Control device and program

Abstract

A control device (21) is applied to a moving body (10) that can move using a rotating electric machine (13) as a power source. A torque control unit that calculates a rotating electric machine request torque on the basis of operation information indicating the operation state of the moving body, performs a first gradation process on the rotating electric machine request torque to limit a change in the rotating electric machine request torque and to calculate a rotating electric machine command torque, and performs torque control of the rotating electric machine on the basis of the rotating electric machine command torque; the control device is provided with: a monitoring torque calculation unit for calculating the monitoring torque of the rotating electrical machine on the basis of the operation information; a monitoring gradation processing unit that performs a second gradation process, which is different from the first gradation process, on the monitoring torque; and a monitoring unit that compares the rotating electrical machine command torque with the monitoring torque after the second gradation processing, and monitors the torque control of the rotating electrical machine on the basis of the comparison result.

Description

[0001] Cross-references of related applications

[0002] This application is based on Japanese Patent Application No. 2022-101838 filed on June 24, 2022, and the contents described therein are cited herein. Technical Field

[0003] The present disclosure relates to a control device and a program. Background Art

[0004] Conventionally, there is known an electronic control device including a microcomputer for controlling an actuator and a monitoring unit for monitoring an abnormality occurring in the microcomputer, as described in Patent Document 1. When an abnormality occurs in the microcomputer, the control device executes a fail safe for the actuator.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2016-147585 Summary of the invention

[0008] In addition, for example, in the case of an electric vehicle that runs with a rotating electric machine as a power source, the rotating electric machine required torque is calculated based on the vehicle operation information, and the torque of the rotating electric machine is controlled based on the rotating electric machine required torque. In this case, by performing a gradual change process such as passivation on the rotating electric machine required torque, and controlling the output torque of the rotating electric machine based on the required torque after the gradual change process, the occurrence of torque shock is suppressed at the time of transition when the vehicle operation condition is about to change.

[0009] In addition, as a technology for monitoring the torque control of the vehicle, the following technology can be considered: the monitoring torque is calculated based on the vehicle operation information in the same way as the rotating electric machine required torque, and whether the rotating electric machine required torque is appropriate is determined based on the comparison result between the rotating electric machine required torque (the required torque after the gradual change process) and the monitoring torque. In this case, it is determined that an abnormality has occurred in the calculation process of the rotating electric machine required torque based on the deviation between the rotating electric machine required torque and the monitoring torque.

[0010] However, when the gradual change process is performed on the rotating electrical machine required torque as described above, there is a possibility that the rotating electrical machine required torque and the monitoring torque deviate from each other, resulting in an erroneous determination that an abnormality has occurred.

[0011] The present disclosure has been made in view of the above-mentioned problems, and a main object of the present disclosure is to provide a control device and a program that can appropriately monitor torque control.

[0012] The present invention discloses a control device, which is applied to a mobile body that can move with a rotating motor as a power source; the rotating motor required torque is calculated based on operating information indicating the operating status of the above-mentioned mobile body, and the above-mentioned rotating motor required torque is subjected to a first gradual change processing, thereby limiting the change of the above-mentioned rotating motor required torque and calculating the rotating motor command torque, and the torque of the above-mentioned rotating motor is controlled based on the above-mentioned rotating motor command torque; the above-mentioned control device comprises: a monitoring torque calculation unit, which calculates the monitoring torque of the above-mentioned rotating motor based on the above-mentioned operating information; a monitoring gradual change processing unit, which performs a second gradual change processing on the above-mentioned monitoring torque that is different from the above-mentioned first gradual change processing; and a monitoring unit, which compares the above-mentioned rotating motor command torque with the above-mentioned monitoring torque after the above-mentioned second gradual change processing, and monitors the torque control of the above-mentioned rotating motor based on the comparison result.

[0013] In a mobile body having a rotating electric machine as a power source, when the torque of the rotating electric machine is controlled based on the operation information of the mobile body, a gradual change process (first gradual change process) such as passivation (smoothing) is performed on the required torque of the rotating electric machine, and the torque of the rotating electric machine is controlled using the command torque of the rotating electric machine after the gradual change process, thereby achieving a reduction in torque shock during transition, etc. However, when the torque is monitored based on the command torque of the rotating electric machine, even when it is normal, there is a possibility that the command torque of the rotating electric machine deviates from the monitoring torque, resulting in a mistaken determination that the torque control is abnormal.

[0014] In this regard, in the present disclosure, a second gradual change process different from the gradual change process (first gradual change process) of the required torque of the rotating electrical machine is performed on the monitoring torque, and the required torque of the rotating electrical machine is monitored based on the result of the comparison between the command torque of the rotating electrical machine and the monitoring torque after the second gradual change process. This prevents the torque control being erroneously determined to be abnormal during normal operation, and enables the monitoring of the required torque of the rotating electrical machine to be performed appropriately. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above-mentioned object and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings.

[0016] Figure 1 is a schematic diagram showing a hybrid vehicle.

[0017] Figure 2 This is a functional block diagram showing the processing of the engine control device and the rotating electrical machine control device.

[0018] Figure 3 This is a timing chart showing an example of low-pass filter processing.

[0019] Figure 4 This is a time chart showing an example of the change rate limiting process.

[0020] Figure 5 This is a flowchart showing the procedure of torque control.

[0021] Figure 6 This is a time chart showing an example of torque control.

[0022] Figure 7 It is a flow chart of torque monitoring control.

[0023] Figure 8 This is a flowchart showing the procedure of the second gradient processing.

[0024] Fig. 9 This is a flowchart of a process for determining the reliability of the estimated engine torque.

[0025] Fig.10 This is a flowchart of a process for determining the validity of the engine torque correction value.

[0026] Fig.11 This is a flowchart of abnormality determination control. DETAILED DESCRIPTION

[0027] Hereinafter, an embodiment of a control device according to the present disclosure will be described with reference to the drawings. The control device of the present embodiment is mounted on a hybrid vehicle including an engine and a rotating electric machine.

[0028] like Figure 1 As shown, the hybrid vehicle 10 includes an engine 11, a transmission 12, a rotating electric machine 13, a differential gear 14, and a driving wheel 15. The engine 11 is, for example, an engine that uses gasoline as fuel, and generates a driving force by burning the fuel. The output shaft of the engine 11 is connected to the input shaft of the transmission 12. The transmission 12 is a CVT (continuously variable transmission) or a stepped AT. The output shaft of the transmission 12 is connected to the driving wheel 15 via the rotating electric machine 13 and the differential gear 14. That is, the engine 11 is a driving power source for the hybrid vehicle 10.

[0029] The rotating electric machine 13 has a three-phase stator winding and a rotor, and is, for example, a permanent magnet type synchronous machine. The output shaft of the rotating electric machine 13 is connected to the drive wheels 15 via the differential gear 14. That is, the rotating electric machine 13 is a driving power source of the hybrid vehicle 10.

[0030] The hybrid vehicle 10 includes an inverter 17 and a battery 18. The inverter 17 is a three-phase inverter having switches of upper and lower arms. The switches of the upper and lower arms of each phase are electrically connected to the stator windings of each phase of the rotating electric machine 13. The inverter 17 is electrically connected to the battery 18 via a disconnect switch 19. The battery 18 is a battery pack composed of a plurality of cells connected in series, such as a secondary battery such as a lithium-ion battery or a nickel-metal hydride battery. By setting the disconnect switch 19 to be turned on, power can be supplied from the battery 18 to the inverter 17, and by setting the disconnect switch 19 to be turned off, power supply from the battery 18 to the inverter 17 is stopped. The disconnect switch 19 is, for example, a mechanical relay or a semiconductor switching element.

