A hybrid power system speed protection control method, device and vehicle

Abstract

The present invention provides a hybrid power system speed protection control method, device, and vehicle for addressing engine speed overshoot and response delay issues in a P13 configuration. The method includes obtaining the target speed, actual speed, and maximum allowable speed of a first motor, the maximum allowable speed of the engine, the target power path torque, and the target gas path torque; determining whether the engine is in a speed overshoot state or an underspeed regulation state based on the target speed, actual speed, maximum allowable speed, and maximum allowable speed of the first motor, and the maximum allowable speed of the engine; if the engine is in a speed overshoot state, performing PI control on the target power path torque of the engine until the speed difference between the target speed and the actual speed of the first motor falls within a preset allowable range; if the engine is in an underspeed regulation state, performing PI control on the target gas path torque of the engine until the speed difference between the target speed and the actual speed of the first motor falls within a preset allowable range.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile control, and in particular to a hybrid power system speed protection control method, device and automobile. Background Art

[0002] With increasingly stringent regulations, hybrid vehicles are increasingly replacing traditional fuel vehicles. P13 is a typical example. In this configuration, the powertrain consists of engine 1, motor 2 (number one), motor 3 (number two), battery 4, and reduction gear 5. Due to the direct coupling between engine 1 and motor 2, and the accuracy of engine torque, under certain operating conditions, when engine 1's actual torque exceeds the expected torque and exceeds the adjustable range of motor 2, the engine speed can surge, generating noise. When engine 1's actual torque is lower than the expected torque and battery 4's discharge capacity is insufficient, controlling motor 2 becomes more difficult, resulting in insufficient motor speed regulation, delayed response, and, in severe cases, system instability, impacting the driving experience.

[0003] The purpose of the present invention is to solve the engine speed overshoot and response delay problems of this configuration, ensure system safety, and at the same time not increase the mechanical complexity of the system. Summary of the Invention

[0004] The present invention provides a hybrid power system speed protection control method, device and vehicle, which are used to solve the problems of engine speed overshoot and response delay in P13 configuration.

[0005] The technical solution of the present invention is:

[0006] The present invention provides a method for controlling the rotational speed of a hybrid power system, wherein the hybrid power system comprises an engine, a first motor powered by a battery to start the engine, and a second motor powered by the battery to drive a reduction mechanism. The method comprises:

[0007] Obtain the target speed, actual speed, and maximum allowable speed of the No. 1 motor, the maximum allowable speed, target fire path torque, and target gas path torque of the engine;

[0008] Based on the target speed, actual speed, maximum allowable speed of the No. 1 motor and the maximum allowable speed of the engine, determine whether the engine is in a speed overshoot state or a speed underregulation state;

[0009] If the engine is in a speed surge state, the speed difference between the target speed and the actual speed of the No. 1 motor is used as the control target, and PI control is performed on the target firing torque of the engine until the speed difference between the target speed and the actual speed of the No. 1 motor is within the preset allowable range;

[0010] If the engine is in an under-speed regulation state, the speed difference between the target speed and the actual speed of motor No. 1 is used as the control target, and PI control is performed on the target gas path torque of the engine until the speed difference between the target speed and the actual speed of motor No. 1 is within the preset allowable range.

[0011] Preferably, the step of determining whether the engine is in a speed overshoot state or a speed underregulation state based on the target speed, actual speed, maximum allowable speed of the first motor and the maximum allowable speed of the engine comprises:

[0012] Determine the maximum allowable speed deviation of the system based on the maximum allowable speed of the engine, the maximum allowable speed of the No. 1 motor, and the target speed of the No. 1 motor;

[0013] Calculate the speed change rate of motor No. 1 based on the actual speed of motor No. 1;

[0014] Calculating a first difference between the actual speed and the target speed of the first motor, and comparing the first difference with the maximum allowable speed deviation of the system;

[0015] If the first difference is greater than the maximum allowable speed deviation of the system, then start timing;

[0016] If the timing exceeds the preset limit, or if the timing does not exceed the preset limit and the speed change rate of the first motor is greater than the preset change rate value, it is determined that the engine is in a speed overshoot state;

[0017] Calculating a second difference between the target speed and the actual speed of the first motor, and comparing the second difference with the maximum allowable speed deviation of the system;

[0018] If the second difference is greater than the maximum allowable speed deviation of the system, the timing starts;

[0019] If the timing exceeds the preset limit, it is determined that the engine is in a speed overshoot state.

