Control device, program, and control method

Abstract

A control device (60) comprises: a damping torque calculation unit (90) that calculates damping torque for reducing a specific order component which is included in torque pulsation generated in accordance with combustion of an internal combustion engine (40); a command torque calculation unit (84-86) that calculates command torque which includes the calculated damping torque; a switching control unit (87) that performs switching control on an inverter (30) to control torque generated by a rotary electrical machine (20) to the command torque; and an extraction unit (92) that acquires a rotation speed of an output shaft (41) or a rotary shaft (27) in each prescribed period which is shorter than the half period of the specific order component and that extracts, from the acquired rotation speed, a rotational variation component which is included in the rotation speed and which varies in the period of the specific order component. The damping torque calculation unit calculates, on the basis of the extracted rotational variation component, damping torque that varies in the period of the rotational variation component.

Description

Control device, program, and control method CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Japanese Application No. 2024-032173 filed on March 4, 2024, the contents of which are incorporated herein by reference.

[0002] The present disclosure relates to a control device, a program, and a control method.

[0003] 2. Description of the Related Art Conventionally, a system is known that includes an internal combustion engine, a rotating electric machine having a rotor and an armature winding, and an inverter electrically connected to the armature winding.

[0004] Patent Document 1 describes a system in which an output shaft of an internal combustion engine and a rotating shaft of a rotor are connected via a power transmission mechanism. A control device of this system generates a counteracting vibration torque command to counteract transmission torque vibration transmitted from the output shaft of the internal combustion engine to the rotor via the power transmission mechanism.

[0005] Specifically, the control device determines the amplitude and frequency of the counteracting vibration torque command based on the rotational speed of the output shaft of the internal combustion engine. Based on changes in the rotational speed amplitude of the rotor, the control device adjusts the phase of the counteracting vibration torque command so as to reduce the rotational speed amplitude. This reduces the torque components that fluctuate at the above frequency and are included in the torque pulsation generated by combustion in the internal combustion engine, thereby reducing vibrations caused by the torque components.

[0006] JP 2012-71792 A

[0007] The control device described in Patent Document 1 uses changes in the amplitude of the rotor's rotational speed to adjust the phase of the counteracting vibration torque command. The rotational speed amplitude can only be determined for each half cycle of the rotational speed fluctuation period. As a result, the phase adjustment for reducing the torque component cannot be performed responsively, which may result in a decrease in the effectiveness of reducing the torque component.

[0008] A primary object of the present disclosure is to provide a control device, a program, and a control method that can enhance the effect of reducing specific order components of torque pulsation that occurs with combustion in an internal combustion engine.

[0009] The present disclosure relates to a control device that is applicable to a system including an internal combustion engine having an output shaft, a rotating electric machine having a rotor, a rotating shaft provided on the rotor, and an armature winding, and an inverter electrically connected to the armature winding, wherein the output shaft and the rotating shaft are coupled together, the control device comprising: a damping torque calculation unit that calculates a damping torque that reduces a specific order component included in torque pulsation generated due to combustion in the internal combustion engine; a command torque calculation unit that calculates a command torque including the calculated damping torque; a switch control unit that performs switching control of the inverter to control the torque generated by the rotating electric machine to the command torque; and an extraction unit that acquires a rotational speed of the output shaft or the rotating shaft at a predetermined period that is shorter than half a period of the specific order component, and extracts from the acquired rotational speed a fluctuation component included in the rotational speed and that fluctuates with the period of the specific order component, wherein the damping torque calculation unit calculates the damping torque that fluctuates with the period of the rotational fluctuation component based on the extracted rotational fluctuation component.

[0010] There is a predetermined phase difference between the specific order component contained in the torque pulsation generated by combustion in an internal combustion engine and the rotational fluctuation component contained in the rotational speed of the output shaft or rotating shaft. Therefore, if the rotational fluctuation component can be determined, it is possible to calculate a damping torque that reduces the specific order component and fluctuates with the period of the rotational fluctuation component.

[0011] Here, the rotational fluctuation component is extracted from the rotational speed acquired at a predetermined cycle shorter than half the cycle of the specific order component. This allows the rotational fluctuation component used to calculate the vibration damping torque to be grasped with good response. By controlling the torque generated by the rotating electrical machine to a command torque including the vibration damping torque calculated in this way, the specific order component contained in the torque pulsation can be reduced more effectively.

[0012] The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which Fig. 1 is an overall configuration diagram of an in-vehicle system according to one embodiment, Fig. 2 is a block diagram showing vibration damping control processing by a motor ECU, Fig. 3 is a time chart showing an overview of vibration damping control, Fig. 4 is a block diagram showing processing by a vibration damping torque calculation unit, Fig. 5 is a diagram showing the relationship between vibration damping torque amplitude, rotational speed, and target engine torque, Fig. 6 is a flowchart showing procedures for vibration damping control execution and prohibition determination processing by a determination unit, Fig. 7 is a diagram showing an example of vibration damping control execution and prohibition regions by the determination unit, Fig. 8 is a block diagram showing processing by a disturbance reduction torque calculation unit, Fig. 9 is a flowchart showing procedures for vibration damping control processing by a motor ECU, and Fig. 10 is a block diagram showing processing by a vibration damping torque calculation unit according to another embodiment.

[0013] Several embodiments will be described with reference to the drawings. In several embodiments, functionally and / or structurally corresponding and / or associated parts may be designated by the same reference numerals or reference numerals that differ in the hundredth or more digit. For corresponding and / or associated parts, reference may be made to the descriptions of other embodiments.

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A control device according to an embodiment of the present disclosure will now be described with reference to the accompanying drawings. The control device of this embodiment is applied to a control system mounted on an electric vehicle such as a hybrid vehicle.

[0015] 1, a vehicle 10 includes a battery 11, a rotating electrical machine 20, and an inverter 30. The battery 11 is a rechargeable secondary battery, such as a lithium-ion battery or a nickel-metal hydride battery.

[0016] The rotating electric machine 20 of this embodiment is provided as a generator that charges the battery 11, and does not have the function of providing rotational power to the drive wheels of the vehicle 10. A rotating electric machine (not shown) that provides rotational power to the drive wheels is provided in the vehicle 10 separately from the rotating electric machine 20.

