WO2012042590A1 - ハイブリッド車両の制御装置 - Google Patents
ハイブリッド車両の制御装置 Download PDFInfo
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- WO2012042590A1 WO2012042590A1 PCT/JP2010/066734 JP2010066734W WO2012042590A1 WO 2012042590 A1 WO2012042590 A1 WO 2012042590A1 JP 2010066734 W JP2010066734 W JP 2010066734W WO 2012042590 A1 WO2012042590 A1 WO 2012042590A1
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- rotation
- rotation element
- torque
- rotational speed
- shift
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/30—Control strategies involving selection of transmission gear ratio
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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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- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/38—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
- B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- 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
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/54—Transmission for changing ratio
- B60K6/543—Transmission for changing ratio the transmission being a continuously variable transmission
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- 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
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/54—Transmission for changing ratio
- B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
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- 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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- 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
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- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/101—Infinitely variable gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/101—Infinitely variable gearings
- B60W10/105—Infinitely variable gearings of electric type
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- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
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- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
- B60W10/115—Stepped gearings with planetary gears
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- 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
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/38—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
- B60K2006/381—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches characterized by driveline brakes
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- 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
- B60W2556/00—Input parameters relating to data
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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
- 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
- Y10S903/93—Conjoint control of different elements
Definitions
- the present invention relates to a control device for a hybrid vehicle including an electric continuously variable transmission unit and a stepped transmission unit, and more particularly to an improvement for suppressing deterioration of fuel consumption during gear shifting.
- a hybrid vehicle including an electric continuously variable transmission unit and a stepped transmission unit that constitutes a part of a power transmission path between the electric continuously variable transmission unit and a drive wheel.
- a differential mechanism having a first rotating element, an input rotating member that is a second rotating element that is connected to the engine, and a third rotating element that is an output rotating member, and the first rotating element that is connected to the first rotating element.
- An electric continuously variable transmission section having a first electric motor and a second electric motor connected to a power transmission path from the third rotating element to the drive wheel, and the electric continuously variable transmission section a geared transmission unit constituting a part of a power transmitting path between the drive wheels, a hybrid vehicle equipped is it.
- the control apparatus of the vehicle power transmission device described in Patent Document 1 is that.
- the second electric motor when the output of the second electric motor is limited while the input shaft rotation speed of the stepped transmission unit (automatic transmission unit) is being changed by the torque control of the second electric motor, the second electric motor generates electric power by the engine.
- the direction in which the restriction on the output of the two motors is released it is possible to reduce shift shocks and delays in shift progress.
- the conventional technique performs power generation by increasing the engine torque in accordance with the discharge amount limitation related to the power storage device, and as a result, the change in the engine operating point is a consequence.
- the engine operating point cannot be achieved.
- shift control in an unstable state with relatively high power such as shifting at the stepped transmission unit with movement of the engine operating point in the rotational direction
- the power can be controlled with some power generation operation as in the prior art.
- There are adverse effect can not be and reconciling, the improvement in fuel consumption during transmission is limited. For this reason, in a hybrid vehicle including an electric continuously variable transmission and a stepped transmission, there has been a demand for the development of a control device that realizes a suitable shift while suppressing deterioration in fuel consumption.
- the present invention has been made against the background of the above circumstances, and the object of the present invention is suitable for a hybrid vehicle including an electrically continuously variable transmission unit and a stepped transmission unit while suppressing deterioration of fuel consumption.
- An object of the present invention is to provide a control device that realizes a smooth shift.
- the gist of the present invention includes a first rotating element, a second rotating element that is an input rotating member and connected to an engine, and a third rotating element that is an output rotating member.
- a control device for a hybrid vehicle comprising: an electric continuously variable transmission unit, and a stepped transmission unit that constitutes a part of a power transmission path between the electric continuously variable transmission unit and drive wheels,
- the target rotation speeds of the first rotation element, the second rotation element, and the third rotation element after the shift and those at the present time are determined.
- 1st rotation element, 2nd rotation element And a difference value between the actual rotation speeds of the third rotation element and the third rotation element, and the ratio of the rotational speed change rate of each of the first rotation element, the second rotation element, and the third rotation element is the first rotation. element, and is characterized in that controlled to be equal to the ratio of the second rotating element, and the difference value corresponding to the third respectively rotating element.
- the respective targets of the first rotation element, the second rotation element, and the third rotation element after the shift are performed.
- a difference value between the rotation speed and the actual rotation speed of each of the first rotation element, the second rotation element, and the third rotation element at the present time is calculated, and the first rotation element, the second rotation element, and the third rotation are calculated. Since the ratio of the rotation time change rate of each element is controlled to be equal to the ratio of the difference values corresponding to each of the first rotation element, the second rotation element, and the third rotation element, The occurrence of a shift shock or the like can be suppressed while controlling the power balance to a desired value. That is, it is possible to provide a control device for a hybrid vehicle that realizes a suitable shift while suppressing deterioration of fuel consumption.
- the first rotation element, the second rotation element, and the third rotation element after the shift, respectively.
- the rate of change in the number of revolutions of each of the first rotation element, the second rotation element, and the third rotation element corresponding to the changed target rotation speed. Is reset. In this way, even if the target rotation speed of each rotary element is changed due to the accelerator pedal being depressed while the shift is in progress, it is preferable without causing a deviation in the power balance. Shifting can be realized.
- the absolute value of the actual rotational speed time change rate of each of the first rotational element, the second rotational element, and the third rotational element is predetermined in the resetting of the rotational speed time change rate. It is executed at a timing that is less than the threshold value.
- the threshold value it is possible to suppress an abrupt change in the rotational speed of each rotating element, it is possible to realize a more suitable gear.
- the ratio of the rotational speed change rate of each of the first rotational element, the second rotational element, and the third rotational element corresponding to the ratio of the difference values
- Balance calculation based on the output power of the engine, the transmission power of the engagement element provided in the stepped transmission, the target value of the power balance value of the first motor and the second motor, and the inertia power by performing the first rotation element, and calculates the second rotating element, and a target value of the third rotating element each revolution period changing rate.
- At least one of the torque of the engine, the torque of an engagement element provided in the stepped transmission unit, the torque of the first electric motor, and the torque of the second electric motor is controlled.
