WO2023145720A1

WO2023145720A1 - Control device for vehicle drive device

Info

Publication number: WO2023145720A1
Application number: PCT/JP2023/002052
Authority: WO
Inventors: 熊田拓郎
Original assignee: 株式会社BluE Nexus
Priority date: 2022-01-31
Filing date: 2023-01-24
Publication date: 2023-08-03
Also published as: JP2023111590A

Abstract

The present invention comprises: a rotational speed control unit that computes a feedback torque for changing the rotational speed of a rotating electrical machine; and a rotating electrical machine control unit that controls the rotating electrical machine so as to output a torque that is the sum of a required torque and the feedback torque. To switch from a state of executing feedback torque generation to a state of non-execution, the rotational speed control unit lowers the absolute value of the feedback torque to zero while restricting the rate of change (RT) of the feedback torque to within a range of restricted rates. The absolute values of the restricted rates are set so as to be higher if the rotational speed (ωres) of the rotating electrical machine is within a pre-set restricted range than if the rotational speed (ωres) is outside the restricted range.

Description

Control device for vehicle drive system

The present invention relates to a control device for a vehicle drive system.

Japanese Patent No. 5971345 discloses a rotary electric machine (4) provided to transmit torque to a power transmission path connecting an internal combustion engine (2) and a wheel (6); 4), and a second engagement device (C1) for connecting and disconnecting power transmission between the rotary electric machine (4) and the wheel (6). A control device (1) for controlling a vehicle drive device (3) equipped with such a vehicle is disclosed (reference numerals in parentheses in the background art refer to documents). The control device (1) controls the rotation speed of the rotating electric machine (4) when the second engagement device (C1) is in the slip engagement state, for example, when starting the vehicle.
Specifically, the control device (1) calculates a rotational change torque for changing the rotational speed of the rotating electric machine (4) so that the rotating electric machine (4) rotates at a target rotational speed, The rotary electric machine (4) is controlled so as to output a torque that is the sum of the required torque for outputting the driving force and the rotational change torque. When the second engagement device (C1) shifts from the slip engagement state to the direct engagement state, the control device (1) determines that the rotating electric machine (4) and the wheel (6) are rotating synchronously, and rotates. The speed control is ended and the rotating electric machine (4) is shifted to the torque control for controlling to output the required torque. At this time, the control device (1) sets a value obtained by subtracting the rotation change torque from the output torque of the rotating electric machine (4) at the end of the rotation speed control as the target torque of the rotating electric machine (4).

Japanese Patent No. 5971345

The above document does not disclose how to subtract the rotational change torque when shifting from rotational speed control to torque control. Usually, in order to avoid a sudden change in the target torque, the absolute value of the rotational change torque to be subtracted from the output torque is often controlled to gradually decrease. However, depending on the magnitude and direction of the rotation change torque remaining at the time of transition to torque control, the rotating electric machine may rotate in the opposite direction to the assumed rotation during the period in which the absolute value of the rotation change torque is gradually reduced. There is a possibility that the rotation speed of the electric machine will exceed the upper limit and become over-rotation.

In view of the above background, when the rotation speed control for the rotating electric machine is switched from the execution state to the non-execution state, the torque used for changing the rotation speed of the rotating electric machine in the rotation speed control is changed to the rotation state of the rotating electric machine. It is desired to provide a technique for appropriately solving the problem depending on the situation.

In view of the above, a control device for a vehicle drive system,
an internal combustion engine;
a rotating electric machine provided to transmit torque to a power transmission path connecting the internal combustion engine and wheels;
a first engagement device for connecting and disconnecting power transmission between the internal combustion engine and the rotating electric machine;
A control device for controlling a vehicle drive device including a second engagement device for connecting and disconnecting power transmission between the rotating electric machine and the wheel,
a rotation speed control unit that calculates a feedback torque that is a torque for changing the rotation speed of the rotating electrical machine so that the actual rotating speed of the rotating electrical machine approaches a target rotating speed;
a rotary electric machine control unit that controls the rotary electric machine so as to output a torque that is the sum of the required torque of the rotary electric machine and the feedback torque;
The rotation speed control unit is switchable between an execution state in which the feedback torque is generated and a non-execution state in which the feedback torque is not generated,
When switching from the execution state to the non-execution state, the rotation speed control unit reduces the absolute value of the feedback torque to zero while limiting the rate of change of the feedback torque within a limit rate range,
The absolute value of the limit rate is set to a higher value when the rotation speed of the rotating electric machine is within a preset limit range than when the rotation speed of the rotating electric machine is outside the limit range. .

In general, the rate of change per unit time of feedback control calculation targets such as feedback torque may be limited by a limit rate in order to suppress the deterioration of control followability due to sudden changes. For this reason, if the followability is unlikely to deteriorate and a quick response is required, the limited rate may hinder responsiveness. According to this configuration, when the rotation speed of the rotary electric machine is within the limit range, the feedback torque can be changed with high responsiveness by setting the limit rate to a high value. For example, the rotational speed controller can quickly reduce the absolute value of the feedback torque to zero at a high limiting rate when switching from the run state to the non-run state. Therefore, it is easy to avoid that the rotation speed of the rotary electric machine changes due to the residual torque during the period when the feedback torque is reduced to zero, and reaches an undesirable rotation speed. Thus, according to this configuration, when the rotation speed control for the rotating electric machine is switched from the execution state to the non-execution state, the torque used for changing the rotation speed of the rotating electric machine in the rotation speed control is It can be appropriately canceled according to the rotation state of the electric machine.

Further features and advantages of the control device for a vehicle drive will become clear from the following description of exemplary and non-limiting embodiments, which are explained with reference to the drawings.

Schematic configuration diagram of a vehicle drive system Schematic block diagram of part of the control system Time chart showing an operation example of a vehicle drive system including an internal combustion engine start mode Time chart showing an example of the sequence of the second engagement device slip start (sliding engagement start) A time chart showing an example of a case where the wheels are spinning in the second engagement device slip start (sliding engagement start) Schematic block diagram showing a configuration example of a feedback torque output unit in a rotary electric machine control unit and a rotation speed control unit FIG. 2 is a block diagram schematically showing a configuration example of a rotation speed control unit and a rotating electric machine control unit; Time chart showing an example of when rotation speed control ends when feedback torque is negative Time chart showing an example of the end of rotation speed control when feedback torque is positive Flowchart showing an example of feedback torque convergence processing

An embodiment of a control device for a vehicle drive system will be described below with reference to the drawings. In this embodiment, the control device 10 controls the vehicle drive device 100 including at least the internal combustion engine 1, the rotating electric machine 3, the first engagement device CL1, and the second engagement device CL2. As shown in FIG. 1, the rotary electric machine 3 is provided so as to transmit torque to a power transmission path connecting the internal combustion engine 1 and the wheels W. As shown in FIG. The first engagement device CL<b>1 is arranged to connect and disconnect power transmission between the internal combustion engine 1 and the rotating electric machine 3 . The second engagement device CL2 is arranged to connect and disconnect power transmission between the rotary electric machine 3 and the wheel W. As shown in FIG. In this embodiment, an automatic transmission 4 and a differential gear device 5 for distributing driving force to a pair of wheels W are arranged between the second engagement device CL2 and the wheels W. there is Note that the second engagement device CL2 may be a part of the automatic transmission 4 . Further, as shown in FIG. 1, a damper device 2 may be provided between the internal combustion engine 1 and the first engagement device CL1.

In the present application, "driving connection" refers to a state in which two rotating elements are connected so as to be able to transmit driving force, and the two rotating elements are connected so as to rotate integrally, or the two rotating elements It includes a state in which two rotating elements are connected so as to be able to transmit driving force via one or more transmission members. Such transmission members include various members that transmit rotation at the same speed or at different speeds, such as shafts, gear mechanisms, belts, and chains. The transmission member may include an engagement device for selectively transmitting rotation and driving force, such as a friction engagement device and a mesh type engagement device.

The block diagram in Figure 2 schematically shows part of the control system. The control device 10 of the present embodiment has a feature regarding control of the rotating electrical machine 3, and the block diagram of FIG. there is The control device 10 includes a rotation speed control section 20 and a rotating electric machine control section 50 .

The rotational speed control unit 20 calculates a feedback torque Tmfb that is torque for changing the rotational speed of the rotating electrical machine 3 so that the actual rotational speed ωres of the rotating electrical machine 3 approaches the target rotational speed ωcmd. The rotation speed control section 20 also includes a feedback control section 30 and a disturbance observer control section 40 . The feedback control unit 30 is the core of the rotation speed control unit 20, and is a feedback torque Tmfb that is torque for changing the rotation speed of the rotation electric machine 3 so that the actual rotation speed ωres of the rotation electric machine 3 approaches the target rotation speed ωcmd. to calculate This embodiment exemplifies the configuration in which the rotational speed control unit 20 includes the disturbance observer control unit 40, but a configuration in which the disturbance observer control unit 40 is not provided is not barred. If the disturbance observer control section 40 is not provided, the rotation speed control section 20 entirely corresponds to the feedback control section 30 . Although the details will be described later with reference to FIG. 7, the disturbance observer control unit 40 controls the estimated feedback torque, which is torque obtained by actually changing the rotation speed of the rotating electric machine 3, based on the actual rotating speed ωres of the rotating electric machine 3. Tefb is estimated, and a correction torque T^dis (actually written as "T" with "^ (hat)") for correcting the feedback torque Tmfb based on the difference ΔTmfb between the feedback torque Tmfb and the estimated feedback torque Tefb. Calculate.

