Drive control device

Abstract

To enable appropriate responses when disturbances are input from the road surface to the powertrain via the drive wheels. [Solution] The processing circuit of the drive control device 300 calculates engine torque based on the detection signal from the crank angle sensor 31 of the engine 20. The processing circuit calculates the disturbance torque input from the drive wheels 13 to the power plant 200. If the disturbance torque is greater than a threshold, the processing circuit makes the control of the engine 20 using the engine torque different from when the disturbance torque is below the threshold.

Description

Technical Field

[0001] The present invention relates to a drive control device applied to a vehicle equipped with an engine.

Background Art

[0002] The power plant of a vehicle disclosed in Patent Document 1 includes an engine, a damper connected to the crankshaft of the engine, and a power transmission device connected to the crankshaft via the damper. A control system applied to such a vehicle has a function of calculating engine torque, which is the output torque of the engine.

[0003] That is, the control system calculates engine inertial torque based on the rotational angular velocity of the crankshaft. The control system calculates resonance influence torque, which is torque caused by resonance generated in the power transmission device. The control system calculates engine torque by adding the synchronized engine inertial torque and resonance influence torque.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When a vehicle travels on a rough road such as a wavy road, the power plant itself vibrates due to disturbances input from the road surface to the wheels. When the power plant vibrates in this way, the detected values of sensors included in the power plant are affected by the vibration of the power plant. Therefore, the vibration of the power plant is reflected in the above-mentioned engine inertial torque and resonance influence torque. Therefore, there is a risk that the calculation accuracy of engine torque will decrease.

Means for Solving the Problems

[0006] A first embodiment of a drive control device for solving the above problems is applied to a vehicle comprising a power plant, drive wheels, and an axle that transmits torque output from the power plant to the drive wheels. The drive control device includes a processing circuit for controlling the power plant. The power plant comprises an engine. The engine comprises a crankshaft and a crank angle sensor for detecting the rotation angle of the crankshaft. The processing circuit performs the following actions based on the detection signal of the crank angle sensor: calculate engine torque, which is the output torque of the engine; calculate disturbance torque input from the drive wheels to the power plant; and, if the disturbance torque is greater than a threshold, make the control of the engine using the engine torque different from when the disturbance torque is less than or equal to the threshold.

[0007] A second embodiment of a drive control device for solving the above problems is applied to a vehicle comprising a power plant, drive wheels, and an axle that transmits torque output from the power plant to the drive wheels. The drive control device comprises a processing circuit for controlling the power plant. The power plant comprises an engine. The engine comprises a crankshaft and a crank angle sensor for detecting the rotation angle of the crankshaft. The processing circuit performs the following actions based on the detection signal of the crank angle sensor: calculate engine torque, which is the output torque of the engine; calculate disturbance torque input from the drive wheels to the power plant; and correct the engine torque based on the disturbance torque. [Effects of the Invention]

[0008] The above-mentioned drive control device has the effect of being able to take appropriate action when disturbances are input from the road surface to the power plant via the drive wheels. [Brief explanation of the drawing]

[0009] [Figure 1]Figure 1 is a schematic diagram showing a hybrid vehicle equipped with a drive control device according to the first embodiment. [Figure 2] Figure 2 is a block diagram showing the processing flow for calculating engine torque in the drive control device shown in Figure 1. [Figure 3] Figure 3 is a block diagram showing the processing flow for calculating disturbance torque in the drive control device shown in Figure 1. [Figure 4] Figure 4 is a block diagram showing the processing flow for performing inter-cylinder adjustment processing in the drive control device shown in Figure 1. [Figure 5] Figure 5 is a flowchart showing the fuel injection process in Figure 4. [Figure 6] Figure 6 is a flowchart showing the misfire detection process in the drive control device of the second embodiment. [Figure 7] Figure 7 is a block diagram showing the processing flow for calculating disturbance torque in the second control device in the drive control device of the third embodiment. [Figure 8] Figure 8 is a block diagram showing the processing flow for calculating engine torque in the drive control device of the fourth embodiment. [Figure 9] Figure 9 is a schematic diagram showing a hybrid vehicle equipped with a drive control device according to the fifth embodiment. [Figure 10] Figure 10 is a block diagram showing the processing flow for correcting engine torque based on disturbance torque in the drive control device shown in Figure 9. [Modes for carrying out the invention]

[0010] (First Embodiment) The first embodiment of the drive control device will be described below with reference to Figures 1 to 5. Figure 1 illustrates a hybrid vehicle 10 equipped with a drive control device 300. Hereafter, the hybrid vehicle 10 will be simply referred to as "vehicle 10".

[0011] <Overall configuration of vehicle 10> Vehicle 10 includes a drive system 100, an actuating mechanism 11, a plurality of axles 12, and a plurality of drive wheels 13. The axles 12 are connected to the drive wheels 13. Then, the torque output from the drive system 100 is transmitted to the plurality of axles 12 via the actuating mechanism 11, causing the plurality of drive wheels 13 to rotate. That is, the axles 12 transmit the torque output from the drive system 100 to the drive wheels 13.

[0012] <Configuration of Drive System 100> The drive system 100 includes a power plant 200 and a drive control device 300 that controls the power plant 200.

[0013] <Configuration of Power Plant 200> The power plant 200 includes an engine 20, a damper 40, and a power transmission device 50. The damper 40 attenuates fluctuations in the torque output from the engine 20 and transmits it to the power transmission device 50.

[0014] The engine 20 is a spark ignition engine. The engine 20 includes a crankshaft 21, a plurality of cylinders 22, an intake passage 23, and a throttle valve 24. The damper 40 is connected to the crankshaft 21. The intake passage 23 is a passage through which the intake air introduced into the plurality of cylinders 22 flows. The throttle valve 24 adjusts the intake air amount, which is the flow rate of the intake air in the intake passage 23.

[0015] The engine 20 includes a plurality of fuel injection valves 25, a plurality of spark plugs 26, an exhaust passage 27, and a catalyst 28. In the plurality of cylinders 22, the air-fuel mixture containing the fuel injected from the fuel injection valves 25 and the intake air is burned by the spark discharge of the spark plugs 26. Due to the reciprocating motion of the pistons in the cylinders 22 caused by the combustion of the air-fuel mixture in the plurality of cylinders 22, the crankshaft 21 rotates. Also, the exhaust generated in the plurality of cylinders 22 by the combustion of the air-fuel mixture is discharged into the exhaust passage 27. The catalyst 28 is installed in the exhaust passage 27. An example of the catalyst 28 is a three-way catalyst. The catalyst 28 purifies the exhaust flowing through the exhaust passage 2�.

[0016] The engine 20 includes a plurality of sensors that output detection signals to the drive control device 300. The plurality of sensors include, for example, a crank angle sensor 31 and a cam angle sensor 32. The crank angle sensor 31 detects the rotation angle of the crankshaft 21 and outputs a detection signal corresponding to the rotation speed of the crankshaft 21. Further, the cam angle sensor 32 detects the rotation angle of the camshaft that rotates in synchronization with the crankshaft 21 and outputs a detection signal corresponding to the rotation speed of the camshaft.

[0017] The power transmission device 50 includes an input shaft 51, a planetary gear mechanism 52, a first motor generator 53, a gear mechanism 54, and a second motor generator 55. The input shaft 51 is connected to the crankshaft 21 via the damper 40.

[0018] The planetary gear mechanism 52 has a sun gear 52s, a ring gear 52r, a plurality of pinion gears 52p, and a planetary carrier 52c. The ring gear 52r is arranged coaxially with the sun gear 52s. The plurality of pinion gears 52p mesh with both the sun gear 52s and the ring gear 52r. The planetary carrier 52c supports the plurality of pinion gears 52p in a state where they can rotate and revolve.

[0019] The input shaft 51 is connected to the planetary carrier 52c. That is, the crankshaft 21 is connected to the planetary carrier 52c via the damper 40 and the input shaft 51. The first motor generator 53 is connected to the sun gear 52s. The gear mechanism 54 is connected to the ring gear 52r.

