JP5601148B2 - Control device for hybrid vehicle - Google Patents

Description

  The present invention relates to a technique for preventing over-rotation of an internal combustion engine.

  As a countermeasure for preventing engine overspeed, a rotation speed limiting method based on a fuel supply cut in which fuel supply to the engine is temporarily interrupted when the engine rotation speed exceeds a predetermined upper limit rotation speed has been mainstream. However, the rotational speed limiting method based on the fuel supply cut causes a change in acceleration in the vehicle front-rear direction when the fuel supply is interrupted and when the fuel supply is resumed, causing discomfort to the passengers.

  As a technology to prevent the passenger from feeling uncomfortable, the engine's air supply is controlled using an electric throttle that controls the opening of the throttle valve via an electric actuator. This is disclosed in Patent Document 1.

  Specifically, a limiter request torque for preventing engine over-rotation is generated using P-part torque for PID control and I-part torque set in accordance with the deviation between the target rotational speed and the engine rotational speed. The torque is calculated and controlled based on the limiter request torque. Thereby, the engine rotation speed converges to the upper limit rotation speed while overshoot is suppressed, and over-rotation is prevented.

JP 2004-245191 A

  By the way, as disclosed in, for example, Japanese Patent Application Laid-Open No. 2004-245191, a hybrid vehicle having a first clutch between an engine and a motor generator and a second clutch between a motor generator and a drive wheel is known. ing.

  In such a hybrid vehicle, the load of the internal combustion engine changes between a state where the first clutch and the second clutch are engaged and a state where at least one of the clutches is released.

  Therefore, in the control in which the P component torque and the I component torque are uniformly set regardless of the load of the internal combustion engine as in Patent Document 1, it may be difficult to converge the engine rotation speed to the target rotation speed.

  Therefore, the present invention provides a control device that can reliably prevent over-rotation of an internal combustion engine even when applied to a hybrid vehicle including one electric motor and two clutches in addition to the internal combustion engine as described above. With the goal.

The control apparatus for a hybrid vehicle of the present invention includes an internal combustion engine and a motor generator as power sources, a first clutch that connects and disconnects torque transmission between the internal combustion engine and the motor generator, and torque between the motor generator and drive wheels. The second clutch for connecting / disconnecting transmission and over-rotation prevention control for reducing and correcting the torque of the internal combustion engine to a torque smaller than the driver required torque according to the driver's request when the actual engine speed exceeds the target engine speed Means. Then, the overspeed prevention control means switches the torque reduction correction amount of the internal combustion engine depending on whether or not both the first clutch and the second clutch are engaged. Specifically, when at least one of the first clutch and the second clutch is released, the amount of reduction in the torque of the internal combustion engine is corrected compared to when both the first clutch and the second clutch are engaged. When the actual engine speed falls below the target engine speed due to the decrease correction, the torque of the internal combustion engine is increased and corrected so that the actual engine speed becomes the target engine speed. Make it smaller than when correcting for decrease .

  According to the present invention, the reduction correction amount of the torque of the internal combustion engine when the actual engine rotational speed exceeds the target engine rotational speed is switched depending on whether or not both the first clutch and the second clutch are engaged. Therefore, even in the hybrid vehicle as described above, it is possible to reliably prevent over-rotation of the internal combustion engine.

It is a schematic block diagram of an example of the powertrain of the hybrid vehicle which concerns on embodiment of this invention. 1 is a configuration diagram of a hybrid system according to an embodiment of the present invention. It is a block diagram of the engine to which this invention is applied. It is a block diagram which shows throttle control by embodiment. It is a characteristic map for setting driver demand torque. It is a flowchart which shows the detail of throttle control by embodiment. It is a flowchart which shows the detail of the gain switching control by embodiment. It is a time chart which shows the overspeed prevention operation | movement by embodiment. It is a schematic block diagram which shows the other example of the power train of a hybrid vehicle. It is a schematic block diagram which shows the further another example of the power train of a hybrid vehicle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a schematic configuration diagram of an example of a power train of a hybrid vehicle according to a first embodiment of the present invention. 9 and 10, the configuration of the power train of the hybrid vehicle, in particular, the position of the second clutch 5 is not limited to that shown in FIG.

  The output shaft of the internal combustion engine 1 and the input shaft of the motor generator 2 are connected to the output shaft of the motor generator 2 and the input shaft of the automatic transmission 3 via a first clutch 4 having a variable torque capacity. A tire 7 is connected to the output shaft of the automatic transmission 3 via a differential gear 6.

