WO2014051107A1 - 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
- Publication number
- WO2014051107A1 WO2014051107A1 PCT/JP2013/076409 JP2013076409W WO2014051107A1 WO 2014051107 A1 WO2014051107 A1 WO 2014051107A1 JP 2013076409 W JP2013076409 W JP 2013076409W WO 2014051107 A1 WO2014051107 A1 WO 2014051107A1
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- WIPO (PCT)
- Prior art keywords
- clutch
- rotational speed
- control
- engine
- electrical machine
- Prior art date
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Classifications
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- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
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- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/443—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/50—Drive Train control parameters related to clutches
- B60L2240/507—Operating parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/26—Transition between different drive modes
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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
- B60W2540/00—Input parameters relating to occupants
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/02—Clutches
- B60W2710/021—Clutch engagement state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/02—Clutches
- B60W2710/025—Clutch slip, i.e. difference between input and output speeds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B60W2710/081—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/42—Control of clutches
- B60Y2300/429—Control of secondary clutches in drivelines
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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
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/93—Conjoint control of different elements
Definitions
- the present invention relates to a hybrid vehicle control device in which a first clutch, a rotating electrical machine, and a second clutch are arranged in order from the engine side on a power transmission path from an engine to a wheel.
- the present invention relates to a control apparatus for a hybrid vehicle that starts a vehicle by interrupting power generation control when a start request is detected during power generation control for driving an electric machine.
- the starting method as in Patent Document 1 has a problem that the vehicle cannot be started by EV traveling when the remaining battery level is low. If the vehicle cannot be started by EV traveling, the engine connection clutch is released once, the clutch of the transmission mechanism is engaged, and then the engine is started by the driving force of the engine while the engine connection clutch is slip-engaged. Therefore, it takes time until the vehicle actually starts after there is a driver's start request (brake OFF, accelerator ON, etc.), giving the driver a feeling like hesitation.
- the engine connection clutch is slipped when a vehicle start request is detected, for example, by a driver turning off the brake or turning on the accelerator.
- a vehicle start request is detected, for example, by a driver turning off the brake or turning on the accelerator.
- the present invention is to start a hybrid vehicle based on the detection of a start request from a state where power generation control is performed while the vehicle is stopped, and the start request while ensuring the durability of the second clutch.
- An object of the present invention is to provide a control device for a hybrid vehicle that improves the response from start to start of the vehicle and can mitigate hesitation.
- a first clutch (SSC) and a rotating electrical machine (in order from the engine (2) side are arranged on the power transmission path from the engine (2) to the wheel (6). 4) Used for the hybrid vehicle (100) provided with the second clutch (C1), In the hybrid vehicle control device (1) for starting the hybrid vehicle (100) based on the detection of the start request, First clutch control means (22) for controlling the engagement state of the first clutch (SSC) based on the detection of the start request; Second clutch control means (25) for controlling the engagement state of the second clutch (C1) based on the detection of the start request; On the basis of the detection of the start request, rotating electrical machine control means for controlling the rotational speed of the rotating electrical machine (4) so that the rotational speed (Nm) of the rotating electrical machine (4) becomes a target rotational speed (Nmtg).
- the start request is detected while the engine (2) is driven to perform power generation control while the second clutch (C1) is released while the first clutch (SSC) is directly engaged. Then, after the power generation control is interrupted, the second clutch control means (25) controls the first clutch control means so that the second clutch (C1) is disengaged from the disengaged state.
- the first clutch (SSC) is controlled from the engaged state to the slip engaged state by (22), and the target rotational speed is reduced by the rotating electrical machine control means (23). .
- the power generation control is interrupted and the rotational speed of the rotating electrical machine is reduced, so that the second clutch is released and the slip engagement state is controlled. Since it is possible to control one clutch from the engaged state to the slip-engaged state, it is possible to prevent the second clutch from being loaded and to improve the durability of the second clutch. it can. Further, since the power generation control is interrupted to reduce the rotational speed of the rotating electrical machine, it is not necessary to adjust the rotational speed of the rotating electrical machine with the slip of the second clutch of the speed change mechanism, and the response corresponding to the need for adjusting the rotational speed is eliminated. Can be improved. Further, based on the detection of the start request, the second clutch is controlled from the released state to the slip engagement state and the first clutch is controlled from the engagement state to the slip engagement state. It is possible to start a vehicle with good response, and to reduce hesitation.
- the hybrid vehicle (100) includes an alternator (50) capable of generating electric power by rotating the engine (2) and supplying electric power to an auxiliary machine, Based on the detection of the start request, the rotating speed of the target is reduced by the rotating electrical machine control means (23) while driving the engine (2) and generating power by the alternator (50).
- an alternator (50) capable of generating electric power by rotating the engine (2) and supplying electric power to an auxiliary machine, Based on the detection of the start request, the rotating speed of the target is reduced by the rotating electrical machine control means (23) while driving the engine (2) and generating power by the alternator (50).
- the power generation by the rotating electrical machine can be interrupted, that is, the target rotational speed of the rotating electrical machine can be decreased.
- the target rotational speed (Nmtg) is set at a first predetermined gradient. After being lowered, the pressure is lowered at a second predetermined gradient that is gentler than the first predetermined gradient.
- the rotational speed of the rotating electrical machine can be lowered at the first predetermined gradient that is steep, the load on the second clutch to be brought into the slip engagement state can be further reduced. Further, for example, if the rotation speed of the rotating electrical machine is synchronized with the rotation speed on the output side of the second clutch, the engagement state of the second clutch cannot be detected, but the second predetermined gradient which is a gentle gradient is detected. Thus, by reducing the rotation speed of the rotating electrical machine, it is possible to ensure controllability of the slip engagement state of the second clutch without applying a load to the second clutch.
- the second clutch control means (25) is configured such that the rotational speed (Nm) of the rotating electrical machine (4) is the speed ratio and output of the transmission mechanism (5).
- the rotational speed (Ns) multiplied by the rotational speed (Nout) is within a predetermined rotational speed difference (d2), the second clutch (C1) is shifted to the direct engagement state. To do.
- the rotating electrical machine control means determines the slip engagement of the first clutch, the rotational speed of the rotating electrical machine is within a predetermined rotational speed with respect to the rotational speed obtained by multiplying the transmission gear ratio and the output rotational speed.
- Rotational speed control is performed so that the rotational speed of the rotating electrical machine decreases at a set gradient until the rotational speed of the rotating electrical machine is reached, so that the rotational synchronization between the rotating electrical machine and the wheel can be achieved with good response, ease of hesitation and smooth start Can be made possible.
- the present invention includes required driving force calculation means (28) for calculating the driver's required driving force (Treq),
- the second clutch control means (25) has a torque capacity at which the second clutch (C1) transmits the required driving force (Treq) during execution of the rotational speed control of the rotating electrical machine (4).
- the second clutch (C1) is controlled.
- the rotating electrical machine control means (23) rotates the engine (2) until the slip engagement state of the first clutch (SSC) is determined.
- the rotational speed control is executed so as to have a predetermined rotational speed (for example, Ni + d1) different from (Ne).
- the rotating electrical machine control means (23) detects the rotational speed (Nm) of the rotating electrical machine (4) detected by the rotating electrical machine rotational speed sensor (42).
- the slip state of the first clutch (SSC) is determined based on a rotational speed difference (d1) from a rotational speed (Ne) of the engine (2) detected by an engine rotational speed sensor (41). To do.
- the rotating electrical machine control means slips the first clutch based on the rotational speed difference between the rotational speed of the rotating electrical machine detected by the rotating electrical machine rotational speed sensor and the engine rotational speed detected by the engine rotational speed sensor. It can be possible to determine.
- the rotating electrical machine control means (23) is configured such that the rotational speed (Nm) of the rotating electrical machine (4) is the speed ratio of the transmission mechanism (5) and the output.
- the rotational speed (Ns) multiplied by the rotational speed (Nout) is within a predetermined rotational speed difference (d2), the rotational speed control is terminated and the output torque of the rotating electrical machine is rotated to become the target torque. Torque control for controlling the electric machine is started.
- the rotating electric machine can be returned to the normal torque control, and the vehicle can be accelerated without a sense of incongruity.
- the rotating electrical machine control means (23) is configured to perform the rotation speed for a first predetermined time (TB) after starting the torque control.
- a value (Tmfb-A) obtained by subtracting a torque necessary for changing the rotational speed of the rotating electrical machine (4) from the output torque of the rotating electrical machine (4) at the end of the control is set as the target torque. .
- the torque output by the rotating electrical machine during the rotational speed control is changed to the value obtained by subtracting the torque capacity transmitted by the second clutch from the torque capacity transmitted by the first clutch. Since this is a value obtained by adding the necessary torque, the rotational speed of the rotating electrical machine is determined from the output torque of the rotating electrical machine at the end of the rotational speed control for the first predetermined time after the rotating electrical machine control means starts the torque control.