[0020] The first motor generator 53 has a first rotor 53a and a first rotation angle sensor 53b. The first rotor 53a is connected to the sun gear 52s. Since the first motor generator 53 is connected to the input shaft 51 via the planetary gear mechanism 52, the first rotor 53a rotates in synchronization with the input shaft 51.

[0021] The first rotation angle sensor 53b detects the rotation angle of the first rotor 53a. The first rotation angle sensor 53b outputs a detection signal to the drive control device 300 corresponding to the rotation speed of the first rotor 53a.

[0022] The gear mechanism 54 includes a counter drive gear 54a, a counter driven gear 54b, and a reduction gear 54c. The counter drive gear 54a rotates integrally with the ring gear 52r. The counter driven gear 54b is meshed with the counter drive gear 54a. The reduction gear 54c is meshed with the counter driven gear 54b. The reduction gear 54c is connected to the second motor generator 55.

[0023] The second motor generator 55 includes a second rotor 55a and a second rotation angle sensor 55b. The second rotor 55a is connected to a reduction gear 54c. Therefore, it can be said that the second rotor 55a is connected to a ring gear 52r via a gear mechanism 54.

[0024] The second rotation angle sensor 55b detects the rotation angle of the second rotor 55a. The second rotation angle sensor 55b outputs a detection signal to the drive control device 300 corresponding to the rotation speed of the second rotor 55a.

[0025] The power transmission device 50 includes a first inverter 61, which is an inverter for the first motor generator 53, and a second inverter 62, which is an inverter for the second motor generator 55. By controlling the first inverter 61, the first motor generator 53 is driven. By controlling the second inverter 62, the second motor generator 55 is driven.

[0026] The vehicle 10 is equipped with a final drive gear 71 that rotates integrally with the counter-driven gear 54b, and a final driven gear 72 that meshes with the final drive gear 71. The final drive gear 71 is connected to the operating mechanism 11. Therefore, the torque output from the power plant 200 is output to the operating mechanism 11 via the final drive gear 71 and the final driven gear 72.

[0027] <Drive control device 300> The drive control device 300 comprises a first control device 310 and a second control device 320. The first control device 310 includes a first processing circuit 311 that controls the engine 20. The first processing circuit 311 includes a CPU and a memory that stores a control program executed by the CPU. The first processing circuit 311 controls the engine 20 by having the CPU execute the control program in the memory. Detection signals are input to the first control device 310 from a plurality of sensors provided by the engine 20. Specifically, detection signals from the crank angle sensor 31 and the cam angle sensor 32 are input to the first control device 310.

[0028] The second control device 320 includes a second processing circuit 321 that controls the power transmission device 50. The second processing circuit 321 includes a CPU and a memory that stores a control program executed by the CPU. The CPU executes the control program in the memory, thereby controlling the power transmission device 50. Detection signals are input to the second control device 320 from a plurality of sensors provided by the power transmission device 50. Specifically, detection signals from the first rotation angle sensor 53b and the second rotation angle sensor 55b are input to the second control device 320.

[0029] The drive control device 300 is equipped with a signal line 301 for transmitting the crank counter CNTcr acquired by the first control device 310 to the second control device 320. The crank counter CNTcr is a value that is counted up each time the rotation angle of the crankshaft 21 increases by a predetermined rotation angle. When one cycle of the engine 20 is completed, the crank counter CNTcr is reset to 0 (zero). For example, in one cycle of the engine 20, the crank counter CNTcr is counted up to 15.

[0030] Signal line 301 is a dedicated signal line for transmitting the crank counter CNTcr from the first control device 310. Therefore, the delay when transmitting the crank counter CNTcr to the second control device 320 using signal line 301 is sufficiently suppressed to the extent that it does not affect the execution of various processes based on the crank counter CNTcr.

[0031] The drive control device 300 is equipped with a CAN communication line 302 for sending and receiving various types of information between the first control device 310 and the second control device 320. The CAN communication line 302 is used for sending and receiving information by numerous control devices mounted on the vehicle 10. Therefore, for example, if information obtained by the second control device 320 is transmitted to the first control device 310 via the CAN communication line 302, a delay occurs between the time the second control device 320 transmits the information and the time the first control device 310 receives the information.

[0032] <Estimation of engine torque> Referring to Figure 2, we will now explain the series of processes for calculating the estimated engine torque, Te.

[0033] <Multiple processes executed by the second control device 320> The second processing circuit 321 of the second control device 320 performs motor rotation speed acquisition processing M21, information acquisition processing M23, and transmission processing M24.

[0034] In the motor rotation speed acquisition process M21, the second processing circuit 321 acquires the first motor rotation speed Nmg1 based on the detection signal of the first rotation angle sensor 53b. The second processing circuit 321 acquires the second motor rotation speed Nmg2 based on the detection signal of the second rotation angle sensor 55b. The first motor rotation speed Nmg1 is the rotation speed of the first rotor 53a of the first motor generator 53. The second motor rotation speed Nmg2 is the rotation speed of the second rotor 55a of the second motor generator 55. The second processing circuit 321 repeatedly executes the motor rotation speed acquisition process M21 at predetermined intervals to acquire the first motor rotation speed Nmg1 and the second motor rotation speed Nmg2.

[0035] In the information acquisition process M23, the second processing circuit 321 calculates and acquires information to be transmitted to the first control device 310. For example, the information acquisition process M23 includes the first motor torque acquisition process M231, the motor rotational angular velocity acquisition process M232, and the input shaft rotational angular velocity calculation process M233.

[0036] In the first motor torque acquisition process M231, the second processing circuit 321 acquires the first motor torque Tmg1, which is the output torque of the first motor generator 53. For example, the second processing circuit 321 acquires the first motor current value Img1, which is a value indicating the current flowing through the first motor generator 53. The second processing circuit 321 acquires the calculated value of the output torque of the first motor generator 53 based on the first motor current value Img1 as the first motor torque Tmg1.

[0037] For example, the second processing circuit 321 executes the first motor torque acquisition process M231 to acquire the first motor torque Tmg1 each time the crank counter CNTcr transmitted from the first control device 310 changes.

[0038] In the motor rotation angular velocity acquisition process M232, the second processing circuit 321 acquires the first motor rotation angular velocity ωmg1 and the second motor rotation angular velocity ωmg2. The first motor rotation angular velocity ωmg1 is the rotation angular velocity of the first rotor 53a. The second motor rotation angular velocity ωmg2 is the rotation angular velocity of the second rotor 55a. The second processing circuit 321 acquires the first motor rotation angular velocity ωmg1 by converting the first motor rotation speed Nmg1 into angular velocity. The second processing circuit 321 acquires the second motor rotation angular velocity ωmg2 by converting the second motor rotation speed Nmg2 into angular velocity.

[0039] For example, the second processing circuit 321 executes the motor rotation angular velocity acquisition process M232 each time the crank counter CNTcr changes to acquire the first motor rotation angular velocity ωmg1 and the second motor rotation angular velocity ωmg2.

[0040] In the input shaft rotation angular velocity calculation process M233, the second processing circuit 321 calculates the input shaft rotation angular velocity ωinp. The input shaft rotation angular velocity ωinp is the rotational angular velocity of the input shaft 51 of the power transmission device 50. The second processing circuit 321 calculates the input shaft rotation angular velocity ωinp based on the first motor rotation speed Nmg1 and the second motor rotation speed Nmg2 obtained in the motor rotation speed acquisition process M21. For example, the second processing circuit 321 can calculate the input shaft rotation speed Ninp by substituting the first motor rotation speed Nmg1 and the second motor rotation speed Nmg2 into the following relational expression (D1). In relational expression (D1), "ρ" is the gear ratio of the planetary gear mechanism 52. The gear ratio ρ of the planetary gear mechanism 52 is the value obtained by dividing the number of teeth of the sun gear 52s by the number of teeth of the ring gear 52r. Also, "Gr" is the gear ratio of the gear mechanism 54 of the power transmission device 50.