  Since the automatic transmission 3 has a clutch having a variable torque capacity that bears different power transmissions depending on the shift state, one of these clutches is used as the second clutch 5. Thus, the automatic transmission 3 combines the power of the internal combustion engine 1 input via the first clutch 4 and the power input from the motor generator 2 and outputs the combined power to the tire 7. For the first clutch 4 and the second clutch 5, for example, a wet multi-plate clutch that can continuously control the oil flow rate and hydraulic pressure with a proportional solenoid may be used.

  The power train of the hybrid vehicle has two operation modes according to the connection state of the first clutch 4. First, when the first clutch 4 is disengaged, an electric operation mode (hereinafter referred to as “EV mode”) in which the motor generator 2 is operated (runs) only with the power of the motor generator 2 is set. In the connected state of the first clutch 4, a hybrid operation mode (hereinafter referred to as “HEV mode”) in which driving (running) is performed with the power of both the internal combustion engine 1 and the motor generator 2 is set. As will be described later, the second clutch 5 is a half-clutch when the engine is started, and is always in a connected state during vehicle operation.

  FIG. 2 shows a configuration diagram of a hybrid system including a control device.

  The hybrid system mainly includes an integrated controller 20 that integrally controls the operating point of the power train, an engine controller 21 that controls the internal combustion engine 1, a motor generator controller 22 that controls the motor generator 2, an inverter 8 that drives the motor generator 2, an electric It consists of a battery 9 that stores energy.

  The integrated controller 20 includes a signal from the engine rotational speed sensor 10 that detects the rotational speed Ne of the engine and a motor generator rotational speed sensor that detects the rotational speed Nm of the motor generator 2 in order to determine the operating point of the power train. 11, a signal from the automatic transmission input shaft rotational speed sensor 12 for detecting the input shaft rotational speed Ni of the automatic transmission 3, and an automatic transmission output for detecting the output shaft rotational speed No of the automatic transmission 3. A signal from the shaft rotation speed sensor 13, a signal from the accelerator opening sensor 17 for detecting the accelerator opening APO (= actual accelerator opening rAPO), a signal from the brake oil pressure sensor 23 for detecting the brake oil pressure BPS, A signal from the SOC sensor 16 that detects the state of charge of the battery 9 is input.

  The integrated controller 20 selects an operation mode capable of realizing the driving force desired by the driver according to the accelerator opening APO, the battery state of charge SOC, and the vehicle speed VSP (proportional to the automatic transmission output shaft rotational speed No). Further, the integrated controller 20 commands the motor generator controller 22 to target motor generator torque or target motor generator rotation speed. Further, the integrated controller 20 instructs the engine controller 21 to output a target engine torque, and a drive signal to the solenoid valve 14 that controls the hydraulic pressure of the first clutch 4 and the solenoid valve 15 that controls the hydraulic pressure of the second clutch 5.

  The engine controller 21 controls the internal combustion engine 1 so that the engine torque becomes the target engine torque, and the motor generator controller 22 makes the torque of the motor generator 2 become the target motor generator torque (or the rotational speed of the motor generator is the target motor). The motor generator 2 is controlled via the battery 9 and the inverter 8 so that the rotation speed of the generator is achieved.

  FIG. 3 shows the configuration of the internal combustion engine 1 controlled by the engine controller 21.

  The air flow meter 33 detects the amount of intake air (per unit time) to the internal combustion engine 1. The water temperature sensor 35 detects the engine coolant temperature. The air-fuel ratio sensor 36 detects the air-fuel ratio of the air-fuel mixture supplied to the engine from oxygen components in the exhaust gas.

  The internal combustion engine 1 is provided with a fuel injection valve 37 that is driven by a fuel injection signal to supply and inject fuel, and an ignition plug 38 that is attached to the combustion chamber and ignites.

  A throttle valve 40 is interposed in the intake passage 39 of the internal combustion engine 1, and a throttle control device 41 that electronically controls the opening degree of the throttle valve 40 with a step motor or the like is provided. A throttle sensor 42 that detects the opening of the throttle valve 40 is mounted.

  The engine controller 21 sets a target engine torque based on signals from the sensors, controls the opening of the throttle valve 40 via the throttle control device 41 so as to obtain the target engine torque, and controls the intake air amount. At the same time, the fuel injection valve 37 is driven to control the fuel injection amount, the ignition timing is set, and the ignition plug 38 is ignited at the ignition timing.