The rotational speed control unit 20 (feedback control unit 30) can be switched between an execution state in which the feedback torque Tmfb is generated and a non-execution state in which the feedback torque Tmfb is not generated. Further, the disturbance observer control unit 40 can switch between an execution state in which the feedback torque Tmfb is corrected and a non-execution state in which the feedback torque Tmfb is not corrected. While the rotation speed control unit 20 (feedback control unit 30) is in the execution state, the disturbance observer control unit 40 can be switched between an execution state and a non-execution state. When the rotational speed control unit 20 (feedback control unit 30) is in the non-execution state, the disturbance observer control unit 40 is also in the non-execution state because there is no need to execute the disturbance observer control.

The rotary electric machine control unit 50 performs, for example, a known vector control method based on the difference between the current command based on the required torque Tbase given from the host control device (here, the vehicle control device 90) and the actual current flowing through the rotary electric machine 3. to drive and control the rotary electric machine 3 via the drive circuit 61 and the inverter circuit 62 . The actual current is detected by a current sensor 63, and the actual rotational speed ωres for vector control and the rotational position of the rotor are detected by a rotation sensor 64 such as a resolver. In the present embodiment, the rotary electric machine control unit 50 controls the rotary electric machine 3 so as to output a torque that is the sum of the required torque Tbase of the rotary electric machine 3 and the feedback torque Tmfb (see FIGS. 6 and 7). In contrast to the rotation speed control unit 20 which controls the rotation speed, the rotary electric machine control unit 50 can also be called a torque control unit because it controls torque.

As described above, the first engagement device CL1 is an engagement device capable of connecting and disconnecting power transmission between the internal combustion engine 1 and the rotating electric machine 3. When the first engagement device CL1 is engaged, power is transmitted between the internal combustion engine 1 and the rotating electric machine 3, and when the first engagement device CL1 is released, the internal combustion engine 1 and the rotating electric machine 3 rotate. Power is not transmitted to or from the electric machine 3 . For example, when the first engagement device CL1 is released, the rotary electric machine 3 can function as an electric motor and drive the wheels W with electric power from a power storage device (secondary battery, capacitor, etc.) (not shown). (Electric vehicle mode (EV mode)).

In the state where the first engagement device CL1 is engaged, mainly the hybrid mode (HV mode) and the charging mode are executable. In hybrid mode, the rotary electric machine 3 functions as an electric motor. The vehicle drive system 100 can drive the wheels W with the torque of the internal combustion engine 1 and the torque of the rotating electric machine 3 . In the charge mode, the rotary electric machine 3 functions as a generator. The vehicle drive system 100 can drive the wheels W with the torque of the internal combustion engine 1 and cause the rotating electric machine 3 to generate electric power with the torque of the internal combustion engine 1 to charge a power storage device (not shown).

Further, when the wheels W are driven in the EV mode, the internal combustion engine 1 can be started by shifting the first engagement device CL1 from the released state to the engaged state. (internal combustion engine starting mode). That is, it is possible to shift from the EV mode to the HV mode via the internal combustion engine start mode.

Three operation examples of the vehicle driving device 100 will be described below with reference to FIGS. 3 to 5. FIG.

The time chart in FIG. 3 shows an example of the operation of the vehicle drive system 100 including the internal combustion engine start mode. That is, it shows an example of the operation of the vehicle drive system 100 when the EV mode, the internal combustion engine start mode, and the charge mode are entered. In the section T10, the wheels W are driven in the EV mode and the vehicle is running with the first engagement device CL1 released and the second engagement device CL2 engaged. Here, at time t11, a request to start the internal combustion engine 1 is given to the control device 10 from a control device higher than the control device 10 (in this case, the vehicle control device 90 shown in FIG. 2). When the control device 10 receives the start request, the control device 10 realizes a slip engagement state (slip engagement state, half-clutch state) from the hydraulic pressure that realizes the complete engagement state. (section T11). That is, the control device 10 reduces the realization rate of the hydraulic pressure in the interval T11. Note that the realization ratio indicates the ratio of the torque capacity that is ensured with respect to the driving force. Further, in the interval T11, application of hydraulic pressure to the first engagement device CL1 is started in preparation for starting the internal combustion engine 1 (so-called cranking).

When the hydraulic pressure of the second engagement device CL2 drops to the target value, the rotational speed control request REQrsc becomes active (time t12). The control device 10 is implemented by cooperation between hardware such as a microcomputer and software such as programs and parameters. The rotation speed control request REQrsc can be implemented as a flag set in a register or the like, for example. For example, when the value indicated as the flag is "1", it indicates that the rotational speed control request REQrsc is active (ON), and when it is "0", it indicates that the rotational speed control request REQrsc is inactive (OFF). indicates The same applies to other control requests and the like below.

When the rotational speed control request REQrsc becomes active, the control device 10 starts controlling the rotational speed of the rotating electrical machine 3 . Rotation speed control is control that performs feedback control so that the rotation speed (MG rotation speed, eg, actual rotation speed ωres) of the rotary electric machine 3 follows the command rotation speed (eg, target rotation speed ωcmd). In the present embodiment, as described above, the rotation speed control unit 20 (feedback control unit 30) changes the rotation speed of the rotation electric machine 3 so that the actual rotation speed ωres of the rotation electric machine 3 approaches the target rotation speed ωcmd. A feedback torque Tmfb is calculated.

The input rotation speed in FIG. 3 indicates the rotation speed of the secondary side (wheel W side) of the second engagement device CL2. By bringing the second engagement device CL2 into the slipping engagement state, the control device 10 provides a rotational speed difference between the rotational speed of the rotary electric machine 3 and the input rotational speed, and the torque fluctuation on the internal combustion engine 1 side is reduced. Cranking of the internal combustion engine 1 is performed in a state in which the torque is not transmitted to the wheel W side. At time t13, the rotation speed difference (between the primary side (rotary electric machine 3 side) and the secondary side of second engagement device CL2) required for second engagement device CL2 by the rotation speed control started at time t12 is (required rotation speed) is completed. That is, the interval T12 is a rotation speed difference (differential rotation) generation period.

After the rotation speed difference is generated (after time t13), the control device 10 increases the engagement pressure of the first engagement device CL1 to increase the rotation speed of the internal combustion engine 1 (performs cranking). At this time, in a section T13 after time t13, the control device 10 synchronizes with the increase in the engagement pressure of the first engagement device CL1 to apply the feedback torque Tmfb for changing the rotational speed of the rotating electrical machine 3 to the rotating electrical machine. output to 3. Note that when the engagement pressure of the first engagement device CL1 starts to increase, the torque of the rotary electric machine 3 also begins to be transmitted to the internal combustion engine 1 via the first engagement device CL1. At the start of rotational speed control, the follow-up of the feedback torque Tmfb may be delayed, and the rotational speed of the rotating electric machine 3 may decrease. Here, if the rotation speed of the rotary electric machine 3 decreases to the input rotation speed, a shock may occur. For this reason, the rotational speed difference is set as a difference such that the rotational speed of the rotating electrical machine 3 does not decrease to the input rotational speed even when the rotational speed of the rotating electrical machine 3 decreases (drops). ing. Further, although the details will be described later, in the present embodiment, the torque generated by the engagement of the first engagement device CL1 is regarded as disturbance torque, and the disturbance observer control unit 40 controls such a drop in rotational speed. is compensated.

At time t14, when the rotation speed (MG rotation speed) of the rotary electric machine 3 and the rotation speed (EG rotation speed) of the internal combustion engine 1 are synchronized, the control device 10 further increases the engagement pressure of the first engagement device CL1. Raise it to a fully engaged state. Here, after the internal combustion engine 1 is started, the wheels W are driven by the driving force of the internal combustion engine 1, so a so-called torque switching control is executed in the section T14. Specifically, the torque (MG torque) generated by the rotary electric machine 3 is decreased, and the torque (EG torque) generated by the internal combustion engine 1 is increased. In the form illustrated in FIG. 3 , when the torque switching control is completed at time t15, the rotary electric machine 3 is caused to function as a generator in subsequent intervals T15, T16, and T17.

When the torque switching is completed in the section T14, the control device 10 changes the rotational speed of the internal combustion engine 1 and the rotational speed of the rotating electric machine 3 to transition the second engagement device CL2 from the sliding engagement state to the fully engaged state. is decreased so as to synchronize with the input rotation speed (sections T15, T16). Specifically, the command rotation speed is decreased so that the command rotation speed asymptotically approaches the input rotation speed. That is, when the second engagement device CL2 is shifted to the fully engaged state, the rotation speed difference is eliminated so as not to cause an engagement shock. Here, in section T15, the rotation speed difference decreases to some extent (the rotation speed difference becomes smaller than the regulation), the rotation speed control request REQrsc becomes inactive, and the control device 10 terminates the rotation speed control ( time t16). When the rotation speed control ends, the control device 10 increases the engagement pressure of the second engagement device CL2 to transition the second engagement device CL2 to the fully engaged state (section T16). After time t17 when the second engagement device CL2 is completely engaged, the rotation speed of the internal combustion engine 1, the rotation speed of the rotary electric machine 3, and the input rotation speed are synchronized.