[0041]

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[0042] For example, the second processing circuit 321 executes the input shaft rotation angular velocity calculation process M233 each time the crank counter CNTcr changes to obtain the input shaft rotation angular velocity ωinp. In transmission process M24, the second processing circuit 321 transmits to the first control device 310 the information necessary for the first control device 310 to calculate the engine torque Te. The second processing circuit 321 outputs the first motor torque Tmg1, the first motor rotational angular velocity ωmg1, the input shaft rotational angular velocity ωinp, and timing-related information to the CAN communication line 302, relating them to each other. The timing-related information is the calculation timing of the first motor torque Tmg1, the first motor rotational angular velocity ωmg1, and the input shaft rotational angular velocity ωinp. For example, the crank counter CNTcr at the time the first motor rotational angular velocity ωmg1 to be transmitted is acquired is the information calculation timing TMd.

[0043] On the CAN communication line 302, the information obtained by the information acquisition process M23 and the information calculation time TMd are transmitted from the second control unit 320. Then, the above information and information calculation time TMd are received by the first control unit 310 via the CAN communication line 302.

[0044] <Multiple processes executed by the first control device 310> The first processing circuit 311 of the first control device 310 performs the following: crank counter update processing M11, engine rotational angular velocity acquisition processing M13, inertial torque calculation processing M14, resonance-affected torque calculation processing M15, calculation timing adjustment processing M16, and engine torque calculation processing M17.

[0045] In the crank counter update process M11, the first processing circuit 311 updates the crank counter CNTcr. The first processing circuit 311 monitors the crank angle, which is the rotation angle of the crankshaft 21, based on the detection signal from the crank angle sensor 31. The first processing circuit 311 then updates the crank counter CNTcr so that it increases by one each time the crank angle increases by a predetermined angle. When one cycle of the engine 20 is completed, the first processing circuit 311 resets the crank counter CNTcr to "0".

[0046] In the engine rotational angular velocity acquisition process M13, the first processing circuit 311 acquires the engine rotational angular velocity ωe. The engine rotational angular velocity ωe is the rotational angular velocity of the crankshaft 21. Based on the detection signal from the crank angle sensor 31, the first processing circuit 311 calculates the engine speed Ne, which is the rotational speed of the crankshaft 21. The first processing circuit 311 acquires the engine rotational angular velocity ωe by converting the engine speed Ne into angular velocity.

[0047] For example, the first processing circuit 311 executes the engine rotational angular velocity acquisition process M13 each time the crank counter CNTcr changes to obtain the engine rotational angular velocity ωe. In the inertial torque calculation process M14, the first processing circuit 311 calculates the engine inertial torque Tei. The engine inertial torque Tei is the inertial torque of the engine 20. For example, the first processing circuit 311 can calculate the engine inertial torque Tei by substituting the engine rotational angular velocity ωe into the following relation (D2). In relation (D2), "Ie" is the moment of inertia of the engine 20. That is, the first processing circuit 311 can calculate the engine inertial torque Tei using the time derivative of the engine rotational angular velocity ωe.

[0048]

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[0049] Here, the output of the engine 20 is input to the input shaft 51 of the power transmission device 50 via the damper 40. When the output torque of the engine 20 fluctuates, torsional vibration occurs in the damper 40, and resonance caused by this torsional vibration may occur in the input shaft 51. When such resonance occurs in the input shaft 51, the torque caused by this resonance is input to the crankshaft 21. This torque caused by resonance that occurs in the power transmission device 50 is referred to as "resonance-influenced torque".

[0050] In the resonance-influenced torque calculation process M15, the first processing circuit 311 calculates the resonance-influenced torque Tdmp. The first processing circuit 311 calculates the resonance-influenced torque Tdmp based on the information received via the CAN communication line 302, namely the first motor torque Tmg1, the first motor rotational angular velocity ωmg1, and the input shaft rotational angular velocity ωinp. For example, the first processing circuit 311 can calculate the resonance-influenced torque Tdmp by substituting the first motor torque Tmg1, the first motor rotational angular velocity ωmg1, and the input shaft rotational angular velocity ωinp into the following relational equation (D3). In relational equation (D3), "Iinp" is the moment of inertia of the input shaft 51, and "Ig" is the moment of inertia of the first motor generator 53. According to relational equation (D3), the first processing circuit 311 can calculate the resonance-influenced torque Tdmp using the time derivative of the input shaft rotational angular velocity ωinp and the time derivative of the first motor rotational angular velocity ωmg1.

[0051]

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[0052] In the calculation timing adjustment process M16, the first processing circuit 311 adjusts the calculation timing TMa according to the ignition timing TMi. For example, if the ignition timing TMi is retarded, the first processing circuit 311 delays the calculation timing TMa. In this case, the first processing circuit 311 should set the calculation timing TMa to a timing that is delayed by a predetermined delay period ΔTM from the ignition timing TMi. The delay period ΔTM is set to a period of less than half the length of one cycle of the engine 20.

[0053] When the ignition timing reaches TMi, the spark discharge from the spark plug 26 causes the fuel-air mixture to burn in cylinder 22. This combustion increases the actual engine torque. Once the actual torque reaches its peak, it decreases until combustion of the fuel-air mixture in the next cylinder 22 begins. In other words, immediately after the ignition timing TMi, the effect of combustion in cylinder 22 is strongly reflected in the actual engine torque. However, as the ignition timing delays from TMi, the effect of combustion in cylinder 22 becomes less pronounced in the actual engine torque. Therefore, the above delay period ΔTM is set so that the calculation timing TMi can be set to a time when the effect of combustion in cylinder 22 is strongly reflected in the actual engine torque.

[0054] In the engine torque calculation process M17, the first processing circuit 311 calculates the engine torque Te. The first processing circuit 311 calculates the engine torque Te as the sum of the engine inertia torque Tei calculated in the inertia torque calculation process M14 and the resonance influence torque Tdmp calculated in the resonance influence torque calculation process M15.

[0055] For example, the first processing circuit 311 selects the engine inertia torque Tei(TMa) calculated based on the engine rotational angular velocity ωe derived at calculation time TMa from among the multiple engine inertia torques Tei calculated in the inertia torque calculation process M14. That is, the first processing circuit 311 selects the engine inertia torque Tei calculated when the crank counter CNTcr is equal to the value indicating calculation time TMa as the engine inertia torque Tei(TMa).

[0056] The first processing circuit 311 selects the resonance-influenced torque Tdmp(TMa) calculated based on the first motor rotational angular velocity ωmg1 calculated at calculation time TMa, from among the multiple resonance-influenced torques Tdmp calculated in the resonance-influenced torque calculation process M15. That is, the first processing circuit 311 selects the resonance-influenced torque Tdmp calculated based on the first motor rotational angular velocity ωmg1 when the information calculation time TMd is equal to the calculation time TMa as the resonance-influenced torque Tdmp(TMa).

[0057] The first processing circuit 311 then calculates the engine torque Te(TMa) as the sum of the engine inertia torque Tei(TMa) and the resonance-influenced torque Tdmp(TMa). For example, each time the first processing circuit 311 receives the above information via the CAN communication line 302, it executes the engine torque calculation process M17 to calculate the engine torque Te.

[0058] <Estimation of disturbance torque> Referring to Figure 3, a series of processes for calculating the disturbance torque Tdb, which is an estimated value of the disturbance torque, will be explained. The disturbance torque is the torque component of the disturbance that is input from the road surface to the power plant 200 via the drive wheels 13 when the vehicle 10 is in motion.

[0059] <Multiple processes executed by the second control device 320> The second processing circuit 321 of the second control device 320 performs planetary torque calculation processing M41, second motor torque acquisition processing M43, and axle torque calculation processing M45.

