JP4259488B2 - POWER OUTPUT DEVICE, VEHICLE HAVING THE SAME AND CONTROL METHOD THEREOF - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To balance energy of a vehicle even when increasing and decreasing an engine speed of an internal combustion engine, in response to an increase and a decrease in the rotational speed of a driving shaft or a vehicular speed. <P>SOLUTION: This power output device/method limits a torque Trtmp based on an acceleration opening degree Acc or the like, by upper and lower limits Trmax, Trmin based on a shift position SP, to set a required torque Tr*, when traveling using a sequential shaft, (S110-S130), and limits a torque Tetmp of outputting required power Pe, by upper and lower limits Temax, Temin based on an engine target speed Ne* based on the vehicular speed V and the shift position SP, and charge and discharge required power Pb* of a battery, to set an engine target torque Te* (S160-S180). The engine is operated at the target speed Ne* and the target torque Te*, and two motors are controlled to travel by outputting the required torque Tr*. <P>COPYRIGHT: (C)2007,JPO&amp;INPIT

Description

  The present invention relates to a power output apparatus, a vehicle equipped with the same, and a control method thereof.

Conventionally, this type of vehicle includes an engine, a planetary gear having a carrier connected to the engine and an axle connected to a ring gear, a first motor connected to the sun gear of the planetary gear, and a second motor connected to the axle side. And a motor that travels by driving the engine using two operation lines that output different torques with respect to the engine speed (see, for example, Patent Document 1). In this vehicle, the engine and the two motors are controlled so that the engine is operated at the operation point set by the operation line selected from the two operation lines and the driving force required for traveling is output. .
JP 2000-227035 A

  In the above-described vehicle, the engine operating point can be arbitrarily set with respect to the vehicle speed as long as it is on the operation line. Therefore, there is a case where the acceleration / deceleration of the vehicle does not match the increase or decrease of the engine speed. Such inconsistencies may cause the driver to feel worse feeling with respect to acceleration / deceleration of the vehicle. In order to solve such a problem, it is conceivable to increase / decrease the engine speed according to the acceleration / deceleration of the vehicle speed. In this case, if the engine speed is increased / decreased using the selected operation line, the entire vehicle Energy balance cannot be obtained, and the mounted secondary battery is overcharged or overdischarged.

  The power output device of the present invention, a vehicle equipped with the power output device, and a control method thereof take the energy balance of the device and the vehicle even when the rotational speed of the internal combustion engine is increased or decreased according to the increase or decrease of the rotational speed of the drive shaft or the vehicle speed. Is one of the purposes. Another object of the power output apparatus, the vehicle equipped with the power output apparatus, and the control method of the present invention is to improve the operator's operation feeling. Furthermore, it is an object of the vehicle and the control method of the present invention to travel more smoothly.

  The power output apparatus of the present invention, the vehicle equipped with the power output apparatus, and the control method thereof employ the following means in order to achieve at least a part of the above object.

The power output apparatus of the present invention is
A power output device that outputs power to a drive shaft,
An internal combustion engine;
The sum of the power from the internal combustion engine operated at an arbitrary operating point and the power input / output along with the input / output of electric power can be torque converted into the rotational speed of the drive shaft and output to the drive shaft Power input / output conversion means,
Power storage means for exchanging power with the power drive input / output conversion means;
Charge / discharge request setting means for setting a charge / discharge request to charge / discharge the power storage means;
A rotational speed detection means for detecting the rotational speed of the drive shaft;
Execution output characteristic selection means for selecting an execution output characteristic from a plurality of output characteristics set in advance as output characteristics of the internal combustion engine based on a predetermined selection condition;
Required driving force setting means for setting required driving force required for the drive shaft;
Target rotational speed setting means for setting a target rotational speed of the internal combustion engine based on the selected output characteristic for execution and the detected rotational speed;
Torque range setting means for setting a torque range in which output from the internal combustion engine is allowed based on the set charge / discharge request and the set target rotational speed;
The internal combustion engine is operated at an operating point composed of the set target rotational speed and a torque within the set torque range, and a driving force based on the required driving force is output to the driving shaft. Control means for controlling the engine and the power drive input / output conversion means;
It is a summary to provide.

  In the power output apparatus of the present invention, the sum of the power from the internal combustion engine and the power from the internal combustion engine operated at an arbitrary operating point and the power input / output along with the input / output of electric power is the rotational speed of the drive shaft. Output power characteristics of the internal combustion engine based on a predetermined selection condition, and a power storage input / output conversion means capable of torque conversion to output to the drive shaft and a power storage means for exchanging power with the power power input / output conversion means. The execution output characteristic is selected from a plurality of preset output characteristics, and the target rotational speed of the internal combustion engine is set based on the selected execution output characteristic and the rotational speed of the drive shaft, and the set target rotational speed And a charge / discharge request set as a request to charge / discharge the power storage means, a torque range in which output from the internal combustion engine is allowed is set, and an operation consisting of the set target rotational speed and torque within the set torque range Po Driving force based on the required driving force with the internal combustion engine is operated to control an internal combustion engine and an electric power-converting means so as to be output to the drive shaft with cement. That is, the target rotational speed set by the output characteristic for execution and the rotational speed of the drive shaft, and the torque range in which the output from the internal combustion engine is allowed based on the set target rotational speed and the charge / discharge request of the power storage means The internal combustion engine is controlled so that the torque within the torque range is output at the target rotational speed. As a result, the torque range can be adjusted even when the internal combustion engine is operated at the target rotational speed based on the output characteristics for execution, so that the energy balance of the apparatus can be obtained. Of course, since the internal combustion engine is operated at the target rotational speed based on the output characteristics for execution, the operator's operation feeling can be improved.

  In such a power output apparatus of the present invention, the plurality of output characteristics may be characteristics in which a ratio of the rotational speed of the internal combustion engine to the rotational speed of the drive shaft is plural. In this way, the ratio of the rotational speed of the internal combustion engine to the rotational speed of the drive shaft can be changed by changing the output characteristics.

  In the power output apparatus of the present invention, the control means sets a target operating point that falls within the set torque range based on the set target rotational speed and the set required driving force. It may be a means for controlling the internal combustion engine to operate at the set target operation point. In this case, the control means may be means for setting the target operation point based on the set charge / discharge request. If it carries out like this, a charging / discharging request | requirement can be satisfy | filled within the set torque range.

