CN100363198C - Power outputting device and its controlling method and vehicle - Google Patents
Power outputting device and its controlling method and vehicle Download PDFInfo
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- CN100363198C CN100363198C CNB200410090967XA CN200410090967A CN100363198C CN 100363198 C CN100363198 C CN 100363198C CN B200410090967X A CNB200410090967X A CN B200410090967XA CN 200410090967 A CN200410090967 A CN 200410090967A CN 100363198 C CN100363198 C CN 100363198C
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The present invention relates to a power output device, a control method thereof and a vehicle. The present invention aims to simultaneously improve the responsibility and the astringency of the control of a motor used for driving an internal combustion engine, and meanwhile, the present invention reduces the exception handling so as to simplify the control. The sum of the reference torque Tbs (S140) set on the basis of the target rotating speed Ne<*> and the target torque Te<*> and the compensative correction torque Taj (S150) set on the basis of the target rotating speed Nm1<*> and the rotating speed Nm1 of the motor is set as the torque command Tm1<*> (S160) of the motor. At that time, during the set of the compensative correction torque Taj, after the rotating speed Nm1 of the motor enters a transition zone taking the target rotating speed Nm1<*> as the center, the proportional gain k1 is set as 0, and the integral gain k2 is set as a small number.
Description
Technical field
The present invention relates to a kind of power take-off implement and control method thereof and automobile, in more detail, relate to a kind of power take-off implement and the control method and the automobile that has power take-off implement of power to axle drive shaft output.
Background technology
In the past, as this power take-off implement, the planetary wheel that has proposed a kind ofly to be mounted with driving engine, will link to each other with gear ring with the axle drive shaft of axletree mechanical connection when the bent axle of this driving engine and planetary gear carrier are linked to each other, with the 1st motor of relative these the planetary sun gear input and output of power, with the device of the 2nd motor of power relative drive shaft input and output (for example, TOHKEMY 2000-197208 communique etc.).In this device,,, make mode controlled reset the 1st motor of the 1st motor rotation with the rotating speed of target of calculating with this by the rotating speed of target that the rotating speed of target and the 2nd rotating speed of motor of driving engine are calculated the 1st motor for running engine under rotating speed of target.
Summary of the invention
Rotating speed of motor control is undertaken by controlled reset, and this controlled reset uses is eliminating proportional that acts on the direction and the integral of eliminating nominal error with the actual speed of motor and the deviation of rotating speed of target.When so controlled reset is used for the control of the 1st motor of said apparatus, during as engine starting, acting on moment of torsion on the 1st motor when positive moment of torsion is converted to the rotating speed of target sudden turn of events of negative torque and driving engine fast, for integral, generation can not be changed or the situation of the sudden turn of events swimmingly, and produces the slow situation of supply for the necessary electric power of the driving of the 2nd motor.In order to eliminate slow that electric power so supplies with, when engine starting or during the rotating speed of target sudden turn of events of driving engine, considered the countermeasure that exception is handled, but exception handles and become many, and control is also complicated.In addition, cause is for the 1st motor, big by the revisal quantitative change due to the feedback in the torque command of setting, be difficult to compatible/take into account responsibility and convergence, consider that overregulate is (during オ-バ シ ユ-ト), owing to must guarantee that the upper limit rotating speed on the 1st electric machine control will have surplus, also must set lowlyer.
A purpose of power take-off implement of the present invention and control method thereof and automobile is: the responsibility in the motor control that the combustion engine that will turn round is used is compatible mutually with convergence.In addition, another purpose of power take-off implement of the present invention and control method thereof and automobile is: the control at the electrical motor of the combustion engine that is used for turning round is handled exception and reducing, to simplify control.
Power take-off implement of the present invention and control method thereof and to achieve these goals at least one of automobile have adopted following technical scheme.
Power take-off implement of the present invention is a kind of power take-off implement to the axle drive shaft outputting power, wherein, have: combustion engine, be connected with described axle drive shaft and the 3rd these three axles with the output shaft of this combustion engine, according to any two axles input from these three axles and the power that outputs to these any two axles, the 3 shaft type power input/output units that output power to remaining axle and import from this remaining axle, the 1st electrical motor that can described relatively the 3rd input and output power, the 2nd electrical motor that can described relatively axle drive shaft input and output power, can with the electrical storage device of described the 1st electrical motor and described the 2nd electrical motor Change Power, according to the described axle drive shaft of operator's operating and setting require want demanded driving force want the demanded driving force setting device, according to this setting want demanded driving force to set should be from the target power setting device of the target power of described combustion engine output, with the turn round internal combustion engine operation control setup of the described combustion engine of control of the mode of the target power of exporting this setting, setting according to the target power of described setting should be from the basic torque setting device of the basic torque of described the 1st electrical motor output, set the electrical motor rotating speed of target setting device of the rotating speed of target of described the 1st electrical motor according to the target power of described setting, detect the speed detecting unit of the rotating speed of described the 1st electrical motor, set the revisal torque setting device of revisal moment of torsion and the time according to the rotating speed of target of this detected rotating speed and described setting with mode drive controlling the 1st electrical motor of the moment of torsion of the revisal moment of torsion sum of the basic torque of exporting described setting from described the 1st electrical motor and described setting, with to the control device of electric motor of described axle drive shaft output according to described the 2nd electrical motor of mode drive controlling of the power of wanting demanded driving force of described setting.
