WO2013111866A1 - ハイブリッド駆動装置 - Google Patents
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- WO2013111866A1 WO2013111866A1 PCT/JP2013/051617 JP2013051617W WO2013111866A1 WO 2013111866 A1 WO2013111866 A1 WO 2013111866A1 JP 2013051617 W JP2013051617 W JP 2013051617W WO 2013111866 A1 WO2013111866 A1 WO 2013111866A1
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- torque
- motor
- control
- tmg
- inertia
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Classifications
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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- B60K6/00—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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
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- F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- Y10S903/902—Prime movers comprising electrical and internal combustion motors
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- Y10S903/904—Component specially adapted for hev
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Definitions
- the present invention relates to a hybrid drive device mounted on a vehicle or the like, and more particularly, to a structure in which a rotation of an input member to which an internal combustion engine and a motor are drivingly connected is shifted by a stepped transmission mechanism, and an inertia shuttle that is being shifted
- the present invention relates to a hybrid drive device that generates at least part of the motor torque.
- Patent Document 1 discloses a parallel hybrid drive device having a stepped speed change mechanism, in which an inertia system of an input system member (a member connected to an input shaft) that is required for shifting in the stepped speed change mechanism is a motor. It is proposed that the speed change control is performed so that the rotation speed of the input shaft becomes the set target rotation speed.
- the motor maximum torque Tmg-max (motor performance limit) decreases, so that the motor torque Tmg is in the inertia phase as indicated by an arrow X. Down slope.
- the input torque Tin which is the sum of the engine torque Te and the motor torque Tmg, decreases, so that the release-side friction element torque TA also has a downward slope as indicated by the arrow Y, that is, the friction engagement on the release side.
- the engagement state of the elements is further shifted to the release side, and the torque transmitted to the output side (wheel side) is reduced so that the inertia torque required by the input system member is generated.
- the output torque Tout also has a downward slope, and the driving force tends to decrease during the shift despite the power-on downshift that the driver requests an increase in the driving force. There is a problem of causing.
- the motor torque Tmg has a downward slope as indicated by an arrow X, and in order to secure an inertia torque required by the input system member, the release side frictional element torque TA is also indicated by an arrow Y.
- the engagement hydraulic pressure of the frictional engagement element on the disengagement side is electronically controlled so as to follow the fluctuation of the motor torque Tmg, but the hydraulic response is dull compared to the electronic control Due to these reasons, it is difficult to control the release side frictional element torque TA with good response.
- the present invention is one in which at least a part of the inertia torque during the shift is generated by the motor torque, preventing the change in the gradient of the input rotation speed change during the shift, and the driving force of the driver during the shift. It is an object of the present invention to provide a hybrid drive device that can output a driving force according to demand and can prevent a sense of incongruity during shifting.
- the hybrid drive device (5) of the present invention includes an input member (15) that is drivingly connected to the internal combustion engine (2), A motor (3) drivingly connected to the input member (15); A stepped transmission mechanism capable of shifting the rotation of the input member (15) by changing the engagement state of the friction engagement elements (C-1, C-2, C-3, B-1, B-2). (7) and At least the engagement state of the frictional engagement element is controlled during a shift, and an input system member (for example, 2a, 10, K0, 3a, 15, etc.) that is drivingly connected to the input member (15) during the shift.
- an input system member for example, 2a, 10, K0, 3a, 15, etc.
- a control device (20) capable of controlling at least a part of the inertia torque (Ti) necessary for the rotation change to be generated by a motor torque (Tmg) output by the motor (3),
- the control device (20) sets the motor torque (Tmg) in the inertia phase during the shift as the absolute value of the performance limit torque (Tmg-max, Tmg-min) of the motor before and after the shift.
- a target input rotational speed (Nin-target) of the input member (15) during the speed change is set, and the input system member in the inertia phase is limited to a set value (Tmg-lim) set to a value less than
- Tmg-lim set to a value less than
- the engagement state of the frictional engagement element that controls the change in rotation is controlled such that an inertia torque (Ti) calculated from the target input rotational speed (Nin-target) is generated in the input system member.
- the motor torque in the inertia phase during the shift is limited to a set value that is set to a value smaller than the absolute value of the motor performance limit torque before and after the shift. It is possible to prevent the motor torque from fluctuating due to torque fluctuation.
- the engagement state of the friction engagement element that controls the rotation change of the input system member in the inertia phase is controlled so that the inertia torque calculated from the target input rotational speed is generated in the input system member, the input system member It is possible to stably control the engagement state of the friction engagement element that controls the rotational change of the input member so that the rotation speed of the input member becomes the target input rotation speed. Therefore, it is possible to prevent the gradient of the input rotation speed change during the shift from fluctuating, and it is possible to prevent the occurrence of uncomfortable feeling during the shift.
- the engagement state of the frictional engagement element that controls the rotation change of the input system member that is, the fluctuation gradient of the torque transmitted by the frictional engagement element is determined by the output torque to the wheel according to the driver's driving force request. It is possible to set the gradient to be generated. As a result, it is possible to output a driving force in response to a driver's request for driving force during a shift, and to prevent a sense of incongruity during the shift.
- the control device (20) controls the inertia torque (Ti) at the end of the shift.
- the smoothing control is executed to moderate the fluctuation, and the smoothing torque sharing rate between the motor (3) and the friction engagement element in the smoothing control is set, and the smoothing torque sharing rate is set based on the smoothing torque sharing rate.
- the motor (3) and the friction engagement element are controlled so as to distribute the torque shared by the smoothing control.
- the smoothing torque sharing ratio between the motor and the friction engagement element in the smoothing control is set, and the torque shared by the smoothing control is distributed between the motor and the friction engagement element based on the smoothing torque sharing ratio. Therefore, it is not necessary to change the torque of the internal combustion engine in the smoothing control, and the engine blow and the input rotation speed that may occur when the smoothing control is performed using the internal combustion engine. It is possible to prevent variations such as a drop in the height.
- the smoothing torque sharing ratio between the motor and the friction engagement element it is possible to prevent the motor torque exceeding the motor performance limit torque from being required, and excessive torque is applied to either one. Good smoothing control can be realized without being required.
- the control device (20) determines the smoothing torque sharing rate as the inertia phase. Is set based on an engagement state of a friction engagement element that controls a rotation change of the input system member.
- the smoothing torque sharing ratio is set based on the engagement state of the friction engagement element that controls the rotation change of the input system member in the inertia phase, so that it exceeds the limit of the torque that can be generated by the friction engagement element. This can be prevented and good annealing control can be realized.
- the control device (20) is in the smoothing control, and the input member Based on the actual rotational speed (Nin) of (15), the engagement state of the motor (3) and the friction engagement element is feedback-controlled with respect to the target input rotational speed (Nin-target), and the feedback control
- the feedback gain of the motor and the feedback gain of the friction engagement element are set according to the smoothing torque sharing rate.
- the feedback gain of the motor in the feedback control of the smoothing control and the feedback gain of the friction engagement element are set according to the smoothing torque sharing rate, so that hunting is prevented in the feedback control and the control is diverged. Can be prevented, and good feedback control can be performed.
- the control device (20) The start timing (for example, t13, t23, t33, t43) of the feedback control of the motor (3) and the start timing (for example, t12, t22, t32, t42) of the feedback control of the engagement state of the friction engagement element are set. It is characterized by doing.
- the start timing of the feedback control of the motor and the start timing of the feedback control of the engagement state of the friction engagement element are respectively set according to the smoothing torque sharing ratio, and in particular, the hydraulic response of the friction engagement element In consideration of motor control with quicker responsiveness, good feedback control can be performed.
- the engagement table of a stepped transmission mechanism. The flowchart which shows the inertia calculation control at the time of a power ON downshift.
- the flowchart which shows annealing control. The time chart which shows each value in a power ON downshift.
- a hybrid vehicle equipped with a hybrid drive device according to the present invention will be described with reference to FIG.
