Control device

Abstract

The present invention comprises: an input torque detection unit (11) that detects an input torque fluctuation value (F0); a first filter processing unit (12) that extracts and acquires, from the input torque fluctuation value (F0), a first post-filter fluctuation value (F1) fluctuating at a specific fluctuation period; a damping control unit (15) that calculates an opposite-phase torque fluctuation value (F3) of opposite phase to the first post-filter fluctuation value (F1), and performs damping processing; and a second filter processing unit (13) that extracts and acquires, from the first post-filter fluctuation value (F1), a second post-filter fluctuation value (F2) fluctuating at a period that is longer than the specific fluctuation period, wherein on the basis of the second post-filter fluctuation value (F2), the damping control unit (15) configures a state of not performing the damping processing.

Description

[Technical field]

[0001] The present invention relates to a control device that controls a vehicle drive device that has an input member that is drivingly connected to an internal combustion engine, an output member that is drivingly connected to wheels, and a rotating electric machine that is arranged to transmit torque to a power transmission path connecting these. [Background technology]

[0002] JP 2020-116978 A discloses a control device for reducing torque vibrations transmitted to an input member drivingly connected to the crankshaft of the internal combustion engine by using an antiphase torque from the rotating electric machine in a vehicle drive device equipped with an internal combustion engine and a rotating electric machine. This control device estimates the torque (damper torque) in a damper drivingly connected to the crankshaft of the internal combustion engine based on the crank angle of the crankshaft and the rotational position (electrical angle) of the rotor of the rotating electric machine, and outputs a vibration damping torque (motor torque) corrected to be in antiphase with the damper torque after filtering to the rotating electric machine. This reduces torque fluctuations in the damper torque that cause muffled noise in the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-116978 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above control device, the vibration components other than the vibration components of the primary explosion period in the combustion stroke of the internal combustion engine are attenuated in the filter processing of the estimated damper torque, but depending on the characteristics of the filter, vibration components other than the primary explosion period may remain. Also, as described above, since the damping torque is a torque that is in the opposite phase to the damper torque after the filter processing, the vibration components of the primary explosion period are reduced by the damping torque, but the vibration components other than the primary explosion period may be amplified by the damping torque. For example, in the case of a relatively rapid step response change in the accelerator opening, wheel slip, running on a wavy road, etc., the vibration components other than the primary explosion period may not be sufficiently reduced, and the vibration of the vehicle may become large.

[0005] In view of the above, it is desirable to provide technology that can reduce vehicle vibrations caused by fluctuations in torque transmitted from an internal combustion engine, while also preventing the vehicle vibrations from worsening due to the damping torque output by a rotating electric machine to reduce the vibrations. [Means for solving the problem]

[0006] In view of the above-mentioned problems, there is provided a control device for controlling a vehicle drive device including an input member drivably connected to an internal combustion engine, an output member drivably connected to wheels, and a rotating electric machine provided to transmit torque to a power transmission path connecting the input member and the output member, the control device comprising: an input torque detection unit that detects an input torque fluctuation value, which is a value that changes over time of the torque transmitted from the internal combustion engine to the input member; a first filter processing unit that performs a first filter process to extract a torque component that fluctuates at a specific fluctuation period corresponding to a rotation speed of the internal combustion engine from the input torque fluctuation value, and obtains a first filtered fluctuation value; a vibration suppression control unit that calculates an anti-phase torque fluctuation value, which is a torque fluctuation value in anti-phase with the first filtered fluctuation value, and executes a vibration suppression process of superimposing a torque corresponding to the anti-phase torque fluctuation value on an output torque of the rotary electric machine; a second filter processing unit that performs a second filter process to extract a torque component that fluctuates at a period longer than the specific fluctuation period from the first filtered fluctuation value, and obtains a second filtered fluctuation value; The vibration suppression control unit sets the vibration suppression process to a non-execution state based on the second filtered fluctuation value.

[0007] By executing the vibration suppression process, it is possible to reduce the torque components that fluctuate at a specific fluctuation period according to the rotation speed of the internal combustion engine. However, depending on the filter characteristics of the first filter process, it is not possible to properly remove torque components with periods different from the specific fluctuation period, particularly those with periods longer than the specific fluctuation period, and the vibration suppression process may amplify the torque fluctuations with the long period. According to this configuration, since the vibration suppression process is set to a non-execution state based on the second filtered fluctuation value, it is possible to not execute the vibration suppression process in cases where the torque fluctuations with the long period are amplified by the vibration suppression process. Therefore, it is possible to avoid amplifying the torque fluctuations with the long period and to avoid the deterioration of the vibration of the vehicle. That is, according to this configuration, it is possible to reduce the vibration of the vehicle due to the fluctuation of the torque transmitted from the internal combustion engine, and to avoid the deterioration of the vibration of the vehicle due to the vibration suppression torque output by the rotating electric machine to reduce the vibration.