By the way, when the rotation speed control ends at time t16, as shown in FIG. 3, the feedback torque Tmfb is not zero and remains (referred to as residual torque Trfb). As described above, after time t16 (section T16), rotation speed control using feedback torque Tmfb is not executed. In section T16, as the engagement pressure of the second engagement device CL2 increases, the transmission torque capacity of the second engagement device CL2 increases, and the remaining feedback torque Tmfb is transmitted to the wheels W. . Therefore, it is required to appropriately reduce the residual torque Trfb of the feedback torque Tmfb to zero before the second engagement device CL2 is brought into the fully engaged state. The processing of this residual torque Trfb (feedback torque convergence processing) will be described later with reference to FIG. 6 and the like.

The time chart of FIG. 4 shows an example of a slip start (slip engagement start) sequence by the second engagement device CL2. In this example, the first engagement device CL1 is in the fully engaged state and the internal combustion engine 1 has started. In section T21, the vehicle is stopped and the input rotation speed and vehicle acceleration are zero. The second engagement device CL2 is in a sliding engagement state so as not to stop the internal combustion engine 1 . When the occupant operates the accelerator and the accelerator opening increases at time t21, the wheels W are driven by the torque (EG torque) of the internal combustion engine 1 via the second engagement device CL2 in the slipping engagement state, and the rotary electric machine 3 functions as a power generator with the torque of the internal combustion engine 1 (the torque (MG torque) of the rotary electric machine 3 is negative torque).

The rotational speed control request REQrsc is active from section T21 (section T22) to section T25, and the control device 10 executes rotational speed control as described above with reference to FIG. When the rotation speed difference between the rotation speed (MG rotation speed) of the rotary electric machine 3 and the input rotation speed becomes smaller than a regulation, the rotation speed control request REQrsc becomes inactive, and the complete engagement request for the second engagement device CL2 is issued. It becomes active (time t25). In an interval T25 after time t25, the control device 10 reduces the feedback torque Tmfb (residual torque Trfb) remaining at time t25 to zero and increases the engagement pressure of the second engagement device CL2.

The time chart of FIG. 5 shows an example of a case where the wheels W are spinning during slip start (slip engagement start) by the second engagement device CL2. As in the embodiment described with reference to FIG. 4, the first engagement device CL1 is in the fully engaged state, and the internal combustion engine 1 has started. In section T31, the vehicle is stopped, and the input rotational speed and the vehicle body speed are zero. In order not to stop the internal combustion engine 1, the second engagement device CL2 is in the slipping engagement state, and the rotation speed control is executed from the interval T31. Here, it is assumed that the passenger strongly operates the accelerator on a slippery road surface such as a snow-covered road or an icy road. Since the wheels W idle, the input rotation speed rises sharply compared to the vehicle body speed (sections T32 and T33).

In the example shown in FIG. 5, the second engagement device CL2 is shifted to the fully engaged state at time t32 while the vehicle (wheel W) is slipping. At the same time, the rotation speed control is terminated. In this example, the feedback torque Tmfb also increases significantly in the section T32. As will be described later, the feedback torque Tmfb has upper and lower limits set. The absolute values may be the same or different.). This embodiment shows an example in which the feedback torque Tmfb increases to this maximum value. Therefore, the remaining feedback torque Tmfb (residual torque Trfb) at time t32 is also close to the maximum value. As shown in FIG. 5 , when the rotation speed of the rotating electrical machine 3 continues to increase due to the addition of the feedback torque Tmfb after time t32, the rotating electrical machine 3, the internal combustion engine 1, and other parts drivingly connected to the rotating electrical machine 3 may exceed the upper limit rotation speed. Although the details will be described later with reference to FIG. 6 and the like, especially in such a case, it is preferable to rapidly converge the residual torque Trfb of the feedback torque Tmfb to zero in the sections T33 and T34.

In FIG. 5, the brake is operated by the passenger at time t34, and the input rotation speed becomes zero in the middle of section T36, but the vehicle body is slipping with the wheels W locked. ing.

Here, the details of the rotational speed control unit 20 will be described with reference to FIGS. 6 and 7. FIG. As shown in FIG. 7, in this embodiment, the rotation speed control section 20 will be described as having a feedback control section 30, a disturbance observer control section 40, and a feedback torque output section 21. FIG. However, the rotation speed control unit 20 may be configured to include the feedback control unit 30 and the feedback torque output unit 21 without the disturbance observer control unit 40, or may not include the feedback torque output unit 21. , a feedback control unit 30 and a disturbance observer control unit 40 .

In FIG. 7, a plant 80 is an object to be controlled by the control device 10, and here, a rotating electric machine model 81 corresponding to the rotating electric machine 3 is the core. For example, the plant 80 corresponds to the rotating electric machine 3 when the first engagement device CL1 is in the slipping engagement state, and the disturbance torque Tdis to the plant 80 corresponds to the torque generated in the first engagement device CL1. g* (*: 1, 2, 3, 4, 5) indicates the cutoff frequency of the low-pass filter, J indicates the inertia of the controlled object (rotating electric machine 3 in this case), and Jn indicates the nominal inertia of the controlled object. , and K* (*: 2, P, I) indicates the gain. "n" of nominal inertia Jn, "*" in cutoff frequency "g*" and gain "K*" are subscripts shown in small letters, but are shown in normal size for notational reasons. .

The feedback control section 30 includes a filter 31 , a filter 32 , a proportional gain 33 and an integral control section 37 . The integration control unit 37 includes an integrator 34, an integration gain 35, and an anti-windup processing unit 36 (a processing unit that compensates for performance deterioration due to saturation of the integrator 34). The feedback control unit 30 receives the target rotation speed ωcmd from another control unit in the control device 10 or a control device different from the control device 10 , and also receives the actual rotation speed ωres of the rotary electric machine 3 via the filter 29 . is transmitted. As shown in the block diagram of FIG. 7, the feedback control unit 30 executes proportional integral control (PI control) based on the difference between the target rotation speed ωcmd and the actual rotation speed ωres to calculate the feedback torque Tmfb. . Feedback torque Tmfb is the sum of proportional torque TP and integral torque TI. If the disturbance observer control unit 40 and the feedback torque output unit 21 are not provided, the feedback torque Tmfb calculated by the feedback control unit 30 is transmitted to the rotating electric machine control unit 50 as it is.

As shown in FIG. 7, in the present embodiment, the feedback torque Tmfb calculated in the feedback control section 30 is added with the correction torque T^dis calculated in the disturbance observer control section 40, and further the feedback torque output section 21 is added. The value is adjusted through the control unit 50 and transmitted to the rotary electric machine control unit 50 . When distinguishing between these feedback torques Tmfb, the feedback torque Tmfb calculated in the feedback control unit 30 is referred to as the "source feedback torque Tmfb0", and the feedback torque Tmfb obtained by adding the correction torque T^dis to the "source feedback torque Tmfb0" is referred to as the "corrected feedback torque Tmfb1". , and the feedback torque Tmfb after passing through the feedback torque output section 21 is referred to as a "rotational change torque Tmfb2."

6 exemplifies the configuration of the feedback torque output section 21. FIG. The feedback torque output section 21 includes at least a first switch 22 (selector, multiplexer) and a limiting section 23 . When the rotational speed control request REQrsc is active (in the ON state), the first switch 22 selects and outputs the feedback torque Tmfb (corrected feedback torque Tmfb1).

The limiting unit 23 limits the post-correction feedback torque Tmfb1 between a predetermined upper limit value and a lower limit value. In the present embodiment, as described above with reference to FIG. 5, the feedback torque Tmfb input to the rotary electric machine control unit 50 is limited, for example, between Tmax [Nm] and -Tmin [Nm]. Limiting unit 23 reduces corrected feedback torque Tmfb1 when the magnitude of corrected feedback torque Tmfb1 is between a predetermined upper limit value (maximum value Tmax) and a lower limit value (minimum value −Tmin). It is output as the rotation change torque Tmfb2. When the magnitude of the post-correction feedback torque Tmfb1 exceeds the upper limit value, the limiting unit 23 limits the value to the upper limit value and outputs it as the rotational change torque Tmfb2. Further, when the magnitude of the post-correction feedback torque Tmfb1 is less than the lower limit value, the limiting unit 23 limits the value to the lower limit value and outputs it as the rotation change torque Tmfb2.

As shown in FIG. 6, the feedback torque output section 21 of this embodiment further includes a rate value limiting section 24, a previous value holding section 25, a second switch 26 (selector, multiplexer), and a rate control section 27. . These will be described later.

The disturbance observer control unit 40 includes an inverse plant model 41 , a filter 42 and an observer gain 43 . The inverse plant model 41 is an inverse model of the rotating electric machine model 81 . The inverse plant model 41 estimates the torque actually used to change the rotation in the plant 80 based on the actual rotation speed ωres. Here, this torque is called estimated feedback torque Tefb. The plant 80 is affected by the disturbance torque Tdis as shown in FIG. , but is determined by the torque to which the disturbance torque Tdis is added. The disturbance torque Tdis can also be considered as a disturbance torque for the rotational change torque Tmfb2.

The inverse plant model 41 estimates the torque (estimated feedback torque Tefb) actually used to change the rotation from the actual rotation speed ωres of the rotary electric machine 3 . The disturbance torque Tdis can be estimated by obtaining the difference ΔTmfb between the estimated feedback torque Tefb and the rotational change torque Tmfb2. This difference ΔTmfb corresponds to the estimated disturbance torque. A disturbance observer control unit 40 gives a gain by an observer gain 43 to the difference ΔTmfb after passing through the filter 42, and calculates a correction torque T̂dis for correcting the feedback torque Tmfb.