[0060] In the planetary torque calculation process M41, the second processing circuit 321 calculates the planetary torque Tpc. The planetary torque Tpc is the torque of the planetary carrier 52c. The second processing circuit 321 calculates the planetary torque Tpc based on the first motor torque Tmg1 and the first motor rotational speed Nmg1. The first motor torque Tmg1 used here is the value obtained in the first motor torque acquisition process M231. The first motor rotational speed Nmg1 used here is the value obtained in the motor rotational speed acquisition process M21 described above.

[0061] For example, the second processing circuit 321 can calculate the planetary torque Tpc by substituting the first motor torque Tmg1 and the first motor rotational speed Nmg1 into the following relational equation (D4). In relational equation (D4), "Ig" is the moment of inertia of the first motor generator 53.

[0062]

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[0063] In the second motor torque acquisition process M43, the second processing circuit 321 acquires the second motor torque Tmg2, which is the output torque of the second motor generator 55. For example, the second processing circuit 321 acquires the second motor current value Img2, which is a value indicating the current flowing through the second motor generator 55. The second processing circuit 321 acquires the calculated value of the output torque of the second motor generator 55 based on the second motor current value Img2 as the second motor torque Tmg2.

[0064] For example, the second processing circuit 321 executes the second motor torque acquisition process M43 to acquire the second motor torque Tmg2 each time the crank counter CNTcr changes. In the axle torque calculation process M45, the second processing circuit 321 calculates the axle torque Tds, which is the torque of the axle 12. The second processing circuit 321 calculates the axle torque Tds based on the second motor torque Tmg2, the second motor rotational speed Nmg2, and the planetary torque Tpc. The second motor rotational speed Nmg2 used here is the value obtained in the motor rotational speed acquisition process M21 described above.

[0065] For example, the second processing circuit 321 can calculate the axle torque Tds by substituting the second motor torque Tmg2, the second motor rotational speed Nmg2, and the planetary torque Tpc into the following relational equation (D5). In relational equation (D5), "Im" is the moment of inertia of the second motor generator 55.

[0066]

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[0067] The axle torque Tds calculated by the second processing circuit 321 is transmitted to the first control device 310 in the transmission process M24 shown in Figure 2, along with the information necessary to calculate the engine torque Te.

[0068] <Processing performed by the first control device 310> The first processing circuit 311 of the first control device 310 executes disturbance torque calculation processing M31. In disturbance torque calculation processing M31, the first processing circuit 311 calculates the disturbance torque Tdb based on the axle torque Tds received from the second control device 320 via the CAN communication line 302. The first processing circuit 311 calculates the magnitude of the amplitude of the axle torque Tds as the disturbance torque Tdb. For example, the first processing circuit 311 extracts the vibration component of the axle torque Tds by applying a high-pass filter to the time-series data of the axle torque Tds. Then, the first processing circuit 311 calculates the magnitude of the vibration component of the axle torque Tds as the disturbance torque Tdb.

[0069] For example, the first processing circuit 311 calculates the disturbance torque Tdb by executing the disturbance torque calculation process M31 each time it receives the axle torque Tds. <Control of Engine 20> Referring to Figures 4 and 5, a number of processes performed by the first control device 310 when controlling the engine 20 will be described.

[0070] As shown in Figure 4, the first processing circuit 311 of the first control device 310 performs catalyst warm-up processing M51 and fuel injection processing M53. The catalyst warm-up treatment M51 is a process to warm up the catalyst 28 early. The first processing circuit 311 starts the catalyst warm-up treatment M51 when the temperature of the catalyst 28 is below a certain threshold. The threshold is the lower limit of the temperature range in which the catalyst 28 is activated, or a temperature slightly higher than that lower limit.

[0071] For example, in the catalyst warm-up process M51, the first processing circuit 311 retards the ignition timing TMi. When the ignition timing when the catalyst warm-up process M51 is not performed is defined as the "reference ignition timing TMib", the first processing circuit 311 sets the ignition timing TMi to a timing that is retarded by a predetermined time ΔTM1 compared to the reference ignition timing TMib.

[0072] Fuel injection process M53 is a process that sets target values ​​for the fuel injection amounts of multiple fuel injection valves 25. If the catalytic converter warm-up process M51 is not performed, the first processing circuit 311 sets the target fuel injection amount so that the air-fuel ratio of the engine 20 becomes the target air-fuel ratio. Then, the first processing circuit 311 operates multiple fuel injectors 25 based on the target fuel injection amount.

[0073] When the catalytic converter warm-up treatment M51 is being performed, the first processing circuit 311 performs a series of processes as shown in Figure 5, for example. This series of processes corrects the fuel injection amount of the multiple fuel injectors 25, that is, the amount of fuel supplied to the multiple cylinders 22, for each cylinder 22. When the catalytic converter warm-up treatment M51 is being performed, the first processing circuit 311 repeatedly performs this series of processes at predetermined intervals.

[0074] As shown in Figure 5, in step S11, the first processing circuit 311 determines whether the disturbance torque Tdb is less than or equal to the threshold Tdbth. The threshold Tdbth is the criterion for determining whether the disturbance torque Tdb is large enough to affect the accuracy of the engine torque Te calculation. If the disturbance torque Tdb is less than or equal to the threshold Tdbth (S11: YES), the first processing circuit 311 proceeds to step S13. On the other hand, if the disturbance torque Tdb is greater than the threshold Tdbth (S11: NO), the first processing circuit 311 proceeds to step S19.

[0075] In step S13, the first processing circuit 311 obtains a target engine torque Tetr, which is a target value for the engine torque Te. For example, it obtains the engine torque Te at the ignition timing of multiple cylinders 22. If the engine 20 has four cylinders as shown in Figure 1, the first processing circuit 311 obtains the average value of the engine torque Te1 at the ignition timing of the first cylinder, the engine torque Te2 at the ignition timing of the second cylinder, the engine torque Te3 at the ignition timing of the third cylinder, and the engine torque Te4 at the ignition timing of the fourth cylinder among the multiple cylinders 22. Based on the above average value over the most recent few cycles of the engine 20, the first processing circuit 311 obtains a target engine torque Tetr.

[0076] In the following step S15, the first processing circuit 311 calculates the engine torque deviation ΔTe(n) for each cylinder. "n" is substituted with values ​​from 1 to 4. Engine torque deviation ΔTe(1) is the deviation between the engine torque Te1 at the ignition timing of the first cylinder and the target engine torque Tetr. Engine torque deviation ΔTe(2) is the deviation between the engine torque Te2 at the ignition timing of the second cylinder and the target engine torque Tetr. Engine torque deviation ΔTe(3) is the deviation between the engine torque Te3 at the ignition timing of the third cylinder and the target engine torque Tetr. Engine torque deviation ΔTe(4) is the deviation between the engine torque Te4 at the ignition timing of the fourth cylinder and the target engine torque Tetr.

[0077] In the next step S17, the first processing circuit 311 corrects the fuel injection amount Qf(n) for each cylinder. For example, if the engine torque deviation ΔTe(1) is greater than 0, the first processing circuit 311 corrects the fuel injection amount Qf(1) of the fuel injector 25 for the first cylinder by decreasing it. If the engine torque deviation ΔTe(2) is less than 0, the first processing circuit 311 corrects the fuel injection amount Qf(2) of the fuel injector 25 for the second cylinder by increasing it. In other words, the processing in step S17 corresponds to an "inter-cylinder adjustment process" that adjusts the amount of fuel supplied to each cylinder 22 in order to correct for variations in the magnitude of the engine torque Te at the ignition timing of multiple cylinders 22.

[0078] The first processing circuit 311 corrects the fuel injection amount Qf(n) for each cylinder and then terminates the series of processes shown in Figure 5. In step S19, the first processing circuit 311 holds the fuel injection amount Qf(n) for each cylinder. After that, the first processing circuit 311 temporarily terminates the series of processes shown in Figure 5.

[0079] In other words, while inter-cylinder adjustment processing is being performed, if the disturbance torque Tdb changes from being below the threshold Tdbth to being above the threshold Tdbth, the inter-cylinder adjustment processing is interrupted. Subsequently, when the disturbance torque Tdb falls below the threshold Tdbth again, the inter-cylinder adjustment processing is resumed.