[0017] The inverter 30 is a power conversion circuit that converts three-phase AC power supplied from the armature winding 23 of the rotating electric machine 20 into DC power and supplies it to the battery 11. The inverter 30 includes three phases (U, V, and W phases) of series-connected upper arm switches SH and lower arm switches SL. In this embodiment, each switch SH, SL is a voltage-controlled semiconductor switching element, more specifically, an N-channel MOSFET. The high-potential terminal of each switch SH, SL is the drain, and the low-potential terminal is the source. Each switch SH, SL includes a body diode DH, DL. Note that each switch SH, SL may be, for example, an IGBT. In this case, the high-potential terminal of each switch SH, SL is the collector, the low-potential terminal is the emitter, and a freewheel diode is connected in anti-parallel to each switch SH, SL. Note that the inverter 30 and the rotating electric machine 20 are not limited to three-phase configurations, and may be, for example, six-phase configurations.

[0018] The rotating electric machine 20 includes a stator 21 and a rotor 24. The stator 21 includes a stator core 22 and three-phase armature windings 23 wound around the stator core 22. The armature windings 23 for each phase are arranged on the stator core 22 with an electrical angle of 120°. In each phase, a first end of the armature winding 23 is connected to the source of the upper arm switch SH and the drain of the lower arm switch SL. In addition, in each phase, a second end of the armature winding 23 is connected at the neutral point. Note that the armature winding 23 is not limited to being star-connected, and may also be delta-connected.

[0019] The inverter 30 includes a smoothing capacitor 31. The smoothing capacitor 31 is connected in parallel to the series connection of the upper and lower arm switches SH and SL of each phase.

[0020] The rotor 24 includes a rotor core 25 and field poles 26 provided on the rotor core 25. For example, if the rotating electric machine 20 is a permanent magnet field type synchronous machine, the field poles 26 are permanent magnets (e.g., neodymium magnets). The rotor core 25 is provided with a rotating shaft 27.

[0021] The vehicle 10 includes an engine (internal combustion engine) 40 for generating rotational power for the rotor 24. The engine 40 includes a crankshaft 41 as an output shaft, a fuel injection valve (not shown), and the like. The engine 40 is a gasoline engine or a diesel engine.

[0022] In this embodiment, the crankshaft 41 and the rotating shaft 27 of the rotor 24 are directly connected. Therefore, the crankshaft 41 and the rotor 24 rotate integrally. In other words, the rotation speed of the crankshaft 41 and the rotation speed of the rotor 24 are the same.

[0023] The vehicle 10 is equipped with a voltage sensor 50 , a current sensor 51 , a rotation angle sensor 52 , a battery temperature sensor 53 , a vehicle speed sensor 54 and a motor ECU 60 .

[0024] The voltage sensor 50 detects the voltage across the smoothing capacitor 31 in the inverter 30. The current sensor 51 detects the phase currents flowing through at least two of the three phases of the armature windings 23. The rotation angle sensor 52 is, for example, a resolver, and detects the electrical angle of the rotor 24. The battery temperature sensor 53 detects the temperature of the battery 11. The vehicle speed sensor 54 detects the traveling speed of the vehicle 10.

[0025] The detected values ​​of the sensors 50 to 54 are input to a motor ECU (Electronic Control Unit) 60. The motor ECU 60 is an electronic control device that performs various controls of the inverter 30, and includes a processor 61 and a storage unit 62 as hardware. In the motor ECU 60, the processor 61 and the storage unit 62 are connected to each other via a communication bus 63.

[0026] The memory unit 62 includes a memory and a storage as hardware. The memory is a storage device for storing data used in the processing of the motor ECU 60. The memory provides the processor 61 with a working area for temporary use when the processor 61 performs processing, for example. The memory includes, for example, a ROM or a RAM. The storage is a storage device for storing various programs and data to be read and executed by the processor 61, and is a non-transitory tangible storage medium. The storage includes, for example, an HDD or a flash memory. The storage stores program information and the like for the processing shown in Figures 2, 4, 6, 8, 9, etc., which will be described later.

[0027] The vehicle 10 is equipped with a crank angle sensor 55, a cam angle sensor 56, an engine ECU 70, and a main ECU 120. The crank angle sensor 55 outputs a pulse signal each time the crankshaft 41 rotates a predetermined angle. The predetermined angle is an angle obtained by dividing one rotation angle (360° CA) of the crankshaft 41 into multiple parts, for example, 30° CA. The cam angle sensor 56 outputs a pulse signal each time a cam (e.g., an intake cam) of the engine 40 rotates one rotation. The angle of one rotation of the cam is 720° CA. The detection values ​​of the sensors 55, 56 are input to the engine ECU 70.

[0028] The engine ECU 70 is an electronic control device that controls combustion in the engine 40, and similar to the motor ECU 60, it includes a processor 71, a storage unit 72, and a communication bus 73. The main ECU 120 is an electronic control device that performs cooperative control of the engine 40 and the inverter 30, and similar to the motor ECU 60, it includes a processor 121, a storage unit 122, and a communication bus 123. The engine ECU 70, the motor ECU 60, and the main ECU 120 exchange information with each other via a communication line such as a CAN. The engine ECU 70 determines the stroke of each cylinder of the engine 40 and calculates the crank angle based on output signals from the crank angle sensor 55 and the cam angle sensor 56. The crank angle is the rotation angle of the crankshaft 41 in one combustion cycle of the engine 40, which consists of an intake stroke, a compression stroke, an expansion stroke, and an exhaust stroke. The angle range from the reference rotation angle (mechanical angle) of the crankshaft 41 until the crankshaft 41 rotates twice is 0° CA to 720° CA.

[0029] For example, program information stored on a non-transient physical recording medium is installed in the storage units 62, 72, and 122. The recording medium is, for example, a USB memory, a CD-ROM, or a DVD. Also, for example, program information transmitted via a communication network, such as over the air (OTA), is installed in the storage units 62, 72, and 122.

[0030] The engine ECU 70 performs combustion control of the engine 40, including fuel injection control of the combustion injection valves. Through combustion control, the output torque of the engine 40 (specifically, the output torque of the crankshaft 41) is controlled to a target engine torque Tetgt. The crankshaft 41 rotates through combustion control, and the rotational power of the crankshaft 41 rotates the rotor 24. The target engine torque Tetgt is input to the engine ECU 70 from, for example, the main ECU 120.