[0020] Preferably, the step of determining the maximum allowable speed deviation of the system according to the maximum allowable speed of the engine, the maximum allowable speed of the first motor, and the target speed of the first motor comprises:

[0021] The maximum speed allowed by the system is obtained by taking the smaller of the maximum allowable speed of the engine and the maximum allowable speed of the No. 1 motor;

[0022] The maximum allowable speed deviation of the system is obtained by calculating the difference between the maximum speed allowed by the system and the target speed of the No. 1 motor;

[0023] Determine the second maximum allowable speed deviation of the system based on the target speed of motor No. 1;

[0024] The maximum allowable speed deviation of the system is obtained by taking the smaller of the maximum allowable speed deviation of the system one and the maximum allowable speed deviation of the system two.

[0025] Preferably, the step of determining the second maximum allowable speed deviation of the system according to the target speed of the first motor includes:

[0026] The system maximum allowable speed deviation 2 at the target speed is obtained by looking up a predetermined correspondence table between the target speed of the first motor and the system maximum allowable speed deviation 2.

[0027] Preferably, the preset allowable range is related to the actual rotation speed of the first motor;

[0028] The higher the actual rotation speed of the first motor is, the smaller the preset allowable range is.

[0029] The present invention provides a hybrid power system speed protection control device, wherein the hybrid power system comprises an engine, a first motor that uses battery power to start the engine, and a second motor that uses battery power to drive a speed reduction mechanism. The hybrid power system speed protection control device comprises:

[0030] An acquisition module is used to obtain the target speed, actual speed and maximum allowable speed of the No. 1 electric motor, the maximum allowable speed, target fire circuit torque and target gas circuit torque of the engine;

[0031] a judgment module, for judging whether the engine is in a speed overshoot state or a speed underregulation state based on the target speed, actual speed, maximum allowable speed of the No. 1 motor and the maximum allowable speed of the engine;

[0032] a first control module configured to, if the engine is in a speed overshoot state, use a speed difference between a target speed of the first motor and an actual speed as a control target to perform PI control on a target firing torque of the engine until the speed difference between the target speed of the first motor and the actual speed falls within a preset allowable range;

[0033] The second control module is used to, if the engine is in an under-speed regulation state, use the speed difference between the target speed and the actual speed of motor No. 1 as the control target, and perform PI control on the target gas path torque of the engine until the speed difference between the target speed and the actual speed of motor No. 1 is within a preset allowable range.

[0034] Preferably, the judgment module includes:

[0035] a first determining unit, configured to determine a maximum allowable speed deviation of the system according to a maximum allowable speed of the engine, a maximum allowable speed of the first motor, and a target speed of the first motor;

[0036] a first calculation unit, configured to calculate a speed change rate of the first motor according to an actual speed of the first motor;

[0037] a first calculating and comparing unit, configured to calculate a first difference between an actual speed of the first motor and a target speed, and compare the first difference with a maximum allowable speed deviation of the system;

[0038] A first timing unit, configured to start timing if the first difference is greater than the maximum allowable speed deviation of the system;

[0039] a second determining unit, configured to determine that the engine is in a speed overshoot state if the timing exceeds a preset limit, or if the timing does not exceed the preset limit and the speed change rate of the first motor is greater than a preset change rate value;

[0040] a second calculating and comparing unit, configured to calculate a second difference between the target speed and the actual speed of the first motor, and compare the second difference with a maximum allowable speed deviation of the system;

[0041] a second timing unit, configured to start timing if the second difference is greater than the maximum allowable speed deviation of the system;

[0042] The third determining unit is configured to determine that the engine is in a speed overshoot state if the timing exceeds a preset limit.

[0043] Preferably, the first determining unit includes:

[0044] The first determination subunit is configured to obtain the maximum speed allowed by the system based on the smaller of the maximum allowable speed of the engine and the maximum allowable speed of the first motor;

[0045] The second determining subunit is configured to obtain a maximum allowable speed deviation of the system of one by calculating the difference between the maximum allowable speed of the system and the target speed of the first motor;

[0046] a third determining subunit, configured to determine a second maximum allowable speed deviation of the system according to a target speed of the first motor;

[0047] The fourth determining subunit is configured to obtain the system maximum allowable speed deviation by taking the smaller of the system maximum allowable speed deviation 1 and the system maximum allowable speed deviation 2.