[0080] <Operation and Effects of This Embodiment> (1-1) The first processing circuit 311 calculates the engine torque Te and the disturbance torque Tdb.

[0081] When the vehicle 10 is traveling on rough roads such as wavy roads, disturbances are input to the power plant 200 from the road surface via the drive wheels 13, etc., which may cause the power plant 200 itself to vibrate. When the power plant 200 vibrates, the various sensors equipped with the power plant 200 also vibrate. In other words, the detection signal of the crank angle sensor 31, which is used to calculate the engine torque Te, will have a component superimposed on it that is caused by the vibration of the sensor itself. As a result, the accuracy of calculating the engine torque Te may decrease. Under conditions in which the accuracy of calculating the engine torque Te decreases, engine control using the engine torque Te may not be performed properly.

[0082] Therefore, in the drive control device 300, the first processing circuit 311 makes the engine control using engine torque Te different when the disturbance torque Tdb is greater than the threshold Tdbth compared to when the disturbance torque Tdb is less than or equal to the threshold Tdbth. This allows the drive control device 300 to take an appropriate response when a disturbance is input from the road surface to the power plant 200 via the drive wheels 13.

[0083] (1-2) The first processing circuit 311 performs inter-cylinder adjustment processing as an example of engine control using engine torque Te. In inter-cylinder adjustment processing, the amount of fuel supplied to multiple cylinders 22 is adjusted in order to correct for variations in the magnitude of engine torque Te at the ignition timing of multiple cylinders 22. Therefore, if the calculation accuracy of engine torque Te is low, the amount of fuel supplied to multiple cylinders 22 cannot be properly corrected.

[0084] Therefore, in the drive control device 300, the first processing circuit 311 executes inter-cylinder adjustment processing when the disturbance torque Tdb is less than or equal to the threshold Tdbth. However, if the disturbance torque Tdb becomes greater than the threshold Tdbth while the first processing circuit 311 is executing the inter-cylinder adjustment processing, the first processing circuit 311 interrupts the execution of the inter-cylinder adjustment processing. This prevents the drive control device 300 from incorrectly correcting the fuel injection amount to multiple cylinders 22.

[0085] (1-3) When a disturbance is input to the power plant 200 from the road surface via the drive wheels 13, the axle torque Tds is affected by the disturbance. Specifically, the axle torque Tds oscillates in proportion to the magnitude of the disturbance.

[0086] Therefore, in the drive control device 300, the second processing circuit 321 calculates the axle torque Tds based on the second motor rotational angular velocity ωmg2 and the second motor torque Tmg2 of the second motor generator 55. Then, the first processing circuit 311 calculates the magnitude of the vibration component of the axle torque Tds as the disturbance torque Tdb. In other words, the drive control device 300 can calculate the disturbance torque Tdb by using the detected values ​​of the sensors provided by the power plant 200.

[0087] (1-4) In the drive control device 300, the first processing circuit 311 calculates the engine torque Te using the synchronized engine inertia torque Tei and the resonance-influenced torque Tdmp. As a result, the first processing circuit 311 can accurately calculate the engine torque Te when the disturbance torque Tdb is relatively small. Therefore, the first processing circuit 311 can appropriately perform engine control using the engine torque Te.

[0088] (Second Embodiment) A second embodiment of the drive control device will be described with reference to Figure 6. In the following description, the differences from the first embodiment will be mainly described, and the same reference numerals will be used for components that are the same as or equivalent to those in the first embodiment, and redundant explanations will be omitted.

[0089] The first processing circuit 311 of the first control device 310 performs a misfire detection process as an example of engine control using engine torque Te. The misfire detection process determines whether or not a misfire has occurred for each cylinder 22 based on the engine torque Te.

[0090] Referring to Figure 6, a series of processes performed by the first processing circuit 311 when executing the misfire detection process will be explained. The first processing circuit 311 repeatedly performs this series of processes at predetermined intervals. In step S31, the first processing circuit 311 determines whether the disturbance torque Tdb is less than or equal to the threshold Tdbth. If the disturbance torque Tdb is less than or equal to the threshold Tdbth (S31: YES), the first processing circuit 311 proceeds to step S33. On the other hand, if the disturbance torque Tdb is greater than the threshold Tdbth (S31: NO), the first processing circuit 311 proceeds to step S35.

[0091] In step S33, the first processing circuit 311 sets the determination value STeth used for misfire detection processing to a first value STe1. Then, the first processing circuit 311 proceeds to step S37.

[0092] In step S35, the first processing circuit 311 sets the second value STe2 to the determination value STeth used for the misfire determination process. The second value STe2 is different from the first value STe1. For example, the second value STe2 is greater than the first value STe1. Then, the first processing circuit 311 moves the process to step S37.

[0093] In step S37, the first processing circuit 311 calculates a reference engine torque Teb, which is a reference value for engine torque. The first processing circuit 311 calculates the reference engine torque Teb based on the engine torque Te1 at the ignition timing of the first cylinder, the engine torque Te2 at the ignition timing of the second cylinder, the engine torque Te3 at the ignition timing of the third cylinder, and the engine torque Te4 at the ignition timing of the fourth cylinder. For example, the first processing circuit 311 calculates the reference engine torque Teb as the average value of multiple engine torques Te1, Te2, Te3, and Te4.

[0094] In the following step S39, the first processing circuit 311 calculates the torque deviations STe(n) of multiple cylinders 22. The first processing circuit 311 calculates the difference between engine torque Te1 and reference engine torque Teb as the torque deviation STe(1) of the first cylinder. The first processing circuit 311 calculates the difference between engine torque Te2 and reference engine torque Teb as the torque deviation STe(2) of the second cylinder. The first processing circuit 311 calculates the difference between engine torque Te3 and reference engine torque Teb as the torque deviation STe(3) of the third cylinder. The first processing circuit 311 calculates the difference between engine torque Te4 and reference engine torque Teb as the torque deviation STe(4) of the fourth cylinder.

[0095] Then, in step S41, the first processing circuit 311 compares the torque deviation STe(n) with the judgment value STeth for each cylinder 22. If any of the multiple torque deviations STe(1) to STe(4) are greater than the judgment value STeth (S41: YES), the first processing circuit 311 proceeds to step S43. On the other hand, if all of the multiple torque deviations STe(1) to STe(4) are less than or equal to the judgment value STeth (S41: NO), the first processing circuit 311 proceeds to step S45.

[0096] In step S43, the first processing circuit 311 determines that there is a misfired cylinder among the multiple cylinders 22. After that, the first processing circuit 311 temporarily terminates the series of processes shown in Figure 6.

[0097] In step S45, the first processing circuit 311 determines that there are no misfired cylinders among the multiple cylinders 22. After that, the first processing circuit 311 temporarily terminates the series of processes shown in Figure 6.

[0098] <Operation and Effects of This Embodiment> In addition to the effects (1-1) to (1-4) of the first embodiment described above, the drive control device 300 of this embodiment can further obtain the following effects.

[0099] (2-1) The first processing circuit 311 performs a misfire detection process as an example of engine control using engine torque Te. The larger the disturbance torque Tdb, the lower the accuracy of the engine torque Te calculation. Therefore, the first processing circuit 311 changes the magnitude of the judgment value STeth depending on whether the disturbance torque Tdb is greater than the threshold Tdbth or less than or equal to the threshold Tdbth. This prevents the first processing circuit 311 from mistakenly determining that there is a misfiring cylinder 22 when there is actually no misfiring cylinder 22, when the engine torque Te calculation is low.

[0100] (Third embodiment) A third embodiment of the drive control device will be described with reference to Figure 7. The third embodiment differs from the above-described embodiments in that the disturbance torque is calculated by the second control device. In the following description, the differences from the above-described embodiments will be mainly described, and the same reference numerals will be used for components that are the same as or equivalent to those in the above-described embodiments, and redundant explanations will be omitted.

