可以在引擎停止的情況下其中車輛使用第二電動馬達作為驅動力源行駛的馬達運行時學習該特性。此外，可以在不同的時間學習該特性。例如，當車輛檢查時可以學習特性，或者可以基於預定的行駛距離或預定的行駛時間來週期性地學習特性。在老化有很大影響的情況下，期望在一定條件下定期學習該特性。 　　[0018] 當驅動力係在執行前面所述之學習控制中產生時，期望藉由控制第二電動馬達的轉矩來抗衡驅動力。在車輛停止時學習特性的情況下，特性可以在例如制動器被踩下操作、排檔桿被操作到停車(P)位置以嚙合停車齒輪、停車制動器正在操作等的情況下學習。在車輛配備有能夠自動地控制車輪制動器的制動力的自動制動系統的情況下，車輪制動器可以被操作。在其中車輛行駛期間包括學習控制的驅動力的波動小的情況下，或者在其中出貨前或車輛檢查時學習特性的情況下，可以省略抗衡控制。此外，為了完全地消除驅動力的波動，並不是絕對需要抗衡控制，而只需要減小驅動力的波動。 　　[0019] 本發明應用於例如具有將引擎的輸出分配到電動馬達側和驅動輪側的差動機構的車輛。本發明能夠適用於各種車輛，諸如其中引擎和電動馬達彼此串聯連接橫過諸如阻尼裝置等之旋轉構件的車輛、其中引擎和電動馬達的輸出藉由行星齒輪(planetary gear)裝置等合成並傳輸到驅動輪側等的車輛。根據需要，也可以在引擎和旋轉構件之間或旋轉構件和電動馬達之間設置諸如離合器等的分離/連接裝置、換檔齒輪等。在其中引擎和旋轉構件經由連接軸等直接連結的情況下，藉由旋轉鎖定機構防止在至少一個方向的旋轉被判定為防止引擎反轉，並且特性學習單元在反轉方向對旋轉構件施加轉矩。然而，在其中分離/連接裝置設置在引擎和旋轉構件之間的情況下，防止引擎旋轉的方向沒有特別的限制。此外，在藉由旋轉鎖定機構防止在兩個方向上旋轉的情況下，當特性學習單元學習特性時施加到旋轉構件的轉矩方向不一定受到限制。該特性也可以藉由在正負方向兩者上改變轉矩而獲得。 　　[0020] 本發明實施例將於下文中參考圖式敘述。圖1是表示應用了本發明之混合動力車輛10的驅動系統的概要圖，並且是顯示與控制系統之主要部分接合的混合動力車輛10之驅動系統的圖。混合動力車輛10具有橫向安裝的驅動系統，例如前置引擎前驅(FF)驅動系統等，並且組態為在引擎12和一對右和左驅動輪14之間的動路傳輸路徑中配備有第一驅動單元16、第二驅動單元18、最終減速裝置20、一對右和左輪軸22等。引擎12為諸如汽油引擎、柴油引擎等的內燃機引擎。吸收轉矩波動的阻尼裝置26係連接到引擎12之曲柄軸24。阻尼裝置26配備有連接到曲柄軸24的第一旋轉元件26a以及經由輸入軸28連接到差動機構30的第二旋轉元件26b。複數個彈簧32和摩擦機構34插入於第一旋轉元件26a和第二旋轉元件26b之間。在阻尼裝置26中，相應於在扭轉角度F中的變化相對於在輸入轉矩Tin中的改變之剛性值(彈簧常數)逐漸變化，並且當扭轉角度F增加/減少時施加預定的磁滯。此外，轉矩限制器35係設置在阻尼裝置26之外部周邊端部。這個阻尼裝置26為具有與輸入轉矩Tin相關聯之特性的旋轉構件之範例。第一旋轉元件26a為在引擎12側上的連接部分之範例。 　　[0021] 整合地連接至第一旋轉元件26a的曲柄軸24係經由網格式制動器36連接至外殼38，並防止旋轉。網格式制動器36包括設置在曲柄軸24上的嚙合齒24a、設置在外殼38上的嚙合齒38a以及具有內部周邊表面的嚙合套筒36a，在該內部周邊表面上的嚙合齒可以嚙合兩個嚙合齒24a、38a。嚙合套筒36a在軸向移動，從而曲柄軸24與外殼38相對不可轉動地嚙合或從外殼38釋放而可旋轉。