[0048] Preferably, the third determining subunit is specifically configured to:

[0049] The system maximum allowable speed deviation 2 at the target speed is obtained by looking up a predetermined correspondence table between the target speed of the first motor and the system maximum allowable speed deviation 2.

[0050] The present invention also provides an automobile, comprising the hybrid power system speed protection control device.

[0051] The beneficial effects of the present invention are:

[0052] The present invention monitors the speed status of motor No. 1 in real time and performs closed-loop control of the engine torque based on the deviation between the target speed and actual speed of motor No. 1, thereby solving the problems of speed overshoot and insufficient speed regulation caused by insufficient accuracy of the engine torque model or insufficient battery discharge capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of a P13 hybrid structure disclosed in this embodiment;

[0054] Figure 2 This is a control flow chart of the speed protection of a hybrid power system of a P13 configuration disclosed in this embodiment. DETAILED DESCRIPTION

[0055] The present invention is introduced based on the P13 hybrid power configuration. Other power configurations, if there is a speed surge or insufficient speed regulation when the engine 1 and the first motor 2 are directly coupled or coupled through a clutch or a reduction mechanism, are all within the scope of the present invention.

[0056] The engine 1 in this invention adopts torque control to execute the target torque specified by the PDCU 6 ; the No. 1 motor 2 adopts speed control to execute the target speed specified by the PDCU 6 .

[0057] First, it is necessary to judge whether the engine 1 speed is overshooting or underspeed regulation. The following parameters need to be obtained for this judgment: the target speed of motor No. 1, the actual speed of motor No. 1, the maximum allowable speed of engine 1, the maximum allowable speed of motor No. 2, the target fire circuit torque of engine 1, and the target gas circuit torque of engine 1.

[0058] Since engine 1 is directly coupled to motor 2, and the speed detection accuracy of motor 2 is much higher than that of engine 1, in order to detect speed abnormalities as early as possible and enter control, the speed of motor 2 is used to judge and calculate whether the speed of engine 1 is overshooting or insufficient speed regulation.

[0059] According to the target speed of the No. 1 motor 2, the actual speed of the No. 1 motor 2, the maximum allowable speed of the engine 1, and the maximum allowable speed of the No. 1 motor 2, it is determined whether the engine 1 is in a speed overshoot state or a speed underregulation state.

[0060] If the difference between the actual speed and the target speed of motor 2 is greater than the set judgment condition (the maximum allowable speed deviation of the system), the timer is triggered. When the timing duration exceeds the set value or the speed change rate of motor 2 is greater than the set value, it is determined to be a speed overshoot state. If the difference between the target speed and the actual speed of motor 2 is greater than the set judgment condition, the timer is triggered. When the timing duration exceeds the set value, it is determined to be a speed underregulation state.

[0061] If the speed overshoot state is determined to be established, the target firing torque of engine 1 is closed-loop controlled so that the actual speed of motor 2 No. 1 reaches its target speed. The firing torque refers to the control of the torque by the engine through the ignition angle. Its characteristic is that it can be adjusted quickly and can achieve rapid torque reduction of the engine.

[0062] If the under-speed regulation state is determined to be established, the target gas path torque of engine 1 is closed-loop controlled so that the actual speed of motor 2 No. 1 reaches its target speed. Gas path torque refers to the engine controlling the torque by adjusting the intake volume through the throttle. When the engine has a torque increase request, it can only be adjusted through the gas path torque.

[0063] The implementation of the above speed protection is as follows Figure 2 The process is as follows:

[0064] S010: Receive the target speed of motor No. 1 2, the actual speed of motor No. 1 2, the maximum allowable speed of engine 1, the maximum allowable speed of motor No. 2, the target fire torque of engine 1, and the target gas torque of engine 1.

[0065] According to the maximum allowable speed of engine 1 and the maximum allowable speed of motor 2, the smaller one is taken after comparison to obtain the maximum allowable speed of the system, and the difference between the maximum allowable speed of the system and the target speed of motor 2 is calculated to obtain the maximum allowable speed deviation of the system -1.