- the hybrid drive device is suitable for being mounted on an FF (front engine / front drive) type vehicle, and the left-right direction in the figure corresponds to the left-right direction in an actual vehicle-mounted state.
- FF front engine / front drive
- the drive source side of the engine or the like is referred to as “front side”
- the side opposite to the drive source is referred to as “rear side”.
- the drive connection refers to a state in which the rotating elements are connected so as to be able to transmit a driving force, and the rotating elements are connected so as to rotate integrally, or the rotating elements are connected via a clutch or the like.
- it is used as a concept including a state where the driving force is connected so as to be transmitted.
- the hybrid vehicle 1 has a motor / generator (motor) 3 in addition to the internal combustion engine 2 as a drive source, and a hybrid drive device 5 constituting a power train of the hybrid vehicle 1. Is arranged on a transmission path 30 between the internal combustion engine 2 and the wheel 6, and is disposed between the stepped transmission mechanism 7 and the internal combustion engine 2. Details of the power transmission device 10 that can drive and connect the input shaft (input member) 15 of the mechanism 7 to transmit power, the motor 3 that is drivingly connected to the input shaft 15, and the stepped transmission mechanism 7 will be described later.
- Control unit is configured to include the (ECU) 20, a.
- the control unit 20 includes an input shaft rotation sensor 80 that detects the rotation speed (input rotation speed Nin) of the input shaft 15, and more specifically, the rotation speed (output rotation speed Nout) of a counter gear 24 or a counter shaft 28 described later.
- An output shaft rotation (vehicle speed) sensor 81 to detect and an accelerator opening sensor 82 to detect an accelerator opening which is a depression amount of an accelerator pedal (not shown) are connected.
- the control unit 20 stores and stores a shift map (not shown), and makes a shift determination by referring to the shift map based on the output rotational speed Nout (that is, the vehicle speed) and the accelerator opening. Shift control (power ON downshift, power OFF upshift, power ON upshift, power OFF downshift) of the stepped transmission mechanism 7 described later is executed.
- the power transmission device 10 includes a damper 12 connected to the crankshaft 2a of the internal combustion engine 2 via a drive plate 11, a connection shaft 13 to which the damper 12 is connected, and the connection shaft 13 and a stepped gear shift. And a clutch K0 for connecting and disconnecting power transmission to and from the input shaft 15 of the mechanism 7.
- the clutch K0 is composed of, for example, a multi-plate clutch, and includes an inner friction plate 17 that is drivingly connected to the connection shaft 13 and an outer friction plate 19 that is drivingly connected to the input shaft 15. That is, the clutch K0 has an inner friction plate 17 that is drivingly connected to the transmission path 31 on the engine side of the transmission path 30 and an outer friction plate 19 that is drivingly connected to the transmission path 32 on the wheel side.
- the motor 3 is disposed on the outer diameter side of the clutch K0 so as to overlap in the axial position.
- the motor 3 includes a rotor 3a that is drivingly connected to the input shaft 15, and a diameter thereof.
- the stator 3b is arranged so as to face the outside in the direction.
- the hybrid drive device 5 controls the hydraulic control device 21 by the control unit (ECU) 20 to engage the clutch K0 when the vehicle is driven mainly using the driving force of the internal combustion engine 2, and the wheels During EV traveling that travels only with the driving force of the motor 3 that is drivingly connected to the transmission path 32 on the side, the clutch K0 is released, and the transmission path 31 on the engine side and the transmission path 32 on the wheel side are disconnected, that is, the internal combustion engine. 2 is separated.
- ECU control unit
- the stepped transmission mechanism 7 includes a planetary gear SP and a planetary gear unit PU on the input shaft 15.
- the planetary gear SP is a so-called single pinion planetary gear that includes a sun gear S1, a carrier CR1, and a ring gear R1, and has a pinion P1 that meshes with the sun gear S1 and the ring gear R1.
- the planetary gear unit PU has a sun gear S2, a sun gear S3, a carrier CR2, and a ring gear R2 as four rotating elements.
- the long gearion PL meshed with the sun gear S2 and the ring gear R2 and the sun gear S3.
- This is a so-called Ravigneaux type planetary gear that has meshing short pinions PS that mesh with each other.
- the sun gear S1 of the planetary gear SP is fixed to the case 23, and the ring gear R1 is drivingly connected to the input shaft 15 so as to rotate the same as the input shaft 15 (hereinafter referred to as “input rotation”). It is said.) Further, the carrier CR1 is decelerated by reducing the input rotation by the fixed sun gear S1 and the ring gear R1 that rotates, and is connected to the clutch C-1 and the clutch C-3.
- the sun gear S2 of the planetary gear unit PU is connected to a brake B-1 comprising a band brake so as to be fixed to the case 23, and is connected to the clutch C-3 via the clutch C-3.
- the sun gear S3 is connected to the clutch C-1, so that the decelerated rotation of the carrier CR1 can be input.
- the carrier CR2 is connected to a clutch C-2 to which the rotation of the input shaft 15 is input, and the input rotation can be freely input through the clutch C-2, and the one-way clutch F-1 and Connected to the brake B-2, rotation in one direction with respect to the case 23 is restricted via the one-way clutch F-1, and rotation can be fixed via the brake B-2.
- the ring gear R2 is connected to a counter gear 24.
- the counter gear 24 is connected to the wheel 6 via a counter shaft 28 and a differential device 29.
- the clutches C-1 to C-3, the brakes B-1 to B-2, and the one-way clutch F-1 shown in the skeleton of FIG. 1 are shown in the engagement table of FIG.
- the first forward speed (1ST) to the sixth forward speed (6TH) and the first reverse speed (REV) are achieved.
- the frictional engagement elements (clutch C-1 to C-3, brake B-1 to B-2) on the release side are released and the engagement side The frictional engagement element is engaged.
- the power-on downshift is a shift that shifts down while the accelerator is on, and is a shift state such as a kickdown, for example.
- a member drivingly connected to the input shaft 15, that is, the input shaft 15, the rotor 3 a of the motor 3, the clutch K 0, the connecting shaft 13, the damper 12, the drive plate 11, the internal combustion engine 2.
- the number of rotations of the same rotating members such as the crankshaft 2a and the like, and the clutch drum of the clutch C-2 and the ring gear R1 in the stepped transmission mechanism 7 increase after shifting.
- the internal combustion engine 2 In the power ON downshift, the internal combustion engine 2 outputs a driving force based on the accelerator ON, and outputs a torque that increases the rotation of the input system member. Therefore, a friction engagement element (clutch C -1 to C-3, brake B-1 to B-2), the engagement state (release state) of the release side friction engagement element (hereinafter referred to as "release side friction element”) is loosened. (If the torque to be transmitted is reduced), the torque transmitted to the wheel side of the engine torque Te acting on the input system member is reduced, and thereby the rotation of the input system member can be increased. Therefore, in the power-on downshift, an inertia phase is executed in which the rotation change is performed mainly with release control of the release side friction element.
- the motor torque in the inertia phase is shared by the motor torque Tmg and the release side friction element torque TA in the inertia phase by controlling as follows. It is possible to output stably so that Tmg does not fluctuate as much as possible.
- the control unit 20 first sets the target input rotation speed Nin-target in the inertia phase to the input rotation speed Nin before the shift, the input rotation speed Nin after the shift (the output rotation speed Nout (that is, the vehicle speed)), and the gear after the shift. And a target shift time tch from the start of the shift to the end of the shift.
- a value obtained by subtracting the input rotation speed Nin before the shift from the input rotation speed Nin after the shift is set to the target rotation change acceleration ⁇ target which is the acceleration of the target input rotation speed Nin-target. It is calculated by dividing by the target shift time tch (S12).
- control unit 20 multiplies the calculated target rotational change acceleration ⁇ target by the above-described total inertia amount of the input system member (hereinafter referred to as “input system member inertia”) Iin, thereby obtaining the rotational change of the input system member.
- input system member inertia total inertia amount of the input system member
- An inertia torque Ti generated based on the calculated value is calculated (S13).
