JP3141815B2 - Power output device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a power output device, and more particularly, to a power output device that outputs power to a drive shaft.

[0002]

2. Description of the Related Art Conventionally, as a power output device of this type,
2. Description of the Related Art There has been proposed a device mounted on a vehicle, which electromagnetically couples an output shaft of a prime mover and a drive shaft coupled to a rotor of an electric motor by an electromagnetic joint to output power of the prime mover to the drive shaft. (For example, JP-A-53-133814). In this power output device, the vehicle starts running by an electric motor, and when the number of revolutions of the electric motor reaches a predetermined number of revolutions, an exciting current is applied to an electromagnetic coupling to crank the prime mover and supply fuel to the prime mover and spark ignition. To start the prime mover. After the prime mover is started, the power from the prime mover is output to the drive shaft by electromagnetic coupling of the electromagnetic coupling to drive the vehicle. The electric motor is driven when the power required for the drive shaft is insufficient with the power output to the drive shaft by the electromagnetic coupling, and makes up for this shortfall. When outputting power to the drive shaft, the electromagnetic coupling regenerates electric power according to slippage of the electromagnetic coupling. This regenerated power is stored in a battery as power used at the start of traveling,
It is used as the power of the electric motor to make up for the lack of power of the drive shaft.

[0003]

However, such a conventional power output device has a problem that when the rotational speed of the drive shaft increases, the efficiency of the entire device may decrease. In the above-described power output device, even when the rotational speed of the drive shaft becomes large, in order to output power to the drive shaft by the electromagnetic coupling, the rotational speed of the prime mover must be equal to or higher than the rotational speed of the drive shaft. Since the range of the efficient operating point of the prime mover is usually determined by the rotational speed and the load torque, when the drive shaft rotates at a rotational speed exceeding the range, the prime mover operates at a high efficiency. You have to drive outside good driving points,
As a result, the efficiency of the entire device is reduced.

[0004] As one solution to such a problem, the applicant has disclosed in Japanese Patent Application No. Hei 7-266475, which has been already filed, two rotors respectively connected to an output shaft and a drive shaft of a prime mover instead of an electromagnetic coupling. When the rotation speed of the drive shaft is increased, the paired rotor motor is controlled as a motor, and the relative rotation with respect to the rotor coupled to the output shaft of the prime mover is performed. In Japanese Patent Application Laid-Open No. H11-157, a motor that can operate a prime mover at a lower rotation speed than the rotation speed of the drive shaft by rotating a rotor coupled to the drive shaft is proposed.

However, in this proposed device, when the rotation speed of the drive shaft becomes larger than the rotation speed of the prime mover, the anti-rotor motor needs to be operated at a high rotation speed while maintaining a high torque, and is mounted on the drive shaft. It is necessary to operate the electric motor as a generator to regenerate electric power consumed by the anti-rotor motor, so that the anti-rotor motor and the electric motor are each operated under a high load, and the rotation speed of the drive shaft is reduced by the driving motor. The efficiency of the entire apparatus is slightly reduced as compared with the case where the rotation speed is smaller than that of the conventional example described above, though not as much as the conventional example described above.

In order to solve such a problem, the applicant proposes in Japanese Patent Application No. 8-318729, which has already been filed, a power output device capable of connecting a rotary shaft of an electric motor by switching between an output shaft of a motor and a drive shaft. At the same time, when the rotation speed of the prime mover is higher than the rotation speed of the drive shaft, the motor is connected to the drive shaft for driving, and when the rotation speed of the prime mover is smaller than the rotation speed of the drive shaft, the motor is connected to the output shaft of the prime mover to drive. Suggest what to do.

A power output apparatus and a control method thereof according to the present invention switch a connection between a rotation shaft of a motor and an output shaft of a motor and a connection with a drive shaft to efficiently output power output from the motor to the drive shaft. It is another object of the present invention to detect whether or not an abnormality has occurred in switching the connection of a shaft in a power output device that performs the operation.

[0008]

Means for Solving the Problems and Functions and Effects The power output device of the present invention employs the following means in order to achieve at least a part of the above object.

A power output device according to the present invention is a power output device for outputting power to a drive shaft, comprising a prime mover having an output shaft, a first rotor connected to the output shaft, and a drive unit connected to the drive shaft. And a second rotor rotatable relative to the first rotor, and power exchange between the output shaft and the drive shaft via an electromagnetic coupling between the two rotors. A first motor having a rotating shaft different from the output shaft and the drive shaft, and a second motor for exchanging power via the rotating shaft; and a second motor having the rotating shaft and the output shaft. First connection means for performing a mechanical connection and disconnection of the connection, second connection means for performing a mechanical connection between the rotation shaft and the drive shaft and releasing the connection, and the drive shaft Power setting means for setting a target power to be output to the motor, the output shaft and the drive shaft Operating state detecting means for detecting an operating state; and a connection state by the first connection means and / or a connection state by the second connection means based on the detected operation states of the output shaft and the drive shaft. Switching control means for driving and controlling the first connection means and the second connection means corresponding to the switching; and the power output from the prime mover in accordance with the switching by the switching control means, is torque-converted to a target power. Power control means for controlling the driving of the first motor and the second motor so as to be output to the drive shaft, and the first connection means and / or the second connection switched by the switching control means The gist of the invention is to provide an abnormality detecting means for detecting abnormality of the means.

The power output apparatus of the present invention has a first rotor connected to an output shaft of a prime mover, and a second rotor connected to a drive shaft and rotatable relative to the first rotor. A first motor exchanges power between an output shaft and a drive shaft via an electromagnetic coupling between the two rotors, and a second motor having a rotation shaft different from the output shaft and the drive shaft of the motor. An electric motor exchanges power via this rotating shaft. The first connecting means makes a mechanical connection between the rotating shaft and the output shaft and cancels the connection, and the second connecting means makes a mechanical connection between the rotating shaft and the drive shaft and cancels the connection. Perform
The switching control means is adapted to switch the connection state by the first connection means and / or the connection state by the second connection means based on the operation states of the output shaft and the drive shaft of the prime mover detected by the operation state detection means. The driving of the first connecting means and the second connecting means is controlled. The power control means is
The first electric motor and the second motor are arranged such that the power output from the prime mover according to the switching by the switching control means is torque-converted and output to the drive shaft as target power output to the drive shaft set by the target power setting means. Drive control of the electric motor. The abnormality detecting means detects an abnormality of the first connection means and / or the second connection means switched by the switching control means.

According to the power output apparatus of the present invention, when an abnormality occurs in the first connecting means or the second connecting means during switching by the switching control means, it can be detected. As a result, abnormalities can be quickly dealt with.

In the power output apparatus according to the present invention, the first
Power storage means capable of charging and discharging by the electric motor and charging and discharging by the second electric motor, and current detection means for detecting a current for charging and discharging the power storage means, wherein the abnormality detection means
It may be a means for detecting an abnormality based on the current detected by the current detecting means. With this configuration, by detecting the current that charges and discharges the power storage unit, when an abnormality occurs in the first connection unit or the second connection unit during switching, this can be detected.

In the power output apparatus according to the present invention, wherein the abnormality is detected based on the current for charging / discharging the power storage means, the power control apparatus further comprises a target power setting means for setting a target power for charging / discharging the power storage means. The means is means for controlling the power storage means to be charged / discharged with the target power and for the power output from the prime mover to be torque-converted and output to the drive shaft as the target power. An abnormality determination unit may be provided that determines an abnormality when a difference between the power for charging / discharging the power storage unit and the target power obtained based on the current detected by the current detection unit is larger than a predetermined value. . With this configuration, it is possible to determine the required charge / discharge of the power storage means and the abnormal charge / discharge.
Abnormality of the connecting means can be detected.

Further, the power output device of the present invention includes current detecting means for detecting a drive current of the first electric motor and / or the second electric motor, and the abnormality detecting means is detected by the current detecting means. Further, it may be a means for detecting an abnormality based on a drive current of the first electric motor and / or the second electric motor. With this configuration, by detecting the drive current of the first electric motor or the second electric motor, if an abnormality occurs in the first connection means or the second connection means at the time of switching, it can be detected. it can.

[0015] In the power output apparatus of the present invention in which the abnormality is detected based on the drive current of the first motor or the second motor, the abnormality detecting means includes the first electric current detected by the current detecting means. A torque estimating means for estimating the torque output from the corresponding motor based on the driving current of the electric motor and / or the second electric motor; and a control target value of the electric motor estimated for the torque by the power control means. Abnormality determination means for determining an abnormality when the deviation is larger than a predetermined value.
This makes it possible to determine whether the torque output from the first electric motor or the second electric motor is abnormal as compared with the control target value, and thereby the first connection means or the second connection means can be determined. An abnormality of the means can be detected.

In the power output apparatus according to the present invention, the abnormality detecting means is means for detecting an abnormality based on the number of rotations of the output shaft and the drive shaft as operating states detected by the operating state detecting means. It can also be. In this way, if an abnormality occurs in the first connection means or the second connection means at the time of switching based on the rotation speed of the output shaft or the drive shaft of the prime mover, this can be detected.

In the power output device for detecting an abnormality based on the rotation speed of the output shaft or the drive shaft of the prime mover, the abnormality detection means may detect the abnormality when the rotation speed of the output shaft changes at a predetermined rate or more. May be determined. This makes it possible to determine whether there is an abnormality in the rotation speed of the output shaft of the prime mover, thereby detecting an abnormality in the first connection unit or the second connection unit.

Alternatively, in the power output apparatus according to the present invention, the switching control means switches one of the first and second connecting means from a connected state and the other from a disconnected state to a connected state. The second rotor is driven at a predetermined rotation speed relative to the first rotor when the first and second connection means are switched from a connected state to a disconnected state. The first
First motor control means for controlling the electric motor, and current detection means for detecting a drive current of the first electric motor controlled by the first motor control means, wherein the abnormality detection means comprises: May be a means for detecting an abnormality based on the drive current detected by the method. In this way, by detecting the drive current of the first electric motor, if an abnormality occurs in the first connection means or the second connection means at the time of switching, it can be detected.

In the power output apparatus according to the present invention, wherein the abnormality is detected by controlling the first electric motor, the first electric motor control means is provided with one of the first and second connection means by the switching control means. Means for controlling the first rotor to drive the second rotor at a predetermined speed when the other is switched from the disconnected state to the connected state while the other is disconnected. The abnormality detection means may include an abnormality determination means for determining an abnormality when the drive current detected by the current detection means is equal to or less than a predetermined value. Alternatively, the first motor control means may control the first rotor when the switching control means switches either of the first and second connection means from a connected state to a disconnected state. Means for controlling the second rotor to be driven at a predetermined number of revolutions, wherein the abnormality detecting means determines that the abnormality is abnormal when the driving current detected by the current detecting means is larger than a predetermined value. May be provided. By doing so, it is possible to clearly detect an abnormality in the first connecting means and the second connecting means.

In the power output apparatus according to the present invention, there is provided a power difference detecting means for detecting a rotation speed difference between the rotation shaft and the output shaft and / or a rotation speed difference between the rotation shaft and the drive shaft. Abnormality detecting means for detecting an abnormality based on a rotational speed difference between the rotating shaft and the output shaft and / or a rotational speed difference between the rotating shaft and the drive shaft detected by the rotational speed difference detecting means; Can also be used. By detecting the difference in the number of revolutions between the rotating shaft and the output shaft and the difference in the number of revolutions between the rotating shaft and the drive shaft, an abnormality occurs in the first connecting means and the second connecting means at the time of switching. When this occurs, this can be detected.

[0021]

Next, embodiments of the present invention will be described based on examples. FIG. 1 is a configuration diagram showing a schematic configuration of a power output device 20 as a first embodiment of the present invention, and FIG. 2 is a configuration diagram showing a schematic configuration of a vehicle incorporating the power output device 20 of FIG. For convenience of explanation, first, referring to FIG.
The configuration of the entire vehicle will be described.