- the value obtained by subtracting the torque necessary for the change in the torque is set as the target torque, and the torque capacity transmitted by the first clutch is transmitted by the second clutch for the first predetermined time after the torque control is started.
- the target torque of the rotating electrical machine can be set to a value obtained by subtracting the torque capacity.
- the target torque of the rotating electrical machine is obtained from the torque capacity transmitted by the first clutch to the second clutch immediately after the engagement is started.
- the first predetermined time has elapsed, the engagement of the second clutch proceeds and the torque capacity of the second clutch becomes sufficiently large, so that the second clutch will not slip thereafter. it can.
- timer means (27) for measuring the elapsed time since the power generation control is interrupted,
- TA second predetermined time
- the forced slip means (26) instructs the rotating electrical machine control means (23) to rotate the rotational speed (4) of the rotating electrical machine (4).
- the forced slip control is performed by controlling Nm) so as to be a rotational speed (for example, Ni-d3) lower than the rotational speed (Ne) of the engine (2).
- the forced slip means can execute the forced slip control by instructing the rotating electrical machine control means to control the rotational speed of the rotating electrical machine to be lower than the rotational speed of the engine.
- the present invention includes engine control means (21) for controlling the rotational speed (Ne) of the engine (2),
- the forced slip means (26) commands the engine control means (21) to make the rotational speed (Ne) of the engine (2) higher than the rotational speed (Nm) of the rotating electrical machine (4).
- the forced slip control is performed by performing control so as to be (for example, Ni + d1 + d4).
- the forced slip means can execute the forced slip control by instructing the engine control means to control the rotational speed of the engine to be higher than the rotational speed of the rotating electrical machine.
- the rotating electrical machine control means (23) increases the target rotational speed (the higher the accelerator opening until the first clutch (SSC) starts to slip).
- the rotational speed control is executed so that the gradient for reducing (Nmtg) is increased.
- the block diagram which shows this hybrid vehicle and its control apparatus The flowchart which shows the control from after interruption of the electric power generation control which concerns on 1st Embodiment to start.
- the time chart which shows the time of start when the accelerator opening which concerns on 1st Embodiment is OFF.
- the flowchart which shows the control from after interruption of the electric power generation control which concerns on 2nd Embodiment to start.
- the time chart which shows the time of the start which performed the forced slip control by the motor which concerns on 2nd Embodiment.
- the time chart which shows the time of the start which performed the forced slip control by the engine which concerns on 2nd Embodiment.
- the flowchart which shows the control from after interruption of the electric power generation control which concerns on 3rd Embodiment to start.
- the time chart which shows the time of start when the accelerator opening which concerns on 3rd Embodiment is OFF.
- a hybrid vehicle 100 includes an engine 2 and a hybrid drive device 3 connected to an output shaft (crankshaft) 2a of the engine 2 as its drive system.
- the output shaft 5b of No. 3 is drivingly connected to the differential device D via a propeller shaft or the like, and driving force is transmitted from the differential device D to the left and right wheels 6 via the left and right drive shafts or the like.
- an alternator 50 capable of generating electric power by rotation of the engine 2 and supplying electric power to auxiliary machines (lights, air conditioners, etc.) is disposed so as to be drivingly connected to the engine 2.
- the engine 2 is an engine control unit 11 that freely controls an engine speed (engine speed) Ne and an engine torque Te based on a command from an engine control means 21 of a vehicle control unit (ECU) 1 described in detail later. Is electrically connected. Further, an engine speed sensor (engine speed sensor) 41 for detecting the rotational speed of the output shaft 2a, that is, the engine rotational speed Ne is disposed on the outer peripheral side of the output shaft 2a of the engine 2.
- the hybrid drive device 3 is disposed on a power transmission path from the engine 2 to the wheels 6, and roughly, in order from the engine 2 side, a first clutch SSC for engine connection, a motor generator (rotating electric machine). 4 and a speed change mechanism 5.
- the first clutch SSC is interposed between the output shaft 2a of the engine 2 and the rotor shaft 4a of a motor / generator (hereinafter simply referred to as “motor”) 4 so that they can be frictionally engaged.
- the first clutch SSC is supplied from the hydraulic control device 5VB which receives an electrical command from the AT control unit 13 based on a command from the first clutch control means 22 of the vehicle control device (ECU) 1 which will be described in detail later.
- the engagement state is freely controlled according to the first clutch hydraulic pressure PSSC , and the torque capacity thereof is also freely controlled.
- the motor 4 includes a stator and a rotor (not shown), and a rotor shaft 4a to which the rotor is connected is drivingly connected to the output side of the first clutch SSC.
- the motor 4 is based on a command from a motor control means (rotary electric machine control means) 23 of a vehicle control unit (ECU) 1 to be described in detail later, and the motor rotation speed (rotational electric machine rotation speed) Nm and motor torque Tm (motor 4 is electrically connected to a motor control unit 12 that freely controls the torque output from the motor 4.
- a motor rotation speed sensor (rotating electrical machine rotation speed sensor) 42 for detecting the rotation speed of the rotor shaft 4a, that is, the motor rotation speed Nm is disposed on the outer peripheral side of the rotor shaft 4a of the motor 4.
- the rotor shaft 4a is directly drive-coupled to an input shaft 5a of the transmission mechanism 5 described later.
- the transmission mechanism 5 is composed of a stepped transmission having a gear mechanism configured by combining a plurality of planetary gear trains, for example, and a plurality of friction engagement elements (clutch and brake) based on the hydraulic pressure supplied from the hydraulic control device 5VB. By changing the friction engagement state, the transmission path is changed to change the gear ratio.
- the power transmission between the input shaft 5a and the output shaft 5b is configured to be connectable / disconnectable, and the friction engagement is performed in the release, slip engagement, and complete engagement states.
- a possible second clutch C1 is provided.
- the second clutch C1 receives an electrical command from the AT control unit 13 based on a command from the second clutch control unit 25 of the transmission mechanism control unit 24 of the vehicle control unit (ECU) 1 described in detail later. in response to a second clutch oil pressure P C1 supplied from the hydraulic control device 5VB, are engaged state freely controlled, the torque capacity is also freely controlled.
- An input rotation speed sensor 43 that detects the rotation speed of the input shaft 5a, that is, the input rotation speed (same as the motor rotation speed Nm in the present embodiment) is disposed on the outer peripheral side of the input shaft 5a of the speed change mechanism 5.
- an output rotation speed sensor 44 that detects the rotation speed of the output shaft 5b, that is, the output rotation speed (output rotation speed) Nout is disposed on the outer peripheral side of the output shaft 5b of the transmission mechanism 5. Since the output shaft 5b is drivingly connected to the wheel 6 via the differential device D or the like as described above, the output rotation speed sensor 44 can also be used for detecting the vehicle speed V.
- the second clutch C1 achieves the first forward speed by being engaged with, for example, a one-way clutch (not shown), that is, only one of the second clutch C1 is engaged.
- a one-way clutch not shown
- the description will be made assuming that the first forward speed of the speed change mechanism 5 is achieved by combining, but for example, the first forward speed or the third forward speed can be started by simultaneously engaging with other friction engagement elements.
- the gear stage may be achieved.
- the transmission mechanism 5 will be described as a stepped transmission, but may be a continuously variable transmission such as a belt type, a toroidal type, a cone ring type, etc.
- the two-clutch C1 can be considered as a clutch built in the continuously variable transmission and capable of connecting / disconnecting power transmission.
- first clutch SSC and the second clutch C1 described above are friction-engageable elements in which the magnitude of the torque capacity that can be transmitted is variable depending on the hydraulic pressure that presses two or more friction engagement members.
- the piston is configured to include a piston that presses the friction engagement member, a hydraulic cylinder that presses the piston, and a return spring that acts in the opposite direction to the hydraulic cylinder.
- a structure in which the piston is driven by a differential pressure by the opposed cylinder may be used, or a structure in which the friction engagement member is pressed by an arm or the like that is moved by a hydraulic actuator may be used.
- the states of the first clutch SSC and the second clutch C1 are controlled by the hydraulic pressure as described above, and the “slip state” in which the friction engagement members are separated from each other, the torque capacity that is transmitted while slipping is generated.
- the “slip engagement state” can be defined as the period from the release state until the piston strokes and comes into contact with the friction engagement member until the rotational speeds of the friction engagement members are synchronized,
- the “released state” can be defined as a state in which the piston is less than the stroke end and separated from the friction engagement member.