- the performance limit of the motor 3 (the motor performance limit torque) is based on the performance characteristics of the motor.
- the absolute values of the motor maximum torque Tmg-max and the motor minimum torque Tmg-min that are) decrease as the rotation changes. For example, if the motor torque Tmg is output at the maximum motor torque Tmg-max that is the performance limit of the motor 3 in order to generate the inertia torque Ti, the motor torque Tmg falls during the inertia phase. (See FIG. 12).
- the control unit 20 calculates the maximum motor torque Tmg-max (that is, the speed of the shift) after the shift (time t16) based on the motor rotation speed Nmg before the shift that can be calculated from the post-shift gear ratio Gaf and the output rotation speed Nout.
- the smaller value (the absolute value of the motor performance limit torque before and after) is set as the set value Tmg-lim so as to be the upper limit value of the motor torque Tmg (S14).
- the set value Tmg-lim is set to the maximum motor torque Tmg-max after the shift (time point t16). However, if the set value Tmg-lim is set to be less than this, the motor torque Tmg varies in the inertia phase. It goes without saying that it will disappear. However, from the viewpoint of generating the inertia torque Ti, it is preferable that the set value Tmg-lim is as large as possible as an absolute value. In the present embodiment, the set value Tmg-lim is changed to a value after the shift (time point t16). Set the motor maximum torque Tmg-max.
- the control unit 20 sets the actually output motor torque Tmg to a smaller one of the set value Tmg-lim and the inertia torque Ti (the inertia torque Ti Is smaller than the set value Tmg-lim, it is set by the motor 3 so that all inertia torque Ti is generated) and output (S15).
- the control unit 20 subtracts the release side frictional element torque TA from the target torque Ttarg, the value obtained by subtracting the motor torque Tmg from the inertia torque Ti, and the smaller of 0 (zero).
- Ttarget ⁇ Min ((Ti ⁇ Tmg) or0) ⁇ )
- the inertia torque is generated entirely by the motor 3, the inertia torque is set by the release side friction element. Since it does not need to be generated, the share is set to 0).
- the torque shared by the disengagement side friction element is set to be a torque obtained by subtracting from the torque required as the driving force output to the wheel indicated by the broken line in FIG.
- the release side friction element torque TA is set so as to share the inertia torque, and the hydraulic control device 21 commands the engagement pressure of the release side friction element to be adjusted to the release side friction element torque TA. Is output (S16), and the inertia calculation control is terminated (S17).
- the motor torque Tmg is output as a set value Tmg-lim.
- the motor torque Tmg is stably output at a constant value without fluctuation as indicated by the arrow A from time t11 to time t13 when the feedback control of the smoothing control motor described later is started.
- the input torque Tin which is a value obtained by adding the engine torque Te and the motor torque Tmg
- the input torque Tin is output along the value obtained by adding the set value Tmg-lim to the target torque Ttarget, that is, the target torque Ttarg and the motor maximum torque Tmg- It is in a range between an upper limit value obtained by adding max and a lower limit value obtained by adding the target torque Ttarget and the minimum motor torque Tmg-min, and is stably controlled without exceeding the limit of the motor performance.
- the release side friction element is controlled to be the release side friction element torque TA set as described above (so as to share the remaining inertia torque after subtracting the motor torque Tmg).
- the release-side frictional element torque TA is controlled so as to increase as shown by the arrow B, and the driver It is possible to set the gradient according to the driving force requirement. Therefore, the output torque Tout also has a constant rising gradient as shown by the arrow C from the time point t11 to the time point t13, giving the driver who is stepping on the accelerator a feeling that the output torque Tout is increasing. This prevents the driver from feeling uncomfortable during the shift.
- the motor torque Tmg in the inertia phase during the shift is set to be equal to or less than the smaller value of the motor performance limit torque (motor maximum torque Tmg-max) before and after the shift. Since it is limited to the set value Tmg-lim, it is possible to prevent the motor torque Tmg from fluctuating due to fluctuations in the motor performance limit torque (motor maximum torque Tmg-max) during gear shifting (see FIG. 12). . As a result, the input rotational speed Nin (rotational change of the input system member) increases so as to stably reach the target input rotational speed Nin-target with a constant gradient as indicated by an arrow D. It is possible to prevent the driver from feeling uncomfortable during the shift by preventing fluctuation of the meter.
- the engine torque Te is stably reduced as compared with motor control or hydraulic control of the friction engagement element.
- the broken line U the decrease in the engine torque Te is delayed and the input rotational speed Nin temporarily rises, so-called engine blowing occurs, or the engine torque Te decreases as shown by the broken line V.
- the input rotation speed Nin temporarily drops and stagnates at a relatively high frequency.
- smoothing control is performed by controlling the motor 3 and controlling the engagement state of the disengagement side friction element, and the smoothing control is completed without using the internal combustion engine 2 (engine torque Te). Make it possible. Less than.
- the smoothing control according to the present embodiment will be described with reference to FIGS.
- the control unit 20 starts the smoothing control.
- S51 feedback control of the disengagement side friction element so that the actual input rotational speed (actual rotational speed of the input shaft) Nin detected by the input shaft rotational sensor 80 becomes the target input rotational speed Nin-target. It is determined whether (FB) is started or feedback control (FB) of the motor 3 is started (S52).
- the control unit 20 waits until the feedback control of the release side friction element or the feedback control of the motor 3 is started (NO in S52), and when either is started (YES in S52), the motor torque Tmg and the release side are started.
- Set the sharing ratio of the smoothing torque with the friction element torque TA that is, the sharing ratio of the torque used in the smoothing control of the motor torque and the friction element torque
- the respective feedback gains that is, the feedback gain of the disengagement side friction element and the feedback gain of the motor 3 are set according to the smoothing torque sharing ratio (S53).
- the control unit 20 calculates the smoothing torque sharing ratio of the motor 3 by the ratio of the motor maximum torque Tmg-max (or the motor minimum torque Tmg-min) to the inertia torque Ti.
- the remainder (100% —the smoothing torque sharing ratio of the motor 3) is set as the smoothing torque sharing ratio of the disengagement side friction element.
- the ratio of the motor torque Tmg output at the set value Tmg-lim can be calculated from the engagement state of the combined element (that is, the release side friction element torque TA), so the smoothing torque based on the release side friction element torque TA
- the sharing rate can be set.
- the control unit 20 determines whether or not the shift control is completed (S54), If the control has not ended (NO in S54), the feedback gain sharing rate is output (S55), that is, the feedback control of the disengagement side friction element and the feedback control of the motor 3 are executed with the shared gain.
- each of the feedback gain of the disengagement side friction element and the feedback gain of the motor 3 set in accordance with the smoothing torque sharing ratio as described above is changed from the target input rotational speed Nin-target to the input rotational speed Nin.
- the PI feedback proportional-integral control
- the smoothing control is ended (S56).
- the release-side frictional element torque TA increases from the time t12, so that the torque transmitted to the wheels is increased and the inertia torque Ti with respect to the input system member is reduced (that is, the rotational change is reduced).
- the motor torque Tmg input torque Tin
- the engagement-side friction element is hydraulically controlled to start engagement, and the engagement-side friction element torque TB is increased and the release-side friction element torque TA is decreased, that is, torque transmission is released.
- the torque phase is shifted from the side friction element to the engagement side friction element.
- the smoothing torque sharing rate between the motor 3 and the release side frictional engagement element is set, and the motor 3 and the freezing side frictional engagement element are used based on the smoothing torque sharing rate. Since control is performed so that the torque shared by the annealing control is distributed, it is unnecessary to vary the torque of the internal combustion engine 2 in the annealing control, and the annealing control is performed using the internal combustion engine 2 Variations such as engine blowing and a drop in the input rotational speed Nin that may occur are prevented. Further, by setting the smoothing torque sharing ratio between the motor 3 and the friction engagement element, the motor torque Tmg exceeding the performance limit torque (motor maximum torque Tmg-max or motor minimum torque Tmg-min) of the motor 3 can be obtained. It is possible to prevent the requirement, and good smoothing control can be realized without requiring excessive torque on either side.