例如，根據從電子控制單元90供給的油壓控制訊號Sac切換設置在油壓控制電路58中的電磁切換閥等，使嚙合套筒36a經由液壓缸等在軸向上移動以嚙合/釋放網格式制動器36。嚙合套筒36a也可以透過使用諸如電動螺旋機構等的其它驅動裝置的使用在軸向上移動。如果需要，網格式制動器36設置有圓錐型等的同步機構。網格式制動器36是旋轉鎖定機構的一個範例。除了網格式制動器36之外，防止引擎12僅沿相反方向旋轉的單向離合器或摩擦制動器也可以採用作為旋轉鎖定機構。也可以在引擎12和嚙合齒24a之間設置能夠建立/停止動力傳輸的引擎分離/連接離合器。 　　[0022] 第一驅動單元16組態以包括第一馬達發電機MG1和輸出齒輪40和前面所述之引擎12、前面所述之差動機構30以及前面所述之網格式制動器36。差動機構30是單一小齒輪型的行星齒輪裝置，並且配備有能夠以差動旋轉方式之三個旋轉元件(即太陽齒輪S、環齒輪R、行星架CA)。第一馬達發電機MG1連接至太陽齒輪S，輸入軸28連接至行星架CA以及輸出齒輪40連接至環齒輪R。因此，經由阻尼裝置26從引擎12傳輸至差動機構30之行星架CA的轉矩藉由差動機構30分配至第一馬達發電機MG1和輸出齒輪40。當第一馬達發電機MG1之轉速(MG1轉速)Nmg1係透過再產生控制等來控制時，引擎12之轉速(引擎轉速)Ne以無段的方式改變，並從輸出齒輪40輸出。亦即，這個差動機構30和第一馬達發電機MG1用作電連續可變傳輸。第一馬達發電機MG1選擇性地用作電動馬達或發電機，並經由反向器60連接到蓄電裝置62。 　　[0023] 另一方面，當第一馬達發電機MG1在與引擎12之旋轉方向相反的負旋轉方向上旋轉驅動時，同時曲柄軸24藉由網格式制動器36防止旋轉，即，在經由阻尼裝置26防止行星架CA旋轉的情況下，在與引擎12之旋轉方向相同的正旋轉方向(車輛前進方向)的轉矩由於由網格式制動器36產生的反作用力被施加至輸出齒輪40，並且輸出齒輪40在正旋轉方向上被旋轉驅動。當第一馬達發電機MG1在與引擎12之旋轉方向相同的正旋轉方向上旋轉驅動時，在與引擎12之旋轉方向相反的反向旋轉方向(車輛後退方向)的轉矩由於由網格式制動器36產生的反作用力被施加至輸出齒輪40，並且輸出齒輪40在反向旋轉方向上被旋轉驅動。在這種情況下，第一馬達發電機MG1的轉矩根據差動機構30的齒輪比r被放大，並且被施加到連接到行星架CA的阻尼裝置26。第一馬達發電機MG1為可以經由差動機構30施加轉矩至阻尼裝置26的電動馬達。 　　[0024] 圖2為能夠將差動機構30的三個旋轉元件(即太陽齒輪S、環齒輪R和行星架C)的轉速以直線連結起來的對齊圖。圖中向上的方向是引擎12的旋轉方向，即正旋轉方向。縱軸的間隔根據差動機構30的齒輪比r(=太陽齒輪S的齒數/環齒輪R的齒數)來判定。然後，例如，其中輸出齒輪40由第一馬達發電機MG1在車輛向前方向旋轉驅動的情況。在相反於引擎12之旋轉方向的負旋轉方向旋轉的轉矩(在圖中向下)透過第一電動發電機MG1的動力運行控制被施加至太陽齒輪S(如箭頭A所示)，同時藉由網格式制動器36防止行星架CA旋轉。然後，當太陽齒輪S因此在負旋轉方向旋轉驅動時，在與引擎12之旋轉方向相同的正旋轉方向上旋轉的轉矩(圖中向上方向)如箭頭B所示被傳輸到與輸出齒輪40連接的環齒輪R。其結果，能夠得到正方向的驅動力。 　　[0025] 輸出齒輪40與設置在與輸入軸28平行的中間軸42上的大直徑齒輪44嚙合。在大直徑齒輪44與中間軸42之間設置有網格式離合器43，並且動力傳輸在其間被建立/停止。