- the vehicle control device 1 includes an engine control unit 21, a first clutch control unit 22, a motor control unit 23, a transmission mechanism control unit 24 having a second clutch control unit 25, and a requested drive.
- Force calculating means 28 In addition, the vehicle control apparatus 1 is electrically connected to an accelerator opening sensor 31 that detects an accelerator opening and a brake sensor 32 that detects a depression pressure state of a brake pedal, which are provided in the hybrid vehicle 100. ing.
- the engine control means 21 commands the engine 2 via the engine control unit 11 and freely controls the engine speed Ne and the engine torque.
- the first clutch control means 22 commands the hydraulic control unit 5VB via AT control unit 13, the frictional engagement of the first clutch SSC freely by Gosuru pressure regulating the first clutch oil pressure P SSC Control.
- the motor control means 23 commands the motor 4 via the motor control unit 12 (and an inverter circuit not shown), and controls the motor rotation speed Nm by rotation speed control (rotation speed control) or the motor by torque control.
- the torque Tm can be freely controlled.
- the rotational speed control means calculating and setting the motor target rotational speed Nmtg and electrically controlling the motor rotational speed Nm detected by the motor rotational speed sensor 42 with an inverter circuit or the like so that the motor rotational speed Nmtg becomes equal to the motor target rotational speed Nmtg.
- the motor target torque is calculated and set, and is electrically controlled by an inverter circuit or the like so that the motor torque Tm becomes the motor target torque.
- the speed change mechanism control means 24 selects and determines a gear position based on, for example, the vehicle speed and the accelerator opening, and instructs the hydraulic control device 5VB via the AT control unit 13 to hydraulically apply each friction engagement element (clutch or brake). And control to perform gear shift control (change of gear ratio).
- the second clutch control means 25 commands the hydraulic control unit 5VB via the AT controller 13 as described above, by the second clutch oil pressure P C1 regulating control Gosuru, a plurality of frictional engagement elements The engagement state (release, slip engagement, engagement completion, etc.) of the second clutch C1, which is one of them, is freely controlled.
- the required driving force calculating means 28 is based on the accelerator opening (accelerator ON / OFF) detected by the accelerator opening sensor 31 and the brake depression pressure state (brake ON / OFF) detected by the brake sensor 32. The required driving force requested (intended) by the driver is calculated.
- the vehicle control apparatus 1 is not shown when the hybrid vehicle 100 is stopped in a neutral range (N range), for example, in a state where the driver depresses the brake and is turned on.
- N range neutral range
- the first hydraulic control device 5VB performs the first control based on the command from the first clutch control means 22.
- clutch SSC pressure P SSC as complete engagement command to the clutch SSC is supplied first clutch SSC been direct engagement state, with the engine 2 and the motor 4 is drivingly coupled, a second clutch control means 25 clutch C1 oil pressure P C1 from the hydraulic control device 5VB the second clutch C1 based on a command from is commanded to a non-supply (0 pressure) second clutch C There is disengaged, and the engine 2 and the motor 4, is a state where power transmission between the wheels 6 is disconnected. Then, based on a command from the engine control means 21, the engine 2 is controlled to a rotational speed for power generation, that is, the motor 4 is driven by the engine 2 to generate power to the battery.
- the vehicle control device 1 causes the driver to request a start.
- the vehicle control device 1 determines that the power generation control by the motor 4 is interrupted (non-establishment of the power generation request).
- the start control is started after the power generation control is interrupted (the power generation request is not established) (S1-1).
- the first clutch control means 22 is started. There, the first clutch SSC is lowered the clutch SSC pressure P SSC as the slip engagement state to a predetermined pressure, the second clutch control means 25 initiates the engagement of the second clutch C1 (S1 -2).
- a predetermined pressure of the clutch SSC pressure P SSC at this time is the command value first clutch SSC releases when a long time elapses, when considering the oil pressure response, first clutch SSC is a slip engagement state Will not be completely released.
- the alternator 50 generates power for the auxiliary machines.
- the second clutch control means 25 commands the clutch C1 hydraulic pressure PC1 to be fast-filled (filled up to the stroke end).
- the required driving force calculating means 28 calculates the required driving force Treq as the amount of creep torque, and the second
- the clutch control means 25 commands the clutch C1 oil pressure P C1 so that the required driving force Treq is transmitted by the second clutch C1.
- the transmission mechanism control means 24 sets a driving force limit value Tlim to protect the transmission mechanism 5, and if the required driving force Treq exceeds the driving force limit value Tlim, the second clutch C1 is driven. It will command the clutch C1 oil pressure P C1 to transmit force limit value Tlim.
- the engine control means 21 controls the engine 2 so that the engine speed Ne becomes the idle speed Ni based on the detection of the start request (based on the interruption of the power generation control), and the motor
- the control means 23 sets the motor target rotational speed Nmtg so that the motor rotational speed Nm becomes a predetermined rotational speed different from the idle rotational speed Ni, and the motor rotational speed Nm becomes the motor target rotational speed Nmtg.
- the rotational speed control of the motor 4 is started so as to be higher than the idle rotational speed Ni by the rotational speed difference d1.
- the engine rotational speed Ne is synchronized with the motor rotational speed Nm whose rotational speed is controlled.
- the motor speed Nm is controlled to be higher than the idle speed Ni by the speed difference d1, but the engine speed When the number Ne is set to a speed other than the idle speed Ni, the motor speed Nm is set to a speed different from the engine speed.
- the motor rotational speed Nm is controlled to the rotational speed (Ni + d1) higher by the rotational speed difference d1 than the idle rotational speed Ni.
- the drag control of the second clutch C1 of the transmission mechanism 5 eliminates the need to absorb the inertia of the engine 2, the inertia of the motor 4, the inertia of the input system of the transmission mechanism 5, and the control time in the transmission mechanism 5 accordingly. Therefore, it is possible to immediately shift to the engagement control of the second clutch C1, and since it is not necessary to absorb the inertia by the second clutch C1, the amount of heat generated by the second clutch C1 is also reduced. The durability of the clutch C1 is improved. During this period, as shown in FIG. 3, the feedback torque Tmfb of the motor 4 increases by the amount of inertia absorption.
- the system waits until a differential rotation of the first clutch SSC is detected based on detection of the engine speed Ne by the engine speed sensor 41 and detection of the motor speed Nm by the motor speed sensor 42 (waiting for slip) ( No. of S1-3)
- the differential rotation between the motor rotation speed Nm controlled as described above and the engine rotation speed Ne controlled to the idle rotation speed Ni that is, the differential rotation of the first clutch SSC.
- the first clutch control means 22 first rotates the engine depending on the drag state of the first clutch SSC. as the number Ne is maintained at idle speed Ni, to start the engine speed control (S1-4), i.e. the clutch SSC pressure P S SC feedback control is started based on the engine speed Ne.
- the motor control means 23 takes into account the acceleration when the hybrid vehicle 100 starts creeping.
- the motor target rotational speed Nmtg is set to a steep slope which is the first predetermined slope for a predetermined time so as to be the rotational speed for creep travel, that is, the motor rotational speed Nm is rapidly lowered with the steep slope.
- the rotation speed of the motor 4 is set to a gentle gradient that is a second predetermined gradient that is looser than the first predetermined gradient, that is, the motor rotation speed Nm gradually decreases at the gentle gradient. Control is started (S1-5).
- the second clutch control means 25 has a torque capacity that allows the second clutch C1 to transmit the required driving force Treq based on the required driving force Treq calculated by the required driving force calculating means 28 as described above.
- command control is performed so as to maintain the clutch C1 hydraulic pressure PC1 at a constant value.
- the speed change mechanism control means 24 determines the speed change mechanism 5 from the input speed Nin of the input shaft 5a detected by the input speed sensor 43 of the speed change mechanism 5 and the output speed Nout detected by the output speed sensor 44.
- the motor control means 23 calculates a value obtained by multiplying the speed ratio calculated at any time by the output rotational speed Nout as a synchronous rotational speed Ns, and the synchronous rotational speed Ns and the motor rotational speed sensor 42 are calculated.
- the motor waits until the motor rotational speed Nm detected by the above is within a predetermined rotational speed difference d2 (No in S1-6).
- the second clutch control means 25 starts increasing the command value of the clutch C1 hydraulic pressure PC1. Then, the engagement completion control for completing the direct engagement of the second clutch C1 is performed (S1-8), and the engagement completion control of the second clutch C1 is terminated at time t15.
- the vehicle control device 1 calculates the driving force limit value for protecting the speed change mechanism 5 based on the torque capacity of the second clutch C1, and therefore the driving force based on the increase in the command value of the clutch C1 oil pressure PC1.
- the limit value also increases.