[0008] Further characteristics and advantages of the control device for controlling a drive device for a vehicle will become apparent from the following description of an exemplary, non-limiting embodiment which is given with reference to the drawings. [Brief description of the drawings]

[0009] [Figure 1] Schematic diagram of a vehicle drive device [Diagram 2] Schematic block diagram of a control device [Diagram 3] 1 is a flowchart showing an example of control by a control device. [Figure 4] 11 is a flowchart showing another example of control by the control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of a control device that controls a vehicle drive device will be described with reference to the drawings. In this application, "driving connection" refers to a state in which two rotating elements are connected so as to be able to transmit a driving force, and includes a state in which the two rotating elements are connected so as to rotate integrally, or a state in which the two rotating elements are connected so as to be able to transmit a driving force via one or more transmission members. Such transmission members include various members that transmit rotation at the same speed or at a variable speed, such as a shaft, a gear mechanism, a belt, a chain, etc. In addition, the transmission members may also include an engagement device that selectively transmits rotation and driving force, such as a friction engagement device, a meshing engagement device, etc.

[0011] FIG. 1 shows an example of a vehicle drive device 100. As shown in FIG. 1, the vehicle drive device 100 of this embodiment includes an internal combustion engine 1, a damper DP, a clutch CL, a rotating electric machine 3, an automatic transmission 4, and a differential gear device 5. As shown in FIG. 1, the internal combustion engine 1 and the rotating electric machine 3 are drivingly connected via the damper DP and the clutch CL. The rotating electric machine 3 functions as an electric motor (power running) and also functions as a generator (regeneration). Here, a member that inputs power to the rotating electric machine 3 will be described as an input member 2 in the vehicle drive device 100. In this embodiment, an output shaft 9 of the internal combustion engine 1 and the input member 2 connected to a rotor shaft (not shown) of the rotating electric machine 3 are drivingly connected via the damper DP and the clutch CL.

[0012] The clutch CL is an engagement device capable of connecting and disconnecting the power transmission between the internal combustion engine 1 and the rotating electric machine 3. When the clutch CL is engaged, power is transmitted between the internal combustion engine 1 and the rotating electric machine 3, and when the clutch CL is disengaged, power is not transmitted between the internal combustion engine 1 and the rotating electric machine 3. For example, when the clutch CL is disengaged, the rotating electric machine 3 functions as an electric motor using electric power from an electricity storage device (such as a secondary battery or a capacitor) (not shown) to drive the wheels W (electric vehicle mode (EV mode)).

[0013] When the clutch CL is engaged, mainly a hybrid mode (HV mode) and a charging mode can be executed. In the hybrid mode, the rotating electric machine 3 functions as an electric motor. The vehicle drive device 100 can drive the wheels W by the torque of the internal combustion engine 1 and the torque of the rotating electric machine 3. In the charging mode, the rotating electric machine 3 functions as a generator. The vehicle drive device 100 can drive the wheels W by the torque of the internal combustion engine 1, and can cause the rotating electric machine 3 to generate electricity by the torque of the internal combustion engine 1 to charge an electricity storage device (not shown).

[0014] When the clutch CL is engaged, in both the hybrid mode and the charging mode, it is possible to cause the rotating electric machine 3 to output a vibration damping torque by a vibration damping process described later. In the hybrid mode, the vibration damping torque is superimposed on a so-called power running torque, and in the charging mode, the vibration damping torque is superimposed on a so-called regenerative torque.

[0015] As shown in FIG. 1, in this embodiment, an example is shown in which an output shaft 9 of an internal combustion engine 1 and an input member 2 connected to a rotor shaft of a rotating electric machine 3 are drivably connected via a damper DP and a clutch CL. However, a vehicle drive device 100 controlled by a control device 10 only needs to include at least an input member 2 drivably connected to the internal combustion engine 1, an output member 6 drivably connected to a wheel W, and a rotating electric machine 3 provided to transmit torque to a power transmission path connecting the input member 2 and the output member 6. That is, the vehicle drive device 100 does not need to include at least one of the damper DP and the clutch CL. If the clutch CL is not provided, the electric vehicle mode (specifically, the electric vehicle mode without co-rotation of the internal combustion engine 1) cannot be executed, but the hybrid mode and the charging mode can be executed.

[0016] 1, in this embodiment, torque from the internal combustion engine 1 and the rotating electric machine 3 is distributed to a pair of output members 6 by a differential gear device 5, and each of the pair of output members 6 is drivingly connected to each of a pair of wheels W. Therefore, the differential gear device 5 can also be considered to correspond to the output members 6. In addition, while the embodiment shown in FIG. 1 illustrates an example in which an automatic transmission 4 is provided between the rotating electric machine 3 and the output members 6, the vehicle drive device 100 may be configured without including the automatic transmission 4.