  Further, in the power output apparatus of the present invention, the required driving force setting means may be means for setting the required driving force based on the selected execution output characteristic. In this way, it is possible to control using the required driving force according to the output characteristics for execution.

  Alternatively, the power output apparatus of the present invention may include selection condition setting means for setting a selection condition based on an operation of the operator as the predetermined selection condition. In this way, the output characteristics of the internal combustion engine can be selected based on the will of the operator.

  In the power output apparatus of the present invention, the torque range setting means is a means for setting the torque range so that the lower limit torque of the torque range tends to increase as the set charge / discharge request increases on the charging side. It can also be. Further, the torque range setting means may be means for setting the torque range such that the upper limit torque of the torque range tends to increase as the set charge / discharge request increases on the charging side.

  In the power output apparatus of the present invention, the required driving force setting means sets an allowable required driving force range that is allowed based on the detected rotational speed and the selected execution output characteristic, and the allowable request It may be a means for setting the required driving force within a driving force range. In this way, the required driving force can be set according to the selected execution output characteristic, so that the energy balance of the apparatus can be made better.

  In the power output apparatus of the present invention, the power / power input / output conversion means is connected to the output shaft of the internal combustion engine and the drive shaft, and includes at least part of the power from the internal combustion engine with input / output of power and power. Can be output to the drive shaft, and can be a means including an electric motor that can input and output power to the drive shaft. In this case, the power / power input / output conversion means is connected to three axes of the output shaft, the drive shaft, and the rotary shaft of the internal combustion engine, and is based on power input / output to any two of the three shafts. It is also possible to provide a three-axis power input / output means for inputting / outputting power to / from the remaining shaft, and a generator capable of inputting / outputting power to / from the rotating shaft, or to output the internal combustion engine. A pair having a first rotor connected to a shaft and a second rotor connected to the drive shaft and driven by relative rotation of the first rotor and the second rotor It can also be a rotor motor.

  The vehicle of the present invention is a power output device of the present invention according to any one of the above-described aspects, that is, a power output device that basically outputs power to a drive shaft, and is provided at an internal combustion engine and an arbitrary operation point. Power power input / output capable of torque-converting the sum of the power from the driven internal combustion engine and the power input / output along with the power input / output to the rotational speed of the drive shaft and outputting the torque to the drive shaft Detecting the rotational speed of the drive shaft, conversion means, power storage means for exchanging power with the power input / output conversion means, charge / discharge request setting means for setting a charge / discharge request for charging / discharging the power storage means, and From a plurality of output characteristics preset as output characteristics of the internal combustion engine based on a predetermined selection condition, and a required driving force setting means for setting a required driving force required for the drive shaft Select output characteristics for execution Line output characteristic selection means; target rotation speed setting means for setting a target rotation speed of the internal combustion engine based on the selected execution output characteristic and the detected rotation speed; and the set charge / discharge Torque range setting means for setting a torque range in which output from the internal combustion engine is allowed based on the request and the set target rotational speed, and the set target rotational speed and the torque within the set torque range Control means for controlling the internal combustion engine and the electric power input / output conversion means so that the internal combustion engine is operated at an operation point consisting of: and the driving force based on the required driving force is output to the drive shaft; The gist of the present invention is that a power output device is provided, and the axle is connected to the drive shaft.

  Since the vehicle according to the present invention is equipped with the power output device of the present invention according to any one of the aspects described above, the internal combustion engine can be operated at a target rotational speed based on the effect of the power output device of the present invention, for example, the output characteristics for execution. An operator's operation based on driving the internal combustion engine at a target rotational speed based on the effect of being able to balance the energy balance of the device (vehicle) based on being able to adjust the torque range even when it is driven and on the output characteristics for execution It is possible to achieve the same effects as those that can improve the feeling. As a result, the vehicle can travel more smoothly.

  The vehicle according to the present invention includes vehicle speed detection means for detecting the vehicle speed, and the power output device uses the vehicle speed detected by the vehicle speed detection means instead of the rotation speed of the drive shaft detected by the rotation speed detection means. It can also be a device that outputs power to the drive shaft. If it carries out like this, an internal combustion engine and an electric power drive input / output conversion means can be controlled based on a vehicle speed.

  The vehicle according to the present invention further includes an uphill / downhill road detecting means for detecting the uphill / downhill road, and the execution output characteristic selecting means uses the detected uphill road as the predetermined selection condition as an execution output characteristic. It can also be a means for selecting. In this way, it is possible to travel more smoothly on the uphill / downhill road.

  Furthermore, the vehicle of the present invention further includes an electric power output means capable of outputting driving power using electric power from the power storage means, and the torque range setting means is based on the power output from the electric power output means. It may be a means for setting the torque range. In this way, the energy balance of the entire vehicle can be made more appropriate.

The method for controlling the power output apparatus of the present invention includes:
Torque-converting the sum of the internal combustion engine and the power from the internal combustion engine operated at an arbitrary operating point and the power input / output along with the input / output of electric power into the rotational speed of the drive shaft A power output input / output conversion means capable of outputting to the power supply means, and a power storage means for exchanging electric power with the power power input / output conversion means.
Set a charge / discharge request to charge / discharge the power storage means,
Selecting an execution output characteristic from a plurality of output characteristics set in advance as an output characteristic of the internal combustion engine based on a predetermined selection condition;
Set the required driving force required for the drive shaft,
Setting a target rotational speed of the internal combustion engine based on the selected execution output characteristic and the rotational speed of the drive shaft;
Based on the set charge / discharge request and the set target rotational speed, a torque range in which output is allowed from the internal combustion engine is set,
The internal combustion engine is operated at an operating point composed of the set target rotational speed and the torque within the set torque range, and the driving force based on the set required driving force is output to the drive shaft. The gist is to control the engine and the power power input / output conversion means.