- control is performed to achieve the target value of the rotational speed change rate of each of the first rotating element, the second rotating element, and the third rotating element. In this way, a suitable shift that suppresses the occurrence of a shift shock or the like while controlling the power balance to a desired value can be realized in a practical manner.
- the balance calculation is performed for a balance of power excluding work related to the operation of the first electric motor and the second electric motor. If it does in this way, the balance calculation of input-output power can be performed with a practical aspect regarding the power transmission device provided with the said electrical continuously variable transmission part and the stepped transmission part.
- the work related to the operation of the first electric motor and the second electric motor is taken into consideration. In this way, a suitable shift that suppresses the occurrence of a shift shock or the like while controlling the power balance to a desired value can be realized in a practical manner.
- FIG. 2 is a collinear diagram showing the mutual relationship of rotating elements for a planetary gear device that constitutes a stepped transmission unit provided in the hybrid vehicle of FIG. 1. It is a functional block diagram explaining the principal part of the control function with which the electronic control apparatus in the hybrid vehicle of FIG. 1 was equipped. It is a diagram illustrating a control for shift control of the movement and the step-variable transmission portion of the operating point of the engine to be controlled according to the present embodiment simultaneously.
- An example of a control for shift control of the movement and the step-variable transmission portion of the operating point of the engine according to the present embodiment simultaneously is a time chart showing. It is a figure explaining in detail the rotational speed control of the 1st rotation element of the present Example performed corresponding to the control shown in FIG. 6, a 2nd rotation element, and a 3rd rotation element. It is a figure explaining the control in case a change arises in the target value of the rotation speed of the 3rd rotation element during the control which performs the movement control of the engine by this example, and the speed change control of a stepped transmission part simultaneously. 2 is a flowchart for explaining a main part of shift control by an electronic control unit in the hybrid vehicle of FIG. 1.
- FIG. 1 is a diagram illustrating a hybrid vehicle 8 to which the present invention is preferably applied.
- the hybrid vehicle 8 shown in FIG. 1 is suitably used for an FR (front engine / rear drive) vehicle or the like, and uses the power output from the engine 12 as the main power source as the first electric motor.
- FR front engine / rear drive
- first motor generator MG1 (hereinafter, MG1 hereinafter) and power distributing device 16 for distributing the and the output shaft 14 of the transmission member, stepped mechanical power transmission path between the power distributing device 16 and the drive wheels 18 second second motor generator MG2 as a motor which is connected via a transmission 20 (hereinafter, referred MG2) and are configured with a power transmission device 10 having been outputted from the engine 12, MG1 that torque is transmitted to the output shaft 14, the torque to the left and right pair of drive wheels 18 through a differential gear device 17 is adapted to be transmitted.
- the gear ratio ⁇ s of the stepped transmission unit 20 is configured to be set to a plurality of stages equal to or greater than “1”.
- the MG2 can be configured to have a lower capacity or a smaller size.
- the gear ratio ⁇ s of the stepped transmission unit 20 is decreased in order to maintain the driving efficiency of the MG 2 in a good state. By doing so, the rotational speed of MG2 is lowered. Further, when the rotational speed of the output shaft 14 decreases, the gear ratio ⁇ s of the stepped transmission unit 20 is appropriately increased.
- the engine 12 is a known internal combustion engine that outputs a power by burning a predetermined fuel, such as a gasoline engine or a diesel engine, for example, a so-called microcomputer including a CPU, a RAM, a ROM, an input / output interface, and the like.
- the engine control electronic control device (hereinafter referred to as E-ECU) 22 is configured to electrically control the operation state such as throttle opening or intake air amount, fuel supply amount, ignition timing, and the like. ing.
- the aforementioned E-ECU 22 an accelerator opening sensor AS for detecting an operation amount A CC of the accelerator pedal 24, a brake sensor BS for detecting an operation of the brake pedal 26, for detecting the rotational speed N e of the engine 12
- the detection signal from the engine rotation speed sensor NS or the like is supplied.
- the MG1, MG2 is a functional and generator (generator), for example, as a synchronous motor with at least one of functions as an electric motor (motor) that generates driving torque, preferably, a function as an electric motor A function as a generator is selectively generated, and is connected to a power storage device 32 such as a battery or a capacitor via inverters 28 and 30.
- the electronic control device for a motor-generator control mainly the so-called microcomputer (hereinafter, MG-ECU hereinafter) by their inverters 28 and 30 is controlled by the 34, the output torque or regenerative torque of the MG1, MG2 is It can be adjusted or set.
- the aforementioned MG-ECU 34 the detection signal from the operation position sensor SS, detect MG1 resolver RE1 the rotational speed of MG1, and MG2 resolver RE2 that detects the rotation speed of the MG2 for detecting an operation position of the shift lever 36 is supplied It has come to be.
- the power distribution device 16 includes a sun gear S0, a ring gear R0 arranged concentrically with the sun gear S0, and a carrier C0 that supports the sun gear S0 and the pinion gear P0 engaged with the ring gear R0 so as to rotate and revolve freely.
- the planetary gear device is provided concentrically with the engine 12 and the stepped transmission 20. Further, since the power distribution device 16 and the stepped transmission unit 20 are configured symmetrically with respect to the center line, the lower half thereof is omitted in FIG.
- the crankshaft 38 of the engine 12 is connected to the carrier C0 of the power distribution device 16 via a damper 40.
- the MG1 is connected to the sun gear S0
- the output shaft 14 as an input shaft of the stepped transmission unit 20 is connected to the ring gear R0.
- the carrier C0 functions as an input element
- the sun gear S0 functions as a reaction force element
- the ring gear R0 functions as an output element.
- the vertical axis S, the vertical axis C, and the vertical axis R are axes respectively representing the rotational speed of the sun gear S0, the rotational speed of the carrier C0, and the rotational speed of the ring gear R0.
- the distance between the axis C and the vertical axis R is 1 when the distance between the vertical axis S and the vertical axis C is 1.
- the distance between the vertical axis C and the vertical axis R is ⁇ (the number of teeth Z s / The number of teeth of the ring gear R0 is set to be Zr ).
- the ring gear of the said power transmission device 10 the power distributing device 16, as the sun gear S0, carrier C0 of the second rotating element and the input rotary member, and a third rotary element and the output rotary member of the first rotation element Corresponds to the differential mechanism with R0.