[0031] The motor ECU 60 controls the switching of the upper and lower arm switches SH, SL of the inverter 30 to control the rotational speed of the rotor 24 of the rotating electric machine 20 to the target rotational speed Nmtgt. The motor ECU 60 sets the target rotational speed Nmtgt based on the target generation power Ptgt of the rotating electric machine 20. For example, the motor ECU 60 sets the target rotational speed Nmtgt higher as the target generation power Ptgt of the rotating electric machine 20 increases. The target generation power Ptgt is input to the motor ECU 60 from the main ECU 120, for example. Alternatively, the target rotational speed Nmtgt may be set by the main ECU 120, for example. More specifically, the main ECU 120 sets the target rotational speed Nmtgt based on the target generation power Ptgt and inputs the set target rotational speed Nmtgt to the motor ECU 60.

[0032] During combustion control, the output torque of the crankshaft 41 includes torque pulsation that occurs as fuel burns in the combustion chamber of the engine 40. The torque pulsation increases vibrations in the engine 40. In this embodiment, the motor ECU 60 performs vibration suppression control, which is switching control of the inverter 30 to reduce specific order components included in the torque pulsation. In this embodiment, the motor ECU 60 reduces the first order component as the specific order component.

[0033] FIG. 2 is a block diagram of the vibration damping control executed by the processor 61 of the motor ECU 60. As shown in FIG.

[0034] The two-phase conversion unit 80 converts U-, V-, and W-phase currents Iur, Ivr, and Iwr in a three-phase (U-, V-, and W-phase) fixed coordinate system into a d-axis current Idr and a q-axis current Iqr in a two-phase (d- and q-axes) rotating coordinate system based on the phase currents detected by the current sensor 51 and the electrical angle θr detected by the rotation angle sensor 52.

[0035] The speed calculation unit 81 calculates the rotation speed Nmr of the rotor 24 based on the electrical angle θr. For example, the speed calculation unit 81 calculates the rotation speed Nmr by differentiating the electrical angle θr with respect to time.

[0036] The speed deviation calculation unit 83 calculates the speed deviation ΔNm (=Nmtgt−Nmr) by subtracting the rotation speed Nmr calculated by the speed calculation unit 81 from the target rotation speed Nmtgt of the rotor 24 .

[0037] The feedback torque calculation unit 84 calculates a basic command torque Tfb as a manipulated variable for feedback controlling the calculated speed deviation ΔNm to 0. The feedback control used in the speed deviation calculation unit 83 is, for example, proportional-plus-integral control.

[0038] First superimposing unit 85 adds vibration-damping torque ΔTrff calculated by vibration-damping torque calculating unit 90 (described later) to the calculated basic command torque Tfb.

[0039] The second superimposing unit 86 calculates a final command torque Tmtgt (=Tfb+ΔTrff+ΔTrfb) by adding the disturbance suppression torque ΔTrfb calculated by a disturbance suppression torque calculating unit 110 (described later) to the sum of the basic command torque Tfb and the damping torque ΔTrff. In this embodiment, when the sign of the final command torque Tmtgt is positive, the rotating electric machine 20 functions as a generator. On the other hand, when the sign of the final command torque Tmtgt is negative, the rotating electric machine 20 functions as a motor. In this embodiment, the feedback torque calculating unit 84, the first superimposing unit 85, and the second superimposing unit 86 correspond to a "command torque calculating unit."

[0040] The switch control unit 87 generates drive signals for the switches SH and SL of the inverter 30 based on the calculated final command torque Tmtgt, the calculated d-axis and q-axis currents Idr and Iqr, the power supply voltage Vdc which is the voltage detected by the voltage sensor 50, and the electrical angle θr. The drive signals include on and off commands for the switches.

[0041] An example of processing in the switch control unit 87 will be described. The switch control unit 87 first calculates a d-axis command current Id* and a q-axis command current Iq* in the dq coordinate system based on the final command torque Tmtgt. The switch control unit 87 then calculates a d-axis command voltage Vd* and a q-axis command voltage Vq* based on the d- and q-axis command currents Id* and Iq* and the d- and q-axis currents Idr and Iqr.

[0042] The switch control unit 87 calculates U-, V-, and W-phase command voltages Vu*, Vv*, and Vw* based on the d- and q-axis command voltages Vd* and Vq* and the electrical angle θr. The U-, V-, and W-phase command voltages Vu*, Vv*, and Vw* are command values ​​for the voltages applied to the U-, V-, and W-phase armature windings 23.

[0043] The switch control unit 87 calculates U-, V-, and W-phase normalized command values ​​Dutyu, Dutyv, and Dutyw by normalizing the U-, V-, and W-phase command voltages Vu*, Vv*, and Vw* by the power supply voltage Vdc. Specifically, the U-, V-, and W-phase normalized command values ​​Dutyu, Dutyv, and Dutyw are values ​​obtained by dividing the U-, V-, and W-phase command voltages Vu*, Vv*, and Vw* by half the power supply voltage Vdc.

[0044] The switch control unit 87 generates drive signals for the switches SH and SL of the inverter 30 based on a magnitude comparison between the U-, V-, and W-phase normalized command values ​​Dutyu, Dutyv, and Dutyw and the carrier signal. The carrier signal is, for example, a triangular wave signal whose gradual increase and decrease speeds are equal.

[0045] Based on the generated drive signal, the switch control unit 87 controls the charge / discharge current of the gates of the switches SH, SL of the inverter 30. As a result, the switches SH, SL of the inverter 30 are switched and controlled in accordance with the drive signal, and the torque generated by the rotary electric machine 20 is controlled to the final command torque Tmtgt.

[0046] Damping torque ΔTrff calculated by damping torque calculation unit 90 is a torque for reducing a primary component included in torque pulsation of crankshaft 41. More specifically, damping torque ΔTrff is ideally a torque with a phase difference of 180° with primary component Te1r included in actual torque pulsation. An overview of the calculation process of damping torque ΔTrff will be explained using FIG. 3 . In FIG. 3 , (a) shows the transition of primary component Te1r included in actual torque pulsation. (b) shows the transition of rotation fluctuation component Ne1r, which is a fluctuation component included in calculated rotation speed Nmr and fluctuates with the same period as the period of the primary component of torque pulsation. (e) shows the transition of damping torque ΔTrff.