  In the control method for a power output apparatus of the present invention, an execution output characteristic is selected from a plurality of output characteristics preset as output characteristics of the internal combustion engine based on a predetermined selection condition, and the selected execution output characteristic and drive are selected. The target rotational speed of the internal combustion engine is set based on the rotational speed of the shaft, and the output from the internal combustion engine is allowed based on the set target rotational speed and the charge / discharge request set as a request to charge / discharge the power storage means. The internal combustion engine is operated at an operating point consisting of the set target rotational speed and the torque within the set torque range, and the driving force based on the required driving force is output to the driving shaft. And power power input / output conversion means. That is, the target rotational speed set by the output characteristic for execution and the rotational speed of the drive shaft, and the torque range in which the output from the internal combustion engine is allowed based on the set target rotational speed and the charge / discharge request of the power storage means The internal combustion engine is controlled so that the torque within the torque range is output at the target rotational speed. As a result, the torque range can be adjusted even when the internal combustion engine is operated at the target rotational speed based on the output characteristics for execution, so that the energy balance of the apparatus can be obtained. Of course, since the internal combustion engine is operated at the target rotational speed based on the output characteristics for execution, the operator's operation feeling can be improved.

The vehicle control method of the present invention includes:
The power of the internal combustion engine and the power from the internal combustion engine operated at an arbitrary operating point and the power input / output along with the input / output of electric power are torque-converted according to the vehicle speed to obtain driving power. A vehicle control method comprising output power power input / output conversion means, and power storage means for exchanging power with the power power input / output conversion means,
Set a charge / discharge request to charge / discharge the power storage means,
Selecting an execution output characteristic from a plurality of output characteristics set in advance as an output characteristic of the internal combustion engine based on a predetermined selection condition;
Set the required driving force required for driving,
Setting a target rotational speed of the internal combustion engine based on the selected execution output characteristic and vehicle speed;
Based on the set charge / discharge request and vehicle speed, a torque range in which output is allowed from the internal combustion engine is set,
The internal combustion engine is operated at an operating point consisting of the set target rotational speed and the torque within the set torque range, and a driving force based on the set required driving force is output as a driving force for traveling. The gist is to control the internal combustion engine and the power / power input / output conversion means.

  In the vehicle control method of the present invention, an execution output characteristic is selected from a plurality of output characteristics preset as output characteristics of the internal combustion engine based on a predetermined selection condition, and the selected execution output characteristic and vehicle speed are selected. The target engine speed of the internal combustion engine is set based on this, and the torque range in which the output from the internal combustion engine is allowed is set based on the set target engine speed and the charge / discharge request set as a request to charge / discharge the power storage means. The internal combustion engine and electric power are operated so that the internal combustion engine is operated at an operation point consisting of the set target rotational speed and the torque within the set torque range, and a driving force based on the required driving force is output as a driving force for traveling. Controls input / output conversion means. That is, the target engine speed set by the execution output characteristic and the vehicle speed, the torque range in which the output from the internal combustion engine is allowed based on the set target rotation speed, the execution output characteristic, and the charge / discharge request of the power storage means And the internal combustion engine is controlled so that torque within the torque range is output at the target rotational speed. As a result, the torque range can be adjusted even when the internal combustion engine is operated at the target rotational speed based on the output characteristics for execution, so that the energy balance of the vehicle can be obtained. Of course, since the internal combustion engine is operated at the target rotational speed based on the output characteristics for execution, the operator's operation feeling can be improved. As a result, the vehicle can travel more smoothly.

  Next, the best mode for carrying out the present invention will be described using examples.

  FIG. 1 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 20 equipped with a power output apparatus according to an embodiment of the present invention. As shown in the figure, the hybrid vehicle 20 of the embodiment includes an engine 22, a three-shaft power distribution / integration mechanism 30 connected to a crankshaft 26 as an output shaft of the engine 22 via a damper 28, and power distribution / integration. A motor MG1 capable of generating electricity connected to the mechanism 30, a reduction gear 35 attached to a ring gear shaft 32a as a drive shaft connected to the power distribution and integration mechanism 30, a motor MG2 connected to the reduction gear 35, And a hybrid electronic control unit 70 for controlling the entire power output apparatus.

  The engine 22 is an internal combustion engine that outputs power using a hydrocarbon-based fuel such as gasoline or light oil, and an engine electronic control unit (hereinafter referred to as an engine ECU) that receives signals from various sensors that detect the operating state of the engine 22. ) 24 is subjected to operation control such as fuel injection control, ignition control, intake air amount adjustment control and the like. The engine ECU 24 is in communication with the hybrid electronic control unit 70, controls the operation of the engine 22 by a control signal from the hybrid electronic control unit 70, and, if necessary, transmits data related to the operating state of the engine 22 to the hybrid electronic control. Output to unit 70.

  The power distribution and integration mechanism 30 includes an external gear sun gear 31, an internal gear ring gear 32 arranged concentrically with the sun gear 31, a plurality of pinion gears 33 that mesh with the sun gear 31 and mesh with the ring gear 32, A planetary gear mechanism is provided that includes a carrier 34 that holds a plurality of pinion gears 33 so as to rotate and revolve, and that performs differential action using the sun gear 31, the ring gear 32, and the carrier 34 as rotational elements. In the power distribution and integration mechanism 30, the crankshaft 26 of the engine 22 is connected to the carrier 34, the motor MG1 is connected to the sun gear 31, and the reduction gear 35 is connected to the ring gear 32 via the ring gear shaft 32a. When functioning as a generator, power from the engine 22 input from the carrier 34 is distributed according to the gear ratio between the sun gear 31 side and the ring gear 32 side, and when the motor MG1 functions as an electric motor, the engine input from the carrier 34 The power from 22 and the power from the motor MG1 input from the sun gear 31 are integrated and output to the ring gear 32 side. The power output to the ring gear 32 is finally output from the ring gear shaft 32a to the drive wheels 63a and 63b of the vehicle via the gear mechanism 60 and the differential gear 62.

  The motor MG1 and the motor MG2 are both configured as well-known synchronous generator motors that can be driven as generators and can be driven as motors, and exchange power with the battery 50 via inverters 41 and 42. The power line 54 connecting the inverters 41 and 42 and the battery 50 is configured as a positive electrode bus and a negative electrode bus shared by the inverters 41 and 42, and the electric power generated by one of the motors MG1 and MG2 It can be consumed by a motor. Therefore, battery 50 is charged / discharged by electric power generated from one of motors MG1 and MG2 or insufficient electric power. If the balance of electric power is balanced by the motors MG1 and MG2, the battery 50 is not charged / discharged. The motors MG1 and MG2 are both driven and controlled by a motor electronic control unit (hereinafter referred to as a motor ECU) 40. The motor ECU 40 detects signals necessary for driving and controlling the motors MG1 and MG2, such as signals from rotational position detection sensors 44 and 45 that detect the rotational positions of the rotors of the motors MG1 and MG2, and current sensors (not shown). The phase current applied to the motors MG1 and MG2 to be applied is input, and a switching control signal to the inverters 41 and 42 is output from the motor ECU 40. The motor ECU 40 is in communication with the hybrid electronic control unit 70, controls the driving of the motors MG1 and MG2 by a control signal from the hybrid electronic control unit 70, and, if necessary, data on the operating state of the motors MG1 and MG2. Output to the hybrid electronic control unit 70.