[0017] As is well known, in a typical four-stroke internal combustion engine, a vibration component of a so-called primary explosion period occurs during the combustion stroke, and this vibration component is superimposed on the output torque from the internal combustion engine 1. This vibration component of the primary explosion period is also a cause of booming noise in a vehicle, so it is desirable to reduce this vibration component. For this reason, the control device 10 of this embodiment includes an input torque detection unit 11, a first filter processing unit 12, and a vibration suppression control unit 15, as shown in FIG. 2.

[0018] The input torque detection unit 11 detects an input torque fluctuation value F0, which is a value that changes over time of the torque transmitted from the internal combustion engine 1 to the input member 2. For example, when a damper DP is provided between the internal combustion engine 1 and the input member 2 as in this embodiment, the rotation of the output shaft 9 of the internal combustion engine 1 differs from that of the input member 2. The input torque detection unit 11 calculates a fluctuation value of the torque transmitted from the damper DP to the input member 2 according to the torque fluctuation of the internal combustion engine 1 based on the internal combustion engine output angle, which is the rotation angle of the output shaft 9 of the internal combustion engine 1, and the input member angle, which is the rotation angle of the input member 2 (specifically, based on the difference between these two angles), and can detect the calculation result as the input torque fluctuation value F0. That is, even when a damper DP is provided between the internal combustion engine 1 and the input member 2, the control device 10 can appropriately detect the input torque fluctuation value F0 and execute the vibration damping process by the vibration damping control unit 15.

[0019] The internal combustion engine output angle is detected by, for example, a crank angle sensor 31 that detects the crank angle of the internal combustion engine 1. The input member angle is detected by, for example, a rotation sensor 21 such as a resolver that detects the rotation (rotation speed and rotor position (corresponding to the magnetic pole position in the case of a permanent magnet type rotating electric machine)) of the rotor of the rotating electric machine 3. As described above, the rotor shaft of the rotating electric machine 3 is connected to the input member 2. The rotating electric machine 3 is controlled by the rotating electric machine control device 20 based on the detection result of the rotation sensor 21 such as a resolver. Therefore, the input member angle can be detected by the rotation sensor 21. In this way, the input torque detection unit 11 can detect the input torque fluctuation value F0 based on the detection results of the rotation sensor 21 and the crank angle sensor 31. Of course, a sensor that detects the rotation angle of the input member 2 may be provided separately, and the input member angle may be detected by the sensor.

[0020] In addition, when the damper DP is not provided, the output shaft 9 of the internal combustion engine 1 and the input member 2 are directly and drivingly connected (including the case where they are drivingly connected via the clutch CL). In this case, the input torque fluctuation value F0 may be estimated based on the difference (angle difference) between the detection results of the crank angle sensor 31 and the rotation sensor 21 and the stiffness values ​​of the members from the internal combustion engine 1 to the rotating electric machine 3 (for example, by multiplying both of them).

[0021] The first filter processing unit 12 performs a first filter process to extract torque components that fluctuate at a specific fluctuation period corresponding to the rotation speed of the internal combustion engine 1 from the input torque fluctuation value F0, and obtains a first filtered fluctuation value F1. Here, the specific fluctuation period is the first explosion period in the combustion stroke described above. The first filter processing unit 12 is configured to include, for example, a low-pass filter that passes torque components having a period equal to or longer than the specific fluctuation period (passes torque components having a frequency equal to or lower than a specific fluctuation frequency corresponding to the specific fluctuation period) and a band-pass filter that passes torque components having a period (approximately 0.8 to 1.2 times) close to the specific fluctuation period (passes torque components having a frequency corresponding to the period close to the period).

[0022] The vibration suppression control unit 15 calculates an antiphase torque fluctuation value F3, which is a torque fluctuation value in antiphase with the first filtered fluctuation value F1, and executes a vibration suppression process of superimposing a torque equivalent to the antiphase torque fluctuation value F3 on the output torque of the rotating electric machine 3. The rotating electric machine control device 20 drives and controls the rotating electric machine 3 based on a torque command (required torque) provided from a vehicle control device (not shown). The vibration suppression control unit 15 calculates an antiphase torque fluctuation value F3 as a vibration suppression torque to be superimposed on this torque command, and provides it to the rotating electric machine control device 20. The rotating electric machine control device 20 drives and controls the rotating electric machine 3 by superimposing the antiphase torque fluctuation value F3 as a vibration suppression torque on the torque command.

[0023] In this way, the control device 10 extracts the torque component fluctuating in a specific fluctuation period corresponding to the primary explosion period, which is included in the input torque fluctuation value F0, as the first filtered fluctuation value F1, and outputs the torque of the antiphase torque fluctuation value F3, which is in antiphase with the extracted first filtered fluctuation value F1, to the rotating electric machine 3, thereby reducing the first filtered fluctuation value F1. In other words, the vibration of the primary explosion period is reduced. However, the filter provided in the first filter processing unit 12 has a certain width for the frequencies to be passed, and the first filtered fluctuation value F1 may also include torque components of periods other than the vibration of the primary explosion period. For this reason, depending on the characteristics of the filter, vibration components other than the primary explosion period may remain in the first filtered fluctuation value F1. In particular, when the filter is configured by a low-pass filter, torque components having a period longer than the primary explosion period may remain in the first filtered fluctuation value F1. Furthermore, even if the filter is composed of a band-pass filter, if the amplitude of a torque component having a period longer than the primary explosion period is large, this torque component may not be sufficiently attenuated by the filter and may remain in the first filtered fluctuation value F1.

