WO2009119214A1 - ハイブリッド駆動装置 - Google Patents
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- WO2009119214A1 WO2009119214A1 PCT/JP2009/053048 JP2009053048W WO2009119214A1 WO 2009119214 A1 WO2009119214 A1 WO 2009119214A1 JP 2009053048 W JP2009053048 W JP 2009053048W WO 2009119214 A1 WO2009119214 A1 WO 2009119214A1
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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
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- 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
- B60K6/36—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 transmission gearings
- B60K6/365—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 transmission gearings with the gears having orbital motion
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- 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
- B60K6/42—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
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- 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
- B60K6/26—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
- B60K2006/268—Electric drive motor starts the engine, i.e. used as starter motor
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- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
Definitions
- the present invention includes an input member connected to an engine, an output member connected to a wheel, a first rotating electrical machine, a second rotating electrical machine, a differential gear device, the first rotating electrical machine, and the second rotation.
- the present invention relates to a hybrid drive device including control means for controlling an electric machine and power supply means for supplying electric power to the first rotating electric machine and the second rotating electric machine.
- hybrid vehicles equipped with engines and rotating electrical machines (motors and generators) as driving force sources have attracted attention from the viewpoint of energy saving and environmental problems, and various configurations have been proposed for hybrid driving devices used therefor.
- Many of such hybrid vehicles can start an engine using a rotating electrical machine for driving a vehicle without providing a dedicated rotating electrical machine for starting the engine.
- a hybrid drive apparatus that can start an engine using a rotating electrical machine for driving a vehicle as described above is described in, for example, Patent Document 1 below.
- the apparatus described in Patent Document 1 includes an engine that operates by combustion of fuel, a distribution mechanism that mechanically distributes the output of the engine to the first rotating electrical machine and the output member, and from the output member to the drive wheel.
- This is a so-called split-type hybrid drive device having a second rotating electrical machine that applies a rotational force between them.
- this hybrid drive device becomes a structure which starts this engine by rotationally driving an engine via the said distribution mechanism with a 1st rotary electric machine.
- this hybrid drive device has drive force fluctuation suppressing means for suppressing fluctuations in the drive force of the vehicle due to a reaction force acting on the output member when the engine is started.
- This power fluctuation suppression means is a parking lock means that mechanically blocks the rotation of the wheel by the driver's parking operation, or at the time of starting to control the second rotating electric machine so as to cancel the driving force fluctuation caused by the engine starting. It is a motor control means. JP 09-170533 A
- the battery voltage used by the second rotating electrical machine is limited by limiting the output torque of the second rotating electrical machine that mainly functions as a motor.
- the engine is stopped, the engine is started by rotationally driving the engine with the first rotating electrical machine, and then the battery is charged with the electric power generated by the first rotating electrical machine by the driving force of the engine.
- the battery voltage can be returned to the normal state.
- the output torque of the second rotating electrical machine is limited to perform the second rotation. It is necessary to limit the battery current used in the electrical machine.
- the driving force fluctuation there may be a case where the control of the second rotating electrical machine for canceling out cannot be appropriately performed. In this case, the output torque of the first rotating electrical machine for starting the engine is transmitted to the wheels, and there is a possibility that the driving force fluctuation of the vehicle not intended by the driver may occur.
- the present invention has been made in view of the above problems, and its purpose is to restore the voltage of the power supply means to a normal state when the power supply means such as a battery is in a low voltage state.
- Another object of the present invention is to provide a hybrid drive device that can suppress the output torque of the first rotating electrical machine for starting the engine from being transmitted to the wheels and suppressing fluctuations in the driving force of the vehicle that are not intended by the driver.
- An input member connected to an engine, an output member connected to a wheel, a first rotating electrical machine, a second rotating electrical machine, a differential gear device, and A characteristic configuration of a hybrid drive apparatus comprising: a control unit that controls the one rotary electric machine and the second rotary electric machine; and a power supply unit that supplies electric power to the first rotary electric machine and the second rotary electric machine.
- the moving gear device includes at least three rotation elements of a first rotation element, a second rotation element, and a third rotation element in order of rotation speed, and the first rotating electric machine is connected to the first rotation element,
- the input member is connected to the two rotating elements, and one or both of the output member and the second rotating electric machine are connected to the third rotating element, and the control means is based on fluctuations in the output torque of the first rotating electric machine.
- Tor of the output member Fluctuation canceling control is performed to control the output torque of the second rotating electrical machine so as to cancel the fluctuation, and when the power supply means is in a predetermined low voltage state, the output torque of the second rotating electrical machine is And torque limit control for limiting the output torque of the first rotating electrical machine in the positive direction.
- connection includes not only a structure that directly transmits rotation but also a structure that indirectly transmits rotation through one or more members.
- the “rotary electric machine” is used as a concept including a motor (electric motor), a generator (generator), and a motor / generator functioning as both a motor and a generator as necessary.
- the “positive direction” represents a direction in which the rotation or torque is transmitted to any of the rotating elements of the differential gear device so that the direction is the same as the engine rotation and torque output direction.
- Negative direction represents the opposite direction.
- the first rotating electrical machine mainly functions as a generator. That is, the first rotating electrical machine outputs a torque in the negative direction in order to receive the reaction force of the engine torque and transmit the engine torque to the output member during the operation of the engine.
- the first rotating electrical machine outputs the torque in the positive direction basically only when the engine is started.
- the power supply means when the power supply means is in a predetermined low voltage state, the output torque of the second rotating electrical machine is limited regardless of whether the engine is in an operating state or a stopped state.
- the current used in the second rotating electrical machine can be limited, and the voltage of the power supply means can be returned to the normal state.
- the output torque of the first rotating electrical machine in the positive direction, it is possible to suppress the first rotating electrical machine from outputting a large torque in order to start the engine from the engine stopped state. Therefore, unlike the case where only the output torque of the second rotating electrical machine is limited, the output torque of the first rotating electrical machine for starting the engine is transmitted to the wheels, causing fluctuations in the driving force of the vehicle not intended by the driver. Can be suppressed.
- the output torque in the negative direction of the first rotating electrical machine is not limited, power generation by the first rotating electrical machine can be performed and power can be regenerated in the power supply means while the engine is operating. Therefore, the voltage of the power supply means can be quickly returned to the normal state.
- control means preferably controls so that the output torque in the positive direction of the first rotating electrical machine is zero, and the first rotating electrical machine outputs only the torque in the negative direction.
- the first rotating electrical machine can generate electric power and regenerate electric power in the power supply means while the engine is operating.
- control means cancels the restriction on the output torque of the first rotating electrical machine in the torque restriction control.
- the output member When the output member is fixed so as not to rotate, the output torque of the first rotating electrical machine is not transmitted to the wheel side from the output member. Therefore, even when the first rotating electrical machine outputs a positive torque for starting the engine or the like, the output torque is not transmitted to the wheels, and the driving force fluctuation of the vehicle not intended by the driver does not occur. Therefore, according to this configuration, it is possible to quickly start the engine while preventing fluctuations in the driving force of the vehicle that are not intended by the driver. Then, after the engine is started, the first rotating electrical machine can generate power and the power supply means can regenerate power, so that the voltage of the power supply means can be quickly returned to the normal state.
- control unit determines that the low voltage state is in effect when the output voltage of the power supply unit becomes equal to or lower than a predetermined low voltage threshold.
- the torque limit control can be started when the output voltage of the power supply means becomes equal to or lower than a predetermined low voltage threshold, the output voltage of the power supply means becomes extremely low and the vehicle It is possible to suppress the occurrence of problems such as difficulty in proper traveling or a reduction in the life of the power supply means.
- control means determines a limit value of the output torque of the second rotating electrical machine so that the output voltage of the power supply means becomes larger than the low voltage threshold value in the torque limit control.
- the torque is output to the second rotating electrical machine within a range in which the output voltage of the power supply means can be recovered until the output voltage exceeds a predetermined low voltage threshold value, and the driving force for running the vehicle is achieved. Can be helped.
- the control means cancels the torque limit control when the power supply means returns from the low voltage state, and when the engine is stopped at that time, the first rotating electrical machine It is preferable that the input member is rotated by outputting a positive torque to start the engine.
- the limitation on the output torque in the positive direction of the first rotating electric machine is released, so that the positive direction of the first rotating electric machine is
- the output torque can be transmitted to the engine via the differential gear device and the input member, and the engine can be started.
- control means allows the rate of change of the output torque of the first rotating electric machine to be larger than that at the time other than when the torque limit control is performed during the torque limit control.
- the output torque of the first rotating electrical machine is allowed to change at a large rate of change, so that torque limit control can be executed quickly. Therefore, it can suppress effectively that the voltage of an electric power supply means further falls.
- the rate of change in the output torque of the first rotating electrical machine and the second rotating electrical machine is limited to be relatively small except when the torque limit control is executed, the output torque of the first rotating electrical machine and the second rotating electrical machine It is possible to suppress a change in the driving force of the vehicle that is not intended by the driver due to a sudden change in the vehicle being transmitted to the wheels.
- Each of the above configurations further includes an output differential gear device that distributes a driving force to the wheels, and the output member is connected to the wheels via the output differential gear device, and
- the rotating electrical machine can be suitably applied to a configuration in which an output torque can be transmitted to a power transmission system from the output member to the output differential gear device.
- FIG. 1 is a skeleton diagram showing a mechanical configuration of the hybrid drive apparatus H according to the present embodiment.
- FIG. 2 is a block diagram showing a system configuration of the hybrid vehicle drive device H according to the present embodiment.
- a broken line indicates a power transmission path
- a solid arrow indicates a transmission path for various information.
- the hybrid drive device H includes an engine E and two motor / generators MG1 and MG2 as driving force sources, and outputs the engine E to the first motor / generator MG1 side and wheels. It is configured as a so-called two-motor split type hybrid drive device H that includes a planetary gear device PG for power distribution that distributes to W and the second motor / generator MG2.