In power take-off implement of the present invention, according to operator's operation, set that axle drive shaft requires want demanded driving force the time, according to this setting want demanded driving force, setting should be from the target power of combustion engine output, with the mode of the target power of exporting this setting controlling combustion engine that turns round.In addition, according to the target power of setting, by the electric power input/output unit, setting should be from the basic torque of the 1st electrical motor output of the rotating speed that can adjust combustion engine, simultaneously, according to the rotating speed of target of based target power setting and the rotating speed of detected the 1st electrical motor, set the revisal moment of torsion, mode, drive controlling the 1st electrical motor exported from the 1st electrical motor with the basic torque set and the moment of torsion of the revisal moment of torsion sum of setting, simultaneously, to export mode drive controlling the 2nd electrical motor to axle drive shaft according to the power of setting of wanting demanded driving force.That is, with the basic torque that will set according to target power and mode drive controlling the 1st electrical motor according to the moment of torsion output of the revisal moment of torsion sum of rotating speed of target and detected speed setting.Therefore, (basic torque of ベ-ス) can be with the rotating speed of the 1st electrical motor promptly near rotating speed of target, and by the revisal moment of torsion, can the rotating speed of the 1st electrical motor is consistent with rotating speed of target by becoming benchmark.As a result, can take into account responsibility in the 1st motor control and convergence the two time, even when target power changes rapidly, also can realize the processing of processing without exception.
In power take-off implement of the present invention like this, described basic torque setting device also can be: the response lag when turning round described combustion engine according to the target power of described setting with under this target power, infer from the engine torque of this combustion engine output, and, in order to export the engine torque that this is inferred, as the device that should set described basic torque from the moment of torsion of described the 1st electrical motor output from this combustion engine.So, combustion engine can be carried out the transition to swimmingly the operation point of export target power.At this moment, described basic torque setting device also can be: use as described response lag and lose time and the time constant of a response lag, when inferring described engine torque, use this engine torque of inferring, set the device of described basic torque.
In addition, in power take-off implement of the present invention, described revisal torque setting device also can be: the torque setting that will act on the direction of the rotating speed deviation of the rotating speed of target of eliminating described detected rotating speed and described setting is the device of described revisal moment of torsion.At this moment, described revisal torque setting device also can be: usage ratio item and integral are set the device of described revisal moment of torsion at least.So, can be with the rotating speed of the 1st electrical motor more promptly near rotating speed of target and make its unanimity.And this moment, described revisal torque setting device can also for: when described rotating speed deviation is outside specialized range, use the proportional and the described integral of the 1st gain to set described revisal moment of torsion, and when described rotating speed deviation is in described specialized range, use the proportional of 2nd gain littler and the device that described integral is set described revisal moment of torsion than described the 1st gain.So, the rotating speed of the 1st electrical motor can make rotating speed promptly consistent with rotating speed of target after being near the rotating speed of target.At this, aforementioned the 2nd gain can be 0 value substantially also.
In that usage ratio item and integral are set in the power take-off implement of the present invention of revisal moment of torsion mode at least, described revisal torque setting device can for: when described rotating speed deviation is outside described specialized range, use the integral and the blank instruction item of described proportional and the 3rd gain to set described revisal moment of torsion, and when described rotating speed deviation is in described specialized range, uses described proportional and set the device of described revisal moment of torsion than described the 3rd little the 4th gain of gain and integral and described blank instruction item.So, can make the rotating speed of the 1st electrical motor consistent accurately with rotating speed of target.
Automobile of the present invention is, a kind of power take-off implement that is mounted with above-mentioned arbitrary form, and described axle drive shaft and axletree mechanical connection ground traveling automobile, wherein, described power take-off implement promptly, be essentially power take-off implement to the axle drive shaft outputting power, have: combustion engine, be connected with described axle drive shaft and the 3rd these three axles with the output shaft of this combustion engine, according to any two axles input from these three axles and the power that outputs to these any two axles, the 3 shaft type power input/output units that output power to remaining axle and import from this remaining axle, the 1st electrical motor that can described relatively the 3rd input and output power, the 2nd electrical motor that can described relatively axle drive shaft input and output power, can with the electrical storage device of described the 1st electrical motor and described the 2nd electrical motor Change Power, according to the described axle drive shaft of operator's operating and setting require want demanded driving force want the demanded driving force setting device, according to this setting want demanded driving force to set should be from the target power setting device of the target power of described combustion engine output, with the turn round internal combustion engine operation control setup of the described combustion engine of control of the mode of the target power of exporting this setting, setting according to the target power of described setting should be from the basic torque setting device of the basic torque of described the 1st electrical motor output, set the electrical motor rotating speed of target setting device of the rotating speed of target of described the 1st electrical motor according to the target power of described setting, detect the speed detecting unit of the rotating speed of described the 1st electrical motor, set the revisal torque setting device of revisal moment of torsion and the time according to the rotating speed of target of this detected rotating speed and described setting with mode drive controlling the 1st electrical motor of the moment of torsion of the revisal moment of torsion sum of the basic torque of exporting described setting from described the 1st electrical motor and described setting, with to the control device of electric motor of described axle drive shaft output according to described the 2nd electrical motor of mode drive controlling of the power of wanting demanded driving force of described setting.
In automobile of the present invention, owing to be mounted with the power take-off implement of the present invention of above-mentioned arbitrary form, can have the effect that is had with power take-off implement of the present invention, for example can take into account responsibility in the 1st motor control and convergence the two time, when even target power changes rapidly, also can realize the same effect of the processing of processing without exception.
Control method for power take-off implement of the present invention, described power take-off implement has: combustion engine, be connected with axle drive shaft and the 3rd these three axles with the output shaft of this combustion engine, according to any two axles input from these three axles and the power that outputs to these any two axles, the 3 shaft type power input/output units that output power to remaining axle and import from this remaining axle, the 1st electrical motor that can described relatively the 3rd input and output power, the 2nd electrical motor that can described relatively axle drive shaft input and output power, can with the electrical storage device of described the 1st electrical motor and described the 2nd electrical motor Change Power, wherein, (a) want demanded driving force according to what the described axle drive shaft of operator's operating and setting required, (b) should be according to the demanded driving force setting of wanting of this setting from the target power of described combustion engine output, (c) with the mode of the target power of exporting this setting described combustion engine of control that turns round, (d) setting according to the target power of described setting should be from the basic torque of described the 1st electrical motor output, (e) set the rotating speed of target of described the 1st electrical motor according to the target power of described setting, (f) detect the rotating speed of described the 1st electrical motor, (g) according to the rotating speed of target setting revisal moment of torsion of this detected rotating speed and described setting, the time (h) with mode drive controlling the 1st electrical motor of the moment of torsion of the revisal moment of torsion sum of the basic torque of exporting described setting from described the 1st electrical motor and described setting, to export described the 2nd electrical motor of the mode drive controlling of wanting demanded driving force of described setting to described axle drive shaft.
