Rotary electric machine control device, rotary electric machine control method, and rotary electric machine control program

Abstract

A rotary electric machine control device (42, 43) that controls a rotary electric machine (30) driven by an internal combustion engine (20) comprises: a vibration damping torque calculating unit (55) that calculates a vibration damping torque for reducing torque pulsation generated by the internal combustion engine being driven; an extracting unit (57) that extracts frequency components included in a fluctuation waveform of the rotational speed of the rotary electric machine; a correction torque calculating unit (58 to 60) that calculates a correction torque on the basis of an excess amount by which each frequency component extracted by the extracting unit exceeds a reference value, set in advance, corresponding to each frequency component; and a command value calculating unit (54, 56) that calculates a torque command value for the rotary electric machine, taking into account the vibration damping torque calculated by the vibration damping torque calculating unit and the correction torque calculated by the correction torque calculating unit.

Description

Rotating electric machine control device, rotating electric machine control method, and rotating electric machine control program CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Japanese Application No. 2024-152041, filed on September 4, 2024, the contents of which are incorporated herein by reference.

[0002] The present disclosure relates to a control device for controlling a rotating electric machine.

[0003] For example, there is a control device that includes an internal combustion engine and an electric motor connected to a drive shaft so as to be able to transmit power, a compensation torque calculation means that calculates a compensation torque that reduces a pulsating component in the engine torque of the internal combustion engine, and a command means that commands the electric motor to a torque command value that is a combination of the required torque of the electric motor and the calculated compensation torque (see Patent Document 1). The compensation torque calculation means calculates the compensation torque based on the calculated pulsating component and a torque transfer function from the internal combustion engine to the drive shaft.

[0004] JP 2015-104942 A

[0005] However, the control device described in Patent Document 1 calculates the compensation torque based on the pulsation component of the engine torque and the torque transfer function, regardless of whether the noise or vibration exceeds a threshold value. Therefore, even if the control device described in Patent Document 1 calculates a torque command value including the compensation torque, there is a risk that the noise or vibration may not be effectively suppressed relative to the threshold value.

[0006] The present disclosure has been made to solve the above-mentioned problems, and its main object is to provide a rotating electrical machine control device that can effectively suppress noise and vibration to a threshold value.

[0007] A first means for solving the above problem is a rotary electric machine control device that controls a rotary electric machine driven by an internal combustion engine, and includes: a damping torque calculation unit that calculates a damping torque that reduces torque pulsation generated by driving the internal combustion engine; an extraction unit that extracts frequency components included in the fluctuation waveform of the rotational speed of the rotary electric machine; a correction torque calculation unit that calculates a correction torque based on the amount by which each frequency component extracted by the extraction unit exceeds a predetermined reference value corresponding to each frequency component; and a command value calculation unit that calculates a torque command value for the rotary electric machine by taking into account the damping torque calculated by the damping torque calculation unit and the correction torque calculated by the correction torque calculation unit.

[0008] According to the above configuration, the damping torque calculation unit calculates a damping torque that reduces torque pulsation generated by driving the internal combustion engine. Therefore, by calculating a torque command value for the rotating electrical machine taking the calculated damping torque into consideration, it is possible to reduce torque pulsation of the internal combustion engine. However, simply calculating the torque command value taking the damping torque into consideration may not be enough to effectively suppress noise and vibration relative to a threshold value.

[0009] The rotating electric machine is driven by an internal combustion engine. Therefore, torque pulsation of the internal combustion engine appears in fluctuations in the rotational speed of the rotating electric machine. The present inventors have noted that the magnitude of noise and vibration can be estimated from the magnitude of the fluctuations in the rotational speed of the rotating electric machine. In this regard, the extraction unit extracts frequency components included in the fluctuation waveform of the rotational speed of the rotating electric machine. The amount by which the magnitude of noise or vibration exceeds a threshold can be estimated from the amount by which each extracted frequency component exceeds a predetermined reference value corresponding to the frequency component. The correction torque calculation unit then calculates a correction torque based on the amount by which each extracted frequency component exceeds a predetermined reference value corresponding to the frequency component. Therefore, the command value calculation unit calculates a torque command value for the rotating electric machine taking into account the calculated damping torque and the calculated correction torque, thereby effectively suppressing noise and vibration relative to a threshold.

[0010] The second means is a rotating electric machine control method for controlling a rotating electric machine driven by an internal combustion engine, and includes: a damping torque calculation step for calculating a damping torque that reduces torque pulsation generated by driving the internal combustion engine; an extraction step for extracting frequency components included in the fluctuation waveform of the rotational speed of the rotating electric machine; a correction torque calculation step for calculating a correction torque based on the amount by which each frequency component extracted by the extraction step exceeds a predetermined reference value corresponding to each frequency component; and a command value calculation step for calculating a torque command value for the rotating electric machine by taking into account the damping torque calculated by the damping torque calculation step and the correction torque calculated by the correction torque calculation step.

[0011] According to the above steps, the rotating electrical machine control method can achieve the same effects as the first means.

[0012] The third means is a rotating electric machine control program for controlling a rotating electric machine driven by an internal combustion engine, and causes a computer to execute the following: a damping torque calculation process for calculating a damping torque that reduces torque pulsation generated by driving the internal combustion engine; an extraction process for extracting frequency components included in the fluctuation waveform of the rotational speed of the rotating electric machine; a correction torque calculation process for calculating a correction torque based on the amount by which each frequency component extracted by the extraction process exceeds a predetermined reference value corresponding to each frequency component; and a command value calculation process for calculating a torque command value for the rotating electric machine by taking into account the damping torque calculated by the damping torque calculation process and the correction torque calculated by the correction torque calculation process.

[0013] According to the above process, the rotating electrical machine control program can achieve the same effects as the first means.