[0024] Therefore, even if the vibration component of the primary explosion cycle is reduced by the antiphase torque fluctuation value F3, the vibration components other than the primary explosion cycle may not be reduced or may be amplified by the vibration damping torque. For example, a vibration component other than the vibration component of the primary explosion cycle may be generated due to a relatively rapid step response change in the accelerator opening, slippage of the wheels W (including cases where the wheels continue to spin), grip of the wheels W after slipping, driving on a wavy road, etc. In such cases, not only is the vibration component of the torque not sufficiently reduced by the antiphase torque fluctuation value F3, but the vibration of the vehicle may also increase.

[0025] Therefore, the control device 10 of this embodiment further includes a second filter processing unit 13 that performs a second filter process to extract torque components that fluctuate in a period longer than the specific fluctuation period from the first filtered fluctuation value F1, and acquires a second filtered fluctuation value F2. A period longer than the specific fluctuation period is, for example, twice the specific fluctuation period, and preferably three times or more. The second filter processing unit 13 is configured to include, for example, a low-pass filter that passes torque components having a period twice to three times or more the specific fluctuation period (passes torque components having a frequency equal to or lower than the frequency corresponding to the period), and a band-pass filter that passes torque components having a period close to the period (approximately 0.8 to 1.2 times) (passes torque components having a frequency corresponding to the period close to the period).

[0026] As described above, it is possible to some extent to assume vehicle conditions in which torque components that are difficult to remove by the first filter processing appear. For example, it is preferable that the second filter processing unit 13 is configured to extract torque components that fluctuate with the period of torque fluctuations that occur in the power transmission path due to at least one of a step change in the accelerator opening of the vehicle and a state transition between a slip state and a grip state of the wheels W. It is possible to appropriately extract torque components that are difficult to remove by the first filter processing, and appropriately not execute the vibration damping process in a situation in which it is preferable not to execute the vibration damping process (a situation in which the vibration damping process needs to be in a non-executing state).

[0027] Naturally, nothing prevents the characteristics of the second filtering section 13 from being set by simulation, experiment, or the like without considering a specific vehicle situation.

[0028] When the amplitude of the second filtered fluctuation value F2 is equal to or greater than a specified judgment threshold value, the vibration control unit 15 sets the vibration control process to a non-executing state and does not execute the vibration control process. That is, the vibration control unit 15 does not provide the antiphase torque fluctuation value F3 to the rotating electric machine control device 20, and the rotating electric machine control device 20 drives and controls the rotating electric machine 3 without superimposing a torque (damping torque) based on the antiphase torque fluctuation value F3 on the torque command. As shown in FIG. 1, this embodiment illustrates a configuration including an amplitude determination unit 14 that determines whether the amplitude of the second filtered fluctuation value F2 is equal to or greater than a specified judgment threshold value. This amplitude determination unit 14 is also included in the vibration control unit 15.

[0029] The above-mentioned judgment threshold value is set to, for example, 5 times or more, for example, about 5 to 10 times, the torque amplitude of the primary explosion cycle of the internal combustion engine 1. In this case, when the amplitude of the second filtered fluctuation value F2 is 5 times or more the torque amplitude of the primary explosion cycle, the vibration of the vehicle is not aggravated, and when it is less than 5 times, the torque vibration of the primary explosion cycle is reduced by the vibration suppression process. Therefore, the vibration of the vehicle caused by the fluctuation of the torque transmitted from the internal combustion engine 1 can be reduced, and the deterioration of the vibration of the vehicle due to the vibration suppression torque output by the rotating electric machine 3 to reduce the vibration can be appropriately avoided.

[0030] The judgment threshold value may be defined not as a ratio to the torque amplitude of the primary explosion period, but as an absolute value of torque based on experiments or simulations (for example, 15 to 25 [Nm] or more).

[0031] In this manner, in the control device 10 of the present embodiment, when the torque component with a period longer than the specific fluctuation period is large, the vibration suppression process is not executed. Therefore, it is possible to avoid amplifying the torque fluctuation with the long period and to avoid the deterioration of the vibration of the vehicle.

[0032] The flowchart in Fig. 3 shows an example of a control procedure by the control device 10, including a case where the vibration suppression process is not executed (vibration suppression process not executed / vibration suppression process canceled). The control device 10 is configured with, for example, a microcomputer or the like as its core, and the control device 10 is realized by cooperation between such hardware and software such as a program.