In the control method of power take-off implement of the present invention like this, according to operator's operation, set that axle drive shaft requires want demanded driving force the time, according to this setting want demanded driving force, setting should be from the target power of combustion engine output, with the mode of the target power of exporting this setting controlling combustion engine that turns round.In addition, according to the target power of setting, by the electric power input/output unit, setting should be from the basic torque of the 1st electrical motor output of the rotating speed that can adjust combustion engine, simultaneously, according to the rotating speed of target of based target power setting and the rotating speed of detected the 1st electrical motor, set the revisal moment of torsion, mode, drive controlling the 1st electrical motor exported from the 1st electrical motor with the basic torque set and the moment of torsion of the revisal moment of torsion sum of setting, simultaneously, to export mode drive controlling the 2nd electrical motor to axle drive shaft according to the power of setting of wanting demanded driving force.That is, with the basic torque that will set according to target power and mode drive controlling the 1st electrical motor according to the moment of torsion output of the revisal moment of torsion sum of rotating speed of target and detected speed setting.Therefore, by becoming the basic torque of benchmark, can be with the rotating speed of the 1st electrical motor promptly near rotating speed of target, and, can make the rotating speed of the 1st electrical motor consistent with rotating speed of target by the revisal moment of torsion.As a result, can take into account responsibility in the 1st motor control and convergence the two, even and target power when changing rapidly, also can realize the processing of processing without exception.
In the control method of power take-off implement of the present invention like this, described step (d) can for: according to the target power of described setting and under this target power the response lag of this combustion engine of running during described combustion engine, infer from the engine torque of this combustion engine output, and, in order to export the engine torque that this is inferred from this combustion engine, as the step that should set described basic torque from the moment of torsion of described the 1st electrical motor output, described step (g) is: the torque setting that will act on the direction of the rotating speed deviation of the rotating speed of target of eliminating described detected rotating speed and described setting is the step of described revisal moment of torsion.So, can make the rotating speed of the 1st electrical motor more promptly near rotating speed of target and consistent.
In the control method of the power take-off implement of this form, described step (g) can be when: described rotating speed deviation be outside specialized range, use comprises the proportional of the 1st gain and a plurality of control items of integral are set described revisal moment of torsion, and when described rotating speed deviation is in described specialized range, use to comprise the step of setting described revisal moment of torsion than the described the 1st a plurality of control items that gain the 2nd little proportional that gains and described integral.So, the rotating speed that can make the 1st electrical motor is after being near the rotating speed of target, promptly near rotating speed of target and consistent.
Description of drawings
Fig. 1 is the pie graph of the formation of hybrid vehicle 20 that one embodiment of the invention schematically is shown;
Fig. 2 illustrates the diagram of circuit of the hybrid power of embodiment with an example of the drive controlling routine of electronic control unit 70 execution;
Fig. 3 is the instruction diagram of an example that the relation of battery temperature Tb in the storage battery 50 and input and output restriction Win, Wout is shown;
Fig. 4 is a residual capacity (SOC) that storage battery 50 is shown and the instruction diagram of an example of the relation of the augmenting factor of input and output restriction Win, Wout;
Fig. 5 illustrates to require the instruction diagram of torque setting with an example of chart;
Fig. 6 is an example and a target setting rotational speed N e* of actuating wire that driving engine 22 is shown (action ラ イ Application)
WithTarget torque Te
*The instruction diagram of state;
Fig. 7 is the instruction diagram of an example that the alignment chart of the rotation key element that is used for mechanics explanation power distribution integration mechanism 30 is shown;
Fig. 8 illustrates the diagram of circuit that basic torque is set an example of routine;
Fig. 9 is the diagram of circuit that an example of revisal torque setting routine is shown;
Figure 10 is the block diagram of an example that the setting of basic torque Tbs is shown;
Figure 11 makes target torque Te for illustrating
*The instruction diagram of one example of throttle gate response torque T ta during variation and the time changing condition of basic torque Tbs;
Figure 12 is the instruction diagram of an example of time changing condition that the rotational speed N m1 of the motor M G1 when using revisal torque T aj with control motor M G1 is shown;
Figure 13 is the pie graph of the formation of hybrid vehicle 120 that variation schematically is shown;
Figure 14 is the pie graph of the formation of hybrid vehicle 220 that variation schematically is shown.
The specific embodiment
Below, the specific embodiment of the present invention is described with embodiment.Fig. 1 is the pie graph of the formation of hybrid vehicle 20 that the power take-off implement that is mounted with one embodiment of the invention schematically is shown.The hybrid vehicle 20 of embodiment is as diagram, has driving engine 22, by shock absorber 28 with power distribution integration mechanism 30 as bent axle 26 bonded assemblys 3 shaft types of the output shaft of driving engine 22, the motor M G1 that can generate electricity with power distribution integration mechanism 30 bonded assemblys, with power distribution integration mechanism 30 bonded assemblys, gear ring axle 32a as axle drive shaft on the reducing gear 35 of installing, with this reducing gear 35 bonded assembly motor M G2, control the hybrid power electronic control unit 70 of whole power take-off implement.