[0101] As shown in Figure 7, the second processing circuit 321 of the second control device 320 performs disturbance torque calculation processing M47 in addition to planetary torque calculation processing M41 and axle torque calculation processing M45. The contents of disturbance torque calculation processing M47 are substantially the same as disturbance torque calculation processing M31 shown in Figure 3.

[0102] The second processing circuit 321 transmits the disturbance torque Tdb calculated in the disturbance torque calculation process M47 to the first control device 310 via the CAN communication line 302 in the transmission process M24. In this case, the first processing circuit 311 of the first control device 310 does not need to calculate the disturbance torque Tdb.

[0103] (Fourth Embodiment) A fourth embodiment of the drive control device will be described with reference to Figure 8. The fourth embodiment differs from the above-mentioned embodiments in that the second control device calculates the resonance-influenced torque, among other things. In the following description, the parts that differ from the above-mentioned embodiments will be mainly described, and the same reference numerals will be used for components that are the same as or equivalent to those in the above-mentioned embodiments, and redundant explanations will be omitted.

[0104] Referring to Figure 8, the series of processes for calculating engine torque Te will be explained, focusing on the differences from the above-described embodiments. The second control device 320 performs information acquisition processing M23A and transmission processing M24A. Information acquisition processing M23A includes first motor torque acquisition processing M231, motor rotational angular velocity acquisition processing M232, input shaft rotational angular velocity calculation processing M233, and resonance effect torque calculation processing M234.

[0105] The resonance-influenced torque calculation process M234 is a process that calculates the resonance-influenced torque Tdmp, similar to the resonance-influenced torque calculation process M15 described above. In the resonance-influenced torque calculation process M234, the second processing circuit 321 calculates the resonance-influenced torque Tdmp using the above relational expression (D3). For example, the second processing circuit 321 executes the resonance-influenced torque calculation process M234 each time the crank counter CNTcr changes to calculate the resonance-influenced torque Tdmp.

[0106] In transmission processing M24A, the second processing circuit 321 outputs the resonance-influenced torque Tdmp and timing-related information to the CAN communication line 302, relating them to each other. The resonance-influenced torque Tdmp and the information calculation timing TMd are transmitted from the second control device 320 via the CAN communication line 302. The resonance-influenced torque Tdmp and the information calculation timing TMd are then received by the first control device 310 via the CAN communication line 302.

[0107] In the engine torque calculation process M17, the first processing circuit 311 of the first control device 310 calculates the engine torque Te as the sum of the engine inertia torque Tei calculated in the inertia torque calculation process M14 and the resonance-influenced torque Tdmp received via the CAN communication line 302.

[0108] The first processing circuit 311, as in the multiple embodiments described above, selects an engine inertia torque Tei(TMa) calculated based on the engine rotational angular velocity ωe derived at calculation time TMa from among the multiple engine inertia torques Tei calculated in the inertia torque calculation process M14. The first processing circuit 311 also selects a resonance influence torque Tdmp(TMa) calculated based on the first motor rotational angular velocity ωmg1 derived at calculation time TMa from among the multiple resonance influence torques Tdmp received from the second control device 320. For example, the first processing circuit 311 selects a resonance influence torque Tdmp associated with an information calculation time TMd equal to calculation time TMa as the resonance influence torque Tdmp(TMa). The first processing circuit 311 then calculates the engine torque Te(TMa) as the sum of the engine inertia torque Tei(TMa) and the resonance influence torque Tdmp(TMa).

[0109] (Fifth embodiment) A fifth embodiment of the drive control device will be described with reference to Figures 9 and 10. The fifth embodiment differs from the above-described embodiments in the configuration of the power plant and the method for calculating engine torque. In the following description, the parts that differ from the above-described embodiments will be mainly described, and the same reference numerals will be used for components that are the same as or equivalent to those in the above-described embodiments, and redundant explanations will be omitted.

[0110] The drive system 100A comprises a power plant 200A and a drive control device 300A. <Configuration of the 200A Power Plant> The powerplant 200A comprises an engine 20, a damper 40, and a power transmission unit 50A. The powerplant 200A is a powerplant applied to a so-called parallel hybrid system.

[0111] The power transmission device 50A includes a first motor generator 53A and a second motor generator 55A. The first motor generator 53A includes a first rotor 53Aa and a first rotation angle sensor 53Ab. The first rotor 53Aa is connected to the crankshaft 21 of the engine 20 via a damper 40. The first rotation angle sensor 53Ab detects the rotation angle of the first rotor 53Aa. The detection signal from the first rotation angle sensor 53Ab is output to the drive control device 300A.

[0112] The second motor generator 55A includes a second rotor 55Aa and a second rotation angle sensor 55Ab. The second rotor 55Aa is connected to the axle 12 via an operating mechanism 11. On the other hand, the second rotor 55Aa is not connected to the first rotor 53Aa or the crankshaft 21. The second rotation angle sensor 55Ab detects the rotation angle of the second rotor 55Aa. The detection signal from the second rotation angle sensor 55Ab is output to the drive control device 300A.

[0113] <Drive control device 300A> The drive control device 300A comprises a first control device 310 and a second control device 320. The first control device 310 includes a first processing circuit 311 that controls the engine 20.

[0114] The second control device 320 includes a second processing circuit 321 that controls the power transmission device 50A. The second control device 320 receives detection signals from the first rotation angle sensor 53Ab and the second rotation angle sensor 55Ab, as well as the detection signal from the wheel speed sensor 15.

[0115] The wheel speed sensor 15 detects the rotational speed of the drive wheel 13. The rotational speed of the drive wheel 13 based on the detection signal from the wheel speed sensor 15 is referred to as "wheel speed VW of drive wheel 13". <Processing related to engine torque estimation> As shown in Figure 10, the drive control device 300A performs several processes to estimate the engine torque. These processes include an inertia torque calculation process M14A, a resonance-affected torque calculation process M15A, an engine torque calculation process M17A, an axle torque calculation process M45A, a disturbance torque calculation process M31A, and an engine torque correction process M61.

[0116] The inertial torque calculation process M14A is a process for calculating the engine inertial torque Tei. The inertial torque calculation process M14A is equivalent to the inertial torque calculation process M14 described above. For example, the first processing circuit 311 of the first control device 310 executes the inertial torque calculation process M14A each time the crank counter CNTcr changes.

[0117] The resonance-influenced torque calculation process M15A is a process for calculating the resonance-influenced torque Tdmp. For example, the first processing circuit 311 executes the resonance-influenced torque calculation process M15A each time the crank counter CNTcr changes.

[0118] In the resonance-affected torque calculation process M15A, the first processing circuit 311 calculates the resonance-affected torque Tdmp based on the first motor torque Tmg1, the first motor rotational angular velocity ωmg1, and the input shaft rotational angular velocity ωinp.

[0119] The engine torque calculation process M17A is a process that calculates the engine torque Te based on the engine inertia torque Tei and the resonance-influenced torque Tdmp. For example, the first processing circuit 311 executes the engine torque calculation process M17A each time the crank counter CNTcr changes. In the engine torque calculation process M17A, the first processing circuit 311 calculates the engine torque Te as the sum of the synchronized engine inertia torque Tei and the resonance-influenced torque Tdmp.

[0120] The axle torque calculation process M45A is a process for calculating the axle torque Tds. For example, the second processing circuit 321 of the second control device 320 executes the axle torque calculation process M45A each time the crank counter CNTcr changes.

[0121] In the axle torque calculation process M45A, the second processing circuit 321 calculates the axle torque Tds based on the rotational angular acceleration dωmg2 of the second rotor 55Aa and the second motor torque Tmg2. For example, the second processing circuit 321 can calculate the axle torque Tds by substituting the rotational angular acceleration dωmg2 and the second motor torque Tmg2 into the following relational equation (D6). In relational equation (D6), "ImA" is the moment of inertia of the second motor generator 55A.