- the hybrid drive device H has, as a mechanical configuration, an input shaft I connected to an engine E, a first motor / generator MG1, a second motor / generator MG2, and a planetary gear device PG for power distribution. And a counter gear mechanism C and an output differential gear device D that distributes the driving force to the plurality of wheels W.
- the planetary gear device PG distributes the output (driving force) of the engine E to the first motor / generator MG1 and the counter drive gear O.
- the counter drive gear O is connected to the wheels W via a counter gear mechanism C and an output differential gear device D.
- the second motor / generator MG2 is connected to a power transmission system from the counter drive gear O to the output differential gear device D so as to be able to transmit output torque.
- the second motor / generator MG2 is connected to the counter gear mechanism C, and is connected to the counter drive gear O and the output differential gear device D via the counter gear mechanism C.
- the first motor / generator MG1 corresponds to the “first rotating electrical machine” in the present invention
- the second motor / generator MG2 corresponds to the “second rotating electrical machine” in the present invention.
- the input shaft I corresponds to the “input member” in the present invention
- the counter drive gear O corresponds to the “output member” in the present invention.
- the planetary gear device PG for power distribution corresponds to the “differential gear device” in the present invention.
- the hybrid drive device H has, as an electrical system configuration, a first inverter I1 for driving and controlling the first motor / generator MG1, and a second inverter I2 for driving and controlling the second motor / generator MG2.
- a battery B that supplies power to the first motor / generator MG1 and the second motor / generator MG2 via the first inverter I1 or the second inverter I2, and a control unit 10 that controls each part of the hybrid drive device H. It is equipped with.
- the control unit 10 corresponds to “control means” in the present invention
- the battery B corresponds to “power supply means” in the present invention.
- the configuration of each part of the hybrid drive device H will be described in order.
- a first counter driven gear c1, a second counter driven gear c2, and a differential pinion gear c3 are fixed to a shaft (counter shaft) of the counter gear mechanism C in order from the first motor / generator MG1 and second motor / generator MG2 side.
- the differential pinion gear c3 is engaged with the differential ring gear dr of the output differential gear device D, and the rotation of the counter gear mechanism C is transmitted to the wheels W via the output differential gear device D.
- the output differential gear device D is generally used, and includes, for example, a differential gear mechanism using a plurality of bevel gears meshing with each other.
- the first motor / generator MG1 includes a stator St1 fixed to a case (not shown) and a rotor Ro1 that is rotatably supported on the radially inner side of the stator St1.
- the rotor Ro1 of the first motor / generator MG1 is coupled to rotate integrally with the sun gear s of the planetary gear unit PG.
- the second motor / generator MG2 includes a stator St2 fixed to a case (not shown), and a rotor Ro2 that is rotatably supported on the radially inner side of the stator St2.
- the rotor Ro2 of the second motor / generator MG2 is connected to rotate integrally with a second motor / generator output gear d2 (hereinafter referred to as “MG2 output gear”).
- the MG2 output gear d2 meshes with a first counter driven gear c1 fixed to the counter gear mechanism C, and the rotation of the second motor / generator MG2 is transmitted to the counter gear mechanism C.
- the rotor Ro2 of the second motor / generator MG2 rotates at a rotational speed proportional to the rotational speeds of the counter gear mechanism C and the counter drive gear O.
- the first motor / generator MG1 and the second motor / generator MG2 are AC motors, and are driven and controlled by the first inverter I1 or the second inverter I2, respectively.
- the first motor / generator MG1 generates power mainly by the driving force input via the sun gear s, charges the battery B, or supplies power for driving the second motor / generator MG2.
- Functions as a generator the first motor / generator MG1 may function as a motor that outputs a driving force by power running when the vehicle travels at a high speed or when the engine E starts.
- the second motor / generator MG2 mainly functions as a motor that assists the driving force for driving the vehicle.
- the second motor / generator MG2 functions as a generator, and may function as a generator that regenerates the inertial force of the vehicle as electric energy.
- the operations of the first motor / generator MG1 and the second motor / generator MG2 are controlled by a first inverter I1 or a second inverter I2 that operates according to a control command from the control unit 10.
- the planetary gear device PG is configured by a single pinion type planetary gear mechanism arranged coaxially with the input shaft I.
- the planetary gear device PG includes a carrier ca that supports a plurality of pinion gears, and a sun gear s and a ring gear r that mesh with the pinion gears, respectively, as rotating elements.
- the sun gear s is connected to rotate integrally with the rotor Ro1 of the first motor / generator MG1.
- the carrier ca is connected to rotate integrally with the input shaft I.
- the ring gear r is connected to rotate integrally with the counter drive gear O.
- the counter drive gear O is engaged with a second counter driven gear c2 fixed to the counter gear mechanism C, and the rotation of the ring gear r of the planetary gear device PG is transmitted to the counter gear mechanism C.
- the sun gear s, the carrier ca, and the ring gear r of the planetary gear device PG are respectively referred to as the “first rotation element”, “second rotation element”, and “third rotation element” of the differential gear device according to the present invention. Corresponds to “rotating element”.
- 3 to 6 are velocity diagrams showing the operating state of the planetary gear device PG for power distribution.
- each of a plurality of vertical lines arranged in parallel corresponds to each rotating element of the planetary gear device PG, and “s” and “ca” described above each vertical line.
- "And” r “correspond to the sun gear s, the carrier ca, and the ring gear r, respectively.
- These positions on the vertical axis correspond to the rotational speed of each rotating element.
- the rotational speed is zero on the horizontal axis, the upper side is positive, and the lower side is negative.
- the carrier ca is connected to rotate integrally with the engine E and the input shaft I
- the sun gear s is connected to rotate integrally with the rotor Ro1 of the first motor / generator MG1
- the ring gear r Are connected so as to rotate integrally with a counter drive gear O as an output member.
- the rotation speed of the carrier ca coincides with the engine rotation speed NE that is the rotation speed of the engine E and the input shaft I, and the rotation speed of the sun gear s is the same as the rotation speed N1 of the first motor / generator MG1.
- “ ⁇ ” indicates the engine rotational speed NE
- “ ⁇ ” indicates the MG1 rotational speed N1
- “ ⁇ ” indicates the output rotational speed No.
- the arrows shown adjacent to each rotating element indicate engine torque TE, which is the torque of engine E acting on carrier ca
- MG1 torque T1 which is the torque of first motor / generator MG1 acting on sun gear s
- ring gear r indicates the torque of MG2 torque T2 that is the torque of the second motor / generator MG2 that acts
- traveling torque To that is the torque from the wheel W that acts on the ring gear r (torque required for traveling of the vehicle) are shown.
- An upward arrow indicates a torque in the positive direction
- a downward arrow indicates a torque in the negative direction.
- the counter drive gear O (ring gear r) indicated by “ ⁇ ” is not only the running torque To acting from the wheel W via the output differential gear device D and the counter gear mechanism C,
- the output torque of the second motor / generator MG2 also acts via the counter gear mechanism C.
- the gear ratio ⁇ of the planetary gear device PG is used, the following torque relational expression (Expression 2) is established among the engine torque TE, the MG1 torque T1, the MG2 torque T2, and the traveling torque To. To do.
- TE: T1: (T2 + To) (1 + ⁇ ): ( ⁇ ): ( ⁇ 1) (Expression 2)
- FIG. 3 shows a velocity diagram in the hybrid travel mode in which the vehicle travels by the output torque of both the engine E and the two motor generators MG1 and MG2.
- the engine E is controlled so as to be maintained in a state where the efficiency is high and the amount of exhaust gas is low (generally along the optimum fuel consumption characteristics), while the required driving force from the vehicle side (the vehicle required torque TC and the vehicle demand described later) is controlled.
- the engine torque TE in the positive direction corresponding to the output PC) is output, and this engine torque TE is transmitted to the carrier ca via the input shaft I.
- the first motor / generator MG1 outputs a negative MG1 torque T1, and this MG1 torque T1 is transmitted to the sun gear s and functions as a reaction force receiver that supports the reaction force of the engine torque TE.
- the planetary gear device PG distributes the engine torque TE to the first motor / generator MG1 and the counter drive gear O on the wheel W side.
- the second motor / generator MG2 appropriately outputs a positive or negative MG2 torque T2 in order to assist the driving force distributed to the counter drive gear O according to the required driving force, the traveling state of the vehicle, and the like.
- FIG. 4 shows a velocity diagram in an EV (electric) travel mode in which the vehicle travels only by the output torque of the second motor / generator MG2.
- the second motor / generator MG2 outputs MG2 torque T2 corresponding to the required driving force from the vehicle side. That is, when the driving force in the direction for accelerating or cruising the vehicle is required, the second motor / generator MG2 travels in a negative direction on the counter drive gear O as shown by the solid line arrow in FIG.
- the vehicle is powered while rotating in the forward direction and outputs the MG2 torque T2 in the forward direction.
- the second motor / generator MG2 acts on the counter drive gear O in the positive direction as indicated by the broken line arrow in FIG.
- regeneration power generation
- MG2 torque T2 in the negative direction is output.
- the first motor / generator MG1 is controlled so that the MG1 torque T1 becomes zero, and is in a freely rotatable state without preventing the rotation of the sun gear s by the MG2 torque T2.
- the first motor generator MG1 has a negative MG1 rotational speed N1 (rotates in the negative direction).
- the engine E is in a stopped state in which the fuel supply is stopped, and the engine speed NE is also zero due to the frictional force inside the engine E. That is, in the EV travel mode, the planetary gear device PG rotates the ring gear r connected to the counter drive gear O and the second motor / generator MG2 in the positive direction (rotational speed is positive) with the carrier ca as a fulcrum.
- the sun gear s connected to the motor / generator MG1 rotates in the negative direction (rotation speed is negative).
- FIG. 5 is a velocity diagram for explaining the operation when the engine E is started from a state where the vehicle (wheel W) is stopped.
- the solid line indicates a state in which the engine E and the wheel W are stopped.
- the engine E, the first motor / generator MG1, and the second motor / generator MG2 all output torque and The rotation speed is zero.