As shown in FIG. 2, this vehicle is provided with a gasoline engine driven by gasoline as an engine 50 as a power source. This engine 50
Sucks a mixture of air sucked from an intake system via a throttle valve 66 and gasoline injected from a fuel injection valve 51 into a combustion chamber 52, and cranks the movement of a piston 54 depressed by the explosion of the mixture. Shaft 56
To the rotational motion of Here, the throttle valve 66
Are driven to open and close by an actuator 68. The ignition plug 62 is connected to the igniter 58 by the distributor 60.
An electric spark is formed by the high voltage guided through the air-fuel mixture, and the air-fuel mixture is ignited by the electric spark and explosively burns.

The operation of the engine 50 is controlled by an electronic control unit (hereinafter referred to as EFIECU) 70. Various sensors indicating the operating state of the engine 50 are connected to the EFIECU 70. For example, a throttle valve position sensor 67 for detecting the opening (position) of the throttle valve 66, an intake pipe negative pressure sensor 72 for detecting the load on the engine 50, a water temperature sensor 74 for detecting the water temperature of the engine 50, and a distributor 60
, A rotation speed sensor 76 and a rotation angle sensor 78 for detecting the rotation speed and the rotation angle of the crankshaft 56. The EFIECU 70 is also connected to a starter switch 79 for detecting an ignition key state ST, for example.
Illustration of switches and the like is omitted.

The drive shaft 22 is connected to the crankshaft 56 of the engine 50 via a clutch motor 30 and an assist motor 40 described later. Drive shaft 22
Are connected to a differential gear 24, and the torque from the power output device 20 is ultimately
6, 28. The clutch motor 30 and the assist motor 40 are controlled by the control device 80. Although the configuration of the control device 80 will be described in detail later, a control CPU is provided therein, and a shift position sensor 84 and an accelerator pedal
Accelerator pedal position sensor 64 provided in
a, a brake pedal position sensor 65a provided on the brake pedal 65 is also connected. Further, the control device 80 exchanges various information with the above-mentioned EFIECU 70 by communication. Control including exchange of such information will be described later.

As shown in FIG. 1, the power output device 20 of the embodiment includes a clutch motor 3 having an engine 50, an inner rotor 31 connected to a crankshaft 56 of the engine 50, and an outer rotor 33 connected to the drive shaft 22.
0, an assist motor 40 in which the rotor 41 is mechanically connected to the crankshaft 56 or the drive shaft 22 by the first clutch 45 and the second clutch 46, and a control device 80 for controlling the drive of the clutch motor 30 and the assist motor 40. It is composed of

As shown in FIG. 1, the clutch motor 30 includes a permanent magnet 32 on an outer peripheral surface of an inner rotor 31.
The motor is configured as a synchronous motor that winds a three-phase coil 34 around a slot formed in the outer rotor 33. The power to the three-phase coil 34 is supplied via a slip ring 35. In the outer rotor 33, the three-phase coil 3
The portions forming the slots and teeth for 4 are formed by laminating thin sheets of non-oriented electrical steel sheets.
In the embodiment, the number of the permanent magnets 32 is 8 (N pole and S pole are each 4).
) Are attached to the inner peripheral surface of the inner rotor 31. The magnetization direction is a direction toward the center of the axis of the clutch motor 30, and the direction of the magnetic pole is reversed every other direction. The three-phase coil 34 of the outer rotor 33 facing the permanent magnet 32 with a small gap is wound around a total of twelve slots (not shown) provided on the outer rotor 33. To form a magnetic flux passing through the teeth separating the two. When a three-phase alternating current flows through each coil, this magnetic field rotates. Three-phase coil 3
4 are connected to receive power supply from the slip ring 35. The slip ring 35 includes a rotating ring 35a fixed to the drive shaft 22 and a brush 35b.
It is composed of In order to exchange three-phase (U, V, W-phase) currents, the slip ring 35 is provided with a three-phase rotating ring 35a and a brush 35b.

An interaction between a magnetic field formed by a pair of adjacent permanent magnets 32 and a rotating magnetic field formed by a three-phase coil 34 provided on the outer rotor 33 causes the inner rotor 3 to rotate.
1 and the outer rotor 33 exhibit various behaviors. Normally, the frequency of the three-phase alternating current flowing through the three-phase coil 34 is a frequency of a deviation between the rotation speed of the inner rotor 31 and the rotation speed of the outer rotor 33 directly connected to the crankshaft 56.

On the other hand, the assist motor 40 is also configured as a synchronous motor. The stator 43 is also formed by laminating thin sheets of non-oriented electromagnetic steel sheets. The rotor 41 is attached to a rotor rotating shaft 38 which is a hollow shaft coaxial with the crankshaft 56.
A plurality of permanent magnets 42 are provided. In the assist motor 40, the rotor 41 is rotated by the interaction between the magnetic field generated by the permanent magnet 42 and the magnetic field formed by the three-phase coil 44. The rotor rotating shaft 38 is connected to the first clutch 4 disposed between the assist motor 40 and the clutch motor 30.
5 is mechanically connected to or disconnected from the crankshaft 56. The second clutch 46 controls the outer rotor 3 of the clutch motor 30.
3 and is mechanically connected to the drive shaft 22 or the connection is released. The first clutch 4
The fifth and second clutches 46 are operated by a hydraulic circuit (not shown).

The drive shaft 22, the rotor rotation shaft 38 and the crankshaft 56 have rotation angles θd and θd, respectively.
Resolvers 37, 47 and 57 for detecting r and θe are provided. The rotation angle θe of the crankshaft 56
Can also be used as the rotation angle sensor 78 provided in the distributor 60.

The clutch motor 30 and the assist motor 40
As described later, the clutch motor 30 and the assist motor 40 can be arranged from the engine 50 side as described later, but the assist motor 40 is sandwiched between the engine 50 and the clutch motor 30 as in the power output device 20 of the embodiment. The assist motor 4 is arranged as described later.
Since the assist motor 40 is larger than the clutch motor 30 because the vehicle needs to be driven only by the zero, the power output device 20 is united by making the large assist motor 40 adjacent to the larger engine 50. It is. Also, various arrangements of the first clutch 45 and the second clutch 46 are possible as described later. However, the first clutch 45 and the second clutch 46 are arranged between the assist motor 40 and the clutch motor 30 as in the power output device 20 of the embodiment. This is because both clutches 45 and 46 are relatively small, so that the power output device 20 can be made more compact by being inserted in a gap generated between the assist motor 40 and the clutch motor 30.

Next, a control device 80 for controlling the drive of the clutch motor 30 and the assist motor 40 will be described. The control device 80 controls a first drive circuit 91 for driving the clutch motor 30, a second drive circuit 92 for driving the assist motor 40, and both the drive circuits 91 and 92, as well as the first clutch 45 and the second A control CPU 90 for driving and controlling the clutch 46 and a battery 9 as a secondary battery
And 4. The control CPU 90 is a one-chip microprocessor, and internally has a work RAM.
90a, a ROM 90b storing a processing program, an input / output port (not shown), and a serial communication port (not shown) for communicating with the EFIECU 70. The control CPU 90 includes a rotation angle θd of the drive shaft 22 from the resolver 37, a rotation angle θr of the rotor rotation shaft 38 from the resolver 47, a rotation angle θe of the engine 50 from the resolver 57, and an accelerator pedal from the accelerator pedal position sensor 64a. Pedal position (accelerator pedal depression amount) AP, brake pedal position (depression amount of brake pedal 65) BP from brake pedal position sensor 65a, shift position SP from shift position sensor 84, first clutch 45 and second clutch 46. , The clutch motor current values Iuc and Ivc from the two current detectors 95 and 96 provided in the first drive circuit 91, and the two currents provided in the second drive circuit. Assist motor current value I from detectors 97 and 98 a, Iva, the remaining capacity BRM from the remaining capacity detector 99 for detecting the remaining capacity of the battery 94, the charging / discharging current Ib of the battery 94 from the ammeter 99b provided on the power line of the battery 94, and the like via the input port. Has been entered. The remaining capacity detector 99 detects the remaining capacity by measuring the specific gravity of the electrolyte of the battery 94 or the total weight of the battery 94, or calculates the current value and time of charging / discharging to determine the remaining capacity. There are known ones that detect the remaining capacity by instantaneously shorting the terminals of the battery, flowing a current and measuring the internal resistance.

Further, a control signal SW for driving six transistors Tr1 to Tr6 as switching elements provided in the first drive circuit 91 is sent from the control CPU 90.
1, a control signal SW2 for driving six transistors Tr11 to Tr16 as switching elements provided in the second drive circuit 92, the first clutch 45 and the second
A drive signal for driving the clutch 46 and the like are output. Six transistors Tr1 in the first drive circuit 91
Tr6 constitute a transistor inverter, and are arranged in pairs, two on the source side and the other on the sink side with respect to a pair of power supply lines L1 and L2, respectively.
The three-phase coil (UV
W) 36 are connected via slip rings 35. Since the power lines L1 and L2 are connected to the positive side and the negative side of the battery 94, respectively,
When the control CPU 90 sequentially controls the ratio of the on-time of the transistors Tr1 to Tr6 forming a pair by the control signal SW1 and makes the current flowing through each coil 34 a pseudo sine wave by PWM control, the three-phase coil 34
A rotating magnetic field is formed.

On the other hand, the six transistors Tr11 to Tr16 of the second drive circuit 92 also constitute a transistor inverter, and are each arranged in the same manner as the first drive circuit 91, and each of the transistors Tr11 to Tr16 has a pair of transistors. The connection point is connected to each of the three-phase coils 44 of the assist motor 40. Accordingly, when the control CPU 90 sequentially controls the on-time of the paired transistors Tr11 to Tr16 by the control signal SW2 and makes the current flowing through each coil 44 a pseudo sine wave by PWM control, the three-phase coil 44 A magnetic field is formed.

The operation of the power output apparatus 20 according to the embodiment whose configuration has been described above will be described. Now, the first clutch 45
Are turned off and the second clutch 46 is turned on, and conversely, the first clutch 45 is turned on and the second clutch 46 is turned off. In the former case, the connection between the rotor rotation shaft 38 and the crankshaft 56 is released and the rotor rotation shaft 38 is connected to the drive shaft 22. As shown in the schematic diagram of FIG. 22. The latter connects the rotor rotation shaft 38 and the crankshaft 56, and the rotor rotation shaft 38
In this case, the connection between the motor and the drive shaft 22 is released, and the assist motor 40 is attached to the crankshaft 56 as shown in the schematic diagram of FIG. First, the operation of the former (when the first clutch 45 is turned off and the second clutch 46 is turned on) will be described.
5 is turned on and the second clutch 46 is turned off).

In the power output device 20 of the embodiment, the operation principle when the first clutch 45 is turned off and the second clutch 46 is turned on, particularly the principle of torque conversion is as follows. The engine 50 is driven by the EFIECU 70,
The engine 50 is rotating at the rotation speed Ne, and the drive shaft 22
Are rotating at a rotation speed Nd1 smaller than this rotation speed Ne. At this time, if the control device 80 does not supply any current to the three-phase coil 34 of the clutch motor 30 via the slip ring 35, that is, the transistors Tr1, 3, and 5 of the first drive circuit 91 are turned off, If the Trs 2, 4, and 6 are turned on, no current flows through the three-phase coil 34, and the inner rotor 31 and the outer rotor 33 of the clutch motor 30 are not electromagnetically coupled at all. The crankshaft 56 of the engine 50 is idle. In this state, since the transistors Tr1 to Tr6 are off, the regeneration from the three-phase coil 34 is not performed. That is, the engine 50 is idling.