網格式離合器43以與網格式制動器36相同的方式組態。設置在油壓控制電路58中的另一電磁切換閥等係根據從電子控制單元90施加的油壓控制訊號Sac切換。因此，經由液壓缸等在嚙合狀態和釋放狀態之間進行切換，並且在大直徑齒輪44和中間軸42之間的動力傳輸被建立/停止。在中間軸42上設有直徑小於大直徑齒輪44的小直徑齒輪46。小直徑齒輪46與最終減速裝置20的差動環齒輪48嚙合。因此，輸出齒輪40之旋轉根據輸出齒輪40的齒數與大直徑齒輪44的齒數之間的比率和小直徑齒輪46之齒數和差動環齒輪48之齒數之間的比率而減速，並且傳輸到最終減速裝置20。再者，這個輸出齒輪40之旋轉經由最終減速裝置20之差動齒輪機構從一對軸22傳輸至驅動輪14。此外，停車齒輪45係相對未旋轉地設置在前面所述之中間軸42上。當透過排檔桿操作到用於停車等的P位置選擇停車範圍時，根據彈簧的作用力將停車鎖定爪(未示出)壓靠並與停車齒輪45嚙合。其結果，防止各個構建從中間軸42向驅動輪14旋轉。 　　[0026] 第二驅動單元18係組態以配備有第二馬達發電機MG2以及設置在第二馬達發電機MG2之馬達軸50上的馬達輸出齒輪52。馬達輸出齒輪52係與大直徑齒輪44嚙合。因此，第二馬達發電機MG2之旋轉(MG2轉速Nmg2)根據馬達輸出齒輪52的齒數與大直徑齒輪44的齒數之間的比率和小直徑齒輪46之齒數和差動環齒輪48之齒數之間的比率而減速，並且經由一對軸22旋轉地驅動驅動輪14。這個第二馬達發電機MG2選擇性地用作電動馬達或發電機，並經由反向器60連接到蓄電裝置62。第二馬達發電機MG2相當於可以用作驅動力源的第二電動馬達。 　　[0027] 混合動力車輛10也配備有自動制動系統66。自動制動系統66根據從電子控制單元90供應的制動器控制訊號Sb電性地控制制動力，即設置在驅動輪14和被驅動輪(非驅動輪)(未示出)中的個別車輪制動器67之制動器油壓。此外，制動器油壓透過踩下制動踏板(未示出)的操作經由制動主缸供給到每個車輪制動器67。每個車輪制動器67機械地產生制動器油壓，即制動力相應於與制動操作力。 　　[0028] 具有組態為如上所述之驅動系統的混合動力車輛10係配備有作為控制器之電子控制單元90，控制器執行諸如引擎12之輸出控制、馬達發電機MG1和MG2之轉矩控制、網格式制動器36和網格式離合器43之嚙合/釋放控制、由自動制動系統66之自動制動控制等的各種類型之控制。電子控制單元90係組態成配備有具有CPU、RAM、ROM、輸入/輸出介面等之所謂的微電腦，並根據預先存儲在ROM中的程式執行訊號處理來執行各種控制，同時利用RAM的暫時儲存功能。指示諸如引擎轉速Ne、車速V、MG1轉速Nmg1、MG2轉速Nmg2、加速器操作量Acc、蓄電裝置62之蓄電餘量SOC、排檔桿之操作位置Psh等之控制所需的各種資訊的訊號分別從例如引擎轉速感測器70、車速感測器72、MG1轉速感測器74、MG2轉速感測器76、加速器操作量感測器78、換檔位置感測器80、SOC感測器64等提供至電子控制單元90。前進行駛用D位置、後退行駛用R位置、停車用P位置、空檔用N位置等作為排檔桿的操作位置Psh。當透過對P位置的操作選擇停車範圍時，停車鎖定爪與設置在中間軸42上的停車齒輪45嚙合，從而機械地防止停車齒輪45旋轉。此外，用於控制引擎輸出之引擎控制信號Se、用於控制馬達發電機MG1和MG2之轉矩(動力運行轉矩和再生轉矩)的馬達控制訊號Sm、用於經由油壓控制電路58的電磁切換閥等切換網格式制動器36和網格式離合器43的嚙合/釋放之壓控制訊號Sac、用於經由自動制動系統66控制車輪制動器67之制動力的制動器控制訊號Sb等係經由例如引擎12的電子節流閥、燃料噴射裝置、點火裝置等從電子控制單元90輸出。 　　