[0066] According to the target speed of the first motor 2, the second maximum allowable speed deviation of the system under the target speed is obtained by looking up the table.

[0067] The smaller of the system maximum allowable speed deviation 1 and the system maximum allowable speed deviation 2 is obtained to obtain the system maximum allowable speed deviation.

[0068] S020: Calculating the speed change rate of the first motor 2 according to the actual speed of the first motor 2.

[0069] S030: Calculate the first difference between the actual speed and the target speed of motor No. 1, compare the first difference with the maximum allowable speed deviation of the system, and start timing if it is greater than the maximum allowable speed deviation of the system; when the timing exceeds the set limit, or the timing does not exceed the set limit, but the speed change rate of motor No. 1 is greater than the set value, the closed-loop control of the fire circuit torque of engine 1 is triggered.

[0070] S040: When closed-loop control of the firing torque of engine 1 is triggered, PI control of the target firing torque of engine 1 is performed, using the speed difference between the target speed and the actual speed of motor 2 (number one) as the control target, until the speed difference between the target speed and the actual speed of motor 2 (number one) is within a preset allowable range. Specifically, the target firing torque of engine 1 must be within a reasonable range.

[0071] S050: Calculate the second difference between the target speed and the actual speed of motor 2 No. 1, compare the second difference with the system's maximum allowable speed deviation, and if it is greater than the system's maximum allowable speed deviation, start timing; when the timing exceeds the set limit, trigger the closed-loop control of the engine 1 gas path torque.

[0072] S060: When closed-loop control of the gas circuit torque of engine 1 is triggered, PI control of the target gas circuit torque of engine 1 is performed, using the speed difference between the target speed and the actual speed of motor 2 (number one) as the control target, until the speed difference between the target speed and the actual speed of motor 2 (number one) is within a preset allowable range. In particular, the target gas circuit torque of engine 1 must be limited to a reasonable range.

[0073] The above-mentioned preset allowable range is related to the actual speed of the motor 1;

[0074] The higher the actual rotation speed of the first motor 1 is, the smaller the preset allowable range is.

[0075] By real-time monitoring of the speed status of motor No. 1 and closed-loop control of the torque of engine 2 based on the deviation between the target speed and actual speed of motor No. 1, the problems of speed overshoot and insufficient speed regulation caused by insufficient torque model accuracy of engine 2 or insufficient battery discharge capacity are solved.

[0076] The present invention also provides a hybrid power system speed protection control device, the hybrid power system having an engine, a first motor powered by a battery to start the engine, and a second motor powered by the battery to drive a speed reduction mechanism, the hybrid power system speed protection control device comprising:

[0077] An acquisition module is used to obtain the target speed, actual speed and maximum allowable speed of the No. 1 electric motor, the maximum allowable speed, target fire circuit torque and target gas circuit torque of the engine;

[0078] a judgment module, for judging whether the engine is in a speed overshoot state or a speed underregulation state based on the target speed, actual speed, maximum allowable speed of the No. 1 motor and the maximum allowable speed of the engine;

[0079] a first control module configured to, if the engine is in a speed overshoot state, use a speed difference between a target speed of the first motor and an actual speed as a control target to perform PI control on a target firing torque of the engine until the speed difference between the target speed of the first motor and the actual speed falls within a preset allowable range;

[0080] The second control module is used to, if the engine is in an under-speed regulation state, use the speed difference between the target speed and the actual speed of motor No. 1 as the control target, and perform PI control on the target gas path torque of the engine until the speed difference between the target speed and the actual speed of motor No. 1 is within a preset allowable range.

[0081] Preferably, the judgment module includes:

[0082] a first determining unit, configured to determine a maximum allowable speed deviation of the system according to a maximum allowable speed of the engine, a maximum allowable speed of the first motor, and a target speed of the first motor;

[0083] a first calculation unit, configured to calculate a speed change rate of the first motor according to an actual speed of the first motor;

[0084] a first calculating and comparing unit, configured to calculate a first difference between an actual speed of the first motor and a target speed, and compare the first difference with a maximum allowable speed deviation of the system;

[0085] A first timing unit, configured to start timing if the first difference is greater than the maximum allowable speed deviation of the system;

[0086] a second determining unit, configured to determine that the engine is in a speed overshoot state if the timing exceeds a preset limit, or if the timing does not exceed the preset limit and the speed change rate of the first motor is greater than a preset change rate value;

[0087] a second calculating and comparing unit, configured to calculate a second difference between the target speed and the actual speed of the first motor, and compare the second difference with a maximum allowable speed deviation of the system;

[0088] a second timing unit, configured to start timing if the second difference is greater than the maximum allowable speed deviation of the system;

[0089] The third determining unit is configured to determine that the engine is in a speed overshoot state if the timing exceeds a preset limit.