Power distribution integration mechanism 30 have external tooth gear sun gear 31, with the gear ring 32 of the internal-gear of these sun gear 31 coaxial settings, with sun gear 31 ingears simultaneously with a plurality of miniature gearss 33 of gear ring 32 ingears, a plurality of miniature gearss 33 are kept the planetary gear carrier 34 of rotations freely or revolution, sun gear 31 and gear ring 32 and planetary gear carrier 34 constitute the planetary gear apparatus that carries out differential action as the rotation key element.For power distribution integration mechanism 30, planetary gear carrier 34 is connected with the bent axle 26 of driving engine 22, sun gear 31 is connected with motor M G1, reducing gear 35 is connected with gear ring 32 by gear ring axle 32a, when motor M G1 brings into play function as electrical generator, import from planetary gear carrier 34, power from driving engine 22 is allocated in sun gear 31 sides and gear ring 32 sides according to its gear ratio, and when motor M G1 brings into play function as electrical motor, import from planetary gear carrier 34, from the power of driving engine 22 with from sun gear 31 inputs, export to gear ring 32 sides from the comprehensive back of the power of motor M G1.From gear ring 32, by gear mechanism 60 and differential gear 62, finally drive wheel 63a, the 63b to vehicle exports to the power of gear ring 32 output.
Motor M G1 and motor M G2 any one when having the generator drive of can be used as, can be used as the structure of electric motor driven known synchronous generator-motor, carry out the exchange of electric power by inverter 41,42 and storage battery 50. Inverter 41,42 and storage battery 50 bonded assembly electric wireline 54 are made of each inverter 41,42 shared positive electrode bus and negative pole bus, and the electric power of one of motor M G1, MG2 generating can be by another electrical consumption.Therefore, storage battery 50 discharges and recharges according to the electric power or the power shortage of motor M G1, any one generation of MG2.In addition, as obtain the balance of electric power revenue and expenditure by motor M G1, MG2, then storage battery 50 does not does not just discharge and recharge.Motor M G1, MG2 each by motor with electronic control unit (below be called motor ECU) 40 drive controlling.Import the necessary signals that drive controlling motor M G1, MG2 use to motor ECU40, for example the signal of the position of rotation detecting sensor of using from the position of rotation of the rotor that detects motor M G1, MG2 43,44 or input go out by not shown current sensor senses, be applied to phase current on motor M G1, the MG2 etc., by motor ECU40 to inverter 41,42 output switch control signals.Motor ECU40 and hybrid power are with electronic control unit 70 connection of communicating by letter, according to the control signal of using electronic control unit 70 from hybrid power, in the time of drive controlling motor M G1, MG2, as required, the data relevant with the operative condition of motor M G1, MG2 are exported with electronic control unit 70 to hybrid power.
Hybrid power is made of the microprocessor that with CPU72 is the center with electronic control unit 70, except CPU72, also has the ROM74 of memory handler, the RAM76 of temporary memory data, the not shown input and output port and the communications ports of communicating by letter.Ignition signal from ignition lock 80, shift position SP from the shift position sensor 82 of the operating position that detects shifter bar 81, acceleration pedal aperture Acc from the accelerator pedal position sensor 84 of the depression amount that detects acceleration pedal 83, from the brake pedal position BP of the brake pedal position sensor 86 of the depression amount that detects brake pedal 85, from the vehicle velocity V of car speed sensor 88 etc. by input port to hybrid power with electronic control unit 70 inputs.Hybrid power, is connected with Engine ECU 24 or motor ECU40, storage battery ECU52 by the communication communications ports as aforementioned with electronic control unit 70, and Engine ECU 24 or motor ECU40, storage battery ECU52 carry out the exchange of various control signals or data.
So the hybrid vehicle 20 of the embodiment of structure based on chaufeur to the depression amount of acceleration pedal 83 corresponding acceleration pedal aperture Acc and vehicle velocity V, calculating should be to the moment of torsion that requires as the gear ring axle 32a of axle drive shaft output, running control driving engine 22 and motor M G1 and motor M G2 will be requiring the corresponding demanded driving force of wanting of moment of torsion to export to gear ring axle 32a with this.Running control as driving engine 22 and motor M G1 and motor M G2, have: when turning round control driving engine 22 in mode from driving engine 22 output with the power of wanting demanded driving force to match, carry out torque conversion by power distribution integration mechanism 30 with motor M G1 and motor M G2 from the whole of power of driving engine 22 output, with to the mode drive controlling motor M G1 of gear ring axle 32a output and the torque conversion operation mode of motor M G2; Or when wanting demanded driving force and needing power that the sum of the required electric power of discharging and recharging of storage battery 50 matches to turn round control driving engine 22 in mode from driving engine 22 outputs, along with discharging and recharging of storage battery 50, a part of from the whole of the power of driving engine 22 output or its along with power distribution integration mechanism 30 and torque conversion due to motor M G1 and the motor M G2, to want mode drive controlling motor M G1 that demanded driving force exports to gear ring axle 32a and the charge-discharge drive mode of motor M G2; The running of shutting engine down 22, will with want power that demanded driving force matches with the turn round motor rotation pattern etc. of control of the mode to gear ring axle 32a output from motor M G2.
Below, to the action of the hybrid vehicle 20 of the embodiment of formation like this, particularly along with the action when the operation point change of driving engine 22 describes.Fig. 2 is when torque conversion operation mode or charge-discharge drive mode are shown, by the diagram of circuit of hybrid power with an example of the drive controlling routine of electronic control unit 70 execution.This routine is carried out repeatedly every specific time (for example every 8msec).