  The battery 50 is managed by a battery electronic control unit (hereinafter referred to as a battery ECU) 52. The battery ECU 52 receives signals necessary for managing the battery 50, for example, a voltage between terminals from a voltage sensor (not shown) installed between terminals of the battery 50, and a power line 54 connected to the output terminal of the battery 50. The charging / discharging current from the attached current sensor (not shown), the battery temperature Tb from the temperature sensor 51 attached to the battery 50, and the like are input. Output to the control unit 70. The battery ECU 52 also calculates the remaining capacity (SOC) based on the integrated value of the charge / discharge current detected by the current sensor in order to manage the battery 50.

  The hybrid electronic control unit 70 is configured as a microprocessor centered on the CPU 72. In addition to the CPU 72, a ROM 74 that stores processing programs, a RAM 76 that temporarily stores data, an input / output port and communication (not shown), and the like. And a port. The hybrid electronic control unit 70 includes an ignition signal from an ignition switch 80, a shift position SP from a shift position sensor 82 that detects the operation position of the shift lever 81, and an accelerator pedal position sensor 84 that detects the amount of depression of the accelerator pedal 83. The accelerator opening Acc from the vehicle, the brake pedal position BP from the brake pedal position sensor 86 that detects the amount of depression of the brake pedal 85, the vehicle speed V from the vehicle speed sensor 88, the road gradient θ from the gradient sensor 89, etc. Have been entered. As described above, the hybrid electronic control unit 70 is connected to the engine ECU 24, the motor ECU 40, and the battery ECU 52 via the communication port, and exchanges various control signals and data with the engine ECU 24, the motor ECU 40, and the battery ECU 52. ing.

  In the hybrid vehicle 20 of the embodiment, the positions of the shift lever 81 detected by the shift position sensor 82 include a parking position (P position), a neutral position (neutral), a reverse position (R position), and a drive position (D position). ), Brake position (B), etc., and an upshift instruction position and downshift for instructing an upshift to change the speed ratio of the engine 22 to the vehicle speed V to six stages by shifting from the drive position And downshift instruction position. In the embodiment, such a shift that is shifted by the upshift instruction position and the downshift instruction position is referred to as a “sequential shift”.

  The hybrid vehicle 20 of the embodiment thus configured calculates the required torque to be output to the ring gear shaft 32a as the drive shaft based on the accelerator opening Acc and the vehicle speed V corresponding to the depression amount of the accelerator pedal 83 by the driver. Then, the operation of the engine 22, the motor MG1, and the motor MG2 is controlled so that the required power corresponding to the required torque is output to the ring gear shaft 32a. As operation control of the engine 22, the motor MG1, and the motor MG2, the operation of the engine 22 is controlled so that power corresponding to the required power is output from the engine 22, and all of the power output from the engine 22 is the power distribution and integration mechanism 30. Torque conversion operation mode for driving and controlling the motor MG1 and the motor MG2 so that the torque is converted by the motor MG1 and the motor MG2 and output to the ring gear shaft 32a, and the required power and the power required for charging and discharging the battery 50. The engine 22 is operated and controlled so that suitable power is output from the engine 22, and all or part of the power output from the engine 22 with charging / discharging of the battery 50 is the power distribution and integration mechanism 30, the motor MG1, and the motor. The required power is converted to the ring gear shaft 32 with torque conversion by MG2. Charge / discharge operation mode in which the motor MG1 and the motor MG2 are driven and controlled to be output to each other, and a motor operation mode in which the operation of the engine 22 is stopped and the power corresponding to the required power from the motor MG2 is output to the ring gear shaft 32a. and so on.

  Next, the operation of the hybrid vehicle 20 of the embodiment thus configured, particularly the operation when traveling using a sequential shift will be described. FIG. 2 is a flowchart showing an example of a drive control routine executed by the hybrid electronic control unit 70 when traveling using the sequential shift. This routine is repeatedly executed every predetermined time (for example, every several msec).

  When the drive control routine is executed, first, the CPU 72 of the hybrid electronic control unit 70 first determines the accelerator opening Acc from the accelerator pedal position sensor 84, the brake pedal position BP from the brake pedal position sensor 86, and the shift lever 81 from the shift lever 81. Inputs necessary data for control such as shift position SP, vehicle speed V from vehicle speed sensor 88, motors MG1, MG2 rotation speeds Nm1, Nm2, battery 50 charge / discharge required power Pb *, battery 50 input / output limit Win, Wout The process which performs is performed (step S100). Here, the rotational speeds Nm1 and Nm2 of the motors MG1 and MG2 are input from the motor ECU 40 by communication from those calculated based on the rotational positions of the rotors of the motors MG1 and MG2 detected by the rotational position detection sensors 44 and 45. To do. Further, the charge / discharge required power Pb * of the battery 50 is set according to the remaining capacity (SOC) of the battery 50 and input from the battery ECU 52 by communication. The setting of the charge / discharge required power Pb * by the battery ECU 52 is set, for example, by deriving the charge / discharge required power Pb * corresponding to the remaining capacity (SOC) of the battery 50 from the charge / discharge required power setting map illustrated in FIG. can do. Further, the input / output limits Win and Wout of the battery 50 are set based on the battery temperature Tb of the battery 50 detected by the temperature sensor 51 and the remaining capacity (SOC) of the battery 50 from the battery ECU 52 by communication. To do. The input / output limits Win and Wout of the battery 50 are set to the basic values of the input / output limits Win and Wout based on the battery temperature Tb, and the output limiting correction coefficient and the input are set based on the remaining capacity (SOC) of the battery 50. The limiting correction coefficient is set, and the input / output limits Win and Wout can be set by multiplying the basic value of the set input / output limits Win and Wout by the correction coefficient.