As shown in FIG. 7, in the present embodiment, the corrected feedback torque Tmfb1 is calculated by adding the correction torque T^dis to the feedback torque Tmfb (source feedback torque Tmfb0) calculated in the feedback control section 30. That is, the disturbance observer control unit 40 compensates for the disturbance torque that affects the rotation of the rotary electric machine 3 . For example, until time t13 in FIG. 3, the transmission torque of the second engagement device CL2 enters the plant 80 as disturbance torque Tdis and cancels out the required torque Tbase. In section T13, when the engagement pressure of the first engagement device CL1 starts to increase in order to start the internal combustion engine 1, the transmission torque in the first engagement device CL1 is added to the disturbance torque Tdis up to that point. As a result, as shown in FIG. 3, the rotation speed (MG rotation speed) of the rotary electric machine 3 may drop. Accordingly, by adding the correction torque T̂dis to the feedback torque Tmfb, the drop in the rotation speed of the rotary electric machine 3 is improved as shown in the section T13 of FIG. 3 .

Here, as the corrected torque T^dis, a form in which the transmission torque of the first engagement device CL1 at the start of the internal combustion engine 1 at the time of transition from the EV mode to the HV mode is the disturbance torque Tdis is exemplified. However, the disturbance torque Tdis is not limited to this example. For example, variation in the torque capacity of the second engagement device CL2 (the difference between the required torque Tbase and the transmission torque of the second engagement device CL2) may be included.

As shown in FIGS. 2, 6, and 7, the rotary electric machine control unit 50 controls the rotary electric machine 3 to output a torque that is the sum of the feedback torque Tmfb (rotation change torque Tmfb2) and the required torque Tcmd. It drives and controls the rotating electric machine 3 . As shown in FIG. 6 , the rotary electric machine control section 50 includes a limiting section 51 and a current control section 52 . The limiting unit 51 prevents the sum of the feedback torque Tmfb and the required torque Tbase from exceeding the upper limit torque, falling below the lower limit torque, or exceeding the upper limit of the torque change rate. It limits the torque value. The upper limit torque and the lower limit torque are a mechanical limit value of the vehicle drive device 100 and an electrical limit value regarding whether or not the control device 10 can control. Moreover, as shown in FIG. 6, an expected torque loss may be added to the torque output from the limiter 51. FIG. If the control device 10 does not include the disturbance observer control section 40, this torque loss preferably includes the above-described disturbance torque Tdis. Further, when the control device 10 includes the disturbance observer control section 40, this loss torque may not be added, or torque due to another factor may be added as the loss torque.

The torque obtained in this way is the torque to be controlled by the current control unit 52. For example, when the torque loss is not taken into consideration, the torque corresponding to the sum of the requested torque Tcmd and the feedback torque Tmfb (rotational change torque Tmfb2) after being limited by the limiting unit 51 is the torque to be controlled by the current control unit 52. This is the target torque Tm (basic target torque Tm0 when distinguished from the torque when loss torque is considered). When the loss torque is considered, the sum of the basic target torque Tm0 and the loss torque is the target torque Tm (the final target torque Tm1 when distinguished from the basic target torque Tm0).

The current control unit 52 performs current feedback control using, for example, a known vector control method based on the difference between the current command based on the target torque Tm and the actual current flowing through the rotating electrical machine 3 . In this embodiment, the rotating electrical machine 3 is a three-phase AC rotating electrical machine, and the current control unit 52 outputs control signals corresponding to each of the three phases (U phase, V phase, W phase). As shown in FIG. 2, the rotary electric machine 3 is driven via an inverter circuit 62 that converts power between direct current and alternating current. The switching element that constitutes the inverter circuit 62 is driven by amplifying the electric driving force (voltage or current).

By the way, as described above with reference to FIG. 3, the rotation speed control using the feedback torque Tmfb is not executed after time t16 (section T16). However, at time t16 when the rotation speed control ends, the feedback torque Tmfb has not become zero and remains. In section T16, as the engagement pressure of the second engagement device CL2 increases, the torque capacity transmitted by the second engagement device CL2 increases, and the remaining feedback torque Tmfb is transmitted to the wheels W. . Therefore, it is preferable to appropriately reduce the residual torque of the feedback torque Tmfb to zero before the second engagement device CL2 reaches the fully engaged state (by time t17). Naturally, the remaining torque of the feedback torque Tmfb may be controlled so as to gradually decrease over time so that the passenger does not feel a shock or the like.

The feedback torque output unit 21 includes at least a previous value holding unit 25, a second switch 26, and a rate control unit 27 in order to appropriately reduce the residual torque of the feedback torque Tmfb to zero. Further, in this embodiment, the feedback torque output section 21 further includes a rate value limiting section 24 . Here, it is output from the rate control unit 27 and input to the first switch 22, and selectively output as the feedback torque Tmfb (corrected feedback torque Tmfb1) from the first switch 22 based on the state of the rotation speed control request REQrsc. This torque is referred to as convergence feedback torque Tcfb.

When the rotational speed control request REQrsc is active (in the ON state), the first switch 22 selects the feedback torque Tmfb (corrected feedback torque Tmfb1) and outputs it to the limiter 23. Therefore, the convergence feedback torque Tcfb output from the rate control unit 27 may or may not be generated. When the rotational speed control request REQrsc is inactive (OFF state), the rate control unit 27 controls the residual torque Trfb of the feedback torque Tmfb output from the second switch 26 to reach the target value of zero (0 [ Nm]), the absolute value of the residual torque Trfb is decreased according to the rate of change RT, and output as the feedback torque for convergence Tcfb. If the rate value limiting unit 24 is not provided, the rate control unit 27 reduces the absolute value of the residual torque Trfb with the standard rate as the change rate RT, and outputs it as the convergence feedback torque Tcfb.

The second switch 26 is a switch (selector, multiplexer) with a latch function. When the rotation speed control request REQrsc is active (in the ON state), the output of the second switch 26 is not selected even if it is input to the first switch 22, so it does not matter what the second switch 26 outputs. (For example, it may be outputting a zero value.) If the second switch 26 has a latch function, the difference ΔTm, which will be described later, may be directly output from the second switch 26 when the rotational speed control request REQrsc is active.

Further, when the rotation speed control request REQrsc becomes inactive (changes from the ON state to the OFF state), the second switch 26 switches between the target torque Tm and the required torque Tbase in the rotary electric machine control unit 50 at that point of time. , and outputs the difference ΔTm. This difference ΔTm corresponds to the torque (rotation change torque) actually used for rotation change in the rotary electric machine control unit 50 (effective value of feedback torque Tmfb). In other words, the feedback torque output unit 21 estimates the difference between the torque to be subjected to current control and the required torque Tbase as the torque actually used in the rotary electric machine control unit 50 to change the rotation. By using the torque after being limited by the limiting unit 51 as a reference (initial value of the residual torque Trfb), the absolute value of the residual torque Trfb at the time when the rotation speed control request REQrsc becomes inactive becomes too large. configured to prevent

The rate control unit 27 reduces the absolute value (initial value here) of this remaining torque Trfb according to the change rate RT, and outputs it as the feedback torque for convergence Tcfb. That is, the absolute value of the residual torque Trfb becomes smaller than the absolute value of the initial value of the residual torque Trfb and approaches zero. At this time, since the rotation speed control request REQrsc is inactive (OFF state), the first switch 22 selects the convergence feedback torque Tcfb output from the rate control unit 27, and selects the convergence feedback torque Tcfb. is output as a feedback torque Tmfb (rotational change torque Tmfb2) through the limiting unit 23 .

By the way, as described above, the control device 10 is realized by cooperation between hardware such as a microcomputer at its core and software such as programs and parameters. Therefore, feedback torque Tmfb is calculated for each predetermined control cycle (task). The previous value holding unit 25 holds the feedback torque Tmfb (rotational change torque Tmfb2) calculated in the previous control cycle and output from the feedback torque output unit 21 . After the rotational speed control request REQrsc becomes inactive, the feedback torque Tmfb (rotational change torque Tmfb2) is the residual torque Trfb (convergence feedback torque Tcfb). The remaining torque Trfb (convergence feedback torque Tcfb) calculated in a cycle and output from the feedback torque output unit 21 is held.

When the rotational speed control request REQrsc is inactive, the second switch 26 selects the previous value of the feedback torque Tmfb (rotational change torque Tmfb2, residual torque Trfb) held by the previous value holding unit 25, Output. The rate control unit 27 reduces the absolute value of this residual torque Trfb according to the rate of change RT and outputs it as the feedback torque for convergence Tcfb. That is, the absolute value of the residual torque Trfb becomes smaller than the previous absolute value of the residual torque Trfb and approaches zero. Since the rotation speed control request REQrsc is inactive (OFF state), the first switch 22 selects the convergence feedback torque Tcfb output from the rate control unit 27, and the selected convergence feedback torque Tcfb is limited It is output as a feedback torque Tmfb (rotational change torque Tmfb2) via a portion 23 . Thereafter, by repeating this, the remaining torque Trfb gradually approaches zero and finally converges to zero.

The rate value limiting unit 24 limits the absolute value of the change rate RT within the limit rate range so that the absolute value of the change rate RT does not become too small. For example, if the limit rate is ±1 [Nm], the change rate RT is limited to 1 [Nm] or more and -1 [Nm] or less in one control cycle (1 task) (even if the positive and negative values are Good, other examples are similar.). In addition, since the standard rate is usually set to about several [Nm/task] to ten and several [Nm/task], the limit rate of ±1 [Nm/task] is substantially the absolute value of the change rate RT. is unrestricted.