[0031] The hybrid vehicle 10 includes an engine control device 20, a rotary electric machine control device 21, and various sensors 30 to 36. The accelerator sensor 30 detects the amount of depression of the accelerator pedal as an accelerator operating member by the driver, that is, the accelerator operation amount Ac. The vehicle speed sensor 31 detects the running speed of the hybrid vehicle 10, that is, the vehicle speed Vs. The throttle sensor 32 detects the throttle opening TA of the throttle valve provided in the intake path of the engine 11. The air flow meter 33 detects the intake air amount GA of the engine 11. The engine rotation speed sensor 34 detects the rotation speed NE of the crank of the engine 11.

[0032] The gear position sensor 35 detects the position of the shift lever of the transmission 12, i.e., the gear position Sp. The shift lever of the transmission 12 is operated by the driver. The gear position Sp of the present embodiment includes a parking gear (P gear) used when the hybrid vehicle 10 is parked, a reverse gear (R gear) for instructing the hybrid vehicle 10 to move backward, a neutral gear (N gear) in which the power transmission between the rotor and the drive wheel 15 is disconnected, and a drive gear (D gear) for instructing the hybrid vehicle 10 to move forward.

[0033] The driving mode switch 36 is a switch for setting the torque output characteristics of the rotary electric machine 13, and is operated by the driver. The driving mode of the hybrid vehicle 10 is set by operating the driving mode switch 36. In the present embodiment, the driving modes include economy, normal, and sport. The economy mode is a mode that emphasizes the energy efficiency of the hybrid vehicle 10, that is, a mode that emphasizes power consumption more than output, the sport mode is a mode that emphasizes the driving performance of the hybrid vehicle 10, that is, a mode that emphasizes output more than power consumption, and the normal mode is a mode between the economy mode and the sport mode.

[0034] The hybrid vehicle 10 includes a temperature sensor 37 for the rotating electric machine 13. The temperature sensor 37 detects a temperature Tr of the rotating electric machine 13. The temperature of the rotating electric machine 13 is, for example, the temperature of the stator winding of each phase. A driving mode signal Mo indicating the detection values ​​of the sensors 30 to 35 and 37 and the operation state of the driving mode switch 36 is input to the engine control device 20.

[0035] The hybrid vehicle 10 includes a battery monitoring unit 38. The battery monitoring unit 38 detects the current flowing to the battery 18, the terminal voltage and temperature of each battery constituting the battery 18, and monitors the state of the battery 18. In the present embodiment, the battery monitoring unit 38 can communicate with the engine control device 20. The detection value of the battery monitoring unit 38 is input to the engine control device 20.

[0036] The hybrid vehicle 10 includes a gear sensor 39 that detects a gear ratio (eg, a gear position of a transmission gear) of the transmission 12. A detection value of the gear sensor 39 is input to the engine control device 20.

[0037] In addition, among the output signals of the sensors 30 to 39 input to the engine control device 20, the accelerator operation amount Ac, the vehicle speed Vs, the throttle opening TA, the intake air amount GA, the rotation speed NE of the engine 11, the gear position Sp, and the gear ratio are redundant signals. The redundant signals are signals input to the engine control device 20 from redundant sensors or signals input to the engine control device 20 from sensors through redundant signal lines. On the other hand, the driving mode signal Mo, the detection value of the battery monitoring unit 38, and the temperature Tr of the rotary electric machine 13 are non-redundant signals. The non-redundant signals are signals input to the engine control device 20 from sensors that are not redundant or signals input to the engine control device 20 from sensors through a single signal line.

[0038] In the present embodiment, the redundancy of the sensor is realized, for example, by a structure in which the detection element, signal processing circuit and output part constituting the sensor are respectively duplicated, or by a structure in which a single detection element is used and the signal processing circuit and output part are respectively duplicated. In addition, the redundancy of the signal line can be realized, for example, by a structure in which the sensor and the engine control device 20 are connected by two or more signal lines.

[0039] On the other hand, in the present embodiment, the sensor that is not redundant is a sensor having a single detection element, a signal processing circuit, and an output unit. In addition, the non-redundancy of the signal line is, for example, a form in which the sensor and the engine control device 20 are connected by a single signal line. In addition, it can also be said that the redundant signal is a signal with a higher reliability, and the non-redundant signal is a signal with a lower reliability than the redundant signal.

[0040] The engine control device 20 is mainly composed of a microcomputer 20a (equivalent to a "computer"), and the rotating electrical machine control device 21 is mainly composed of a microcomputer 21a (equivalent to a "computer"). In the present embodiment, the engine control device 20 in each control device 20, 21 is set as an upper-level control device. Each microcomputer 20a, 21a has a CPU. The functions provided by each microcomputer 20a, 21a can be provided by software recorded in a physical memory device and a computer that executes it, only software, only hardware, or a combination thereof. For example, in the case where each microcomputer 20a, 21a is provided by an electronic circuit as hardware, it can be provided by a digital circuit or an analog circuit including a plurality of logic circuits. For example, each microcomputer 20a, 21a executes a program stored in a non-transitory tangible storage medium (non-transitory tangible storage medium) as a storage unit possessed by itself. In the program, for example, it includes Figure 5 , Figure 7 to Figure 11 By executing the program, the method corresponding to the program is executed. The storage unit is, for example, a nonvolatile memory. In addition, the program stored in the storage unit can be updated via a network such as the Internet, for example.

[0041] The rotating electrical machine control device 21 performs torque control of the rotating electrical machine 13. In the present embodiment, the rotating electrical machine control device 21 cooperates with the engine control device 20 to perform various controls. Specifically, the engine control device 20 and the rotating electrical machine control device 21 are connected via a communication line such as a CAN bus, and can communicate with each other, and send and receive information between the control devices 20 and 21 to perform various controls. Figure 2 The control performed by the engine control device 20 and the rotating electrical machine control device 21 will be described. Figure 2 2 shows a configuration for performing torque control of the rotating electrical machine 13 and monitoring the torque control.

[0042] The engine control device 20 includes a vehicle required torque calculation unit 40 and an estimation unit 41. The vehicle required torque calculation unit 40 calculates the vehicle required torque Tv based on the operating information indicating the operating condition of the hybrid vehicle 10. The vehicle required torque Tv is a torque required to be output to the drive wheels 15. The vehicle required torque calculation unit 40 outputs the calculated vehicle required torque Tv to the rotary electric machine control device 21. In the present embodiment, the operating information is the accelerator operation amount Ac, the vehicle speed Vs, and the gear position Sp.

[0043] The estimation unit 41 estimates the engine torque Te based on the engine information including the engine load information. The estimation unit 41 may estimate the engine torque Te using the corresponding information (e.g., mapping table information or mathematical information) that pre-establishes the correspondence between the engine torque Te and the operation information. The estimation unit 41 outputs the estimated engine torque Te to the rotary electric machine control device 21. In the present embodiment, the engine information is: the engine load information of the throttle opening TA and the intake air amount GA; and the rotation speed NE of the engine 11.