  When the data is input in this way, the upper and lower limits of the allowable required torque range that is an allowable range that may be set as the required torque Tr * required for the ring gear shaft 32a as the drive shaft based on the input shift position SP and the vehicle speed V. Trmax and Trmin are set (step S110). In the embodiment, the upper and lower limits Trmax and Trmin of the allowable required torque range are determined in the ROM 74 as a map for setting the allowable required torque range by predetermining the relationship among the shift position SP, the vehicle speed V, and the upper and lower limits Trmax and Trmin of the allowable required torque range. When the shift position SP and the vehicle speed V are given, the upper and lower limits Trmax and Trmin of the corresponding allowable required torque range are derived and set from the stored map. FIG. 4 shows an example of the allowable required torque range setting map. In FIG. 4, the upper and lower limits Trmax and Trmin of the allowable required torque range when the shift position SP is “3rd” and the vehicle speed V is the value V1 are indicated by broken lines. Subsequently, the temporary required torque Trtmp is set as a torque to be output to the ring gear shaft 32a as the drive shaft based on the input accelerator opening Acc, brake pedal position BP, and vehicle speed V (step S120), and the set temporary request is set. The required torque Tr * to be output to the ring gear shaft 32a is set as a value obtained by limiting the torque Trtmp with the upper and lower limits Trmax and Trmin of the allowable required torque range (step S130). Here, in the embodiment, the temporary required torque Trtmp is stored in the ROM 74 as a temporary required torque setting map by predetermining the relationship between the accelerator opening Acc, the brake pedal position BP, the vehicle speed V, and the temporary required torque Trtmp. When the accelerator opening Acc, the brake pedal position BP, and the vehicle speed V are given, the corresponding temporary required torque Trtmp is derived and set from the stored map. FIG. 5 shows an example of the temporary required torque setting map. Thus, the upper and lower limits Trmax and Trmin of the allowable required torque range set based on the shift position SP and the vehicle speed V are set to the temporary required torque Trtmp set based on the accelerator opening Acc, the brake pedal position BP, and the vehicle speed V. By setting the required torque Tr * with the restriction, the torque according to the accelerator opening Acc, the brake pedal position BP, the vehicle speed V, and the shift position SP can be set as the required torque Tr *.

  When the required torque Tr * is set in this way, the vehicle requests as the sum of the set required torque Tr * multiplied by the rotation speed Nr of the ring gear shaft 32a and the charge / discharge required power Pb * required by the battery 50 and the loss Loss. The required power Pe * is set (step S140). Here, the rotational speed Nr of the ring gear shaft 32a can be obtained by multiplying the vehicle speed V by the conversion factor k, or by dividing the rotational speed Nm2 of the motor MG2 by the gear ratio Gr of the reduction gear 35.

  Next, the target rotational speed Ne * of the engine 22 is set based on the vehicle speed V and the shift position SP (step S150), and based on the set target rotational speed Ne * of the engine 22 and the charge / discharge required power Pb *. Then, the upper and lower limits Temax and Temin of the allowable engine torque range in which the output from the engine 22 is allowed are set (step S160), and the temporary engine torque Tetmp is calculated by dividing the required power Pe * by the target rotational speed Ne * (step S160). S170), the target torque Te * of the engine 22 is set as a value obtained by limiting the calculated temporary engine torque Tetmp with the upper and lower limits Temax and Temin of the allowable engine torque range (step S180). Here, the target rotational speed Ne * can be determined by multiplying the vehicle speed V by the rotational speed ratio corresponding to the currently set shift (shift position SP) in the sequential shift. An example of the relationship among the target rotational speed Ne * of the engine 22, the vehicle speed V, and the shift position SP is shown in FIG. In the embodiment, the upper and lower limits Temax and Temin of the allowable engine torque range are determined in advance in relation to the target engine speed Ne *, the charge / discharge required power Pb *, and the upper and lower limits Temax and Temin of the allowable engine torque range. The map is stored in the ROM 74 as an allowable engine torque range setting map, and when the target rotational speed Ne * and the charge / discharge required power Pb * of the engine 22 are given, the upper and lower limits Temax of the corresponding allowable engine torque range from the stored map. , Temin is derived and set. FIG. 7 shows an example of an allowable engine torque range setting map. In the example of FIG. 7, the battery 50 is charged when the sign of the charge / discharge required power Pb * is a negative value. The larger the charge / discharge required power Pb * is, that is, the power to be discharged from the battery 50 is. The upper and lower limits Temax and Temin of the allowable engine torque range tend to increase as the value increases. FIG. 7 shows how the upper and lower limits Temax and Temin of the allowable engine torque range are set when the target rotational speed Ne * of the engine 22 is the value N1 and the charge / discharge required power Pb * is −5 kW (charge power). Shown in broken lines. Thus, the upper and lower limits of the allowable engine torque range set based on the target rotational speed Ne * and the charge / discharge required power Pb * are set based on the vehicle speed V and the shift position SP. By setting the target torque Te * of the engine 22 by setting the target torque Te * of the engine 22 by limiting the temporary engine torque Tetmp obtained by dividing the required power Pe * by the target speed Ne * by Temax and Temin, the energy balance at the rotational speed according to the vehicle speed V The engine 22 can be operated without causing the engine to fail.

  When the target rotational speed Ne * and the target torque Te * of the engine 22 are thus set, the set target rotational speed Ne *, the rotational speed Nr (Nm2 / Gr) of the ring gear shaft 32a, the gear ratio ρ of the power distribution and integration mechanism 30, and Is used to calculate the target rotational speed Nm1 * of the motor MG1 by the following formula (1), and based on the calculated target rotational speed Nm1 * and the current rotational speed Nm1, the torque command Tm1 * of the motor MG1 is calculated by the formula (2). Is calculated (step S190). Here, Expression (1) is a dynamic relational expression for the rotating element of the power distribution and integration mechanism 30. FIG. 8 is a collinear diagram showing the dynamic relationship between the rotational speed and torque in the rotating elements of the power distribution and integration mechanism 30. In the figure, the left S-axis indicates the rotation speed of the sun gear 31 that is the rotation speed Nm1 of the motor MG1, the C-axis indicates the rotation speed of the carrier 34 that is the rotation speed Ne of the engine 22, and the R-axis indicates the rotation speed of the motor MG2. The rotational speed Nr of the ring gear 32 obtained by dividing the number Nm2 by the gear ratio Gr of the reduction gear 35 is shown. Expression (1) can be easily derived by using this alignment chart. The two thick arrows on the R axis indicate that torque Te * output from the engine 22 when the engine 22 is normally operated at the operation point of the target rotational speed Ne * and the target torque Te * is transmitted to the ring gear shaft 32a. Torque and torque that the torque Tm2 * output from the motor MG2 acts on the ring gear shaft 32a via the reduction gear 35. Expression (2) is a relational expression in feedback control for rotating the motor MG1 at the target rotational speed Nm1 *. In Expression (2), “k1” in the second term on the right side is a gain of a proportional term. “K2” in the third term on the right side is the gain of the integral term.