- the annealing torque sharing ratio is set based on the engagement state of the release-side friction element in the inertia phase, it is possible to prevent exceeding the limit of the torque that can be generated in the release-side friction element. Annealing control can be realized.
- start timing of the feedback control of the motor and the start timing of the feedback control of the engagement state of the friction engagement element are respectively set according to the annealing torque sharing ratio, particularly from the hydraulic response of the disengagement side friction element
- good feedback control can be performed in consideration of motor control with quick response.
- the smoothing torque sharing rate is defined as the engagement state of the release side friction element in the inertia phase (that is, the sharing rate of the inertia torque between the motor torque Tmg and the release side friction element torque TB in the inertia phase).
- it may be reset again in consideration of, for example, the end time of the annealing control.
- it is preferable to set the motor torque Tmg so that it does not exceed the set value Tmg-lim.
- the power-off upshift is a shift that is upshifted while the accelerator is OFF, and is a so-called off-up shift state.
- the rotational speed of the input shaft 15 is lowered after the shift.
- the internal combustion engine 2 outputs a negative torque that lowers the rotation of the input system member due to the non-output state of the driving force based on the accelerator OFF. If the state is loosened (if the torque to be transmitted is reduced), the reverse input of the vehicle inertia torque from the wheels acting on the input system member to the internal combustion engine 2 is reduced, and thereby the rotation of the input system member is reduced. It can be lowered. Therefore, in the power OFF upshift, an inertia phase is executed in which the rotation change is performed mainly with release control of the release side friction element.
- the inertia torque is shared by the motor torque Tmg and the disengagement side friction element torque TA in the inertia phase. It is possible to output stably so that the motor torque Tmg in the phase does not vary as much as possible.
- the control unit 20 sets the target input rotation speed Nin-target and sets the target rotation speed that is the acceleration of the target input rotation speed Nin-target, similarly to steps S12 and S13 in the power ON downshift described above.
- the change acceleration ⁇ targ is calculated by subtracting the input rotation speed Nin before the shift from the input rotation speed Nin after the shift by the target shift time tch (S22), and the calculated target rotation change acceleration ⁇ target is input to the input system member.
- the inertia Iin is multiplied to calculate the inertia torque Ti generated based on the rotation change of the input system member (S23).
- the input rotational speed Nin that is, the motor rotational speed Nmg becomes low after the shift as the upshift is performed.
- the absolute values of the maximum motor torque Tmg-max and the minimum motor torque Tmg-min, which are performance limits of 3, increase as the rotation changes. For example, if the motor torque Tmg is output at the motor minimum torque Tmg-min, which is the performance limit of the motor 3, in order to generate the inertia torque Ti, the motor torque Tmg increases during the inertia phase. .
- the control unit 20 calculates the minimum motor torque Tmg-min (that is, the speed change) before the shift (time t21) based on the motor rotation speed Nmg before the shift that can be calculated from the gear ratio Gbe before the shift and the output rotation speed Nout.
- the smaller value (the absolute value of the motor performance limit torque before and after) is set as the set value Tmg-lim so as to be the lower limit value of the motor torque Tmg (S24).
- the set value Tmg-lim is set to the motor minimum torque Tmg-min before shifting (time t21).
- the absolute value is set to be lower than this, the motor torque Tmg is set. It goes without saying that no longer fluctuates in the inertia phase.
- the set value Tmg-lim is as large as possible as an absolute value. Therefore, in the present embodiment, the set value Tmg-lim is changed before the shift (time point t21). Set the motor minimum torque Tmg-min.
- the control unit 20 determines that the motor torque Tmg that is actually output is the larger one of the set value Tmg-lim and the inertia torque Ti (the smaller absolute value). (When the inertia torque Ti is larger than the set value Tmg-lim, the motor 3 is set so as to generate all the inertia torque Ti) and output (S25).
- the control unit 20 subtracts the release side frictional element torque TA from the target torque Ttarg, the value obtained by subtracting the motor torque Tmg from the inertia torque Ti, and the smaller of 0 (zero).
- Ttarget ⁇ Min ((Ti ⁇ Tmg) or0) ⁇ )
- the inertia torque is set by the release side friction element. Since it does not need to be generated, the share is set to 0). That is, the torque shared by the disengagement side friction element is set to be a torque obtained by subtracting from the torque required as the driving force output to the wheel indicated by the broken line in FIG.
- the release side friction element torque TA is set so as to share the inertia torque, and the hydraulic control device 21 commands the engagement pressure of the release side friction element to be adjusted to the release side friction element torque TA. Is output (S26), and the inertia calculation control is terminated (S27).
- the input torque Tin that is a value obtained by adding the engine torque Te and the motor torque Tmg is output along the value obtained by adding the set value Tmg-lim to the target torque Ttarget, that is, the target torque Ttarg and the motor minimum torque Tmg ⁇ .
- the range is between the upper limit value obtained by adding min and the lower limit value obtained by adding the target torque Ttarg and the motor minimum torque Tmg-min, and is stably controlled without exceeding the limit of the motor performance.
- the release side friction element is controlled to be the release side friction element torque TA set as described above (so as to share the remaining inertia torque after subtracting the motor torque Tmg).
- the release-side frictional element torque TA is controlled to increase as shown by the arrow F from the time point t21 to the time point t22 when the feedback control of the frictional element for smoothing control described later is started.
- the output torque Tout has a downward gradient as shown by the arrow G between the time point t21 and the time point t24, and the output torque Tout decreases for the driver who releases the accelerator (OFF). It is possible to prevent the driver from feeling uncomfortable during the shift by giving a sense.
- the motor torque Tmg in the inertia phase during the shift is less than the smaller value as the absolute value of the motor performance limit torque (motor minimum torque Tmg-min) before the shift. Therefore, it is possible to prevent the motor torque Tmg from fluctuating due to fluctuations in the motor performance limit torque (motor minimum torque Tmg-min) during the shift.
- the input rotational speed Nin rotational change of the input system member
- the target input rotational speed Nin-target with a substantially constant gradient, as indicated by an arrow H. It is possible to prevent the driver from feeling uncomfortable during the shift by preventing fluctuations in the tachometer and the like.
- the annealing control in this power OFF upshift will be described. Even in this power OFF upshift, the annealing control shown in FIG. 4 is executed in the same manner. That is, when the shift progress rate reaches a predetermined progress rate, the control unit 20 starts the main smoothing control (S51), starts the feedback control (FB) of the disengagement side friction element, or feedback of the motor 3 It is determined whether control (FB) is started (S52). When either feedback control is started (YES in S52), the smoothing torque sharing ratio between the motor torque Tmg and the release side frictional element torque TA is set, and the torque shared by the smoothing control is distributed. The respective feedback gains, that is, the feedback gain of the disengagement side friction element and the feedback gain of the motor 3 are set in accordance with the smoothing torque sharing ratio (S53).
- the smoothing torque sharing ratio is calculated by calculating the ratio of the smoothing torque of the motor 3 by the ratio of the motor maximum torque Tmg-max (or the motor minimum torque Tmg-min) to the inertia torque Ti, and the remaining (100% -motor 3 (Annealing torque sharing ratio) is an annealing torque sharing ratio of the release side friction element.
- the control unit 20 determines whether or not the shift control is completed (S54), If the control has not ended (NO in S54), the feedback gain sharing rate is output (S55), that is, the feedback control of the disengagement side friction element and the feedback control of the motor 3 are executed with the shared gain.
- the control unit 20 determines the end of the shift control at time t26 (YES in S54)
- the smoothing control is ended (S56).
- the time t22 is a start timing that takes into account the response delay of the disengagement side friction element and the smoothing torque sharing ratio with respect to the time t23 that is the start timing of the feedback control of the motor 3. Starts the feedback control of the disengagement friction element.
- the release-side frictional element torque TA increases from the time t22, so that the torque transmitted to the wheel side is increased and the inertia torque Ti with respect to the input system member is reduced (that is, the rotational change is reduced).