[0044] The engine control device 20 calculates the torque required for the engine 11 in the vehicle required torque Tv, that is, the engine required torque. The engine control device 20 performs electronic throttle control, ignition timing control and other controls to make the estimated engine torque Te consistent with the engine required torque. For example, the engine control device 20 calculates the required intake amount as electronic throttle control through feedback calculation of the engine required torque and the estimated engine torque Te, and calculates the target throttle opening based on the required intake amount. The engine control device 20 controls the throttle valve so that the throttle opening TA becomes the target throttle opening. In addition, for example, as an ignition timing control, the engine control device 20 calculates the ignition timing based on the rotation speed NE of the engine 11 and the required intake amount, and controls the spark plugs provided for each cylinder in the cylinder head of the engine 11 to implement ignition at the ignition timing.

[0045] The rotary electric machine control device 21 includes an MG required torque calculation unit 42 and a first gradual change processing unit 43. The MG required torque calculation unit 42 calculates the torque required for the rotary electric machine 13, that is, the rotary electric machine required torque Tm1, so as to realize the vehicle required torque Tv by the total torque of the output torque of the engine 11 and the output torque of the rotary electric machine 13. Specifically, the MG required torque calculation unit 42 calculates the torque difference between the vehicle required torque Tv and the estimated engine torque Te as the rotary electric machine required torque Tm1. As a result, the vehicle required torque Tv is distributed to the engine required torque and the rotary electric machine required torque Tm1.

[0046] The first gradual change processing unit 43 performs a first gradual change processing on the rotating electric machine required torque Tm1 calculated by the MG required torque calculation unit 42. The first gradual change processing is a processing that limits the change of the rotating electric machine required torque Tm1 for the purpose of improving the drivability of the hybrid vehicle 10, improving exhaust emissions, and improving fuel consumption. The first gradual change processing unit 43 inputs the detection values ​​of each sensor type 30 to 39 as a setting parameter. The first gradual change processing unit 43 variably sets the gradual change degree of the first gradual change processing according to the operating condition of the hybrid vehicle 10. The operating condition of the hybrid vehicle 10 can be grasped based on the detection values ​​of each sensor type 30 to 39. In the present embodiment, the first gradual change processing unit 43 performs a low-pass filter process and a change rate limitation process as the first gradual change processing.

[0047] exist Figure 3 An example of a case where a low-pass filter is applied to a required torque that increases in a stepwise manner is shown in FIG. Figure 4 An example of a case where a rate-of-change limiting process is performed on a required torque that increases in a step-like manner. In the low-pass filtering process, the amount of change of the target torque per unit time gradually decreases, whereas in the rate-of-change limiting process, the amount of change of the target torque per unit time is set to be constant. In other words, in the low-pass filtering process, the slope of the change gradually changes, whereas in the rate-of-change limiting process, the slope of the change is set to be constant. In the low-pass filtering process, the larger the filter time constant, the more the change in the required torque is limited. In the rate-of-change limiting process, the larger the rate-of-change limiting value, the more the change in the required torque is limited. The first gradual change processing unit 43 variably sets the filter time constant of the low-pass filtering process and the rate-of-change limiting value of the rate-of-change limiting process according to the operating conditions of the hybrid vehicle 10.

[0048] The first gradual change processing unit 43 performs a correction process of the rotating electrical machine required torque Tm1 in addition to the first gradual change process. In the correction process, an engine torque correction value ΔTc corresponding to the difference between the engine load at the current time point and the engine load corresponding to the maximum fuel consumption point is calculated and used to correct the rotating electrical machine required torque Tm1. At the same time, the engine torque correction value ΔTc is input to the engine control device 20 and used to correct the engine required torque.

[0049] In detail, the first gradual change processing unit 43 grasps the engine operating point at the current time point based on the mapping table information that preliminarily associates the accelerator operation amount Ac and the rotation speed NE of the engine 11 with the fuel consumption characteristics. The engine operating point is an operating point determined by the engine load calculated based on the accelerator operation amount Ac and the rotation speed NE of the engine 11. The first gradual change processing unit 43 calculates the engine torque correction value ΔTc corresponding to the difference between the engine load at the engine operating point at the current time point and the engine load at the highest fuel consumption point in the fuel consumption characteristics.

[0050] In addition, the first gradual change processing unit 43 may calculate the engine torque correction value ΔTc corresponding to the difference between the engine load at the current time point and the engine load at a point near the maximum fuel consumption point, instead of calculating the engine torque correction value ΔTc so as to make the engine operating point the maximum fuel consumption point. For example, in the map information of the fuel consumption characteristics, a high fuel consumption area may be defined as an area including the maximum fuel consumption point, and the engine torque correction value ΔTc may be calculated so as to make the engine operating point be located in the high fuel consumption area.

[0051] The first gradual change processing unit 43 corrects the rotating electrical machine required torque Tm1 based on the calculated engine torque correction value ΔTc. Specifically, the value obtained by subtracting the engine torque correction value ΔTc from the rotating electrical machine required torque Tm1 is used as the corrected rotating electrical machine required torque Tm1. In addition, the first gradual change processing unit 43 outputs the calculated engine torque correction value ΔTc to the engine control device 20. The engine control device 20 corrects the engine required torque based on the input engine torque correction value ΔTc. Specifically, the value obtained by adding the engine torque correction value ΔTc to the engine required torque is used as the corrected engine required torque.

[0052] Back to Figure 2 As described above, the first gradual change processing unit 43 performs the first gradual change processing on the rotating electric machine required torque Tm1 to calculate the rotating electric machine command torque Tm1_F. The rotating electric machine control device 21 performs torque control of the rotating electric machine 13 based on the rotating electric machine command torque Tm1_F. Specifically, the rotating electric machine control device 21 turns on the switches of the upper and lower arms of each phase of the inverter 17 alternately based on the rotating electric machine required torque Tm1.

[0053] exist Figure 5 The procedure of torque control is shown in . This control is repeatedly executed by the rotating electrical machine control device 21, for example, in a predetermined control cycle.

[0054] In step S10 , the rotating electrical machine required torque Tm1 is calculated. In the present embodiment, the vehicle required torque Tv and the estimated engine torque Te are acquired from the engine control device 20 , and the torque difference between these torques is calculated as the rotating electrical machine required torque Tm1.

[0055] In step S11, the filter time constant of the low-pass filter processing is set. For example, the filter time constant of the low-pass filter processing is set based on the setting parameters such as the accelerator operation amount Ac, the vehicle speed Vs, the gear position Sp and the driving mode signal Mo, taking into account the acceleration and deceleration response. Specifically, if the accelerator operation amount Ac is the same, the filter time constant in the case of a lower vehicle speed Vs (for example, 30 [km / m]) is set smaller than the filter time constant in the case of a higher vehicle speed Vs (for example, 80 [km / h]), thereby improving the acceleration and deceleration response. In addition, when the driving mode signal Mo indicating the sports mode is input, the filter time constant is set smaller than when the driving mode signal Mo indicating the economy mode or the normal mode is input, thereby improving the acceleration and deceleration response.

[0056] In step S12, a rate of change limit value of the rate of change limit processing is set. For example, the rate of change limit value of the rate of change limit processing is set based on setting parameters such as the accelerator operation amount Ac, the vehicle speed Vs, the gear position Sp, and the gear ratio, taking into account the torque shock during the speed change. Specifically, if the vehicle speed Vs gradually increases at the same rate, the rate of change limit value in the case where the speed ratio changes at the time of the speed change is large is set larger than the rate of change limit value in the case where the speed ratio changes at the time of the speed change is small, thereby reducing the torque shock during the speed change.