When carrying out the drive controlling routine, the hybrid power CPU72 of electronic control unit 70, at first, carry out from the acceleration pedal aperture Acc of accelerator pedal position sensor 84 or from the vehicle velocity V of car speed sensor 88, the rotational speed N m1 of motor M G1, MG2, Nm2, the rotational speed N e of driving engine 22, the processing (step S100) that the needed data of control of input and output restriction Win, the Wout etc. of storage battery 50 are imported.At this, the rotational speed N e of driving engine 22 is: the numerical value that signal calculated that comes according to the crank-position sensor 23a that is installed on the bent axle 26 is obtained by Engine ECU 24 inputs by the communication transmission.In addition, the rotational speed N m1 of motor M G1, MG2, Nm2 be, the result who calculates according to the position of rotation by the rotor of position of rotation detecting sensor 43,44 detected motor M G1, MG2 transmits and obtains from motor ECU40 input by communication.In addition, the input and output of storage battery 50 restrictions Win, Wout is: will transmit by communicate by letter and import from storage battery ECU52 according to the numerical value of being set by the residual capacity (SOC) of the battery temperature Tb of temperature sensor 51 detected storage batterys 50 and storage battery 50 and obtain.At this, input and output restriction Win, the Wout of storage battery 50 can set the base value of input and output restriction Win, Wout according to battery temperature Tb, set export-restriction with augmenting factor and duty limited import augmenting factor based on the residual capacity (SOC) of storage battery 50, the base value of the input and output restriction Win, the Wout that set be multiply by augmenting factor set input and output and limit Win, Wout.Fig. 3 illustrates an example of the relation of battery temperature Tb and input and output restriction Win, Wout, and Fig. 4 illustrates the residual capacity (SOC) of storage battery 50 and an example of the relation of the augmenting factor of input and output restriction Win, Wout.
So after the input data, according to the acceleration pedal aperture Acc of input and vehicle velocity V set the moment of torsion that requires as vehicle, should be to drive wheel 63a, 63b bonded assembly, require torque T r as the gear ring axle 32a output of axle drive shaft
*And the driving engine that driving engine 22 requires requires power P e
*(step S110).Require torque T r
*In an embodiment, to preestablish acceleration pedal aperture Acc, vehicle velocity V and to require torque T r
*Relation, as requiring torque setting to remember in ROM74, when giving acceleration pedal aperture Acc and vehicle velocity V, derive and set the corresponding torque T r that requires by the chart of memory with chart
*Fig. 5 illustrates and requires the example of torque setting with chart.Driving engine requires power P e
*Can be used as and require torque T r what set
*The numerical value and storage battery 50 the discharging and recharging of requirement of multiply by the rotational speed N r of gear ring axle 32a require power P b
*Calculate with loss Loss sum.In addition, the rotational speed N r of gear ring axle 32a obtains by vehicle velocity V being multiply by conversion factor k, and the rotational speed N m2 of useable electric moter MG2 obtains than Gr divided by the gear of reducing gear 35.
Then, require power P e according to what set
*Set the rotating speed of target Ne of driving engine 22
*With target torque Te
*(step S120).This is set at: according to the actuating wire that makes driving engine 22 effective actions with require power P e
*Come target setting rotational speed N e
*With target torque Te
*Fig. 6 illustrates an example and a target setting rotational speed N e of the actuating wire of driving engine 22
*With target torque Te
*Situation.As diagram, rotating speed of target Ne
*With target torque Te
*Can and require power P e by actuating wire
*(Ne
** Te
*) obtain for the intersection point of the curve of constant.
Then, use the rotating speed of target Ne that sets
*Calculate the rotating speed of target Nm1 of motor M G1 by following formula (1) than ρ with the gear of the rotational speed N r (Nm2/Gr) of gear ring axle 32a and power distribution integration mechanism 30
*(step S130).At this, formula (1) is the mechanical relationship formula of the rotation key element of relative power distribution integration mechanism 30.Fig. 7 illustrates the alignment chart of the mechanical relationship of rotating speed in the rotation key element of power distribution integration mechanism 30 and moment of torsion.Among the figure, the S axle on the left side is expressed as the rotating speed of sun gear 31 of the rotational speed N m1 of motor M G1, the C axle is expressed as the rotating speed of planetary gear carrier 34 of the rotational speed N e of driving engine 22, and the rotational speed N m2 that the R axle is expressed as motor M G2 multiply by the rotational speed N r of the gear of reducing gear 35 than the gear ring 32 of Gr.Formula (1) is as using this alignment chart, and then being easy to derives.In addition, 2 thick-line arrow on the R axle are expressed as, at rotating speed of target Ne
*With target torque Te
*The operation point under, when driving engine 22 normal (stablizing) is turned round, from the torque T e of driving engine 22 output
*To the moment of torsion of gear ring axle 32a transmission and the torque T m2 that exports from motor M G2
*Act on moment of torsion on the gear ring axle 32a by reducing gear 35.
Nm1
*＝Ne
*·(1+ρ)/ρ-Nm2/(Gr·ρ)...(1)
So calculate the rotating speed of target Nm1 of motor M G1
*After, the torque command Tm1 of setting motor M G1
*The basic torque Tbs of setting usefulness and revisal torque T aj (step S140, S150).In the present embodiment, the setting of basic torque Tbs is set routine by the illustrated basic torque of Fig. 8 and is realized, and revisal torque T aj is realized by the illustrated revisal torque setting of Fig. 9 routine.Below, the explanation of drives interrupts control routine describes the setting of basic torque Tbs and revisal torque T aj.
When carrying out basic torque setting routine, at first, according to target torque Te
*With rotating speed of target Ne
*Calculate target throttle valve TA
*(step S300), simultaneously, to the target throttle valve TA that calculates
*Implement smoothing processing (な ま processing), calculate the throttle opening of carrying out (step S310),, calculate throttle gate response torque T ta (step S320) according to the execution throttle opening TA and the rotational speed N e that calculate.Target throttle valve TA
*For with driving engine 22 at rotating speed of target Ne
*With target torque Te
*The following throttle opening TA of running in operation point, in the present embodiment, rotating speed of target Ne
*With target torque Te
*Wait by experiment with the relation of throttle opening TA and to obtain in advance, and remember in ROM74, from chart, derive and rotating speed of target Ne as chart
*With target torque Te
*Corresponding throttle opening TA, and as target throttle valve TA
*Obtain.Carrying out smoothing processing in step S310 is the cause of having considered the throttle gate response lag.In addition, in the present embodiment, the throttle gate response lag is handled as a response lag.The calculating of throttle gate response torque T ta is used by target throttle valve TA by inverted order in the present embodiment
*The chart that adopts in the derivation carries out.After so calculating throttle gate response torque T ta, with the air of driving engine 22 lag behind be thought of as lose time+processing of a response lag is applicable to the throttle gate response torque T ta of calculating, and calculate basic torque Tbs (step S330), finish basic torque and set routine.At this, lose time and a response lag time constant waits by experiment, obtain in advance as the one dimension chart of the rotational speed N e of driving engine 22, and remember in ROM74, derive the back according to the rotational speed N e of driving engine 22 and use.Figure 10 illustrates the block diagram in the basic torque Tbs setting, and Figure 11 illustrates and makes target torque Te
*During variation, an example of the time changing condition of throttle gate response torque T ta and basic torque Tbs.Basic torque Tbs like this is set at: calculate along with target torque Te
*Change and being estimated as from the moment of torsion (engine torque) of driving engine 22 output set.