- the motor 4 shifts to torque control and the input of the driving force (engine torque) of the engine 2 increases due to the progress of slip engagement of the first clutch SSC, the feedback torque Tmfb of the motor 4 is decreased, It becomes 0 by time t15.
- the first clutch control means 22 performs feedback control of the clutch SSC hydraulic pressure PSSC while continuing engine speed control.
- the driving force of the engine 2 is transmitted to the wheels 6 to increase the vehicle speed via the speed change mechanism 5 in which the second clutch C1 is directly engaged and the speed stage is formed, that is, the first clutch.
- the motor speed Nm on the output side from SSC (same as the input speed Nin of the speed change mechanism 5) increases, the engine speed Ne and the motor speed Nm synchronize with each other at the time t16.
- the SSC is also in the direct engagement state, and thus the start control of the hybrid vehicle is completed (S1-9).
- the driver moves from the neutral range to the drive range (D When the ND operation is performed to range) and the brake is released and turned OFF at time t22, it is determined (detected) as a start request, and interruption of power generation control is determined (power generation request is not established). Accordingly, as in FIG. 3, the first clutch control means 22 starts control of the first clutch SSC to the slip engagement state, and the second clutch control means 25 starts engagement control of the second clutch C1. (S1-2).
- the second clutch control means 25 commands the clutch C1 oil pressure PC1 to be fast-filled (backlashed until the stroke end).
- the required driving force calculating means 28 calculates the required driving force Treq based on the accelerator opening detected by the accelerator opening sensor 31, but the accelerator is opened. Since the driving force limit value Tlim for protection of the speed change mechanism 5 is lower than the required driving force Treq ′ (shown by a broken line in FIG. 4) calculated as described above, the required driving force Treq is set to the driving force limit value. Calculation is made to be the same as Tlim. Therefore, the second clutch control means 25 commands the clutch C1 oil pressure P C1 so that the second clutch C1 transmits the required driving force Treq calculated equal to the driving force limit value Tlim when the fast fill is completed. .
- the engine control means 21 controls the engine 2 so that the engine speed Ne becomes the idle speed Ni based on the detection of the start request, and the motor control means 23 controls the motor speed Nm to be idle.
- the motor target rotational speed Nmtg is set higher than the rotational speed Ni by the rotational speed difference d1, and the rotational speed control of the motor 4 is started so that the motor rotational speed Nm becomes the motor target rotational speed Nmtg.
- the motor speed Nm and the idle speed which are controlled as described above.
- the differential rotation from the engine rotational speed Ne controlled by the rotational speed Ni becomes the rotational speed difference d1 (Yes in S1-3), that is, the first clutch SSC is in the slip engagement state.
- the clutch control means 22 starts the engine speed control so that the engine speed Ne is maintained at the idle speed Ni by the drag state of the first clutch SSC (S1-4), that is, the clutch SSC hydraulic pressure P SSC is increased. Feedback control is started based on the engine speed Ne.
- the motor control unit 23 causes the hybrid vehicle 100 to calculate the required driving force Treq (driving force limit value) described above.
- the motor target rotational speed Nmtg is set to a setting gradient that is larger than that for the above-mentioned creep traveling, in consideration of the acceleration when starting traveling at the same time as Tlim), that is, the motor rotational speed Nm.
- the rotational speed control of the motor 4 is started so as to descend with a large set gradient according to the accelerator opening (S1-5).
- the motor target rotational speed Nmtg is set to a constant setting gradient. However, as shown in FIG. 3, it is set to the first predetermined gradient that is steep for a predetermined time. Thereafter, the second predetermined gradient which is a gentle gradient may be set.
- the second clutch control means 25 has a torque capacity that allows the second clutch C1 to transmit the required driving force Treq based on the required driving force Treq calculated by the required driving force calculating means 28 as described above.
- command control is performed so as to maintain the clutch C1 hydraulic pressure PC1 at a constant value.
- the motor control means 23 calculates a value obtained by multiplying the speed ratio by the output speed Nout as the synchronous speed Ns, and the synchronous speed. Wait until the number Ns and the motor speed Nm detected by the motor speed sensor 42 are within a predetermined speed difference d2 (No in S1-6).
- the second clutch control means 25 starts increasing the command value of the clutch C1 hydraulic pressure PC1. Then, the engagement completion control for completing the direct engagement of the second clutch C1 is performed (S1-8), and the engagement completion control of the second clutch C1 is terminated at time t26.
- the calculation of the driving force limit value for protecting the speed change mechanism 5 is performed based on the torque capacity of the second clutch C1, so that the command value of the clutch C1 oil pressure PC1 is increased. Based on this, the driving force limit value Tlim also increases, and accordingly, the required driving force Treq also increases accordingly, and when the required driving force Treq ′ (shown by a broken line in FIG. 4) calculated according to the accelerator opening degree is reached, Since the required driving force Treq is calculated with the value, that is, it becomes a constant value.
- the first clutch control means 22 performs feedback control of the clutch SSC hydraulic pressure PSSC while continuing engine speed control.
- the driving force of the engine 2 is transmitted to the wheels 6 to increase the vehicle speed via the speed change mechanism 5 in which the second clutch C1 is directly engaged and the speed stage is formed, that is, the first clutch.
- the motor speed Nm on the output side from SSC (same as the input speed Nin of the speed change mechanism 5) increases, the engine speed Ne and the motor speed Nm synchronize with each other at the time t27.
- the SSC is also in the direct engagement state, and thus the start control of the hybrid vehicle is completed (S1-9).
- the power generation control is interrupted, and the second clutch C1 is set in a state where the motor rotation speed Nm of the motor 4 is reduced. Since it is possible to control the first clutch SSC from the engaged state to the slip engaged state from the released state, it is possible to prevent the second clutch C1 from being loaded. Thus, the durability of the second clutch C1 can be improved. Further, since the power generation control is interrupted to reduce the motor rotation speed Nm, it is not necessary to adjust the motor rotation speed Nm by the slip of the second clutch C1 of the transmission mechanism 5, and the response corresponding to the necessity of adjusting the rotation speed is eliminated. Can be improved.
- control is performed so that the second clutch C1 is disengaged from the released state and the first clutch SSC is controlled from the engaged state to the slip engaged state. Therefore, it is possible to start the vehicle with good response, and to ease the hesitation.
- the power generation by the motor 4 can be interrupted, that is, the motor target rotation speed Nmtg can be reduced. be able to.
- the motor rotation speed Nm can be reduced at the first predetermined gradient that is steep, the load on the second clutch C1 that is brought into the slip engagement state can be further reduced. Further, for example, if the motor rotation speed Nm is synchronized with the rotation speed on the output side of the second clutch C1, the engagement state of the second clutch C1 cannot be detected, but the second predetermined predetermined value is a gentle gradient. By reducing the motor rotation speed Nm with a gradient, it is possible to ensure controllability of the slip engagement state of the second clutch C1 without applying a load to the second clutch C1.
- the motor rotational speed is set at a set gradient until the motor rotational speed Nm is within a predetermined rotational speed difference d2 with respect to the synchronous rotational speed Ns. Since the rotation speed control is executed so that Nm is lowered, the rotation synchronization between the motor 4 and the wheel 6 can be achieved with good response, the hesitation can be reduced, and a smooth start can be achieved.
- the second clutch control means 25 controls the engagement of the second clutch C1 so that the second clutch C1 has a torque capacity for transmitting the required driving force Treq during execution of the rotational speed control of the motor 4, Even if a driving force that is greater than or equal to the driver's required driving force Treq is output from the motor 4 whose rotation speed is controlled, the driver's output driving force is used until the rotation speed of the motor 4 and the wheels 6 are synchronized. To the required driving force Treq.
- the motor control means 23 determines the slip of the first clutch SSC, the motor control means 23 rotates at a predetermined rotational speed different from the engine rotational speed Ne (by a rotational speed difference d1 higher than the idle rotational speed Ni). Since the number control is executed, slipping of the first clutch SSC can be promoted by giving different rotational speeds to the input side and the output side of the first clutch SSC. Further, when the first clutch SSC slips, the engine 2 and the motor 4 have different rotational speeds, so that it is possible to easily detect the slip of the first clutch SSC.
- the motor control means 23 detects the rotational speed difference between the motor rotational speed Nm detected by the motor rotational speed sensor 42 and the engine rotational speed Ne detected by the engine rotational speed sensor 41 to thereby detect the first clutch SSC. It may be possible to determine slip.
- the motor control means 23 has the motor rotation speed Nm within a predetermined rotation speed difference d2 with respect to the rotation speed obtained by multiplying the transmission gear ratio of the transmission mechanism 5 and the output rotation speed Nout (that is, the synchronous rotation speed Ns), Since the number control is finished and the torque control is started, the motor 4 can be returned to the normal torque control when the second clutch C1 is in the directly engaged state, and the vehicle can be accelerated without a sense of incongruity. Can do.