- the motor torque Tmg input torque Tin
- the engagement side friction element is hydraulically controlled to start engagement, and the engagement side friction element torque TB is increased and the release side friction element torque TA is decreased, that is, the torque transmission is released.
- the torque phase is shifted from the side friction element to the engagement side friction element.
- the engagement-side friction element is engaged at time t25, and the release-side friction element is released by time t26, so that the output torque Tout is output according to the gear ratio after the shift,
- the shift control ends at time t26.
- the smoothing torque sharing ratio between the motor 3 and the disengagement side frictional engagement element is set, and the motor 3 and the releasing are based on the smoothing torque sharing ratio. Since the torque shared by the smoothing control with the side frictional engagement element is controlled, it is not necessary to change the torque of the internal combustion engine 2 in the smoothing control. Variations such as engine blowing and a drop in the input rotational speed Nin, which may occur when annealing control is performed, are prevented. Further, by setting the smoothing torque sharing ratio between the motor 3 and the friction engagement element, the motor torque Tmg exceeding the performance limit torque (motor maximum torque Tmg-max or motor minimum torque Tmg-min) of the motor 3 can be obtained. It is possible to prevent the requirement, and good smoothing control can be realized without requiring excessive torque on either side.
- the annealing torque sharing ratio is set based on the engagement state of the release-side friction element in the inertia phase, it is possible to prevent exceeding the limit of the torque that can be generated in the release-side friction element. Annealing control can be realized.
- start timing of the feedback control of the motor and the start timing of the feedback control of the engagement state of the friction engagement element are respectively set according to the annealing torque sharing ratio, particularly from the hydraulic response of the disengagement side friction element
- good feedback control can be performed in consideration of motor control with quick response.
- the shift control at the time of power-on upshift when traveling mainly using the driving force of the internal combustion engine 2 will be described with reference to FIGS.
- the period from time t31 to time t32 is a “torque phase” period in which the torque sharing of the friction elements is switched, and the period in which the input rotation speed Nin from time t32 to time t36 is changed is “inertia phase”. Is the period.
- “smoothing control” that moderates the fluctuation of the inertia torque Ti is executed.
- the power ON upshift is a shift that shifts up while the accelerator is ON, that is, a state that shifts upshift during acceleration.
- the rotation speed of the input shaft 15 is lowered after the shift.
- the internal combustion engine 2 outputs a driving torque based on the accelerator ON and outputs a positive torque for increasing the rotation of the input system member. Since the member only rotates and rises, if the engagement state of the engagement side friction element is tightened (if the torque to be transmitted is increased), the internal combustion torque of the vehicle inertia torque from the wheel side acting on the input system member is increased. The reverse input to the engine 2 is increased, whereby the rotation of the input system member can be lowered. Therefore, in the power-on upshift, the torque phase for exchanging the torque sharing between the disengagement side friction element and the engagement side friction element is executed first, and then the rotation change is performed mainly with the engagement control of the engagement side friction element. Execute the inertia phase.
- the following control is performed so that the engine torque Te (torque reduction), the motor torque Tmg, and the engagement side friction element torque are in the inertia phase. While the inertia torque is shared by the TB, the motor torque Tmg in the inertia phase can be output stably so as not to fluctuate as much as possible.
- the control unit 20 sets the target input rotation speed Nin-target and sets the target rotation speed that is the acceleration of the target input rotation speed Nin-target, similarly to steps S12 and S13 in the power ON downshift described above.
- the change acceleration ⁇ targ is calculated by subtracting the input rotation speed Nin before the shift from the input rotation speed Nin after the shift by the target shift time tch (S32), and the calculated target rotation change acceleration ⁇ target is input to the input system member.
- the inertia Iin is multiplied to calculate the inertia torque Ti generated based on the rotation change of the input system member (S33).
- the motor rotation speed is reduced based on the performance characteristics of the motor.
- the control unit 20 is based on the post-shift motor rotation speed Nmg that can be calculated from the pre-shift gear ratio Gbe and the output rotation speed Nout, before the shift (time t31) (or at the time t32 before the start of the inertia phase).
- the minimum motor torque Tmg-min (that is, the smaller value of the absolute value of the motor performance limit torque before and after shifting) is set as the set value Tmg-lim so as to be the lower limit value of the motor torque Tmg. (S34).
- the set value Tmg-lim is set to the motor minimum torque Tmg-min before shifting (time point t31).
- the absolute value is set to be lower than this, the motor torque Tmg is set. It goes without saying that no longer fluctuates in the inertia phase.
- the set value Tmg-lim is as large as possible as an absolute value. Therefore, in the present embodiment, the set value Tmg-lim is set to the value before the shift (time point t31). Set the motor minimum torque Tmg-min.
- the control unit 20 determines that the motor torque Tmg that is actually output is the larger one of the set value Tmg-lim and the inertia torque Ti (the smaller absolute value). (When the inertia torque Ti is larger than the set value Tmg-lim, the motor 3 sets the inertia torque T to generate all) and outputs it (S35).
- the control unit 20 sets the engine torque Te so that the torque is reduced with a maximum torque reduction amount (for example, 50%) determined in advance by the engine performance, and then continues to the engagement side.
- the friction element torque TB is a value obtained by subtracting the smaller value of 0 (zero) from the value obtained by subtracting the motor torque Tmg and the engine torque Te from the inertia torque Ti from the target torque Ttarg. Min ((Ti ⁇ Tmg ⁇ Te) or0) ⁇ ”) (when all the inertia torque Ti is generated by the motor 3, it is not necessary to generate the inertia torque at the engagement side friction element, so that it is shared. Set to 0).
- the torque shared by the engagement-side friction element is set so as to be a torque obtained by adding only the amount of the arrow M to the torque transmitted as the driving force to the wheel indicated by the broken line in FIG.
- the engagement-side friction element torque TB is set so as to share the remaining inertia torque that cannot be generated by the torque Tmg and the engine torque Te, and the engagement-side friction element torque TB is set to be the engagement-side friction element torque TB.
- a command is output so that the engagement pressure of the friction element is regulated by the hydraulic control device 21 (S36), and the inertia calculation control is terminated (S37).
- the input torque Tin which is a value obtained by adding the engine torque Te and the motor torque Tmg
- the input torque Tin is output along the value obtained by adding the engine torque reduction amount and the set value Tmg-lim to the target torque Ttarget, that is, the motor performance. It is controlled stably without exceeding the limit. Further, the torque is reduced so that the engine torque Te is stably and substantially constant.
- the engagement side friction element is controlled so as to be the engagement side friction element torque TB set as described above (so as to share the remaining inertia torque obtained by subtracting the motor torque Tmg and the engine torque Te).
- the engagement-side friction element torque TB is controlled to have a constant gradient as indicated by an arrow J from time t32 to time t33 when the feedback control of the frictional control for smoothing control described later is started. Therefore, the output torque Tout has a substantially constant gradient as shown by the arrow K between the time point t32 and the time point t34, and the driver who is stepping on the accelerator feels that the output torque Tout decreases (a feeling of deceleration). This prevents the driver from feeling uncomfortable during the shift.
- the motor torque Tmg in the inertia phase during the shift is less than the smaller value as the absolute value of the motor performance limit torque (motor minimum torque Tmg-min) before the shift. Therefore, it is possible to prevent the motor torque Tmg from fluctuating due to fluctuations in the motor performance limit torque (motor minimum torque Tmg-min) during the shift. As a result, the input rotational speed Nin (rotational change of the input system member) falls so as to stably reach the target input rotational speed Nin-target with a constant gradient as indicated by an arrow L. It is possible to prevent the driver from feeling uncomfortable during the shift by preventing fluctuation of the meter.