[0033] The control device 10 first executes an input torque detection process (#1) in which the input torque detection unit 11 detects an input torque fluctuation value F0, which is a value that changes over time of the torque transmitted from the internal combustion engine 1 to the input member 2. Next, the control device 10 executes a first filter process (#2) in which the first filter processing unit 12 extracts from the input torque fluctuation value F0 a torque component that fluctuates at a specific fluctuation period corresponding to the rotation speed of the internal combustion engine 1. As a result of the first filter process (#2), a first filtered fluctuation value F1 is obtained. Next, the control device 10 executes a second filter process (#3) in which the second filter processing unit 13 extracts from the first filtered fluctuation value F1 a torque component that fluctuates at a period longer than the specific fluctuation period. As a result of the second filter process (#3), a second filtered fluctuation value F2 is obtained.

[0034] Next, the control device 10 judges whether the amplitude of the second filtered fluctuation value F2 is equal to or greater than a specified judgment threshold value by the amplitude judgment unit 14 (vibration suppression control unit 15) (#5). If the amplitude of the second filtered fluctuation value F2 is equal to or greater than the judgment threshold value, the vibration suppression control unit 15 of the control device 10 does not execute the vibration suppression process (#6). That is, the vibration suppression control by the vibration suppression control unit 15 is set to a non-execution state. Note that "setting the vibration suppression process to a non-execution state" includes both transitioning from an execution state in which the vibration suppression process is already being executed to a non-execution state, that is, stopping the vibration suppression process, and not executing the vibration suppression process in a situation in which the vibration suppression process has not yet been executed, such as immediately after the vehicle starts traveling.

[0035] On the other hand, when the amplitude of the second filtered fluctuation value F2 is less than the judgment threshold value, the vibration suppression control section 15 of the control device 10 executes the vibration suppression process (#7). In other words, the vibration suppression control by the vibration suppression control section 15 is put into an execution state. That is, the control device 10 executes the vibration suppression process in which the vibration suppression control section 15 calculates an anti-phase torque fluctuation value F3, which is a torque fluctuation value in anti-phase with the first filtered fluctuation value F1, and superimposes a torque equivalent to the anti-phase torque fluctuation value F3 on the output torque of the rotating electric machine 3.

[0036] In this way, based on the second filtered fluctuation value F2, specifically, when the amplitude of the second filtered fluctuation value F2 is equal to or greater than the judgment threshold value, the vibration control process is immediately switched to a non-execution state in which the vibration control process is not executed, and thus the deterioration of the vibration of the vehicle is promptly suppressed.

[0037] Incidentally, the torque component with a period longer than the specific fluctuation period becomes large when, as described above, a relatively rapid step response change in accelerator opening, slippage of the wheels W, grip of the wheels W after slippage, running on a wavy road, or the like occurs. Therefore, for example, based on a rapid change in accelerator opening detected by an accelerator sensor or the like, a rapid change in the detection result of the rotation sensor of the wheels W, or the detection result of the vibration sensor of the vehicle when running on a wavy road, it is possible to determine whether or not to execute the vibration suppression process by the vibration suppression control unit 15, and not to execute the vibration suppression process. However, there are various time differences until such a change in the behavior of the vehicle affects the vibration of the vehicle, and there are cases where it is not possible to uniformly specify whether or not the vibration suppression process for the vibration caused by the primary explosion period of the internal combustion engine 1 should not be executed (whether or not the vibration suppression process should be stopped). In this embodiment, it is determined whether or not to execute the vibration suppression process based on the vibration component of the torque actually transmitted to the vehicle drive device 100. That is, whether or not to execute the vibration damping process is determined based on the vibration detected at the location where the vibration is transmitted to the vehicle drive device 100, so that more appropriate vibration damping control is possible.

[0038] The process shown in the flowchart of FIG. 3 is executed periodically. That is, step #6 (or step #7) is executed repeatedly. According to the flowchart of FIG. 3, as described above, when it is determined in step #5 that the amplitude of the second filtered fluctuation value F2 is equal to or greater than the judgment threshold value, the vibration suppression process is immediately put into a non-execution state (#6). Also, when it is determined in step #5 that the amplitude of the second filtered fluctuation value F2 is less than the judgment threshold value in the non-execution state in which the vibration suppression process is not executed, the vibration suppression process is immediately executed (#7). In this way, by quickly switching between executing and not executing the vibration suppression process, the control device 10 can appropriately perform vibration suppression control according to the situation. However, when the amplitude of the second filtered fluctuation value F2 is near the judgment threshold value, the execution (#7) and non-execution (#6) of the vibration suppression process are frequently repeated, which may cause a lack of stability in the control.