When the control CPU 90 of the control device 80 outputs the control signal SW1 to control the on / off of the transistor,
According to the deviation between the rotation speed Ne of the crankshaft 56 of the engine 50 and the rotation speed Nd1 of the drive shaft 22 (in other words, the rotation speed difference Nc (= Ne−Nd1) between the inner rotor 31 and the outer rotor 33 in the clutch motor 30).
A constant current flows through the three-phase coil 34 of the clutch motor 30, the clutch motor 30 functions as a generator, the current is regenerated through the first drive circuit 91, and the battery 94 is charged. At this time, the inner rotor 31 and the outer rotor 33 are in a connected state in which a certain amount of slip exists, and torque is output from the crankshaft 56 to the drive shaft 22 via the connection between the inner rotor 31 and the outer rotor 33. In this state, when the control CPU 90 controls the second drive circuit 92 so that energy equal to the electric energy regenerated by the clutch motor 30 is consumed by the assist motor 40, the three-phase coil 4 of the assist motor 40
4, a current is generated in the assist motor 40.

Referring to FIG. 5, the engine 50 has a rotation speed N.
e, when operating at the operating point P0 of the torque Te, the clutch motor 30 outputs the torque Tc (torque Te output from the engine 50) to the drive shaft 22 and outputs the energy represented by the hatched area Pc1. By regenerating and supplying the regenerated energy to the assist motor 40 as energy represented by the area Pa1, the drive shaft 22 can be rotated at the operating point P1 at the rotational speed Nd1 and the torque Td1.

Next, it is assumed that the engine 50 is operated at the above-described rotation speed Ne, but the drive shaft 22 is rotating at the rotation speed Nd2 higher than the rotation speed Ne. In this state, the outer rotor 33 of the clutch motor 30 rotates in the rotation direction of the drive shaft 22 at the rotation speed indicated by the absolute value of the rotation speed difference Nc (Ne-Nd2) with respect to the inner rotor 31, so that the clutch motor 30 , Functions as a normal motor, and gives rotational energy to the drive shaft 22 by electric power from the battery 94. On the other hand, when the control CPU 90 controls the second drive circuit 92 to regenerate electric power by the assist motor 40, a regenerative current flows through the three-phase coil 44 due to slippage between the rotor 41 and the stator 43 of the assist motor 40. Here, the control CPU 90 controls the first and second drive circuits 91 and 2 so that the electric power regenerated by the assist motor 40 is consumed by the clutch motor 30.
If the clutch 92 is controlled, the clutch motor 30
4 can be driven without using the electric power stored.

Referring to FIG. 6, the engine 50 is operated at a rotational speed N.
When the vehicle is operating at the operation point P0 represented by the torque e and the torque Te, the energy represented by the hatched region Pc2 is supplied to the clutch motor 30 to drive the drive shaft 2
2 by outputting the torque Tc (output torque Te of the engine 50) to the clutch shaft 30 and regenerating and supplying the energy supplied to the clutch motor 30 from the assist motor 40 as energy represented by the area Pa2. , At the operating point P2 of the torque Td2.

The power output device 2 with the first clutch 45 turned off and the second clutch 46 turned on.
0 is an operation of converting all of the power output from the engine 50 into a torque and outputting the torque to the drive shaft 22; By adjusting the electric energy consumed or regenerated by the assist motor 40 and the electric energy consumed or regenerated by the assist motor 40, the operation of finding the surplus electric energy and discharging the battery 94 can be performed. Various operations, such as an operation of supplementing with the power stored in the battery 94, can also be performed.

On the other hand, when the first clutch 45 is turned on and the second clutch 46 is turned off (schematic diagram of FIG. 4) in the power output device 20 of the embodiment, the operation principle (the principle of torque conversion) is as follows. is there. Now, it is assumed that the engine 50 is operating at the operating point P0 of the rotation speed Ne and the torque Te, and the drive shaft 22 is rotating at the rotation speed Nd1 smaller than the rotation speed Ne. If the torque Ta (Ta = Td1−Te) is output from the assist motor 40 attached to the crankshaft 56 to the crankshaft 56, the torque of the crankshaft 56 becomes a value Td1 (Te + Ta). On the other hand, the torque Tc of the clutch motor 30 is set to a value Td.
If it is controlled as 1 (Te + Ta), this torque Tc (Te + Ta) is output to the drive shaft 22, and electric power based on the difference Nc between the rotation speed Ne of the engine 50 and the rotation speed Nd1 of the drive shaft 22 is regenerated. Is done. Therefore, if the torque Ta of the assist motor 40 is set to be just covered by the electric power regenerated by the clutch motor 30 and the regenerated electric power is supplied to the second drive circuit 92 via the power supply lines L1 and L2, the assist motor 40 Are driven by this regenerative electric power.

Referring to FIG. 7, when the engine 50 has a rotation speed N
When the vehicle is operating at the operation point P0 represented by e and the torque Te, the energy represented by the hatched region Pa3 is supplied to the assist motor 40 to set the torque of the crankshaft 56 to the value Td1, and the clutch motor 30 This torque Td1 (torque Tc) is
2 and regenerates the energy supplied to the assist motor 40 as the energy represented by the area Pc3, so that the drive shaft 22 rotates at the rotational speed Nd2 and the torque Td.
It can be rotated at the second operating point P2.

The engine 50 is operated at the operating point P0 of the rotation speed Ne and the torque Te.
2 is rotating at a rotation speed Nd2 larger than the rotation speed Ne. At this time, if the torque Ta of the assist motor 40 is controlled as a value obtained by Td2−Te,
The assist motor 40 is regeneratively controlled to generate energy (electric power).
Is regenerated from the crankshaft 56. On the other hand, the clutch motor 30 functions as a normal motor because the outer rotor 33 rotates relative to the inner rotor 31 in the rotational direction of the drive shaft 22 at a rotational speed difference of Nc (Ne−Nd2). Energy corresponding to the number difference Nc is given to the drive shaft 22 as rotational energy. Therefore, if the torque Ta of the assist motor 40 is set so that the power regenerated by the assist motor 40 can just cover the power consumed by the clutch motor 30, the clutch motor 3
0 is driven by electric power regenerated by the assist motor 40.

Referring to FIG. 8, when the engine 50 has a rotation speed N
When the vehicle is operating at the operating point P0 represented by the torque e and the torque Te, the energy represented by the hatched region Pa4 is regenerated by the assist motor 40, and the regenerated energy is converted into the energy represented by the region Pc4 by the clutch motor. The torque Tc (torque Td2) is output to the drive shaft 22 by the clutch motor 30 by supplying the drive shaft 30 to the drive shaft 30, and the drive shaft 22 can be rotated at the operation point P2 of the rotation speed Nd2 and the torque Td2.

The power output device 2 in a state where the first clutch 45 is turned on and the second clutch 46 is turned off.
Even if it is 0, in addition to the operation of converting all of the power output from the engine 50 into torque and outputting it to the drive shaft 22, the power output from the engine 50 (the product of the torque Te and the rotation speed Ne) and the clutch motor By adjusting the electric energy regenerated or consumed by 30 and the electric energy consumed or regenerated by the assist motor 40,
The operation of discharging the battery 94 by finding surplus electric energy, or the operation of discharging the
Various operations can be performed, such as an operation of supplementing with the power stored in the memory.

Now, a state where the battery 94 is not charged and discharged,
That is, consider a state in which the power output from the engine 50 is torque-converted by the clutch motor 30 and the assist motor 40 and all the power is output to the drive shaft 22. When the rotation speed Ne of the engine 50 is in an underdrive state higher than the rotation speed Nd of the drive shaft 22, the torque conversion illustrated in FIG. 5 is performed in the configuration of the schematic diagram of FIG. 3, and the torque conversion illustrated in FIG. This is an example of the torque conversion. Generally, the loss in the motor or the generator increases as the amount of energy consumed or regenerated increases. Therefore, in this underdrive state, it is better to convert the torque as the configuration of the schematic diagram of FIG. In this configuration, the loss is smaller than the torque conversion. Conversely, when the rotation speed Ne of the engine 50 is in an overdrive state smaller than the rotation speed Nd of the drive shaft 22, the configuration of the schematic diagram of FIG.
4 and the torque conversion illustrated in FIG. 7 in the configuration of the schematic diagram of FIG. 4, the torque conversion is performed as the configuration of the schematic diagram of FIG. 4. Loss is less. For this reason, in the embodiment, basically, the underdrive state (Ne>
In the case of Nd), the torque is converted as shown in the schematic diagram of FIG. 3, and in the overdrive state (Ne <Nd), the torque is converted as shown in the schematic diagram of FIG. 4, so that the energy efficiency of the entire apparatus becomes higher. Is controlled as follows.

In addition, in the power output device 20 of the embodiment, both the first clutch 45 and the second clutch 46 can be turned on or both can be turned off. When both clutches 45 and 46 are turned on, the rotor shaft 3 on which the rotor 41 of the assist motor 40 is mounted is mounted.
8 is mechanically connected to the crankshaft 56 and the drive shaft 22 so that the clutch motor 30 does not function,
As shown in the schematic diagram of FIG. 9, the state is the same as the configuration in which the crankshaft 56 and the drive shaft 22 are simply connected to the rotor 41 of the assist motor 40. In this state, the power output from the engine 50 is output to the drive shaft 22 as it is. Then, the power output from the assist motor 40 is adjusted to the drive shaft 22.

On the other hand, when both clutches 45 and 46 are turned off, the connection between the rotor shaft 38 on which the rotor 41 of the assist motor 40 is mounted and the crankshaft 56 and the connection with the drive shaft 22 are released. As shown in the schematic diagram of FIG. 10, the state is the same as the structure in which the inner rotor 31 of the clutch motor 30 is connected to the crankshaft 56 and the outer rotor 33 of the clutch motor 30 is connected to the drive shaft 22. In this state, the power output from the engine 50 is
Is output to the drive shaft 22 by electromagnetic coupling between the inner rotor 31 and the outer rotor 33. At the same time, electric power corresponding to the rotational speed difference Nc between the inner rotor 31 and the outer rotor 33 is regenerated or consumed by the clutch motor 30.

Next, the torque control and the dual clutch 4
The switching controls 5 and 46 will be described based on the torque control routine illustrated in FIG. 11 and the clutch switching processing routine illustrated in FIG. First, normal torque control will be described based on a torque control routine illustrated in FIG. This routine is repeatedly executed every predetermined time (for example, every 20 msec) after the power output device 20 is started.

When the torque control routine of FIG. 11 is executed, the control CPU 90 of the control device 80
2 is executed (step S).
100). The rotation speed Nd of the drive shaft 22 can be obtained from the rotation angle θd of the drive shaft 22 read from the resolver 37. Next, the accelerator pedal position sensor 64
A process for reading the accelerator pedal position AP detected by a is performed (step S102). Since the accelerator pedal 64 is depressed when the driver feels that the output torque is insufficient, the accelerator pedal position AP determines the output torque desired by the driver (that is, the drive shaft 22).
(The torque to be output to the motor).

Subsequently, a process for deriving a torque command value Td *, which is a target value of the torque to be output to the drive shaft 22, based on the read accelerator pedal position AP and the rotation speed Nd of the drive shaft 22 is performed ( Step S104).
In the embodiment, a map indicating the relationship between the torque command value Td *, the rotation speed Nd of the drive shaft 22, and the accelerator pedal position AP is stored in the ROM 90b in advance, and when the accelerator pedal position AP is read, the map is read. The corresponding torque command value Td * is derived from the accelerator pedal position AP and the rotation speed Nd of the drive shaft 22. FIG. 13 shows an example of this map.

Next, the drive shaft 22 is determined from the derived torque command value Td * and the read rotation speed Nd of the drive shaft 22.
Calculate the energy Pd to be output to (Pd = Td * × N
d) (step S106), the obtained energy Pd is divided by the transmission efficiency ηt to calculate the energy Pe to be output from the engine 50 (step S108). Then, it is determined whether or not the two clutches 45 and 46 are currently being switched (step S110).

On the other hand, when the two clutches 45 and 46 are not switching, a process of setting the target torque Te * and the target rotation speed Ne * of the engine 50 based on the calculated energy Pe is performed (step S112). Here, the energy Pe to be output from the engine 50 and the target rotational speed N
The relationship between e * and the target torque Te * is expressed by the formula (Pe = Ne ** ×
Te *) only needs to be satisfied, and there are countless combinations of the target rotation speed Ne * and the target torque Te * that satisfy this expression. Therefore, in the embodiment, the engine 50 is operated in a state in which the engine 50 is as efficient as possible for each energy Pe,
In addition, the target rotation speed Ne * and the target torque T at which the operating state of the engine 50 changes smoothly with the change of the energy Pe.
The combination of e * is determined by experiments, etc.
M90b is stored as a map, and a combination of the target rotation speed Ne * and the target torque Te * corresponding to the energy Pe is derived from this map.