- the annealing control in the power ON upshift will be described. Even in the power ON upshift, the annealing control shown in FIG. 4 is executed in the same manner. That is, when the shift progress rate reaches a predetermined progress rate, the control unit 20 starts the main smoothing control (S51), starts the feedback control (FB) of the engagement side friction element, or the motor 3 It is determined whether feedback control (FB) has been started (S52). When either feedback control is started (YES in S52), the torque sharing ratio between the motor torque Tmg and the engagement-side friction element torque TB is set, and the torque shared by the annealing control is distributed. Then, the respective feedback gains, that is, the feedback gain of the engagement side friction element and the feedback gain of the motor 3 are set according to the smoothing torque sharing ratio (S53).
- the torque reduction of the engine torque Te was performed in the inertia phase.
- the engine torque Te is not used and the motor torque Tmg and the engagement-side friction element torque TB are not used. It is also characterized by setting the torque sharing rate.
- the smoothing torque sharing ratio is calculated by calculating the ratio of the smoothing torque of the motor 3 by the ratio of the motor maximum torque Tmg-max (or the motor minimum torque Tmg-min) to the inertia torque Ti, and the rest (100% -motor 3 is an annealing torque sharing ratio of the engagement side friction element.
- the control unit 20 determines whether or not the shift control is finished (S54). If the shift control is not completed (NO in S54), the feedback gain sharing ratio is output (S55), that is, the feedback control of the engagement side friction element and the feedback control of the motor 3 are executed with the shared gains, respectively. To do.
- the control unit 20 determines the end of the shift control at time t36 (YES in S54), the smoothing control is ended (S56).
- the engagement-side friction element torque TB decreases from the time t33, so that the torque transmitted to the wheel side is reduced and the inertia torque Ti with respect to the input system member is reduced (that is, the rotational change is reduced).
- the motor torque Tmg input torque Tin
- the engagement side friction element torque TB is brought into an engagement state for transmitting the torque to be transmitted to the wheel side, and the inertia phase is almost ended, so that the engagement side friction element of the engagement side friction element is reached by the time point t36. Engagement is completed (complete engagement), and the shift control ends at time t36.
- the smoothing torque sharing ratio between the motor 3 and the engagement side frictional engagement element is set, and the motor 3 and the motor 3 are controlled based on the smoothing torque sharing ratio. Since the torque shared by the smoothing control is controlled by the engagement side frictional engagement element, it is not necessary to change the torque of the internal combustion engine 2 in the smoothing control. Variations such as engine blowing and a drop in the input rotational speed Nin, which may occur when the annealing control is used, are prevented. Further, by setting the smoothing torque sharing ratio between the motor 3 and the friction engagement element, the motor torque Tmg exceeding the performance limit torque (motor maximum torque Tmg-max or motor minimum torque Tmg-min) of the motor 3 can be obtained. It is possible to prevent the requirement, and good smoothing control can be realized without requiring excessive torque on either side.
- the annealing torque sharing ratio is set based on the engagement state of the engagement side friction element in the inertia phase, it is possible to prevent exceeding the limit of the torque that can be generated in the engagement side friction element, Good annealing control can be realized.
- start timing of the feedback control of the motor and the start timing of the feedback control of the engagement state of the friction engagement element are respectively set according to the annealing torque sharing ratio, particularly the hydraulic response of the engagement side friction element In consideration of motor control with quicker responsiveness, good feedback control can be performed.
- the power OFF downshift is a shift that shifts down while the accelerator is OFF, that is, a state that shifts down during deceleration.
- the rotational speed of the input shaft 15 increases after the shift.
- the internal combustion engine 2 outputs a negative torque that lowers the rotation of the input system member by setting the driving force to the non-output state based on the accelerator OFF, so that the input by releasing the disengagement side friction element Since the system member only rotates and descends, if the engagement state of the engagement side friction element is tightened (if the torque to be transmitted is increased), the vehicle inertia torque from the wheel side acting on the input system member, The reverse input to the internal combustion engine 2 is increased, whereby the rotation of the input system member can be increased.
- the torque phase for exchanging the torque sharing between the disengagement side friction element and the engagement side friction element is executed first, and then the rotational change is performed mainly with the engagement control of the engagement side friction element. Execute the inertia phase.
- the following control is performed so that the motor torque Tmg and the engagement side friction element torque TB are in the inertia phase. While sharing the inertia torque, the motor torque Tmg in the inertia phase can be output stably so as not to vary as much as possible.
- the control unit 20 sets the target input rotation speed Nin-target and sets the target rotation speed that is the acceleration of the target input rotation speed Nin-target, similarly to steps S12 and S13 in the power ON downshift described above.
- the change acceleration ⁇ targ is calculated by subtracting the input rotation speed Nin before the shift from the input rotation speed Nin after the shift by the target shift time tch (S42), and the calculated target rotation change acceleration ⁇ target is input to the input system member.
- the inertia Iin is multiplied to calculate the inertia torque Ti generated based on the rotation change of the input system member (S43).
- the input rotation speed Nin that is, the motor rotation speed Nmg becomes high after the shift as the downshift is performed.
- the control unit 20 calculates the maximum motor torque Tmg-max (that is, the speed change) after the shift (time t46) based on the motor rotation speed Nmg after the shift that can be calculated from the gear ratio Gbe before the shift and the output rotation speed Nout.
- the smaller value (the absolute value of the motor performance limit torque before and after) is set as the set value Tmg-lim so as to be the upper limit value of the motor torque Tmg (S44).
- the set value Tmg-lim is set to the motor maximum torque Tmg-max after the shift (time point t46).
- the absolute value is set to be less than this, the motor torque Tmg is set. It goes without saying that no longer fluctuates in the inertia phase.
- the set value Tmg-lim is as large as possible as an absolute value. Therefore, in the present embodiment, the set value Tmg-lim is changed after the shift (time point t46). Set the motor maximum torque Tmg-max.
- the control unit 20 sets the actually output motor torque Tmg to the smaller of the set value Tmg-lim and the inertia torque Ti (the inertia torque Ti is If it is smaller than the set value Tmg-lim, it is set by the motor 3 so that all inertia torque Ti is generated) and output (S45).
- the control unit 20 sets the engagement side friction element torque TB to a value obtained by subtracting the motor torque Tmg from the inertia torque Ti from the target torque Ttarg, and the smaller of 0 (zero).
- the engagement side friction element torque TB is set so as to share the remaining inertia torque that cannot be generated by the torque Tmg, and the engagement side friction element torque TB is set so as to be the engagement side friction element torque TB.
- a command is output so that the combined pressure is regulated by the hydraulic control device 21 (S46), and the inertia calculation control is terminated (S47).
- the input torque Tin which is a value obtained by adding the engine torque Te and the motor torque Tmg
- the input torque Tin is output along the value obtained by adding the engine torque reduction amount and the set value Tmg-lim to the target torque Ttarget, that is, the motor performance. It is controlled stably without exceeding the limit.
- the engagement side friction element is controlled so as to be the engagement side friction element torque TB set as described above (so as to share the remaining inertia torque after subtracting the motor torque Tmg).
- the engagement side frictional element torque TB is controlled to have a constant gradient as indicated by the arrow O from the time point t42 to the time point t43 when the feedback control of the frictional element for smoothing control described later is started.
- the output torque Tout has a substantially constant gradient as shown by the arrow P between the time point t42 and the time point t44, and the output torque Tout increases for the driver who releases the accelerator (OFF). A feeling (acceleration feeling) is prevented, and it is possible to prevent the driver from feeling uncomfortable during the shift.
- the motor torque Tmg in the inertia phase during the shift is less than the smaller value as the absolute value of the motor performance limit torque (motor maximum torque Tmg-max) before the shift. Therefore, it is possible to prevent the motor torque Tmg from fluctuating due to fluctuations in the motor performance limit torque (motor maximum torque Tmg-max) during shifting.
- the input rotational speed Nin rotational change of the input system member
- falls so as to stably reach a target input rotational speed Nin-target with a constant gradient as indicated by an arrow Q and therefore, fluctuations in engine sound and rotational speed It is possible to prevent the driver from feeling uncomfortable during the shift by preventing fluctuation of the meter.