[0014] 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. 1 is a block diagram of a vehicle according to the first embodiment, FIG. 2 is an evaluation result of noise at the driver's ear in a comparative example, FIG. 3 is a sound pressure level of each frequency component of noise when the MG is generating power at 2000 rpm and each frequency component included in the fluctuation waveform of the rotation speed of the MG, FIG. 4 is a sound pressure level of each frequency component of noise when the MG is generating power at 3540 rpm and each frequency component included in the fluctuation waveform of the rotation speed of the MG, FIG. 5 is a block diagram showing an overview of MG control based on a torque command for the MG, FIG. 6 is a block diagram showing a concept of calculating a final torque command including a correction torque, FIG. 7 is a diagram showing sound pressure level, rotation speed fluctuation component, and reference value with respect to frequency, FIG. 8 is a table specifying the relationship between frequency and amplitude coefficient, FIG. 9 is a linear graph showing the relationship between the amount by which the rotation speed fluctuation component exceeds the reference value and the torque amplitude, FIG. 10 is a map showing the execution region of vibration suppression control, and FIG. FIG. 16 is a block diagram showing the evaluation results of noise at the driver's ear before and after application of the first embodiment; FIG. 17 is a block diagram of a vehicle of the second embodiment; FIG. 18 is a block diagram showing an overview of MG control based on the MG torque command; FIG. 19 is a block diagram showing the concept of calculating the correction torque; FIG. 20 is a diagram showing the reference values ​​of sound pressure level and acceleration fluctuation components against frequency;

[0015] First Embodiment Hereinafter, a first embodiment embodied in a vehicle equipped with an internal combustion engine and an MG (Motor Generator) will be described with reference to the drawings.

[0016] 1, a vehicle 10 includes a vehicle body 11, a battery 12, an internal combustion engine 20, an MG 30, an inverter 35, ECUs (Electronic Control Units) 41 and 42, and a VCU (Vehicle Control Unit) 43. Note that solid lines represent electrical wiring, and dashed lines represent communication lines.

[0017] The battery 12 is a secondary battery such as a lithium ion battery, a nickel-metal hydride battery, or a lead storage battery.

[0018] The vehicle body 11 supports the internal combustion engine 20 via a mount 13. The mount 13 absorbs vibrations and noise from the internal combustion engine 20. The vehicle body 11 supports the MG 30 via a mount 14. The mount 14 absorbs vibrations and noise from the MG 30.

[0019] The crankshaft 21 of the internal combustion engine 20 and the rotary shaft 31 (corresponding to the driven shaft) of the rotor of the MG 30 are directly coupled (connected). That is, the internal combustion engine 20 and the MG 30 directly transmit driving forces to each other.

[0020] The internal combustion engine 20 rotates the rotary shaft 31 of the MG 30 by the driving force generated by the combustion of fuel. When the internal combustion engine 20 is started, the crankshaft 21 is rotated by the driving force of the MG 30. The internal combustion engine 20 is controlled by an ECU 41.

[0021] The MG 30 (corresponding to a rotating electric machine) is, for example, a three-phase AC motor / generator. The MG 30 generates electricity when a rotary shaft 31 is rotated by the driving force of the internal combustion engine 20. The MG 30 rotates the crankshaft 21 of the internal combustion engine 20 by the driving force generated by AC power supplied from the inverter 35. In other words, the MG 30 has the function of both a generator and an electric motor. The MG 30 is controlled by the inverter 35.

[0022] The inverter 35 converts DC power supplied from the battery 12 into AC power and supplies the AC power to the MG 30. The inverter 35 converts AC power supplied from the MG 30 into DC power and supplies the DC power to the battery 12. The inverter 35 is controlled by the ECU 42.

[0023] The ECUs 41, 42, and VCU 43 are mainly configured with microcomputers (equivalent to computers) including, for example, a CPU, memory (ROM, RAM), and an input / output interface. The ECU 41 controls the internal combustion engine 20 based on communication between the ECU 42 and the inverter 35. The ECU 42 (equivalent to a rotating electric machine control device) controls the inverter 35 based on communication between the ECU 41, the inverter 35, and the VCU 43. The ECU 42 realizes each function of the rotating electric machine control device by executing a program stored in its memory. The ECU 42 coordinates the internal combustion engine 20 and the inverter 35. The VCU 43 performs overall control of the vehicle 10. The VCU 43 controls the operating states of the internal combustion engine 20 and the MG 30 based on, for example, the accelerator operation amount of the vehicle 10, the vehicle speed, and the rotational speed of the internal combustion engine 20 (i.e., the MG 30). The function of coordinating the internal combustion engine 20 and the inverter 35 may be provided by any one of the inverter 35 , the ECU 41 , and the VCU 43 .

[0024] When the internal combustion engine 20 is operating, torque pulsation occurs in the crankshaft 21 based on the combustion cycle of the internal combustion engine 20. The torque pulsation causes noise and vibration in the vehicle 10. The vehicle 10 is required to keep noise and vibration at evaluation points (for example, near the driver's ears, a predetermined position on the seat, above the steering wheel, etc.) below a threshold. The magnitude and components of the generated noise and vibration differ depending on the evaluation point. The magnitude of the threshold also differs depending on the evaluation point.

[0025] 2 shows the evaluation results of noise at the driver's ear in a comparative example. In the comparative example, a vibration damping torque that reduces noise caused by the primary explosion vibration of the internal combustion engine 20 is applied to the internal combustion engine 20 by the MG 30. The noise caused by the primary explosion vibration of the internal combustion engine 20 is below the threshold, but the noise caused by the secondary explosion vibration, tertiary explosion vibration, and quaternary explosion vibration, etc., exceeds the threshold. In other words, simply applying a vibration damping torque that reduces noise caused by the primary explosion vibration of the internal combustion engine 20 to the internal combustion engine 20 by the MG 30 cannot effectively suppress the noise below the threshold.