For example, if the standard rate is 15 [Nm/task] in one control cycle, this standard rate is 1 [Nm/task] or more and is within the limit rate range. A standard rate of 15 [Nm/task] is set as the change rate RT. On the other hand, if the limit rate is ±20 [Nm/task], the change rate RT is limited to 20 [Nm/task] or more and -20 [Nm/task] or less. Here, if the standard rate is 15 [Nm/task], this standard rate is less than the positive lower limit (20 [Nm/task]) set by the rate limit and is outside the range of the rate limit. be. Therefore, the rate value limiter 24 limits the change rate RT and sets the limit rate of 20 [Nm/task] as the change rate RT.

Of course, the standard rate and the limit rate may be variable values, but if the standard rate is set so that it is not limited by the limit rate in any case, the changing rate RT will always be the standard rate. Therefore, if it is determined that the standard rate is set within the limit rate range in any case, the feedback torque output section 21 may be configured without the rate value limiting section 24. .

As described above, in the feedback torque output unit 21, the rate value limiting unit 24, the previous value holding unit 25, the second switch 26, the rate control unit 27, and the first switch 22 are used to determine the absolute value of the feedback torque Tmfb. is called a feedback torque convergence process (feedback torque convergence control). That is, the feedback torque output unit 21 (rotational speed control unit 20) limits the change rate RT of the feedback torque Tmfb within the range of the limit rate when switching from the execution state for generating the feedback torque Tmfb to the non-execution state. , the feedback torque convergence process is executed to reduce the absolute value of the feedback torque Tmfb to zero.

In the embodiment illustrated in FIG. 3, after the internal combustion engine 1 is started, the drive source for outputting the torque that serves as the driving force for the wheels W is shifted from the rotary electric machine 3 to the internal combustion engine 1, and the torque is switched in the section T14. there is In this embodiment, after time t15, the rotary electric machine 3 functions as a generator, the torque of the rotary electric machine 3 is also negative torque, and the feedback torque Tmfb is also negative torque. Therefore, when the rotation speed control request REQrsc becomes inactive, the residual torque Trfb of the feedback torque Tmfb is also negative torque. In the feedback torque convergence process, the residual torque Trfb is decreased by the positive change rate RT (increase rate) so that the absolute value of the residual torque Trfb becomes smaller.

When the residual torque Trfb (feedback torque Tmfb) is a torque that can be sufficiently converged in the section T16, the rotation speed control unit 20 performs the feedback torque convergence process using the above-described standard rate as the change rate RT, for example. to run. On the other hand, when the residual torque Trfb (feedback torque Tmfb) is so large that it cannot converge in the section T16, the rotation speed control unit 20 increases the limit rate (absolute value of the limit rate) to increase the change larger than the standard rate. A feedback torque convergence process can be performed at rate RT. As described above, when the standard rate is 15 [Nm/task], by increasing the limit rate from 1 [Nm/task] to 20 [Nm/task], the change rate RT is increased to 15 [Nm/task]. to 20 [Nm/task].

Here, an example is given in which the change rate RT can be varied according to the remaining torque Trfb (feedback torque Tmfb). The higher the feedback torque Tmfb, the longer it takes to eliminate the feedback torque Tmfb. Therefore, for example, if the absolute value of the limit rate is set to increase as the feedback torque Tmfb (residual torque Trfb) increases when the rotation speed control is switched to the non-execution state, the feedback torque Tmfb (residual torque Trfb) is rapidly increased. This is preferable because the torque Trfb) can be eliminated. In addition, here, although the form in which the change rate RT can be varied according to the residual torque Trfb (feedback torque Tmfb) has been exemplified, the change rate RT may be changed according to the rotation speed of the rotating electric machine 3 .

As described above, in the present embodiment, by utilizing the limit rate in the rate value limiter 24, the absolute value of the remaining torque Trfb can be quickly reduced to zero as will be described later. . Specifically, when the absolute value of the limit rate in the rate value limiter 24 is within the limit range in which the rotation speed of the rotating electric machine 3 is preset, when the rotation speed of the rotating electric machine 3 is outside the limit range is set to a higher value than

For example, in the embodiments described above with reference to FIGS. 3 to 5, the direction of rotation of the rotating electric machine 3 is the same as the direction of rotation of the internal combustion engine 1 (here, this direction is defined as the positive direction). However, for example, when the rotation speed (actual rotation speed ωres) of the rotating electric machine 3 decreases as illustrated by the dashed line in FIG. The speed may drop past zero and the direction of rotation may reverse from positive to negative. At this time, the rate of change RT is the rate of increase for increasing the negative feedback torque Tmfb, and the dashed line indicates the standard rate. In particular, when the rotation speed of the rotating electrical machine 3 is relatively low, the feedback torque Tmfb whose convergence is delayed further decelerates the rotating electrical machine 3, increasing the possibility of the rotating electrical machine 3 rotating in the opposite direction.

Depending on the structure of the vehicle drive system 100, when the rotating direction of the rotating electric machine 3 is reversed, the mechanical load may increase, or there may be members that are connected so as not to support the reverse rotation. For example, if the first engagement device CL1 is in the engaged state, the internal combustion engine 1 may be affected. Further, when a damper device DP or the like is connected to the output shaft of the internal combustion engine 1, the damper device DP may be twisted or the like. Further, when the rotary electric machine 3 is a driving force source for auxiliary equipment such as an oil pump and a compressor (not shown), depending on the specification of these auxiliary equipment, it may not be preferable to drive them in reverse rotation.

Therefore, when the rotational speed of the rotary electric machine 3 is relatively low (that is, within the limit range), the rate value limiting unit 24 is configured to quickly converge the feedback torque Tmfb (residual torque Trfb). , the limit rate is set to a higher value than when the rotational speed of the rotary electric machine 3 is relatively high (that is, when it is outside the limit range). As in this example, when the feedback torque Tmfb before the rotational speed control is switched to the non-execution state is negative, the control is set to a range adjacent to the lower limit value of the rotational speed of the rotating electric machine 3 on the higher rotational speed side. The lower limit range, which is the specified limit range, is applied. The "lower limit value of the rotation speed of the rotating electrical machine 3" referred to here may be the lower limit value of the rotating speed of the rotating electrical machine 3 itself, or the internal combustion engine when drivingly coupled via the first engagement device CL1. The lower limit value of the rotation speed of the rotating electrical machine 3 based on the lower limit value of the rotation speed of the engine 1 may be used. Alternatively, the lower limit value of the rotational speed of the rotating electric machine 3 may be based on the lower limit value of the rotational speed of an auxiliary machine that uses the rotating electric machine 3 as a driving force source.

For example, when the first engagement device CL1 is in a state of transmitting power between the internal combustion engine 1 and the rotary electric machine 3 and the feedback torque is negative before the rotation speed control unit 20 switches to the non-execution state. , a lower limit side limit range, which is a limit range set to a range adjacent to the lower limit value of the rotational speed of the internal combustion engine 1 on the higher rotational speed side, is applied. Note that the lower limit side limit range is the case where the first engagement device CL1 is in a state of transmitting power between the internal combustion engine 1 and the rotating electrical machine 3, and the case where the first engaging device CL1 A different value may be set for the state in which the power is not transmitted between and (the first engagement device CL1 is in the released state). If there is no restriction on the auxiliary equipment, etc., the rotation of the rotating electrical machine 3 in the reverse direction is easily permitted when the first engaging device CL1 is in the released state. 3, the lower limit side limit range is set so that the rotating electric machine 3 is restricted from rotating in the reverse direction, and the rotating electric machine 3 rotates in the reverse direction when the first engagement device CL1 is released. A lower limit side limit range may be set in which this is allowed.

Table 1 below shows an example of the relationship between the rotation speed and the limit rate. For example, from the viewpoint of preventing reverse rotation, when this lower limit value is 0 [rpm], the range adjacent to 0 [rpm] on the higher side (here, the range exceeding 0 [rpm] and 100 [rpm] or less , indicated by integer values in Table 1) corresponds to the lower limit side limit range. Although the lower limit is set to 0 [rpm] here, the lower limit is of course not limited to 0 [rpm], and may be a positive value or a negative value.

Here, Table 1 will be explained by applying it to the example of FIG. In the waveform diagram at the bottom of FIG. 8, the dashed line indicates the change rate RT when such a rate limit is not applied (for example, when there is no rate value limiter 24). As mentioned above, this rate of change will be the standard rate. The dash-dotted line shows the limiting rate and the solid line shows the rate of change RT when the limiting rate is applied. As will be described later, before the time tend at which the rotation speed control changes from the execution state to the non-execution state, the rate of change RT indicated by the broken line and the rate of change indicated by the solid line have the same value. The limit rate shown and the rate of change shown by the solid line are the same, but the lines are separated for visibility considerations. This also applies to FIG.

In FIG. 8, the rotation speed (actual rotation speed ωres) of the rotary electric machine 3 is 100 [rpm] or less. The standard rate is set to 20 [Nm/task]. Here, when the rotation speed control is being executed, the convergence process is not executed, so the limiting rate is 1 [Nm/task], and the changing rate RT is substantially not limited and the standard rate is applied. be. On the other hand, when the rotation speed control changes from the execution state to the non-execution state, as described above with reference to Table 1, the rotation speed (actual rotation speed ωres) of the rotary electric machine 3, which is 100 [rpm] or less, is within the lower limit side limit range. , the limit rate is raised from 1 [Nm/task] to 50 [Nm/task]. Therefore, the standard rate given as 20 [Nm/task] is limited by the limit rate, and the change rate RT is set to the lower limit value of 50 [Nm/task] defined for the limit rate.