During the revisal torque setting routine of execution graph 9, at first, calculate the rotating speed of target Ne of motor M G1
*With deviation (rotating speed deviation) the Δ Nm1 (step S400) of rotational speed N m1, whether the absolute value of the rotating speed deviation delta Nm1 that judge to calculate not enough threshold value Nref (step S410).This threshold value Nref is for being used to make rotational speed N e and rotating speed of target Ne
*Consistent and numerical value that set as the sharply tuned speed discrepancy of necessary degree.Consider now to set the rotating speed of target Nm1 bigger than threshold value Nref at relative rotation speed Nm1
*The time.At this moment, because the absolute value of rotating speed deviation delta Nm1 is more than threshold value Nref, in step S410, be judged as negative, gain k1, the k2 of proportional and integral in the formula of setting revisal torque T aj described later are set at specified value k1set, k2set (step S420), and, blank instruction (ス キ Star プ) Tskp is set at 0 value (step S430), uses the gain k1, the k2 that set and blank instruction item Tskp to calculate setting revisal torque T aj (step S480) as proportional and integral and blank instruction item sum by following formula (2).By formula (2) as can be known, revisal torque T aj is the relational expression in the controlled reset.Therefore, be set at appropriate value as gain k1, k2 with proportional and integral, can be with rotational speed N m1 promptly near rotating speed of target Nm1
*In the present embodiment, as specified value k1set, k2set, can be set at suitable gain.
Taj＝k1·ΔNm1+k2·∫ΔNm1dt+Tskp...(2)
So, rotational speed N m1 is near rotating speed of target Nm1
*And during the absolute value of rotating speed deviation delta Nm1 is not enough threshold value Nref, the gain k1 of proportional is set at 0 value, simultaneously, with the gain setting of integral is the specified value k2low (step S440) littler than specified value k2set, the symbol of judging rotating speed deviation delta Nm1 whether reverse (step S445).The symbol of rotating speed deviation delta Nm1 does not reverse/when putting upside down, is calculated by formula (2) and setting revisal torque T aj (step S480) by using gain k1, k2 that sets and the blank instruction item Tskp that so far sets.During the sign-inverted of rotating speed deviation delta Nm1, check the value (step S450) of rotating speed deviation delta Nm1, when rotating speed deviation delta Nm1 is worth greater than 0, blank instruction item Tskp is set at specified value Tskpset multiply by negative 1 (step S460), when rotating speed deviation delta Nm1 (comprises its given figure) below 0 value, blank instruction item Tskp is set at specified value Tskpset (step S470), uses gain k1, the k2 and the blank instruction item Tskp that set to calculate and set revisal torque T aj (step S480) by formula (2).Figure 12 illustrates and uses revisal torque T aj like this, the torque command Nm1 of the motor M G1 during control motor M G1
*Example with the time changing condition of rotational speed N m1.Transformation shown in the figure (transition) zone is with rotating speed of target Nm1
*Be the zone of center along the speed discrepancy of upper and lower settings threshold value Nref.The rotational speed N m1 of motor M G1 is, before entering transition region, because gain k1, the k2 of proportional and integral is set at specified value k1set, k2set, thus can be promptly near rotating speed of target Nm1
*(coarse adjustment zone).The rotational speed N m1 of motor M G1 after entering transition region because gain k1, the k2 of proportional and integral is set at 0 value and specified value k2low, thus can be lentamente near rotating speed of target Nm1
*(fine setting zone).And the rotational speed N m1 of motor M G1 is to rotating speed of target Nm1
*The time, because the sign-inverted of rotating speed deviation delta Nm1/put upside down, set blank instruction item Tskp.Afterwards, the rotational speed N m1 whenever motor M G1 surpasses rotating speed of target Nm1
*Or below it promptly when the sign-inverted of rotating speed deviation delta Nm1, set the blank instruction item Tskp of distinct symbols, final, converge on (adjusting and finish) up and down of blank instruction item Tskp.
Return the drive controlling routine of Fig. 2.After so setting basic torque Tbs and revisal torque T aj, the torque command Tm1 that the basic torque Tbs that sets and revisal torque T aj sum are set at motor M G1
*(step S160).Then, by the input and output of storage battery 50 being limited the torque command Tm1 of the motor M G1 of Win, Wout and setting
*The deviation of consumption electric power (generation power) that multiply by the motor M G1 that the rotational speed N m1 of present motor M G1 obtains is divided by the rotational speed N m2 of motor M G2, and can calculate (step S170) by following formula (3), (4) from the torque limited as the moment of torsion bound (limit) Tmax, the Tmin of motor M G2 output, and, operating needs torque T r
*With torque command Tm1
*And the gear of power distribution integration mechanism 30 compares ρ, calculate as should be with formula (5) from the interim Motor torque Tm2tmp (step S180) of the moment of torsion of motor M G2 output, in the scope of the torque limited Tmax, the Tmin that calculate, be the torque command Tm2 of motor M G2 with the setting value that limits Motor torque Tm2tmp
*(step S190).Torque command Tm2 by setting motor M G2 like this
*, to requiring torque T r as the gear ring axle 32a of axle drive shaft output
*The input and output that can be used as at storage battery 50 limit the torque setting that limits in the scope of Win, Wout.In addition, formula (5) can easily derive from the conllinear circle of aforesaid Fig. 7.