[0026] FIG. 3( a ) shows the sound pressure levels of each frequency component of noise when the MG 30 is generating electricity at 2000 rpm, and FIG. 3( b ) shows each frequency component included in the fluctuation waveform of the rotational speed of the MG 30. FIGS. 3( a ) and 3 ( b ) illustrate a case where the internal combustion engine 20 has three cylinders. As shown in FIG. 3( a ), the frequency of the explosion secondary vibration of the internal combustion engine 20 coincides with the frequency of the rotational tertiary vibration of the MG 30, the frequency of the explosion tertiary vibration of the internal combustion engine 20 coincides with the frequency of the rotational 4.5th vibration of the MG 30, and the frequency of the explosion quaternary vibration of the internal combustion engine 20 coincides with the frequency of the rotational 6th vibration of the MG 30. Because the sound pressure level of the noise exceeds the threshold at these frequencies, measures must be taken to reduce the noise. The present inventors have noted that, as shown in FIG. 3( b ), noise peaks due to torque pulsation of the internal combustion engine 20 appear in the rotational speed fluctuation of the MG 30. That is, at the frequencies where noise caused by torque pulsation of the internal combustion engine 20 peaks (here, corresponding to the second, third, and fourth explosions), the frequency components included in the fluctuation waveform of the rotation speed of the MG 30 also peak. Therefore, from the peaks of the frequency components included in the fluctuation waveform of the rotation speed of the MG 30, it is possible to estimate the sound pressure level of the noise, and therefore whether the noise exceeds a threshold value.

[0027] FIG. 4(a) shows the sound pressure levels of each frequency component of noise when the MG 30 is generating electricity at 3,540 rpm, and FIG. 4(b) shows each frequency component included in the fluctuation waveform of the rotational speed of the MG 30. FIGS. 4(a) and 4(b) illustrate a case where the internal combustion engine 20 has three cylinders. As shown in FIG. 4(a), the frequency of the primary explosion vibration of the internal combustion engine 20 coincides with the frequency of the 1.5th rotational vibration of the MG 30, and the frequency of the secondary explosion vibration of the internal combustion engine 20 coincides with the frequency of the tertiary rotational vibration of the MG 30. Because the sound pressure level of the noise exceeds the threshold at these frequencies, measures must be taken to reduce the noise. In this case, too, as shown in FIG. 4(b), the noise peaks caused by torque pulsation of the internal combustion engine 20 appear in the rotational speed fluctuation of the MG 30. That is, at the frequencies where noise caused by torque pulsation of the internal combustion engine 20 peaks (here, corresponding to the primary and secondary explosions), the frequency components included in the fluctuation waveform of the rotation speed of the MG 30 also peak. Therefore, from the peaks of the frequency components included in the fluctuation waveform of the rotation speed of the MG 30, it is possible to estimate the sound pressure level of the noise, and therefore whether the noise exceeds a threshold value.

[0028] In this way, the noise frequency components that need to be addressed differ for each driving point of the MG 30 (e.g., 2000 rpm, 3540 rpm) and for each evaluation point on the vehicle 10. Therefore, in order to keep noise and vibration below a threshold at each evaluation point on the vehicle 10, it is necessary to reduce each of the multiple torque pulsation components of the internal combustion engine 20 according to the driving point of the MG 30.

[0029] Therefore, in this embodiment, as shown in the outline of Fig. 5, a torque command for the MG 30 is calculated to control the MG 30. This control is executed by the ECU 42.

[0030] A subtractor 51 calculates the difference between the target rotation speed of the MG 30 and the MG rotation speed calculated by a rotation speed calculation unit 52, and inputs the difference to a PI control unit 53. The target rotation speed of the MG 30 is calculated based on a command from the VCU 43. The rotation speed calculation unit 52 calculates the MG rotation speed based on the detection result of an electrical angle sensor 36 that detects the electrical angle of the MG 30.

[0031] The PI control unit 53 calculates an FB torque command T0 for feedback control of the rotation speed of the MG 30 based on the rotation speed difference between the target rotation speed of the MG 30 and the MG rotation speed, and inputs the calculated torque command T0 to an adder 54.

[0032] Damping torque calculation unit 55 (corresponding to a damping torque calculation unit) calculates damping torque T1 that reduces the basic torque pulsation component of internal combustion engine 20 (corresponding to a damping torque calculation step and a damping torque calculation process). Damping torque calculation unit 55 calculates damping torque T1 based on the torque pulsation component, torque transfer function, crank angle, and MG rotation speed, for example, and inputs the calculated value to adder 54. As various known methods can be applied to the calculation of damping torque T1, detailed description thereof will be omitted.

[0033] Adder 54 adds FB torque command T0 and vibration damping torque T1 and inputs the result to adder 56.

[0034] Frequency component extraction unit 57 (corresponding to an extraction unit) extracts frequency components that form peaks based on the fluctuation waveform of the MG rotation speed calculated by rotation speed calculation unit 52, and inputs the frequency components to excess component determination unit 58. In other words, frequency component extraction unit 57 extracts frequency components included in the fluctuation waveform of the rotation speed of MG 30.

[0035] The excess component determining unit 58 determines the amount by which the noise exceeds a threshold based on the amount by which each extracted frequency component exceeds a reference value. The reference value will be described later.

[0036] The respective order correction torque calculation unit 59 calculates the correction torque Ted for each order ed of explosion based on the amount by which each extracted frequency component exceeds the reference value, and inputs the calculated correction torque to the correction torque summing unit 60. The calculation of the correction torque Ted for each order ed will be described in detail later.

[0037] The correction torque summing unit 60 sums the correction torques Ted of each order ed within a range in which the following final torque command T is less than the maximum torque and the output of the MG 30 is less than the maximum output, and inputs the sum to the adder 56. The excess component determination unit 58, each order correction torque calculation unit 59, and correction torque summing unit 60 constitute a correction torque calculation unit.