[0039] Therefore, when the vibration suppression control unit 15 determines that the amplitude of the second filtered fluctuation value F2 is less than the judgment threshold value in a non-execution state where the vibration suppression process is not being executed, it is preferable that the vibration suppression control unit 15 does not immediately start the execution of the vibration suppression process (restarts it when the execution state is changed to the non-execution state), but starts (resumes) the execution of the vibration suppression process after a predetermined specified time Tref has elapsed. That is, as will be described below with reference to the flowchart of FIG. 4, the vibration suppression control unit 15 may start the vibration suppression process when the period T during which the vibration suppression process is in a non-execution state and the amplitude of the second filtered fluctuation value F2 is less than the judgment threshold value continues for the specified time Tref or more. For example, the vibration suppression process may be started again when the period T during which the amplitude of the second filtered fluctuation value F2 is less than the judgment threshold value continues for the specified time Tref or more after the vibration suppression process is in a non-execution state. The specified time Tref may be, for example, about 500 times (about 250 to 1000 times) the execution period (control period) described above (about 0.5 to 2 seconds when the execution period is 2 [ms]).

[0040] As described with reference to FIG. 3, after the torque component with a period longer than the specific fluctuation period becomes smaller, the vibration suppression process is resumed. In other words, if there is no risk of amplifying the torque fluctuation with the long period by the vibration suppression process, the torque component fluctuating with the specific fluctuation period according to the rotation speed of the internal combustion engine 1 can be appropriately reduced. Therefore, the influence of the torque transmitted from the internal combustion engine 1 on the vibration of the vehicle can be reduced. Furthermore, when the period T during which the vibration suppression process is in a non-execution state and the amplitude of the second filtered fluctuation value F2 is less than the judgment threshold value continues for a specified time Tref or more, the vibration suppression control unit 15 puts the vibration suppression process into an execution state. Therefore, the execution state (#7) and non-execution state (#6) of the vibration suppression process are repeated for each control period (execution period), and the lack of stability in the control is suppressed.

[0041] After acquiring the second filtered fluctuation value F2 in step #3 in Fig. 3, the control device 10 judges whether or not the vibration suppression process is not in progress as shown in Fig. 4 (#3 → $1 → #4). If the vibration suppression process is not in a non-executing state, that is, if the vibration suppression process is being executed (if the vibration suppression process is in a executing state), as described above with reference to Fig. 3, the control device 10 judges whether or not the amplitude of the second filtered fluctuation value F2 is equal to or greater than the judgment threshold value by the amplitude judgment unit 14 (#4 → $2 → #5). The process following step #5 is as described above with reference to Fig. 3.

[0042] Even if it is determined in step #4 that the vibration suppression process is not being executed, the control device 10 determines whether the amplitude of the second filtered fluctuation value F2 is equal to or greater than the determination threshold value (#4→#41) in the same manner as in step #5. Step #5 and step #41 have the same process contents (determination criteria), but the processes after the determination are different.

[0043] In step #41, if the amplitude of the second filtered fluctuation value F2 is equal to or greater than the judgment threshold, the non-execution state of the vibration suppression process continues. That is, the vibration suppression control unit 15 of the control device 10 sets the vibration suppression process to a non-execution state as described with reference to Fig. 3 (#41 → $3 → #6). On the other hand, if the amplitude of the second filtered fluctuation value F2 is less than the specified judgment threshold, the vibration suppression control unit 15 sets the vibration suppression process to an execution state when the period T during which the amplitude of the second filtered fluctuation value F2 is less than the judgment threshold continues for a specified time Tref or more, as described later with reference to Fig. 4 (#41 → ... → $4 → #7).

[0044] Specifically, when it is determined in step #41 that the amplitude of the second filtered fluctuation value F2 is less than the determination threshold value, the vibration control unit 15 increments the variable (initial value "0") indicating the period T by "1" (#41→#42). Next, the vibration control unit 15 determines whether the period T is equal to or greater than the specified time Tref (#43). As described above, when the specified time Tref is about 500 times the execution period (control period), for example, the specified time Tref is "500", and in step #43, it is determined whether the period T is equal to or greater than 500. In step #43, when the period T is less than the specified time Tref, the non-execution state of the vibration control process is continued. That is, as described with reference to FIG. 3, the vibration control unit 15 of the control device 10 does not execute the vibration control process (#43→$3→#6). In step #43, if the period T is equal to or longer than the specified time Tref, the variable indicating the period T is reset to the initial value "0" and vibration suppression processing is started (#43→#44→$4→#7). That is, as described with reference to FIG. 3, the vibration suppression control section 15 of the control device 10 executes vibration suppression processing based on the first filtered fluctuation value F1 (#6).

[0045] 4, an increment type counter is used as an example. However, the present invention is not limited to this. The specified time Tref of "500" may be set as the initial value of the period T, and a decrement type counter or timer may be used to determine the lapse of the period T.

[0046] As described above, according to this embodiment, it is possible to reduce vehicle vibrations caused by fluctuations in the torque transmitted from the internal combustion engine 1, and to prevent the vehicle vibrations from worsening due to the damping torque output by the rotating electric machine 3 to reduce the vibrations.

[0047] Other embodiments Other embodiments will be described below. Note that the configurations of the embodiments described below are not limited to being applied independently, and may be applied in combination with the configurations of other embodiments as long as no contradiction occurs.