- the first motor / generator MG1 outputs the MG1 torque T1 in the positive direction, and the rotational speed of the engine E via the planetary gear unit PG.
- fuel supply and ignition to the engine E are started to start the engine E.
- the hybrid drive device H suppresses transmission of the fluctuation of the MG1 torque T1 from the counter drive gear O to the wheels W via the counter gear mechanism C and the output differential gear device D at the time of starting the engine. Therefore, the fluctuation cancellation control for controlling the MG2 torque T2 is performed so as to cancel the torque fluctuation of the counter drive gear O due to the fluctuation of the MG1 torque T1. Specifically, when the engine is started from a stopped state of the vehicle (wheel W), the second motor / generator MG2 outputs a positive MG2 torque T2 corresponding to a reaction force with respect to the positive MG1 torque T1.
- the MG2 torque T2 output from the second motor / generator MG2 is set to zero by canceling the torque fluctuation of the counter drive gear O and maintaining the rotation speed of the counter drive gear O (ring gear r) at zero. This value is calculated by the fluctuation torque correction unit 14 of the control unit 10 described later.
- FIG. 6 is a velocity diagram for explaining the operation when starting the engine E from the EV traveling mode shown in FIG.
- the solid line indicates a state in which the vehicle is traveling in the EV traveling mode as described with reference to FIG.
- the second motor / generator MG2 rotates in the positive direction and outputs the MG2 torque T2 in the positive direction for powering.
- the engine E has an engine torque TE and an engine rotational speed NE set to zero
- the first motor / generator MG1 has an MG1 torque T1 set to zero and an MG1 rotational speed N1 set to a negative value.
- the first motor / generator MG1 outputs the MG1 torque T1 in the positive direction, and the rotational speed of the engine E via the planetary gear unit PG. To raise. At this time, the first motor / generator MG1 regenerates (generates power) when the MG1 rotational speed N1 is negative, but after the MG1 rotational speed N1 becomes positive, the first motor / generator MG1 powers and consumes the power of the battery B. When the engine E reaches a predetermined engine startable rotation speed or higher, fuel supply and ignition to the engine E are started to start the engine E.
- the hybrid drive device H suppresses transmission of the fluctuation of the MG1 torque T1 from the counter drive gear O to the wheels W via the counter gear mechanism C and the output differential gear device D at the time of starting the engine. Therefore, the fluctuation cancellation control for controlling the MG2 torque T2 is performed so as to cancel the torque fluctuation of the counter drive gear O due to the fluctuation of the MG1 torque T1.
- the second motor / generator MG2 is configured to determine a positive torque corresponding to a reaction force to the positive MG1 torque T1 by the MG2 operating point determination unit 13 according to the vehicle required torque TC.
- the MG2 torque T2 added to the MG2 torque command value is output.
- the MG2 torque T2 added at this time is an appropriate value for canceling the torque fluctuation of the counter drive gear O to be zero, and this value is calculated by a fluctuation torque correcting unit 14 of the control unit 10 described later. Is done.
- the first inverter I1 for driving and controlling the first motor / generator MG1 is electrically connected to the coil of the stator St1 of the first motor / generator MG1. Yes.
- a second inverter I2 for driving and controlling the second motor / generator MG2 is electrically connected to a coil of the stator St2 of the second motor / generator MG2.
- the first inverter I1 and the second inverter I2 are electrically connected to each other and electrically connected to the battery B.
- the first inverter I1 converts the DC power supplied from the battery B or the DC power generated by the second motor / generator MG2 and converted to DC by the second inverter I2 into AC power.
- the first motor / generator MG1 converts the electric power generated by the first motor / generator MG1 from alternating current to direct current and supplies it to the battery B or the second inverter I2.
- the second inverter I2 converts DC power supplied from the battery B or DC power generated by the first motor / generator MG1 and converted to DC by the first inverter I1 into AC power. Then, it is supplied to the second motor / generator MG2. Further, the second inverter I2 converts the electric power generated by the second motor / generator MG2 from alternating current to direct current and supplies it to the battery B or the first inverter I1.
- the first inverter I1 and the second inverter I2 control the current value supplied to each of the first motor / generator MG1 and the second motor / generator MG2 and the frequency and phase of the AC waveform in accordance with a control signal from the control unit 10. To do.
- the first inverter I1 and the second inverter I2 drive and control the first motor / generator MG1 and the second motor / generator MG2 so that the output torque and the rotation speed correspond to the control signal from the control unit 10. .
- Battery B is electrically connected to the first inverter I1 and the second inverter I2.
- the battery B is composed of, for example, a nickel hydride secondary battery or a lithium ion secondary battery.
- the battery B supplies direct-current power to the first inverter I1 and the second inverter I2, and is generated by the first motor / generator MG1 or the second motor / generator MG2.
- the battery B supplies the first inverter I1 or the second inverter I2. It is charged by the direct current power supplied through it.
- the hybrid drive device H includes a battery state detection unit 30 as battery state detection means for detecting the state of the battery B.
- the battery state detection unit 30 includes various sensors such as a current sensor and a temperature sensor in addition to a voltage sensor that detects a voltage between the positive and negative electrodes of the battery B, and includes a battery voltage and a battery charge amount (SOC: state of charge). Is detected. Information on the detection result by the battery state detection unit 30 is output to the control unit 10.
- the hybrid drive device H includes a first motor / generator rotation speed sensor Se1 (hereinafter referred to as “MG1 rotation speed sensor”), a second motor / generator rotation speed sensor Se2 (hereinafter referred to as “MG2 rotation speed sensor”), and engine rotation.
- a speed sensor Se3 and a vehicle speed sensor Se4 are provided.
- the MG1 rotation speed sensor Se1 is a sensor that detects an MG1 rotation speed N1 that is the rotation speed of the rotor Ro1 of the first motor / generator MG1.
- the MG2 rotational speed sensor Se2 is a sensor that detects an MG2 rotational speed N2 that is the rotational speed of the rotor Ro2 of the second motor / generator MG2.
- the engine rotation speed sensor Se3 is a sensor that detects an engine rotation speed NE that is the rotation speed of the crankshaft or the input shaft I of the engine E.
- the vehicle speed sensor Se4 is a sensor that detects the rotational speed of the wheels W, that is, the vehicle speed.
- These rotational speed sensors Se1 to Se4 are constituted by, for example, a resolver, a Hall IC, or the like. The detection results of these sensors Se1 to Se4 are output to the control unit 10.
- the control unit 10 controls the operation of each part of the hybrid drive device H.
- the control unit 10 includes an engine operating point determining unit 11, a first motor / generator operating point determining unit 12 (hereinafter referred to as “MG1 operating point determining unit”), and a second motor / generator operating point determining unit 13. (Hereinafter referred to as “MG2 operating point determination unit”), fluctuation torque correction unit 14, low voltage state determination unit 15, first motor / generator torque limiting unit 16 (hereinafter referred to as “MG1 torque limiting unit”), and second motor A generator torque limiting unit 17 (hereinafter referred to as “MG2 torque limiting unit”) is provided.
- the control unit 10 includes one or more arithmetic processing devices and a storage medium such as a RAM and a ROM for storing software (programs) and data.
- the functional units 11 to 17 of the control unit 10 are configured by hardware and / or software for performing various processes on input data with the arithmetic processing unit as a core member.
- the control unit 10 is communicably connected to an engine control unit 20 that controls the operation of the engine E. Furthermore, as described above, the control unit 10 is configured to receive information on detection results from the battery state detection unit 30 and information on detection results from the other sensors Se1 to Se4.
- the control unit 10 is configured to receive a vehicle request torque TC, a vehicle request output PC, and vehicle information IC from the vehicle side.
- the vehicle required torque TC is a torque required to be transmitted to the wheels W in order to appropriately travel the vehicle in accordance with the operation of the driver. Therefore, the vehicle required torque TC is determined according to a predetermined map or the like according to the operation amount of the accelerator pedal and the brake pedal of the vehicle and the vehicle speed detected by the vehicle speed sensor Se4.
- the vehicle request output PC is an output (work rate) required to generate the engine E in consideration of the state of charge of the battery B.
- the vehicle required output PC is a map or the like determined in advance according to the vehicle required torque TC, the vehicle speed detected by the vehicle speed sensor Se4, and the charge amount of the battery B detected by the battery state detection sensor Se5. Determined according to.
- the vehicle request torque TC and the vehicle request output PC are determined as torque or output to be transmitted to the counter drive gear O as the output member of the hybrid drive device H.
- the vehicle information IC is various information indicating the state of the vehicle. For example, ranges selected by the select lever of the automatic transmission (ranges such as “P”, “D”, and “R”), parking brakes, and the like. Information indicating the operating state, the operating state of the service brake, and the like is included.
- the engine operating point determination unit 11 performs a process of determining an engine operating point that is an operating point of the engine E.
- the engine operating point is a control command value representing a control target point of the engine E, and is determined by the rotational speed and torque.
- the engine operating point determination unit 11 also determines whether the engine E is to be operated or stopped. The determination of the engine operation / stop is performed according to a predetermined map or the like according to the vehicle required torque TC and the vehicle speed detected by the vehicle speed sensor Se4. When it is determined that the engine E is to be operated, the engine operating point determination unit 11 determines the engine operating point.
- the engine operating point determination unit 11 outputs information on the determined engine operating point to the engine control unit 20.
- the engine control unit 20 controls the engine E to operate at the torque and rotational speed indicated by the engine operating point.
- the engine operating point determination unit 11 determines to stop the engine E, it outputs the command to the engine control unit 20.
- the engine E stop command may be an engine operating point command in which both the engine speed command value and the engine torque command value are zero.
- the engine operating point is a command value that represents a control target point of the engine E determined in consideration of the vehicle required output PC and the optimum fuel consumption, and is determined by the engine speed command value and the engine torque command value.
- the engine operating point is determined based on the engine operating point map.