- the sun gear S0 serving as the first rotary element is connected to the MG1
- a carrier C0 of the second rotating element is connected to the engine 12
- the ring gear R0 of the third rotating element is connected to the MG2 in electrical continuously variable transmission unit 19 composed mainly of the power distribution device 16, MG1, and MG2 are constructed.
- the stepped transmission unit 20 is provided in series in a power transmission path between the electric continuously variable transmission unit 19 and the drive wheel 18, and rotational elements are connected to each other.
- the two planetary gear units 46 and 48 are mainly used. That is, three rotational elements include a sun gear S1, a ring gear R1 arranged concentrically with the sun gear S1, and a carrier C1 that supports the sun gear S1 and the pinion gear P1 engaged with the ring gear R1 so as to rotate and revolve.
- a single-pinion type planetary gear device 46 to produce a known differential function provided as a sun gear S2, a ring gear R2 that is arranged concentrically with the sun gear S2, which mesh with the sun gear S2 and the ring gear R2 a single-pinion type planetary gear device 48 to produce a known differential function and a carrier C2 which rotatably and revolve supporting the pinion gears P2 as three rotary elements, comprising, on each other the carrier C1 and ring gear R2
- the ring gear R1 and the carrier C2 are connected together Each other are connected.
- the sun gear S2 is connected to the output shaft 14 as an input member, and the ring gear R1 and the carrier C2 are connected to the input shaft of the differential gear device 17 as an output member.
- the stepped transmission unit 20 is provided with a plurality of engagement elements for selectively establishing a plurality of shift stages having different gear ratios in the stepped transmission unit 20.
- the first brake B1 provided between the sun gear S1 and the housing 42, and the carrier C1 and the ring gear R2 connected to each other are selectively fixed.
- a second brake B2 provided between the carrier C1 and the ring gear R2 and the housing 42 is provided.
- the first brake B1 and the second brake B2 are multi-plate or band-type hydraulic engagement devices that generate frictional engagement force according to the hydraulic pressure of hydraulic oil supplied from a hydraulic control device (not shown).
- the torque capacity, that is, the clutch torque (engagement torque) T b1 and T b2 is continuously changed according to the engagement pressure generated by the actuator or the like.
- the sun gear S2 functions as an input member
- the ring gear R1 and the carrier C2 connected to each other function as an output member
- the first brake B1 is When engaged, a high speed stage H with a gear ratio ⁇ sh greater than “1” is achieved. Further, when the second brake B2 is engaged, a low speed stage L having a speed ratio ⁇ sl larger than the speed ratio ⁇ sh of the high speed stage H is achieved.
- the shift between these shift speeds H and L is executed based on the running state such as the vehicle speed and the required driving force related value (target driving force related value).
- the gear range determined experimentally in advance is stored in advance as a map (shift diagram), and control is performed so as to set one of the gears according to the detected driving state.
- the T-ECU 44 includes an oil temperature sensor TS for detecting the temperature of the hydraulic oil, a first hydraulic switch SW1 for detecting the engagement hydraulic pressure of the first brake B1, and an engagement hydraulic pressure of the second brake B2. Detection signals are supplied from a second hydraulic switch SW2 for detecting the pressure, a third hydraulic switch SW3 for detecting the line pressure PL, and the like.
- FIG. 3 shows four vertical axes S2, vertical axes R1, C2, and vertical axes C1, 1 to express the mutual relationship between the rotating elements of the planetary gear units 46, 48 constituting the stepped transmission unit 20.
- An alignment chart having R2 and a vertical axis S1 is shown.
- the vertical axis S2, the vertical axis R1, C2, the vertical axis C1, R2, and the vertical axis S1 are respectively connected to the rotational speed of the sun gear S2, the rotational speed of the ring gear R1 and the carrier C2 connected to each other.
- the rotational speeds of the carrier C1 and the ring gear R2 and the rotational speed of the sun gear S1 are shown respectively.
- the low speed stage L is established and the MG2
- the output assist torque is amplified according to the gear ratio ⁇ sl at that time and added to the output shaft 14.
- the sun gear S1 is fixed to the housing 42 by the first brake B1
- the high speed stage H having a speed ratio ⁇ sh smaller than the speed ratio ⁇ sl of the low speed stage L is established. Since the gear ratio at the high speed stage H is also larger than “1”, the assist torque output by the MG 2 is increased according to the gear ratio ⁇ sh and added to the output shaft 14.
- the torque applied to the output shaft 14 is a torque obtained by increasing the output torque of the MG2 in accordance with each gear ratio.
- the torque is affected by the torque capacity at each brake B ⁇ b> 1, B ⁇ b> 2, the inertia torque accompanying the change in rotational speed, and the like.
- the torque applied to the output shaft 14 is a positive torque in the driving state of the MG2, and is a negative torque in the driven state.
- FIG. 4 is a functional block diagram illustrating a major part of the E-ECU 22, MG-ECU 34, and T-ECU 44 a provided control function.
- the various control means shown in FIG. 4 are preferably provided in one of the E-ECU 22, MG-ECU 34, and T-ECU 44, but are distributed in these control devices. It may be provided. Further, in the power transmission device 10 of the present embodiment, the E-ECU 22, MG-ECU 34, and T-ECU 44 are provided as separate control devices, but a single unit having these functions is provided. A control device may be provided in the hybrid vehicle 8. In this case, preferably, the various control means shown in FIG. 4 are integrally provided in the single control device.
- the shift control means 50 shown in FIG. 4 controls the shift by the electric continuously variable transmission 19 and the stepped transmission 20. That is, by controlling the operation of the MG1 and MG2 in accordance with the traveling state of the vehicle such as the vehicle speed V and the accelerator operation amount A CC from a predetermined relationship, the gear ratio of the electric continuously variable transmission unit 19 is stepless The continuously variable transmission control to be changed to is performed. In addition, stepped shift control that selectively establishes the high-speed stage H or the low-speed stage L in the stepped transmission unit 20 according to the traveling state of the vehicle, for example, the vehicle speed V and the accelerator operation amount ACC, etc. from a predetermined relationship. Do.
- the shift control means 50 is preferably a continuously variable shift control means for performing shift control of the electrical continuously variable transmission section 19 and a stepped shift control means for performing shift control of the stepped transmission section 20.