[0048] (1) In the above, as illustrated in Fig. 1, a so-called one-motor parallel hybrid vehicle drive device 100 has been described as an example in which the internal combustion engine 1, the input member 2, the rotating electric machine 3, and the output member 6 are arranged in the stated order in the power transmission path from the internal combustion engine 1 to the wheels W. However, the vehicle drive device 100 controlled by the control device 10 is not limited to this form, and may be of a form in which the rotating electric machine 3 is arranged in parallel with the power transmission path in which the internal combustion engine 1, the input member 2, and the output member 6 are arranged in the stated order, and the rotating electric machine 3 is capable of transmitting torque to the power transmission path (so-called parallel hybrid), or may be of a form in which two rotating electric machines including the rotating electric machine 3 are provided, and the power transmission path from the internal combustion engine 1 to the wheels W has the internal combustion engine 1, the input member 2, one rotating electric machine, a clutch, the other rotating electric machine, and the output member 6 arranged in the stated order (so-called series-parallel hybrid).

[0049] (2) FIG. 1 illustrates an example in which the automatic transmission 4 is disposed between the rotating electric machine 3 and the differential gear device 5, but a torque converter may also be disposed between the rotating electric machine 3 and the automatic transmission 4.

[0050] [Overview of the embodiment] The above-described control device (10) will now be briefly described.

[0051] In one embodiment, a control device (10) for controlling a vehicle drive device (100) including an input member (2) drivingly connected to an internal combustion engine (1), an output member (6) drivingly connected to wheels (W), and a rotating electric machine (3) provided to transmit torque to a power transmission path connecting the input member (2) and the output member (6) is an input torque detection unit (11) that detects an input torque fluctuation value (F0) that is a value that changes over time of the torque transmitted from the internal combustion engine (1) to the input member (2); a first filter processing unit (12) that performs a first filter process (#2) to extract a torque component that fluctuates at a specific fluctuation period corresponding to a rotation speed of the internal combustion engine (1) from the input torque fluctuation value (F0) and obtains a first filtered fluctuation value (F1); a vibration suppression control unit (15) that calculates an anti-phase torque fluctuation value (F3) that is a torque fluctuation value in anti-phase with the first filtered fluctuation value (F1) and executes a vibration suppression process that superimposes a torque equivalent to the anti-phase torque fluctuation value (F3) on an output torque of the rotating electric machine (3); a second filter processing unit (13) that performs a second filter process (#3) to extract a torque component that fluctuates at a period longer than the specific fluctuation period from the first filtered fluctuation value (F1) and obtains a second filtered fluctuation value (F2), The vibration suppression control unit (15) sets the vibration suppression process to a non-executing state based on the second filtered fluctuation value (F2).

[0052] By executing the vibration suppression process, it is possible to reduce torque components that fluctuate with a specific fluctuation period according to the rotation speed of the internal combustion engine (1). However, depending on the filter characteristics of the first filter process (#1), it is not possible to appropriately remove torque components with periods different from the specific fluctuation period, particularly those with periods longer than the specific fluctuation period, and the vibration suppression process may amplify the torque fluctuation with the long period. According to this configuration, since the vibration suppression process is set to a non-execution state based on the second filtered fluctuation value (F2), it is possible to not execute the vibration suppression process in cases where the torque fluctuation with the long period is amplified by the vibration suppression process. Therefore, it is possible to avoid amplifying the torque fluctuation with the long period and to avoid the deterioration of the vibration of the vehicle. That is, according to this configuration, it is possible to reduce the vibration of the vehicle due to the fluctuation of the torque transmitted from the internal combustion engine (1), and to avoid the deterioration of the vibration of the vehicle due to the vibration suppression torque output by the rotating electric machine (3) to reduce the vibration.

[0053] Here, it is preferable that the vibration suppression control unit (15) puts the vibration suppression process into a non-executing state when the amplitude of the second filtered fluctuation value (F2) is equal to or greater than a specified determination threshold value.

[0054] According to this configuration, the control device (10) can appropriately determine that the torque component with a period longer than the specific fluctuation period is large, and can control not to execute the vibration damping process, thereby avoiding the amplification of the torque fluctuation with the long period and preventing the deterioration of the vibration of the vehicle.

[0055] In addition, it is preferable that the vibration control unit (15) puts the vibration control process into an execution state when the vibration control process is not in an execution state and a period (T) during which the amplitude of the second filtered fluctuation value (F2) is less than the judgment threshold value continues for a specified time (Tref) or more.

[0056] According to this configuration, an execution state in which the vibration damping process is executed and a non-execution state in which the vibration damping process is not executed are repeated for each control cycle (execution cycle), thereby preventing the control from becoming unstable.

[0057] Also, it is preferable that the judgment threshold value is set to be 5 times or more the torque amplitude of a primary explosion period of the internal combustion engine (1).