- the thick solid line represents the optimum fuel consumption line Le, and is a line connecting the points where the fuel consumption rate is lowest (good fuel consumption) on the iso-output line PCi. Therefore, the engine operating point determination unit 11 uses the engine rotational speed NE and the engine torque TE at the intersection of the equal output line PCi representing the same output as the vehicle required output PC and the optimum fuel consumption line Le, and the engine rotational speed command of the engine operating point. Value and engine torque command value.
- FIG. 7 only seven equal output lines PCi are shown for simplification, but it is preferable that a large number of equal output lines PCi are recorded at finer intervals in the actual engine operating point map. It is.
- the MG1 operating point determination unit 12 performs a process of determining an MG1 operating point that is an operating point of the first motor / generator MG1.
- the MG1 operating point is a control command value representing a control target point of the first motor / generator MG1, and is determined by the rotational speed and torque.
- the control unit 10 controls the first inverter I1 to operate the first motor / generator MG1 at the torque and rotational speed indicated by the MG1 operating point determined by the MG1 operating point determination unit 12.
- the MG1 operating point is determined based on the engine operating point determined as described above and the rotational speed of the rotating member connected to the wheel W side from the planetary gear device PG for power distribution.
- the MG1 operating point determination unit 12 determines the counter drive gear at the vehicle speed based on the vehicle speed detected by the vehicle speed sensor Se4 and the gear ratio of the rotating member between the counter drive gear O and the wheels W. An output rotation speed No that is the rotation speed of O is calculated.
- the MG1 operating point determination unit 12 sets the engine rotational speed command value at the engine operating point as the engine rotational speed NE and substitutes it for the output rotational speed No, and is calculated by the above rotational speed relational expression (Formula 1).
- MG1 rotational speed N1 is determined as an MG1 rotational speed command value.
- the MG1 operating point determination unit 12 is based on the difference in rotational speed between the determined MG1 rotational speed command value and the MG1 rotational speed N1 of the first motor / generator MG1 detected by the MG1 rotational speed sensor Se1.
- the MG1 torque command value is determined by feedback control such as proportional-integral control (PI control).
- PI control proportional-integral control
- the MG2 operating point determination unit 13 performs a process of determining an MG2 operating point that is an operating point of the second motor / generator MG2.
- the MG2 operating point is a control command value representing the control target point of the second motor / generator MG2, and is determined by the rotational speed and torque.
- the control unit 10 controls the second inverter I2 to operate the second motor / generator MG2 at the torque and the rotational speed indicated by the MG2 operating point determined by the MG2 operating point determining unit 13.
- the MG2 operating point is a control command value that represents a control target point of the second motor / generator MG2 determined based on the vehicle required torque TC, the engine operating point, and the MG1 operating point.
- the MG2 rotational speed command value and the MG2 It depends on the torque command value.
- the following torque relational expression (Formula 3) is derived.
- T2 ⁇ To ⁇ TE / (1 + ⁇ ) (Formula 3) Therefore, the MG2 operating point determination unit 13 substitutes the vehicle request torque TC as a torque “ ⁇ To” in the direction opposite to the traveling torque To, and the engine torque command value at the engine operating point as the engine torque TE.
- the MG2 torque T2 calculated by doing so is determined as the MG2 torque command value.
- the second motor / generator MG2 is basically torque-controlled according to the MG2 torque command value at the MG2 operating point.
- control unit 10 outputs torque of the second motor / generator MG2 so as to cancel torque fluctuation of the counter drive gear O as an output member due to fluctuation of the output torque (MG1 torque T1) of the first motor / generator MG1.
- Fluctuation cancellation control for controlling (MG2 torque T2) is performed.
- the fluctuation torque correcting unit 14 performs a process of correcting the MG2 torque command value of the MG2 operating point determined by the MG2 operating point determining unit 13 for such control of the MG2 torque T2.
- the variable torque correction unit 14 determines a correction value for correcting the MG2 torque command value, and adds the correction value to the MG2 torque command value, thereby determining a new corrected MG2 torque command value. Perform the process.
- the fluctuation of the MG1 torque T1 is, for example, when the engine speed NE is increased in order to start the engine E by the torque of the first motor / generator MG1, or even when the engine E is operating. This occurs when the engine speed NE is increased or decreased in accordance with the change of the point.
- the fluctuation torque correction unit 14 has the same magnitude and the opposite direction as the torque fluctuation of the counter drive gear O in order to cancel the torque fluctuation of the counter drive gear O caused by the transmission of the fluctuation of the MG1 torque T1.
- Torque is determined as a correction value.
- the correction value takes into account the gear ratio of the power transmission system from the second motor / generator MG2 to the counter drive gear O, and is converted on the same axis, for example, on the counter drive gear O or on the wheels W. Calculated as torque (coaxial conversion torque).
- the fluctuation torque correction unit 14 corrects the MG2 operation point by adding the correction value obtained by the above calculation to the MG2 torque command value determined by the MG2 operation point determination unit 13.
- the control unit 10 controls the second motor / generator MG2 in accordance with the corrected MG2 operating point corrected in this way, thereby causing the second motor / generator MG2 to output the torque necessary for traveling of the vehicle. It is possible to perform fluctuation canceling control that cancels the torque fluctuation of the counter drive gear O due to the fluctuation of the output torque of one motor / generator MG1. By performing such variation canceling control, it is possible to suppress the variation in the MG1 torque T1 being transmitted to the wheels W and the variation in the driving force of the vehicle that is not intended by the driver.
- the low voltage state determination unit 15 performs a process of determining whether the battery B is in a low voltage state or a normal state based on the voltage (output voltage) of the battery B as power supply means.
- the low voltage state determination unit 15 determines the detected voltage value by the battery state detection unit 30 as the battery voltage.
- the low voltage state determination part 15 determines with it being a low voltage state, when a battery voltage becomes below a predetermined low voltage threshold value from a normal state.
- the low voltage state determination part 15 determines with it being a normal state, when a battery voltage becomes more than a predetermined low voltage cancellation
- the low voltage release threshold is set to a value larger than the low voltage threshold (see FIG. 10). That is, the low-voltage state determination unit 15 once determines that the battery voltage is equal to or lower than the predetermined low-voltage threshold value, and then determines that the battery voltage is a low-voltage state. A low voltage state is determined until the above is reached. At this time, the low voltage state determination unit 15 determines whether the battery is in the low voltage state or the normal state by comparing the detected value of the battery voltage by the battery state detection unit 30 with the low voltage threshold and the low voltage release threshold. I do.
- the low voltage state determination unit 15 sets the low voltage flag to the “ON” state when determining the low voltage state, and sets the low voltage flag to the “OFF” state when determining the normal state.
- the MG1 torque limiting unit 16 and the MG2 torque limiting unit 17 recognize whether or not the battery B is in a low voltage state with reference to the low voltage flag.
- the low voltage threshold value for example, it is preferable that the lower limit value of the normal use range of the voltage of the battery B set in advance so as not to cause a decrease in the life of the battery B or a value in the vicinity thereof.
- the second motor it is also preferable to set the voltage value of the battery B so that the fluctuation canceling control by the generator MG2 can be appropriately performed.
- the low voltage release threshold is separated from the low voltage threshold by a predetermined amount so that the determination result by the low voltage state determination unit 15 can be prevented from frequently changing between the low voltage state and the normal state. It is preferable to set the value. It is also possible to set the low voltage release threshold value to the same value as the low voltage threshold value and not have hysteresis.
- the MG2 torque limiting unit 17 performs a process for limiting the output torque of the second motor / generator MG2 when the low voltage state determination unit 15 determines that the battery B is in a low voltage state.
- the MG2 torque limiter 17 is a torque that restricts the upper limit of the MG2 torque command value at the MG2 operating point regardless of the limit value of the output torque of the second motor / generator MG2, that is, the determination by the MG2 operating point determiner 13.
- the MG2 torque limit value that is the limit value is determined.
- the MG2 torque limiter 17 determines the MG2 torque limit value so that the voltage of the battery B becomes larger than the low voltage threshold.
- the low voltage state determination unit 15 determines that the battery is in the normal state when the battery voltage becomes equal to or higher than the predetermined low voltage release threshold from the low voltage state. Therefore, the MG2 torque limiter 17 determines the MG2 torque limit value so that the battery voltage becomes equal to or higher than the low voltage release threshold set to a value larger than the low voltage threshold.
- the MG2 torque limiter 17 determines a torque command value lower than the MG2 torque command value at the MG2 operating point at that time as the MG2 torque limit value. Thereafter, the battery voltage is detected, and the MG2 torque limit value is gradually lowered until the battery voltage becomes equal to or higher than the low voltage release threshold. At this time, for example, the MG2 torque limiter 17 performs a process of determining a value obtained by reducing the MG2 torque limit value by a predetermined reduction value for each predetermined control cycle.
- the MG2 torque limiting unit 17 determines the state of the battery B (battery voltage and battery charge amount) detected by the battery state detection unit 30, and the MG1 rotation speed command of the MG1 operation point determined by the MG1 operation point determination unit 12.
- Current value that can be output by battery B in order to make the battery voltage equal to or higher than the low voltage release threshold is derived based on the value, the MG1 torque command value, and the MG2 rotation speed command value at the MG2 operating point determined according to the vehicle speed.
- the upper limit of the MG2 torque command value derived based on the current value may be determined as the MG2 torque limit value.
- the control unit 10 limits the MG2 torque command value at the MG2 operating point with the MG2 torque limit value determined in this way as an upper limit. That is, when the MG2 operating point determination unit 13 determines an MG2 torque command value that exceeds the MG2 torque limit value, the second motor generator MG2 is controlled using the MG2 torque limit value as the MG2 torque command value.
- the current used in the second motor / generator MG2 is limited, so that the voltage of the battery B is prevented from further decreasing, and the battery is quickly The voltage can be returned to the normal state.
- the MG1 torque limiting unit 16 performs processing for limiting the output torque of the first motor / generator MG1 in the positive direction when the low voltage state determination unit 15 determines that the battery B is in a low voltage state. That is, the MG1 torque limiting unit 16 limits the MG1 torque T1 only in the positive direction and does not limit the negative direction.