[0029] 在本發明之實施例之敘述中，如圖1所示，由電子控制單元90執行的控制為方便起見將被描述為特性相應控制單元92、特性儲存單元94以及特性學習單元96之特性。用於改善功率效能、振動性質、噪音性質等的預定的控制係基於如阻尼裝置26的剛性、磁滯或齒隙尺寸的特性而執行。由於彈簧32、摩擦機構34等的操作，阻尼裝置26具有例如圖3所示之輸入轉矩Tin和扭轉角度F之間的關係。輸入轉矩Tin和扭轉角度F相對於圖3中的原點0對稱地變化。然而，也可採用其中輸入轉矩Tin和扭轉角度F相對於原點0非對稱地變化的阻尼裝置26。然後，有關圖4所示之剛性、圖5所示之磁滯和圖6所示之齒隙尺寸的特性可以從輸入轉矩Tin與扭轉角度F之間的這種關係指明。剛性相應於扭轉角度F的變化(梯度)相對於輸入轉矩Tin的變化。三個剛性值K1、K2和K3顯示於圖4。剛性值在其中輸入轉矩Tin具有不同值之兩個變化點A1和A2處變化。亦即，在輸入轉矩Tin等於或小於A1的範圍內，剛性值等於K1。在輸入轉矩Tin大於A1並且等於或小於A2的範圍內，剛性值等於K2。在輸入轉矩Tin大於A2的範圍內，剛性值等於K3。圖5中的滯後是扭轉角度F增加時的輸入轉矩Tin與扭轉角度F減小時的輸入轉矩Tin之間的偏差。在圖5中，僅有偏差被提取和顯示而相應於剛性的值被抗衡，以及磁滯由尺寸B表示。此外，在圖6中的齒隙尺寸為在輸入轉矩Tin的符號被反轉時扭轉角度F的變化量，並且是阻尼裝置26的第一旋轉元件26a和第二旋轉元件26b之間的作動。齒隙尺寸由尺寸C表示。這些特性中的至少一個(即關於剛性之剛性值K1至K3和點A1，A2、磁滯B及齒隙尺寸C)係預先透過實驗、模擬等求出，或者在裝運等之前由特性學習單元96學習而被儲存到特性儲存單元94中。 　　[0030] 特性相應控制單元92基於儲存在特性儲存單元94中剛性值K1至K3和變化點A1，A2、磁滯B及齒隙尺寸C的的至少一特性執行用於改善功率效能、振動性質、噪音性質等之預定的控制。例如，基於關於剛性(K1至K3、A1和A2)之特性的控制將具體描述。藉由停止引擎12並嚙合網格式制動器36以鎖定曲柄軸24(防止曲柄軸24旋轉)，可以導致混合動力車輛10透過雙向馬達驅動而向前行駛，其中在負旋轉方向上執行第一馬達發電機MG1的動力運行控制，以及在正旋轉方向上執行第二馬達發電機MG2的動力運行控制。在這種情況下，第一馬達發電機MG1的動力運行轉矩的反作用力被阻尼裝置26接收，使得車量可以由於阻尼裝置26的剛性而共振。因此，阻尼裝置26之輸入轉矩Tin係基於第一馬達發電機MG1的動力運行轉矩計算的，阻尼裝置26的剛性值(K1至K3中的一個)由關於剛性(K1至K3、A1和A2)的特性獲得，並且判定車輛是否可以共振。當車輛可以共振時，第一馬達發電機MG1之動力運行轉矩被變化，使得輸入轉矩範圍對應於不同的剛性值，並且該變化藉由第二馬達發電機MG2的動力運行轉矩被補償。此外，即使在使用引擎12作為驅動力源行駛的情況下，考慮到阻尼裝置26的剛性，也能夠控制引擎等的轉矩。此外，在傳輸給阻尼裝置26的轉矩的方向反轉的情況下，即當引擎12起動或停止時，或者引擎制動器運轉時等，能夠藉由例如基於圖5和圖6中的磁滯B和齒隙尺寸C來執行第一馬達發電機MG1的轉矩控制抑制振動、噪音等的產生。 　　