[0038] Adder 56 calculates final torque command T by adding the torque (T0+T1) input from adder 54 and the summed correction torque Ted input from correction torque summing unit 60. Adder 56 inputs the calculated final torque command T to vector control unit 61. That is, final torque command T is calculated by adding FB torque command T0 calculated by PI control unit 53 with damping torque T1 calculated by damping torque calculation unit 55 and correction torque Ted calculated by correction torque summing unit 60. Adders 54 and 56 form a command value calculation unit.

[0039] The vector control unit 61 calculates a U-phase voltage command Vu, a V-phase voltage command Vv, and a W-phase voltage command Vw by vector control based on the final torque command T and the detected V-phase current iv and W-phase current iw of the MG 30. The vector control unit 61 inputs the calculated U-phase voltage command Vu, V-phase voltage command Vv, and W-phase voltage command Vw to the inverter 35. Since vector control is well known, a detailed description thereof will be omitted.

[0040] Based on the input U-phase voltage command Vu, V-phase voltage command Vv, and W-phase voltage command Vw, inverter 35 controls the voltages to be applied to the U-phase coil, V-phase coil, and W-phase coil of MG 30. As a result, MG 30 is controlled so as to suppress noise and vibrations caused by torque pulsation of internal combustion engine 20 to threshold values.

[0041] 6 is a block diagram showing the concept of calculating the final torque command including the correction torque. This process is executed by the ECU 42.

[0042] The estimated crank angle calculation unit 71 calculates a crank angle in mechanical angles between 0 and 720° based on the electrical angle and rotation speed of the MG 30. The crank angle calculation unit 72 calculates the crank angle based on a crank angle signal and a cam angle signal. Note that an already calculated crank angle may be received via communication.

[0043] The communication delay correction unit 73 corrects the crank angle calculated by the estimated crank angle calculation unit 71 using the crank angle calculated by the crank angle calculation unit 72. If the crank angle calculated by the crank angle calculation unit 72 includes a communication delay, the communication delay correction unit 73 also corrects the communication delay.

[0044] Phase correction unit 74 calculates a corrected crank angle used in vibration damping torque calculation unit 77, based on the crank angle corrected by communication delay correction unit 73. At this time, phase correction unit 74 corrects the crank angle based on the phase correction value calculated by phase shift calculation unit 75. The phase correction value is a correction value that corrects the phase shift between the crank angle and the control timing.

[0045] Damping torque amplitude calculation unit 76 calculates damping torque amplitude used to calculate damping torque T1, for example, based on the rotation speed of internal combustion engine 20 (equal to the rotation speed of MG 30) and the target engine torque.

[0046] Oscillation damping torque calculation unit 77 calculates oscillation damping torque T1 based on the corrected crank angle calculated by phase correction unit 74, the oscillation damping torque amplitude calculated by oscillation damping torque amplitude calculation unit 76, and a map or function that estimates the torque pulsation component.

[0047] The excess component determining unit 58 and the order correction torque calculating unit 59 will now be described in more detail.

[0048] The excess component determination unit 58 determines the amount by which the sound pressure level at an evaluation point in the vehicle exceeds the threshold based on the amount by which a frequency component extracted from the fluctuation waveform of the MG rotational speed exceeds a reference value. The excess component determination unit 58 has a graph G of reference values ​​shown in FIG. 7C. Graph G is a graph of the amount of fluctuation in the MG rotational speed that changes with frequency. Graph G can be obtained in advance through testing or simulation as the magnitude of the frequency component of the fluctuation waveform of the MG rotational speed when the sound pressure level matches the threshold by changing the amplitude of the damping torque that reduces torque pulsation of the internal combustion engine 20. In other words, the reference value is set to a value that can determine whether at least one of the target noise and vibration exceeds the threshold. Graph G is obtained by changing the driving state (rotational speed, torque) of the internal combustion engine 20 and corresponding to each driving state. In graph G, frequency bands where the sound pressure level does not exceed the threshold even when the driving state of the internal combustion engine 20 is changed are omitted as null (no reference value). That is, in graph G, the frequency band portion for which it is known in advance that no correction torque is required is omitted.

[0049] Each order correction torque calculation unit 59 calculates the amplitude of the correction torque based on the amount by which the frequency component of the MG rotation speed fluctuation waveform exceeds graph G (reference value). As shown in FIG. 8 , each order correction torque calculation unit 59 has a table that defines the relationship between frequency and amplitude coefficient. The amplitude coefficient can be obtained as a linear coefficient that can reduce the sound pressure level to below the threshold using a damping torque with an amplitude calculated in advance through testing or simulation by multiplying the amount by which the frequency component of the MG rotation speed fluctuation waveform exceeds graph G by the amplitude coefficient. The amplitude coefficient is obtained for each frequency at which the sound pressure level exceeds the threshold by changing the driving state (rotation speed, torque) of the internal combustion engine 20 and corresponding to each driving state. As shown in FIG. 9 , the amplitude Xed of the correction torque for each order ed of explosion in the internal combustion engine 20 can be calculated by multiplying the amount Ced by which the frequency component of the MG rotation speed fluctuation waveform exceeds graph G by the amplitude coefficient Ked (corresponding to a linear coefficient) (Xed = Ked × Ced). The each-order correction torque calculation unit 59 calculates the correction torque Ted for each order ed based on the amplitude Xed of the correction torque for each order ed of the explosion, the crank angle of the internal combustion engine 20, and the sine function.

[0050] 6 , execution determination unit 78 determines to execute vibration suppression control when, for example, a vibration suppression request or a battery temperature increase request (execution permission command) is input from VCU 43 and the operating state of vehicle 10 is within an execution region described below. When execution determination unit 78 determines to execute vibration suppression control, it outputs a final torque command T that includes correction torque Ted after summation by correction torque summation unit 60. On the other hand, when execution determination unit 78 determines not to execute vibration suppression control, it outputs a final torque command T that does not include correction torque Ted.