Nm1 * = Ne * ・ (1 + ρ) / ρ-Nm2 / (Gr ・ ρ) (1)
Tm1 * = previous Tm1 * + k1 (Nm1 * -Nm1) + k2∫ (Nm1 * -Nm1) dt (2)

  When the target rotational speed Nm1 * and the torque command Tm1 * of the motor MG1 are thus calculated, the input / output limits Win and Wout of the battery 50 and the calculated torque command Tm1 * of the motor MG1 are multiplied by the current rotational speed Nm1 of the motor MG1. Torque limits Tmmin and Tmmax as upper and lower limits of the torque that may be output from the motor MG2 by dividing the deviation from the obtained power consumption (generated power) of the motor MG1 by the rotational speed Nm2 of the motor MG2 are expressed by the following equations (3): In addition, the temporary motor torque Tm2tmp as the torque to be output from the motor MG2 is calculated using the required torque Tr *, the torque command Tm1 *, and the gear ratio ρ of the power distribution and integration mechanism 30 (step S200). Calculated by equation (5) (step S210) and calculated torque limits Tmmin, Tm Setting the torque command Tm2 * of the motor MG2 limits the tentative motor torque Tm2tmp in ax (step S220). In this way, by setting the torque command Tm2 * of the motor MG2, the required torque Tr * output to the ring gear shaft 32a as the drive shaft is limited as the torque within the range of the input / output limits Win and Wout of the battery 50. Can be set. Equation (5) can be easily derived from the collinear diagram of FIG. 8 described above.

Tmin = (Win-Tm1 * ・ Nm1) / Nm2 (3)
Tmax = (Wout-Tm1 * ・ Nm1) / Nm2 (4)
Tm2tmp = (Tr * + Tm1 * / ρ) / Gr (5)

  Thus, when the target engine speed Ne *, the target torque Te *, and the torque commands Tm1 *, Tm2 * of the motors MG1, MG2 are set, the target engine speed Ne * and the target torque Te * of the engine 22 are set in the engine ECU 24. The torque commands Tm1 * and Tm2 * for the motors MG1 and MG2 are transmitted to the motor ECU 40 (step S230), and the drive control routine is terminated. The engine ECU 24 that has received the target rotational speed Ne * and the target torque Te * controls the throttle opening in the engine 22 so that the engine 22 is operated at the operating point indicated by the target rotational speed Ne * and the target torque Te *. Controls such as fuel injection control and ignition control. The motor ECU 40 that has received the torque commands Tm1 * and Tm2 * controls the switching elements of the inverters 41 and 42 so that the motor MG1 is driven by the torque command Tm1 * and the motor MG2 is driven by the torque command Tm2 *. To do.

  According to the hybrid vehicle 20 of the embodiment described above, when traveling using the sequential shift, the temporary required torque Trtmp set based on the accelerator opening Acc, the brake pedal position BP, and the vehicle speed V is used as the shift position SP. By setting the required torque Tr * by limiting the upper and lower limits Trmax and Trmin of the allowable required torque range set based on the vehicle speed V and the vehicle speed V, the accelerator opening Acc, the brake pedal position BP, the vehicle speed V, and the shift position SP are set. Can be set as the required torque Tr *. Further, the target rotational speed Ne * is set based on the vehicle speed V and the shift position SP, and the upper and lower limits Temax of the allowable engine torque range set based on the target rotational speed Ne * and the charge / discharge required power Pb *, By setting the target torque Te * of the engine 22 by limiting the temporary engine torque Tentmp obtained by dividing the required power Pe * by the target speed Ne * at Temin, the energy balance is broken at the speed corresponding to the vehicle speed V The engine 22 can be operated without causing it. Further, the temporary motor torque Tm2tmp calculated to output the required torque Tr * is limited by the torque limits Tmmin and Tmmax set based on the input / output limits Win and Wout of the battery 50, and the torque command Tm2 * of the motor MG2 is set. , The required torque Tr * output to the ring gear shaft 32a as the drive shaft can be set as a torque limited within the range of the input / output limits Win and Wout of the battery 50. As a result, even when traveling using a sequential shift, the engine 22 and the motors MG1 and MG2 can be operated without breaking the energy balance of the vehicle. As a result, the driving feeling of the driver can be improved. Of course, it is possible to travel by outputting a torque corresponding to the required torque Tr * requested by the driver. As a result, the vehicle can travel more smoothly.

  In the hybrid vehicle 20 of the embodiment, the upper and lower limits Temax and Temin of the allowable engine torque range tend to increase as the charge / discharge required power Pb * increases (the power to be discharged from the battery 50 increases). The upper limit Temax of the allowable engine torque range is set to increase as the charge / discharge required power Pb * increases (the power to be discharged from the battery 50 increases), but the lower limit Temin of the allowable engine torque range does not increase. The lower limit Temin of the allowable engine torque range is set to increase as the charge / discharge required power Pb * increases (the power to be discharged from the battery 50 increases), but the upper limit Temax of the allowable engine torque range. As a setting that does not grow Good.

  In the hybrid vehicle 20 of the embodiment, the temporary required torque Trtmp set based on the accelerator opening Acc, the brake pedal position BP, and the vehicle speed V is set above the allowable required torque range set based on the shift position SP and the vehicle speed V. Although the required torque Tr * is set by being limited by the lower limits Trmax and Trmin, the temporary required torque Trtmp set based on the accelerator opening Acc, the brake pedal position BP, and the vehicle speed V is set as the required torque Tr * as it is. It does n’t matter what you do.