[0031] 應該注意的是，預先儲存在特性儲存單元94中的阻尼裝置26之各種特性中的至少一個(即關於剛性的剛性值K1到K3以及變化點A1和A2、磁滯B以及齒隙尺寸C)可以由於阻尼裝置26的個別差異(即其組件的尺寸誤差、彈簧32的彈簧常數的變化、摩擦機構34之摩擦材料的摩擦係數的變化等)變化，並且可能由於老化而變化。然後，在這些特性發生改變或變化的情況下，儘管特性相應控制單元92基於預先儲存在特性儲存單元94中的特性進行預定控制，但是可能不能獲得期望的效果。因此，在本發明之實施例中，提供特性學習單元96以學習該特性。 　　[0032] 特性學習單元96根據圖7之流程圖的S1至S13(以下簡稱為S1至S13)執行學習控制。在基於行駛距離、行駛時間等判定的特定條件下，電子控制單元90週期性地執行該學習控制。在S1中，判定引擎12是否停止。如果引擎12停止，則執行S2。如果引擎12正在操作，則學習控制立即結束。在S2中，判定是否滿足預先判定的學習禁止條件。這些學習禁止條件例如由(a)和(b)等來判定。 　　(a)蓄電裝置62的蓄電餘量SOC等於或小於為了確保引擎12的啟動性而預先判定的下限。 　　(b)啟動引擎之請求(之駕駛開啟空調、操作加速器的請求等)。 　　[0033] 如果滿足前面所提之學習禁止條件中的至少一者，該學習控制立即地終止。如果未滿足前面所提之學習禁止條件中的至少一者，學習是可能的，所以從S3開始的步驟被執行。在S3中，判定混合動力車輛10是否停止，即車速V是否為等於0。如果混合動力車輛10停止，則執行從S4開始的步驟。在S4中，網格式制動器36被嚙合以不可轉動地鎖定曲柄軸24。在S5中，執行第一電動發電機MG1之動力運行控制以將轉矩(輸入轉矩Tin)施加到阻尼裝置26並測量扭轉角度F。圖8為示出以這種方式施加輸入轉矩Tin並測量扭轉角度F的原理的視圖。執行第一馬達發電機MG1的動力運行控制，並且經由差動機構30將轉矩(輸入轉矩Tin)施加到阻尼裝置26，同時網格式制動器36嚙合以鎖定曲柄軸24。因此，可以獲得如圖3所示的關係。亦即，輸入轉矩Tin和扭轉角度F之間的關係如圖3所示可以藉由諸如旋轉變壓器等的MG1轉速感測器74測量MG1轉速Nmg1來獲得，同時以增加/減小的方式連續地改變第一馬達發電機MG1的轉矩。輸入轉矩Tin可以從第一馬達發電機MG1之馬達轉矩基於差動機構30之齒輪比r計算，以及扭轉角度F可從MG1轉速Nmg1計算。本發明之實施例中的阻尼裝置26之輸入轉矩Tin和扭轉角度F之間的關係如圖3所示之相對於原點0對稱地改變，所以只能測量正和負側中的一個。在代替網格式制動器36設置單向離合器並且防止引擎12僅沿反向旋轉方向旋轉的情況下，扭轉角度F可以在施加反向旋轉方向上的扭矩作為輸入轉矩Tin的情況下測量。 　　[0034] S6與上述S5並行進行。在S6中，與第一電動發電機MG1的動力運行控制無關，車輛的行為受到抑制，使得車輛保持停止。亦即，當執行第一馬達發電機MG1的動力運行控制以向阻尼裝置26施加轉矩時，由於阻尼裝置26的反作用力而將轉矩傳輸到輸出齒輪40，並且產生驅動力。因此，由驅動力引起的車輛行為被抑制。具體而言，例如在選擇了停車範圍並且使停車鎖定爪與停車齒輪45嚙合的狀態下，停車鎖定爪藉由執行第二馬達發電機MG2之動力運行控制可靠地嚙合停車齒輪45以略微旋轉中間軸42。作為另一種方式，車輪制動器67可以被導致以藉由自動制動系統66產生制動力。此外，網格式離合器43被釋放以中止向驅動輪14側的動力傳輸，並且第二馬達發電機MG2的轉矩被控制以防止輸出齒輪40旋轉。