[0057] In step S13, an engine torque correction value ΔTc corresponding to the difference between the engine load at the current time and the engine load at the maximum fuel consumption point is calculated. The engine load at the current time may be calculated using the accelerator operation amount Ac detected by the accelerator sensor 30 and the rotation speed NE of the engine 11 detected by the engine rotation speed sensor 34. Alternatively, an engine torque correction value ΔTc corresponding to the difference between the engine load at the current time and the engine load at a point near the maximum fuel consumption point may be calculated.

[0058] In step S14, the rotary electric machine required torque Tm1 is corrected. In the present embodiment, the value obtained by subtracting the engine torque correction value ΔTc from the rotary electric machine required torque Tm1 is used as the corrected rotary electric machine required torque Tm1. At this time, the change rate limit value of the change rate limit processing may be changed from the value set in step S12 in consideration of the fact that the rotary electric machine required torque Tm1 is corrected. In addition, the processing of step S14 is equivalent to the "torque correction unit".

[0059] In addition, the rotary electric machine required torque Tm1 may be corrected, and the engine torque correction value ΔTc may be output to the engine control device 20. The engine control device 20 adds the engine torque correction value ΔTc to the engine required torque, thereby controlling the engine 11 so that the engine operating point coincides with the maximum fuel consumption point.

[0060] In step S15, battery protection control is performed. Battery protection control is a control to limit the rotating motor required torque Tm1 for the purpose of protecting the battery 18. For example, when the temperature of the battery 18 is higher than a predetermined temperature, a process of limiting the upper limit value of the rotating motor required torque Tm1 is performed. In addition, for example, when the terminal voltage of the battery 18 is lower than a predetermined voltage, a process of limiting the upper limit value of the rotating motor required torque Tm1 is performed. At this time, the setting of the filter time constant and the change rate limit value may be changed in consideration of limiting the upper limit value of the rotating motor required torque Tm1.

[0061] In addition, the temperature and terminal voltage of the battery 18 may be the detection values ​​of the battery monitoring unit 38. Instead of the terminal voltage of the battery 18, when the SOC of the battery 18 is higher than the predetermined SOC, a process of limiting the upper limit value of the rotating electrical machine required torque Tm1 may be performed. The SOC of the battery 18 may be a value calculated based on the detection value of the battery monitoring unit 38.

[0062] In step S16, the rotating electrical machine protection control is performed. The rotating electrical machine protection control is a control that limits the rotating electrical machine required torque Tm1 for the purpose of suppressing the occurrence of overheating anomalies of the rotating electrical machine 13. For example, when the temperature of the rotating electrical machine 13 is higher than a predetermined temperature, a process is performed to limit the upper limit value of the rotating electrical machine required torque Tm1. At this time, the settings of the filter time constant and the rate of change limit value may be changed in consideration of limiting the upper limit value of the rotating electrical machine required torque Tm1. In addition, the temperature of the rotating electrical machine 13 may be determined by using the detection value of the temperature sensor 37. In the present embodiment, steps S11, S12, and S14 to S16 correspond to a "setting unit".

[0063] In step S17, the rotary electric machine command torque Tm1_F is calculated. The rotary electric machine command torque Tm1_F is calculated by performing a first gradual change process on the rotary electric machine required torque Tm1. This suppresses the occurrence of torque shock when the operating condition of the hybrid vehicle 10 changes, improves acceleration and deceleration response, or protects the rotary electric machine 13 and the battery 18.

[0064] As the first gradual change processing, either a low-pass filter processing or a change rate limiting processing can be performed, or the low-pass filter processing and the change rate limiting processing can be performed in combination. In the present embodiment, a low-pass filter processing is performed as the first gradual change processing. When performing a low-pass filter processing, a filter time constant set according to the processing of steps S11, S14 to S16 is used. The filter time constant is set within a range specified by a predetermined minimum value KT1 and a maximum value KT2. The minimum value KT1 of the filter time constant is, for example, 0 [ms] to 30 [ms], and the maximum value KT2 of the filter time constant is, for example, 200 [ms]. In addition, when using a change rate limiting processing, a change rate limiting value set according to the processing of steps S12, S14 to S16 is used.

[0065] In addition, as a technique for monitoring the torque control of the rotating electrical machine control device 21, the following technique can be considered: similarly to the rotating electrical machine required torque Tm1, a monitoring torque is calculated as the difference between the vehicle required torque Tv and the estimated engine torque Te, and the suitability of the torque control is determined based on the comparison result between the rotating electrical machine command torque Tm1_F and the monitoring torque. In this case, based on the deviation between the rotating electrical machine command torque Tm1_F and the monitoring torque, it is determined that an abnormality has occurred in the torque control. Thus, the torque control of the rotating electrical machine control device 21 is monitored.

[0066] However, as described above, when the first gradual change process is performed on the rotating electrical machine required torque Tm1 to calculate the rotating electrical machine command torque Tm1_F, there is a possibility that a deviation between the rotating electrical machine command torque Tm1_F and the torque difference occurs, resulting in an erroneous determination that an abnormality has occurred.

[0067] use Figure 6 The following describes in detail the situation where an abnormality is mistakenly determined to have occurred in torque control. Figure 6 (a) shows changes in the accelerator operation amount Ac, (b) shows changes in the vehicle required torque Tv and the estimated engine torque Te, and (c) shows changes in the rotating electrical machine required torque Tm1 corresponding to the torque difference between the vehicle required torque Tv and the estimated engine torque Te, and the rotating electrical machine command torque Tm1_F.

[0068] If the vehicle required torque Tv increases with the increase in the accelerator operation amount Ac, the output torque of the engine 11 gradually increases in order to achieve the vehicle required torque Tv. At this time, the estimated engine torque Te gradually increases. In this case, the torque difference between the vehicle required torque Tv and the estimated engine torque Te is basically set to the rotary electric machine required torque Tm1. Therefore, the rotary electric machine required torque Tm1 changes in a manner that increases in a step-like manner and then gradually decreases.

[0069] However, in order to correspond to the above-mentioned various requirements for the torque control of the rotating motor 13, the first gradual change processing is performed on the rotating motor required torque Tm1. As a result, the rotating motor command torque Tm1_F after the first gradual change processing is limited in change compared with the rotating motor required torque Tm1. In this case, the rotating motor required torque Tm1 is a torque equivalent to the monitoring torque, and during the period when the rotating motor command torque Tm1_F is gradually decreasing, the rotating motor command torque Tm1_F is higher than the rotating motor required torque Tm1. That is, there is a period in which the rotating motor command torque Tm1_F may be judged to be too large. During this period, if the deviation value between the rotating motor command torque Tm1_F and the rotating motor required torque Tm1 becomes large, it may be mistakenly judged that an abnormality has occurred.

[0070] Therefore, in order to appropriately monitor the torque control, the present embodiment includes the following configuration.

[0071] Back to Figure 2 As described above, the rotary electric machine control device 21 includes a monitoring torque calculation unit 44 and a second gradual change processing unit 45. The vehicle required torque Tv and the estimated engine torque Te are input to the monitoring torque calculation unit 44. The monitoring torque calculation unit 44 calculates the torque difference between the vehicle required torque Tv and the estimated engine torque Te as the monitoring torque Tm2. The monitoring torque Tm2 is input to the second gradual change processing unit 45.