  In the hybrid vehicle 20 of the embodiment, the target engine speed Ne * is set based on the vehicle speed V and the shift position SP, and the allowable engine torque set based on the target engine speed Ne * and the charge / discharge required power Pb *. The target torque Te * of the engine 22 is set by limiting the temporary engine torque Tempmp obtained by dividing the required power Pe * by the target rotational speed Ne * at the upper and lower limits Temax and Temin of the range. As long as the target torque Te * is set within the range of the upper and lower limits Temax, Temin, the temporary engine torque Tempmp obtained by dividing the required power Pe * by the target rotational speed Ne * is set to the upper and lower limits of the allowable engine torque range. It does not have to be set by limiting with Temax and Temin.

  In the hybrid vehicle 20 of the embodiment, the required torque Tr * is set by setting the upper and lower limits Trmax and Trmin of the allowable required torque range based on the vehicle speed V, or by setting the temporary required torque Trtmp, and based on the vehicle speed V. Although the target rotational speed Ne * of the engine 22 is set, the vehicle speed V and the rotational speed of the ring gear shaft 32a as the drive shaft can be converted by the conversion factor k. Therefore, the ring gear as the drive shaft is substituted for the vehicle speed V. The required torque Tr * is set by setting the upper and lower limits Trmax and Trmin of the allowable required torque range based on the rotational speed of the shaft 32a or by setting the temporary required torque Trtmp, and the engine based on the rotational speed of the ring gear shaft 32a. A target rotational speed Ne * of 22 may be set. In this case, a sensor capable of detecting the rotational speed, such as a resolver, is attached to the ring gear shaft 32a, and the rotational speed of the ring gear shaft 32a may be detected using a detection value from the sensor, or the sensor is attached to the motor MG2. A value obtained by dividing the rotational speed Nm2 of the motor MG2 detected by the rotational position detection sensor 45 by the gear ratio Gr of the reduction gear 35 may be used as the rotational speed of the ring gear shaft 32a.

  In the hybrid vehicle 20 of the embodiment, when driving using a sequential shift, the drive control is performed using the shift position SP based on the driver's operation of the shift lever 81, but when driving on an uphill / downhill road The shift position SP in the sequential shift may be set based on the road surface gradient θ or the vehicle speed V from the gradient sensor 89, and drive control may be performed using the set shift position SP. An example of the relationship between the road surface gradient θ, the vehicle speed V, and the shift position SP is shown in FIG. In the example of FIG. 9, when the vehicle speed V is less than the value V2 and the road surface gradient θ is equal to or higher than the threshold value θref or when the road surface gradient θ is equal to or lower than the threshold value −θref, the rotational speed ratio tends to increase as the vehicle speed V decreases. The shift position SP is set such that the larger the is, the larger the rotational speed ratio is. As described above, if the shift position SP is set based on the road surface gradient θ and the vehicle speed V, and the drive control is performed using the shift position SP, the vehicle automatically responds to the road surface gradient θ without any operation. It is possible to travel by shifting. When traveling on an uphill / downhill road automatically using a sequential shift, the determination of the uphill / downhill road travel is not limited to the determination based on the road surface gradient θ from the gradient sensor 89, and the acceleration in the front-rear direction of the vehicle is determined. The road surface gradient may be calculated based on a signal from the acceleration sensor to be detected to determine whether the vehicle is traveling on an uphill / downhill road, or the vehicle's travel position or travel in a navigation device incorporating map information including road surface slope information. It is also possible to determine traveling on an uphill / downhill road based on the direction.

  In the hybrid vehicle 20 according to the embodiment, the engine 22 and the two motors MG1 and MG2 are controlled so as to output the traveling power to the ring gear shaft 32a as the drive shaft connected to the drive wheels 63a and 63b. However, as shown in the hybrid vehicle 20B of the modified example of FIG. 10, the electric power from the battery 50 side is supplied via the inverters 43 and 42 of the two motors MG1 and MG2 and the inverter 43 sharing the positive and negative buses. It is good also as what runs by outputting the motive power from motor MG3 driven using to wheel 64a, 64b different from drive wheel 63a, 63b. In this case, the allowable engine torque range may be set in consideration of the power supplied to the motor MG3.

  In the hybrid vehicle 20 of the embodiment, the power of the motor MG2 is changed by the reduction gear 35 and output to the ring gear shaft 32a. However, as illustrated in the hybrid vehicle 120 of the modification of FIG. May be connected to an axle (an axle connected to the wheels 64a and 64b in FIG. 11) different from an axle to which the ring gear shaft 32a is connected (an axle to which the drive wheels 63a and 63b are connected).

  In the hybrid vehicle 20 of the embodiment, the power of the engine 22 is output to the ring gear shaft 32a as the drive shaft connected to the drive wheels 63a and 63b via the power distribution and integration mechanism 30, but the modified example of FIG. The hybrid vehicle 220 includes an inner rotor 232 connected to the crankshaft 26 of the engine 22 and an outer rotor 234 connected to a drive shaft that outputs power to the drive wheels 63a and 63b. A counter-rotor motor 230 that transmits a part of the power to the drive shaft and converts the remaining power into electric power may be provided.

  In the embodiment, the power output device that performs drive control when using the sequential shift is mounted on the hybrid vehicle 20. However, such a power output device is mounted on a moving body such as a vehicle other than an automobile, a ship, and an aircraft. Or it may be incorporated into a non-moving facility such as a construction facility. Moreover, it is not restricted to the form of a power output device or a vehicle, It is good also as a form as a power output device or the control method of a vehicle.

  The embodiments of the present invention have been described using the embodiments. However, the present invention is not limited to these embodiments, and can be implemented in various forms without departing from the gist of the present invention. Of course you get.