- the motor control means 23 executes the rotational speed control so that the gradient for decreasing the motor target rotational speed Nmtg increases as the accelerator opening until the slip start of the first clutch SSC increases. It is possible to make a start with good response in response to a request for acceleration.
- the vehicle control apparatus 1 is forced to cause the first clutch SSC to slip, and to detect a start request (power generation control).
- Timer means 27 for measuring the elapsed time from the cancellation of the above.
- the second clutch control means 25 commands the clutch C1 oil pressure PC1 to be fast-filled (filled up to the stroke end), while the requested driving force calculation means 28 Based on the fact that the accelerator opening detected by the accelerator opening sensor 31 is OFF (0%), the required driving force Treq is calculated as the creep torque, and the second clutch control means 25 finishes the fast fill.
- the clutch C1 oil pressure P C1 is commanded so that the requested driving force Treq is transmitted by the second clutch C1.
- the required driving force Treq is lower than the driving force limit value Tlim, the required driving force Treq is calculated as the amount of creep torque without any particular limitation.
- the engine control means 21 controls the engine 2 so that the engine speed Ne becomes the idle speed Ni based on the detection of the start request, and the motor control means 23 controls the motor speed Nm to be idle.
- the motor target rotational speed Nmtg is set higher than the rotational speed Ni by the rotational speed difference d1, and the rotational speed control of the motor 4 is started so that the motor rotational speed Nm becomes the motor target rotational speed Nmtg.
- the differential rotation between the engine speed Ne and the motor speed Nm that is, the first clutch SSC. It is determined at any time whether or not differential rotation has occurred (S2-3).
- the timer means 27 starts measuring time from the detection of the start request (stop of power generation control), and it is detected that a differential rotation has occurred in the first clutch SSC in step S2-3 as described above. If not (No in S2-3), it is determined whether TA has elapsed for a predetermined time (second predetermined time) (S2-4). If it is detected that a differential rotation has occurred in the first clutch SSC before the predetermined time TA has elapsed, the process proceeds to step S2-7, which will be described later, and the same control as in the first embodiment is performed. Will end.
- step S2-5 when it is not detected that a differential rotation has occurred in the first clutch SSC at time t33 (No in S2-3), if the predetermined time TA has elapsed (Yes in S2-4), the process proceeds to step S2-5.
- the forced slip means 26 sets the motor control means 23 so that the motor target rotational speed Nmtg is lower than the engine rotational speed Ne (here, the idle rotational speed Ni) by a rotational speed difference d3. Forced slip control is executed to forcibly reduce Nm below the engine speed Ne.
- the first clutch SSC is rotated by the driving force of the engine speed Ne, which is the idle speed Ni on the input side, and the output side is forcibly reduced to the motor speed Nm by the speed control of the motor 4. Since the rotation speed difference d3 occurs between the output side and the output side, for example, even if the friction engagement members are stuck to each other for some reason, they are forced to slip.
- step S2-6 No in S2-6).
- the vehicle control device 1 The safe mode is entered (S2-13), and the control is terminated (S2-14).
- the fail safe mode for example, control of prohibiting vehicle start, changing to start at the second forward speed or third speed to protect the speed change mechanism, and strengthening torque limitation of the engine 2 or the motor 4 are performed. Conceivable.
- step S2-6 When the differential slip of the first clutch SSC is detected in step S2-6 by executing the forced slip control of the first clutch SSC, the process proceeds to step S2-7. Then, as in the first embodiment, first, the first clutch control means 22 controls the engine speed so that the engine speed Ne is maintained at the idle speed Ni by the drag state of the first clutch SSC. starts (S2-7), i.e. the feedback control of the clutch SSC pressure P SSC is started based on the engine speed Ne.
- the motor control means 23 starts running the hybrid vehicle 100 with the calculated driving force Treq of the creep torque calculated above.
- the motor target rotational speed Nmtg is set to a setting gradient for creep travel in consideration of the acceleration at the time of starting, that is, the rotational speed control of the motor 4 is performed so that the motor rotational speed Nm falls at a setting gradient corresponding to creep travel. Is started (S2-8).
- the motor target rotational speed Nmtg is set to a constant setting gradient, but as shown in FIG. 3, it is set to the first predetermined gradient that is steep for a predetermined time. Thereafter, the second predetermined gradient which is a gentle gradient may be set.
- the second clutch control means 25 has a torque capacity that allows the second clutch C1 to transmit the required driving force Treq based on the required driving force Treq calculated by the required driving force calculating means 28 as described above.
- command control is performed so as to maintain the clutch C1 hydraulic pressure PC1 at a constant value.
- the motor control means 23 calculates a value obtained by multiplying the speed ratio by the output speed Nout as the synchronous speed Ns, and the synchronous speed. Wait until the number Ns and the motor rotation speed Nm detected by the motor rotation speed sensor 42 are within a predetermined rotation speed difference d2 (No in S2-9).
- the second clutch control means 25 starts to rise in the command value of the clutch C1 oil pressure P C1 Then, the engagement completion control for completing the direct engagement of the second clutch C1 is performed (S2-11), and the engagement completion control of the second clutch C1 is terminated at time t36.
- the first clutch control means 22 performs feedback control of the clutch SSC hydraulic pressure PSSC while continuously performing engine speed control.
- the driving force of the engine 2 is transmitted to the wheels 6 to increase the vehicle speed via the speed change mechanism 5 in which the second clutch C1 is directly engaged and the speed stage is formed, that is, the first clutch.
- the motor rotation speed Nm on the output side from SSC (same as the input rotation speed Nin of the speed change mechanism 5) increases, the engine rotation speed Ne and the motor rotation speed Nm are synchronized with each other at the time t37.
- the SSC is also in the direct engagement state, and thus the start control of the hybrid vehicle is completed (S2-14).
- the second clutch control means 25 commands the clutch C1 oil pressure PC1 to be fast-filled (filled up to the stroke end), while the required driving force calculation means 28
- the required driving force Treq is calculated as the creep torque
- the second clutch control means 25 ends the fast fill.
- the clutch C1 oil pressure P C1 is commanded so that the required driving force Treq is transmitted by the second clutch C1.
- the required driving force Treq is lower than the driving force limit value Tlim, the required driving force Treq is calculated as the amount of creep torque without any particular limitation.
- the engine control means 21 controls the engine 2 so that the engine speed Ne becomes the idle speed Ni based on the detection of the start request, and the motor control means 23 controls the motor speed Nm to be idle.
- the motor target rotational speed Nmtg is set higher than the rotational speed Ni by the rotational speed difference d1, and the rotational speed control of the motor 4 is started so that the motor rotational speed Nm becomes the motor target rotational speed Nmtg.
- the engine control means 21 starts to decrease the engine torque Te from the state where torque is output to drive the motor 4 in the charge control so as to become the idle speed Ni at the time t42.
- the differential rotation between the engine speed Ne and the motor speed Nm that is, the first clutch SSC. It is determined at any time whether or not differential rotation has occurred (S2-3).
- the timer means 27 starts measuring time from the detection of the start request (stop of power generation control), and it is detected that a differential rotation has occurred in the first clutch SSC in step S2-3 as described above. If not (No in S2-3), it is determined whether a predetermined time TA has elapsed (S2-4). If it is detected that a differential rotation has occurred in the first clutch SSC before the predetermined time TA has elapsed, the process proceeds to step S2-7, which will be described later, and similarly ends with the above-described control. .
- step S2-5 when it is not detected that a differential rotation has occurred in the first clutch SSC at time t43 (No in S2-3), when the predetermined time TA has elapsed (Yes in S2-4), the process proceeds to step S2-5.
- the forced slip means 26 is controlled so that the engine torque Te is temporarily increased by the engine control means 21, and the engine speed Ne is set to be higher than the idle speed Ni by a speed difference d4. Forced slip control for forcibly increasing the engine speed Ne is executed.
- the first clutch SSC is rotated with the driving force of the engine rotational speed Ne higher on the input side than the idle rotational speed Ni by the rotational speed difference d1 + d4, and the output side is rotated at the rotational speed higher than the idle rotational speed by controlling the rotational speed of the motor 4. Since the motor speed Nm is kept high by the difference d1 and a speed difference d4 occurs between the input side and the output side, for example, even if the friction engagement members are stuck for some reason, Slipped.
- step S2-6 if the differential slip of the first clutch SSC cannot be detected in step S2-6 despite the execution of the forced slip control of the first clutch SSC by the forced slip means 26 as described above (S2- 6) SSC ON failure determination is performed (S2-12), the mode is shifted to the fail safe mode (S2-13), and this control is terminated (S2-14).