- the stepless speed change control means is provided in the MG-ECU 34 and the stepped speed change control means is provided in the T-ECU 44, respectively, but in the present embodiment, it is assumed that they are not distinguished from each other.
- the shift control means 50 simultaneously executes the shift control by the electric continuously-variable transmission portion 19 and a geared transmission unit 20 as necessary. That is, the stepless speed change control for changing the gear ratio of the electric continuously variable transmission portion 19 steplessly by controlling the operation of the MG1 and MG2 according to the traveling state of the vehicle from a predetermined relationship and the presence of the presence of the stepless speed change control. in variable transmission portion 20 high speed step H or the low gear stage L to selectively hold the stepped shift control to simultaneously (in parallel) to run. Further, the movement of the operating point of the engine 12 and the shift control of the stepped transmission unit 20 are executed simultaneously.
- the shift control unit 50 includes a rotational gradient ratio calculation unit 52, an engine torque value acquisition unit 54, a clutch torque.
- a value acquisition unit 56, a power balance target value acquisition unit 58, a rotational gradient target value calculation unit 60, an MG required torque calculation unit 62, and a clutch torque command value calculation unit 64 are included.
- the power of the MG1 and MG2 also increases accordingly, and the operating point (engine torque or rotational speed) of the engine 12 is increased when trying to match the power with the amount of power generated by increasing the engine torque as in the prior art. It will deviate greatly in the torque direction. Further, the deviation of the engine operating point is likely to move according to the movement of the power balance.
- the speed change control means 50 of this embodiment includes the rotational gradient ratio calculating means 52, engine torque value acquiring means 54, clutch torque value acquiring means 56, power balance target value acquiring means 58, rotational gradient target value calculating means 60, MG required.
- Such shift control is realized via the torque calculation means 62 and the clutch torque command value calculation means 64.
- the shift control means 50 is configured to move the operating point of the engine 12 and the stepped transmission unit 20 according to the rotation change gradients of the first rotation element, the second rotation element, and the third rotation element.
- the control algorithm or control amount determination algorithm related to the control for simultaneously performing the shift control is changed.
- shift control by different algorithms is executed in each of the first phase and the second phase divided according to the rotation change gradient of each rotation element.
- the actual rotation speed time change rate of each of the first rotation element, the second rotation element, and the third rotation element that is, the rotation speed time change rate d ⁇ / dt (in the drawings or mathematical expressions, time differentiation, that is, time change rate).
- the absolute value of the actual rotational speed time change rate d ⁇ / dt of all the rotating elements is more preferable. Is performed at a timing when is less than a predetermined threshold.
- FIG. 6 is a time chart showing an example of control in which the shift control means 50 simultaneously moves the operating point of the engine 12 and shift control of the stepped transmission unit 20. Corresponds to downshift control in which the high speed stage H is switched to the low speed stage L.
- FIG. 7 is a diagram for explaining in detail the rotation speed control of the first rotation element, the second rotation element, and the third rotation element of the present embodiment, which is executed corresponding to the control shown in FIG. In the control shown in FIG. 6, first, at the time point t ⁇ b> 1, it is determined to start the control for simultaneously moving the operating point of the engine 12 and the shift control of the stepped transmission unit 20.
- the shift control is performed corresponding to the first phase by the shift control means 50 (Phase.1), MG1 torque T g and MG2 torque with engine torque T e is increased gradually T m is increased to a predetermined value (substantially zero in FIG. 6). Further, the disengagement side engagement element, that is, the clutch torque (engagement torque) T b1 of the first brake B1 is reduced to a predetermined value. Further, in accordance with the control of the engine 12, MG1, MG2, and the first brake B1, the m-axis corresponding to the sun gear S0 (MG1) as the first rotation element and the carrier C0 (engine 12) as the second rotation element. And the rotational speed of the g-axis corresponding to the ring gear R0 (MG2) as the third rotation element are gradually increased.
- an increase in the engagement side engagement element that is, the clutch torque (engagement torque) T b2 of the second brake B2 is started. That is, the engagement of the second brake B2 is started.
- the rotation of the m-axis, e-axis, and g-axis is slightly elevated, and the rotational speed of each axis is higher than the synchronous rotational speed (target rotational speed) after the shift (overshoot). It has become. Therefore, after time t2, control is performed so that their rotational speeds decrease.
- the m-axis, e-axis, and g-axis rotational speed time rate of change d ⁇ / dt is substantially zero, which corresponds to the inflection point at which the rotational speed change of each axis switches from increase to decrease.
- the shift control corresponding to the second phase by the shift control means 50 Phase.2 is performed, the clutch torque T b1 of the first brake B1 are gradually decreased to zero, the The clutch torque T b2 of the second brake B2 is increased to a predetermined value.
- the MG1 torque Tg is decreased to a predetermined value, and the MG2 torque Tm is increased to a predetermined value.
- the rotational speeds of the m-axis, e-axis, and g-axis reach their respective target values (target rotational speeds after shifting).
- the clutch torque T b2 of the second brake B2 is a target clutch torque value after the shift is reduced to a predetermined value.
- the MG1 torque Tg is increased to a predetermined value, and the MG2 torque Tm is decreased to a predetermined value so as to be the target torque after the shift, and the shift control is terminated. That is, in the control shown in FIG.
- the shift control means 50 after the shift control corresponding to the first phase is executed by the shift control means 50 from time t1 to time t2, the time from time t2 to time t4 Shift control corresponding to the second phase is performed by the shift control means 50.
- the power balance value is set to zero as a target value. However, in actual control, a slight deviation occurs, so that the power balance slightly fluctuates around the target zero.
- the stepped transmission unit 20 when the stepped transmission unit 20 performs a shift from the high speed stage H to the low speed stage L, the first brake B1 is released and the second brake B1 is released. The brake B2 is engaged. Further, when a shift from the low speed stage L to the high speed stage H is performed, the second brake B2 is released and the first brake B1 is engaged. That is, the stepped transmission unit 20 releases the disengagement-side engagement element and engages the engagement-side engagement in any of the shift from the high speed stage H to the low speed stage L or the speed change from the low speed stage L to the high speed stage H. A so-called clutch-to-clutch shift is performed to engage the combination element.
- the actual rotational speed time rate of change d [omega / dt are two phases controlled as a trigger that decreased to a certain extent of each of the rotating elements
- the shift control is performed by different algorithms.