[0072] The second gradual change processing unit 45 performs a second gradual change processing different from the first gradual change processing on the monitoring torque Tm2 calculated by the monitoring torque calculation unit 44. The second gradual change processing is a processing to limit the change of the monitoring torque Tm2 for the purpose of properly monitoring the torque control. The second gradual change processing unit 45 performs the second gradual change processing on the monitoring torque Tm2 and outputs the monitoring torque Tm2_F after the second gradual change processing. The processing content of the second gradual change processing will be described later.

[0073] The rotary electric machine control device 21 includes a torque deviation calculation unit 46, an abnormality determination unit 47, and a fail-safe processing unit 48. The rotary electric machine command torque Tm1_F and the monitoring torque Tm2_F after the second gradual change process are input to the torque deviation calculation unit 46. The torque deviation calculation unit 46 calculates a torque deviation ΔTm between the rotary electric machine command torque Tm1_F and the monitoring torque Tm2_F after the second gradual change process. The torque deviation ΔTm is input to the abnormality determination unit 47.

[0074] The abnormality determination unit 47 determines whether the torque deviation ΔTm is larger than the abnormality determination value Ts. When the abnormality determination unit 47 determines that the torque deviation ΔTm is larger than the abnormality determination value Ts, the abnormality determination unit 47 sets the abnormality flag FM of the torque control to on. The abnormality flag FM of the torque control is a signal that indicates that the torque control is performed normally by being off, and indicates that an abnormality has occurred in the torque control by being on. The abnormality determination unit 47 outputs the abnormality flag FM of the torque control to the fault safety processing unit 48. When the input abnormality flag FM is switched to on by the abnormality determination unit 47, the fault safety processing unit 48 performs a fault safety process. In the present embodiment, as a fault safety process, the fault safety processing unit 48 disconnects the circuit breaker 19. As a result, the drive of the rotating electric machine 13 is stopped.

[0075] exist Figure 7 2 shows the procedure of the torque monitoring control for monitoring the torque control. This control is repeatedly executed by the rotating electrical machine control device 21, for example, in a predetermined control cycle.

[0076] In step S20, monitoring torque Tm2 is calculated. Monitoring torque Tm2 is the torque difference between vehicle required torque Tv and estimated engine torque Te. In step S21, second gradual change processing is performed on monitoring torque Tm2. Thus, monitoring torque Tm2_F after the second gradual change processing is calculated.

[0077] In step S22, the torque deviation ΔTm is calculated. The torque deviation ΔTm is a value obtained by subtracting the monitoring torque Tm2_F after the second gradual change process from the rotating electrical machine command torque Tm1_F. In step S23, it is determined whether the torque deviation ΔTm is higher than the abnormal judgment value Ts. In the case where it is determined that the torque deviation ΔTm is below the abnormal judgment value Ts, the present process is terminated. On the other hand, in the case where it is determined that the torque deviation ΔTm is higher than the abnormal judgment value Ts, the process proceeds to step S24. In step S24, the abnormal flag FM of the torque control is set to on. In addition, the abnormal flag FM of the torque control is set to off at the start of the torque monitoring control.

[0078] Here, the abnormality determination value Ts may be set to a positive value. In this case, it may be determined that an abnormality has occurred in the torque control because the rotating electrical machine command torque Tm1_F is higher than the monitoring torque Tm2_F after the second gradual change process and the deviation between the rotating electrical machine command torque Tm1_F and the monitoring torque Tm2_F is larger than the abnormality determination value Ts.

[0079] In the torque control of the rotating motor 13, the gradient of the first gradient process (i.e., the filter time constant and the change rate limit value) has an impact on the reduction of the torque shock during the transition, the acceleration and deceleration response, the power consumption, etc. For example, if the gradient is increased, it is effective in reducing the torque shock, while if the gradient is reduced, it is effective in improving the acceleration and deceleration response. Considering this point, as in the previous Figure 5 As described in , the degree of gradual change in the first gradual change process is appropriately changed according to each vehicle operation condition. However, regarding the second gradual change process, a complex gradual change process as the first gradual change process is not required.

[0080] As with the gradient of the first gradient process, it is also possible to consider appropriately changing the gradient of the second gradient process according to various conditions. However, if a non-redundant signal with low reliability is used to set the gradient of the second gradient process, the reliability of the monitoring of the torque control may be reduced. Therefore, as described below, the setting of the gradient of the second gradient process is made to simplify the structure while ensuring the reliability of the monitoring of the torque control.

[0081] exist Figure 8 The second gradient process is shown in the following order. Figure 7 Here, a case where a low-pass filter process is performed as the second gradient process is described.

[0082] In step S30, it is determined whether a condition in which a torque increase of the rotating electrical machine 13 is required has occurred. In the present embodiment, when it is determined that a value obtained by subtracting the monitoring torque Tm2 in the previous control cycle from the monitoring torque Tm2 in this control cycle (i.e., the rotating electrical machine required torque Tm1) is greater than the increase determination value, it is determined that a condition in which a torque increase of the rotating electrical machine 13 is required has occurred. The increase determination value can be set to a positive value. In the case where a negative determination is made in step S30, the process proceeds to step S31. On the other hand, in the case where an affirmative determination is made in step S30, the process proceeds to step S32.

[0083] In step S31, it is determined whether a condition in which a torque reduction of the rotating electrical machine 13 is required has occurred. In the present embodiment, when it is determined that a value obtained by subtracting the monitoring torque Tm2 in the previous control cycle from the monitoring torque Tm2 in the current control cycle is below the reduction determination value, it is determined that a condition in which a torque reduction of the rotating electrical machine 13 is required has occurred. The reduction determination value can be set to a negative value. In the case where an affirmative determination is made in step S31, the process proceeds to step S33. On the other hand, in the case where a negative determination is made in step S31, the process proceeds to step S34. In the present embodiment, steps S30 and S31 correspond to a "torque requirement determination unit".

[0084] When the rotating electrical machine command torque Tm1_F is higher than the monitoring torque Tm2_F after the second gradual change process, and the torque deviation ΔTm between them is larger than the abnormality determination value Ts, the rotating electrical machine control device 21 determines that an abnormality has occurred. Thus, it is possible to appropriately determine the abnormality that the output torque of the hybrid vehicle 10 is too large, that is, the abnormality that the vehicle speed may increase excessively. In this case, when the torque decreases, if the decrease change of the monitoring torque Tm2 is limited by the second gradual change process, the situation that the monitoring torque Tm2_F after the second gradual change process becomes too small relative to the rotating electrical machine command torque Tm1_F is suppressed, and further the misdetection of the torque control is suppressed. In contrast, when the torque increases, if the increase change of the monitoring torque Tm2 is limited by the second gradual change process, the monitoring torque Tm2_F after the second gradual change process becomes lower than the rotating electrical machine command torque Tm1_F, which may cause a misjudgment of the torque abnormality. Therefore, in the present embodiment, the following steps S32 and S33 are provided.

[0085] In the process of step S32, the filter time constant KT of the low-pass filter process in the second gradual change process is set smaller than that in the process of step S33. In the present embodiment, in step S32, the filter time constant KT is set to the minimum value KT1. In addition, in step S33, the filter time constant KT is set to the maximum value KT2. After the processes of steps S32 and S33, the process proceeds to step S34. In addition, in the case where a negative determination is made in step S31, the filter time constant KT may still use the value set in the previous control cycle.

[0086] In step S34, low-pass filtering is performed on the monitoring torque Tm2 as the second gradual change process. In this case, one of the minimum value KT1 and the maximum value KT2 of the low-pass filtering process in the first gradual change process is used as the filter time constant KT of the low-pass filtering process. Thus, the gradual change degree of the second gradual change process is set according to the gradual change degree of the first gradual change process.