- step S2-7 When the forced slip control of the first clutch SSC is executed and the differential rotation of the first clutch SSC is detected in step S2-6, the process proceeds to step S2-7. Thereafter, similarly, the engine speed control of the first clutch SSC is started so that the engine speed Ne is maintained at the idle speed Ni (S2-7), and the motor target speed Nmtg is set for creep running. The gradient is set, and the rotational speed control of the motor 4 is started so as to descend at the set gradient (S2-8).
- the second clutch control means 25 has a torque capacity that allows the second clutch C1 to transmit the required driving force Treq based on the required driving force Treq calculated by the required driving force calculating means 28 as described above.
- command control is performed so as to maintain the clutch C1 hydraulic pressure PC1 at a constant value.
- the motor control means 23 calculates a value obtained by multiplying the speed ratio by the output speed Nout as the synchronous speed Ns, and the synchronous speed. Wait until the number Ns and the motor rotation speed Nm detected by the motor rotation speed sensor 42 are within a predetermined rotation speed difference d2 (No in S2-9).
- the second clutch control means 25 starts to rise in the command value of the clutch C1 oil pressure P C1 Then, the engagement completion control for completing the direct engagement of the second clutch C1 is performed (S2-11), and the engagement completion control of the second clutch C1 is terminated at time t46.
- the first clutch control means 22 performs feedback control of the clutch SSC hydraulic pressure PSSC while continuously performing engine speed control.
- the driving force of the engine 2 is transmitted to the wheels 6 to increase the vehicle speed via the speed change mechanism 5 in which the second clutch C1 is directly engaged and the speed stage is formed, that is, the first clutch.
- the motor speed Nm on the output side from SSC (same as the input speed Nin of the speed change mechanism 5) increases, the engine speed Ne and the motor speed Nm are synchronized with each other at the time t47.
- the SSC is also in the direct engagement state, and thus the start control of the hybrid vehicle is completed (S2-14).
- the control apparatus 1 for a hybrid vehicle even if the forced slip means 26 reaches the predetermined time TA, the motor rotation speed sensor 42 even if the time counted by the timer means 27 reaches the predetermined time TA.
- the forced slip control for forcibly generating the slip of the first clutch SSC is executed when the rotational speed difference between the motor rotational speed Nm detected by the engine and the engine rotational speed Ne detected by the engine rotational speed sensor 41 is not detected. Therefore, the certainty of the transition to the slip of the first clutch SSC after interrupting the power generation control can be increased.
- the forced slip means 26 instructs the motor control means 23 to control the motor rotational speed Nm to be lower than the engine rotational speed Ne, thereby forcing slip control. Can be executed.
- the forced slip means 26 instructs the engine control means 21 to control the engine speed Ne to be higher than the motor speed Nm, thereby forcing slip control. Can be executed.
- this forced slip control can be combined with a decrease in the motor speed as shown in FIG. 6 and an increase in the engine speed as shown in FIG.
- the accelerator when the accelerator is turned on after detecting the start request by turning off the brake, the engine torque Te may be increased as it is, so that the motor rotational speed Nm as shown in FIG. It is conceivable that the increase in the engine speed Ne as shown is naturally combined.
- the third embodiment adds steps S3-8 and S3-9 as shown in FIG. 8, and the motor 4 has a structure as shown in FIG.
- a predetermined time (first predetermined time) TB from the time t14 when the rotational speed control is shifted to the torque control (that is, until the torque capacity of the second clutch C1 is sufficiently increased)
- the second clutch C1 has its This prevents slipping due to transmission of torque larger than the torque capacity.
- steps S3-1 to S3-7 shown in FIG. 8 correspond to steps S1-1 to S1-7 shown in FIG. 2, and steps S3-10 to S3-11 shown in FIG. This corresponds to steps S1-8 to S1-9 shown.
- the vehicle control device 1 is based on a command from the first clutch control means 22
- the clutch SSC hydraulic pressure P SSC as a complete engagement command is supplied from 5 VB to the first clutch SSC, the first clutch SSC is brought into the direct engagement state, the engine 2 and the motor 4 are drivingly connected, and the second is commanded in the command is not supplied clutch C1 oil pressure P C1 from the hydraulic control device 5VB the second clutch C1 based on from the clutch control unit 25 (0 pressure) and second Latch C1 is disengaged, and the engine 2 and the motor 4, is a state where power transmission is cut off with the wheel 6. Then, based on a command from the engine control means 21, the engine 2 is controlled to a rotation
- the vehicle control device 1 causes the driver to request a start.
- the vehicle control device 1 determines that the power generation control is interrupted (non-establishment of the power generation request).
- the start control is started after the power generation control is interrupted (the power generation request is not established) (S3-1).
- the first clutch control means 22 is started.
- the first clutch SSC is lowered the clutch SSC pressure P SSC as the slip engagement state to a predetermined pressure
- the second clutch control means 25 initiates the engagement of the second clutch C1 (S3 -2).
- a predetermined pressure of the clutch SSC pressure P SSC at this time is the command value first clutch SSC releases when a long time elapses, when considering the oil pressure response, first clutch SSC is a slip engagement state Will not be completely released.
- the second clutch control means 25 commands the clutch C1 hydraulic pressure PC1 to be fast-filled (filled up to the stroke end).
- the required driving force calculating means 28 calculates the required driving force Treq as the amount of creep torque, and the second
- the clutch control means 25 commands the clutch C1 oil pressure P C1 so that the required driving force Treq is transmitted by the second clutch C1.
- the transmission mechanism control means 24 sets a driving force limit value Tlim to protect the transmission mechanism 5, and if the required driving force Treq exceeds the driving force limit value Tlim, the second clutch C1 is driven. It will command the clutch C1 oil pressure P C1 to transmit force limit value Tlim.
- the engine control means 21 controls the engine 2 so that the engine speed Ne becomes the idle speed Ni based on the detection of the start request (based on the interruption of the power generation control), and the motor
- the control means 23 sets the motor target rotational speed Nmtg so that the motor rotational speed Nm becomes a predetermined rotational speed different from the idle rotational speed Ni, and the motor rotational speed Nm becomes the motor target rotational speed Nmtg.
- the rotational speed control of the motor 4 is started so as to be higher than the idle rotational speed Ni by the rotational speed difference d1.
- the engine rotational speed Ne is synchronized with the motor rotational speed Nm whose rotational speed is controlled.
- the motor speed Nm is controlled to be higher than the idle speed Ni by the speed difference d1, but the engine speed When the number Ne is set to a speed other than the idle speed Ni, the motor speed Nm is set to a speed different from the engine speed.
- the motor rotation speed Nm is controlled by the driving force of the motor 4 to a rotation speed (Ni + d1) that is higher than the idle rotation speed Ni by the rotation speed difference d1.
- the drag control of the second clutch C1 of the transmission mechanism 5 eliminates the need to absorb the inertia of the engine 2, the inertia of the motor 4, the inertia of the input system of the transmission mechanism 5, and the control time in the transmission mechanism 5 accordingly. Therefore, it is possible to immediately shift to the engagement control of the second clutch C1, and since it is not necessary to absorb the inertia by the second clutch C1, the amount of heat generated by the second clutch C1 is also reduced. The durability of the clutch C1 is improved. During this period, as shown in FIG. 9, the feedback torque Tmfb of the motor 4 increases by the amount of inertia absorption.
- the system waits until a differential rotation of the first clutch SSC is detected based on detection of the engine speed Ne by the engine speed sensor 41 and detection of the motor speed Nm by the motor speed sensor 42 (waiting for slip) ( No. of S3-3)
- the differential rotation between the motor rotation speed Nm controlled as described above and the engine rotation speed Ne controlled to the idle rotation speed Ni that is, the differential rotation of the first clutch SSC.
- the first clutch SSC is in the slip engagement state, so the first clutch control means 22 first rotates the engine depending on the drag state of the first clutch SSC. as the number Ne is maintained at idle speed Ni, to start the engine speed control (S3-4), i.e. the clutch SSC pressure P S SC feedback control is started based on the engine speed Ne.
- the motor control means 23 takes into account the acceleration when the hybrid vehicle 100 starts creeping. Then, the motor target rotational speed Nmtg is set to the set gradient for creep travel, that is, the rotational speed control of the motor 4 is started so that the motor rotational speed Nm gradually decreases at the set gradient (S3-5).
- the second clutch control means 25 has a torque capacity that allows the second clutch C1 to transmit the required driving force Treq based on the required driving force Treq calculated by the required driving force calculating means 28 as described above.
- command control is performed so as to maintain the clutch C1 hydraulic pressure PC1 at a constant value.