Thus, the target rotational speed Ne * of the engine 50
And the target torque Te * are set, the engine 50
Is controlled such that the rotation speed Ne and the torque Te are in a steady operation state at the operation point represented by the set value. Specifically, the control CPU 90 communicates with the target rotation speed N so that the engine 50 is operated at an operation point represented by the target rotation speed Ne * and the target torque Te *.
EFIECU 70 having received e * and target torque Te *
The opening degree control of the throttle valve 66, the fuel injection control from the fuel injection valve 51, and the ignition control by the ignition plug 62 are performed by the CPU.
90 controls the torque of the clutch motor 30 and the assist motor 40 as the load torque of the engine 50. The engine 50 changes the output torque Te and the rotation speed Ne depending on the load torque.
This is because it is not possible to operate at the operation point of the target torque Te * and the target rotation speed Ne * only by the control by the IECU 70, and it is necessary to control the torque of the clutch motor 30 and the assist motor 40 that give load torque.
The torque control of the clutch motor 30 and the assist motor 40 will be described later.

When the target rotation speed Ne * and the target torque Te * of the engine 50 are set, the control CPU of the control device 80
90 checks the value of the operation mode determination flag FD (step S114). Here, the operation mode determination flag FD
Is set in the switching process of the two clutches 45 and 46. When the power output device 20 is switched from the configuration of the schematic diagram of FIG. 4 to the configuration of the schematic diagram of FIG. Is set, and conversely, the value 1 is set when switching from the configuration of the schematic diagram of FIG. 3 to the configuration of the schematic diagram of FIG. 4 to set the overdrive mode.

When the operation mode determination flag FD has a value of 0, the power output device 20 is configured as shown in the schematic diagram of FIG. 3 and determines that it is in the underdrive mode. Torque command value Tc *
Is set (step S116), and the torque command value Ta * of the assist motor 40 is set by the equation (2) (step S118). Here, the second on the right side of equation (1)
The term is a proportional term for canceling the deviation of the rotation speed Ne from the target rotation speed Ne *, and the third term on the right side is an integral term for eliminating the steady-state deviation. Therefore, the target torque Te * of the engine 50 is set in the torque command value Tc * of the clutch motor 30 in a steady state (when the deviation of the rotation speed Ne from the target rotation speed Ne * is 0). . Note that K1 and K2 in the equation (1) are proportional constants. Thus, by setting the torque command value Tc * of the clutch motor 30 based on the rotation speed Ne of the engine 50 and controlling the torque Tc of the clutch motor 30 as the load torque of the engine 50, the engine 50 is set to the target torque Te. *
And the operating point at the target rotational speed Ne *.

[0057]

(Equation 1)

On the other hand, when the operation mode determination flag FD has a value of 1, the power output apparatus 20 is configured as shown in the schematic diagram of FIG. 4 and determines that it is in the overdrive mode. 30 torque command value Tc
* Is set (step S120), and the torque command value Ta * of the assist motor 40 is set by equation (4) (step S122). Here, the clutch motor 30
The reason why the torque command value Td * is set to the torque command value Td * is that the torque to be output to the drive shaft 22 is the torque Tc output from the clutch motor 30 in the configuration of the schematic diagram of FIG.
Because it matches. The second and third terms on the right side of the equation (4) are proportional to the deviation of the rotation number Ne from the target rotation number Ne *, as in the second and third terms on the right side of the equation (1). This is an integral term for eliminating the term and the steady-state deviation. Therefore, the torque command value T of the assist motor 40
a * is a value obtained by subtracting the target torque Te * of the engine 50 from the torque command value Td * in a steady state (when the deviation of the rotation speed Ne from the target rotation speed Ne * is 0). Become. K3 and K4 in the equation (4) are proportional constants. As described above, the torque command value Ta * of the assist motor 40 is set based on the rotation speed Ne of the engine 50 and the torque Ta of the assist motor 40 as a part of the load torque of the engine 50 is controlled. It is possible to stabilize at the operating point of the target torque Te * and the target rotation speed Ne *.

[0059]

(Equation 2)

When the torque command value Tc * of the clutch motor 30 and the torque command value Ta * of the assist motor 40 are set in this way, the torque command value T
FIG. 14 shows that a torque corresponding to c * and Ta * is output.
15 and the assist motor control routine illustrated in FIG.
Control of 0, 40 is performed. These routines are executed in parallel with the control CPU 90 of the control device 80 at predetermined time intervals (for example, every 4 msec) independently of other processes by using an interrupt process. Hereinafter, even if not particularly described, when the torque command value Tc * of the clutch motor 30 and the torque command value Ta * of the assist motor 40 are set, the set command values Tc * and Ta * are used in FIG. It is assumed that the control of the clutch motor 30 and the control of the assist motor 40 are immediately performed by the routine of FIG.

When the control of the clutch motor 30 (the clutch motor control routine of FIG. 14) is executed, the control device 8
0, first, the rotation angle θ of the drive shaft 22
d is input from the resolver 37 and the rotation angle θe of the crankshaft 56 of the engine 50 is input from the resolver 57 (steps S140 and S141), and the electrical angle θc of the clutch motor 30 is determined from the rotation angles θe and θd of both shafts. Processing is performed (step S142). In the embodiment, since a 4-pole pair synchronous motor is used as the clutch motor 30, θc = 4 (θe−θd) is calculated.

Next, the current detectors 95 and 96 detect the currents Iuc and Ivc flowing in the U-phase and V-phase of the three-phase coil 34 of the clutch motor 30 (step S143). The current flows in the three phases U, V, and W, but since the sum is zero, it is sufficient to measure the current flowing in the two phases. Coordinate conversion (three-phase to two-phase conversion) is performed using the three-phase current thus obtained (step S14).
4). The coordinate transformation is performed on the d axis and q of the permanent magnet type synchronous motor.
This is to convert to a current value of the axis, and is performed by calculating the following equation (5). The coordinate conversion is performed here because, in a permanent magnet type synchronous motor, the d-axis and q-axis currents are essential amounts for controlling the torque. Of course, it is also possible to control with three phases.

[0063]

(Equation 3)

Next, after being converted into two-axis current values, the current command values Idc *, Iqc * of each axis obtained from the torque command value Tc * of the clutch motor 30 and the currents Idc, Iqc actually flowing through each axis. And a deviation are obtained to obtain voltage command values Vdc and Vqc for each axis (step S1).
46). That is, first, the operation of the following equation (6) is performed, and then the operation of the following equation (7) is performed. Where Kp
1, 2 and Ki1, 2 are coefficients, respectively. These coefficients are adjusted to suit the characteristics of the motor to be applied. Note that the voltage command values Vdc and Vqc correspond to the current command value I
* The part proportional to the deviation ΔI from (the first term on the right side of Equation (7))
And the accumulated value of the i times of the deviation △ I (the second term on the right side).

[0065]

(Equation 4)

[0066]

(Equation 5)

Thereafter, the voltage command value thus obtained is subjected to coordinate conversion (two-phase to three-phase conversion) corresponding to the inverse conversion of the conversion performed in step S144 (step S148).
The voltages Vuc, Vvc, which are actually applied to the three-phase coil 34,
A process for obtaining Vwc is performed. Each voltage is obtained by the following equation (8).

[0068]

(Equation 6)

Since the actual voltage control is performed by the on / off time of the transistors Tr1 to Tr6 of the first drive circuit 91, the on / off time of each of the transistors Tr1 to Tr6 is adjusted so as to obtain each voltage command value obtained by the equation (8). Is subjected to PWM control (step S149).

The clutch motor 30 is controlled by assuming that the sign of the torque command value Tc * is positive when a positive torque acts on the drive shaft 22 in the rotation direction of the crankshaft 56. Even if Tc * is set, when the rotation speed Ne of the engine 50 is higher than the rotation speed Nd of the drive shaft 22 (when a positive rotation speed difference Nc (Ne-Nd) occurs), the rotation speed difference Nc When the rotation speed Ne is smaller than the rotation speed Nd (when a negative rotation speed difference Nc (Ne−Nd) is generated), the regenerative control for generating the regenerative current according to is performed. The power running control is relatively performed in the rotation direction of the drive shaft 22 at the rotation speed indicated by the absolute value of the rotation speed difference Nc. When the torque command value Tc * is a positive value, the regenerative control and the power running control of the clutch motor 30 are performed by the permanent magnet 32 attached to the inner rotor 31 and the three-phase coil 34 of the outer rotor 33.
Since the transistors Tr1 to Tr6 of the first drive circuit 91 are controlled so that a torque having a positive value acts on the drive shaft 22 by a rotating magnetic field generated by a current flowing through the switching shaft 22, the same switching control is performed. That is, if the signs of the torque command values Tc * are the same, the clutch motor 30
The same switching control is performed regardless of whether the control is the regenerative control or the powering control. Therefore, both the regenerative control and the power running control can be performed in the clutch motor control routine of FIG. When the torque command value Tc * is a negative value, that is, when the drive shaft 22 is being braked or the vehicle is moving backward, the direction of the change in the electrical angle θc of the clutch motor 30 in step S142 is reversed. Therefore, the control at this time can also be performed by the clutch motor control routine of FIG.

When the control of the assist motor 40 (the assist motor control routine of FIG. 15) is executed, the control CPU
90 first detects the rotation angle θr of the rotor rotation shaft 38 using the resolver 47 (step S150), and then detects the electrical angle θa of the assist motor 40 on the rotor rotation shaft 3
(Step S)
151). In the embodiment, since a 4-pole pair synchronous motor is also used for the assist motor 40, θa = 4θr is calculated. Then, a process (step S152) of detecting each phase current of the assist motor 40 using the current detectors 97 and 98 is performed. Thereafter, coordinate conversion similar to that of the clutch motor 30 (step S154) and calculation of the voltage command values Vda and Vqa are performed (step S156).
Further, the voltage command value is subjected to inverse coordinate conversion (step S158) to determine the on / off control time of the transistors Tr11 to Tr16 of the second drive circuit 92 of the assist motor 40, and PWM control is performed (step S159). These processes are exactly the same as those performed for the clutch motor 30.

Here, the torque command value Ta * of the assist motor 40 is calculated from the torque command value Td * as shown in steps S118 and S122 in FIG.
Calculated by subtracting the target torque Te * of the engine from the target torque Te * of the torque command value Td * and correcting based on the deviation between the target rotational speed Ne * and the rotational speed Ne of the engine. , It may be a positive value or a negative value. Accordingly, the assist motor 40 performs power running control when the torque command value Ta * is a positive value, and performs regenerative control when the torque command value Ta * is a negative value. However, both the power running control and the regenerative control of the assist motor 40 can be performed by the assist motor control routine of FIG. 15 similarly to the control of the clutch motor 30. The same applies when the drive shaft 22 is rotating in the direction opposite to the rotation direction of the crankshaft 56. The assist motor 4
The sign of the torque command value Ta * of 0 is positive when a positive torque acts on the drive shaft 22 in the rotation direction of the crankshaft 56.

According to the torque control described above, the power output device 20 of the embodiment operates in the underdrive mode as the configuration of the schematic diagram of FIG. 3 or operates in the overdrive as the configuration of the schematic diagram of FIG. Thus, the energy Pe output from the engine 50 is converted into a torque by the clutch motor 30 and the assist motor 40, and a torque corresponding to the torque command value Td * can be output to the drive shaft 22 rotating at the rotation speed Nd.