[0047] There is a specific phase difference α between the primary component Te1r and the rotation fluctuation component Ne1r included in the torque pulsation. In this embodiment, the specific phase difference α is 90°. The reason for this will be explained below.

[0048] In this embodiment, the crankshaft 41 of the engine 40 is directly coupled to the rotating shaft of the rotor 24. In this case, the following equation (eq1) holds as a relation between a primary component Te1r of torque pulsation included in the output torque of the crankshaft 41 and a primary component ωeng of the rotational angular velocity of the crankshaft 41. In the following equation (eq1), Td is a disturbance torque acting on the crankshaft 41, such as a drag torque of the engine 40.

[0049] According to the above equation (eq1), the first-order component Te1r of the torque pulsation and the first-order component ωeng of the rotational angular velocity are related by differential and integral calculus. Therefore, the first-order component Te1r of the torque pulsation and the first-order component ωeng of the rotational velocity are only shifted in phase by 90 degrees, but their frequencies are the same.

[0050] In view of this, if the rotation fluctuation component Ne1r can be grasped, it is possible to calculate the damping torque ΔTrff, which is a torque for reducing the primary component Te1r of the torque pulsation and which fluctuates with the period of the rotation fluctuation component Ne1r.

[0051] In this embodiment, the speed calculation unit 81 calculates the rotation speed Nmr at a predetermined period based on the electrical angle θr obtained each time at a predetermined period Tsp, which is shorter than a half period Th of the primary component Te1r of the torque pulsation. The predetermined period Tsp is set to, for example, "Tsp≦Th / 5," "Tsp≦Th / 10," "Tsp≦Th / 25," "Tsp≦Th / 50," or "Tsp≦Th / 100."

[0052] In the present embodiment, rotation fluctuation component Ne1r is extracted from rotation speed Nmr obtained at each of the predetermined cycles Tsp in damping torque calculation unit 90. As a result, the rotation fluctuation component used to calculate damping torque ΔTrff can be grasped with good responsiveness, and the effect of reducing first-order component Te1r by including damping torque ΔTrff in final command torque Tmtgt can be enhanced.

[0053] FIG. 4 is a block diagram of vibration damping torque calculation unit 90 shown in FIG.

[0054] The crank angle estimator 91 acquires the rotation speed Nmr and the electrical angle θr calculated by the speed calculator 81 at predetermined intervals Tsp. The crank angle estimator 91 calculates an estimated crank angle θcest, which is an estimated value of the crank angle, at predetermined intervals Tsp based on the acquired rotation speed Nmr and electrical angle θr.

[0055] The phase corrector 95 calculates the corrected crank angle θcr at a predetermined period Tsp by shifting the estimated crank angle θcest calculated by the crank angle estimator 91 by the phase shift amount Δθc calculated by a phase shift calculator 94 (described later). For example, the phase corrector 95 calculates the corrected crank angle θcr (= θcest + Δθc) by adding the phase shift amount Δθc to the estimated crank angle θcest.

[0056] The primary speed extraction unit 92 acquires the rotation speed Nmr calculated by the speed calculation unit 81 at a predetermined period Tsp. The primary speed extraction unit 92 extracts the above-mentioned rotation fluctuation component Ne1r from the acquired rotation speed Nmr. The rotation fluctuation component Ne1r is a sine wave signal that fluctuates at a period determined by the number of cylinders of the engine 40. The period of the rotation fluctuation component Ne1r becomes shorter as the number of cylinders increases. Note that the primary speed extraction unit 92 may extract the rotation fluctuation component Ne1r, for example, by applying a filter (e.g., a bandpass filter) to the acquired rotation speed Nmr.

[0057] The normalization unit 93 normalizes the extracted rotation fluctuation component Ne1r by the amplitude of the extracted rotation fluctuation component Ne1r to calculate a normalized rotation speed Ne1* at a predetermined period Tsp. The normalized rotation speed Ne1* is a sine wave signal whose amplitude is 1 and which fluctuates at the same period as the rotation fluctuation component Ne1r.

[0058] First calculation unit 97 calculates damping torque ΔTrff, which is a sine wave signal, at a predetermined period Tsp based on damping torque information (e.g., map information or formula information) that is information on damping torque ΔTrff linked to the crank angle, amplitude Ta of damping torque ΔTrff calculated by amplitude calculation unit 96 (described later), and the calculated corrected crank angle θcr. Note that the damping torque information is information that is determined at the time of designing the in-vehicle system, for example, by at least one of calculation and experiment. The damping torque information is stored in storage unit 62, for example.

[0059] In engine 40, which has one combustion cycle consisting of an intake stroke, a compression stroke, an expansion stroke, and an exhaust stroke, torque pulsation can be linked to the crank angle. In this case, the first-order component included in the torque pulsation can be linked to the crank angle, and therefore the damping torque for reducing the first-order component can be linked to the crank angle. This makes damping torque information useful. The damping torque information can be used to calculate a damping torque that accurately reduces the first-order component. In this embodiment, the amplitude of the damping torque defined by the damping torque information is normalized to 1. By adding the amplitude Ta to the damping torque information, the damping torque ΔTrff of a sinusoidal signal that fluctuates with the amplitude Ta is calculated.

[0060] Here, the deviation between the phase difference between the primary component Te1r contained in the actual torque pulsation and the extracted rotation fluctuation component Ne1r and the specific phase difference α (90°) is referred to as the "phase difference deviation." The deviation between the ideal crank angle to be referenced in the vibration damping torque information for reducing the primary component Te1r and the crank angle input to the first calculation unit 97 can become larger as the phase difference deviation becomes larger. In this case, the effect of reducing the primary component Te1r can become smaller.

[0061] Therefore, the phase shift calculation unit 94 calculates the phase shift amount Δθc as a correction value for the crank angle to reduce the difference between the ideal crank angle described above and the crank angle input to the first calculation unit 97.