- the speed change mechanism control means 24 determines the speed change mechanism 5 from the input speed Nin of the input shaft 5a detected by the input speed sensor 43 of the speed change mechanism 5 and the output speed Nout detected by the output speed sensor 44.
- the motor control means 23 calculates a value obtained by multiplying the speed ratio calculated at any time by the output rotational speed Nout as a synchronous rotational speed Ns, and the synchronous rotational speed Ns and the motor rotational speed sensor 42 are calculated.
- the motor waits until the motor rotational speed Nm detected by the above is within a predetermined rotational speed difference d2 (No in S3-6).
- torque for balancing the torque capacity of the motor 4 (hereinafter referred to as “balance torque”) is a torque that causes a rotational change (inertia) of the motor 4 (including the input side of the second clutch C1 of the transmission mechanism 5). (Hereinafter referred to as “rotational change torque”).
- the “balance torque” for balancing the torque capacity of the first clutch SSC and the torque capacity of the second clutch C1 is the engine torque transmitted from the first clutch SSC (the engine speed Ne does not increase).
- the value obtained by subtracting the torque of the motor 4 is transmitted to the second clutch C1, and no slip is generated in the second clutch C1.
- a value obtained by subtracting the torque capacity of the second clutch C1 from the torque capacity of the first clutch SSC is a value obtained by subtracting the torque capacity of the second clutch C1 from the torque capacity of the first clutch SSC.
- the feedback torque Tmfb of the motor 4 here does not calculate the value of the balance torque or the rotation change torque, but reduces the rotation speed of the motor 4 with the set gradient by rotation speed control.
- the feedback torque Tmfb (balance torque + rotational change torque) described above is being output.
- the rotation change torque (rotation speed).
- the value obtained by subtracting the torque required for the change in the rotational speed of the electric machine is set as the target torque of the motor 4, that is, the feedback torque Tmfb is set to the balance torque Tmfb-A (S3-8).
- the second clutch control means 25 also starts rising in the command value of the clutch C1 oil pressure P C1 from the point t14.
- the torque obtained by subtracting the balance torque Tmfb-A by the feedback torque Tmfb of the motor 4 from the engine torque transmitted from the first clutch SSC is transmitted to the second clutch C1, that is, the second clutch C1. Is prevented from being input to the second clutch C1, that is, slippage of the second clutch C1 is prevented.
- the process waits until a predetermined time TB elapses (No in S3-9).
- This predetermined time TB is set to a time until the actual hydraulic pressure of the second clutch C1 increases and the torque capacity of the second clutch C1 becomes larger than the engine torque transmitted from the first clutch SSC. Yes. Therefore, if the feedback torque Tmfb is set to the balance torque Tmfb-A until the predetermined time TB elapses, even if the engine torque transmitted from the first clutch SSC is input to the second clutch C1 thereafter, the gear The second clutch C1 does not slip.
- the second clutch control means 25 performs engagement completion control for completing the direct engagement of the second clutch C1. (S3-10), and the engagement completion control of the second clutch C1 ends at time t15.
- the vehicle control device 1 calculates the driving force limit value for protecting the speed change mechanism 5 based on the torque capacity of the second clutch C1, and therefore the driving force based on the increase in the command value of the clutch C1 oil pressure PC1.
- the limit value also increases. Further, the feedback torque Tmfb of the motor 4 is gradually reduced and becomes 0 by time t15.
- the first clutch control means 22 performs feedback control of the clutch SSC hydraulic pressure PSSC while continuing engine speed control.
- the driving force of the engine 2 is transmitted to the wheels 6 to increase the vehicle speed via the speed change mechanism 5 in which the second clutch C1 is directly engaged and the speed stage is formed, that is, the first clutch.
- the motor speed Nm on the output side from SSC (same as the input speed Nin of the speed change mechanism 5) increases, the engine speed Ne and the motor speed Nm synchronize with each other at the time t16.
- the SSC is also in the direct engagement state, and thus the start control of the hybrid vehicle is completed (S3-11).
- the torque output by the motor 4 during the rotation speed control of the motor 4 is transmitted by the second clutch C1 from the torque capacity transmitted by the first clutch SSC.
- the value obtained by subtracting the torque capacity to be added is a value obtained by adding the torque (inert torque) required for the change in the rotation speed (rotational speed) of the motor 4, so that the motor control means 23 starts the torque control.
- a value obtained by subtracting a torque (inert torque) necessary for a change in the rotational speed of the motor 4 from the feedback torque Tmfb of the motor 4 at the end of the rotational speed control is set as a target torque of the feedback torque Tmfb.
- the torque capacity (that is, engine torque) transmitted by the first clutch SSC the torque capacity (that is, engine torque) transmitted by the first clutch SSC.
- the target feedback torque Tmfb-A of the motor 4 can be set to a value obtained by subtracting the torque capacity transmitted by the second clutch C1 from the first clutch SSC.
- the torque obtained by subtracting the target feedback torque Tmfb-A of the motor 4 from the torque capacity (that is, the engine torque) transmitted in step S1 is transmitted, so that the second clutch C1 can be prevented from slipping.
- the case where the forced slip control described in the second embodiment is not performed has been described.
- the third embodiment is the same as the second embodiment.
- the forced slip control may be performed.
- the first clutch SSC is set in the slip engagement state when the start request is detected and the power generation control is interrupted. After the first clutch SSC is completely released, the slip engagement of the first clutch SSC may be started simultaneously while the second clutch C1 is slip-engaged.
- the motor rotational speed Nm is within a predetermined rotational speed difference with respect to the synchronous rotational speed Ns obtained by multiplying the transmission gear ratio and the output rotational speed Nout.
- the motor rotation speed Nm is divided by the transmission gear ratio and the difference between the output rotation speed Nout and the predetermined rotation speed is within the predetermined rotation speed difference, the motor 4 has been described. What is determined as rotation synchronization between the wheel 6 and the wheel 6 is also synonymous and within the scope of the present invention.
- the second clutch of the speed change mechanism 5 has been described as the clutch C1 that achieves the first speed together with the one-way clutch. Any clutch may be used as long as the power transmission state of the speed change mechanism 5 can be disconnected, slip transmitted, and connected by friction engagement.
- the control device for a hybrid vehicle can be used for a vehicle such as a passenger car and a truck, and in particular, when starting the vehicle from a state where the power generation control by the rotating electric machine is executed while the vehicle is stopped. It is suitable for use in a device that is required to ensure the durability of the clutch while improving the response.