因此，預定的輸入轉矩Tin被施加至阻尼裝置26。換言之，第二馬達發電機MG2的轉矩被控制成透過第一馬達發電機MG1的動力運行控制產生的驅動力進行抗衡。即使當網格式離合器43保持嚙合時，也可以執行轉矩控制。轉矩控制也適用於沒有配備有網格式離合器43的車輛。順便提及，當選擇停車範圍時，停車鎖定爪與停車齒輪45嚙合以防止驅動輪14旋轉，因此也可以在S6中省略車輛的行為抑制控制。 　　[0035] 如果上述S3中的判定結果是否(否定的)，即，如果車輛正在運行而不是停止，S7至S9被進行以得到輸入轉矩Tin和扭轉角度F之間的關係。具體而言，在S7和S8以及前述的S4和S5中，在曲柄軸24不可轉動地被網格式制動器36鎖定的情況下，執行第一馬達發電機MG1的動力運行控制以施加轉矩(輸入轉矩Tin)至阻尼裝置26並測量扭轉角度F。在這種情況下，如圖2所示，輸出齒輪40根據車速V旋轉，此外第一馬達發電機MG1沿著反向旋轉方向旋轉，所以扭轉角度F是用相應於旋轉速度的值來計算的。順便提及，在以第一馬達發電機MG1被用作驅動力源的雙向馬達行駛中，暫時地進行向其中僅使用第二馬達發電機MG2作為驅動力源的車輛行駛的單馬達行駛的切換。因此，扭轉角度F可以藉由諸如旋轉變壓器等的MG1轉速感測器74測量，同時以增加/減小的方式連續地改變第一馬達發電機MG1的轉矩。此外，在S9中，藉由以增加/減小的方式(以透過第一馬達發電機MG1的動力運行控制產生的驅動力抗衡的方式)控制第二馬達發電機MG2的轉矩來抑制車輛的驅動力的變化。當混合動力車輛10滑行時，網格式離合器43可以被釋放以中止向驅動輪14側的動力傳輸，並且第二馬達發電機MG2的轉矩可以以這樣的方式被控制來抗衡透過第一馬達發電機MG1的動力運行控制產生的驅動力。即使在以預定的驅動力行駛的情況下，第二馬達發電機MG2的轉矩可以被控制為透過第一馬達發電機MG1的動力運行控制產生的驅動力抗衡，同時以相同的方式釋放網格式離合器43以中止向驅動輪14側的動力傳輸。 　　[0036] 在接連執行到S6或S9的S10中，判定是否滿足預先判定的學習中止條件。這些學習中止條件例如由如下文所指示的(a)至(g)等判定。 　　(a)蓄電裝置62的蓄電餘量SOC等於或小於為了確保引擎12的啟動性而預先判定的下限。 　　(b)啟動引擎之請求(之駕駛開啟空調、操作加速器的請求等)。 　　(c)車輛共振下的條件(輪胎輸入突波、波浪式路面等)。 　　(d)驅動力不足(坡度，路緣、以大的驅動力運行等)。 　　(e)由於其他要求需要產生馬達轉矩(馬達按壓轉矩、引擎之啟動等)。 　　(f)車輛處於馬達齒槽轉矩大的低旋轉範圍(低車速範圍)。 　　(g)在車輛停止測量時的車輛移動。 　　[0037] 如果滿足前面所提之學習中止條件中的至少一者，該學習控制在S13中止並結束。如果不滿足上述學習停止條件，則執行S11。在S11中，藉由執行S5或S8來判定一系列測量是否已經結束。重複執行S10直到測量結束。如果在S10中測量結束而不滿足學習中止條件，則S11中的判定結果為是(肯定的)。然後，執行S12來指明阻尼裝置26的旋轉特性，並將指明的旋轉特性儲存(重寫)到特性儲存單元94。亦即，特性係藉由提取圖4中所示之剛性值K1至K3和變化點A1和A2、提取圖5中所示的磁滯B、或者從圖3中所示之輸入轉矩Tin和扭轉角度F之間的關係提取圖6中所示的齒隙尺寸C(其已經藉由執行S5或S8獲得的)儲存至特性儲存單元94。因此，特性相應於控制單元92基於儲存在特性儲存單元94中的新特性執行下面控制。 　　