- the MG1 torque limiter 16 performs a process of setting the positive MG1 torque T1 to zero and limiting the first motor / generator MG1 to output only the negative torque. That is, the MG1 torque limiter 16 sets the MG1 torque limit value to zero when the MG1 torque command value of the MG1 action point determined by the MG1 action point determination unit 12 is a positive value.
- the control unit 10 performs control so that the first motor / generator MG1 can freely rotate.
- the MG1 torque limiting unit 16 does not limit the MG1 torque command value.
- the control unit 10 controls the first motor / generator MG1 in accordance with the MG1 operation point determined by the MG1 operation point determination unit 12.
- the first motor / generator MG1 mainly functions as a generator. That is, as shown in FIG. 3, in the hybrid travel mode in which the engine E is operating, the first motor / generator MG1 receives the reaction force of the engine torque TE and applies the engine torque TE to the ring gear r and the counter drive gear O. To transmit, torque in the negative direction is output. At this time, when the MG1 rotational speed N1 is positive (rotates in the positive direction), the first motor / generator MG1 regenerates (generates power) and functions as a generator, and the MG1 rotational speed N1 is negative (rotates in the negative direction).
- the first motor / generator MG1 functions as a motor by powering, but in any case, the first motor / generator MG1 outputs a torque in the negative direction. Further, as shown in FIG. 4, in the EV traveling mode in which the engine E is stopped, the first motor / generator MG1 is controlled so that the MG1 torque T1 becomes zero, and can be freely rotated. ing.
- the first motor / generator MG1 outputs the positive MG1 torque T1 in the positive direction.
- the engine E rotates (MG1 rotational speed N1 is positive), and the engine E is started up by increasing the rotational speed of the engine E via the planetary gear unit PG.
- the second motor / generator MG2 is controlled in the positive direction so as to cancel the torque fluctuation of the counter drive gear O due to the fluctuation of the MG1 torque T1 in order to suppress the fluctuation of the MG1 torque T1 from being transmitted to the wheels W.
- the MG2 torque T2 in the positive direction corresponding to the reaction force against the MG1 torque T1 is output.
- the first motor / generator MG1 when starting the engine E from the EV traveling mode, the first motor / generator MG1 outputs the MG1 torque T1 in the positive direction, and the engine E rotates through the planetary gear unit PG.
- the engine E is started at an increased speed.
- the first motor / generator MG1 regenerates (generates power) when the MG1 rotational speed N1 is negative, but after the MG1 rotational speed N1 becomes positive, the first motor / generator MG1 powers and consumes the power of the battery B.
- the second motor / generator MG2 is controlled in the positive direction so as to cancel the torque fluctuation of the counter drive gear O due to the fluctuation of the MG1 torque T1 in order to suppress the fluctuation of the MG1 torque T1 from being transmitted to the wheels W.
- the MG2 torque T2 is output by adding the positive torque corresponding to the reaction force against the MG1 torque T1 to the MG2 torque command value of the MG2 operating point determined by the MG2 operating point determining unit 13 according to the vehicle required torque TC.
- the first motor / generator MG1 outputs the torque in the positive direction basically only when the engine E is started, as shown in FIGS. Therefore, the MG1 torque limiting unit 16 limits the MG1 torque T1 only in the positive direction, thereby suppressing the first motor / generator MG1 from outputting a large torque in order to start the engine E from the stopped state of the engine E. it can. Therefore, unlike the case where only the output torque of the second motor / generator MG2 is limited, a vehicle in which the relatively large output torque of the first motor / generator MG1 for starting the engine is transmitted to the wheels W and is not intended by the driver. The fluctuation of the driving force can be suppressed.
- the MG1 torque limiting unit 16 does not limit the output torque in the negative direction of the first motor / generator MG1, the power generation by the first motor / generator MG1 is performed when the engine E is operating as shown in FIG. To regenerate power to the battery B. Therefore, the voltage of the battery B can be prevented from further decreasing, and the battery voltage can be quickly returned to the normal state.
- the control unit 10 determines the MG1 torque of the MG1 operating point determined by the MG1 operating point determining unit 12 based on the MG1 torque limiting value and the MG2 torque limiting value determined by the MG1 torque limiting unit 16 and the MG2 torque limiting unit 17 as described above.
- the MG2 torque command value at the MG2 operating point determined by the command value and MG2 operating point determination unit 13 is limited.
- the control unit 10 limits the output torque of the second motor / generator MG2 and limits the output torque of the first motor / generator MG1 in the positive direction. Torque limit control can be performed. Therefore, the current used by the first motor / generator MG1 and the second motor / generator MG2 can be limited, and the voltage of the battery B can be recovered.
- the control unit 10 changes the torque due to a sudden change in the MG1 torque T1 accompanying the change in the MG1 operating point or the change in the MG2 torque T2 accompanying the change in the MG2 operating point. Is transmitted to the wheels W, and the control unit 10 performs change rate limiting control of the MG1 torque T1 and the MG2 torque T2 in order to suppress the fluctuation of the driving force of the vehicle not intended by the driver.
- a restriction is provided so that the change rates of the MG1 torque T1 and the MG2 torque T2 are not more than a predetermined value, and the MG1 torque T1 and the MG2 torque T2 associated with the change of the MG1 operating point and the MG2 operating point. It is the control which changes.
- the limitation of the MG1 torque T1 by the MG1 torque limiting unit 16 is only to limit the positive MG1 torque T1 for starting the engine to zero, and such fluctuation of the MG1 torque T1 is transmitted to the wheel W. Even if it is done, it is hard to become a big driving force fluctuation.
- the control unit 10 when the MG1 torque limiting unit 16 limits the MG1 torque T1, the control unit 10 has a rate of change of the MG1 torque T1 other than when the MG1 torque T1 is limited. In other words, the control is performed to allow the increase of the MG1 torque T1. Specifically, the control unit 10 sets a value larger than the limit value of the change rate in the change rate limit control of the MG1 torque T1 and the MG2 torque T2 in the normal case described above as a limit value. Change rate limit control is performed. Thereby, the limitation of the MG1 torque T1 is executed quickly, and the voltage of the battery B is further prevented from further decreasing.
- FIG. 8 is a flowchart showing an overall procedure of the control method of the hybrid drive apparatus H according to the present embodiment.
- FIG. 9 is a flowchart showing a torque limit control procedure according to Step # 11 of FIG.
- the control process of the hybrid drive device H is executed by hardware or software (program) or both constituting each functional unit 11 to 17 of the control unit 10.
- the arithmetic processing device included in the control unit 10 operates as a computer that executes the program that configures each of the above functional units.
- a control method of the hybrid drive device H will be described according to a flowchart.
- the control unit 10 first acquires information on the vehicle request torque TC and the vehicle request output PC input from the vehicle side (step # 01). Further, the control unit 10 acquires vehicle speed information detected by the vehicle speed sensor Se4 (step # 02). Thereafter, the control unit 10 determines the engine operating point by the engine operating point determination unit 11 (step # 03). Further, the control unit 10 determines the MG1 operating point by the MG1 operating point determining unit 12 (step # 04), and determines the MG2 operating point by the MG2 operating point determining unit 13 (step # 05). Since the method for determining the engine operating point, the MG1 operating point, and the MG2 operating point has already been described, it will not be described here. Next, the control unit 10 corrects the MG2 torque so that the torque fluctuation of the counter drive gear O due to the fluctuation of the MG1 torque T1 is canceled by the fluctuation torque correcting unit 14 (step # 06).
- the battery state detection unit 30 detects the voltage of the battery B (step # 07). And the control unit 10 performs the process which determines whether the battery B is a low voltage state by the low voltage state determination part 15 based on the battery voltage detected by step # 07 (step # 08). .
- the control unit 10 sets the low voltage flag to the “OFF” state to indicate that the battery B is not in the low voltage state but in the normal state. (Step # 09).
- step # 12 the control unit 10 executes the engine E, the first motor generator The MG1 and the second motor / generator MG2 are controlled (step # 12).
- step # 08: Yes when the battery B is in the low voltage state (step # 08: Yes), the control unit 10 sets the low voltage flag to the “ON” state to indicate that the battery B is in the low voltage state ( Step # 10). Then, the control unit 10 performs torque limit control using the MG1 torque limiter 16 and the MG2 torque limiter 17 (step # 11). As described above, this torque limit control is performed by limiting the MG1 torque command value and the MG2 torque command value based on the MG1 torque limit value and the MG2 torque limit value determined by the MG1 torque limiter 16 and the MG2 torque limiter 17. The MG1 operation point determined by the MG1 operation point determination unit 12 and the MG2 operation point determined by the MG2 operation point determination unit 13 are changed.
- the torque limit control will be described in detail below based on the flowchart of FIG.
- the control unit 10 determines the engine operating point determined in step # 03, the MG1 operating point determined in step # 11 after being determined in step # 04, and the step # 11 determined in step # 05.
- the engine E, the first motor / generator MG1, and the second motor / generator MG2 are controlled according to the changed MG2 operating point (step # 12). This is the end of the control process of the hybrid drive apparatus H.
- Step # 11 the torque limit control procedure according to Step # 11 will be described.
- the control unit 10 determines that the battery B is in the low voltage state (step # 08: Yes), and the low voltage flag is “ON”.
- step # 21: Yes the MG2 torque limiter 17 determines the MG2 torque limit value (step # 22). Since the method for determining the MG2 torque limit value has already been described, it will not be described here.
- Step # 23 the control unit 10 determines whether or not the MG1 torque command value at the MG1 operating point determined in Step # 04 is positive (> 0) (Step # 23). As a result of this determination, when the MG1 torque command value is not positive, that is, when the MG1 torque command value is zero or negative ( ⁇ 0) (step # 23: No), the MG1 torque limiter 16 limits the MG1 torque T1. Is not performed (step # 24). Therefore, the control unit 10 changes the MG2 operating point determined in step # 05 according to the MG2 torque limit value determined in step # 22 (step # 25).