- the shift control in the first phase (Phase. 1) shown in FIG. 6 will be described.
- the rotational gradient ratio calculating means 52 includes three rotational elements in the power distribution device 16 as a differential mechanism, that is, the sun gear S0 as the first rotational element. (MG1), the carrier C0 (engine 12) as the second rotation element, and the ring gear R0 (MG2) as the third rotation element are calculated.
- the target rotation speed of the first rotation element after the shift that is, the target rotation speed ⁇ gaim of MG1
- the rotational speed time change rate d ⁇ g / dt of the first rotating element the rotational speed time change rate d ⁇ e / dt of the second rotating element, and the rotational speed time change rate d ⁇ m / dt of the third rotating element.
- the ratio thereof that is, d ⁇ g / dt: d ⁇ e / dt: d ⁇ m / dt is calculated.
- the engine torque value obtaining unit 54 obtains an output torque that is, the engine torque value T e of the engine 12 at the present time. For example, the predetermined relationship, and calculates the engine torque value T e based on the actual value of the opening degree theta TH of the engine is detected rotational speed N e and the electronic throttle valve (not shown) at the present time. Further, an actual output torque of the engine 12 may be detected by a torque sensor or the like.
- the clutch torque value obtaining unit 56 obtains the engagement torque i.e. the clutch torque value T b at the present time of the step-variable shifting portion 20 engages provided in element or the first brake B1 or the second brake B2. For example, based on a predetermined relationship (engagement torque characteristic), based on the hydraulic command value of the first brake B1 to the second brake B2 at the present time (the output pressure command value of an electromagnetic control valve in a hydraulic control circuit (not shown)). The clutch torque value Tb is calculated. Further, the actual hydraulic pressure of the hydraulic oil supplied to each of the first brake B1 and the second brake B2 may be detected by a hydraulic pressure sensor provided in the hydraulic pressure control circuit.
- the power balance target value acquisition means 58 acquires a power balance target value ⁇ P aim for the MG1 and MG2.
- the power balance target value ⁇ P aim is calculated from a predetermined relationship based on the running state of the vehicle and the charge level (SOC) of the power storage device 32 provided in the power transmission device 10.
- the power balance target value ⁇ P aim is, for example, a value within a range of ⁇ 30 [kw] to 30 [kw], and is preferably zero ( ⁇ 0 [kw]).
- the charging request for the battery it is appropriately determined according to the charging status of the system, such as about 5 [kw] and when the discharging request is made, about -5 [kw].
- the rotational gradient target value calculation means 60 calculates a target value of the rotational speed time change rate d ⁇ / dt of each of the first rotation element, the second rotation element, and the third rotation element. That is, the rotation speed time rate of change of the rotational speed time rate of change d [omega g / dt, the carrier C0 speed time rate of change d [omega e / dt and the ring gear R0 (MG2), the (engine 12) of the sun gear S0 (MG1) A target value that is a target value for each control of d ⁇ m / dt is calculated.
- the rotational gradient target value calculation means 60 performs the first rotation element and the second rotation for at least a fixed period during a shift when the movement of the operating point of the engine 12 and the shift control of the stepped transmission unit 20 are performed simultaneously.
- the ratio of the rotational speed change gradient of each of the elements and the third rotational element is equal to the ratio of the difference value (rotational speed change amount) from the current rotational speed to the target rotational speed, or a value calculated according to it. To control. That is, the target rotation speeds of the first rotation element, the second rotation element, and the third rotation element after the shift calculated by the rotation gradient ratio calculation unit 52 and the first rotation element and the second rotation at the present time are calculated.
- a ratio ⁇ g : ⁇ e : ⁇ m of the difference value between the actual rotation speed of each element and the third rotation element, and the rotation speed time of each of the first rotation element, the second rotation element, and the third rotation element Rotational speed time change rate d ⁇ / dt of each of the first rotation element, the second rotation element, and the third rotation element so that the ratio of change rates d ⁇ g / dt: d ⁇ e / dt: d ⁇ m / dt is equal to each other.
- the target value of is calculated.
- the rotational gradient target value calculating means 60 obtains the target rotational speed and the current rotational speed of each of the first rotational element, the second rotational element, and the third rotational element after the shift, and obtains the rotational speed. While calculating the change gradient, the rotation speed time change rate of each of the first rotation element, the second rotation element, and the third rotation element is calculated, and the ratio of these rotation speed time change rates is calculated as the change in the rotation speed of each rotation element. The target value of the gradient ratio.
- the target rotation speed of each of the first rotation element, the second rotation element, and the third rotation element after the shift and the actual rotation of each of the first rotation element, the second rotation element, and the third rotation element at the present time When the ratio of the difference value from the speed is expressed by the following equation (1), the ratio of the rotational speed time change rate of each of the first rotation element, the second rotation element, and the third rotation element is (2 ) Control to satisfy the equation. That is, target values of the rotational speed time change rates d ⁇ / dt of the first rotating element, the second rotating element, and the third rotating element are calculated so as to satisfy the following expression (3).
- the rotational gradient target value calculation means 60 preferably calculates the target value of the rotational speed time change rate d ⁇ / dt based on the above equations (1) to (3) by calculating the engine output power during the shift, the clutch This is based on the balance calculation of the transmission power, the target power balance value, and the inertial power. That is, based on a predetermined relationship, each of the first rotation element, the second rotation element, and the third rotation element corresponding to (ie, equal to) the difference value ratio ⁇ g : ⁇ e : ⁇ m .
- the target value of the rotational speed time change rate d ⁇ / dt of each of the third rotation elements is calculated.
- the rotational gradient target value calculation means 60 for example, satisfies the above-described equation (3) and satisfies the following equation (4), and the rotation speed time of each of the first rotation element, the second rotation element, and the third rotation element.
- a target value of the change rate d ⁇ / dt is calculated.
- T e ⁇ ⁇ e is the output power of the engine 12
- T b ⁇ ⁇ m is the power consumed by the drive system
- I g ⁇ d ⁇ g / dt ⁇ ⁇ g -I e ⁇ d ⁇ e / dt ⁇ ⁇ e -I m ⁇ d ⁇ m / dt ⁇ ⁇ m according to the fourth and fifth terms is the power used for raising the inertia Correspond to each.