Next, the operation mode switching process will be described with reference to the clutch switching process routine shown in FIG. This routine is performed at predetermined time intervals (for example, 20 msec) after the power output device 20 of the embodiment is started.
It is executed every time. When this routine is executed,
First, the control CPU 90 of the control device 80
A process of reading the rotation speed Ne and the rotation speed Nd of the drive shaft 22 is executed (steps S130 and S132). The rotation speed Ne of the engine 50 can be obtained from the rotation angle θe of the crankshaft 56 detected by the resolver 57, and the value detected by the rotation speed sensor 76 is EF.
It can also be obtained by inputting from the IECU 70 through communication.

Subsequently, a difference ΔN between the read rotation speed Ne of the engine 50 and the rotation speed Nd of the drive shaft 22 is calculated (step S134), and it is determined whether the calculated difference ΔN is less than the threshold value N1. (Step S136). In the embodiment, as described later, when the rotation speed Ne of the engine 50 substantially matches the rotation speed Nd of the drive shaft 22, the operation mode is switched between the first clutch 45 and the second clutch 46.
9, the threshold N1 is set to a value that is equal to the threshold N1 that is allowed when both clutches 45 and 46 are turned on to connect the crankshaft 56 and the drive shaft 22. Shaft 56 and drive shaft 22
Is set as the difference in the number of rotations.

When the difference ΔN is equal to or larger than the threshold value N1, it is determined that the operation mode switching is unnecessary, and the routine is terminated as it is. When the difference ΔN is smaller than the threshold value N1, it is determined that the operation mode switching is necessary. Then, the value of the operation mode determination flag FD is checked (step S137). When the operation mode determination flag FD has a value of 0, switching processing from underdrive to overdrive is performed (step S138). When the operation mode determination flag FD has a value of 1, switching processing from overdrive to underdrive is performed. (Step S139), this routine ends. Here, the switching process from underdrive to overdrive in step S138 is performed by a switching process routine from underdrive to overdrive illustrated in FIG. 16, and the switching process from overdrive to underdrive in step S139 is performed in FIG. This is performed according to a switching processing routine from overdrive to underdrive as exemplified in FIG. Hereinafter, these switching processes will be described.

When the routine for switching from underdrive to overdrive in FIG. 16 is executed, the control CPU 90 of the control device 80 first sets the first clutch 45 to the O
As N (Step S160), the power output device 20 is configured as shown in the schematic diagram of FIG. Subsequently, a process of determining whether the first clutch 45 has been normally turned on, that is, whether an abnormality has occurred in the connection of the first clutch 45 is performed (step S162). In the embodiment, this abnormality determination processing is performed based on the abnormality determination processing routine at the time of direct connection illustrated in FIG. Here, for the sake of explanation, the abnormality determination processing will be described based on the abnormality determination processing routine at the time of direct connection in FIG.

When the abnormality determination routine at the time of the direct connection is executed, the control CPU 90 of the control device 80 first reads the rotational speed Ne of the engine 50 and the rotational speed Nd of the drive shaft 22 (steps S200 and S202). The deviation ΔN between the read rotation speed Ne and the rotation speed Nd is calculated (step S204). Then, the calculated deviation △ N is calculated as a threshold N2
(Step S206), when the difference ΔN is larger than the threshold value N2, it is determined that the first clutch 45 is abnormally abnormal, and the direct connection abnormality determination flag FA1 is set to the value 1
Is set (step S206), and this routine ends. Here, when the crankshaft 56 and the drive shaft 22 are directly connected to each other by the first clutch 45 and the second clutch 46, the threshold value N2 is an error in the detection of the rotation speed Ne of the engine 50 and the rotation speed of the drive shaft 22. It is set as a value slightly larger than the maximum value of the deviation between the rotational speed Ne and the rotational speed Nd resulting from the error in the detection of Nd. Therefore, when the deviation ΔN is larger than the threshold value N2, it can be determined that the crankshaft 56 and the drive shaft 22 are not directly connected.
In the embodiment, this determines whether the first clutch 45 is abnormal. On the other hand, when the deviation ΔN is equal to or smaller than the threshold value N2, the crankshaft 56 and the drive shaft 22 are directly connected, and it is determined that there is no abnormality in the first clutch 45, and this routine ends.

Returning to the switching processing routine of FIG. As a result of determining whether or not an abnormality has occurred in the connection of the first clutch 45, if an abnormality has occurred (step S16)
4) That is, when the value 1 is set in the directly-connected abnormality determination flag FA1 in step S208 of the directly connected abnormality determination processing routine in FIG. 18, the switching of the operation mode is stopped, the diagnostic lamp is turned on, and the first An abnormal process such as a running process in the current state of the clutch 45 and the second clutch 46 is performed (step S179).

On the other hand, the first clutch 45 operates normally,
When it is determined that the crankshaft 56 and the drive shaft 22 are directly connected (the power output device 20 has the configuration shown in the schematic diagram of FIG. 9), the control CPU 90 of the control device 80 determines the rotation speed Ne of the engine 50. Reading (step S166),
The value set in the overdrive state using the read rotation speed Ne, that is, the above-described equations (3) and (4)
Are set as the torque command value Tc * of the clutch motor 30 and the torque command value Ta * of the assist motor 40 (steps S168 and S170). Then, the second clutch 46 is turned off (step S13).
2) The power output device 20 is configured as shown in the schematic diagram of FIG.
Whether the second clutch 46 has been normally turned off,
A process is performed to determine whether or not an abnormality has occurred in releasing the connection of the clutch 46 (step S174). In the embodiment, this abnormality determination processing is performed based on an abnormality determination processing routine at the time of direct connection release illustrated in FIG. For convenience of explanation, the abnormality determination processing will be described based on the abnormality determination processing routine at the time of release of the direct connection in FIG.

When the abnormality determination processing routine at the time of direct connection release is executed, the control CPU 90 of the control device 80 first determines the rotational speed Ne of the engine 50 and the drive shaft as in the abnormality determination processing routine at the time of direct connection in FIG. 22 (steps S210 and S212), a deviation ΔN between the read rotation speed Ne and the rotation speed Nd is calculated (step S214), and the calculated deviation ΔN is compared with a threshold N3 (step S210). S216). Here, similarly to the above-described threshold N2, when the crankshaft 56 and the drive shaft 22 are directly connected by the first clutch 45 and the second clutch 46, the threshold N3 is used to detect the rotation speed Ne of the engine 50. It is set as a value slightly larger than the maximum value of the deviation between the rotation speed Ne and the rotation speed Nd caused by an error or an error in the detection of the rotation speed Nd of the drive shaft 22. Therefore, when the deviation ΔN is smaller than the threshold value N3, it can be determined that there is a high possibility that the crankshaft 56 and the drive shaft 22 are still directly connected. When the deviation ΔN is smaller than the threshold N3 as a result of comparing the deviation ΔN with the threshold N3 in step S216,
It is determined whether a predetermined time has elapsed since the second clutch 46 was turned off (step S218). If the predetermined time has not elapsed, the processing of steps S210 to S218 is repeated. If the deviation ΔN is smaller than the threshold value N3 even after the elapse of the predetermined time, it is determined that an abnormality has occurred in the second clutch 46, and the value 1 is set in the abnormality determination flag FA2 at the time of direct connection release (step S219). Then, this routine ends. Here, the reason why the abnormality is not determined to be abnormal until the state where the deviation ΔN is less than the threshold value N3 after the second clutch 46 is turned off and the predetermined time has elapsed, depending on the control of the engine 50, is as follows.
This is because the rotation speed Ne of the engine 50 may be controlled in the vicinity of the rotation speed Nd of the drive shaft 22 for a while after the second clutch 46 is turned off, and it is avoided to determine that this is abnormal. To do that. On the other hand, if the deviation ΔN is equal to or larger than the threshold value N3 before the predetermined time has elapsed, it is determined that the disconnection by the second clutch 46 has been normally performed, and this routine ends.

Returning to the switching processing routine of FIG. 16, as a result of determining whether or not an abnormality has occurred in disconnecting the second clutch 46, if an abnormality has occurred (step S176), that is, the direct connection of FIG. When the value 1 is set to the direct connection release abnormality determination flag FA2 in step S219 of the release abnormality determination processing routine, the operation mode switching is stopped here, the diagnostic lamp is turned on, and the first clutch 45 and the first clutch 45 Abnormality processing such as running processing in the current state of the two clutches 46 is performed (step S1).
79).

On the other hand, when the disconnection by the second clutch 46 is normally performed, the operation mode determination flag F
D is set to the value 1 representing the overdrive state (step S178), and this routine ends.

Next, a process for switching from overdrive to underdrive will be described based on a routine for switching from overdrive to underdrive illustrated in FIG. The process of switching from overdrive to underdrive is the same process as the process of switching from underdrive to overdrive.
The second clutch 46 is operated instead of the operation of the clutch 45 (step S180), and the first clutch 45 is operated instead of the operation of the second clutch 46 (step S19).
2) Instead of the process of setting the torque command values Tc * and Ta * of the clutch motor 30 and the assist motor 40 by the equations (3) and (4), the clutch motor 30 is calculated by the equations (1) and (2). Torque command value Tc of assist motor 40
*, Ta * are set (step S18).
8, S190), and by setting the value 0 representing the underdrive state to the operation mode determination flag FD instead of the value 1 representing the overdrive state (step S198). The process of determining whether or not the connection by the second clutch 46 has been performed normally in step S182 is performed by an abnormality determination process routine at the time of direct connection illustrated in FIG.
The determination process of whether or not the disconnection of the first clutch 45 by the first clutch 45 is normally performed is performed by the abnormality determination process routine at the time of release of the direct connection illustrated in FIG. Since the description of these processes is duplicated, further description will be omitted.

According to the power output device 20 of the embodiment described above, the power output device 20 is configured as shown in the schematic diagram of FIG. 3 and is in the underdrive mode. The state can be smoothly switched to the state. Moreover, when an abnormality occurs in the first clutch 45 or the second clutch 46 at the time of switching the operation mode, this can be detected. Also,
Similarly, the switching from the overdrive to the underdrive can be smoothly performed, and when an abnormality occurs in the first clutch 45 and the second clutch 26 during the switching of the operation mode, it is detected. Can be. As a result, prompt processing can be performed for these abnormalities.

When the rotational speed Nd of the drive shaft 22 is smaller than the rotational speed Ne of the engine 50, the power output device 20 is torque-converted as shown in FIG.
When the rotation speed Nd of the engine 50 is higher than the rotation speed Ne of the engine 50, the power output device 20 is configured as shown in FIG. Energy efficiency of the entire device can be improved. Further, since the operation mode is switched via the configuration shown in the schematic diagram of FIG. 9 in which the first clutch 45 and the second clutch 46 are both turned on, the power output from the engine 50 even during the operation mode switching. Can be output to the drive shaft 22.

In the power output device 20 of the embodiment, the difference △ between the rotation speed Ne of the engine 50 and the rotation speed Nd of the drive shaft 22
Although the operation mode is switched when N becomes less than the threshold value N1, hysteresis may be provided for the determination of the operation mode switching. In this way, even when the drive shaft 22 is operated near the rotation speed Ne of the engine 50, the power output device 20 frequently switches from the configuration of the schematic diagram of FIG. 3 to the configuration of the schematic diagram of FIG. 4 or vice versa. Can be prevented.

In the power output device 20 of the embodiment, it is determined whether or not the crankshaft 56 and the drive shaft 22 are directly connected by the first clutch 45 and the second clutch 46, or whether or not the direct connection has been released ( The first clutch 45 and the second clutch
The abnormality of the clutch 46 is determined based on the difference ΔN between the rotation speed Ne of the engine 50 and the rotation speed Ne of the drive shaft 22 as described in the routine of FIGS. The determination may be made by controlling 30. FIGS. 20 and 21 illustrate an abnormality determination processing routine at the time of direct connection and at the time of direct connection release in this case. Hereinafter, these abnormality determination processes will be briefly described.