[0051] 10 is a map showing the execution region of vibration suppression control. The map is defined by the vehicle speed and the required power generation amount of the MG 30. The region where the vehicle speed is low and the required power generation amount is small is the execution region, and the other region is the non-execution region. The region where the vehicle speed is high or the required power generation amount is large is the non-execution region of vibration suppression control because the driver is less likely to perceive noise and vibration in the region. The execution determination unit 78 determines to execute vibration suppression control when an execution permission command is input from the VCU 43 and the operating state of the vehicle 10 is included in the execution region of FIG. 10.

[0052] 11 is a flowchart showing a procedure for calculating a final torque command by adding a correction torque to the torque command. This series of processes is executed by the ECU 42.

[0053] First, the torque command T, crank angle θ, and MG rotation speed N before the correction torque Ted is applied are obtained (S10). Here, the torque command T before the correction torque Ted is applied is the torque obtained by adding the vibration damping torque T1 to the FB torque command T0. The crank angle θ is the crank angle (corrected crank angle) after correction by the phase correction unit 74.

[0054] Next, it is determined whether vibration suppression control is ON (S11). For example, if a vibration suppression request or a battery temperature increase request (execution permission command) is input from the VCU 43 and the operating state of the vehicle 10 is included in the execution region of Fig. 10, it is determined that vibration suppression control is ON. If it is determined that vibration suppression control is not ON (S11: NO), this series of processes is terminated (END).

[0055] On the other hand, if it is determined in S11 that vibration damping control is ON (S11: YES), the maximum frequency fmax for performing frequency analysis of the MG rotation speed fluctuation waveform is determined (S12). The vibration damping effect of the mounts 13, 14 increases as the frequency of the vibration (including noise) increases. Therefore, the maximum frequency fmax is determined based on the characteristics of the vibrations generated in the vehicle 10 and the effects of the mounts 13, 14 so that the vibrations to be reduced are included in the analysis target.

[0056] Next, frequency analysis is performed on the fluctuation waveform of the MG rotation speed (S13). For example, frequency analysis is performed on the fluctuation waveform of the MG rotation speed shown in Fig. 12, and each frequency component of the rotation speed fluctuation corresponding to the first, second, and third explosions of the internal combustion engine 20 is extracted as shown in Fig. 13.

[0057] Next, the explosion order ed is set to 1 (S14). The explosion order ed frequency fed is calculated (S15). fed = (N / 60) x (Ek / 2) x ed, where Ek is the number of cylinders in the internal combustion engine 20.

[0058] Next, it is determined whether the frequency fed after the explosion ed is equal to or less than the maximum frequency fmax (S16). If it is determined that the frequency fed after the explosion ed is not equal to or less than the maximum frequency fmax (S16: NO), this series of processes is terminated (END). Note that the order obtained by subtracting 1 from the order ed when it is determined that the frequency fed after the explosion ed is not equal to or less than the maximum frequency fmax corresponds to the predetermined order.

[0059] On the other hand, if it is determined in step S16 that the frequency (fed) of the next explosion (ed) is equal to or less than the maximum frequency (fmax) (YES in step S16), it is determined whether the reference value (Bed) of the next explosion (ed) is null (step S17). As shown in Fig. 14, if the frequency (fed) of the next explosion (ed) is within the null range in graph G, it is determined that the reference value (Bed) of the next explosion (ed) is null.

[0060] If it is determined in step S17 that the reference value Bed after the explosion ed is not null (S17: NO), the amount by which the frequency component Aed of the rotational speed fluctuation corresponding to the explosion ed exceeds the reference value Bed, i.e., the reference value excess amount Ced, is calculated (S18). As shown in FIG. 14, Ced = Aed - Bed.

[0061] Next, it is determined whether the reference value exceedance amount Ced is less than 0 (S19). If it is determined that the reference value exceedance amount Ced is not less than 0 (S19: NO), the amplitude Xed of the correction torque Ted after the explosion ed is calculated (S20). Specifically, Xed = Ked × Ced is calculated using the relationship shown in FIGS. 8 and 9. That is, the amplitude Xed of the correction torque Ted for each order ed is calculated by multiplying the amount Ced by which each frequency component Aed exceeds the reference value Bed by an amplitude coefficient Ked set respectively according to the frequency corresponding to the torque pulsation of the order ed, which is a natural number multiple of the amount Ced, generated by driving the internal combustion engine 20.

[0062] Next, it is determined whether the determination torque Tjd is smaller than the maximum torque Tmax (S21). Tjd = |T| + Xed. The maximum torque Tmax is the maximum torque that the MG 30 can generate. If it is determined that the determination torque Tjd is smaller than the maximum torque Tmax (S21: YES), it is determined whether the determination output Wjd is smaller than the maximum output Wmax (S22). Wjd = (N x 2π / 60) x Tjd. The maximum output Wmax is the maximum output that the MG 30 can output. If it is determined that the determination output Wjd is smaller than the maximum output Wmax (S22: YES), a correction torque Ted after the explosion is added to the torque command T, and the result is set as a new torque command T (S23). As shown in FIG. 15, Ted = Xed x sin(2π x fed x θ). That is, the correction torque Ted is calculated based on the crank angle θ of the internal combustion engine 20 .

[0063] Then, the process proceeds to S24. Also, if it is determined in S17 that the reference value Bed after the explosion ed is Null (S17: YES), or if it is determined in S19 that the reference value excess amount Ced is less than 0 (S19: YES), the process proceeds to S24.

[0064] In the process of S24, the explosion order ed is incremented by 1 to set a new order ed (S24). Then, the process is repeated from S15 for the new order ed. That is, the correction torque Ted for each order ed is calculated based on the excess amount Ced by which the frequency component Aed of the rotational speed fluctuation corresponding to the torque pulsation of each order ed, which is a natural number multiple generated by the driving of the internal combustion engine 20, exceeds the reference value Bed.