[0122]

number

[0123] The engine torque correction process M61 is a process that corrects the engine torque Te calculated in the engine torque calculation process M17A. For example, the first processing circuit 311 executes the engine torque correction process M61 each time the crank counter CNTcr changes.

[0124] In the engine torque correction process M61, the first processing circuit 311 corrects the engine torque Te based on the disturbance torque Tdb. The corrected engine torque is denoted as "engine torque TeB".

[0125] For example, if the engine torque tends to decrease as the disturbance torque Tdb increases, the first processing circuit 311 calculates the engine torque TeB in the engine torque correction process M61 by increasing the engine torque Te in accordance with the disturbance torque Tdb. Conversely, if the engine torque tends to increase as the disturbance torque Tdb increases, the first processing circuit 311 calculates the engine torque TeB in the engine torque correction process M61 by decreasing the engine torque Te in accordance with the disturbance torque Tdb.

[0126] (Example of change) The above embodiments can be implemented with the following modifications. The above embodiments and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0127] If the first processing circuit 311 performs inter-cylinder adjustment processing as engine control using engine torque Te, it does not need to perform misfire detection processing. Conversely, if the first processing circuit 311 performs misfire detection processing as engine control using engine torque Te, it does not need to perform inter-cylinder adjustment processing.

[0128] The first processing circuit 311 may perform inter-cylinder adjustment processing even if it is not performing processing to retard the ignition timing TMi in order to complete the warm-up of the catalyst 28 earlier. In this case, in the inter-cylinder adjustment processing, the first processing circuit 311 may adjust the ignition timing TMi for each cylinder 22 in order to correct the variation in the magnitude of the engine torque Te at the ignition timing TMi of multiple cylinders 22.

[0129] The first processing circuit 311 may also be configured to prohibit the execution of the misfire detection process if the disturbance torque Tdb is greater than the threshold Tdbth. In the first embodiment described above, the first processing circuit 311 may be configured to correct the engine torque Te based on the disturbance torque Tdb.

[0130] The power plant may have a different configuration from the power plant 200 shown in Figure 1 and the power plant 200A shown in Figure 9, as long as it includes an engine 20 and the drive control device can calculate the engine torque Te. For example, the power plant may be a power plant applied to a serial hybrid system. Alternatively, for example, the power plant may include an engine 20 but not a motor generator.

[0131] The first processing circuit 311 and the second processing circuit 321 are not limited to those that include a CPU and ROM and execute software processing. That is, the first processing circuit 311 and the second processing circuit 321 may have any of the following configurations: (a), (b), and (c).

[0132] (a) The first processing circuit 311 and the second processing circuit 321 each include one or more processors that perform various processes according to a computer program. The processors include a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to perform the processes. The memory, i.e., computer-readable media, includes any available media that can be accessed by a general-purpose or dedicated computer.

[0133] (b) The first processing circuit 311 and the second processing circuit 321 are each equipped with one or more dedicated hardware circuits that perform various processes. Examples of dedicated hardware circuits include application-specific integrated circuits, i.e., ASICs or FPGAs. ASIC is an abbreviation for "Application Specific Integrated Circuit," and FPGA is an abbreviation for "Field Programmable Gate Array."

[0134] (c) The first processing circuit 311 and the second processing circuit 321 each include one or more processors that execute a portion of the various processes according to a computer program, and one or more dedicated hardware circuits that execute the remaining processes of the various processes.

[0135] <Technical philosophy> The technical concepts that can be understood from the above-described embodiments and modifications are described in the appendix.

[0136] [Note 1] This applies to a vehicle comprising a power plant, drive wheels, and an axle that transmits torque output from the power plant to the drive wheels. A drive control device comprising a processing circuit for controlling the power plant, The power plant comprises an engine, which includes a crankshaft and a crank angle sensor for detecting the rotation angle of the crankshaft. The aforementioned processing circuit is Based on the detection signal from the crank angle sensor, the engine torque, which is the output torque of the engine, is calculated. To calculate the disturbance torque input from the drive wheels to the power plant, A drive control device that, when the disturbance torque is greater than a threshold, performs the following actions: the control of the engine using the engine torque is performed differently from when the disturbance torque is less than or equal to the threshold.

[0137] [Note 2] This applies to a vehicle comprising a power plant, drive wheels, and an axle that transmits torque output from the power plant to the drive wheels. A drive control device comprising a processing circuit for controlling the power plant, The power plant comprises an engine, which includes a crankshaft and a crank angle sensor for detecting the rotation angle of the crankshaft. The aforementioned processing circuit is Based on the detection signal from the crank angle sensor, the engine torque, which is the output torque of the engine, is calculated. To calculate the disturbance torque input from the drive wheels to the power plant, A drive control device that performs the following: correcting the engine torque based on the aforementioned disturbance torque.

[0138] [Note 3] The power plant is equipped with a power transmission device, and the power transmission device is equipped with a motor generator. The motor generator comprises a rotor connected to the axle and a rotation angle sensor for detecting the rotation angle of the rotor. The aforementioned processing circuit is Based on the detection signal from the rotation angle sensor, the motor rotation angular velocity, which is the rotation angular velocity of the rotor, is calculated. Based on the motor rotational angular velocity and the output torque of the motor generator, the axle torque, which is the torque of the axle, is calculated. A drive control device according to Appendix 1 or Appendix 2, which performs the following: calculating the magnitude of the vibration component of the axle torque as the disturbance torque.

[0139] [Note 4] The power plant comprises a damper connected to the crankshaft and a power transmission device connected to the crankshaft via the damper, The power transmission device comprises a planetary gear mechanism, a first motor generator, and a second motor generator. The first motor generator includes a first rotor and a first rotation angle sensor for detecting the rotation angle of the first rotor. The second motor generator includes a second rotor connected to the axle and a second rotation angle sensor for detecting the rotation angle of the second rotor. The planetary gear mechanism comprises a sun gear, a ring gear arranged coaxially with the sun gear, a pinion gear that meshes with the sun gear and the ring gear, and a planetary carrier that supports the pinion gear in a state that allows for rotation and revolution. The crankshaft is connected to the planetary carrier via the damper, The first rotor is connected to the sun gear, The second rotor and the axle are connected to the ring gear, The aforementioned processing circuit is Based on the detection signal of the first rotation angle sensor, the first motor rotation angular velocity, which is the rotation angular velocity of the first rotor, is calculated. Based on the detection signal of the second rotation angle sensor, the rotational angular velocity of the second rotor, which is the rotational angular velocity of the second motor, is calculated. The planetary torque, which is the torque of the planetary carrier, is calculated based on the output torque of the first motor generator and the rotational angular velocity of the first motor. The axle torque, which is the torque of the axle, is calculated based on the output torque of the second motor generator, the rotational angular velocity of the second motor, and the planetary torque. A drive control device according to Appendix 1 or Appendix 2, which performs the following: calculating the magnitude of the vibration component of the axle torque as the disturbance torque.

[0140] [Note 5] The aforementioned processing circuit is The resonance-influenced torque, which is the torque caused by resonance generated in the power transmission device, is calculated based on the rotational angular velocity of the first motor. Based on the detection signal from the crank angle sensor, the engine rotational angular velocity, which is the rotational angular velocity of the crankshaft, is calculated. Based on the engine rotational angular velocity, the engine inertia torque, which is the inertia torque of the engine, is calculated. The drive control device described in Appendix 4, which performs the following: calculating the engine torque by summing the engine inertia torque, which is calculated at the same time as the rotational angular velocity of the first motor used in calculating the resonance-affected torque, and the resonance-affected torque.