When the abnormality determination processing routine illustrated in FIGS. 20 and 21 is executed, the control CPU 9 of the control device 80
In the case of 0, first, the torque command value Tc * is set by the following equation (9) so that the clutch motor 30 rotates at the predetermined rotation speed N4 (steps S220, S230). When the torque command value Tc * of the clutch motor 30 is set in this way, as described above, the clutch motor 30 is controlled to rotate at the predetermined rotation speed N4 by the clutch motor control processing routine illustrated in FIG. . Here, the predetermined number of revolutions N4 may be any value as long as it is equal to or greater than the minimum value at which the clutch motor 30 can rotate (except for the non-rotating value 0).

[0090]

(Equation 7)

Subsequently, the clutch motor current values Iuc and Ivc detected by the current detectors 95 and 96 are read (steps S222 and S232), and the read clutch motor current values Iuc and Ivc are respectively set to the threshold value Icref.
(Steps S224 and S234). here,
The threshold value Icref is determined by setting the clutch motor 30 to a predetermined rotation speed N.
The value is set to a value slightly larger than the current that normally flows through the three-phase coil 34 when rotating at 4. Therefore, when the clutch motor 30 is rotatable, the clutch motor current values Iuc and Ivc are both less than the threshold value Icref. Now, the first clutch 45 and the second clutch 46
Are turned ON, and if the crankshaft 56 and the drive shaft 22 are directly connected normally, the clutch motor 30 cannot rotate. Therefore, a current larger than the threshold value Icref is applied to the three-phase coil 34 of the clutch motor 30. Flows, and the clutch which has been turned on becomes abnormal, and the clutch motor 30 can rotate unless the crankshaft 56 and the drive shaft 22 are directly connected normally.
The threshold Icre is applied to the three-phase coil 34 of the clutch motor 30.
A current smaller than f will flow. Further, when one of the clutches is turned off and the directly connected state is released when the crankshaft 56 and the drive shaft 22 are directly connected, if the clutch is normally released, the clutch motor 30 may rotate. Because it is possible, clutch motor 30
Since the current smaller than the threshold value Icref flows through the three-phase coil 34, the clutch motor 30 cannot be rotated unless it is released normally, that is, if the clutch motor 30 remains in the direct connection state. Phase coil 3
4, a current larger than the threshold value Icref flows. Accordingly, the first clutch 45 and the second clutch 45 are set by directly connecting the crankshaft 56 and the drive shaft 22 or releasing the directly connected state, and comparing the clutch motor current values Iuc and Ivc with the threshold value Icref. It can be determined whether the clutch 46 is operating normally.

From these facts, the routine of FIG. 20 is a determination process in a state where both the first clutch 45 and the second clutch 46 are ON, so that both the clutch motor current values Iuc and Ivc are equal to the threshold value Icref. If it is less than the predetermined time, it can be determined that an abnormality has occurred in the clutch that has been turned ON, and the routine of FIG. Motor current values Iuc, I
If any of vc is greater than threshold Icref,
It can be determined that the clutch that has been turned ON has an abnormality.
As described above, when it is determined that an abnormality has occurred in the first clutch 45 or the second clutch 46, the value 1 is set in the direct connection abnormality determination flag FA1 and the direct connection release abnormality determination flag FA2.
Is set (steps S226 and S236), and this routine ends. On the other hand, when it is determined that no abnormality has occurred in the first clutch 45 or the second clutch 46, the present routine is terminated as it is.

According to the abnormality determination processing routine of the modified example described above, the first clutch 45 and the second clutch 45 are controlled by controlling the clutch motor 30 to rotate at the predetermined rotation speed N4.
It can be determined whether an abnormality has occurred in the clutch 46.

In the power output device 20 of the embodiment, whether the crankshaft 56 and the drive shaft 22 are directly connected by the first clutch 45 and the second clutch 46 is determined based on the rotation speed Ne of the engine 50. Number of rotations N of drive shaft 22
Although the determination is performed based on the deviation ΔN from the e, the determination may be performed based only on the rotation speed Ne of the engine 50.
FIG. 22 illustrates an abnormality determination processing routine in this case.
In this abnormality determination processing routine, a difference ΔNe between the target rotation speed Ne * of the engine 50 and the read rotation speed Ne of the engine 50 is determined (steps S240 and S242), and the difference ΔNe is compared with a threshold value N5 (step S240). S24
4), when the deviation ΔNe is larger than the threshold value N5,
It is determined that an abnormality has occurred in the first clutch 45 or the second clutch 46, and the value 1 is set in the directly-coupled abnormality determination flag FA1 (step S246). Here, the threshold value N5 is the number of revolutions N of the engine 50 when the operation mode is switched.
The value e is set as an allowable deviation from the target rotation speed Ne *. First clutch 45 and second clutch 4
6, if it is normally ON, the crankshaft 56
Rotates integrally with the drive shaft 22, the engine 5
The deviation of the rotation speed Ne of 0 from the target rotation speed Ne * is not large. However, when an abnormality occurs in either the first clutch 45 or the second clutch 46 and the crankshaft 56 and the drive shaft 22 are not directly connected, the engine 5
0 means that torque as the rotation speed control by the clutch motor 30 or the assist motor 40 is not appropriately transmitted,
Since the rotation speed Ne of the engine 50 is greatly deviated from the target rotation speed Ne * and becomes overspeed or low speed, it is possible to determine the abnormality of the first clutch 45 and the second clutch 46 by this.

In addition, abnormality of the first clutch 45 and the second clutch 46 can be determined based on the charging / discharging current Ib for charging / discharging the battery 94. FIG. 23 shows an example of the abnormality determination processing routine in this case. In this abnormality determination processing routine, the read charge / discharge current Ib is set to the threshold value Ib
ref (steps S250 and S252), and when the magnitude of the charging / discharging current Ib is larger than the threshold value Ibref, it is determined that an abnormality has occurred in the first clutch 45 or the second clutch 46, and the direct connection abnormality determination flag FA1 is set. The value 1 is set (step S254). In the embodiment, the energy Pe output from the engine 50 is
And the assist motor 40 convert the torque to the rotational speed N.
The torque is output to the drive shaft 22 rotating at d as the torque command value Td *, and the same applies when the operation mode is switched. Therefore, if the efficiency and the timing deviation are ignored, the battery 94 is not charged or discharged, and the charging / discharging current Ib becomes the value 0. In practice, a shift in efficiency or timing occurs, so that the battery 94 is charged and discharged with a relatively small charging and discharging current Ib.

The threshold value Ibref in the embodiment is set as the maximum value of the charging / discharging current Ib or a value slightly larger than the maximum value due to a shift in efficiency or timing when the operation mode is switched normally. . Therefore, the first clutch 45 and the second clutch 46
Is operating normally, the read charge / discharge current Ib of the battery 94 becomes smaller than the threshold value Ibref. on the other hand,
If an abnormality occurs in the first clutch 45 or the second clutch 46, the clutch motor 30 or the assist motor 40 is not driven as controlled, so that the energy Pe actually output from the engine 50 and the output to the drive shaft 22 are output. The energy Pd is deviated from the energy Pd, and the energy balance of the entire apparatus is largely disrupted. Since the battery 94 absorbs such a change in the energy balance, it is possible to detect the collapse of the energy balance by detecting the charge / discharge current Ib of the battery 94. As a result, the first clutch 45 and the second It is possible to determine whether an abnormality has occurred in the clutch 46. In FIG. 23, the routine is described as an abnormality determination processing routine at the time of direct connection, but this routine can be used as it is as an abnormality determination processing routine at the time of direct connection release.

Based on the charging / discharging current Ib of the battery 94, the imbalance in energy is detected, whereby the abnormality of the first clutch 45 and the second clutch 46 is detected, and the clutch Tc reflecting the torque Tc of the clutch motor 30 is detected. Assist motor current values Iua, Ivc reflecting motor current values Iuc, Ivc and torque Ta of assist motor 40.
va is detected based on the energy balance,
Thereby, the abnormality of the first clutch 45 and the second clutch 46 may be detected.

In the power output device 20 according to the embodiment, the operation mode is switched when the rotation speed Ne of the engine 50 and the rotation speed Nd of the drive shaft 22 substantially coincide with each other. The operation mode may be switched when the present torque Te substantially matches the torque Td output to the drive shaft 22. In this case, the clutch switching processing routine of FIG. 24 is replaced with the clutch switching processing routine of FIG. 12 and the switching processing routine of switching from underdrive to overdrive in FIG.
5 is replaced with the switching process routine from overdrive to underdrive in FIG.
The switching process routine of No. 6 may be executed. Hereinafter, this modified example will be described.

When the clutch switching process routine of FIG. 24 is executed, the control CPU 90 of the control device 80 firstly sets the intake air amount Ga calculated based on the intake pipe negative pressure detected by the intake pipe negative pressure sensor 72. Is executed (step S330). Subsequently, the engine speed Ne of the engine 50 is read (step S332), and the torque Te output from the engine 50 is calculated based on the read intake air amount Ga and the engine speed Ne of the engine 50 (step S333). Normally, the engine 50 injects fuel that becomes stoichiometric with respect to the intake air amount Ga from the fuel injection valve 51. Therefore, the energy Pe output from the engine 50 has a linear relationship with the intake air amount Ga. Therefore, if the energy Pe obtained from the intake air amount Ga is divided by the rotation speed Ne of the engine 50 at that time, the engine 50
Can be calculated.
The relationship between the energy Pe and the intake air amount Ga is determined by the displacement of the engine 50 and the method of operation of the engine 50 (for example, operation based on the stoichiometric air-fuel ratio, operation on the lean side, operation on the rich side, and the like). . In the embodiment, such a relationship is obtained by an experiment and stored in advance in the ROM 90b as a map, and when the intake air amount Ga is given, the energy Pe corresponding to the given intake air amount Ga is derived.

Next, a deviation ΔT between the calculated torque Te output from the engine 50 and a command value Td * of the torque to be output to the drive shaft 22 is calculated (step S334).
It is determined whether the calculated difference ΔT is less than the threshold value T1 (step S336). In a modified example, as described later,
When the torque Te of the engine 50 and the torque Td of the drive shaft 22 substantially match, switching of the operation mode is performed via the configuration of the schematic diagram of FIG. 10 in which both the first clutch 45 and the second clutch 46 are turned off. I do, Engine 5
The load torque Te of 0 is the torque Tc of the clutch motor 30.
This is the torque Td output to the drive shaft 22. Therefore, the torque Te of the engine 50 and the drive shaft 2
If the deviation from the torque Td of the second clutch 2 is large, the first clutch 45
When both the second clutch 46 and the second clutch 46 are turned off, a torque shock occurs. Therefore, the threshold value T1 is set so that the torque shock is within an allowable range. Note that the torque Te output from the engine 50 is
Comparing the deviation ΔT between the torque Te of the engine 50 and the torque command value Td * with the threshold T1 without comparing the deviation between the torque Td output to the drive shaft 22 and the threshold T1
This is because in a steady state, the torque Td output to the drive shaft 22 may be considered to be equal to the torque command value Td *.

When the difference ΔT is equal to or larger than the threshold value T1, it is determined that the operation mode switching is unnecessary, and the routine is terminated as it is. When the difference ΔT is smaller than the threshold value T1, it is determined that the operation mode switching is necessary. Then, the value of the operation mode determination flag FD is checked (step S337). When the operation mode determination flag FD has a value of 0, switching processing from underdrive to overdrive is performed (step S338), and when the operation mode determination flag FD has a value of 1, switching processing from overdrive to underdrive is performed. (Step S339), this routine ends.

Next, FIG. 25 is executed as the switching processing in step S338 of the clutch switching processing routine in FIG.
Will be described below. When this routine is executed, the control CPU 90 of the control device 80 first turns off the second clutch 46 (step S360), and sets the power output device 20 to the configuration shown in the schematic diagram of FIG. At this time,
Since the torque Te of the engine 50 and the torque Td of the drive shaft 22 are substantially equal, no torque shock occurs on the drive shaft 22. Subsequently, a process of determining whether or not the second clutch 46 has been normally turned off, that is, whether or not an abnormality has occurred in disconnecting the second clutch 46 is executed (step S).
362). In the embodiment, this abnormality determination processing is performed based on the abnormality determination processing routine at the time of release and at the time of hall release illustrated in FIG. Here, for convenience of explanation, the abnormality determination processing will be described.