For example, if the maximum absolute value of the feedback torque Tmfb (the larger of the maximum value Tmax and the minimum value−Tmin absolute value) is 200 [Nm], the change rate RT is 50 to 70 [Nm/ task], the feedback torque Tmfb can be converged within approximately three to four control cycles. For example, regardless of the magnitude of the feedback torque Tmfb (residual torque Trfb), the limit rate is the absolute value of the feedback torque Tmfb (residual torque Trfb) within a specified number of control cycles (three to four times in the previous example). It is preferably set to a value that allows the value to converge to zero. Further, it is preferable that the specified number of control cycles is set in relation to the time to converge the feedback torque. For example, if the control cycle is 5 [ms] and the feedback torque Tmfb is desired to converge within 30 [ms], the specified number of times is preferably set to 5 or less.

As described above, if the feedback torque Tmfb before switching to the non-execution state is negative, the rotational speed of the rotating electric machine 3 may decrease too much if the feedback torque Tmfb is delayed in being eliminated. When the rotation speed drops below zero, the rotating electric machine 3 rotates in the reverse direction. For example, if an auxiliary machine or the like whose rotation direction is specified is driven by the rotating electric machine 3, the mechanical load of the auxiliary machine is increased. Since the lower limit side limit range is set in a range adjacent to the lower limit value of the rotation speed of the rotating electric machine 3 on the side of the higher rotation speed, the feedback torque Tmfb is quickly eliminated, and the rotation speed of the rotating electric machine 3 is increased. It is easy to avoid falling below a lower limit (eg zero). In addition, it is easy to avoid inappropriate driving of the auxiliary machine driven by the rotary electric machine 3 .

Further, when the first engagement device CL1 is in a state of transmitting power between the internal combustion engine 1 and the rotating electric machine 3, the reverse rotation of the rotating electric machine 3 may affect the internal combustion engine. Further, when a damper device DP or the like is connected to the output shaft of the internal combustion engine 1, the damper device DP may be twisted or the like. Since the lower limit side limit range is set to a range adjacent to the lower limit value of the rotational speed of the internal combustion engine on the side of the higher rotational speed, the feedback torque can be quickly eliminated, and the internal combustion engine drivingly connected to the rotating electric machine 3 can be operated. It is easy to avoid the rotation speed of the engine 1 falling below the lower limit (for example, zero).

FIG. 9 shows that, contrary to FIG. 8, when the rotational speed (actual rotational speed ωres) of the rotating electrical machine 3 increases, convergence of the positive feedback torque Tmfb is delayed, and the rotational speed of the rotating electrical machine 3 reaches the upper limit rotation speed. An example is shown in which a limit rate is set to prevent the speed TH from being exceeded.

For example, as described above with reference to FIG. 5, when the vehicle (wheels W) is slipping, the rotation speed of the rotary electric machine 3 sharply increases in section T32, and the feedback torque Tmfb also rapidly increases. Here, when the rotational speed control is not executed at time t32, the remaining feedback torque Tmfb also becomes a relatively large value. Since the rotation speed of the rotary electric machine 3 has already become extremely high due to the wheels W slipping, it is not preferable that the rotation speed further increases due to the residual torque Trfb. Since the feedback torque Tmfb is positive before the rotation speed control is switched to the non-execution state (before time t32 in the example of FIG. 5), the rotation speed control unit 20 adjusts the feedback torque by a negative change rate RT (decrease rate). Decrease Tmfb. If the rate of change RT is not sufficient, the feedback torque Tmfb may not be quickly eliminated, and the rotation speed of the rotating electric machine 3 may exceed the upper limit rotation speed TH, as indicated by the dashed line in FIG.

Therefore, when the rotational speed of the rotating electrical machine 3 is extremely high (that is, within the limit range), the rate value limiting unit 24 has a , the limit rate is set to a higher value than when the rotational speed of the rotary electric machine 3 is sufficiently low (that is, when it is outside the limit range). As in this example, when the feedback torque Tmfb before the rotation speed control is switched to the non-execution state is positive, the rotation speed is lower than the upper limit value (upper limit rotation speed TH) of the rotation speed of the rotary electric machine 3. The upper limit side limit range, which is the limit range set in the range adjacent to , is applied. The "upper limit value of the rotational speed of the rotating electrical machine 3" referred to here may be the upper limit value of the rotating speed of the rotating electrical machine 3 itself, or the internal combustion engine when drivingly coupled via the first engagement device CL1. The upper limit value of the rotational speed of the rotating electric machine 3 based on the upper limit value of the rotational speed of the engine 1 (so-called rev limit) may be used. Alternatively, the upper limit value of the rotational speed of the rotating electric machine 3 may be based on the upper limit value of the rotational speed of an auxiliary machine that uses the rotating electric machine 3 as a driving force source.

For example, when the first engagement device CL1 is in a state of transmitting power between the internal combustion engine 1 and the rotary electric machine 3 and the feedback torque is positive before the rotation speed control unit 20 switches to the non-execution state. , the upper limit side limit range, which is a limit range set to a range adjacent to the upper limit value of the rotational speed of the internal combustion engine 1 on the lower rotational speed side, is applied. Note that the upper limit side limit range is defined when the first engagement device CL1 is in a state of transmitting power between the internal combustion engine 1 and the rotating electrical machine 3, and when the first engaging device CL1 A different value may be set for the state in which the power is not transmitted between and (the first engagement device CL1 is in the released state). Generally, the upper limit of the rotation speed of the rotating electrical machine 3 is often higher than the upper limit of the rotating speed of the internal combustion engine 1. The upper limit side restriction range may be set to a higher value when the first engagement device CL1 is in the disengaged state than in the case where the first engagement device CL1 is in the disengaged state, compared to the case in which the power is transmitted in the disengaged state.

Table 2 below shows an example of the relationship between the rotation speed and the limit rate. For example, when the upper limit value is V1 [rpm], the range adjacent to the lower side of V1 [rpm] (here, the range less than V1 [rpm] and exceeding V2 [rpm], indicated by integer values in Table 2 ) corresponds to the upper limit side limit range. Note that the rotation speeds shown in Table 2 are "V3<V2<V1".

Here, Table 2 will be explained by applying it to the example of FIG. As in FIG. 8, in the lower waveform diagram of FIG. 9, the dashed line indicates the change rate RT when such a rate limit is not applied (for example, when there is no rate value limiter 24). As described above, this rate of change RT becomes the standard rate. The dash-dotted line shows the limiting rate and the solid line shows the rate of change RT when the limiting rate is applied.

In FIG. 9, the rotation speed (actual rotation speed ωres) of the rotary electric machine 3 exceeds V2 [rpm] ((V2+1) [rpm] or more when taken as an integer). The standard rate is set to -20 [Nm/task], and its absolute value is 20 [Nm/task]. Here, when rotational speed control is being performed, convergence processing is not performed, so the limit rate is -1 [Nm/task] and the absolute value of the limit rate is 1 [Nm/task]. The rate of change RT is substantially unrestricted and the standard rate is applied. On the other hand, when the rotational speed control changes from the execution state to the non-execution state, as described above with reference to Table 2, the rotational speed (actual rotational speed ωres) of the rotary electric machine 3, which is (V2+1) [rpm] or higher, is on the upper limit side. Since it is included in the limit range, the limit rate as the descent rate is lowered from -1 [Nm/task] to -50 [Nm/task]. That is, the absolute value of the descent rate is raised from 1 [Nm/task] to 50 [Nm/task]. Therefore, the standard rate given as -50 [Nm/task] (the descending rate with an absolute value of 20 [Nm/task]) is limited by the limit rate. That is, the absolute value of the change rate RT is limited to 50 [Nm/task], which is the upper limit value defined in the limit rate, and the rate of decrease is set to -50 [Nm/task].

As described above, if the feedback torque Tmfb is positive before switching to the non-execution state, the rotational speed of the rotating electrical machine 3 may increase excessively if the feedback torque Tmfb is delayed in being eliminated. As the rotation speed increases, the back electromotive force also increases, which may increase the electrical load on circuit components (inverter circuit 62, smoothing capacitor (not shown), power storage device (not shown), etc.) for driving the rotating electrical machine 3. There is Since the upper limit side limit range is set to a range adjacent to the upper limit value of the rotational speed of the rotating electric machine 3 on the lower rotational speed side, the feedback torque can be quickly eliminated, and the rotational speed of the rotating electric machine 3 can reach the upper limit. It is easy to avoid exceeding the value. Inappropriate driving of the auxiliary machine driven by the rotary electric machine 3 can be easily avoided.

Also, if the first engagement device CL1 is in a state of transmitting power between the internal combustion engine 1 and the rotating electric machine 3, the rotation speed of the internal combustion engine 1 may exceed an upper limit value (so-called rev limit). Since the upper limit side restriction range is set to a range adjacent to the upper limit value of the rotation speed of the internal combustion engine 1 on the side where the rotation speed is low, the feedback torque Tmfb is quickly eliminated, and the rotary electric machine 3 is drive-coupled. It is easy to avoid that the rotation speed of the internal combustion engine 1 that has been set exceeds the upper limit value.