- FIG. 10 is a timing chart illustrating an example of limit control of the MG1 torque T1 when the battery B is in a low voltage state.
- the detection value of “battery voltage” by the battery state detection unit 30, the ON or OFF state of the “low voltage flag” indicating the determination result by the low voltage state determination unit 15, determined by the control unit 10 in order from the top 4 is a timing chart showing “MG1 torque command value”, presence / absence of “MG1 torque limit” by the MG1 torque limiter 16, and “engine speed”.
- the timing chart representing the MG2 torque command value is omitted, but when battery B is in a low voltage state (when the low voltage flag is in an ON state), as described above. , MG2 torque T2 is also limited.
- the MG1 torque command value is positive, and the rotational speed of the engine E is increased by the positive MG1 torque T1.
- the battery voltage is rapidly decreased. Such a phenomenon is likely to occur when the temperature of the battery B is very low and the performance cannot be sufficiently exhibited.
- the low voltage state determination unit 15 determines that the battery B is in the low voltage state. The “low voltage flag” is changed from the OFF state to the ON state.
- the MG1 torque limiter 16 limits the MG1 torque T1 (with MG1 torque limit). . That is, in order to limit the output torque of the first motor / generator MG1 in the positive direction, the MG1 torque limiter 16 limits the MG1 torque command value to zero (0 [N ⁇ m]). As a result, the first motor / generator MG1 stops rotating, and the engine speed NE is also zero (0 [rpm]).
- the control unit 10 performs control to relax the change rate limit so as to allow the change rate of the MG1 torque T1 to be larger than normal, the MG1 torque T1 changes rapidly and in a short time.
- the MG1 torque command value quickly changes to zero.
- the MG2 torque T2 is also limited by the MG2 torque limiting unit 17.
- region C represents the MG1 torque command value and engine speed NE when not restrict
- the control unit 10 determines the MG1 torque command value in the positive direction to start the engine E according to the MG1 operating point determined by the MG1 operating point determination unit 12.
- the control unit 10 performs the change rate limiting control so that the change rate of the MG1 torque T1 is equal to or less than the predetermined limit value, the MG1 torque T1 is equal to or less than the predetermined change rate and the MG1 torque command value at the MG1 operating point.
- Change (rise) As a result, the MG1 torque T1 becomes positive, and the first motor / generator MG1 rotates in the positive direction, whereby the engine speed NE increases.
- the engine E reaches a predetermined engine startable rotation speed or higher, fuel supply and ignition to the engine E are started, and the engine E is started. After engine E starts and stabilizes at the idling speed, control unit 10 changes the MG1 torque command value to negative.
- the first motor / generator MG1 enters a state of generating power (regeneration) by outputting the MG2 torque T2 in the negative direction while rotating in the positive direction (the MG1 rotation speed N1 is positive).
- the control unit 10 limits the output torque of the second motor / generator MG2 and increases the output torque of the first motor / generator MG1 in the positive direction. Torque limit control is performed, but when the battery B returns from the low voltage state, the torque limit control is canceled. If the engine E is in a stopped state at that time, the first motor / generator MG1 outputs a torque in the positive direction, rotationally drives the engine E (input shaft I), and starts the engine E.
- the hybrid drive device H performs control for releasing the limitation of the output torque in the positive direction of the first motor / generator MG1 in the torque limitation control in a state where the counter drive gear O as the output member is fixed.
- This is different from the first embodiment described above. That is, in a state where the counter drive gear O is fixed, the MG1 torque T1 is not transmitted from the counter drive gear O to the wheel W side. Therefore, even when the first motor / generator MG1 outputs a torque in the positive direction for starting the engine or the like, the output torque is transmitted to the wheels W, and the driving force fluctuation of the vehicle not intended by the driver is generated. Absent.
- the electric power required for driving the first motor / generator MG1 at this time is smaller than the electric power required for driving the second motor / generator MG2, the amount of decrease in the battery voltage is small.
- the battery voltage can be quickly returned to the normal state by causing the first motor / generator MG1 to generate power. Therefore, in the present embodiment, even when the torque limit control is performed, when the counter drive gear O is fixed, the limit of the output torque in the positive direction of the first motor / generator MG1 is released, thereby starting the engine E. It is set as the structure which can be performed quickly. Other configurations can be the same as those in the first embodiment.
- FIG. 11 is a flowchart corresponding to FIG. 9 in the first embodiment, and shows a procedure of torque limit control according to step # 11 of FIG.
- the overall procedure of the control method of the hybrid drive apparatus H is the same as that in FIG.
- FIG. 12 is a timing chart corresponding to FIG. 10 in the first embodiment, and shows an example of limit control of the MG1 torque T1 when the battery B is in a low voltage state.
- This hybrid drive device H includes output fixed state determination means for determining whether or not the counter drive gear O as an output member is fixed.
- the control unit 10 includes an output fixed state determination unit (see FIG. 2).
- the rotating elements constituting the power transmission system from the counter drive gear O to the wheels W are connected (drive coupled) by a gear mechanism without using an engaging means such as a clutch. Therefore, all the rotating elements constituting the power transmission system from the counter drive gear O to the wheels W rotate at a rotation speed proportional to the rotation speed of the counter drive gear O.
- the output fixed state determination unit includes any one or more rotating elements (including the counter drive gear O and the wheels W) that constitute a power transmission system from the counter drive gear O to the wheels W. It is determined whether the output rotation element of the hybrid drive device H is in a fixed state so as to stop the rotation. When the output fixed state determination unit determines that the output rotation element is in a fixed state, the output fixed state flag is set to “ON” and the output rotation element is not fixed. Is determined, the output fixed state flag is set to the “OFF” state.
- the output fixed state determination unit determines that the output rotation element is fixed, for example, the “P” range is selected by the select lever of the automatic transmission, and the counter drive gear O to the wheels W are selected.
- the output fixed state determination unit determines that the output rotation element is fixed
- the “P” range is selected by the select lever of the automatic transmission, and the counter drive gear O to the wheels W are selected.
- a state in which the wheel W is fixed so as not to rotate by a parking brake a state in which the wheel W is fixed so as not to rotate by a service brake, and the like also apply.
- Various types of information indicating the state of the vehicle used for determination by the output fixed state determination unit are input to the control unit 10 as vehicle information IC as shown in FIG.
- the overall procedure of the control method is the same as that of the flowchart of FIG. 8 according to the first embodiment, and therefore description thereof is omitted here, and only the procedure of torque limit control is described.
- the procedure of torque limit control according to the present embodiment is substantially the same as that of the first embodiment except that the determination at step # 33 is added. That is, the control unit 10 determines that the battery B is in the low voltage state as a result of the determination in step # 08 in FIG. 8 as to whether or not the battery B is in the low voltage state (step # 08: Yes). When the voltage flag is in the “ON” state (step # 31: Yes), the MG2 torque limiter 17 determines the MG2 torque limit value (step # 32).
- the control unit 10 determines whether or not the output fixed state flag is in the “ON” state (step # 33).
- the output fixed state flag indicates that the output fixed state determination unit is in a state where one or more output rotational elements constituting the power transmission system from the counter drive gear O to the wheels W are in a fixed state.
- the output fixed state flag is set to the “ON” state, and in the case where it is determined to be in the non-fixed state, the output fixed state flag is set to the “OFF” state. Therefore, in step # 33, the control unit 10 recognizes whether or not the output rotation element is in a fixed state by referring to the output fixed state flag.
- step # 33 When the output fixed state flag is in the “ON” state (step # 33: Yes), the MG1 torque limiter 16 does not limit the MG1 torque T1 (step # 35). Therefore, when the output fixing state flag is in the “ON” state, even when the battery B is in the low voltage state, the control unit 10 outputs the MG1 torque T1 in the positive direction as needed to output the engine. Start E. Therefore, it is possible to quickly start the engine while preventing fluctuations in the driving force of the vehicle that are not intended by the driver. Thereafter, the control unit 10 changes the MG2 operating point determined in step # 05 of FIG. 8 according to the MG2 torque limit value determined in step # 32 (step # 36).
- step # 34 determines whether or not the MG1 torque command value of the MG1 operating point determined in (1) is positive (> 0) (step # 34). As a result of this determination, when the MG1 torque command value is not positive, that is, when the MG1 torque command value is zero or negative ( ⁇ 0) (step # 34: No), the MG1 torque limiter 16 limits the MG1 torque T1. Is not performed (step # 35). Therefore, the control unit 10 changes the MG2 operating point determined in step # 05 of FIG.
- step # 36 the MG2 torque limit value determined in step # 32 (step # 36).
- step # 34: Yes the MG1 torque limiter 16 limits the MG1 torque command value to zero (step # 37).
- the torque limit control according to the present embodiment is finished.
- FIG. 12 is a timing chart illustrating an example of limit control of the MG1 torque T1 when the battery B is in a low voltage state.
- a timing chart showing the ON / OFF state of the “output fixed state flag” indicating the determination result by the output fixed state determination unit is shown. It is shown.
- the MG1 torque command value is positive, and the rotational speed of the engine E is increased by the MG1 torque T1 in the positive direction.
- the battery voltage is rapidly decreased.
- the low voltage state determination unit 15 determines that the battery B is in the low voltage state. The “low voltage flag” is changed from the OFF state to the ON state.
- the MG1 torque limiter 16 limits the MG1 torque T1 (with MG1 torque limit). . That is, in order to limit the output torque of the first motor / generator MG1 in the positive direction, the MG1 torque limiter 16 limits the MG1 torque command value to zero (0 [N ⁇ m]). As a result, the first motor / generator MG1 stops rotating, and the engine speed NE is also zero (0 [rpm]).
- the control unit 10 performs control to relax the change rate limit so as to allow the change rate of the MG1 torque T1 to be larger than normal, the MG1 torque T1 changes rapidly and in a short time.
- the MG1 torque command value quickly changes to zero.
- the MG2 torque T2 is also limited by the MG2 torque limiting unit 17.
- region C represents the MG1 torque command value and engine speed NE when not restrict
- the control unit 10 determines the MG1 torque command value in the positive direction to start the engine E according to the MG1 operating point determined by the MG1 operating point determination unit 12.