[0062] More specifically, phase shift calculation unit 94 calculates normalized torque Tr1* at predetermined cycles Tsp based on the damping torque information and the corrected crank angle θcr calculated at the previous control cycle by phase correction unit 95. Normalized torque Tr1* corresponds to a sine wave signal obtained by normalizing damping torque ΔTrff by amplitude Ta of damping torque ΔTrff. Normalized torque Tr1* has an amplitude of 1 and fluctuates at the same cycle as normalized rotation speed Ne1*. In this embodiment, the phase difference between normalized torque Tr1* and normalized rotation speed Ne1* is 180°. The previous control cycle refers to the control cycle that is a predetermined cycle Tsp before the current control cycle. Note that phase shift calculation unit 94 may acquire damping torque ΔTrff calculated by first calculation unit 97 and calculate normalized torque Tr1* based on the acquired damping torque ΔTrff by normalizing damping torque ΔTrff calculated by first calculation unit 97 by amplitude Ta of damping torque ΔTrff calculated by first calculation unit 97. Phase shift calculation unit 94 calculates normalized deviation ΔS at predetermined cycles Tsp by subtracting normalized torque Tr1* from normalized rotation speed Ne1*. Phase shift calculation unit 94 calculates phase shift amount Δθc at predetermined cycles Tsp as a manipulated variable for feedback control (e.g., proportional-plus-integral control) to set the calculated normalized deviation ΔS to zero. The rotation speed and torque are normalized to facilitate the construction of a feedback control system that sets the difference between damping torque ΔTrff, which has a torque dimension, and rotation fluctuation component Ne1r, which has a rotation speed dimension, to zero.

[0063] The phase of damping torque ΔTrff is corrected by phase shift amount Δθc so that the phase difference between rotation fluctuation component Ne1r and damping torque ΔTrff becomes a specific phase difference α.

[0064] In other words, the phase shift amount Δθc can be said to be a correction value for the estimated crank angle θcest for maintaining the phase difference between the vibration damping torque ΔTrff calculated by the first calculation unit 97 and the extracted rotation fluctuation component Ne1r at a specific phase difference α (90°).

[0065] Amplitude calculation unit 96 calculates amplitude Ta of damping torque ΔTrff based on the operating point of engine 40. In the present embodiment, the rotation speed Nmr and target engine torque Tetgt are used as the operating point of engine 40.

[0066] As shown in FIG. 5, the amplitude calculation unit 96 increases the amplitude Ta as the rotation speed Nmr calculated by the speed calculation unit 81 decreases or the target engine torque Tetgt received from the engine ECU 70 increases.

[0067] First determination unit 98 selects whether to perform vibration suppression control or to prohibit it. When first determination unit 98 selects to prohibit vibration suppression control, it sets the vibration suppression torque ΔTrff to be output to first superimposition unit 85 and disturbance suppression torque calculation unit 110 to 0. On the other hand, when first determination unit 98 selects to perform vibration suppression control, it outputs the vibration suppression torque ΔTrff calculated by first calculation unit 97 directly to first superimposition unit 85 and disturbance suppression torque calculation unit 110.

[0068] FIG. 6 shows a flowchart of the determination process executed by the first determination unit 98.

[0069] In step S10, it is determined whether the conditions for executing vibration suppression control are met. In this embodiment, if it is determined that either the first or second condition is met, the process proceeds to step S11, where execution of vibration suppression control is selected. On the other hand, if it is determined that neither the first nor second condition is met, the process proceeds to step S12, where prohibition of vibration suppression control is selected.

[0070] The first condition is that the operating point is in the execution region. In this embodiment, the operating point is determined from the traveling speed Vs detected by the vehicle speed sensor 54 and the target power generation Ptgt.

[0071] FIG. 7 shows operating point map information. In this map information, the region where the traveling speed Vs is lower than the determination threshold Jth is the region where vibration suppression control is performed, and the region where the traveling speed Vs is equal to or greater than the determination threshold Jth is the region where vibration suppression control is prohibited. The determination threshold Jth is made up of a first threshold line J1 and a second threshold line J2. The first threshold line J1 is a line extending from a vertical axis that defines the target power generation Ptgt, and extends so that the value on the vertical axis decreases as the traveling speed Vs increases. The second threshold line J2 is a line extending from one end of the first threshold line J1 along the vertical axis. Note that in FIG. 7, the determination speed Vth is the value on the horizontal axis of the second threshold line J2 (the axis that defines the traveling speed Vs).

[0072] The region where the target power generation Ptgt [W] is higher than the first threshold line J1 is set as the prohibited region in order to suppress a decrease in the power generation of the rotary electric machine 20. In other words, the larger the target power generation Ptgt, the larger the amplitude of the first-order component included in the torque pulsation, and therefore the larger the amplitude Ta of the damping torque ΔTrff. In this case, a period appears in which the sign of the final command torque Tmtgt including the damping torque ΔTrff temporarily becomes negative, and the amount of power generation [Wh] of the rotary electric machine 20 may decrease. For this reason, the region where the target power generation Ptgt is higher than the first threshold line J1 is set as the prohibited region.

[0073] The area on the higher side of the second threshold line J2 where the driving speed Vs is higher is set as the prohibited area because the wind noise caused by the vehicle 10 moving increases and the noise level caused by the vibration of the engine 40 decreases relatively.

[0074] On the other hand, the second condition is a condition that there is a temperature increase request for the battery 11. In this embodiment, if it is determined that the temperature Tbat detected by the battery temperature sensor 53 is equal to or lower than the temperature threshold value Tth (for example, 0°C or a temperature below 0°C), it is determined that there is a temperature increase request. When vibration damping control is executed, the AC vibration damping torque ΔTrff is included in the final command torque Tmtgt, and therefore, an AC current flows through the battery 11. This allows the temperature of the battery 11 to be increased.

[0075] FIG. 8 is a block diagram of the disturbance reduction torque calculation unit 110 shown in FIG.

[0076] The disturbance reduction torque ΔTrfb calculated by the disturbance reduction torque calculation section 110 is a torque for reducing the first-order component of torque pulsation that cannot be suppressed even by the vibration suppression torque ΔTrff.