[0141] [Note 6] The processing circuit includes a first processing circuit to which the detection signal of the crank angle sensor is input, and a second processing circuit to which the detection signals of the first rotation angle sensor and the second rotation angle sensor are input. The second processing circuit is, The resonance-influenced torque calculated based on the first motor rotational angular velocity, or the first motor rotational angular velocity, and timing-related information, which is information regarding the timing of the calculation of the first motor rotational angular velocity, are associated and transmitted to the first processing circuit. The disturbance torque or the axle torque is transmitted to the first processing circuit, and the following is performed: The first processing circuit is, To calculate the engine rotational angular velocity and the engine inertial torque, The engine torque is calculated by summing the resonance-influenced torque, which is based on the first motor rotational angular velocity calculated at the calculation time indicated by the time-related information received from the second processing circuit, with the engine inertia torque calculated at the said calculation time. A drive control device according to Appendix 5, which performs the following: controlling the engine using the engine torque.

[0142] [Note 7] The engine is a spark-ignition engine having multiple cylinders, The processing circuit is configured to perform inter-cylinder adjustment processing to correct variations in the magnitude of engine torque at the ignition timing of the multiple cylinders, by adjusting the fuel supply amount or ignition timing to each of the multiple cylinders. The drive control device according to any one of the appendices 1 to 6, wherein the processing circuit executes the inter-cylinder adjustment process when the disturbance torque is less than or equal to the threshold, and interrupts the execution of the inter-cylinder adjustment process when the disturbance torque is greater than the threshold.

[0143] [Note 8] The engine is a spark-ignition engine having multiple cylinders, The processing circuit is configured to perform a misfire determination process to determine whether or not a misfire has occurred for each of the multiple cylinders. The drive control device according to any one of the appendices 1 to 7, wherein the processing circuit changes the magnitude of the determination value used in the misfire determination process depending on whether the disturbance torque is greater than the threshold or less than or equal to the threshold. [Explanation of Symbols]

[0144] 10... Vehicles 12... Axle 13…Drive wheels 20… Engine 21... Crank axle 22 cylinders 25…Fuel injector 26... Spark plug 31... Crank angle sensor 40...Dumper 50, 50A… Power transmission device 52...Planetary gear mechanism 52c... Planetary Carrier 52p... Pinion gear 52s... Sun Gear 52r... Ring gear 53, 53A…First motor generator 53a, 53Aa…First rotor 53b, 53Ab... First rotation angle sensor 55, 55A…Second motor generator 55a, 55Aa…Second rotor 55b, 55Ab... Second rotation angle sensor 200,200A…Power Plant 300, 300A… Drive control device 310...First control device 311...First processing circuit 320...Second control unit 321...Second processing circuit

Claims

1. This applies to a vehicle comprising a power plant, drive wheels, and an axle that transmits torque output from the power plant to the drive wheels. A drive control device comprising a processing circuit for controlling the power plant, The power plant comprises an engine, which includes a crankshaft and a crank angle sensor for detecting the rotation angle of the crankshaft. The aforementioned processing circuit is Based on the detection signal from the crank angle sensor, the engine torque, which is the output torque of the engine, is calculated. To calculate the disturbance torque input from the drive wheels to the power plant, If the disturbance torque is greater than the threshold, the control of the engine using the engine torque shall be made different from when the disturbance torque is less than or equal to the threshold. Drive control device.

2. This applies to a vehicle comprising a power plant, drive wheels, and an axle that transmits torque output from the power plant to the drive wheels. A drive control device comprising a processing circuit for controlling the power plant, The power plant comprises an engine, which includes a crankshaft and a crank angle sensor for detecting the rotation angle of the crankshaft. The aforementioned processing circuit is Based on the detection signal from the crank angle sensor, the engine torque, which is the output torque of the engine, is calculated. To calculate the disturbance torque input from the drive wheels to the power plant, Based on the aforementioned disturbance torque, the engine torque is corrected and the following is performed: Drive control device.

3. The power plant is equipped with a power transmission device, and the power transmission device is equipped with a motor generator. The motor generator comprises a rotor connected to the axle and a rotation angle sensor for detecting the rotation angle of the rotor. The aforementioned processing circuit is Based on the detection signal from the rotation angle sensor, the motor rotation angular velocity, which is the rotation angular velocity of the rotor, is calculated. Based on the motor rotational angular velocity and the output torque of the motor generator, the axle torque, which is the torque of the axle, is calculated. The magnitude of the vibration component of the axle torque is calculated as the disturbance torque, and the following is performed: The drive control device according to claim 1 or claim 2.

4. The power plant comprises a damper connected to the crankshaft and a power transmission device connected to the crankshaft via the damper, The power transmission device comprises a planetary gear mechanism, a first motor generator, and a second motor generator. The first motor generator includes a first rotor and a first rotation angle sensor for detecting the rotation angle of the first rotor. The second motor generator includes a second rotor connected to the axle and a second rotation angle sensor for detecting the rotation angle of the second rotor. The planetary gear mechanism comprises a sun gear, a ring gear arranged coaxially with the sun gear, a pinion gear that meshes with the sun gear and the ring gear, and a planetary carrier that supports the pinion gear in a state that allows for rotation and revolution. The crankshaft is connected to the planetary carrier via the damper, The first rotor is connected to the sun gear, The second rotor and the axle are connected to the ring gear. The aforementioned processing circuit is Based on the detection signal of the first rotation angle sensor, the first motor rotation angular velocity, which is the rotation angular velocity of the first rotor, is calculated. Based on the detection signal of the second rotation angle sensor, the rotational angular velocity of the second rotor, which is the rotational angular velocity of the second motor, is calculated. Based on the output torque of the first motor generator and the rotational angular velocity of the first motor, the planetary torque, which is the torque of the planetary carrier, is calculated. The axle torque, which is the torque of the axle, is calculated based on the output torque of the second motor generator, the rotational angular velocity of the second motor, and the planetary torque. The magnitude of the vibration component of the axle torque is calculated as the disturbance torque, and the following is performed: The drive control device according to claim 1.

5. The aforementioned processing circuit is The resonance-influenced torque, which is the torque caused by resonance generated in the power transmission device, is calculated based on the rotational angular velocity of the first motor. Based on the detection signal from the crank angle sensor, the engine rotational angular velocity, which is the rotational angular velocity of the crankshaft, is calculated. Based on the engine rotational angular velocity, the engine inertia torque, which is the inertia torque of the engine, is calculated. The engine torque is calculated by summing the engine inertia torque, which is calculated at the same time as the rotational angular velocity of the first motor used to calculate the resonance-affected torque, with the resonance-affected torque. The drive control device according to claim 4.

6. The processing circuit includes a first processing circuit to which the detection signal of the crank angle sensor is input, and a second processing circuit to which the detection signals of the first rotation angle sensor and the second rotation angle sensor are input. The second processing circuit is, The resonance-influenced torque calculated based on the first motor rotational angular velocity, or the first motor rotational angular velocity, and timing-related information, which is information regarding the timing of the calculation of the first motor rotational angular velocity, are associated and transmitted to the first processing circuit. The disturbance torque or the axle torque is transmitted to the first processing circuit. The first processing circuit is, To calculate the engine rotational angular velocity and the engine inertial torque, The engine torque is calculated as the sum of the resonance-influenced torque, which is based on the first motor rotational angular velocity calculated at the calculation time indicated by the time-related information received from the second processing circuit, and the engine inertia torque calculated at the said calculation time. To control the engine using the engine torque, and to perform the following: The drive control device according to claim 5.

7. The engine is a spark-ignition engine having multiple cylinders, The processing circuit is configured to perform inter-cylinder adjustment processing to correct variations in the magnitude of engine torque at the ignition timing of the multiple cylinders, by adjusting the fuel supply amount or ignition timing to each of the multiple cylinders. The processing circuit executes the inter-cylinder adjustment process when the disturbance torque is below the threshold, while interrupting the execution of the inter-cylinder adjustment process when the disturbance torque is greater than the threshold. The drive control device according to claim 1.

8. The engine is a spark-ignition engine having multiple cylinders, The processing circuit is configured to perform a misfire determination process that determines whether or not a misfire is occurring for each of the multiple cylinders based on the engine torque. The processing circuit changes the magnitude of the determination value used in the misfire determination process depending on whether the disturbance torque is greater than the threshold or less than or equal to the threshold. The drive control device according to claim 1.

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