  Here, as a configuration according to the present invention, in throttle control to the target engine torque, control is performed so as to limit the engine from being over-rotated.

  FIG. 4 shows a control block for throttle control including such an overspeed prevention function.

  Based on the accelerator opening detected by the accelerator opening sensor 17 and the engine rotation speed detected by the engine rotation speed sensor 10, the driver request torque calculation unit A searches from the map as shown in FIG. The engine torque required by the driver (driver required torque) is calculated by, for example.

  The high rotation limiter control unit B calculates a limiter request torque for preventing the engine from over-rotating.

  The MIN determination unit C inputs the driver request torque and the limiter request torque, selects a smaller one of them, and outputs it to the throttle opening control unit D as a torque command value.

  The throttle opening control unit D calculates a target throttle opening based on the torque command value, and outputs the target throttle opening signal to the throttle control device 41.

  The throttle control device 41 controls the opening of the throttle valve 40 based on the actual throttle opening detected by the throttle sensor 42 and the target throttle opening.

  A detailed flow of the throttle control is shown in FIG. Hereinafter, a description will be given with reference to FIG.

  In step S1, the actual engine rotation speed Ne detected based on the signal from the engine rotation speed sensor 10 is subjected to a first-order lag filter process (weighted average calculation process) as shown in the following equation for noise removal, and the rotation speed is calculated. N (i) is calculated.

N (i) = Fg × Ne (i) + (1−Fg) × N (i−1)
N (i): engine speed after filtering (current value)
N (i-1): Engine speed after filter processing (previous value)
Fg: Engine speed filter gain

  In step S2, the target rotational speed change rate is obtained by multiplying the deviation between the upper limit rotational speed Nmax and the actual engine rotational speed (previous value) N (i-1) by the target rotational speed change rate gain Dtg as shown in the following equation. DNt (i) is calculated.

    DNt (i) = Dtg × [Nmax−N (i−1)]

  In step S3, the target rotational speed change from the previous engine rotational speed is obtained by adding the target rotational speed change rate DNt (i) to the actual engine rotational speed (previous value) N (i-1) as shown in the following equation. The current engine speed when the engine speed changes at a rate is calculated, and this calculated value is set as the current target speed Nt (i).

    Nt (i) = N (i-1) + DNt (i)

  In step S4, the driver required torque Tac (i) is compared with the limiter required torque (previous value) Trev (i-1).

  When the limiter request torque Trev (i−1) is larger than the driver request torque Tac (i), there is no need to operate the limiter (rotational speed limit). The torque Ti (i) is the driver request torque Tac (i).

  When the driver request torque Tac (i) becomes equal to or greater than the limiter request torque Trev (i-1), the process proceeds to step S6 to start the limiter, and the driver request torque Tac (i-1) set in the previous step S5 is set to the initial value. Integral operation starts. Specifically, as shown in the following equation, the deviation between the target engine speed Nt (i) set in step S3 and the actual engine speed N (i) obtained in step S1 is multiplied by an I-component gain Ig. This is added to the previous value Ti (i-1) of the I component torque, and this is the current I component torque Ti (i).

    Ti (i) = Ti (i−1) + Ig × [Nt (i) −N (i)]

  In step S7, a P-minute torque Tp (i) is calculated. Specifically, as shown in the following equation, the deviation between the target rotational speed Nt (i) and the actual engine rotational speed N (i) is multiplied by a P-component gain Pg.

    Tp (i) = Pg × [Nt (i) −N (i)]

  In step S8, the P component torque Tp (i) and the I component torque Ti (i) calculated as described above are added to obtain the limiter request torque Trev (i) as in the following equation.

    Trev (i) = Tp (i) + Ti (i)

  In step S9, the smaller one of the driver request torque Tac (i) and the limiter request torque Trev (i) is selected as the torque command value Tcom (i). That is, only when the limiter request torque Trev (i) is smaller than the driver request torque Tac (i), the limiter request torque Trev (i) is set as the torque command value Tcom (i), thereby preventing the engine from over-rotating. To prevent.

  Here, the I component gain Ig used in step S6 and the P component gain Pg used in step S7 will be described.