- the clutch torque T b is preferably, which corresponds to the clutch torque of engagement side engagement element according to the speed of the geared transmission unit 20, the down shift control from the high speed stage H to the low gear stage L Corresponds to the clutch torque T b2 of the second brake B2.
- the powers of the MG1 and MG2 only take into account the power balance value (deviation from zero).
- the rotational gradient target value calculation means 60 is preferably configured to calculate the target value of the rotational speed time change rate d ⁇ / dt of each of the first rotation element, the second rotation element, and the third rotation element. The balance of power excluding the work related to the operation of MG1 and MG2 is calculated.
- the MG required torque calculation means 62 is a target value of the rotational speed time change rate d ⁇ / dt of each of the first rotation element, the second rotation element, and the third rotation element calculated by the rotation gradient target value calculation means 60.
- the torques of MG1 and MG2 that realize the above are calculated. For example, the target value of the rotation speed time change rate d ⁇ g / dt of the first rotation element (MG1) calculated by the rotation gradient target value calculation means 60, the rotation speed time change rate d ⁇ of the second rotation element (engine 12).
- the shift control means 50 controls the operation of the MG1 and MG2 as MG1 torque T g and MG2 torque T m, which is calculated as described above are realized.
- the rotational gradient ratio calculating means 52 determines the target rotational speed of each rotary element and The difference value ratio ⁇ g : ⁇ e : ⁇ m with the current rotational speed is calculated, and the ratio d ⁇ g / dt: d ⁇ e / dt: d ⁇ m / dt of the rotational speed time change rate of each rotational element is calculated.
- the engine torque value obtaining means 54 obtains the output torque that is, the engine torque value T e of the engine 12 at the present time, by (c) the clutch torque value obtaining means 56, the geared transmission unit 20 Obtaining an engagement torque, that is, a clutch torque value T b at a present time of the provided engagement element, that is, the first brake B1 to the second brake B2, and (d) obtaining the power balance target value
- a power balance target value ⁇ P aim relating to the MG1 and MG2 is acquired by the acquiring means 58, and (e) the values obtained in (a) to (d) are used by the rotational gradient target value calculating means 60.
- the target value of the rotational speed time change rate d ⁇ / dt of each rotary element is calculated.
- the ratio of the time change rate d ⁇ g / dt: d ⁇ e / dt: d ⁇ m / dt is calculated, and (b ′) the difference value ratio ⁇ g obtained in (a) by the rotational gradient target value calculation means 60: ⁇ e : ⁇ m and ratio of rotation speed time change rate d ⁇ g / dt: d ⁇ e / dt: d ⁇ m / dt are satisfied, and the rotational change is smooth in a predetermined time from phase switching.
- the target value of the rotational speed time change rate d ⁇ / dt of each rotational element that reaches the synchronized rotational speed after shifting is calculated, and (c ′) the output torque of the engine 12 at the present time is calculated by the engine torque value acquisition means 54.
- the clutch torque command value calculation means 64 calculates an engagement torque command value of the engagement element provided in the stepped transmission unit 20, that is, the first brake B1 to the second brake B2. Specifically, the target value of the rotation speed change rate d ⁇ g / dt of the first rotation element calculated by the rotation gradient target value calculation means 60 and the rotation speed change rate d ⁇ e / dt of the second rotation element are calculated.
- the clutch torque T b satisfying the above-described equation (4) is calculated with respect to the target value ⁇ P aim of the power balance.
- the clutch torque T b is preferably, which corresponds to the clutch torque of engagement side engagement element according to the speed of the geared transmission unit 20, down from the high speed stage H to the low gear stage L In the shift control, it corresponds to the clutch torque T b2 of the second brake B2.
- the shift control means 50 preferably includes the torque of the engine 12, the torque of the engagement element provided in the stepped transmission unit 20, the torque of the MG1, and the torque of the MG2.
- control is performed to achieve the target value of the rotational speed time change rate d ⁇ / dt of each of the first rotating element, the second rotating element, and the third rotating element.
- work related to the operation of the MG1 and MG2 is taken into consideration. That is, each control device does not exclude work related to the operation of the MG1 and MG2 as in the balance calculation shown in the equation (4), and considers all related devices including those work. Determine the amount of control.
- the shift control means 50 preferably performs the first rotation element and the second rotation element after the shift when the movement of the operating point of the engine 12 and the shift control of the stepped transmission unit 20 are performed simultaneously.
- the change occurs in at least one of the target rotation speeds ⁇ gaim , ⁇ eaim , ⁇ maim of each of the third rotation elements, the first rotation element, the third rotation element corresponding to the changed target rotation speed
- the rotational speed time change rate d ⁇ / dt of each of the two rotation elements and the third rotation element is reset.
- the rotational gradient is reset by setting an absolute value of an actual rotational speed time change rate d ⁇ / dt of each of the first rotational element, the second rotational element, and the third rotational element.
- the actual rotation speed time change rate d ⁇ / dt of each of the first rotation element, the second rotation element, and the third rotation element is set to be higher than the rotation speed time change rate before the change of the target rotation speed. After the reduction, the rotational gradient is reset.
- FIG. 8 shows a target of the rotational speed of the g-axis corresponding to the ring gear R0 (MG2) that is the third rotational element during the control for simultaneously moving the operating point of the engine 12 and the shift control of the stepped transmission unit 20. It is a figure explaining the control in case a change arises in a value (synchronous rotation speed). In actual control, not only the third rotation element but also the target rotation speeds of the first rotation element and the second rotation element may be changed. In FIG. 8, the change of the third rotation element is representative. Only shows. In the control shown in FIG. 8, a change occurs in the target rotational speed (synchronous rotational speed) after the shift relating to the third rotational element at time t0, and the post-shift target rotational speed after the change in the subsequent control.
- a change occurs in the target rotational speed (synchronous rotational speed) after the shift relating to the third rotational element at time t0, and the post-shift target rotational speed after the change in the subsequent control.
- the shift control means 50 changes the rotational speed of each rotating element over time.
- the rate d ⁇ / dt is made lower than before the target rotational speed is changed, and is preferably zero. Then, in a state where the absolute value of the rotational speed time change rate d ⁇ / dt of each rotational element is less than a predetermined threshold, the current shift progress is reset to correspond to the changed target rotational speed after the change.
- the target value of the rotational gradient of each rotating element that is, the rotational speed time change rate d ⁇ / dt is reset.