Tmax＝(Wout-Tm1
*·Nm1)/Nm2 ...(3)
Tmin＝(Win-Tm1
*·Nm1)/Nm2 ...(4)
Tm2tmp＝(Tr
*+Tm1
*/ρ)/Gr ...(5)
So set the rotating speed of target Ne of driving engine 22
*Or target torque Te
*, the torque command Tm1 of motor M G1, MG2
*, Tm2
*After, with the rotating speed of target Ne of driving engine 22
*With target torque Te
*When Engine ECU 24 transmits, with the torque command Tm1 of motor M G1, MG2
*, Tm2
*Transmit (step S200) to motor ECU40, finish this drive controlling routine.Accept rotating speed of target Ne
*Or target torque Te
*Engine ECU 24 with driving engine 22 by rotating speed of target Ne
*With target torque Te
*The mode of shown operation point running is carried out the control of fuel injection control in the driving engine 22 or Ignition Control etc.In addition, accept torque command Tm1
*, Tm2* motor ECU40 carry out the switch control of the on-off element of inverter 41,42, with at torque command Tm1
*Following drive motor MG1, simultaneously, at torque command Tm2
*Following drive motor MG2.
According to the hybrid vehicle 20 of the foregoing description, because with based target rotational speed N e
*With target torque Te
*(that is, driving engine requires power P e
*) basic torque Tbs that sets and the rotating speed of target Nm1 based on motor M G1
*The revisal torque T aj sum of setting with rotational speed N m1 is set at the torque command Tm1 of motor M G1
*, by becoming the basic torque Tbs of benchmark, can be with the rotational speed N m1 of motor M G1 promptly near rotating speed of target Nm1
*, and, the rotational speed N m1 of motor M G1 can be converged to rotating speed of target Nm1 by revisal torque T aj
*As a result, can take into account responsibility in the motor M G1 control and convergence the two the time, even require power P e at driving engine
*When changing rapidly, also can realize the processing of processing without exception.And, owing to be response lag (lose time and a response lag), infer the engine torque of output and set basic torque Tbs according to driving engine 22, driving engine 22 can be carried out the transition to rotating speed of target Ne reposefully
*With target torque Te
*The operation point.In addition, because revisal torque T aj is set at proportional and integral and blank instruction item sum, enter with rotating speed of target Nm1 at the rotational speed N m1 of motor M G1
*Before the transition region for the center, gain k1, the k2 of proportional and integral are set at specified value k1set, k2set, be set at 0 value and specified value k2low with entering the proportional behind the transition region and gain k1, the k2 of integral, thereby before entering transition region, the rotational speed N m1 of motor M G1 can be rapidly near rotating speed of target Nm1
*, and after entering transition region, can be lentamente near rotating speed of target Nm1
*The ground convergence.As a result, can suppress the rotational speed N m1 of motor M G1 above rotating speed of target Nm1
*The overregulate phenomenon.
In the hybrid vehicle 20 of embodiment, be that throttle gate hysteresis and air are lagged behind as the response lag of driving engine 22, execution is set basic torque Tbs by the processing of losing time and response lag constitutes, but air lags behind relatively, also can consider suction temperature Ta or pressure of inspiration(Pi) Va.In addition, as the response lag of driving engine 22, also can consider other hysteresis key element.Perhaps, though precision is low slightly, only consider that throttle gate lags behind or it is also harmless only to consider that air lags behind.
In the hybrid vehicle 20 of embodiment, be that passing ratio item and integral and blank instruction item are set revisal torque T aj, but also can not consider the blank instruction item, only set revisal torque T aj by proportional and integral.In addition, also can not consider proportional and only set revisal torque T aj, consider neither that perhaps proportional do not consider the blank instruction item yet, and only set revisal torque T aj by integral by integral and blank instruction item.
In the hybrid vehicle 20 of embodiment, be to enter with rotating speed of target Nm1 at the rotational speed N m1 of motor M G1
*Before the transition region for the center, gain k1, the k2 of proportional and integral are set at specified value k1set, k2set, the gain k1, the k2 that enter proportional behind the transition region and integral is set at 0 value and specified value k2low, but be not limited to 0 value as the numerical value of setting for the gain k1 that enters the proportional behind the transition region, can be set at any numerical value littler than specified value k1set.In addition, after entering transition region, also can not change the gain k2 of integral, specified value k2set can be kept intact/directly use.
In the hybrid vehicle 20 of embodiment, be the torque command Tm1 that basic torque Tbs and revisal torque T aj sum is set at motor M G1
*, but can be the torque command Tm1 of motor M G1 with the setting value of further revisal basic torque Tbs and revisal torque T aj sum also
*
In the hybrid vehicle 20 of embodiment, be by reducing gear 35 with the power speed changing of motor M G2 after to gear ring axle 32a output, but also can be illustrated as the hybrid vehicle 120 of the variation of Figure 13, also the power of motor M G2 can be connected with the axletree different with the axletree (with drive wheel 63a, 63b bonded assembly axletree) that connects gear ring axle 32a (among Figure 13 with wheel 64a, 64b bonded assembly axletree).
In the hybrid vehicle 20 of embodiment, be with the power of driving engine 22 by power distribution integration mechanism 30 to drive wheel 63a, the 63b bonded assembly, as the gear ring axle 32a of axle drive shaft output, but also can be illustrated as the hybrid vehicle 220 of the variation of Figure 14, can comprise have with the bent axle 26 bonded assembly internal rotors 232 of driving engine 22 and with power to drive wheel 63a, the axle drive shaft bonded assembly outer rotor 234 of 63b output, with the part of the power of driving engine 22 when axle drive shaft transmits, with remaining power-supply change-over is the paired rotor electric machine 230 of electric power.
More than, with embodiment the specific embodiment of the present invention is illustrated, but the present invention is not limited to these embodiment, much less, in the scope that does not break away from main idea of the present invention, can adopt various forms to implement.