  In the hybrid vehicle as shown in FIG. 1, the case where at least one of the first clutch 4 or the second clutch 5 is opened is compared with the case where the first clutch 4 and the second clutch 5 are engaged. The load on the internal combustion engine 1 is reduced. Therefore, if the same I-component gain Ig and P-component gain Pg are used regardless of whether the first clutch 4 and the second clutch 5 are engaged or disengaged, at least one of the first clutch 4 or the second clutch 5 is released. In this case, it becomes difficult to stabilize the engine rotation speed at the target rotation speed.

  Therefore, the engine controller 21 performs control for switching the I-component gain Ig and the P-component gain Pg in accordance with the state of the first clutch 4 and the second clutch 5 in parallel with the control routine of FIG.

  FIG. 7 is a flowchart of a gain switching control routine executed by the engine controller 21.

  In step S101, the engine controller 21 determines whether at least one of the first clutch 4 or the second clutch 5 is open. When at least one of the first clutch 4 and the second clutch 5 is released, the engine controller 21 selects an I-component gain Ig and a P-component gain Pg for release in step S102. When the first clutch 4 and the second clutch 5 are engaged, the engine controller 21 selects the I-component gain Ig and the P-component gain Pg for engagement in step S103.

  Comparing the I-part gain Ig and P-part gain Pg for opening and the I-part gain Ig and P-part gain Pg for fastening is smaller for the opening part. This is because when the engine is opened, the load on the internal combustion engine 1 is smaller than that at the time of engagement, and it is difficult to ensure the stability of the engine speed control with the same gain as at the time of engagement.

  In step S104, the engine controller 21 determines whether or not the current engine speed (actual engine speed) is equal to or higher than the target engine speed. If the current speed is equal to or higher than the target engine speed, the routine is terminated. If so, the process of step S105 is executed.

  In step S105, the engine controller 21 switches the I component gain Ig and the P component gain Pg to values for increasing the engine torque. Here, the gain for reducing the engine torque, that is, the gain selected in step S102 or step S103 is corrected to be small, and this is used as the gain for increasing the engine torque.

  To reduce the engine torque, it is desirable to reduce the engine torque quickly in order to prevent the engine speed from increasing beyond the upper limit rotational speed. This is because it is desirable to gradually increase the torque to prevent overshoot.

  FIG. 8 is a time chart showing the results of executing the control routine.

  When the current engine speed N (i) is less than or equal to the upper limit speed Nmax, a value obtained by multiplying the positive speed deviation [Nmax−N (i−1)] by the gain Dtg (<1) What is added to the rotational speed N (i-1) is set as the current target rotational speed Nt (i), and the target rotational speed Nt (i) is larger than the current engine rotational speed N (i) for a while after the start of acceleration. Is set.

  At this time, the limiter request torque Trev (i) is calculated as a value obtained by adding the positive P-part torque Tp (i) to the I-part torque Ti (i) equal to the driver request torque Tac (i). Therefore, the driver request torque Tac (i) that is larger than the torque Tac (i) and is smaller than the limiter request torque Trev (i) is selected as the torque command value Tcom (i). That is, the rotational speed limitation by the limiter is not started yet, and the acceleration is accelerated by the torque that meets the driver's request, and good acceleration performance can be ensured.

  When the driver requested torque is controlled in this way, the actual engine speed N (i) catches up with and overtakes the target engine speed Nt (i) due to the increase in acceleration. This is because the acceleration exceeds the value obtained by multiplying the deviation [Nmax−N (i−1)] added to the previous engine speed N (i−1) by the gain Dtg.

  When the actual engine speed N (i) becomes larger than the target speed Nt (i), the deviation [Nmax−N (i−1)] becomes a negative value, so that the P-part torque Tp (i) is negative. The I component torque Ti (i) is also reduced by adding a negative torque component Ig × [Nt (i) −N (i)]. Therefore, the limiter request torque Trev (i) becomes smaller than the driver request torque Tac (i), the limiter request torque Trev (i) is selected as the torque command value Tcom (i), and the rotation speed limitation by the limiter is started. Is done.

  Then, by the limiter request torque Trev (i) that is set to be gradually decreased by the PI control, the increase in the rotation speed is quickly suppressed, and the convergence is rapidly maintained at the upper limit rotation speed Nmax while suppressing the overshoot.