[0087] In addition, in step S34, when the rate of change limiting process is performed instead of the low-pass filter process, in step S32, the rate of change limiting value is the rate of change limiting value of the rate of change limiting process as the first gradual change process, and can be set to the maximum value of the rate of change limiting value that can be set in the rate of change limiting process. In addition, in step S33, the rate of change limiting value is the rate of change limiting value of the rate of change limiting process as the first gradual change process, and can be set to the minimum value of the rate of change limiting value that can be set in the rate of change limiting process. In this embodiment, the process of S34 is equivalent to the "gradual change process unit for monitoring".

[0088] In the hybrid vehicle 10 , the rotary electric machine required torque Tm1 and the monitoring torque Tm2 are calculated based on the torque difference between the vehicle required torque Tv and the estimated engine torque Te. In this case, if an abnormality occurs in the engine torque estimation function of the engine control device 20 , the reliability of torque monitoring may decrease.

[0089] Furthermore, by calculating the engine torque correction value ΔTc corresponding to the difference between the engine load at the current time point and the engine load at the maximum fuel consumption point, and correcting the rotating electrical machine required torque Tm1 and the engine required torque based on the engine torque correction value ΔTc, it is possible to appropriately achieve the vehicle required torque Tv while achieving high fuel consumption operation on the engine side. However, if the engine torque correction value ΔTc becomes excessively large, the reliability of torque monitoring may be reduced due to the increase in the correction amount of the rotating electrical machine required torque Tm1.

[0090] Therefore, in the present embodiment, the process of determining the reliability of the estimated engine torque Te or the process of determining the appropriateness of the engine torque correction value ΔTc is performed in consideration of these points.

[0091] First, use Fig. 9 The process of determining the reliability of the estimated engine torque Te will be described. Fig. 9 2 is a diagram showing the procedure of the reliability determination process of the estimated engine torque Te. This process is repeatedly executed by the engine control device 20 at, for example, a predetermined control cycle.

[0092] In step S40, the first engine torque Te1 is estimated using the first load information, i.e., the throttle opening TA, which is the engine load information, and the second engine torque Te2 is estimated using the second load information, i.e., the intake air amount GA, which is the engine load information. In the present embodiment, the first engine torque Te1 is estimated based on the throttle opening TA and the rotational speed NE of the engine 11 using the corresponding information (e.g., mapping table information or mathematical information) that pre-establishes the correspondence between the engine torque, the throttle opening TA, and the rotational speed NE of the engine 11. In addition, the second engine torque Te2 is estimated based on the intake air amount GA and the rotational speed NE of the engine 11 using the corresponding information (e.g., mapping table information or mathematical information) that pre-establishes the correspondence between the engine torque, the intake air amount GA, and the rotational speed NE of the engine 11.

[0093] In step S41, the engine torque difference ΔTe is calculated. The engine torque difference ΔTe is the absolute value of the difference between the first engine torque Te1 and the second engine torque Te2. In step S42, it is determined whether the engine torque difference ΔTe is greater than the reliability judgment value Tk. The reliability judgment value Tk can be set to a positive value. In the case of a positive determination in step S42, the abnormal flag FE1 of the engine torque estimation is set to on. The abnormal flag FE1 of the engine torque estimation is a signal that indicates that the estimated engine torque Te is reliable by being turned off, and indicates that the estimated engine torque Te is not reliable by being turned on. On the other hand, in the case of a negative determination in step S42, the present process is terminated. In addition, the abnormal flag FE1 of the engine torque estimation is set to off at the time when the reliability determination process starts. In the present embodiment, the process of steps S40 to S42 is equivalent to the "reliability determination unit".

[0094] Next, use Fig.10 The process of determining the validity of the engine torque correction value ΔTc will be described. Fig.10 2 is a diagram showing the procedure of a process for determining the appropriateness of the engine torque correction value ΔTc. This process is repeatedly executed by the rotating electrical machine control device 21, for example, in a predetermined control cycle.

[0095] In step S50, it is determined whether the engine torque correction value ΔTc is outside a specified range. The specified range is a range defined by a positive upper limit correction value and a negative lower limit correction value, and can be set, for example, according to the torque that the rotary motor 13 can output. In the case where an affirmative determination is made in step S50, the process proceeds to step S51. On the other hand, in the case where a negative determination is made in step S50, the process proceeds to step S52. In the present embodiment, the process of step S50 is equivalent to a "correction torque determination unit".

[0096] In step S51, the abnormal flag FE2 of the engine torque correction value ΔTc is turned on. In step S52, the abnormal flag FE2 of the engine torque correction value ΔTc is turned off. The abnormal flag FE2 of the engine torque correction value ΔTc is a signal that indicates that the engine torque correction value ΔTc is too large when it is turned on, and indicates that the engine torque correction value ΔTc is within the allowable range when it is turned off.

[0097] The rotating electrical machine control device 21 performs abnormality determination control to determine whether to execute fail-safe processing based on each abnormality flag FM, FE1, FE2. Fig.11 The procedure of the abnormality determination control is shown in . This control is repeatedly executed by the rotating electrical machine control device 21, for example, in a predetermined control cycle.

[0098] In step S60, it is determined whether the torque control abnormality flag FM is on. If an affirmative determination is made in step S60, the process proceeds to step S61. If a negative determination is made in step S60, the process proceeds to step S62.

[0099] In step S61, a fail-safe process is performed. In the present embodiment, as the fail-safe process, the disconnect switch 19 is turned off.

[0100] In step S62, it is determined whether at least one of the abnormality flag FE1 of the engine torque estimation and the abnormality flag FE2 of the engine torque correction value ΔTc is on. If an affirmative determination is made in step S62, the process proceeds to step S63.

[0101] In step S63, the engine torque correction value ΔTc is set to 0. Thus, the correction process based on the engine torque correction value ΔTc is stopped. Then, the process proceeds to step S61. On the other hand, in the case where a negative determination is made in step S62, the present process is terminated. That is, in the present embodiment, in the case where it is determined in step S62 that the estimated engine torque Te is reliable and it is determined that the engine torque correction value ΔTc has entered the prescribed range, the torque control is also monitored in the next control cycle.

[0102] According to the present embodiment described in detail above, the following effects can be obtained.

[0103] A second gradual change process different from the first gradual change process is performed on the monitoring torque Tm2, ​​and the torque control is monitored based on the comparison result between the rotating electrical machine command torque Tm1_F and the monitoring torque Tm2_F after the second gradual change process. This prevents the torque control from being erroneously determined to be abnormal during normal operation, and enables appropriate monitoring of the torque control.

[0104] It is determined whether a torque increase request or a torque reduction request has occurred for the rotating electrical machine 13. When it is determined that a torque increase request has occurred, the filter time constant KT of the low-pass filter process is set smaller in the second gradual change process than when it is determined that a torque reduction request has occurred. Thus, even when the torque of the rotating electrical machine 13 is decreasing or increasing, it is possible to appropriately suppress erroneous determination of torque control abnormality.

[0105] In the torque control of the rotating electric machine 13, the gradual change degree of the first gradual change process for the rotating electric machine required torque Tm1 has an impact on the torque shock reduction during transition, the acceleration and deceleration response, the power consumption, etc. Therefore, it is desirable to appropriately change the gradual change degree of the first gradual change process according to each vehicle operation condition. However, for the second gradual change process, the complex gradual change process used in the first gradual change process is not required. Taking this into consideration, the gradual change degree of the second gradual change process is set according to the gradual change degree of the first gradual change process. As a result, while achieving the simplification of the structure of the gradual change process, the gradual change degree of each gradual change process can also be matched, which can improve the accuracy of torque monitoring.