[0038] 如迄今所述，在根據本發明之實施例的混合動力車輛10中，藉由透過第一馬達發電機MG1之動力運行控制施加轉矩Tin至阻尼裝置26並測量扭轉角度F來學習諸如剛性等特性，以及預定的控制係基於學習的特性執行，同時曲柄軸24之旋轉由網格式制動器36鎖定。因此，無論由阻尼裝置26等的個別差異引起的特性的變化或老化如何，預定的控制可基於實際特性適當地執行。也就是說，當車輛以施加到阻尼裝置26的轉矩行駛時、當引擎12啟動時、或當引擎制動器被操作等時，作為阻尼裝置26之特性的剛性值K1到K3和變化點A1和A2、磁滯B或齒隙尺寸C可能影響功率效能、振動性質、噪音性質等。然而，用於改善功率效能、振動性質、噪音性質等的控制可以藉由特性相應控制單元92基於那些特性執行。於此情況下，特性係藉由特性學習單元96學習，所以無論由阻尼裝置26的個別差異或老化等引起的特性的變化如何，控制因此基於實際特性適當地執行。 　　[0039] 此外，第二馬達發電機MG2的轉矩藉由第一馬達發電機MG1以抗衡在施加轉矩至阻尼裝置26時產生的驅動力的方式控制，而學習阻尼裝置26的特性。因此，阻尼裝置26之特性可被學習，同時抑制乘客由於驅動力的波動而產生不適感。 　　[0040] 此外，當基於關於阻尼裝置26的剛性(K1至K3、A1和A2)的特性來控制第一馬達發電機MG1的轉矩使得由於阻尼裝置26的剛性車輛被抑制共振時，在車輛以第一馬達發電機MG1和第二馬達發電機MG2作為驅動力源行駛的雙向電動機行駛同時藉由網格式制動器36鎖定曲柄軸24的旋轉時，特性係藉由特性學習單元96學習。因此，無論阻尼裝置26的個別差異或老化如何，第一馬達發電機MG1的轉矩係基於精確特性來控制，並且可以適當地抑制車輛的共振。 　　[0041] 儘管以上已經基於附圖詳細描述了本發明的實施例，但是前述描述僅僅是本發明的實施例。基於本領域技術人員的知識，可以在經受各種改變和改進的方面進行本發明。
[0042]
10‧‧‧混合動力車輛
12‧‧‧引擎
14‧‧‧驅動輪
16‧‧‧第一驅動單元
18‧‧‧第二驅動單元
20‧‧‧最終減速裝置
22‧‧‧軸
24‧‧‧曲柄軸
24a、38a‧‧‧嚙合齒
26‧‧‧阻尼裝置
26a‧‧‧第一旋轉元件
26b‧‧‧第二旋轉元件
28‧‧‧輸入軸
30‧‧‧差動機構
32‧‧‧彈簧
34‧‧‧摩擦機構
35‧‧‧轉矩限制器
36‧‧‧網格式制動器
36a‧‧‧嚙合套筒
38‧‧‧外殼
40‧‧‧輸出齒輪
42‧‧‧中間軸
43‧‧‧網格式離合器
44‧‧‧大直徑齒輪
45‧‧‧停車齒輪
46‧‧‧小直徑齒輪
48‧‧‧差動環齒輪
50‧‧‧馬達軸
52‧‧‧馬達輸出齒輪
58‧‧‧油壓控制電路
60‧‧‧反向器
62‧‧‧蓄電裝置
64‧‧‧SOC感測器
66‧‧‧自動制動系統
67‧‧‧車輪制動器
70‧‧‧引擎轉速感測器
72‧‧‧車速感測器
74‧‧‧MG1轉速感測器
76‧‧‧MG2轉速感測器
78‧‧‧加速器操作量感測器
80‧‧‧換檔位置感測器
90‧‧‧電子控制單元
92‧‧‧特性相應控制單元
94‧‧‧特性儲存單元
96‧‧‧特性學習單元
[0015] 下面將參照附圖描述本發明的示例性實施例的特徵、優點以及技術和工業意義，在附圖中相同的元件符號表示相同的元件，以及其中： 　　圖1是表示應用了本發明之混合動力車輛之驅動系統的概要圖，並且是顯示與控制系統之主要部分接合的混合動力車輛之驅動系統的圖； 　　圖2為圖1之混合動力車輛的差動機構的對齊圖； 　　圖3為顯示圖1之阻尼裝置的輸入轉矩Tin與扭轉角度F的關係一個例子的圖； 　　圖4為示例從圖3之關係獲得的剛性之特性的視圖； 　　圖5為示例從圖3之關係獲得的磁滯B的視圖； 　　圖6為示例從圖3之關係獲得的齒隙尺寸C的視圖； 　　圖7為具體示出由圖1的電子控制單元進行的訊號處理的流程圖；以及 　　圖8是在圖7的步驟S4和S5中改變阻尼裝置之輸入轉矩Tin的同時測量扭轉角度F的原理圖。