It is a block diagram which shows the outline of a structure of the hybrid vehicle 20 carrying the power output device which is one Example of this invention. It is a flowchart which shows an example of the drive control routine performed by the hybrid electronic control unit 70 of an Example when drive | working using a sequential shift. It is explanatory drawing which shows an example of the map for charging / discharging request | requirement power setting. It is explanatory drawing which shows an example of a map for an allowable request torque range setting, and an example of a mode of setting the upper and lower limits Trmax and Trmin of an allowable request torque range using this. It is explanatory drawing which shows an example of the map for temporary request | requirement torque setting. It is explanatory drawing which shows an example of the relationship between target rotation speed Ne * of the engine 22, vehicle speed V, and shift position SP. It is explanatory drawing which shows an example of the map for an allowable engine torque range setting, and an example of a mode of setting the upper and lower limits Temax and Temin of an allowable engine torque range using this. FIG. 4 is an explanatory diagram showing an example of a collinear diagram for dynamically explaining rotational elements of a power distribution and integration mechanism 30; It is explanatory drawing which shows an example of the relationship between road surface gradient (theta), vehicle speed V, and shift position SP. It is a block diagram which shows the outline of a structure of the hybrid vehicle 20B of a modification. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 120 according to a modification. FIG. 11 is a configuration diagram showing an outline of a configuration of a hybrid vehicle 220 of a modified example.

Explanation of symbols

20, 20B, 120, 220 Hybrid vehicle, 22 engine, 24 engine electronic control unit (engine ECU), 26 crankshaft, 28 damper, 30 power distribution integration mechanism, 31 sun gear, 32 ring gear, 32a ring gear shaft, 33 pinion gear, 34 carrier, 35, reduction gear, 40 motor electronic control unit (motor ECU), 41, 42, 43 inverter, 44, 45 rotational position detection sensor, 50 battery, 51 temperature sensor, 52 battery electronic control unit (battery ECU) ), 54 power line, 60 gear mechanism, 62 differential gear, 63a, 63b driving wheel, 64a, 64b wheel, 70 electronic control unit for hybrid, 72 CPU, 74 ROM, 76 RAM, 80 ignition switch, 1 Shift lever, 82 Shift position sensor, 83 Accelerator pedal, 84 Accelerator pedal position sensor, 85 Brake pedal, 86 Brake pedal position sensor, 88 Vehicle speed sensor, 89 Gradient sensor, 230 Counter rotor motor, 232 Inner rotor 234 Outer rotor, MG1 , MG2, MG3 motor.

Claims (16)

A power output device that outputs power to a drive shaft,
An internal combustion engine;
The sum of the power from the internal combustion engine operated at an arbitrary operating point and the power input / output along with the input / output of electric power can be torque converted into the rotational speed of the drive shaft and output to the drive shaft Power input / output conversion means,
Power storage means for exchanging power with the power drive input / output means;
Charge / discharge request setting means for setting a charge / discharge request to charge / discharge the power storage means;
A rotational speed detection means for detecting the rotational speed of the drive shaft;
Execution output characteristic selection means for selecting an execution output characteristic from a plurality of output characteristics set in advance as output characteristics of the internal combustion engine based on a predetermined selection condition;
Required driving force setting means for setting required driving force required for the drive shaft;
Target rotational speed setting means for setting a target rotational speed of the internal combustion engine based on the selected output characteristic for execution and the detected rotational speed;
Torque range setting means for setting a torque range in which output from the internal combustion engine is allowed based on the set charge / discharge request and the set target rotational speed;
The internal combustion engine is operated at an operating point composed of the set target rotational speed and a torque within the set torque range, and a driving force based on the required driving force is output to the driving shaft. Control means for controlling the engine and the power drive input / output conversion means;
A power output device comprising:   2. The power output apparatus according to claim 1, wherein the plurality of output characteristics are characteristics in which a ratio of a rotational speed of the internal combustion engine to a rotational speed of the drive shaft is plural.   The control means sets a target operating point that falls within the set torque range based on the set target rotational speed and the set required driving force, and at the set target operating point, the internal combustion engine 3. The power output apparatus according to claim 1, which is means for controlling the engine to operate.   4. The power output apparatus according to claim 3, wherein the control means is means for setting the target operating point based on the set charge / discharge request.   5. The power output apparatus according to claim 1, wherein the required driving force setting unit is a unit that sets a required driving force based on the selected execution output characteristic.   6. The power output apparatus according to claim 1, further comprising selection condition setting means for setting a selection condition based on an operation of an operator as the predetermined selection condition.   The power according to any one of claims 1 to 6, wherein the torque range setting means is a means for setting the torque range such that the lower limit torque of the torque range becomes larger as the set charge / discharge request is larger on the charging side. Output device.   The power according to any one of claims 1 to 7, wherein the torque range setting means is a means for setting the torque range such that the upper limit torque of the torque range increases as the set charge / discharge request increases toward the charge side. Output device.   The required driving force setting means sets an allowable required driving force range that is allowed based on the detected rotation speed and the selected output characteristic for execution, and the required driving force is within the allowable required driving force range. The power output apparatus according to any one of claims 1 to 8, which is means for setting a force.   The power / power input / output conversion means is connected to the output shaft of the internal combustion engine and the drive shaft, and can output at least part of the power from the internal combustion engine to the drive shaft with input / output of power and power. The power output device according to any one of claims 1 to 9, wherein the power output device includes power power input / output means and an electric motor capable of inputting / outputting power to / from the drive shaft.   The power power input / output means is connected to three shafts of the output shaft of the internal combustion engine, the drive shaft, and the rotating shaft, and the remaining shaft based on the power input / output to / from any two of the three shafts The power output apparatus according to claim 10, further comprising: a three-shaft power input / output means for inputting / outputting power to / from the power generator and a generator capable of inputting / outputting power to / from the rotary shaft.   The power drive input / output means has a first rotor connected to the output shaft of the internal combustion engine and a second rotor connected to the drive shaft, and the first rotor and the first rotor The power output apparatus according to claim 10, wherein the power output apparatus is a counter-rotor motor driven by relative rotation with the two rotors.   A vehicle on which the power output device according to claim 1 is mounted and an axle is connected to the drive shaft. The vehicle according to claim 13,
Vehicle speed detection means for detecting the vehicle speed,
The power output device is a device that outputs power to the drive shaft using a vehicle speed detected by the vehicle speed detection means instead of the rotation speed of the drive shaft detected by the rotation speed detection means. The vehicle according to claim 13 or 14,
It is equipped with an uphill / downhill road detection means for detecting the uphill / downhill road running,
The execution output characteristic selection means is means for selecting an execution output characteristic using the detected traveling on the uphill / downhill road as the predetermined selection condition. The vehicle according to any one of claims 13 to 15,
Electric power output means capable of outputting power for traveling using electric power from the power storage means,
The torque range setting means is means for setting the torque range based on power output from the electric power output means.

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