[0090] Preferably, the first determining unit includes:

[0091] The first determination subunit is configured to obtain the maximum speed allowed by the system based on the smaller of the maximum allowable speed of the engine and the maximum allowable speed of the first motor;

[0092] The second determining subunit is configured to obtain a maximum allowable speed deviation of the system of one by calculating the difference between the maximum allowable speed of the system and the target speed of the first motor;

[0093] a third determining subunit, configured to determine a second maximum allowable speed deviation of the system according to a target speed of the first motor;

[0094] The fourth determining subunit is configured to obtain the system maximum allowable speed deviation by taking the smaller of the system maximum allowable speed deviation 1 and the system maximum allowable speed deviation 2.

[0095] Preferably, the third determining subunit is specifically configured to:

[0096] The system maximum allowable speed deviation 2 at the target speed is obtained by looking up a predetermined correspondence table between the target speed of the first motor and the system maximum allowable speed deviation 2.

[0097] The device of the present invention has the same technical effect as the above method, that is, it monitors the speed status of motor No. 1 in real time, and performs closed-loop control of the torque of engine 2 based on the deviation between the target speed and actual speed of motor No. 1, thereby solving the problem of speed overshoot and insufficient speed regulation caused by insufficient torque model accuracy of engine 2 or insufficient battery discharge capacity.

[0098] The present invention also provides an automobile, comprising the hybrid power system speed protection control device.

Claims

1. A hybrid power system speed protection control method, characterized in that: The hybrid system includes an engine, a first motor powered by a battery to start the engine, and a second motor powered by the battery to drive a reduction mechanism, and the method includes: Obtain the target speed, actual speed, and maximum allowable speed of the No. 1 motor, the maximum allowable speed, target fire path torque, and target gas path torque of the engine; Based on the target speed, actual speed, maximum allowable speed of the No. 1 motor and the maximum allowable speed of the engine, determine whether the engine is in a speed overshoot state or a speed underregulation state; If the engine is in a speed surge state, the speed difference between the target speed and the actual speed of the No. 1 motor is used as the control target, and PI control is performed on the target firing torque of the engine until the speed difference between the target speed and the actual speed of the No. 1 motor is within the preset allowable range; If the engine is in an underspeed state, the speed difference between the target speed and the actual speed of the No. 1 motor is used as the control target, and PI control is performed on the target gas path torque of the engine until the speed difference between the target speed and the actual speed of the No. 1 motor is within the preset allowable range; The steps of determining whether the engine is in a speed overshoot state or a speed underregulation state based on the target speed, actual speed, maximum allowable speed of the first motor, and the maximum allowable speed of the engine include: Determine the maximum allowable speed deviation of the system based on the maximum allowable speed of the engine, the maximum allowable speed of the No. 1 motor, and the target speed of the No. 1 motor; Calculate the speed change rate of motor No. 1 based on the actual speed of motor No. 1; Calculating a first difference between the actual speed and the target speed of the first motor, and comparing the first difference with the maximum allowable speed deviation of the system; If the first difference is greater than the maximum allowable speed deviation of the system, then start timing; If the timing exceeds the preset limit, or if the timing does not exceed the preset limit and the speed change rate of the first motor is greater than the preset change rate value, it is determined that the engine is in a speed overshoot state; Calculating a second difference between the target speed and the actual speed of the first motor, and comparing the second difference with the maximum allowable speed deviation of the system; If the second difference is greater than the maximum allowable speed deviation of the system, the timing starts; If the timing exceeds the preset limit, it is determined that the engine is in a speed overshoot state.