Claims (5)

  1. 一種車輛控制設備，該車輛包括引擎、第一電動馬達、旋轉構件、旋轉鎖定機構以及第二電動馬達，該旋轉構件設置在該引擎和該第一電動馬達之間，該旋轉構件具有與輸入轉矩相關聯的特性，該旋轉鎖定機構係組態以防止引擎側上的該旋轉構件之連接部分在至少一方向上旋轉，以及該第二電動馬達組態以被利用作為驅動力源，其中當該第一電動馬達向該旋轉構件施加轉矩時，該車輛之驅動力係由於該旋轉鎖定機構所產生的反作用力而產生，同時該旋轉鎖定機構防止該連接部分旋轉，該控制設備包含：電子控制單元，其組態以藉由該第一電動馬達向該旋轉構件施加轉矩並且測量該旋轉構件的扭轉角度來學習該旋轉構件的特性，同時該旋轉鎖定機構防止該連接部分旋轉；該電子控制單元係組態以基於該旋轉構件之該學習的特性執行預定的控制；以及當藉由該第一電動馬達向該旋轉構件施加該轉矩以學習該特性時，該電子控制單元係組態成以抗衡由該反作用力產生的該驅動力的方式控制該第二電動馬達之轉矩。
  2. 如申請專利範圍第1項所述之控制設備，其中該旋轉構件為阻尼裝置。
  3. 如申請專利範圍第1項所述之控制設備，其中該車輛更包括驅動輪以及差動機構，該差動機構係組態成將該引擎的輸出分配到第一電動馬達側和驅動輪側，該旋轉構件為阻尼裝置，該阻尼裝置係設置在該引擎和該差動機構之間，以及當該轉矩經由該差動機構藉由該第一電動馬達施加至該阻尼裝置同時該旋轉鎖定機構防止該連接部分旋轉時，由該旋轉鎖定機構產生的該反作用力經由該差動機構傳輸至該驅動輪側，並且該電子控制單元係組態以使用該第一電動馬達為驅動力源。
  4. 如申請專利範圍第3項所述之控制設備，其中該特性是關於剛性的特性，其相應於該扭轉角度中的變化相對於該阻尼裝置之該輸入轉矩中的變化，該特性配備有具有不同剛性值之複數個輸入轉矩範圍，以及該電子控制單元係組態成控制該第一電動馬達的轉矩，使得當該車輛使用該第一電動馬達作為驅動力源行駛同時藉由該旋轉鎖定機構防止該連接部分旋轉時，基於該剛性值和該輸入轉矩之間的關係，獲得抑制該車輛共振的剛性值。
  5. 一種車輛控制方法，該車輛包括引擎、第一電動馬達、旋轉構件、旋轉鎖定機構、電子控制單元以及第二電動馬達，該旋轉構件設置在該引擎和該第一電動馬達之間，該旋轉構件具有與輸入轉矩相關聯的特性，該旋轉鎖定機構係組態以防止引擎側上的該旋轉構件之連接部分在至少一方向上旋轉，以及該第二電動馬達組態以被利用作為驅動力源，其中當該第一電動馬達向該旋轉構件施加轉矩時，該車輛之驅動力係由於該旋轉鎖定機構所產生的反作用力而產生，同時該旋轉鎖定機構防止該連接部分旋轉，該控制方法包含：藉由該電子控制單元藉由該第一電動馬達向該旋轉構件施加轉矩來學習該旋轉構件的特性，並且因此由該電子控制單元測量該旋轉構件的扭轉角度，同時該旋轉鎖定機構防止該連接部分旋轉；藉由該電子控制單元基於該旋轉構件之該學習的特性執行預定的控制；以及當藉由該第一電動馬達向該旋轉構件施加該轉矩以學習該特性時，以抗衡由該反作用力產生的該驅動力的方式控制該第二電動馬達之轉矩。
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