- the annealing control in the power OFF downshift will be described. Even in this power-off downshift, the annealing control shown in FIG. 4 is executed in the same manner. That is, when the shift progress rate reaches a predetermined progress rate, the control unit 20 starts the main smoothing control (S51), starts the feedback control (FB) of the engagement side friction element, or the motor 3 It is determined whether feedback control (FB) has been started (S52). When either feedback control is started (YES in S52), the torque sharing ratio between the motor torque Tmg and the engagement-side friction element torque TB is set, and the torque shared by the annealing control is distributed. Then, the respective feedback gains, that is, the feedback gain of the engagement side friction element and the feedback gain of the motor 3 are set according to the smoothing torque sharing ratio (S53).
- the smoothing torque sharing ratio is calculated by calculating the ratio of the smoothing torque of the motor 3 by the ratio of the motor maximum torque Tmg-max (or the motor minimum torque Tmg-min) to the inertia torque Ti, and the rest (100% -motor 3 is an annealing torque sharing ratio of the engagement side friction element.
- the control unit 20 determines whether or not the shift control is finished (S54). If the shift control is not completed (NO in S54), the feedback gain sharing ratio is output (S55), that is, the feedback control of the engagement side friction element and the feedback control of the motor 3 are executed with the shared gains, respectively. To do.
- the control unit 20 determines the end of the shift control at time t46 (YES in S54), the smoothing control is ended (S56).
- the engagement-side friction element torque TB decreases from the time t43, so that the torque transmitted to the wheel side is reduced and the inertia torque Ti with respect to the input system member is reduced (that is, the rotational change is reduced). ), And the motor torque Tmg (input torque Tin) also decreases (decreases) from time t44, so that the inertia torque Ti is gradually decreased and finally becomes zero.
- the engagement side friction element torque TB is brought into an engagement state for transmitting the torque transmitted to the wheel side, and the inertia phase is almost finished, so that the engagement side friction element of the engagement side friction element is reached by the time t46. Engagement is completed (complete engagement), and the shift control ends at time t46.
- the smoothing torque sharing ratio between the motor 3 and the engagement side frictional engagement element is set, and the motor 3 and the motor 3 are controlled based on the smoothing torque sharing ratio. Since the torque shared by the smoothing control is controlled by the engagement side frictional engagement element, it is not necessary to change the torque of the internal combustion engine 2 in the smoothing control. Variations such as engine blowing and a drop in the input rotational speed Nin, which may occur when the annealing control is used, are prevented. Further, by setting the smoothing torque sharing ratio between the motor 3 and the friction engagement element, the motor torque Tmg exceeding the performance limit torque (motor maximum torque Tmg-max or motor minimum torque Tmg-min) of the motor 3 can be obtained. It is possible to prevent the requirement, and good smoothing control can be realized without requiring excessive torque on either side.
- the annealing torque sharing ratio is set based on the engagement state of the engagement side friction element in the inertia phase, it is possible to prevent exceeding the limit of the torque that can be generated in the engagement side friction element, Good annealing control can be realized.
- start timing of the feedback control of the motor and the start timing of the feedback control of the engagement state of the friction engagement element are respectively set according to the annealing torque sharing ratio, particularly the hydraulic response of the engagement side friction element In consideration of motor control with quicker responsiveness, good feedback control can be performed.
- the motor 3 is directly driven and connected to the input shaft 15.
- the present invention is not limited to this, and the motor is placed on another parallel shaft.
- the present invention can be applied even to those arranged and connected by a gear mechanism or a chain.
- the hybrid drive device according to the present invention can be used for vehicles such as passenger cars, trucks, etc., and particularly those that generate at least a part of the inertia torque during the shift by the motor torque. It is suitable for use where it is required to prevent.
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Abstract
Description
前記入力部材(15)に駆動連結されるモータ(3)と、
前記入力部材(15)の回転を摩擦係合要素(C-1,C-2,C-3,B-1,B-2)の係合状態を変更することにより変速し得る有段変速機構(7)と、
少なくとも変速中に前記摩擦係合要素の係合状態を制御すると共に、前記変速中における前記入力部材(15)に駆動連結された入力系部材(例えば2a,10,K0,3a,15等)の回転変化に必要なイナーシャトルク(Ti)の少なくとも一部を、前記モータ(3)により出力するモータトルク(Tmg)によって発生するように制御し得る制御装置(20)と、を備え、