2. The hybrid power system speed protection control method according to claim 1, characterized in that: The steps of determining the maximum allowable speed deviation of the system according to the maximum allowable speed of the engine, the maximum allowable speed of the No. 1 motor, and the target speed of the No. 1 motor include: The maximum speed allowed by the system is obtained by taking the smaller of the maximum allowable speed of the engine and the maximum allowable speed of the No. 1 motor; The maximum allowable speed deviation of the system is obtained by calculating the difference between the maximum speed allowed by the system and the target speed of the No. 1 motor; Determine the second maximum allowable speed deviation of the system based on the target speed of motor No. 1; The maximum allowable speed deviation of the system is obtained by taking the smaller of the maximum allowable speed deviation of the system one and the maximum allowable speed deviation of the system two.

3. The hybrid power system speed protection control method according to claim 2, characterized in that: The steps of determining the second maximum allowable speed deviation of the system according to the target speed of the first motor include: The system maximum allowable speed deviation 2 at the target speed is obtained by looking up a predetermined correspondence table between the target speed of the first motor and the system maximum allowable speed deviation 2.

4. The hybrid power system speed protection control method according to claim 1, characterized in that: The preset allowable range is related to the actual speed of the first motor; The higher the actual rotation speed of the first motor is, the smaller the preset allowable range is.

5. A hybrid power system speed protection control device, characterized in that: The hybrid system comprises an engine, a first motor powered by a battery to start the engine, and a second motor powered by the battery to drive a reduction mechanism. The hybrid system speed protection control device comprises: An acquisition module is used to obtain the target speed, actual speed and maximum allowable speed of the No. 1 electric motor, the maximum allowable speed, target fire circuit torque and target gas circuit torque of the engine; a judgment module, for judging whether the engine is in a speed overshoot state or a speed underregulation state based on the target speed, actual speed, maximum allowable speed of the No. 1 motor and the maximum allowable speed of the engine; a first control module configured to, if the engine is in a speed overshoot state, use a speed difference between a target speed of the first motor and an actual speed as a control target to perform PI control on a target firing torque of the engine until the speed difference between the target speed of the first motor and the actual speed falls within a preset allowable range; a second control module configured to, if the engine is in an underspeed regulation state, use the speed difference between the target speed and the actual speed of the No. 1 motor as a control target to perform PI control on the target gas path torque of the engine until the speed difference between the target speed and the actual speed of the No. 1 motor falls within a preset allowable range; The judgment module includes: a first determining unit, configured to determine a maximum allowable speed deviation of the system according to a maximum allowable speed of the engine, a maximum allowable speed of the first motor, and a target speed of the first motor; a first calculation unit, configured to calculate a speed change rate of the first motor according to an actual speed of the first motor; a first calculating and comparing unit, configured to calculate a first difference between an actual speed of the first motor and a target speed, and compare the first difference with a maximum allowable speed deviation of the system; A first timing unit, configured to start timing if the first difference is greater than the maximum allowable speed deviation of the system; a second determining unit, configured to determine that the engine is in a speed overshoot state if the timing exceeds a preset limit, or if the timing does not exceed the preset limit and the speed change rate of the first motor is greater than a preset change rate value; a second calculating and comparing unit, configured to calculate a second difference between the target speed and the actual speed of the first motor, and compare the second difference with a maximum allowable speed deviation of the system; a second timing unit, configured to start timing if the second difference is greater than the maximum allowable speed deviation of the system; The third determining unit is configured to determine that the engine is in a speed overshoot state if the timing exceeds a preset limit.

6. The hybrid power system speed protection control device according to claim 5, characterized in that: The first determining unit includes: The first determination subunit is configured to obtain the maximum speed allowed by the system based on the smaller of the maximum allowable speed of the engine and the maximum allowable speed of the first motor; The second determining subunit is configured to obtain a maximum allowable speed deviation of the system of one by calculating the difference between the maximum allowable speed of the system and the target speed of the first motor; a third determining subunit, configured to determine a second maximum allowable speed deviation of the system according to a target speed of the first motor; The fourth determining subunit is configured to obtain the system maximum allowable speed deviation by taking the smaller of the system maximum allowable speed deviation 1 and the system maximum allowable speed deviation 2.

7. The hybrid power system speed protection control device according to claim 6, characterized in that: The third determining subunit is specifically configured to: The system maximum allowable speed deviation 2 at the target speed is obtained by looking up a predetermined correspondence table between the target speed of the first motor and the system maximum allowable speed deviation 2.

8. An automobile, characterized in that: It includes the hybrid power system speed protection control device according to any one of claims 5 to 7.

Images