- FIG. 9 is a flowchart for explaining a main part of the shift control by the E-ECU 22, MG-ECU 34, T-ECU 44, etc., and is repeatedly executed at a predetermined cycle.
- step (hereinafter, step is omitted) S1 the mode of shift control is set to phase 1.
- step (hereinafter, step is omitted) S2 a difference value ratio ⁇ g : ⁇ e : ⁇ m between the target rotation speed of each rotation element, that is, the first rotation element, the second rotation element, and the third rotation element, and the current rotation speed is calculated.
- the ratio d ⁇ g / dt: d ⁇ e / dt: d ⁇ m / dt of the rotational speed time change rate of each rotating element is calculated.
- S2a it is determined whether or not there is a change in the target rotational speed after shifting of each rotating element, that is, the target rotational speed.
- the difference value ratio ⁇ g : ⁇ e : ⁇ m between the target rotational speed of each rotary element and the current rotational speed is recalculated and the rotational speed time of each rotary element in S2d.
- the ratio of change rates d ⁇ g / dt: d ⁇ e / dt: d ⁇ m / dt is recalculated.
- the power balance target value ⁇ P aim for the MG1 and MG2 is acquired.
- the target value of the rotational speed time change rate d ⁇ / dt of each rotating element is calculated using the values obtained in S2 and S6 to S8.
- the calculated MG1 torque T g and MG2 torque T m to achieve the target value of the rotational speed time of each rotating element which is calculated change rate d [omega / dt at S9, the calculated MG1 torque T g and MG2 operation command to achieve the torque T m is output to the MG1 and MG2.
- the shift control mode is switched from phase 1 to phase 2.
- the difference value ratio ⁇ g : ⁇ e : ⁇ m calculated in S2 is equal to the ratio d ⁇ g / dt: d ⁇ e / dt: d ⁇ m / dt of the rotational speed time change rate.
- the target value of the rotational speed time change rate d ⁇ / dt of each rotary element that reaches the synchronous rotational speed after the shift with a smooth rotational change within a predetermined time from the phase change is calculated.
- the output torque of the engine 12, that is, the engine torque value Te is acquired.
- a power balance target value ⁇ P aim for the MG1 and MG2 is acquired.
- the clutch torque T is obtained using the target value of the rotational speed time change rate d ⁇ / dt of each rotary element, the engine torque value Te , and the target value ⁇ P aim of the power balance obtained in S13 to S15.
- the processing from S10 onward is executed.
- S1 to S11 are operations of the shift control means 50
- S2, S2a to S2d are operations of the rotational gradient ratio calculation means 52
- S6 and S14 are operations of the engine torque value acquisition means 54.
- S7 in the operation of the clutch torque value obtaining means 56, in S8 and S15 is the operation of the power balance target value obtaining means 58, S9 and S13 in the operation of the rotating gradient target value calculating means 60
- S10 requires the MG S16 corresponds to the operation of the torque calculation means 62
- S16 corresponds to the operation of the clutch torque command value calculation means 64, respectively.
- the sun gear S0 which is the first rotation element after the shift
- the second rotation The difference value ⁇ between the target rotation speed of each of the carrier C0 as the element and the ring gear R0 as the third rotation element and the actual rotation speed of each of the first rotation element, the second rotation element, and the third rotation element at the present time
- the ratio of the rotational speed time change rate d ⁇ / dt of each of the first rotation element, the second rotation element, and the third rotation element is determined by the first rotation element, the second rotation element, and the third rotation element.
- control Since the control is performed so as to be equal to the ratio of the difference value ⁇ corresponding to each, the occurrence of a shift shock or the like can be suppressed while controlling the power balance to a desired value. That is, it is possible to provide a control device for the hybrid vehicle 8 that realizes a suitable shift while suppressing deterioration of fuel consumption.
- the target rotation speeds of the first rotation element, the second rotation element, and the third rotation element after the shift respectively.
- the rotational speed time rate of change of each of the first rotational element, the second rotational element, and the third rotational element corresponding to the changed target rotational speed d ⁇ / dt Therefore, even if the target rotation speed of each rotating element is changed due to the accelerator pedal being depressed during the shift, the power balance will be shifted. And a suitable shift can be realized.
- the resetting of the rotational speed time change rate d ⁇ / dt is determined in advance by determining the absolute value of the actual rotational speed time change rate d ⁇ / dt of each of the first rotational element, the second rotational element, and the third rotational element. Since it is executed at a timing that is less than the threshold value, a sudden change in the rotational speed of each rotating element can be suppressed, and a more suitable shift can be realized.
- the ratio of the rotational speed time change rate d ⁇ / dt of each of the first rotational element, the second rotational element, and the third rotational element corresponding to the ratio of the difference value ⁇
- the output power of the engine 12, the transmission power of the first brake B1 to the second brake B2 that are engagement elements provided in the stepped transmission unit 20, the MG1 and the second motor that are the first motors Rotational speed change of each of the first rotation element, the second rotation element, and the third rotation element by performing a balance calculation based on the target value ⁇ P aim of the power balance value and the inertia power of the MG2.
- the target value of the rate d ⁇ / dt is calculated, the target value of the rotational speed time change rate d ⁇ / dt of each rotary element that realizes a suitable shift without causing a shift in the power balance is practical. It can be derived in modal.
- At least one of the torque of the engine 12, the torque of the first brake B1 to the second brake B2 provided in the stepped transmission unit 20, the torque of the MG1, and the torque of the MG2 is controlled.
- the control to achieve the target value of the rotational speed time change rate d ⁇ / dt of each of the first rotating element, the second rotating element, and the third rotating element is performed, so that the power balance is controlled to a desired value.
- a suitable shift that suppresses occurrence of a shift shock or the like can be realized in a practical manner.
- the balance calculation because it is intended to calculate the balance of power excluding work according to the operation of the MG1 and MG2, with the electrical continuously variable transmission unit 19 and the geared transmission unit 20 power
- the input / output power balance calculation can be performed in a practical manner with respect to the transmission device 10.
- the work related to the operation of the MG1 and MG2 is taken into consideration, so that the speed balance is controlled while controlling the power balance to a desired value.
- a suitable shift that suppresses the occurrence of a shock or the like can be realized in a practical manner.
- the present invention is not limited to this.