[0065] Furthermore, if it is determined in step S21 that the determination torque Tjd is not smaller than the maximum torque Tmax (NO in step S21), or if it is determined in step S22 that the determination output Wjd is not smaller than the maximum output Wmax (NO in step S22), this series of processes ends (END). In these cases, the torque command T that was last set in the process of step S23 becomes the final torque command for the MG 30.

[0066] The process of S13 corresponds to the process of the extraction unit (extraction process and extraction step), the processes of S18 to S23 correspond to the process of the correction torque calculation unit (correction torque calculation process and correction torque calculation step), and the process of S23 corresponds to the process of the command value calculation unit (command value calculation process and command value calculation step). In other words, the process shown in Fig. 11 corresponds to the rotating electric machine control method, and the program that causes the ECU 42 to execute the process shown in Fig. 11 corresponds to the rotating electric machine control program.

[0067] Fig. 16(a) shows the evaluation result of noise around the driver's ear before the application of this embodiment, and Fig. 16(b) shows the evaluation result of noise around the driver's ear after the application of this embodiment. Before the application of this embodiment, as shown by the ovals in Fig. 16(a), the sound pressure levels of the frequencies corresponding to the second, third, and fourth harmonics of the explosion exceed the threshold. In contrast, after the application of this embodiment, as shown by the ovals in Fig. 16(b), the sound pressure levels of the frequencies corresponding to the second, third, and fourth harmonics of the explosion are below the threshold.

[0068] The present embodiment described above in detail has the following advantages.

[0069] The MG 30 is driven by the internal combustion engine 20. Therefore, torque pulsation of the internal combustion engine 20 appears in fluctuations in the rotational speed of the MG 30, and the present inventors have noted that the magnitude of noise and vibration can be estimated from the magnitude of the rotational speed fluctuations of the MG 30. In this regard, the frequency component extraction unit 57 extracts frequency components contained in the fluctuation waveform of the rotational speed of the MG 30. The amount by which the noise or vibration exceeds a threshold can be estimated from the amount Ced by which each extracted frequency component exceeds a predetermined reference value Bed corresponding to that frequency component. The correction torque summation unit 60 then calculates the correction torque Ted based on the amount Ced by which each extracted frequency component exceeds the predetermined reference value Bed corresponding to that frequency component. Therefore, the adders 54 and 56 calculate the torque command T for the MG 30 taking into account the calculated damping torque T1 and the calculated correction torque Ted, thereby effectively suppressing noise and vibration relative to a threshold.

[0070] The excess amount Ced that exceeds the reference value Bed can be easily calculated as the amount by which each extracted frequency component exceeds graph G.

[0071] Since unnecessary portions are omitted from the graph G of the amount of fluctuation in the rotation speed, the capacity required for the memory (storage device) that stores the graph G can be reduced.

[0072] The correction torque Ted can be calculated in accordance with the torque pulsation of the order ed, which is a natural number multiple of the torque pulsation of the internal combustion engine 20, which is known in advance to be a main cause of increased noise and vibration. This makes it possible to prevent the addition of unnecessary correction torque Ted, thereby improving the stability of control of the MG 30.

[0073] The correction torque summing unit 60 calculates the amplitude Xed of the correction torque Ted for each order ed by multiplying the amount Ced by which each frequency component exceeds the reference value Bed by the amplitude coefficient Ked. Therefore, compared to when the amplitude Xed of the correction torque Ted is calculated using a map, the amount of data required to calculate the amplitude Xed of the correction torque Ted can be reduced, and the memory capacity required can be reduced.

[0074] Since the correction torque Ted is calculated by adding the correction torque Ted of the first order to the correction torque Ted of a predetermined order, the torque pulsation of each order ed can be effectively suppressed, and therefore noise and vibration can be effectively suppressed.

[0075] The correction torque summation unit 60 calculates the correction torque Ted based on the crank angle θ of the internal combustion engine 20. Therefore, the torque pulsation of the internal combustion engine 20 can be synchronized with the correction torque Ted, and the torque pulsation of the internal combustion engine 20 can be effectively reduced.

[0076] The correction torque adder 60 calculates the crank angle θ based on the electrical angle of the MG 30. This improves the accuracy of calculating the crank angle θ.

[0077] The corrected crank angle θ used to calculate the damping torque T1 and the correction torque Ted can be calculated taking into account communication delays and phase shifts, and torque pulsation of the internal combustion engine 20 can be effectively reduced.

[0078] The crankshaft 21 of the internal combustion engine 20 and the rotating shaft 31 of the MG 30 are directly connected. Therefore, not only the load torque when the MG 30 is driven, but also the drive torque when the MG 30 is driven can be used to reduce torque pulsation of the internal combustion engine 20.

[0079] It is possible to determine whether at least one of the target noise and vibration exceeds a threshold by comparing the amount of fluctuation in the rotation speed of the MG 30 with the reference value Bed.

[0080] The first embodiment can be modified as follows: The same parts as those in the first embodiment are denoted by the same reference numerals and the description thereof will be incorporated herein.

[0081] The correction torque summation unit 60 can also calculate the amplitude Xed of the correction torque Ted of each order ed by applying the frequency corresponding to the torque pulsation of a natural number multiple ed generated by the operation of the internal combustion engine 20 and the excess amount Ced by which each frequency component exceeds the reference value Bed extracted by the frequency component extraction unit 57 to a map that specifies the relationship between the frequency, the excess amount Ced by which each frequency component exceeds the reference value Bed, and the amplitude Xed of the correction torque Ted.

[0082] According to the above configuration, the amplitude Xed of the correction torque Ted can be calculated by applying the values ​​of the parameters to the map, thereby reducing the calculation load on the ECU 42 that calculates the amplitude Xed of the correction torque Ted.

[0083] Instead of omitting unnecessary parts in graph G of the fluctuation amount of the rotation speed, the value of graph G of the unnecessary parts (reference value Bed) can be set to a large value that is not exceeded by the frequency components contained in the fluctuation waveform of the rotation speed of MG30.