[0077] In the disturbance reduction torque calculation unit 110, a current torque estimation unit 111 estimates the current output torque Test acting on the crankshaft 41 and the rotating shaft 27 at a predetermined period Tsp based on the rotational speed Nmr calculated by the speed calculation unit 81. In detail, the disturbance reduction torque calculation unit 110 receives the final command torque Tmtgt as input and estimates the current output torque Test based on an inverse model (for example, an inverse model based on T=I×dω / dt, where I is the moment of inertia) of a plant model of the rotating electric machine 20 that outputs the rotational speed Nmr.

[0078] Primary torque extraction unit 112 extracts a primary component of estimated current output torque Test (hereinafter referred to as estimated primary component Te1e) at a predetermined period Tsp. The period of estimated primary component Te1e is the same as the period of vibration damping torque ΔTrff. Primary torque extraction unit 112 may extract estimated primary component Te1e by filtering (for example, using a band-pass filter) the estimated current output torque Test.

[0079] Torque difference calculation unit 113 calculates torque difference ΔTz (= ΔTrff - Te1e) at predetermined cycles Tsp by subtracting the extracted estimated first-order component Te1e from vibration-damping torque ΔTrff calculated by vibration-damping torque calculation unit 90. The greater the deviation of torque difference ΔTz from 0, the more likely it is that the intended torque for reducing the first-order component included in the torque pulsation has not been applied, or that some kind of disturbance torque is acting on rotating shaft 27 or crankshaft 41.

[0080] The second calculation unit 114 calculates the disturbance reduction torque ΔTrfb (=K×ΔTz) by multiplying the torque difference ΔTz by the gain K (>0) calculated by the gain calculation unit 115. The gain K is set to a pre-adapted value or a variable value based on the torque difference ΔTz.

[0081] For example, when the torque difference ΔTz is equal to or smaller than the predetermined difference β, the second calculation unit 114 sets the gain K to a predetermined gain, and when the torque difference ΔTz exceeds the predetermined difference β, the second calculation unit 114 sets the gain K to be less than the predetermined gain, and the larger the torque difference ΔTz, the smaller the gain K is set.

[0082] Similar to the first determination unit 98, the second determination unit 116 selects whether to perform or prohibit vibration suppression control. When selecting to prohibit vibration suppression control, the second determination unit 116 sets the disturbance suppression torque ΔTrfb to be output to the second superimposition unit 86 to 0. On the other hand, when selecting to perform vibration suppression control, the second determination unit 116 outputs the disturbance suppression torque ΔTrfb calculated by the second calculation unit 114 to the second superimposition unit 86 as is. The determination process by the second determination unit 116 is the same as the process shown in FIG. 6 . Therefore, a detailed description of the determination process by the second determination unit 116 will be omitted.

[0083] 9 is a flowchart of vibration damping control executed by the processor 61 of the motor ECU 60. This process is repeatedly executed at a predetermined cycle Tsp, for example.

[0084] In step S20, the feedback torque calculation section 84 calculates the basic command torque Tfb.

[0085] In step S21, oscillation-damping torque calculation unit 90 calculates oscillation-damping torque ΔTrff.

[0086] In step S22, the disturbance reduction torque calculation section 110 calculates the disturbance reduction torque ΔTrfb.

[0087] In step S23, the second superimposing unit 86 calculates the final command torque Tmtgt.

[0088] In step S24, the switch control unit 87 generates a drive signal based on the final command torque Tmtgt, and performs switching control of the inverter 30.

[0089] According to the present embodiment described above in detail, the first-order component contained in the torque pulsation can be suitably reduced.

[0090] Other Embodiments The above-described embodiments may be modified as follows.

[0091] Phase shift calculation unit 94 in FIG. 4 may obtain the vibration-damping torque ΔTrff calculated by first calculation unit 97, and may calculate normalized torque Tr1* by normalizing the obtained vibration-damping torque ΔTrff.

[0092] The method of correcting the phase of damping torque ΔTrff is not limited to the method in which estimated crank angle θc is corrected based on phase shift Δθc in phase corrector 95. For example, first calculator 97 may correct the crank angle that defines the damping torque information based on phase shift Δθc, thereby correcting the phase of damping torque ΔTrff. In this case, for example, the damping torque information stored in storage unit 62 may be updated each time the crank angle is corrected.

[0093] 8, the disturbance reduction torque calculation section 110 does not have to be provided with the second calculation section 114 and the gain calculation section 115. In this case, the torque difference ΔTz calculated by the torque difference calculation section 113 is input to the second determination section 116 as the disturbance reduction torque ΔTrfb.

[0094] 2, the motor ECU 60 does not have to be provided with the disturbance reduction torque calculation unit 110 and the second superimposition unit 86. In this case, the output value of the first superimposition unit 85 is input to the switch control unit 87 as the final command torque Tmtgt.

[0095] As shown in FIG. 10 , the vibration damping torque calculation unit 90 may include a crank angle information acquisition unit 99 and a communication delay correction unit 100 .

[0096] The crank angle information acquisition unit 99 acquires the output signal of the crank angle sensor 55 from the engine ECU 70, and calculates the crank angle θext at predetermined angle intervals (for example, 30° CA) based on the acquired output signal.

[0097] The communication delay correction unit 100 corrects the estimated crank angle θcest calculated by the crank angle estimation unit 91 based on the crank angle θext calculated by the crank angle information acquisition unit 99. The communication delay correction unit 100 also corrects the estimated crank angle θcest, taking into account a communication delay that occurs when information is transmitted from the engine ECU 70 to the motor ECU 60. The corrected estimated crank angle θcest is input to the phase correction unit 95.

[0098] The crank angle calculated by engine ECU 70 based on the output signals of crank angle sensor 55 and cam angle sensor 56 may be input to motor ECU 60. In this case, vibration damping torque calculation unit 90 in FIG. 4 does not include crank angle estimation unit 91, and the crank angle input from engine ECU 70 may be used in phase correction unit 95.

[0099] The speed calculation unit 81 may obtain the output signal of the crank angle sensor 55 from the engine ECU 70 and calculate the rotation speed Nmr of the rotor 24 based on the obtained output signal.

[0100] The crankshaft 41 and the rotating shaft 27 may be coupled via a transmission. When the gear ratio of the transmission is RT, the rotation speed of the crankshaft 41 is Ner, and the rotation speed of the rotating shaft 27 is Nmr, the relationship "RT × Ner = Nmr" holds.