- the present invention is also suitably applied to a configuration in which one or more engaging elements (clutches) are provided between the electric continuously variable transmission 19 and the stepped transmission 20.
- the stepped transmission unit provided in the hybrid vehicle to which the present invention is applied is not limited to the one described in the above-described embodiment, and for example, a hybrid vehicle including a multi-stage transmission unit having three or more stages or the like.
- the present invention is preferably applied.
- the present invention may be applied to a hybrid vehicle including a continuously variable transmission such as a CVT capable of performing a speed change operation in a multi-speed mode in which a gear ratio is changed stepwise.
- the present invention is applied to shift control in a mode in which the stepped transmission unit 20 performs gripping of a plurality of engagement elements, that is, so-called clutch-to-clutch shift.
- the stepped transmission unit is provided with a one-way clutch that prevents relative rotation in the reverse direction while allowing relative rotation in the same direction as the rotation of the engine 12 with respect to the housing 42 of the carrier C1 and ring gear R2
- the present invention is also suitably applied to shift control in which the first brake B1, which is the side engagement element, is released and the one-way clutch is locked to establish the gear stage L.
- the target rotation change of each rotating element is calculated using the equation of motion such as the equation (5).
- the target rotation change of each rotation element may be calculated using the plurality of maps.
Abstract
Description
Claims (7)
- 第1回転要素、入力回転部材であってエンジンに連結された第2回転要素、及び出力回転部材である第3回転要素を備えた差動機構と、
該第1回転要素に連結された第1の電動機と、
前記第3回転要素から駆動輪までの動力伝達経路に動力伝達可能に接続された第2の電動機とを、有する電気的無段変速部と、
該電気的無段変速部と駆動輪との間の動力伝達経路の一部を構成する有段変速部と
を、備えたハイブリッド車両の制御装置であって、
前記エンジンの動作点の移動及び前記有段変速部の変速制御を同時に行う場合において、変速後の前記第1回転要素、第2回転要素、及び第3回転要素それぞれの目標回転速度と現時点におけるそれら第1回転要素、第2回転要素、及び第3回転要素それぞれの実際の回転速度との差分値を算出し、前記第1回転要素、第2回転要素、及び第3回転要素それぞれの回転数時間変化率の比が、それら第1回転要素、第2回転要素、及び第3回転要素それぞれに対応する前記差分値の比と等しくなるように制御するものであることを特徴とするハイブリッド車両の制御装置。 - 前記エンジンの動作点の移動及び前記有段変速部の変速制御を同時に行う場合において、変速後の前記第1回転要素、第2回転要素、及び第3回転要素それぞれの目標回転速度のうち少なくとも1つに変更が生じた場合には、変更後の目標回転速度に対応して前記第1回転要素、第2回転要素、及び第3回転要素それぞれの回転数時間変化率を再設定するものである請求項1に記載のハイブリッド車両の制御装置。
- 前記回転数時間変化率の再設定は、前記第1回転要素、第2回転要素、及び第3回転要素それぞれの実際の回転数時間変化率の絶対値が予め定められた閾値未満であるタイミングにおいて実行されるものである請求項2に記載のハイブリッド車両の制御装置。
- 予め定められた関係から、前記差分値の比に対応する前記第1回転要素、第2回転要素、及び第3回転要素それぞれの回転数時間変化率の比、変速中における前記エンジンの出力パワー、前記有段変速部に備えられた係合要素の伝達パワー、前記第1の電動機及び第2の電動機に係るパワー収支値の目標値、及び慣性仕事率に基づく釣合計算を行うことにより、前記第1回転要素、第2回転要素、及び第3回転要素それぞれの回転数時間変化率の目標値を算出するものである請求項1から3の何れか1項に記載のハイブリッド車両の制御装置。
- 前記エンジンのトルク、前記有段変速部に備えられた係合要素のトルク、前記第1の電動機のトルク、及び前記第2の電動機のトルクのうち少なくとも1つを制御することにより、前記第1回転要素、第2回転要素、及び第3回転要素それぞれの回転数時間変化率の目標値を達成する制御を行うものである請求項4に記載のハイブリッド車両の制御装置。
- 前記釣合計算は、前記第1の電動機及び第2の電動機の作動に係る仕事を除外したパワーの釣合について計算するものである請求項4又は5に記載のハイブリッド車両の制御装置。
- 前記回転数時間変化率の目標値を達成する制御においては、前記第1の電動機及び第2の電動機の作動に係る仕事を考慮するものである請求項5又は6に記載のハイブリッド車両の制御装置。
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US13/876,332 US8930101B2 (en) | 2010-09-27 | 2010-09-27 | Hybrid vehicle differential element speed control |
JP2012536042A JP5413519B2 (ja) | 2010-09-27 | 2010-09-27 | ハイブリッド車両の制御装置 |
PCT/JP2010/066734 WO2012042590A1 (ja) | 2010-09-27 | 2010-09-27 | ハイブリッド車両の制御装置 |
DE112010005907T DE112010005907T5 (de) | 2010-09-27 | 2010-09-27 | Steuervorrichtung für ein Hybridfahrzeug |
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JP2018086973A (ja) * | 2016-11-29 | 2018-06-07 | トヨタ自動車株式会社 | ハイブリッド車両の制御装置 |
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DE102013017946B8 (de) * | 2013-10-29 | 2015-07-30 | Audi Ag | Verfahren zum Betreiben einer Hybridantriebseinrichtung sowie entsprechende Hybridantriebseinrichtung |
JP6512160B2 (ja) | 2016-04-19 | 2019-05-15 | トヨタ自動車株式会社 | 車両用動力伝達装置の制御装置 |
JP6458769B2 (ja) * | 2016-05-18 | 2019-01-30 | トヨタ自動車株式会社 | ハイブリッド自動車 |
DE102020122362A1 (de) * | 2020-08-26 | 2022-03-03 | Bayerische Motoren Werke Aktiengesellschaft | Kraftfahrzeug mit mindestens zwei Antriebsmotoren und mit einem Automatikgetriebe, das eine feste und eine leistungsverzweigte Übersetzungsstufe aufweist |
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JP2009096363A (ja) * | 2007-10-17 | 2009-05-07 | Toyota Motor Corp | 車両用動力伝達装置の制御装置 |
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US8930101B2 (en) | 2015-01-06 |
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US20130184920A1 (en) | 2013-07-18 |
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