[0084] The correction torque Ted can be calculated by adding only the first-order correction torque Ted, the second-order correction torque Ted, and the third-order correction torque Ted together, or by adding only the first-order correction torque Ted and the second-order correction torque Ted together.

[0085] Second Embodiment The second embodiment will be described below, focusing on the differences from the first embodiment. In this embodiment, the target of reduction is not limited to noise and vibration caused by torque pulsation of a natural number multiple of order ed of the internal combustion engine 20, but also all noise and vibration at frequencies where the sound pressure level exceeds a threshold. Note that the same parts as those in the first embodiment are denoted by the same reference numerals and the description thereof will be repeated.

[0086] 17, the vehicle 10 of this embodiment includes an acceleration sensor 37 in addition to the configuration of the vehicle 10 of the first embodiment. The acceleration sensor 37 is attached near the mount 14 of the MG 30 and detects vibrations as acceleration.

[0087] As shown in FIG. 18 , the frequency component extraction unit 57 (corresponding to the extraction unit) extracts frequency components that form peaks based on the acceleration fluctuation waveform detected by the acceleration sensor 37 and inputs the extracted frequency components to the excess component determination unit 58.

[0088] As shown in FIG. 19 , the excess component determination unit 58 determines the amount by which the sound pressure level at an evaluation point in the vehicle 10 exceeds the threshold based on the amount by which a frequency component extracted from the acceleration fluctuation waveform exceeds a reference value B. The excess component determination unit 58 has a graph G2 of the reference value B shown in FIG. 20( b). The graph G2 is a graph of the amount of acceleration fluctuation that changes with frequency. The graph G2 can be obtained in advance through testing or simulation by changing the amplitude of the damping torque that reduces torque pulsation of the internal combustion engine 20 and representing the magnitude of the frequency component of the acceleration fluctuation waveform when the sound pressure level matches the threshold. In other words, the reference value B is set to a value that can determine whether at least one of the target noise and vibration exceeds the threshold. The graph G2 is obtained corresponding to each driving state by changing the driving state (rotational speed, torque) of the internal combustion engine 20.

[0089] 19 , each order correction torque calculation unit 59 calculates the amplitude of the correction torque based on the amount by which the frequency component of the acceleration fluctuation waveform exceeds graph G2 (reference value B). Here, each order correction torque calculation unit 59 calculates the amplitude of the correction torque for all frequency components that exceed reference value B.

[0090] 21 is a graph showing the correction torque Ted in this embodiment. Ted = Xed x sin(2π x fed x θ). If the internal combustion engine 20 has three cylinders, fed = (N / 60) x (½) x ed. The correction torque Ted is calculated based on the crank angle θ of the internal combustion engine 20.

[0091] 22(a) shows the evaluation result of noise around the driver's ear before the application of this embodiment, and FIG. 22(b) shows the evaluation result of noise around the driver's ear after the application of this embodiment. Before the application of this embodiment, as shown by the ovals in FIG. 22(a), the sound pressure levels of the frequency corresponding to the explosion ed-th order of the internal combustion engine 20 and the frequency corresponding to the rotation n-th order (n is a natural number) of the MG 30 exceed the threshold. In contrast, after the application of this embodiment, the sound pressure levels of all frequencies are below the threshold, as shown by the ovals in FIG. 22(b).

[0092] According to this embodiment, the sound pressure levels of all frequencies can be reduced to below the threshold value, not just the torque pulsation of order ed, which is a natural number multiple of the torque pulsation of the internal combustion engine 20, which is known in advance to be the main cause of increased noise and vibration.

[0093] The first and second embodiments can be modified as follows: The same parts as those in the first and second embodiments are denoted by the same reference numerals and the description thereof will be incorporated herein.

[0094] Damping torque calculation unit 55 (corresponding to the damping torque calculation unit) may calculate a starting damping torque that reduces torque pulsation that occurs when internal combustion engine 20 is started by driving MG 30. Adders 54, 56 may calculate torque command T for MG 30 by taking into account the starting damping torque calculated by damping torque calculation unit 55 and correction torque Ted calculated by correction torque summing unit 60 when internal combustion engine 20 is started. With this configuration, noise and vibration when internal combustion engine 20 is started can be effectively suppressed relative to a threshold value.

[0095] Furthermore, damping torque calculation unit 55 may terminate calculation of startup damping torque after the rotational speed of internal combustion engine 20 has stabilized during startup of internal combustion engine 20. Correction torque summation unit 60 may terminate calculation of correction torque Ted after the rotational speed of internal combustion engine 20 has stabilized during startup of internal combustion engine 20. Stabilization of the rotational speed of internal combustion engine 20 can be determined, for example, by the average value of the rotational speed of internal combustion engine 20 over a predetermined period falling within a predetermined range. With this configuration, once the rotational speed of internal combustion engine 20 has stabilized during startup, calculation of startup damping torque and correction torque Ted can be terminated, and unnecessary vibration damping control can be prevented from being continued.

[0096] The frequency component extracting unit 57 can also estimate the rotation speed of the MG 30 based on the current flowing through the MG 30 and extract frequency components included in the fluctuation waveform of the estimated rotation speed of the MG 30 .

[0097] The first and second embodiments may be carried out with the internal combustion engine 20 and the MG 30 mounted on a bench (testing machine) instead of the vehicle body 11 .

[0098] Instead of the MG 30, a generator (corresponding to a rotating electric machine) may be used.

[0099] The control in the first and second embodiments may be performed by a VCU 43 (corresponding to a rotary electric machine control device) instead of the ECU 42 or together with the ECU 42 .

[0100] The rotating electric machine control device and the method thereof described herein may be implemented by a special-purpose computer provided by configuring a processor and memory programmed to execute one or more functions (instructions) embodied in a computer program. Alternatively, the rotating electric machine control device and the method thereof described herein may be implemented by a special-purpose computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the rotating electric machine control device and the method thereof 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 as instructions executed by a computer on a computer-readable non-transitory tangible storage medium.