As described with reference to FIGS. 8 and 9, the limit range in the feedback torque convergence process differs depending on whether the feedback torque Tmfb before switching to the non-execution state of the rotational speed control is positive or negative. set in the range. As described above, if the feedback torque Tmfb is positive before the rotation speed control is switched to the non-execution state, the remaining feedback torque Tmfb may increase the rotation speed of the rotary electric machine 3 to an undesirable speed. Further, if the feedback torque Tmfb before the rotation speed control is switched to the non-execution state is negative, the remaining feedback torque Tmfb may reduce the rotation speed of the rotating electric machine 3 to an undesirable speed. As in the present embodiment, the limit range is set to different ranges depending on whether the feedback torque Tmfb is positive or negative. The increase in the rotation speed of the rotating electric machine 3 can be suppressed within a specified range, and the decrease in the rotation speed of the rotating electric machine 3 when the feedback torque Tmfb before switching to the non-execution state of the rotation speed control is negative can be suppressed. It can be kept within the specified range.

In the above description, as shown in Tables 1 and 2, only two types of limit rates are set. However, the limit rate may have a plurality of values, and may be configured to be set stepwise according to the rotation speed of the rotating electric machine 3 .

The standard rate described above is set so that the change in the torque transmitted to the wheels W is within a predetermined range even if the torque of the rotary electric machine 3 changes according to the change in the feedback torque Tmfb. This predetermined range is set depending on whether the occupant feels a change in the torque transmitted to the wheels W or not. That is, it is set according to the influence on the so-called ride comfort (drivability). Therefore, it is preferable to set a different value according to the running state (driving mode, running speed) of the vehicle, or a value linked with the hydraulic control of the second engagement device CL2. The limit rate (the limit rate exemplified by ±1 [Nm/task] in Tables 1 and 2, etc.) when the rotational speed of the rotary electric machine 3 is outside the limit range is set so as not to limit the standard rate. ing.

For example, in the form described above with reference to FIGS. 8, 9, Tables 1 and 2, the absolute value of the standard rate is 20 [Nm/task] and the rotation speed of the rotating electrical machine 3 is outside the limit range. An example in which the absolute value of the rate is 1 [Nm/task] was used. However, the absolute value of this limit rate is 1 [Nm/task] if it is set to a value that does not hinder torque changes when rotational speed control is being performed (that is, when convergence processing is not being performed). is not limited to The absolute value of the restricted rate may be less than the absolute value of the standard rate. For example, if the absolute value of the standard rate is fixed at 20 [Nm/task], the absolute value of the restricted rate may be set to a value less than 20 [Nm/task]. If the standard rate is variable, the absolute value of the limit rate may be set to a value less than the minimum absolute value of the standard rate, both positive and negative. For example, as in the above example, if the absolute value of the limit rate is 1 [Nm/task], the standard rate can be 2 [Nm/task] or 3 [Nm/task].

The procedure of feedback torque convergence processing by the control device 10 will be described below with reference to the flowchart of FIG. In FIG. 10, "feedback torque" is written as "FB torque". The processing between the start and the end in the flowchart of FIG. 10 is executed in one control cycle (one task) described above, and this is repeated.

The control device 10 first determines whether or not the rotational speed control request REQrsc is active (ON state) (#11). The determination result or the state of the rotational speed control request REQrsc is stored in a register or the like. When the rotation speed control request REQrsc is active, the control device 10 executes rotation speed control for calculating the feedback torque Tmfb (#12), and ends the processing in one control cycle. Steps #11 and #12 are repeatedly executed while the rotational speed control request REQrsc is active.

When the control device 10 determines in step #11 that the rotational speed control request REQrsc is not active (is in an OFF state), it determines the determination result of step #11 in the previous control cycle. That is, the control device 10 determines whether or not the previous rotational speed control request REQrsc was active (ON state) (#13). If the control device 10 determines in step #13 that the previous rotational speed control request REQrsc was active (ON state), it determines that the state of the rotational speed control request REQrsc has changed in the current control cycle. The effective value of the feedback torque Tmfb (difference ΔTm in FIG. 6) is latched, and the process ends. This process from step #11 through step #13 to step #14 is executed in the control cycle in which the rotational speed control request REQrsc changes from active to inactive. Also, since this series of processing does not include the execution of the rotational speed control in step #12, the rotational speed control is completed in this control period.

The control device 10 determines that the rotation speed control request REQrsc is not active (is in an OFF state) at step #11, and determines that the previous rotation speed control request REQrsc was not active (is in an ON state) at step #13. If so, it is determined that the rotational speed control request REQrsc has been inactive (OFF state) from before at least one previous control cycle, and feedback torque convergence processing (step #18) is executed. Prior to execution of step #18, the control device 10 determines whether or not the rotation speed (actual rotation speed ωres) of the rotary electric machine 3 is outside the restricted range (#15). If the actual rotational speed ωres is outside the restricted range, the control device 10 sets the standard rate (small rate) as the rate of change RT as described above with reference to FIGS. #16). On the other hand, when the actual rotation speed ωres is within the limit range, the control device 10 sets the change rate RT to the acceleration rate limited by the limit rate as described above with reference to FIGS. (large rate) is set (#17). Then, the control device 10 executes feedback torque convergence processing according to the set change rate RT.

Other embodiments will be described below. The configuration of each embodiment described below is not limited to being applied alone, and can be applied in combination with the configuration of other embodiments as long as there is no contradiction.

(1) In the above description, as illustrated in FIG. 1, a so-called one-motor parallel drive system in which the internal combustion engine 1, the rotating electrical machine 3, and the wheels W are arranged in the order shown in the power transmission path from the internal combustion engine 1 to the wheels W. The hybrid vehicle drive system 100 has been described as an example. However, the vehicle drive device 100 to be controlled by the control device 10 is not limited to this form, and the rotating electric machine 3 is arranged in parallel with the power transmission path in which the internal combustion engine 1 and the wheels W are arranged in the order described. , the rotating electrical machine 3 may be in a form capable of transmitting torque to its power transmission path (so-called parallel hybrid), and two rotating electrical machines including the rotating electrical machine 3 may be provided, and the internal combustion engine 1 to the wheels W A configuration (so-called series-parallel hybrid) in which the internal combustion engine 1, one rotating electric machine, the other rotating electric machine, and the wheels W are arranged in the order described in the power transmission path may be used.

(2) In the above description, the standard rate is set according to the influence on ride comfort (drivability). However, the standard rate may be set based on the maximum value of the feedback torque Tmfb set in the system and the standard time allowed for the feedback torque convergence process. In this case, the number of control cycles allowed for the feedback torque convergence process is also determined from the relationship between the standard time and the control cycle. For example, if the maximum absolute value of the feedback torque Tmfb is 200 [Nm] and the feedback torque convergence process is completed in 20 control cycles, the change rate RT must be at least 10 [Nm/task]. Therefore, in this case, the standard rate is set to 10 [Nm/task].

(3) In the above, the limiting range is set to different ranges depending on whether the feedback torque Tmfb before switching to the non-execution state of the rotation speed control is positive or negative. explained. However, the limit range may be set to the same range regardless of whether the feedback torque Tmfb is positive or negative. Here, the same range means that the absolute values are the same.

For example, in the above description, if the feedback torque Tmfb before the rotation speed control is switched to the non-execution state is negative, the range is set adjacent to the lower limit value of the rotation speed of the rotating electric machine 3 on the higher rotation speed side. is applied, and the feedback torque Tmfb before switching to the non-execution state of the rotation speed control is positive, the upper limit value of the rotation speed of the rotating electric machine 3 is adjacent to the lower rotation speed side. The form in which the upper limit side restriction range set to the range is applied is exemplified. However, the vehicle drive system 100 may have a configuration in which the absolute value of the negative rotational speed becomes large and excessive rotation in the negative direction may occur. In this case, even if the feedback torque Tmfb before the rotation speed control is switched to the non-execution state is negative, the rotation speed is on the lower side (negative The lower limit side limit range may be applied to the range adjacent to the side where the rotational speed of the direction is high (the side where the absolute value is large). The lower limit of the rotation speed at this time (the upper limit in absolute value because the rotation speed is negative), and the rotation of the rotary electric machine 3 when the feedback torque Tmfb before switching to the non-execution state of the rotation speed control is positive The upper limit value of the speed may be the same. In this case, it can be said that the limit range is set to the same range regardless of whether the feedback torque Tmfb is positive or negative.

(4) In the above, it has been explained that the absolute value of the limit rate may be set to increase as the feedback torque Tmfb before switching to the non-execution state of the rotation speed control increases. Of course, this does not preclude setting the limit rate based only on the rotational speed of the rotating electric machine 3 regardless of the magnitude of the feedback torque Tmfb.

The outline of the control device for the vehicle drive system described above will be briefly described below.

As one aspect, a control device for a vehicle drive system includes:
an internal combustion engine;
a rotating electric machine provided to transmit torque to a power transmission path connecting the internal combustion engine and wheels;
a first engagement device for connecting and disconnecting power transmission between the internal combustion engine and the rotating electric machine;
A control device for controlling a vehicle drive device including a second engagement device for connecting and disconnecting power transmission between the rotating electric machine and the wheel,
a rotation speed control unit that calculates a feedback torque that is a torque for changing the rotation speed of the rotating electrical machine so that the actual rotating speed of the rotating electrical machine approaches a target rotating speed;
a rotary electric machine control unit that controls the rotary electric machine so as to output a torque that is the sum of the required torque of the rotary electric machine and the feedback torque;
The rotation speed control unit is switchable between an execution state in which the feedback torque is generated and a non-execution state in which the feedback torque is not generated,
When switching from the execution state to the non-execution state, the rotation speed control unit reduces the absolute value of the feedback torque to zero while limiting the rate of change of the feedback torque within a limit rate range,
The absolute value of the limit rate is set to a higher value when the rotation speed of the rotating electric machine is within a preset limit range than when the rotation speed of the rotating electric machine is outside the limit range. .