- the control unit 10 performs the change rate limiting control so that the change rate of the MG1 torque T1 is equal to or less than the predetermined limit value, the MG1 torque T1 is equal to or less than the predetermined change rate and the MG1 torque command value at the MG1 operating point.
- Change (rise) As a result, the MG1 torque T1 becomes positive, and the first motor / generator MG1 rotates in the positive direction, whereby the engine speed NE increases.
- the engine E reaches a predetermined engine startable rotation speed or higher, fuel supply and ignition to the engine E are started, and the engine E is started. After engine E starts and stabilizes at the idling speed, control unit 10 changes the MG1 torque command value to negative.
- the first motor / generator MG1 enters a state of generating power (regeneration) by outputting the MG1 torque T1 in the negative direction while rotating in the positive direction (the MG1 rotational speed N1 is positive).
- MG1 torque command value becomes negative even when the output fixed state flag is in the “OFF” state while the “low voltage flag” is in the ON state as shown in region D. Therefore, the MG1 torque limiter 16 does not limit the MG1 torque T1 (no MG1 torque limit). Therefore, the first motor / generator MG1 continues to generate power, and the voltage of the battery B can be quickly recovered.
- the MG2 torque T2 is limited when the “low voltage flag” is in the ON state. As a result, the current used by the second motor / generator MG2 is limited, and the voltage of the battery B can be recovered more quickly.
- the low voltage state determination unit 15 determines that the battery B is in the normal state, and the “low voltage flag” is in the ON state. Changes from OFF to OFF. In the OFF state of the “low voltage flag”, the restriction on the MG2 torque T2 is released. Therefore, the control unit 10 controls the second motor / generator MG2 in accordance with the MG2 operation point determined by the MG2 operation point determination unit 13.
- the differential gear device is a single pinion type planetary gear mechanism having three rotating elements of the sun gear s, the carrier ca, and the ring gear r has been described as an example.
- the configuration of the differential gear device according to the present invention is not limited to this. Therefore, for example, the differential gear device has another differential gear mechanism such as a double pinion type planetary gear mechanism or a differential gear mechanism using a plurality of bevel gears meshing with each other. Is also suitable.
- the differential gear device is not limited to one having three rotating elements, and may be suitable as a configuration having four or more rotating elements.
- the three rotation elements selected from the four or more rotation elements are the first rotation element, the second rotation element, and the third rotation element in the order of the rotation speed.
- One rotary electric machine is connected, the input member is connected to the second rotary element, and the output member and the second rotary electric machine are connected to the third rotary element.
- the differential gear device having four or more rotating elements for example, a configuration in which some rotating elements of two or more sets of planetary gear mechanisms are connected to each other can be used.
- the configuration in which both the output member and the second rotating electrical machine are connected to the third rotating element of the differential gear device has been described as an example.
- the embodiment of the present invention is not limited to this. Therefore, for example, when the differential gear device has four or more rotating elements, either the output member or the second rotating electrical machine is connected to the third rotating element, and the other is connected to another rotating element.
- the configuration is also one of the preferred embodiments of the present invention.
- the differential gear device includes at least four rotation elements of the first rotation element, the second rotation element, the third rotation element, and the fourth rotation element in the order of the rotation speed.
- a configuration in which a first rotating electrical machine is connected to the rotating element, an input member is connected to the second rotating element, an output member is connected to the third rotating element, and a second rotating electrical machine is connected to the fourth rotating element It is also suitable.
- the MG2 torque limiter 17 of the control unit 10 causes the voltage of the battery B to be greater than the low voltage threshold.
- the case where the MG2 torque limit value is determined as described above has been described as an example. However, the embodiment of the present invention is not limited to this. Therefore, for example, when it is determined that the battery B is in the low voltage state, a configuration in which the MG2 torque limit value is limited to zero is also a preferred embodiment of the present invention.
- the control unit 10 performs change rate limiting control for limiting the rate of change of the MG1 torque T1 and the MG2 torque T2 in a normal case, and the MG1 torque limiting unit 16 limits the MG1 torque T1. Only in this case, the case of performing the control for relaxing the change rate limitation of the MG1 torque T1 has been described as an example. However, the embodiment of the present invention is not limited to this. Therefore, for example, when the MG2 torque limiter 17 limits the MG2 torque T2, control is performed to relax the rate of change of the MG2 torque T2, or the MG2 torque T2 is limited only when the MG2 torque T2 is limited.
- the counter drive gear O as an output member that rotates integrally with the third rotating element of the differential gear device (the ring gear r of the planetary gear device PG)
- the hybrid drive apparatus H is described as an example. Since the hybrid drive device H having such a configuration can be configured to be short in the direction of the input shaft I connected to the engine E, the hybrid drive device H is suitably used for FF vehicles, MR vehicles, RR vehicles, and the like.
- the mechanical configuration of the hybrid drive apparatus H according to the above embodiment is merely an example, and the present invention can be applied to the hybrid drive apparatus H having other mechanical configurations. Therefore, for example, an FR vehicle in which the input shaft I connected to the engine E, the first motor / generator MG1, the planetary gear unit PG as a differential gear unit, and the second motor / generator MG2 are arranged coaxially.
- the present invention can also be applied to a hybrid drive device having an arrangement configuration suitably used for the above.