When the abnormality determination routine at the time of release and at the time of release release of FIG.
The PU 90 first executes a process of reading the clutch motor current values Iuc and Ivc detected by the current detectors 95 and 96 and the assist motor current values Iua and Iva detected by the current detectors 97 and 98 (step S).
400). Then, the read clutch motor current value I
uc, Ivc, the torque Tc currently output by the clutch motor 30 and the assist motor current values Iua, Iua
The torque Ta currently output by the assist motor 40 is calculated based on va (step S402). next,
Deviations ΔTc, ΔTa between the calculated torques Tc, Ta and the corresponding torque command values Tc *, Ta * set at that time are calculated (step S404), and the calculated deviations ΔTc, ΔTa are calculated. To the corresponding threshold Tcre
f, Taref (step S406), and the deviation △
When Tc is greater than the threshold value Tcref or when the deviation ΔTa is greater than the threshold value Taref, it is determined that an abnormality has occurred in connection and disconnection of the first clutch 45 and the second clutch 46, and the abnormality determination flag FA3 is set to a value of 1 Is set (step S408). Here, the threshold Tcref and the threshold Taref are the torques Tc and Ta of the clutch motor 30 and the assist motor 40 at the time of switching the operation mode.
Are set as the maximum allowable deviation from the corresponding torque command values Tc *, Ta * or a value slightly larger than this. Therefore, when the operation mode is switched normally, the deviation ΔTc is equal to the threshold value Tc.
The difference ΔTa is less than the threshold value Taref, so that when any of the deviations is larger than the corresponding threshold value, it can be determined that the first clutch 45 and the second clutch 46 are abnormal. On the other hand, when the deviations ΔTc and ΔTa are both smaller than the thresholds Tcref and Taref, the first
It is determined that there is no abnormality in the clutch 45 and the second clutch 46, and this routine ends.

Returning to the switching processing routine of FIG.
As a result of determining whether or not abnormality has occurred in releasing the connection of the clutch 46, if an abnormality has occurred (step S36)
4) That is, in step S408 of the abnormality determination processing routine at the time of release and release release in FIG.
When the value 1 is set to 3, the switching of the operation mode is stopped, the diagnostic lamp is turned on, and an abnormal process such as the running process of the first clutch 45 and the second clutch 46 in the current state is performed ( Step S379).

On the other hand, the second clutch 46 operates normally,
When it is determined that the rotor rotating shaft 38 is in a free state (the power output device 20 has a configuration shown in the schematic diagram of FIG. 10),
The control CPU 90 of the control device 80 reads the rotation speed Ne of the engine 50 and the rotation speed Na of the assist motor 40 (steps S366 and S367), and uses the read rotation speeds Ne and Na according to the following equation (10). A torque command value Ta * of 40 is set (step S36).
8) The rotation speed Ne of the engine 50 and the assist motor 40
Is compared with the threshold value N6 (step S369), and the processes of steps S366 to S369 are repeated until the difference becomes equal to or less than the threshold value N6. here,
In the equation (10), the first term on the right-hand side is a proportional term for canceling the deviation of the rotational speed Na from the rotational speed Ne, the second term on the right-hand side is an integral term for eliminating the steady-state deviation, and K5 and K6 are proportional constants. It is. The threshold value N6 is for determining whether or not the rotation speed Ne of the engine 50 and the rotation speed Na of the assist motor 40 are substantially the same. Through such processing, the rotation speed Na of the assist motor 40 can be set to the same rotation speed as the rotation speed Ne of the engine 50. The rotation speed Na of the assist motor 40 can be obtained from the rotation angle θr of the rotor rotation shaft 38 detected by the resolver 47.

[0106]

(Equation 8)

When the difference between the rotation speed Ne of the engine 50 and the rotation speed Na of the assist motor 40 becomes equal to or smaller than the threshold value N6,
The value set in the overdrive state, that is, the value calculated by the above-described equations (3) and (4) is used as the torque command value Tc * of the clutch motor 30 and the assist motor 40.
(Step S370)
And S371), and turns on the first clutch 45 (step S262). The power output device 20 is configured as shown in the schematic diagram of FIG. A process for determining whether an abnormality has occurred in the connection is executed (step S37).
4). In the embodiment, this abnormality determination processing is also performed as described in FIG.
This is performed by the abnormality determination routine at the time of release and at the time of release release as exemplified in FIG.

As a result of determining whether or not an abnormality has occurred in the connection of the first clutch 45 as described above, if an abnormality has occurred (step S376), that is, steps of the abnormality determination processing routine at the time of release and release of FIG. When the value 1 is set in the abnormality determination flag FA3 in S408, the switching of the operation mode is stopped here, the diagnostic lamp is turned on, and the running process of the first clutch 45 and the second clutch 46 in the current state is performed. Is performed (step S379). On the other hand, when the connection by the first clutch 45 is normally performed, the operation mode determination flag F
D is set to the value 1 representing the overdrive state (step S378), and this routine ends.

A description will be given of a switching processing routine from overdrive to underdrive in FIG. 26 which is performed as the switching processing in step S339 of the clutch switching processing routine in FIG. The process of switching from overdrive to underdrive is the same process as the process of switching from underdrive to overdrive, and operates the first clutch 45 instead of the operation of the second clutch 46 (step S380). The second clutch 46 is operated instead of the operation of the clutch 45 (step S3).
92), the clutch motor 30 according to the equations (3) and (4).
And the torque command values Tc * and Ta * of the assist motor 40 are replaced with the torque command values Tc of the clutch motor 30 and the assist motor 40 according to the equations (1) and (2).
*, Ta * are set (step S39).
0, S391), since the rotor rotation shaft 38 is connected to the drive shaft 22, the rotation speed Na of the assist motor 40 becomes equal to the rotation speed Nd of the drive shaft 22 when the power output device 20 is configured as shown in the schematic diagram of FIG. In step S386, the torque command value Ta * of the assist motor 40 is set to the value calculated by the following equation (11) instead of the above equation (10) so as to match the equation (11).
ＳS388), and a value 0 representing an underdrive state is set in the operation mode determination flag FD instead of the value 1 representing an overdrive state (step S398). The process of determining whether the connection by the first clutch 45 has been normally performed in step S382 and the process of determining whether the connection by the second clutch 46 has been normally performed in step S394 are both shown in FIG. This is performed by the abnormality determination processing routine at the time of release and release release exemplified in FIG. Since the description of these processes is duplicated, further description will be omitted.

[0110]

(Equation 9)

According to the modified example described above, the power output device 20 is configured as shown in the schematic diagram of FIG. 3 to output power from the state of the underdrive mode to the state of the overdrive mode as the configuration of FIG. The device 20 can be switched smoothly via the configuration shown in the schematic diagram of FIG. In addition, the torque T output from the engine 50
Since the switching is performed when e and the torque Td output to the drive shaft 22 substantially coincide with each other, no torque shock is generated on the drive shaft 22. Of course, the first clutch 45 and the second
When an abnormality occurs in the clutch 46, it can be detected. As a result, prompt processing can be performed for this abnormality.

In this modification, the first clutch 45 and the second clutch 45
When the power output device 20 is configured as shown in the schematic diagram of FIG. 10 by turning off both the clutch 46 and the first clutch 45 and the second clutch 45 when one of the first clutch 45 and the second clutch 46 is turned on from this state. Although the abnormality of the two clutches 46 is detected based on the torque Tc of the clutch motor 30 and the torque Ta of the assist motor 40, the abnormality determination processing routine at the time of direct connection in FIG. 18 and the abnormality determination processing routine at the time of direct connection release in FIG. An abnormality may be detected based on the rotation speed Ne of the engine 50 or the rotation speed Nd of the drive shaft 22, or an abnormality may be detected based on the rotation speed Ne of the engine 50 as in the abnormality determination processing routine at the time of direct connection in FIG. As shown in FIG. 23, the abnormality determination processing routine at the time of direct connection in FIG. Ib and clutch motor current values Iu
c, Ivc, the assist motor current values Iua, Iva, etc., to detect an abnormality. However, in applying this, it is necessary to pay attention to the fact that the power output device 20 is configured as shown in the schematic diagram of FIG. 10 when the operation mode is switched.

In the power output device 20 of the embodiment described above and its modified example, the first clutch 45 and the second clutch 46 are arranged between the assist motor 40 and the clutch motor 30. However, in the modified example of FIG. As shown in power output device 20A, first clutch 45A and second clutch 46B
29, the first clutch 45B is arranged between the engine 50 and the assist motor 40, as shown in the power output device 20B of the modified example of FIG. The two clutch 46B may be disposed between the assist motor 40 and the clutch motor 30. In the power output device 20 of the embodiment,
The assist motor 40 is connected to the engine 50 and the clutch motor 3
However, the clutch motor 30C may be disposed between the engine 50 and the assist motor 40 as shown in a power output device 20C of a modified example in FIG. In the power output device 20C, an outer rotor 31C having a permanent magnet 32C of a clutch motor 30C on the inner peripheral surface is coupled to the crankshaft 56, and the drive shaft 2
2 is connected to an inner rotor 33C around which a three-phase coil 34 is wound. This difference is because the first clutch 45C and the second clutch 46C are arranged between the clutch motor 30C and the assist motor 40. As described above, even if the arrangement of the clutch motor 30 and the assist motor 40 is different from that of the power output device 20 of the embodiment, the operation is the same as that of the power output device 20 of the embodiment. Note that the arrangement of the clutch motor 30, the assist motor 40, the first clutch 45, the second clutch 46, and the slip ring 35 is different from that of the power output device 20 of the embodiment in that the arrangement of the clutch motor 30 and the assist motor 40 is two.
The first and second clutches 45 and 46 are arranged in three ways, and the slip ring 35 is arranged in three ways, for a total of one.
8 (2 × 3 × 3) patterns.

In the power output device 20 of the embodiment and its modified example, the clutch motor 30 and the assist motor 40 are arranged in the axial direction. The clutch motor 30
It may be arranged radially outward of D. In this configuration, the clutch motor 30D and the assist motor 40D
Is a clutch motor 30 coupled to a crankshaft 56 from the inside and having a permanent magnet 32D affixed to the outer peripheral surface.
The inner rotor 31D of D, the outer rotor 33D of the clutch motor 30D around which the three-phase coil 34D is wound, the rotor 41D of the assist motor 40D having a permanent magnet 42D affixed to the outer surface of the clutch motor 30D, and fixed to the case 49. The three-phase coils 44D are arranged in the order of the wound stator 43D. By arranging the assist motor 40 radially outside the clutch motor 30 in this manner, the axial length of the device can be significantly reduced. As a result, the entire device can be made more compact. The assist motor 40D
In the configuration in which the first clutch 45D and the second clutch 46D are arranged radially outside the clutch motor 30, there is also a degree of freedom in the arrangement of the slip ring 35.

In the power output device 20 of the embodiment and its modified example, the clutch motor 30 and the assist motor 40 are arranged coaxially.
As shown in the power output device 20F of the modification of FIG.
The clutch motor and the assist motor may be arranged on different axes. In the power output device 20E of the modified example, the engine 50 and the clutch motor 30E are arranged coaxially, the assist motor 40E is arranged on a different shaft, and the outer rotor 33E of the clutch motor 30E is connected to the drive shaft 22 by the belt 22E. The crankshaft 56 is connected to the first clutch 45 by a belt 56E.
E is connected to the rotor rotation shaft 38E. In the power output device 20F of the modified example, the engine 50 and the assist motor 40F are arranged coaxially, the clutch motor 30F is arranged on a different axis, and the outer rotor 33E of the clutch motor 30F is connected to the crankshaft by a belt 56E. The drive shaft 22 is connected to the rotor rotation shaft 38F via a second clutch 46F by a belt 22F. If the clutch motor 30 and the assist motor 40 are arranged on different axes as in these modified examples, the axial length of the device can be significantly reduced. As a result, the device can be advantageously mounted on a front-wheel drive vehicle. Such a motor in which the clutch motor 30 and the assist motor 40 are arranged on different shafts also has a degree of freedom in the arrangement of the first clutch 45 and the second clutch 46 and the like.