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Abstract
Description
発進要求を検出したことに基づき、前記ハイブリッド車両(100)を発進させるハイブリッド車両の制御装置(1)において、
前記発進要求を検出したことに基づき、前記第1クラッチ(SSC)の係合状態を制御する第1クラッチ制御手段(22)と、
前記発進要求を検出したことに基づき、前記第2クラッチ(C1)の係合状態を制御する第2クラッチ制御手段(25)と、
前記発進要求を検出したことに基づき、前記回転電機(4)の回転速度(Nm)が目標の回転速度(Nmtg)となるように前記回転電機(4)を回転速度制御する回転電機制御手段(23)と、を備え、
前記第1クラッチ(SSC)を直結係合しつつ前記第2クラッチ(C1)を解放した状態で前記エンジン(2)を駆動して発電制御を行っている停車中から、前記発進要求を検出したことに基づき前記発電制御を中断した後、前記第2クラッチ制御手段(25)により前記第2クラッチ(C1)を解放した状態からスリップ係合状態となるように制御すると共に前記第1クラッチ制御手段(22)により前記第1クラッチ(SSC)を係合状態からスリップ係合状態となるように制御し、かつ前記回転電機制御手段(23)により前記目標の回転速度を低下させることを特徴とする。
前記発進要求を検出したことに基づき、前記エンジン(2)を駆動させて前記オルタネータ(50)による発電を行いながら、前記回転電機制御手段(23)により前記目標の回転速度を低下させることを特徴とする。
前記第2クラッチ制御手段(25)は、前記回転電機(4)の回転速度制御の実行中に前記第2クラッチ(C1)が前記要求駆動力(Treq)を伝達するトルク容量となるように、前記第2クラッチ(C1)を制御することを特徴とする。
前記タイマ手段(27)により計時された時間が第2の所定時間(TA)に達しても、回転電機回転速度センサ(42)により検出される前記回転電機(4)の回転速度(Nm)とエンジン回転速度センサ(41)により検出される前記エンジン(2)の回転速度(Ne)との回転速度差(d1)が検出されない場合に、前記第1クラッチ(SSC)のスリップを強制的に発生させる強制スリップ制御を実行する強制スリップ手段(26)と、を備えたことを特徴とする。
前記強制スリップ手段(26)は、前記エンジン制御手段(21)に指令して、前記エンジン(2)の回転速度(Ne)を前記回転電機(4)の回転速度(Nm)よりも高い回転速度(例えばNi+d1+d4)になるように制御することで、前記強制スリップ制御を実行することを特徴とする。
以下、本発明に係る第1の実施の形態を図1乃至図4に沿って説明する。なお、図1において、強制スリップ手段26及びタイマ手段27は、第2の実施の形態の場合に備えているものとし、第1の実施の形態では、それらの説明を省略する。なお、本明細書中において、「回転数」とは「回転速度」と同義で用いるものである。
ついで、第1の実施の形態を一部変更した第2の実施の形態について図5乃至図7に沿って説明する。なお、ハイブリッド車両100やその制御装置1における第1の実施の形態と同様な部分は、その説明を省略する。また、以下の説明では、まず、強制スリップ制御としてモータ回転数Nmを下げた場合について図5及び図6に沿って説明し、次に、強制スリップ制御としてエンジン回転数Neを上げた場合について図6との相違部分を主として図7に沿って説明する。
ついで、第1の実施の形態を一部変更した第3の実施の形態について図8及び図9に沿って説明する。なお、ハイブリッド車両100やその制御装置1における第1の実施の形態と同様な部分は、その説明を省略する。
2 エンジン
4 回転電機(モータ)
5 変速機構
6 車輪
21 エンジン制御手段
22 第1クラッチ制御手段
23 回転電機制御手段(モータ制御手段)
25 第2クラッチ制御手段
26 強制スリップ手段
27 タイマ手段
28 要求駆動力算出手段
31 アクセル開度センサ
41 エンジン回転速度センサ(エンジン回転数センサ)
42 回転電機回転速度センサ(モータ回転数センサ)
44 出力回転数センサ
50 オルタネータ
100 ハイブリッド車両
C1 第2クラッチ
Ne エンジンの回転速度(エンジン回転数)
Nm 回転電機の回転速度(モータ回転数)
Nmtg 目標の回転速度(モータ目標回転数)
Nout 出力回転速度
Ns 変速機構の変速比と出力回転速度とを乗算した回転速度(同期回転数)
SSC 第1クラッチ
TA 第2の所定時間
TB 第1の所定時間
Treq 要求駆動力
d1 回転速度差
d2 所定回転速度差
Claims (13)
- エンジンから車輪までの動力伝達経路上に、前記エンジンの側から順に、第1クラッチ、回転電機、第2クラッチが配設されたハイブリッド車両に用いられ、
発進要求を検出したことに基づき、前記ハイブリッド車両を発進させるハイブリッド車両の制御装置において、
前記発進要求を検出したことに基づき、前記第1クラッチの係合状態を制御する第1クラッチ制御手段と、
前記発進要求を検出したことに基づき、前記第2クラッチの係合状態を制御する第2クラッチ制御手段と、
前記発進要求を検出したことに基づき、前記回転電機の回転速度が目標の回転速度となるように前記回転電機を回転速度制御する回転電機制御手段と、を備え、
前記第1クラッチを直結係合しつつ前記第2クラッチを解放した状態で前記エンジンを駆動して発電制御を行っている停車中から、前記発進要求を検出したことに基づき前記発電制御を中断した後、前記第2クラッチ制御手段により前記第2クラッチを解放した状態からスリップ係合状態となるように制御すると共に前記第1クラッチ制御手段により前記第1クラッチを係合状態からスリップ係合状態となるように制御し、かつ前記回転電機制御手段により前記目標の回転速度を低下させる、
ことを特徴とするハイブリッド車両の制御装置。 - 前記ハイブリッド車両は、前記エンジンの回転によって発電して補機に電力を供給可能なオルタネータを有し、
前記発進要求を検出したことに基づき、前記エンジンを駆動させて前記オルタネータによる発電を行いながら、前記回転電機制御手段により前記目標の回転速度を低下させる、
ことを特徴とする請求項1記載のハイブリッド車両の制御装置。 - 前記回転電機制御手段は、前記目標の回転速度を低下させる際、前記目標の回転速度を第1の所定勾配で低下させた後、前記第1の所定勾配よりも緩い第2の所定勾配で低下させる、
ことを特徴とする請求項1または2記載のハイブリッド車両の制御装置。 - 前記第2クラッチ制御手段は、前記回転電機の回転速度が前記変速機構の変速比と出力回転速度とを乗算した回転速度に対して所定回転速度差以内となった際に、前記第2クラッチを直結係合状態に移行する、
ことを特徴とする請求項1ないし3のいずれか記載のハイブリッド車両の制御装置。 - 運転者の要求駆動力を算出する要求駆動力算出手段を備え、
前記第2クラッチ制御手段は、前記回転電機の回転速度制御の実行中に前記第2クラッチが前記要求駆動力を伝達するトルク容量となるように、前記第2クラッチを制御する、
ことを特徴とする請求項1ないし4のいずれか記載のハイブリッド車両の制御装置。 - 前記回転電機制御手段は、前記第1クラッチのスリップ係合状態を判定するまで、前記エンジンの回転速度と異なる所定回転速度になるように前記回転速度制御を実行する、
ことを特徴とする請求項1ないし5のいずれか記載のハイブリッド車両の制御装置。 - 前記回転電機制御手段は、回転電機回転速度センサにより検出される前記回転電機の回転速度とエンジン回転速度センサにより検出される前記エンジンの回転速度との回転速度差に基づいて前記第1クラッチのスリップ係合状態を判定する、
ことを特徴とする請求項1ないし6のいずれか記載のハイブリッド車両の制御装置。 - 前記回転電機制御手段は、前記回転電機の回転速度が前記変速機構の変速比と前記出力回転速度とを乗算した回転速度に対して所定回転速度差以内になると、前記回転速度制御を終了して回転電機の出力トルクが目標のトルクとなるように回転電機を制御するトルク制御を開始する、
ことを特徴とする請求項1ないし7のいずれか記載のハイブリッド車両の制御装置。 - 前記回転電機制御手段は、前記トルク制御を開始してから第1の所定時間の間、前記回転速度制御の終了時の回転電機の出力トルクから前記回転電機の回転速度の変化に必要なトルクを減算した値を前記目標のトルクとする、
ことを特徴とする請求項8記載のハイブリッド車両の制御装置。 - 前記発電制御を中断してからの経過時間を計時するタイマ手段と、
前記タイマ手段により計時された時間が第2の所定時間に達しても、回転電機回転速度センサにより検出される前記回転電機の回転速度とエンジン回転速度センサにより検出される前記エンジンの回転速度との回転速度差が検出されない場合に、前記第1クラッチのスリップを強制的に発生させる強制スリップ制御を実行する強制スリップ手段と、を備えた、
ことを特徴とする請求項1ないし9のいずれか記載のハイブリッド車両の制御装置。 - 前記強制スリップ手段は、前記回転電機制御手段に指令して、前記回転電機の回転速度を前記エンジンの回転速度よりも低い回転速度になるように制御することで、前記強制スリップ制御を実行する、
ことを特徴とする請求項10記載のハイブリッド車両の制御装置。 - 前記エンジンの回転速度を制御するエンジン制御手段を備え、
前記強制スリップ手段は、前記エンジン制御手段に指令して、前記エンジンの回転速度を前記回転電機の回転速度よりも高い回転速度になるように制御することで、前記強制スリップ制御を実行する、
ことを特徴とする請求項10または11記載のハイブリッド車両の制御装置。 - 前記回転電機制御手段は、前記第1クラッチのスリップ開始までのアクセル開度が大きいほど、前記目標の回転速度を低下させる勾配が大きくなるように前記回転速度制御を実行する、
ことを特徴とする請求項1ないし12のいずれか記載のハイブリッド車両の制御装置。
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DE112013003691.6T DE112013003691T5 (de) | 2012-09-28 | 2013-09-27 | Steuervorrichtung für ein Hybridfahrzeug |
US14/417,720 US9457801B2 (en) | 2012-09-28 | 2013-09-27 | Control device for hybrid vehicle |
CN201380043860.7A CN104583035B (zh) | 2012-09-28 | 2013-09-27 | 混合动力车辆的控制装置 |
JP2014538652A JP5971345B2 (ja) | 2012-09-28 | 2013-09-27 | ハイブリッド車両の制御装置 |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2019014429A (ja) * | 2017-07-10 | 2019-01-31 | トヨタ自動車株式会社 | ハイブリッド車両 |
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JP5971345B2 (ja) | 2016-08-17 |
JPWO2014051107A1 (ja) | 2016-08-25 |
US9457801B2 (en) | 2016-10-04 |
DE112013003691T5 (de) | 2015-04-09 |
CN104583035A (zh) | 2015-04-29 |
US20150298690A1 (en) | 2015-10-22 |
CN104583035B (zh) | 2017-09-19 |
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