[0106] Specifically, when the torque of the rotating electric machine 13 decreases, the filter time constant KT of the low-pass filter process is set to the maximum value KT2 of the filter time constant in the low-pass filter process as the first gradual change process. Thus, when the torque of the rotating electric machine 13 decreases, the occurrence of a state in which the rotating electric machine command torque Tm1_F becomes higher than the monitoring torque Tm2_F after the second gradual change process is suppressed. Therefore, the occurrence of erroneous judgment in torque monitoring is reliably suppressed.

[0107] Furthermore, when the torque of the rotating electric machine 13 increases, the filter time constant KT of the low-pass filter process is set to the minimum value KT1 of the filter time constant in the low-pass filter process as the first gradual change process. Thus, when the torque of the rotating electric machine 13 increases, the occurrence of a state where the rotating electric machine command torque Tm1_F becomes higher than the monitoring torque Tm2_F after the second gradual change process is suppressed. Therefore, the occurrence of erroneous judgment in torque monitoring is reliably suppressed.

[0108] The monitoring torque Tm2 is used to determine whether a torque increase requirement of the rotating electrical machine 13 or a torque reduction requirement has occurred. The monitoring torque Tm2 is a value calculated based on the accelerator operation amount Ac, the vehicle speed Vs, the gear position Sp, the throttle opening TA, the intake air amount GA, and the rotational speed NE of the engine 11, which are redundant signals. Therefore, the second gradual change process is performed without using a non-redundant signal. In addition, depending on the result of the determination of whether a torque increase requirement of the rotating electrical machine 13 or a torque reduction requirement has occurred, the gradual change degree of the second gradual change process that is pre-set according to the gradual change degree of the first gradual change process is selected. Therefore, the reliability of the monitoring of the torque control can be ensured while the structure of the second gradual change process is simplified.

[0109] <Other Implementation Methods>

[0110] The above-mentioned embodiment may be modified as follows, for example.

[0111] The engine 11 is not limited to a gasoline engine, and may be a diesel engine using light oil as fuel or an engine using other fuels.

[0112] The vehicle required torque Tv may be calculated by the rotating electrical machine control device 21 instead of by the engine control device 20. In this case, the rotating electrical machine control device 21 corresponds to a higher-level control device.

[0113] The vehicle equipped with the control device is not limited to the hybrid vehicle 10, and may be, for example, an electric vehicle having an engine and a rotating electric machine as a driving power source. In this case, the hybrid vehicle 10 may not have the engine control device 20, and the detection values ​​of the sensors 30, 31, 35, and 37 and the driving mode signal Mo may be input to the rotating electric machine control device 21. In addition, the engine torque Te may not be estimated, and the rotating electric machine required torque Tm1 may be set to the vehicle required torque Tv. Accordingly, the above-mentioned Fig. 9 The reliability determination process of the estimated engine torque Te described in the previous section may be omitted. Fig.10 The processing for determining the appropriateness of the engine torque correction value ΔTc described in the previous Fig.11 In the process of determining whether to perform fail-safe processing described in , the processes of steps S62 and S63 may not be performed.

[0114] In the process of steps S30 to S33, the gradient degree of the second gradient process is set according to the gradient degree of the first gradient process, and it is not limited to selecting one of the minimum value KT1 and the maximum value KT2 of the filter time constant which are preset as the filter time constant of the low-pass filter process in the first gradient process. For example, the gradient degree of the first gradient process may be obtained, and the gradient degree of the second gradient process may be set based on the obtained gradient degree. Specifically, the gradient degree of the first gradient process obtained may be maintained for a predetermined period, the minimum value of the maintained gradient degree is set as the gradient degree of the second gradient process in step S32, and the maximum value of the maintained gradient degree is set as the gradient degree of the second gradient process in step S33. In addition, the process of obtaining the gradient degree of the first gradient process each time may be performed without performing the process of steps S30 to S33, and the gradient degree of the second gradient process may be changed to the gradient degree of the first gradient process obtained each time. According to this embodiment, the gradation degrees of the first gradation process and the second gradation process can be reliably matched.

[0115] The process of determining the reliability of the estimated engine torque Te may be performed by the rotating electrical machine control device 21 instead of the engine control device 20. The process of determining the validity of the engine torque correction value ΔTc may be performed by the engine control device 20 instead of the rotating electrical machine control device 21.

[0116] The mobile object on which the control device is mounted is not limited to a vehicle, and may be, for example, an airplane or a ship.

[0117] ·The vehicle control device and method described in the present disclosure may be implemented by a dedicated computer provided by a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the vehicle control device and method described in the present disclosure may be implemented by a dedicated computer provided by a processor configured by utilizing one or more dedicated hardware logic circuits. Alternatively, the vehicle control device and method described in the present disclosure may be implemented by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured by one or more hardware logic circuits. In addition, a computer program may also be stored in a computer-readable, non-temporary, tangible storage medium as instructions executed by a computer.

[0118] ·The following describes characteristic structures extracted from the above-mentioned embodiments.

[0119] [Structure 1]

[0120] A control device (21) is applied to a mobile body (10) that can move with a rotating motor (13) as a power source; the rotating motor required torque is calculated based on operating information indicating the operating status of the above-mentioned mobile body, and the above-mentioned rotating motor required torque is subjected to a first gradual change processing, thereby limiting the change of the above-mentioned rotating motor required torque and calculating the rotating motor command torque, and the torque of the above-mentioned rotating motor is controlled based on the above-mentioned rotating motor command torque; the above-mentioned control device comprises: a monitoring torque calculation unit, which calculates the monitoring torque of the above-mentioned rotating motor based on the above-mentioned operating information; a monitoring gradual change processing unit, which performs a second gradual change processing on the above-mentioned monitoring torque that is different from the above-mentioned first gradual change processing; and a monitoring unit, which compares the above-mentioned rotating motor command torque with the above-mentioned monitoring torque after the above-mentioned second gradual change processing, and monitors the torque control of the above-mentioned rotating motor based on the comparison result.

[0121] [Structure 2]

[0122] The control device as described in Structure 1 includes a setting unit that variably sets the gradient degree of the first gradient process according to the operating condition of the moving body; the gradient degree of the second gradient process is set according to the gradient degree of the first gradient process.

[0123] [Structure 3]

[0124] In the control device as described in Structure 1 or 2, the monitoring unit determines that an abnormality has occurred in the torque control based on the fact that the command torque of the rotating motor is higher than the monitoring torque after the second gradual change processing and the deviation value between the command torque of the rotating motor and the monitoring torque is larger than a threshold value; the control device comprises a torque requirement determination unit, which determines whether a requirement for an increase in the torque of the rotating motor has occurred or a requirement for a decrease in the torque has occurred; when it is determined that a requirement for an increase in the torque has occurred, the monitoring gradual change processing unit reduces the degree of gradual change of the second gradual change processing compared to the case where it is determined that a requirement for a decrease in the torque has occurred.

[0125] [Structure 4]

[0126] The control device as described in Structure 3 has a setting unit that can variably set the gradual change degree of the above-mentioned first gradual change processing according to the operating condition of the above-mentioned moving body; when it is determined that a condition has occurred in which a requirement for reducing the torque of the above-mentioned rotating motor has occurred, the gradual change degree of the above-mentioned second gradual change processing is set to the maximum value of the gradual change degree of the above-mentioned first gradual change processing.