Although the embodiments of the present invention have been described above, 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.

For example, the power output device 2 of the above-described embodiment
In the case of 0, a gasoline engine driven by gasoline is used as the engine 50, but in addition, various internal combustion or external combustion engines such as a diesel engine, a turbine engine, and a jet engine can be used.

In the power output device 20 of the embodiment, the PM (permanent magnet type) synchronous motor is used as the clutch motor 30 and the assist motor 40. However, the regenerative operation and the power running operation are performed. If any, VR type (variable reluctance type; Va)
riable Reluctance type) synchronous motor, vernier motor, DC motor, induction motor, superconducting motor,
A step motor or the like can be used.

Further, in the power output device 20 of the embodiment,
Although the slip ring 35 including the rotating ring 35a and the brush 35b is used as a means for transmitting electric power to the clutch motor 30, a rotating ring-mercury contact, a semiconductor coupling of magnetic energy, a rotating transformer, or the like may be used.

Alternatively, in the power output device 20 of the embodiment, transistor inverters are used as the first and second drive circuits 91 and 92. In addition, an IGBT (insulated gate bipolar mode transistor;
te Bipolar mode Transistor) inverter, thyristor inverter, voltage PWM (pulse width modulation; Pulse Wi
dth Modulation) inverters, square-wave inverters (voltage-type inverters, current-type inverters), and resonance inverters can also be used.

As the battery 94, a Pb battery, NiMH battery, Li battery or the like can be used, but a capacitor can be used instead of the battery 94.

Further, in each of the embodiments, the case where the power output device is mounted on the vehicle has been described. However, the present invention is not limited to this. It can also be installed.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a schematic configuration of a power output device 20 as one embodiment of the present invention.

FIG. 2 is a configuration diagram showing a schematic configuration of a vehicle incorporating the power output device 20 of the embodiment.

FIG. 3 is a schematic diagram illustrating a configuration of a power output device 20 according to an embodiment when a first clutch 45 is turned off and a second clutch 46 is turned on.

FIG. 4 is a schematic diagram showing a configuration of a power output device 20 of the embodiment when a first clutch 45 is turned on and a second clutch 46 is turned off.

FIG. 5 is an explanatory diagram illustrating a state of torque conversion when Ne <Nd in the configuration of the schematic diagram of FIG. 3;

FIG. 6 is an explanatory diagram illustrating a state of torque conversion when Ne> Nd in the configuration of the schematic diagram of FIG. 3;

7 is an explanatory diagram illustrating a state of torque conversion when Ne <Nd in the configuration of the schematic diagram of FIG. 4;

FIG. 8 is an explanatory diagram illustrating a state of torque conversion when Ne> Nd in the configuration of the schematic diagram of FIG. 4;

FIG. 9 is a schematic diagram illustrating a configuration of the power output device 20 according to the embodiment when the first clutch 45 and the second clutch 46 are both turned on.

FIG. 10 is a schematic diagram illustrating a configuration of the power output apparatus 20 according to the embodiment when both the first clutch 45 and the second clutch 46 are turned off.

FIG. 11 is a flowchart illustrating a torque control routine executed by a control CPU 90 of the control device 80;

FIG. 12 is a flowchart illustrating a clutch switching processing routine executed by a control CPU 90 of the control device 80;

FIG. 13 is an explanatory diagram exemplifying a map showing a relationship among a torque command value Td *, a rotation speed Nd, and an accelerator pedal position AP.

FIG. 14 is a flowchart illustrating a clutch motor control routine executed by a control CPU 90 of the control device 80;

FIG. 15 is a flowchart illustrating an assist motor control routine executed by a control CPU 90 of the control device 80;

FIG. 16 is a flowchart illustrating a switching processing routine from underdrive to overdrive executed by the control CPU 90 of the control device 80;

FIG. 17 is a flowchart illustrating a switching processing routine from overdrive to underdrive executed by the control CPU 90 of the control device 80;

18 is a flowchart illustrating an abnormality determination processing routine at the time of direct connection, which is executed by a control CPU 90 of the control device 80. FIG.

FIG. 19 is a flowchart illustrating an abnormality determination processing routine at the time of release of direct connection, which is executed by the control CPU 90 of the control device 80;

FIG. 20 is a flowchart illustrating an abnormality determination processing routine at the time of direct connection according to a modification;

FIG. 21 is a flowchart illustrating an abnormality determination processing routine at the time of direct connection release according to a modified example.

FIG. 22 is a flowchart illustrating an abnormality determination processing routine at the time of direct connection according to a modified example;

FIG. 23 is a flowchart illustrating an abnormality determination processing routine at the time of direct connection according to a modification;

FIG. 24 is a flowchart illustrating a clutch switching processing routine of a modified example.

FIG. 25 is a flowchart illustrating a switching processing routine from underdrive to overdrive in a modified example.

FIG. 26 is a flowchart illustrating a processing routine for switching from overdrive to underdrive in a modified example.

FIG. 27 is a flowchart illustrating an abnormality determination processing routine at the time of release and at the time of release release, which is executed in the switching processing routine of the modified example of FIGS. 25 and 26;

FIG. 28 is a configuration diagram showing a schematic configuration of a power output device 20A of a modified example.

FIG. 29 is a configuration diagram showing a schematic configuration of a power output device 20B of a modified example.

FIG. 30 is a configuration diagram showing a schematic configuration of a power output device 20C of a modified example.

FIG. 31 is a configuration diagram showing a schematic configuration of a power output device 20D of a modified example.

FIG. 32 is a configuration diagram showing a schematic configuration of a power output device 20E of a modified example.

FIG. 33 is a configuration diagram illustrating a schematic configuration of a power output device 20F according to a modification.

[Explanation of symbols]

 Reference Signs List 20 power output device 20A-20F power output device 22 drive shaft 24 differential gear 26, 28 drive wheel 30 clutch motor 31 inner rotor 32 permanent magnet 33 outer rotor 34 coil 34 three-phase coil 35 Slip ring 35a Rotating ring 35b Brush 37 Resolver 38 Rotor shaft 40 Assist motor 41 Rotor 42 Permanent magnet 43 Stator 44 Three-phase coil 45 First clutch 46 Second clutch 47 Resolver 49 ... Case 50 ... Engine 51 ... Fuel injection valve 52 ... Combustion chamber 54 ... Piston 56 ... Crank shaft 57 ... Resolver 58 ... Igniter 60 ... Distributor 62 ... Spark plug 64 ... Accel pedal 64a ... Accel pedal position sensor 65 ... Bray Pedal 65a ... Brake pedal position sensor 66 ... Throttle valve 67 ... Throttle valve position sensor 68 ... Actuator 70 ... EFIECU 72 ... Intake pipe negative pressure sensor 74 ... Water temperature sensor 76 ... Rotation speed sensor 78 ... Rotation angle sensor 79 ... Starter switch 80 ... Control device 82 Shift lever 84 Shift position sensor 90 Control CPU 90a RAM 90b ROM 91 First drive circuit 92 Second drive circuit 94 Battery 95, 96 Current detector 97, 98 Current Detector 99: remaining capacity detector 99b: ammeter L1, L2: power supply line Tr1 to Tr6: transistor Tr11 to Tr16: transistor

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Norihiko Akao 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (56) References JP-A-10-271749 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B60L 11/14 B60K 6/02 F02D 29/02 H02K 7/18 H02P 9/04

Claims (11)

(57) [Claims] 1. A power output device for outputting power to a drive shaft, comprising: a prime mover having an output shaft; a first rotor connected to the output shaft; and a first rotor connected to the drive shaft. A first motor having a second rotor rotatable relative to the rotor, and exchanging power between the output shaft and the drive shaft via an electromagnetic coupling between the two rotors Having a rotation shaft different from the output shaft and the drive shaft,
A second electric motor that exchanges power via the rotating shaft; a first connection unit that mechanically connects and disconnects the rotating shaft and the output shaft; Second connection means for mechanically connecting to and disconnecting from the drive shaft; target power setting means for setting target power to be output to the drive shaft; operating states of the output shaft and the drive shaft Operating state detecting means for detecting a connection state by the first connecting means and / or a connecting state by the second connecting means based on the detected operating states of the output shaft and the drive shaft. Switching control means for driving and controlling the corresponding first connection means and the second connection means; and the power output from the prime mover as a result of the switching by the switching control means, is torque-converted to the drive power as target power. Power control means for controlling the driving of the first electric motor and the second electric motor so as to be outputted to a shaft; and the first connection means and / or the second connection means switched by the switching control means. A power output device comprising: abnormality detection means for detecting abnormality. 2. The power output device according to claim 1, wherein the power storage means is capable of charging and discharging by the first electric motor and the charge and discharge by the second electric motor; A power output device comprising: current detection means for detecting; and the abnormality detection means detecting an abnormality based on a current detected by the current detection means. 3. The power output device according to claim 2, further comprising target power setting means for setting a target power for charging and discharging the power storage means, wherein the power control means is configured to control the power storage means based on the target power Means for controlling the power output from the prime mover to be converted into a torque and output to the drive shaft as a target power while being charged and discharged, and the abnormality detecting means detects a current detected by the current detecting means A power output device including an abnormality determination unit that determines an abnormality when a difference between the power for charging / discharging the power storage unit and the target power obtained based on the target power is larger than a predetermined value. 4. The power output device according to claim 1, further comprising current detection means for detecting a drive current of the first electric motor and / or the second electric motor; A power output device which is means for detecting an abnormality based on a drive current of the first electric motor and / or the second electric motor detected by the detection means. 5. The power output device according to claim 4, wherein said abnormality detecting means is configured to detect a drive current of said first motor and / or said second motor detected by said current detecting means. Torque estimating means for estimating the torque output from the corresponding motor; and abnormality determining means for determining that the motor is abnormal when the deviation of the estimated motor from the control target value by the power control means is greater than a predetermined value. A power output device comprising: 6. The power source according to claim 1, wherein said abnormality detecting means is means for detecting an abnormality based on a rotation speed as an operating state of said output shaft and said drive shaft detected by said operating state detecting means. Output device. 7. The power output apparatus according to claim 6, wherein said abnormality detecting means is means for judging an abnormality when the number of revolutions of said output shaft changes at a predetermined change rate or more. 8. The power output apparatus according to claim 1, wherein the switching control means connects one of the first and second connecting means from a connected state and the other from a disconnected state. , Or when the first and second
When both of the connection means are switched from the connected state to the disconnected state, the first electric motor is driven such that the second rotor is driven at a predetermined rotation speed with respect to the first rotor. A first motor control unit for controlling; and a current detection unit for detecting a drive current of the first motor controlled by the first motor control unit. The abnormality detection unit is detected by the current detection unit. Power output device, which is a means for detecting an abnormality based on the applied drive current. 9. The power output device according to claim 8, wherein the first motor control means is configured such that one of the first and second connection means is connected and the other is disconnected by the switching control means. And controlling the second rotor to drive at a predetermined rotation speed with respect to the first rotor when the other is switched from the state to the connected state. A power output device comprising abnormality determination means for determining that an abnormality has occurred when the drive current detected by the current detection means is equal to or less than a predetermined value. 10. The power output device according to claim 8, wherein the first motor control means connects one of the first and second connection means from a state in which the first and second connection means are both connected by the switching control means. Means for controlling the first rotor to drive the second rotor at a predetermined number of revolutions when the state is switched to the release state, wherein the abnormality detecting means is detected by the current detecting means A power output device comprising abnormality determination means for determining that an abnormality has occurred when the driving current is larger than a predetermined value. 11. The power output device according to claim 1, wherein a rotational speed difference between the rotating shaft and the output shaft and / or a rotational speed difference between the rotating shaft and the drive shaft is detected. Detecting means based on a rotational speed difference between the rotating shaft and the output shaft and / or a rotational speed difference between the rotating shaft and the drive shaft detected by the rotational speed difference detecting device. Power output device which is means for detecting abnormalities.