前記制御装置(20)は、前記変速中のイナーシャ相における前記モータトルク(Tmg)を、前記変速の前後における前記モータの性能限界トルク(Tmg-max,Tmg-min)の絶対値として小さい方の値以下に設定された設定値(Tmg-lim)に制限すると共に、前記変速中における前記入力部材(15)の目標入力回転数(Nin-targ)を設定し、前記イナーシャ相における前記入力系部材の回転変化を制御する摩擦係合要素の係合状態を、前記目標入力回転数(Nin-targ)から算出されるイナーシャトルク(Ti)が前記入力系部材に発生するように制御することを特徴とする。
図1に示すように、ハイブリッド車両1は、駆動源として、内燃エンジン2の他に、モータ・ジェネレータ(モータ)3を有しており、このハイブリッド車両1のパワートレーンを構成するハイブリッド駆動装置5は、内燃エンジン2と車輪6との間の伝動経路30上に設けられる有段変速機構7と、該有段変速機構7と内燃エンジン2との間に配置され、内燃エンジン2と有段変速機構7の入力軸(入力部材)15とを駆動連結して動力を伝達し得る動力伝達装置10と、該入力軸15に駆動連結されたモータ3と、有段変速機構7の詳しくは後述する摩擦係合要素(クラッチやブレーキ)を油圧制御する油圧制御装置21と、モータ3及び内燃エンジン2を自在に指令制御し得ると共に油圧制御装置21を電子制御し得る制御装置としての制御部(ECU)20と、を有して構成されている。
ついで、有段変速機構7の構成について説明する。有段変速機構7には、入力軸15上において、プラネタリギヤSPと、プラネタリギヤユニットPUとが備えられている。該プラネタリギヤSPは、サンギヤS1、キャリヤCR1、及びリングギヤR1を備えており、該キャリヤCR1に、サンギヤS1及びリングギヤR1に噛合するピニオンP1を有している、いわゆるシングルピニオンプラネタリギヤである。
ついで、本ハイブリッド駆動装置5において、主に内燃エンジン2の駆動力を用いて走行している場合のパワーONダウンシフト時の変速制御について図3乃至図5に沿って説明する。なお、図5において、時点t11から時点t14までの入力回転数Ninが変化する期間が「イナーシャ相」の期間であり、時点t14から時点t16までの期間が摩擦要素のトルク分担が入れ替わる「トルク相」の期間である。また、時点t12から時点t16までの変速の終期において、イナーシャトルクTiの変動を緩やかにする「なまし制御」が実行される。
続いて、パワーONダウンシフト時のイナーシャ計算について、図5を参照しつつ図3に沿って説明する。制御部20が、例えばアクセル開度や車速に基づきパワーONダウンシフトを判断すると、図5に示す時点t11までに図3に示すパワーONダウンシフト時イナーシャ計算制御を開始する(S11)。
ここで、変速の終期におけるイナーシャトルクTiの変動を緩やかにする、なまし制御の従来制御について図12に沿って説明する。図12に示すように、時点tbから時点teまでの変速の終期において、入力系部材の回転上昇が止まっていき、つまり入力系部材の回転加速度を減速方向に転換する状態にあっては、入力系部材の回転上昇を減速させるために、モータトルクTmgを負方向に制御すると共に内燃エンジン2のトルクリダクションを行う必要があった。
ついで、主に内燃エンジン2の駆動力を用いて走行している場合のパワーOFFアップシフト時の変速制御について図6及び図7に沿って説明する。なお、図7において、時点t21から時点t24までの入力回転数Ninが変化する期間が「イナーシャ相」の期間であり、時点t24から時点t26までの期間が摩擦要素のトルク分担が入れ替わる「トルク相」の期間である。また、時点t22から時点t26までの変速の終期において、イナーシャトルクTiの変動を緩やかにする「なまし制御」が実行される。
続いて、パワーOFFアップシフト時のイナーシャ計算について、図7を参照しつつ図6に沿って説明する。制御部20が、例えばアクセル開度や車速に基づきパワーOFFアップシフトを判断すると、図7に示す時点t21までに図6に示すパワーOFFアップシフト時イナーシャ計算制御を開始する(S21)。
ついで、本パワーOFFアップシフトにおける、なまし制御について説明する。本パワーOFFアップシフトにあっても、図4に示すなまし制御を同様に実行する。即ち、変速進行率が所定の進行率まで到達すると、制御部20は本なまし制御を開始し(S51)、解放側摩擦要素のフィードバック制御(FB)を開始したか、或いは、モータ3のフィードバック制御(FB)を開始したかを判定する(S52)。どちらかのフィードバック制御が開始されると(S52のYES)、モータトルクTmgと解放側摩擦要素トルクTAとのなましトルク分担率を設定し、なまし制御で分担するトルクを配分されるように、それぞれのフィードバックゲイン、即ち解放側摩擦要素のフィードバックゲイン及びモータ3のフィードバックゲインを上記なましトルク分担率に応じて設定する(S53)。
ついで、主に内燃エンジン2の駆動力を用いて走行している場合のパワーONアップシフト時の変速制御について図8及び図9に沿って説明する。なお、図9において、時点t31から時点t32までの期間が摩擦要素のトルク分担が入れ替わる「トルク相」の期間であり、時点t32から時点t36までの入力回転数Ninが変化する期間が「イナーシャ相」の期間である。また、時点t33から時点t36までの変速の終期において、イナーシャトルクTiの変動を緩やかにする「なまし制御」が実行される。
続いて、パワーONアップシフト時のイナーシャ計算について、図9を参照しつつ図8に沿って説明する。制御部20が、例えばアクセル開度や車速に基づきパワーONアップシフトを判断すると、図9に示す時点t31までに図8に示すパワーONアップシフト時イナーシャ計算制御を開始する(S31)。
ついで、本パワーONアップシフトにおける、なまし制御について説明する。本パワーONアップシフトにあっても、図4に示すなまし制御を同様に実行する。即ち、変速進行率が所定の進行率まで到達すると、制御部20は本なまし制御を開始し(S51)、係合側摩擦要素のフィードバック制御(FB)を開始したか、或いは、モータ3のフィードバック制御(FB)を開始したかを判定する(S52)。どちらかのフィードバック制御が開始されると(S52のYES)、モータトルクTmgと係合側摩擦要素トルクTBとのなましトルク分担率を設定し、なまし制御で分担するトルクを配分されるように、それぞれのフィードバックゲイン、即ち係合側摩擦要素のフィードバックゲイン及びモータ3のフィードバックゲインを上記なましトルク分担率に応じて設定する(S53)。
ついで、主に内燃エンジン2の駆動力を用いて走行している場合のパワーOFFダウンシフト時の変速制御について図10及び図11に沿って説明する。なお、図11において、時点t41から時点t42までの期間が摩擦要素のトルク分担が入れ替わる「トルク相」の期間であり、時点t42から時点t46までの入力回転数Ninが変化する期間が「イナーシャ相」の期間である。また、時点t43から時点t46までの変速の終期において、イナーシャトルクTiの変動を緩やかにする「なまし制御」が実行される。
続いて、パワーOFFダウンシフト時のイナーシャ計算について、図11を参照しつつ図10に沿って説明する。制御部20が、例えばアクセル開度や車速に基づきパワーOFFダウンシフトを判断すると、図11に示す時点t41までに図10に示すパワーOFFダウンシフト時イナーシャ計算制御を開始する(S41)。
ついで、本パワーOFFダウンシフトにおける、なまし制御について説明する。本パワーOFFダウンシフトにあっても、図4に示すなまし制御を同様に実行する。即ち、変速進行率が所定の進行率まで到達すると、制御部20は本なまし制御を開始し(S51)、係合側摩擦要素のフィードバック制御(FB)を開始したか、或いは、モータ3のフィードバック制御(FB)を開始したかを判定する(S52)。どちらかのフィードバック制御が開始されると(S52のYES)、モータトルクTmgと係合側摩擦要素トルクTBとのなましトルク分担率を設定し、なまし制御で分担するトルクを配分されるように、それぞれのフィードバックゲイン、即ち係合側摩擦要素のフィードバックゲイン及びモータ3のフィードバックゲインを上記なましトルク分担率に応じて設定する(S53)。
なお、以上説明した本実施の形態においては、例えば前進6速段及び後進段を達成し得る有段変速機構7を備えたものを説明したが、例えば前進3~5速段や前進7速段以上を達成する有段変速機構であってもよく、つまり摩擦係合要素の掴み換え変速を行うものであれば、どのような有段変速機構であっても本発明を適用し得る。
3 モータ
5 ハイブリッド駆動装置
7 有段変速機構
15 入力部材(入力軸)
20 制御装置(制御部)
C-1 摩擦係合要素(クラッチ)
C-2 摩擦係合要素(クラッチ)
C-3 摩擦係合要素(クラッチ)
B-1 摩擦係合要素(ブレーキ)
B-2 摩擦係合要素(ブレーキ)
Nin 入力部材の実際の回転数(入力回転数)
Nin-targ 目標入力回転数
Ti イナーシャトルク
Tmg モータトルク
Tmg-max モータの性能限界トルク(モータ最大トルク)
Tmg-min モータの性能限界トルク(モータ最少トルク)
Tmg-lim 設定値
Claims (5)
- 内燃エンジンに駆動連結される入力部材と、
前記入力部材に駆動連結されるモータと、
前記入力部材の回転を摩擦係合要素の係合状態を変更することにより変速し得る有段変速機構と、
少なくとも変速中に前記摩擦係合要素の係合状態を制御すると共に、前記変速中における前記入力部材に駆動連結された入力系部材の回転変化に必要なイナーシャトルクの少なくとも一部を、前記モータにより出力するモータトルクによって発生するように制御し得る制御装置と、を備え、
前記制御装置は、前記変速中のイナーシャ相における前記モータトルクを、前記変速の前後における前記モータの性能限界トルクの絶対値として小さい方の値以下に設定された設定値に制限すると共に、前記変速中における前記入力部材の目標入力回転数を設定し、前記イナーシャ相における前記入力系部材の回転変化を制御する摩擦係合要素の係合状態を、前記目標入力回転数から算出されるイナーシャトルクが前記入力系部材に発生するように制御する、
ことを特徴とするハイブリッド駆動装置。 - 前記制御装置は、前記変速の終期にイナーシャトルクの変動を緩やかにするなまし制御を実行すると共に、前記なまし制御における前記モータと前記摩擦係合要素とのなましトルク分担率を設定して、前記なましトルク分担率に基づき前記モータと前記摩擦係合要素とにより前記なまし制御で分担するトルクを配分するように制御する、
ことを特徴とする請求項1記載のハイブリッド駆動装置。 - 前記制御装置は、前記なましトルク分担率を、前記イナーシャ相における前記入力系部材の回転変化を制御する摩擦係合要素の係合状態に基づき設定する、
ことを特徴とする請求項2記載のハイブリッド駆動装置。 - 前記制御装置は、前記なまし制御にあって、前記入力部材の実際の回転数に基づき前記目標入力回転数に対して前記モータ及び前記摩擦係合要素の係合状態をフィードバック制御すると共に、前記フィードバック制御における前記モータのフィードバックゲイン及び前記摩擦係合要素のフィードバックゲインを前記なましトルク分担率に応じて設定する、
ことを特徴とする請求項2または3記載のハイブリッド駆動装置。 - 前記制御装置は、前記なましトルク分担率に応じて、前記モータのフィードバック制御の開始タイミングと前記摩擦係合要素の係合状態のフィードバック制御の開始タイミングとをそれぞれ設定する、
ことを特徴とする請求項4記載のハイブリッド駆動装置。
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US20140303825A1 (en) | 2014-10-09 |
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