[0127] [Structure 5]

[0128] The control device as described in Structure 3 or 4 has a setting unit that can variably set the gradual change degree of the above-mentioned first gradual change processing according to the operating condition of the above-mentioned moving body; when it is determined that a requirement for an increase in the torque of the above-mentioned rotating motor has occurred, the gradual change degree of the above-mentioned second gradual change processing is set to the minimum value of the gradual change degree of the above-mentioned first gradual change processing.

[0129] [Structure 6]

[0130] A control device as described in any one of structures 1 to 5, wherein the mobile body is a hybrid vehicle (10) having an engine (11) and the rotating electric machine as driving power sources; the control device sets the torque difference between the vehicle required torque calculated based on the operating information and the estimated engine torque calculated based on the engine information including the engine load information as the rotating electric machine required torque; the monitoring torque calculation unit calculates the torque difference between the vehicle required torque and the estimated engine torque as the monitoring torque; the control device includes a reliability determination unit, which uses the first load information as the engine load information to estimate the engine torque, and uses the second load information different from the first load information as the engine load information to estimate the engine torque, and determines the reliability of the estimated engine torque based on the degree of deviation of these estimated values; the monitoring unit monitors the torque control of the rotating electric machine when the reliability determination unit determines that the reliability of the estimated engine torque is high.

[0131] [Structure 7]

[0132] A control device as described in any one of structures 1 to 5, wherein the mobile body is a hybrid vehicle (10) having an engine (11) and the rotating electric machine as driving power sources; the control device sets the torque difference between the vehicle required torque calculated based on the operating information and the estimated engine torque calculated based on the engine information including the engine load information as the rotating electric machine required torque; the monitoring torque calculation unit calculates the torque difference between the vehicle required torque calculated based on the operating information and the estimated engine torque as the monitoring torque; the control device comprises: a torque correction unit that calculates an engine torque correction value corresponding to the difference between the engine load at a current time point and the engine load in a specified high fuel consumption area including a maximum fuel consumption point, and corrects the rotating electric machine command torque based on the engine torque correction value; and a correction torque determination unit that determines whether the engine torque correction value enters a specified range; when it is determined that the engine torque correction value enters the specified range, the monitoring unit monitors the torque control of the rotating electric machine.

[0133] The present disclosure is described based on the embodiments. However, it should be understood that the present disclosure is not limited to these embodiments and structures. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and schemes, and other combinations and forms in which only one element, more than this element or less than this element are included, also fall within the scope and thought of the present disclosure.

Claims

1. A control device (21) applied to a moving body (10) capable of moving with a rotating motor (13) as a power source, characterized in that: The control device calculates the required torque of the rotating motor based on the operation information indicating the operation status of the moving body, performs a first gradual change process on the required torque of the rotating motor, thereby limiting the change of the required torque of the rotating motor and calculating the command torque of the rotating motor, and performs torque control of the rotating motor based on the command torque of the rotating motor. The control device has: a monitoring torque calculation unit that calculates a monitoring torque of the rotating electrical machine based on the operation information; a monitoring gradual change processing unit that performs a second gradual change processing different from the first gradual change processing on the monitoring torque; as well as The monitoring unit compares the rotating electrical machine command torque with the monitoring torque after the second gradual change process, and monitors the torque control of the rotating electrical machine based on the comparison result.

2. The control device according to claim 1, characterized in that A setting unit is provided for variably setting the degree of gradual change of the first gradual change process according to the operating condition of the moving body. The gradation degree of the second gradation process is set according to the gradation degree of the first gradation process.

3. The control device according to claim 1, characterized in that: The monitoring unit determines that an abnormality has occurred in the torque control based on the fact that the rotating electric machine command torque is higher than the monitoring torque after the second gradual change process and that a deviation value between the rotating electric machine command torque and the monitoring torque is larger than a threshold value, The control device includes a torque request determination unit that determines whether a torque increase requirement or a torque decrease requirement for the rotating electrical machine has occurred. When it is determined that a torque increase request has occurred, the monitoring gradual change processing unit makes the gradual change degree of the second gradual change processing smaller than when it is determined that a torque decrease request has occurred.

4. The control device according to claim 3, characterized in that: A setting unit is provided for variably setting the degree of gradual change of the first gradual change process according to the operating condition of the moving body. When it is determined that a request for torque reduction of the rotating electrical machine has occurred, the gradual change degree of the second gradual change process is set to the maximum value of the gradual change degree of the first gradual change process.

5. The control device according to claim 3 or 4, characterized in that: A setting unit is provided for variably setting the degree of gradual change of the first gradual change process according to the operating condition of the moving body. The gradual change degree of the second gradual change process when it is determined that a request for torque increase of the rotating electrical machine has occurred is set to the minimum value of the gradual change degree of the first gradual change process.

6. The control device according to claim 1, characterized in that: The mobile body is a hybrid vehicle (10) having an engine (11) and the rotating electric machine as driving power sources. The control device sets the torque difference between the vehicle required torque calculated based on the operation information and the estimated engine torque calculated based on the engine information including the engine load information as the rotating electric machine required torque. The monitoring torque calculation unit calculates a torque difference between the vehicle required torque and the estimated engine torque as the monitoring torque. The control device includes a reliability determination unit that estimates the engine torque using first load information as the engine load information, estimates the engine torque using second load information different from the first load information as the engine load information, and determines the reliability of the estimated engine torque based on the degree of deviation of the estimated values. The monitoring unit monitors the torque control of the rotating electrical machine when the reliability determination unit determines that the reliability of the estimated engine torque is high.

7. The control device according to claim 1, characterized in that: The mobile body is a hybrid vehicle (10) having an engine (11) and the rotating electric machine as driving power sources. The control device sets the torque difference between the vehicle required torque calculated based on the operation information and the estimated engine torque calculated based on the engine information including the engine load information as the rotating electric machine required torque. The monitoring torque calculation unit calculates a torque difference between the vehicle required torque calculated based on the operating information and the estimated engine torque as the monitoring torque. The control device has: a torque correction unit that calculates an engine torque correction value corresponding to a difference between an engine load at a current time point and an engine load in a predetermined high fuel consumption region including a maximum fuel consumption point, and corrects the rotary electric machine command torque based on the engine torque correction value; and The correction torque determination unit determines whether the engine torque correction value is within a predetermined range. The monitoring unit monitors the torque control of the rotating electrical machine when it is determined that the engine torque correction value has entered the predetermined range.

8. A program applied to a movable body capable of moving using a rotating electric machine (13) as a power source, characterized in that: The program is executed by a computer (21a), and the required torque of the rotating motor is calculated based on the operation information indicating the operation status of the moving body, and the required torque of the rotating motor is subjected to a first gradual change process, thereby limiting the change of the required torque of the rotating motor and calculating the command torque of the rotating motor, and the torque of the rotating motor is controlled based on the command torque of the rotating motor. The above procedures include: a monitoring torque calculation step of calculating the monitoring torque of the rotating electrical machine based on the operation information; a monitoring gradual change processing step of performing a second gradual change processing different from the first gradual change processing on the monitoring torque; and The monitoring step compares the rotating electrical machine command torque with the monitoring torque after the second gradual change process, and monitors the torque control of the rotating electrical machine based on the comparison result.

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