[0058] According to this configuration, when the amplitude of the second filtered fluctuation value (F2) is 5 times or more the torque amplitude of the primary explosion cycle, the vibration of the vehicle is not aggravated because the vibration suppression process is not executed, and when the amplitude is less than 5 times, the torque vibration of the primary explosion cycle is reduced by the vibration suppression process. Therefore, the vehicle vibration caused by the fluctuation of the torque transmitted from the internal combustion engine (1) can be reduced, and the vehicle vibration can be appropriately prevented from being aggravated by the vibration suppression torque output by the rotating electric machine (3) to reduce the vibration.

[0059] In addition, it is preferable that the second filter processing unit (#3) is configured to extract a torque component that fluctuates with the period of torque fluctuations occurring in the power transmission path due to at least one of a step change in accelerator opening of the vehicle and a state transition between a slip state and a grip state of the wheels (W).

[0060] According to this configuration, the second filter processing unit (#3) can appropriately extract torque components that are difficult to remove by the first filter processing (#2), and can appropriately not execute vibration control processing in situations where it is necessary for the vibration control processing to be in a non-executing state.

[0061] It is also preferable that a damper (DP) is provided between the internal combustion engine (1) and the input member (2), and the input torque detection unit (11) calculates a fluctuation value of the torque transmitted from the damper (DP) to the input member (2) in response to torque fluctuations of the internal combustion engine (1) based on an internal combustion engine output angle, which is a rotation angle of an output shaft (9) of the internal combustion engine (1), and an input member angle, which is a rotation angle of the input member (2), and detects the calculation result as the input torque fluctuation value (F0).

[0062] According to this configuration, even if a damper (DP) is provided between the internal combustion engine (1) and the input member (2), the control device (10) can properly detect the input torque fluctuation value (F0) using the input torque detection unit (11) and execute vibration damping processing using the vibration damping control unit (15). [Explanation of symbols]

[0063] 1: internal combustion engine, 2: input member, 3: rotating electric machine, 6: output member, 9: output shaft, 10: control device, 11: input torque detection unit, 12: first filter processing unit, 13: second filter processing unit, 14: amplitude determination unit (vibration suppression control unit), 15: vibration suppression control unit, 100: vehicle drive device, DP: damper, F0: input torque fluctuation value, F1: first filtered fluctuation value, F2: second filtered fluctuation value, F3: anti-phase torque fluctuation value, T: period during which the amplitude of the second filtered fluctuation value is less than the determination threshold value, Tref: specified time, W: wheel, #2: first filter processing, #3: second filter processing

Claims

1. A control device for controlling a vehicle drive device including an input member drivably connected to an internal combustion engine, an output member drivably connected to wheels, and a rotating electric machine provided to transmit torque to a power transmission path connecting the input member and the output member, an input torque detection unit that detects an input torque fluctuation value, which is a value that changes over time of the torque transmitted from the internal combustion engine to the input member; a first filter processing unit that performs a first filter process to extract a torque component that fluctuates at a specific fluctuation period corresponding to a rotation speed of the internal combustion engine from the input torque fluctuation value, and obtains a first filtered fluctuation value; a vibration suppression control unit that calculates an anti-phase torque fluctuation value, which is a torque fluctuation value in anti-phase with the first filtered fluctuation value, and executes a vibration suppression process of superimposing a torque corresponding to the anti-phase torque fluctuation value on an output torque of the rotary electric machine; a second filter processing unit that performs a second filter process to extract a torque component that fluctuates at a period longer than the specific fluctuation period from the first filtered fluctuation value, and obtains a second filtered fluctuation value; The vibration suppression control unit sets the vibration suppression process to a non-execution state based on the second filtered fluctuation value.

2. The control device according to claim 1 , wherein the vibration suppression control unit is configured to not execute the vibration suppression process when the amplitude of the second filtered fluctuation value is equal to or greater than a specified determination threshold value.

3. The control device according to claim 2 , wherein the vibration control unit puts the vibration control process into an execution state when the vibration control process is in a non-execution state and a period during which the amplitude of the second filtered fluctuation value is less than the judgment threshold value continues for a specified time or longer.

4. 4. The control device according to claim 2, wherein the determination threshold value is set to be equal to or greater than five times the torque amplitude of a primary explosion period of the internal combustion engine.

5. 4. The control device according to claim 1, wherein the second filter processing unit is configured to extract a torque component that fluctuates with a period of torque fluctuation occurring in the power transmission path due to at least one of a step change in an accelerator opening of the vehicle and a transition between a slip state and a grip state of the wheels.

6. a damper is provided between the internal combustion engine and the input member, 4. The control device according to claim 1, wherein the input torque detection unit calculates a fluctuation value of the torque transmitted from the damper to the input member in response to torque fluctuations of the internal combustion engine based on an internal combustion engine output angle, which is a rotation angle of an output shaft of the internal combustion engine, and an input member angle, which is a rotation angle of the input member, and detects the calculation result as the input torque fluctuation value.

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