Here, it is preferable that the limited range is set to different ranges depending on whether the feedback torque before switching to the non-execution state is positive or negative.

For example, if the feedback torque was positive before switching to the non-running state, the remaining feedback torque may increase the rotation speed of the rotating electric machine to an undesirable speed. Also, if the feedback torque before switching to the non-execution state is negative, the remaining feedback torque may cause the rotational speed of the rotary electric machine to decrease to an undesirable speed. According to this configuration, the limit range is set to a different range depending on whether the feedback torque is positive or negative. It is possible to keep the rotation speed within a specified range, and to keep the rotation speed of the rotary electric machine from decreasing within a specified range when the feedback torque before switching to the non-execution state is negative.

Further, when the limited range is set to a different range depending on whether the feedback torque before switching to the non-execution state is positive or negative, as one mode, the limited range is set as follows. is preferably set. Namely
When the feedback torque before switching to the non-execution state is negative, the limit range is set to a range adjacent to the higher rotational speed side of the lower limit value of the rotational speed of the rotating electric machine. The lower limit side limit range is applied,
When the feedback torque before switching to the non-executing state is positive, the limit range is set to a range adjacent to the lower rotational speed side of the upper limit value of the rotational speed of the rotating electric machine. Preferably, the upper limit range is applied.

If the feedback torque is negative before switching to the non-execution state, the rotation speed of the rotating electric machine may drop too much if the cancellation of the feedback torque is delayed. For example, if the rotation speed drops below zero, the rotating electric machine will rotate in the reverse direction. For example, when an auxiliary machine or the like whose rotation direction is specified is driven by a rotating electric machine, the mechanical load of the auxiliary machine is increased. By setting the lower limit side limit range to a range adjacent to the lower limit of the rotation speed of the rotating electric machine on the side where the rotation speed is higher, the feedback torque is quickly eliminated, and the rotation speed of the rotating electric machine is reduced to the lower limit ( For example, it is easy to avoid going below zero.

If the feedback torque is positive before switching to the non-execution state, the rotation speed of the rotating electrical machine may increase excessively if the cancellation of the feedback torque is delayed. As the rotation speed increases, the back electromotive force also increases, which may increase the electrical load on circuit components (inverter circuit, smoothing capacitor, power storage device, etc.) for driving the rotating electrical machine. By setting the upper limit side limit range to a range adjacent to the upper limit of the rotational speed of the rotating electric machine on the side where the rotational speed is low, the feedback torque is quickly eliminated, and the rotational speed of the rotating electric machine reaches the upper limit. It is easy to avoid overshooting.

Further, when the limited range is set to a different range depending on whether the feedback torque before switching to the non-execution state is positive or negative, as one mode, the limited range is set as follows. is set. Namely
When the first engagement device is in a state of transmitting power between the internal combustion engine and the rotating electrical machine and the feedback torque before switching to the non-execution state is negative, the rotational speed of the internal combustion engine The lower limit side limit range, which is the limit range set in the range adjacent to the higher rotation speed side with respect to the lower limit value of
When the first engagement device is in a state of transmitting power between the internal combustion engine and the rotating electric machine and the feedback torque before switching to the non-execution state is positive, the rotational speed of the internal combustion engine It is preferable that the upper limit side limit range, which is the limit range set in the range adjacent to the lower rotational speed side with respect to the upper limit value of , is applied.

If the feedback torque is negative before switching to the non-execution state, the rotation speed of the rotating electric machine may drop too much if the cancellation of the feedback torque is delayed. For example, if the rotation speed drops below zero, the rotating electric machine will rotate in the reverse direction, which may affect the internal combustion engine if the first engagement device is in the engaged state. Further, when a damper device or the like is connected to the output shaft of the internal combustion engine, the damper device may be twisted or the like. Since the lower limit side limit range is set in a range adjacent to the lower limit value of the rotation speed of the internal combustion engine on the side where the rotation speed is high, the feedback torque is quickly eliminated, and the internal combustion engine drivingly connected to the rotating electrical machine. It is easy to avoid that the rotation speed of is below the lower limit value (eg, zero).

If the feedback torque is positive before switching to the non-execution state, the rotation speed of the rotating electrical machine may increase excessively if the cancellation of the feedback torque is delayed. If the first engagement device is in the engaged state, the rotational speed of the internal combustion engine may exceed an upper limit value (so-called rev limit). Since the upper limit side restriction range is set to a range adjacent to the upper limit value of the rotation speed of the internal combustion engine on the side where the rotation speed is low, the feedback torque can be quickly eliminated, and the internal combustion engine drivingly connected to the rotating electric machine can be operated. It is easy to avoid the rotation speed of the engine exceeding the upper limit.

Also, it is preferable that the absolute value of the limit rate is set to increase as the feedback torque before switching to the non-execution state increases.

　The higher the feedback torque, the longer it takes to eliminate the feedback torque. Since the absolute value of the limit rate increases as the feedback torque increases, the feedback torque can be quickly eliminated.

Further, the limit rate when the rotation speed of the rotating electrical machine is outside the limited range is set so that a change in torque transmitted to the wheels due to a change in the torque of the rotating electrical machine is within a predetermined range. It is preferable that the rate of change is set so as not to be limited.

If the rotational speed of the rotary electric machine is outside the limited range, the rate of change is set so that the torque transmitted to the wheels does not change too much in consideration of the ride comfort of the vehicle. can be increased. On the other hand, if the rotation speed of the rotating electrical machine is within the limit range, the absolute value of the feedback torque can be quickly reduced to zero by setting the change rate to a higher value than the limit rate. As a result, it is easy to avoid that the rotational speed of the rotary electric machine changes and reaches an undesirable rotational speed due to the residual torque during the period in which the feedback torque is reduced to zero.

Reference Signs List 1: Internal combustion engine 3: Rotating electric machine 10: Control device 20: Rotational speed control unit 50: Rotating electric machine control unit 100: Vehicle drive device CL1: First engagement device CL2: Second engagement device RT: Change rate Tbase: Requested torque Tcmd: Requested torque Tmfb: Feedback torque Tmfbc: Feedback torque W: Wheel ωcmd: Target rotation speed ωres: Actual rotation speed

Claims

an internal combustion engine;
a rotating electric machine provided to transmit torque to a power transmission path connecting the internal combustion engine and wheels;
a first engagement device for connecting and disconnecting power transmission between the internal combustion engine and the rotating electric machine;
A control device for controlling a vehicle drive device including a second engagement device for connecting and disconnecting power transmission between the rotating electric machine and the wheel,
a rotation speed control unit that calculates a feedback torque that is a torque for changing the rotation speed of the rotating electrical machine so that the actual rotating speed of the rotating electrical machine approaches a target rotating speed;
a rotary electric machine control unit that controls the rotary electric machine so as to output a torque that is the sum of the required torque of the rotary electric machine and the feedback torque;
The rotation speed control unit is switchable between an execution state in which the feedback torque is generated and a non-execution state in which the feedback torque is not generated,
When switching from the execution state to the non-execution state, the rotation speed control unit reduces the absolute value of the feedback torque to zero while limiting the rate of change of the feedback torque within a limit rate range,
The absolute value of the limit rate is set to a higher value when the rotation speed of the rotating electric machine is within a preset limit range than when the rotation speed of the rotating electric machine is outside the limit range. , a control device for a vehicle drive system.
The control device for a vehicle drive system according to claim 1, wherein the limited range is set to a different range depending on whether the feedback torque before switching to the non-execution state is positive or negative.
When the feedback torque before switching to the non-execution state is negative, the lower limit side of the limit range set to a range adjacent to the higher rotational speed side with respect to the lower limit value of the rotational speed of the rotating electric machine. limits apply and
When the feedback torque before switching to the non-execution state is positive, the upper limit side of the limit range set to a range adjacent to the lower rotational speed side with respect to the upper limit value of the rotational speed of the rotating electric machine. 3. The control device for a vehicle drive system according to claim 2, wherein a limit range is applied.
When the first engagement device is in a state of transmitting power between the internal combustion engine and the rotating electrical machine and the feedback torque before switching to the non-execution state is negative, the rotational speed of the internal combustion engine The lower limit side limit range, which is the limit range set in the range adjacent to the higher rotation speed side with respect to the lower limit value of
When the first engagement device is in a state of transmitting power between the internal combustion engine and the rotating electric machine and the feedback torque before switching to the non-execution state is positive, the rotational speed of the internal combustion engine 3. The control device for a vehicle drive system according to claim 2, wherein the upper limit side limit range, which is the limit range set to a range adjacent to the lower rotational speed side with respect to the upper limit value of , is applied.
5. The vehicle drive system according to claim 1, wherein an absolute value of said limit rate is set to increase as said feedback torque before switching to said non-execution state increases. Control device.
The limit rate when the rotation speed of the rotating electrical machine is outside the limited range is set so that a change in torque transmitted to the wheels due to a change in torque of the rotating electrical machine is within a predetermined range. 6. The control device for a vehicle drive system according to claim 1, wherein said change rate is set so as not to be limited.