  Since the P component gain Pg and the I component gain Ig are switched between when the first clutch 4 and the second clutch 5 are engaged and when at least one of them is released, the first clutch 4 and the second clutch 5 Regardless of the state, it is possible to quickly maintain convergence to the upper limit rotation speed Nmax. In FIG. 8, it is determined that at least one of the first clutch 4 or the second clutch 5 is released at t1, and a gain for opening that is smaller than when both the clutches 4 and 5 are engaged is selected. doing.

  When the actual engine speed falls below the target engine speed, the engine torque is increased (t3 to t4 in FIG. 8). At this time, the I component gain Ig and the P component gain Pg are made smaller than when the engine torque is reduced. Thereby, it can prevent overshooting and exceeding an upper limit rotational speed again. When both the clutches 4 and 5 are engaged, an engagement gain larger than the release gain is selected, so that the change characteristic of the engine torque line is different from that at the release. Along with this, the change characteristic of the engine rotation speed is also different, but the change characteristic of the engine rotation speed is basically the same as that of FIG.

  Thus, according to the present embodiment, when at least one of the first clutch 4 or the second clutch 5 is released, the target engine torque can be reduced compared to when both the clutches 4 and 5 are engaged. Since the decrease correction amount is reduced, the engine speed can be accurately controlled to the target engine speed regardless of whether the first clutch 4 and the second clutch 5 are engaged. As a result, it is possible to prevent the driver from feeling uncomfortable when the overspeed prevention control is executed.

  Further, when the engine torque is increased after the actual engine speed falls below the target engine speed, the I-component gain Ig and the P-component gain Pg are made smaller than when the engine torque is reduced. Can be prevented.

  Similar to the idle rotation speed control, it is also possible to feedback control the engine torque based on the deviation between the target rotation speed that is sequentially updated from the initial stage of acceleration and the actual engine rotation speed. In this case, the torque change rate for converging the actual rotational speed to the target rotational speed may be switched according to the engagement and release of the first clutch 4 and the second clutch 5. Specifically, when at least one of the first clutch 4 and the second clutch 5 is released, the torque change rate may be made smaller than when both the clutches 4 and 5 are engaged.

  The present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made within the scope of the technical idea described in the claims.

DESCRIPTION OF SYMBOLS 1 Engine 2 Motor generator 4 1st clutch 5 2nd clutch 20 Integrated controller 21 Engine controller 41 Throttle control part

Claims (5)

An internal combustion engine and a motor generator as power sources;
A first clutch for connecting and disconnecting torque transmission between the internal combustion engine and the motor generator;
A second clutch for connecting and disconnecting torque transmission between the motor generator and the drive wheel;
In a control apparatus for a hybrid vehicle comprising:
Means for setting a target engine speed;
Means for detecting the actual engine speed;
Overspeed prevention control means for correcting and reducing the torque of the internal combustion engine to a torque smaller than the driver request torque according to the driver's request when the actual engine rotation speed exceeds the target engine rotation speed;
When the at least one of the first clutch or the second clutch is open, the over-rotation prevention control means is more effective than the case where both the first clutch and the second clutch are engaged. Reduce the torque reduction correction amount of the internal combustion engine ,
When the actual engine rotation speed becomes equal to or lower than the target engine rotation speed by the decrease correction, the torque of the internal combustion engine is corrected to be increased so that the actual engine rotation speed becomes the target engine rotation speed. A control apparatus for a hybrid vehicle, characterized in that the amount is made smaller than that during the reduction correction . The over-rotation prevention control means calculates a reduction correction amount of the torque of the internal combustion engine by a P-part torque and a I-part torque obtained by multiplying a deviation between the target engine speed and the actual engine speed by a gain,
When at least one of the first clutch or the second clutch is released, the gain for calculating the P-minute torque and the gain for both the first clutch and the second clutch are larger than when both the first clutch and the second clutch are engaged. The hybrid vehicle control device according to claim 1, wherein the gain for calculating the I-minute torque is reduced. The overspeed prevention control means, the control apparatus for a hybrid vehicle according to claim 2 to be smaller than when the gain of the decrease correction of the gain and the I corresponding torque calculating for said P corresponding torque calculated during the increasing correction. The overspeed prevention control means calculates a torque decrease correction amount of the internal combustion engine based on a preset torque change rate,
The torque change rate is made smaller when at least one of the first clutch or the second clutch is open than when both the first clutch and the second clutch are engaged. The hybrid vehicle control device according to claim 1. The overspeed prevention control means, the control apparatus for a hybrid vehicle according to claim 4 to be smaller than when the reducing correction of the torque change rate at the time of the increase correction.

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