[0101] Among the specific order components contained in the torque pulsation, the component to be reduced by vibration suppression control is not limited to the first order component, but may be an Mth order component (M is an integer equal to or greater than 2, for example, a second order component, a third order component, or a fifth order component). In this case, the specific phase difference α has a value according to the order. Note that the Mth order component fluctuates with a period 1 / M times the period of the first order component.

[0102] The electrical angle θr used in the motor ECU 60 is not limited to the value detected by the rotation angle sensor 52, and may be, for example, an electrical angle estimated by the motor ECU 60 through position sensorless control.

[0103] The rotating electric machine is not limited to one that functions only as a generator, and may be, for example, one that applies rotational power to drive wheels to propel a vehicle. In this case, for example, a fuel cell may be used instead of a battery.

[0104] The inverter, the rotating electric machine, and the control device may be installed in a mobile body such as an aircraft, a ship, etc. The inverter, the rotating electric machine, and the control device may be installed in a mobile body such as an aircraft, a ship, etc. The inverter, the rotating electric machine, and the control device may be installed in a stationary system.

[0105] The control device and method described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control device and method described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control device and method described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer.

[0106] Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and equivalent modifications. In addition, various combinations and forms, including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure.

Claims

1. An internal combustion engine (40) having an output shaft (41), A rotating electric machine (20) having a rotor (24), a rotating shaft (27) provided on the rotor, and an armature winding (23), An inverter (30) electrically connected to the armature winding, A control device (60) is applied to a system in which the output shaft and the rotation shaft are connected, A vibration damping torque calculation unit (90) calculates a vibration damping torque (ΔTrff) that reduces a specific order component included in the torque pulsation generated in conjunction with the combustion of the internal combustion engine, A command torque calculation unit (84-86) calculates a command torque (Tmtgt) that includes the calculated vibration damping torque, A switch control unit (87) performs switching control of the inverter in order to control the torque generated by the rotating electric machine to the commanded torque, An extraction unit (92) acquires the rotational speed (Nmr) of the output shaft or the rotating shaft each time at a predetermined period shorter than half a period of the specified order component, and extracts a rotational fluctuation component (Ne1r) included in the rotational speed that fluctuates with the period of the specified order component from the acquired rotational speed, Equipped with, There is a specific phase difference between the aforementioned specific order component and the aforementioned rotational fluctuation component. The vibration damping torque calculation unit is, The crank angle, which is the rotation angle of the output shaft in one combustion cycle of the internal combustion engine, is calculated. Based on the vibration damping torque information linked to the crank angle and the calculated crank angle, the vibration damping torque that fluctuates with the period of the rotational fluctuation component is calculated. The phase of the calculated vibration damping torque is corrected based on the extracted rotational fluctuation component so that the phase difference between the calculated vibration damping torque and the rotational fluctuation component becomes the specific phase difference (α). The command torque calculation unit is a control device that includes the corrected vibration damping torque in the command torque.

2. The control device according to claim 1, wherein the vibration damping torque calculation unit calculates the vibration damping torque as a sinusoidal signal that fluctuates with a period determined by the number of cylinders of the internal combustion engine.

3. The vibration damping torque calculation unit is, The extracted rotational fluctuation component is normalized by the amplitude of the extracted rotational fluctuation component to calculate the normalized rotational speed (Ne1*), The calculated vibration damping torque is normalized by the amplitude of the vibration damping torque to obtain a normalized torque (Tr1*), The control device according to claim 2, which corrects the phase of the vibration damping torque based on the difference between the calculated normalized rotational speed and the calculated normalized torque.

4. The vibration damping torque calculation unit is, To use feedback control to reduce the aforementioned difference to zero, the phase shift amount (Δθc) is calculated. The control device according to claim 3, which corrects the phase of the vibration damping torque by shifting the phase of the calculated vibration damping torque by the amount of the phase shift.

5. The control device according to any one of claims 1 to 4, wherein the vibration damping torque calculation unit calculates the vibration damping torque that reduces the first-order component of the torque pulsation as the specific-order component.

6. The control device according to any one of claims 1 to 4, wherein the output shaft and the rotation shaft are directly connected in the system.

7. The system includes a battery (11) that is charged by the power generated by the rotating electric machine, The vibration damping torque calculation unit is, Determine whether or not there is a request for the aforementioned battery to heat up. A control device according to any one of claims 1 to 4, which performs the calculation of the vibration damping torque on the condition that it is determined that there is a request for the temperature to rise.

8. An internal combustion engine (40) having an output shaft (41), A rotating electric machine (20) having a rotor (24), a rotating shaft (27) provided on the rotor, and an armature winding (23), An inverter (30) electrically connected to the armature winding, A control device (60) is applied to a system in which the output shaft and the rotation shaft are connected, A vibration damping torque calculation unit (90) calculates a vibration damping torque (ΔTrff) that reduces a specific order component included in the torque pulsation generated in conjunction with the combustion of the internal combustion engine, A command torque calculation unit (84-86) calculates a command torque (Tmtgt) that includes the calculated vibration damping torque, A switch control unit (87) performs switching control of the inverter in order to control the torque generated by the rotating electric machine to the commanded torque, An extraction unit (92) acquires the rotational speed (Nmr) of the output shaft or the rotating shaft each time at a predetermined period shorter than half a period of the specified order component, and extracts a rotational fluctuation component (Ne1r) included in the rotational speed that fluctuates with the period of the specified order component from the acquired rotational speed, A disturbance suppression torque calculation unit (110) that calculates the disturbance suppression torque (ΔTrfb), Equipped with, The vibration damping torque calculation unit calculates the vibration damping torque that fluctuates with the period of the rotational fluctuation component based on the extracted rotational fluctuation component. The disturbance suppression torque calculation unit is, Based on the rotational speed of the output shaft or the rotating shaft, the current specific order component is estimated. The disturbance suppression torque is calculated as an manipulated variable for feedback control to set the difference between the estimated specific order component and the current vibration damping torque calculated by the vibration damping torque calculation unit to zero. The command torque calculation unit is a control device that includes the calculated disturbance suppression torque in the command torque.