- the present invention can be suitably used for a drive device for a hybrid vehicle including an engine, a first rotating electric machine, and a second rotating electric machine as driving force sources.
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Abstract
Description
本発明の第一の実施形態について図面に基づいて説明する。図1は、本実施形態に係るハイブリッド駆動装置Hの機械的構成を示すスケルトン図である。図2は、本実施形態に係るハイブリッド車用駆動装置Hのシステム構成を示すブロック図である。なお、図2において、破線は電力の伝達経路を示し、実線矢印は各種情報の伝達経路を示している。図1に示すように、このハイブリッド駆動装置Hは、駆動力源としてエンジンE及び2個のモータ・ジェネレータMG1、MG2を備えるとともに、エンジンEの出力を、第一モータ・ジェネレータMG1側と、車輪W及び第二モータ・ジェネレータMG2側とに分配する動力分配用の遊星歯車装置PGを備えた、いわゆる2モータスプリット方式のハイブリッド駆動装置Hとして構成されている。
まず、ハイブリッド駆動装置Hの機械的構成について説明する。図1に示すように、このハイブリッド駆動装置Hでは、エンジンEに接続された入力軸I、第一モータ・ジェネレータMG1、及び動力分配用の遊星歯車装置PGが同軸上に配置されている。そして、第二モータ・ジェネレータMG2、カウンタギヤ機構C、及び出力用差動歯車装置Dが、それぞれ入力軸Iと平行な軸上に配置されている。ここで、エンジンEとしては、ガソリンエンジンやディーゼルエンジン等の公知の各種の内燃機関を用いることができる。カウンタギヤ機構Cの軸(カウンタ軸)には、第一モータ・ジェネレータMG1及び第二モータ・ジェネレータMG2側から順に、第一カウンタドリブンギヤc1、第二カウンタドリブンギヤc2、及びデフピニオンギヤc3が固定されている。ここで、デフピニオンギヤc3は、出力用差動歯車装置Dのデフリングギヤdrに噛み合っており、カウンタギヤ機構Cの回転が出力用差動歯車装置Dを介して車輪Wに伝達される構成となっている。出力用差動歯車装置Dは、一般的に用いられるものであり、例えば互いに噛み合う複数の傘歯車を用いた差動歯車機構を有して構成されている。
次に、本実施形態に係るハイブリッド駆動装置Hの基本的な動作について説明する。図3~図6は、動力分配用の遊星歯車装置PGの動作状態を表す速度線図である。これらの速度線図において、並列配置された複数本の縦線のそれぞれが、遊星歯車装置PGの各回転要素に対応しており、各縦線の上側に記載されている「s」、「ca」、「r」はそれぞれサンギヤs、キャリアca、リングギヤrに対応している。そして、これらの縦軸上の位置は、各回転要素の回転速度に対応している。ここでは、横軸上は回転速度がゼロであり、上側が正、下側が負である。また、各回転要素に対応する縦線の間隔は、遊星歯車装置PGのギヤ比λ(サンギヤとリングギヤとの歯数比=〔サンギヤの歯数〕/〔リングギヤの歯数〕)に対応している。ここで、遊星歯車装置PGでは、キャリアcaがエンジンE及び入力軸Iと一体回転するように接続され、サンギヤsが第一モータ・ジェネレータMG1のロータRo1と一体回転するように接続され、リングギヤrが出力部材としてのカウンタドライブギヤOと一体回転するように接続されている。したがって、キャリアcaの回転速度はエンジンE及び入力軸Iの回転速度であるエンジン回転速度NEと一致し、サンギヤsの回転速度は第一モータ・ジェネレータMG1の回転速度であるMG1回転速度N1と一致し、リングギヤrの回転速度はカウンタドライブギヤOの回転速度である出力回転速度Noと一致する。よって、この遊星歯車装置PGのギヤ比λを用いると、エンジン回転速度NEと、MG1回転速度N1と、出力回転速度Noとの間には、次の回転速度関係式(式1)が成立する。
NE=(No+λ・N1)/(λ+1)・・・(式1)
TE:T1:(T2+To)=(1+λ):(-λ):(-1)・・・(式2)
次に、ハイブリッド駆動装置Hの電気的なシステム構成について説明する。図2に示すように、このハイブリッド駆動装置Hでは、第一モータ・ジェネレータMG1を駆動制御するための第一インバータI1が、第一モータ・ジェネレータMG1のステータSt1のコイルに電気的に接続されている。また、第二モータ・ジェネレータMG2を駆動制御するための第二インバータI2が、第二モータ・ジェネレータMG2のステータSt2のコイルに電気的に接続されている。第一インバータI1と第二インバータI2とは、互いに電気的に接続されるとともに、バッテリBに電気的に接続されている。そして、第一インバータI1は、バッテリBから供給される直流電力、又は第二モータ・ジェネレータMG2で発電されて第二インバータI2で直流に変換されて供給される直流電力を、交流電力に変換して第一モータ・ジェネレータMG1に供給する。また、第一インバータI1は、第一モータ・ジェネレータMG1で発電された電力を交流から直流に変換してバッテリB又は第二インバータI2に供給する。同様に、第二インバータI2は、バッテリBから供給される直流電力、又は第一モータ・ジェネレータMG1で発電されて第一インバータI1で直流に変換されて供給される直流電力を、交流電力に変換して第二モータ・ジェネレータMG2に供給する。また、第二インバータI2は、第二モータ・ジェネレータMG2で発電された電力を交流から直流に変換してバッテリB又は第一インバータI1に供給する。
制御ユニット10は、ハイブリッド駆動装置Hの各部の動作制御を行う。本実施形態においては、制御ユニット10は、エンジン動作点決定部11、第一モータ・ジェネレータ動作点決定部12(以下「MG1動作点決定部」という)、第二モータ・ジェネレータ動作点決定部13(以下「MG2動作点決定部」という)、変動トルク補正部14、低電圧状態判定部15、第一モータ・ジェネレータトルク制限部16(以下「MG1トルク制限部」という)、及び第二モータ・ジェネレータトルク制限部17(以下「MG2トルク制限部」という)を備えている。この制御ユニット10は、1又は2以上の演算処理装置、及びソフトウェア(プログラム)やデータ等を格納するためのRAMやROM等の記憶媒体等を備えて構成されている。そして、制御ユニット10の上記各機能部11~17は、前記演算処理装置を中核部材として、入力されたデータに対して種々の処理を行うためのハードウェア又はソフトウェア或いはその両方により構成されている。また、この制御ユニット10は、エンジンEの動作制御を行うエンジン制御ユニット20と通信可能に接続されている。更に、上記のとおり、制御ユニット10には、バッテリ状態検出部30による検出結果の情報、及びその他の各センサSe1~Se4による検出結果の情報が入力される構成となっている。
T2=-To-TE/(1+λ)・・・(式3)
そこで、MG2動作点決定部13は、この(式3)に、車両要求トルクTCを走行トルクToと反対方向のトルク「-To」とし、エンジン動作点のエンジントルク指令値をエンジントルクTEとして代入することにより算出されるMG2トルクT2を、MG2トルク指令値として決定する。これにより、エンジンEからカウンタドライブギヤOに伝達されるトルクの車両要求トルクTCに対する過不足を補うトルクを、第二モータ・ジェネレータMG2に発生させることができる。また、第二モータ・ジェネレータMG2の回転速度であるMG2回転速度N2は車速に常に比例するので、MG2回転速度指令値は、車速センサSe4により検出される車速に応じて自動的に決定される。このように決定されたMG2回転速度指令値及びMG2トルク指令値により、MG2動作点が定まる。なお、上記のとおり、MG2回転速度指令値は車速に応じて自動的に決定されるため、第二モータ・ジェネレータMG2は、基本的にMG2動作点のMG2トルク指令値に従ってトルク制御される。
次に、本実施形態に係るハイブリッド駆動装置Hの制御方法について、図8及び図9のフローチャート、並びに図10のタイミングチャートに基づいて説明する。図8は、本実施形態に係るハイブリッド駆動装置Hの制御方法の全体の手順を示すフローチャートである。また、図9は、図8のステップ#11に係るトルク制限制御の手順を示すフローチャートである。このハイブリッド駆動装置Hの制御処理は、制御ユニット10の各機能部11~17を構成するハードウェア又はソフトウェア(プログラム)或いはその両方により実行される。上記の各機能部がプログラムにより構成される場合には、制御ユニット10が有する演算処理装置が、上記の各機能部を構成するプログラムを実行するコンピュータとして動作する。まず、ハイブリッド駆動装置Hの制御方法について、フローチャートに従って説明する。
次に、本発明の第二の実施形態について説明する。本実施形態に係るハイブリッド駆動装置Hは、出力部材としてのカウンタドライブギヤOが固定された状態では、上記トルク制限制御における第一モータ・ジェネレータMG1の正方向の出力トルクの制限を解除する制御を備えている点で、上記の第一の実施形態とは相違している。すなわち、カウンタドライブギヤOが固定された状態では、MG1トルクT1がカウンタドライブギヤOより車輪W側へ伝達されることはない。そのため、エンジン始動等のために第一モータ・ジェネレータMG1が正方向のトルクを出力した場合にも、当該出力トルクが車輪Wまで伝達されて運転者が意図しない車両の駆動力変動が生じることはない。また、この際の第一モータ・ジェネレータMG1の駆動に要する電力は、第二モータ・ジェネレータMG2の駆動に要する電力に比べて小さいため、バッテリ電圧の低下量は少なく、むしろエンジン始動後にエンジントルクTEにより第一モータ・ジェネレータMG1に発電させることで、迅速にバッテリ電圧を通常状態に復帰させることができる。したがって、本実施形態においては、上記トルク制限制御に際しても、カウンタドライブギヤOが固定された状態では、第一モータ・ジェネレータMG1の正方向の出力トルクの制限を解除することにより、エンジンEの始動を迅速に行うことができる構成としている。なお、その他の構成については、上記第一の実施形態と同様とすることができる。
(1)上記の実施形態では、差動歯車装置が、サンギヤs、キャリアca、及びリングギヤrの3つの回転要素を有するシングルピニオン型の遊星歯車機構である場合を例として説明した。しかし、本発明に係る差動歯車装置の構成はこれに限定されるものではない。したがって、例えば、差動歯車装置が、ダブルピニオン型の遊星歯車機構や互いに噛み合う複数の傘歯車を用いた差動歯車機構等のように、他の差動歯車機構を有して構成されていても好適である。また、差動歯車装置は、3つの回転要素を有するものに限定されるものではなく、4つ以上の回転要素を有する構成としても好適である。この場合においても、4つ以上の回転要素の中から選択される3つの回転要素について、回転速度の順に第一回転要素、第二回転要素、及び第三回転要素とし、第一回転要素に第一回転電機が接続され、第二回転要素に入力部材が接続され、第三回転要素に出力部材及び第二回転電機が接続された構成とすることができる。なお、4つ以上の回転要素を有する差動歯車装置としては、例えば、2組以上の遊星歯車機構の一部の回転要素間を互いに連結した構成等を用いることができる。
Claims (8)
- エンジンに接続された入力部材と、車輪に接続された出力部材と、第一回転電機と、第二回転電機と、差動歯車装置と、前記第一回転電機及び前記第二回転電機を制御する制御手段と、前記第一回転電機及び前記第二回転電機に電力を供給する電力供給手段と、を備えたハイブリッド駆動装置であって、
前記差動歯車装置は、回転速度の順に少なくとも第一回転要素、第二回転要素、及び第三回転要素の3つの回転要素を備え、前記第一回転要素に前記第一回転電機が接続され、前記第二回転要素に前記入力部材が接続され、前記第三回転要素に前記出力部材及び前記第二回転電機の一方又は双方が接続され、
前記制御手段は、
前記第一回転電機の出力トルクの変動による前記出力部材のトルク変動を相殺するように前記第二回転電機の出力トルクを制御する変動相殺制御を行い、
更に、前記電力供給手段が所定の低電圧状態となった場合には、前記第二回転電機の出力トルクを制限するとともに、前記第一回転電機の出力トルクを正方向について制限するトルク制限制御を行うハイブリッド駆動装置。 - 前記制御手段は、前記トルク制限制御に際して、前記第一回転電機の正方向の出力トルクをゼロとし、前記第一回転電機が負方向のトルクのみを出力するように制御する請求項1に記載のハイブリッド駆動装置。
- 前記制御手段は、前記出力部材が固定された状態では、前記トルク制限制御における前記第一回転電機の出力トルクの制限を解除する請求項1又は2に記載のハイブリッド駆動装置。
- 前記制御手段は、前記電力供給手段の出力電圧が所定の低電圧閾値以下となったときに、前記低電圧状態であると判定する請求項1から3のいずれか一項に記載のハイブリッド駆動装置。
- 前記制御手段は、前記トルク制限制御に際して、前記電力供給手段の出力電圧が前記低電圧閾値より大きくなるように、前記第二回転電機の出力トルクの制限値を決定する請求項4に記載のハイブリッド駆動装置。
- 前記制御手段は、前記電力供給手段が前記低電圧状態から復帰した場合には、前記トルク制限制御を解除し、そのとき前記エンジンが停止状態であった場合には、前記第一回転電機に正方向のトルクを出力させて前記入力部材を回転駆動し、前記エンジンを始動させる請求項1から5のいずれか一項に記載のハイブリッド駆動装置。
- 前記制御手段は、前記トルク制限制御に際して、前記第一回転電機の出力トルクの変化率が前記トルク制限制御の実行時以外の場合より大きくなることを許容する請求項1から6のいずれか一項に記載のハイブリッド駆動装置。
- 前記車輪に駆動力を分配する出力用差動歯車装置を更に備え、
前記出力部材は、前記出力用差動歯車装置を介して前記車輪に接続され、
前記第二回転電機は、前記出力部材から前記出力用差動歯車装置までの動力伝達系に出力トルクを伝達可能に接続された請求項1から7のいずれか一項に記載のハイブリッド駆動装置。
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- 2009-02-20 CN CN2009801009829A patent/CN101855115B/zh not_active Expired - Fee Related
- 2009-02-20 WO PCT/JP2009/053048 patent/WO2009119214A1/ja active Application Filing
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US20090236160A1 (en) | 2009-09-24 |
CN101855115B (zh) | 2013-04-10 |
JP2009227147A (ja) | 2009-10-08 |
DE112009000039B4 (de) | 2021-10-07 |
CN101855115A (zh) | 2010-10-06 |
JP4529097B2 (ja) | 2010-08-25 |
US8002057B2 (en) | 2011-08-23 |
DE112009000039T5 (de) | 2010-09-09 |
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