Claims (12)
1. the power take-off implement to the axle drive shaft outputting power is characterized in that, has:
Combustion engine,
Be connected, import and output to the power of these any two axles, the 3 shaft type power input/output units that output power to remaining axle and import with described axle drive shaft and the 3rd these three axles with the output shaft of this combustion engine from this remaining axle according to any two axles from these three axles
The 1st electrical motor that can described relatively the 3rd input and output power,
The 2nd electrical motor that can described relatively axle drive shaft input and output power,
Can with the electrical storage device of described the 1st electrical motor and described the 2nd electrical motor Change Power,
According to the described axle drive shaft of operator's operating and setting require want demanded driving force want the demanded driving force setting device,
According to this setting want demanded driving force to set should be from the target power setting device of the target power of described combustion engine output,
With the turn round internal combustion engine operation control setup of the described combustion engine of control of the mode of the target power of exporting this setting,
Setting according to the target power of described setting should be from the basic torque setting device of the basic torque of described the 1st electrical motor output,
Set the motor rotating speed of target setting device of the rotating speed of target of described the 1st electrical motor according to the target power of described setting,
Detect the speed detecting unit of the rotating speed of described the 1st electrical motor,
According to the rotating speed of target of this detected rotating speed and described setting set the revisal moment of torsion revisal torque setting device and
In the time of with mode drive controlling the 1st electrical motor of the moment of torsion of the revisal moment of torsion sum of the basic torque of exporting described setting from described the 1st electrical motor and described setting, with to the control device of electric motor of described axle drive shaft output according to described the 2nd electrical motor of mode drive controlling of the power of wanting demanded driving force of described setting.
2. according to the described power take-off implement of claim 1, it is characterized in that, described basic torque setting device is: the response lag when turning round described combustion engine according to the target power of described setting with under this target power, infer from the engine torque of this combustion engine output, and, in order to export the engine torque that this is inferred, as the device that should set described basic torque from the moment of torsion of described the 1st electrical motor output from this combustion engine.
3. according to the described power take-off implement of claim 2, it is characterized in that, described basic torque setting device is: use the time constant of losing time with a response lag to infer described engine torque as described response lag, and use this engine torque of inferring to set the device of described basic torque.
4. according to the described power take-off implement of claim 1, it is characterized in that described revisal torque setting device is: the torque setting that will act on the direction of the rotating speed deviation of the rotating speed of target of eliminating described detected rotating speed and described setting is the device of described revisal moment of torsion.
5. according to the described power take-off implement of claim 4, it is characterized in that described revisal torque setting device is: usage ratio item and integral are set the device of described revisal moment of torsion at least.
6. according to the described power take-off implement of claim 5, it is characterized in that, described revisal torque setting device is: when described rotating speed deviation is outside specialized range, use the proportional and the described integral of the 1st gain to set described revisal moment of torsion, and when described rotating speed deviation is in described specialized range, use the proportional of 2nd gain littler and the device that described integral is set described revisal moment of torsion than described the 1st gain.
7. according to the described power take-off implement of claim 6, it is characterized in that described the 2nd gain is 0 value substantially.
8. according to the described power take-off implement of claim 5, it is characterized in that, described revisal torque setting device is: when described rotating speed deviation is outside described specialized range, use the integral and the blank instruction item of described proportional and the 3rd gain to set described revisal moment of torsion, and when described rotating speed deviation is in described specialized range, uses described proportional and set the device of described revisal moment of torsion than described the 3rd little the 4th gain of gain and integral and described blank instruction item.
9. one kind is mounted with each described power take-off implement in the claim 1～8, and described axle drive shaft and axletree mechanical connection ground traveling automobile.
10. the control method of a power take-off implement, described power take-off implement has: combustion engine, be connected with axle drive shaft and the 3rd these three axles with the output shaft of this combustion engine, according to any two axles input from these three axles and the power that outputs to these any two axles, the 3 shaft type power input/output units that output power to remaining axle and import from this remaining axle, the 1st electrical motor that can described relatively the 3rd input and output power, the 2nd electrical motor that can described relatively axle drive shaft input and output power, can with the electrical storage device of described the 1st electrical motor and described the 2nd electrical motor Change Power, it is characterized in that
(a) want demanded driving force according to what the described axle drive shaft of operator's operating and setting required,
(b) according to this setting want demanded driving force to set should be from the target power of described combustion engine output,
(c) with the mode of the target power of exporting this setting described combustion engine of control that turns round,
(d) setting according to the target power of described setting should be from the basic torque of described the 1st electrical motor output,
(e) set the rotating speed of target of described the 1st electrical motor according to the target power of described setting,
(f) detect the rotating speed of described the 1st electrical motor,
(g) set the revisal moment of torsion according to the rotating speed of target of this detected rotating speed and described setting,
(h) in the time of with mode drive controlling the 1st electrical motor of the moment of torsion of the revisal moment of torsion sum of the basic torque of exporting described setting from described the 1st electrical motor and described setting, to export described the 2nd electrical motor of the mode drive controlling of wanting demanded driving force of described setting to described axle drive shaft.
11. the control method according to the described power take-off implement of claim 10 is characterized in that,
Described step (d) is: the response lag of this combustion engine when turning round described combustion engine according to the target power of described setting with under this target power, infer from the engine torque of this combustion engine output, and, in order to export the engine torque that this is inferred from this combustion engine, as the step that should set described basic torque from the moment of torsion of described the 1st electrical motor output
Described step (g) is: the torque setting that will act on the direction of the rotating speed deviation of the rotating speed of target of eliminating described detected rotating speed and described setting is the step of described revisal moment of torsion.
12. control method according to the described power take-off implement of claim 11, it is characterized in that, described step (g) is: described rotating speed deviation is outside specialized range the time, use comprises the proportional of the 1st gain and a plurality of control items of integral are set described revisal moment of torsion, and when described rotating speed deviation is in described specialized range, use to comprise the step of setting described revisal moment of torsion than the described the 1st a plurality of control items that gain the 2nd little proportional that gains and described integral.
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