9. An internal combustion engine (40) having an output shaft (41), A rotating electric machine (20) having a rotor (24), a rotating shaft (27) provided on the rotor, and an armature winding (23), An inverter (30) electrically connected to the armature winding, In a program applied to a system comprising the output shaft and the rotation shaft, In the processor (61), A vibration damping torque calculation process that calculates a vibration damping torque (ΔTrff) that reduces a specific order component included in the torque pulsation generated during combustion of the internal combustion engine, A command torque calculation process that calculates a command torque (Tmtgt) including the calculated vibration damping torque, A process to control the switching of the inverter in order to control the torque generated by the rotating electric machine to the commanded torque, An extraction process is performed to obtain the rotational speed (Nmr) of the output shaft or the rotating shaft each time at a predetermined period shorter than half a period of the specified order component, and to extract from the obtained rotational speed a fluctuating component (Ne1r) that is included in the rotational speed and fluctuates with the period of the specified order component, Make it run, There is a specific phase difference between the aforementioned specific order component and the aforementioned rotational fluctuation component. In the vibration damping torque calculation process, The crank angle, which is the rotation angle of the output shaft in one combustion cycle of the internal combustion engine, is calculated. Based on the vibration damping torque information linked to the crank angle and the calculated crank angle, the vibration damping torque that fluctuates with the period of the rotational fluctuation component is calculated. The phase of the calculated vibration damping torque is corrected based on the extracted rotational fluctuation component so that the phase difference between the calculated vibration damping torque and the rotational fluctuation component becomes the specific phase difference (α). A program that includes the corrected vibration damping torque in the command torque calculation process.

10. An internal combustion engine (40) having an output shaft (41), A rotating electric machine (20) having a rotor (24), a rotating shaft (27) provided on the rotor, and an armature winding (23), An inverter (30) electrically connected to the armature winding, A control method applied to a system comprising the output shaft and the rotation shaft, wherein A vibration damping torque calculation step for calculating a vibration damping torque (ΔTrff) that reduces a specific order component included in the torque pulsation generated during combustion of the internal combustion engine, A command torque calculation step for calculating a command torque (Tmtgt) that includes the calculated vibration damping torque, The steps include: controlling the switching of the inverter in order to control the torque generated by the rotating electric machine to the commanded torque; An extraction step is to acquire the rotational speed (Nmr) of the output shaft or the rotating shaft each time at a predetermined period shorter than half a period of the specified order component, and to extract from the acquired rotational speed a fluctuating component (Ne1r) that is included in the rotational speed and fluctuates with the period of the specified order component, Equipped with, There is a specific phase difference between the aforementioned specific order component and the aforementioned rotational fluctuation component. In the vibration damping torque calculation step, The crank angle, which is the rotation angle of the output shaft in one combustion cycle of the internal combustion engine, is calculated. Based on the vibration damping torque information linked to the crank angle and the calculated crank angle, the vibration damping torque that fluctuates with the period of the rotational fluctuation component is calculated. The phase of the calculated vibration damping torque is corrected based on the extracted rotational fluctuation component so that the phase difference between the calculated vibration damping torque and the rotational fluctuation component becomes the specific phase difference (α). A control method comprising including the corrected vibration damping torque in the command torque calculation step.

11. An internal combustion engine (40) having an output shaft (41), A rotating electric machine (20) having a rotor (24), a rotating shaft (27) provided on the rotor, and an armature winding (23), An inverter (30) electrically connected to the armature winding, In a program applied to a system comprising the output shaft and the rotation shaft, In the processor (61), A vibration damping torque calculation process that calculates a vibration damping torque (ΔTrff) that reduces a specific order component included in the torque pulsation generated during combustion of the internal combustion engine, A command torque calculation process that calculates a command torque (Tmtgt) including the calculated vibration damping torque, A process to control the switching of the inverter in order to control the torque generated by the rotating electric machine to the commanded torque, An extraction process is performed to obtain the rotational speed (Nmr) of the output shaft or the rotating shaft each time at a predetermined period shorter than half a period of the specified order component, and to extract from the obtained rotational speed a fluctuating component (Ne1r) that is included in the rotational speed and fluctuates with the period of the specified order component, Disturbance suppression torque calculation process that calculates the disturbance suppression torque (ΔTrfb), Make it run, In the vibration damping torque calculation process, based on the extracted rotational fluctuation component, the vibration damping torque that fluctuates with the period of the rotational fluctuation component is calculated. In the disturbance suppression torque calculation process, Based on the rotational speed of the output shaft or the rotating shaft, the current specific order component is estimated. The disturbance suppression torque is calculated as an manipulated variable for feedback control to set the difference between the estimated specific order component and the current vibration damping torque calculated by the vibration damping torque calculation process to zero. A program that includes the calculated disturbance suppression torque in the command torque calculation process.

12. An internal combustion engine (40) having an output shaft (41), A rotating electric machine (20) having a rotor (24), a rotating shaft (27) provided on the rotor, and an armature winding (23), An inverter (30) electrically connected to the armature winding, A control method applied to a system comprising the output shaft and the rotation shaft, wherein A vibration damping torque calculation step for calculating a vibration damping torque (ΔTrff) that reduces a specific order component included in the torque pulsation generated during combustion of the internal combustion engine, A command torque calculation step for calculating a command torque (Tmtgt) that includes the calculated vibration damping torque, The steps include: controlling the switching of the inverter in order to control the torque generated by the rotating electric machine to the commanded torque; An extraction step is to acquire the rotational speed (Nmr) of the output shaft or the rotating shaft each time at a predetermined period shorter than half a period of the specified order component, and to extract from the acquired rotational speed a fluctuating component (Ne1r) that is included in the rotational speed and fluctuates with the period of the specified order component, A disturbance suppression torque calculation step for calculating the disturbance suppression torque (ΔTrfb), Equipped with, In the vibration damping torque calculation step, based on the extracted rotational fluctuation component, the vibration damping torque that fluctuates with the period of the rotational fluctuation component is calculated. In the disturbance suppression torque calculation step, Based on the rotational speed of the output shaft or the rotating shaft, the current specific order component is estimated. The disturbance suppression torque is calculated as an manipulated variable for feedback control to set the difference between the estimated specific order component and the current vibration damping torque calculated in the vibration damping torque calculation step to zero. A control method comprising including the calculated disturbance suppression torque in the command torque calculation step.