[0101] The above-described embodiments and modifications may be combined within the scope of possible combinations.

[0102] Characteristic configurations extracted from the above-described embodiments and modified examples are described below. [Configuration 1] A rotating electric machine control device (42, 43) for controlling a rotating electric machine (30) driven by an internal combustion engine (20), comprising: a damping torque calculation unit (55) that calculates a damping torque that reduces torque pulsation generated by driving the internal combustion engine; an extraction unit (57) that extracts frequency components included in a fluctuation waveform of the rotational speed of the rotating electric machine; correction torque calculation units (58-60) that calculate a correction torque based on an excess amount by which each frequency component extracted by the extraction unit exceeds a predetermined reference value corresponding to each frequency component; and a command value calculation unit (54, 56) that calculates a torque command value for the rotating electric machine by taking into account the damping torque calculated by the damping torque calculation unit and the correction torque calculated by the correction torque calculation unit. [Configuration 2] The rotating electric machine control device according to Configuration 1, wherein the reference value is set as a graph of the amount of fluctuation in the rotational speed that changes with frequency. [Configuration 3] The rotating electric machine control device according to Configuration 2, wherein a portion of the graph corresponding to a frequency band for which it is known in advance that the correction torque is not necessary is omitted. [Configuration 4] The rotating electric machine control device according to any one of Configurations 1 to 3, wherein the correction torque calculation unit calculates the correction torque based on the amount by which each of the frequency components corresponding to the torque pulsation of an order that is a natural number multiple generated by driving the internal combustion engine exceeds the reference value. [Configuration 5] The rotating electric machine control device according to any one of Configurations 1 to 4, wherein the correction torque calculation unit calculates the amplitude of the correction torque of each order by applying the frequency corresponding to the torque pulsation of an order that is a natural number multiple generated by driving the internal combustion engine and the amount by which each of the frequency components extracted by the extraction unit exceeds the reference value to a map that defines the relationship between the frequency, the amount by which each of the frequency components exceeds the reference value, and the amplitude of the correction torque. [Configuration 6] The rotary electric machine control device according to any one of Configurations 1 to 4, wherein the correction torque calculation unit calculates the amplitude of the correction torque of each order by multiplying the amount by which each frequency component exceeds the reference value by a linear coefficient set according to a frequency corresponding to a natural number multiple of the torque pulsation of an order generated by driving the internal combustion engine.[Configuration 7] The rotary electric machine control device according to Configuration 5 or 6, wherein the correction torque calculation unit calculates the correction torque for each order based on the amplitude of the correction torque for each order, and calculates the correction torque by adding the correction torque for one order through the correction torque for a predetermined order. [Configuration 8] The rotary electric machine control device according to any one of Configurations 1 to 7, wherein the correction torque calculation unit calculates the correction torque based on a crank angle of the internal combustion engine. [Configuration 9] The rotary electric machine control device according to Configuration 8, wherein the correction torque calculation unit calculates the crank angle based on an electrical angle of the rotary electric machine. [Configuration 10] The rotary electric machine control device according to Configuration 9, wherein the correction torque calculation unit calculates the correction crank angle used to calculate the damping torque and the correction torque based on a communication delay when receiving the electrical angle and a phase shift between the calculated crank angle and the control timing of the rotary electric machine. [Configuration 11] The rotary electric machine control device according to any one of Configurations 1 to 10, wherein a crankshaft (21) of the internal combustion engine and a driven shaft (31) of the rotary electric machine are directly connected. [Configuration 12] The rotary electric machine control device according to Configuration 11, wherein the damping torque calculation unit calculates a starting damping torque that reduces torque pulsation that occurs when the internal combustion engine is started by driving the rotary electric machine, and the command value calculation unit calculates a torque command value for the rotary electric machine at the start of the internal combustion engine by taking into account the starting damping torque calculated by the damping torque calculation unit and the correction torque calculated by the correction torque calculation unit. [Configuration 13] The rotary electric machine control device according to Configuration 12, wherein the damping torque calculation unit terminates calculation of the starting damping torque after the rotation speed of the internal combustion engine has stabilized at the start of the internal combustion engine, and the correction torque calculation unit terminates calculation of the correction torque after the rotation speed of the internal combustion engine has stabilized at the start of the internal combustion engine. [Configuration 14] The rotary electric machine control device according to any one of Configurations 1 to 13, wherein the reference value is set to a value that enables determination that at least one of target noise and vibration exceeds a threshold.

[0103] 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. A rotating electric machine control device (42, 43) that controls a rotating electric machine (30) driven by an internal combustion engine (20), comprising: a damping torque calculation unit (55) that calculates a damping torque that reduces torque pulsation generated by driving the internal combustion engine; an extraction unit (57) that extracts frequency components included in a fluctuation waveform of the rotational speed of the rotating electric machine; a correction torque calculation unit (58-60) that calculates a correction torque based on an excess amount by which each frequency component extracted by the extraction unit exceeds a predetermined reference value corresponding to each frequency component; and a command value calculation unit (54, 56) that calculates a torque command value for the rotating electric machine by taking into account the damping torque calculated by the damping torque calculation unit and the correction torque calculated by the correction torque calculation unit.

2. The rotary electric machine control device according to claim 1, wherein the reference value is set as a graph of the amount of fluctuation in the rotational speed that changes with frequency.

3. The rotary electric machine control device according to claim 2, wherein the graph omits a portion of a frequency band where it is known in advance that the correction torque is not required.

4. A rotating electric machine control device according to any one of claims 1 to 3, wherein the correction torque calculation unit calculates the correction torque based on the amount by which each of the frequency components corresponding to the torque pulsation of a natural number multiple order generated by driving the internal combustion engine exceeds the reference value.

5. A rotary electric machine control device as described in any one of claims 1 to 3, wherein the correction torque calculation unit calculates the amplitude of the correction torque of each order by applying the frequency corresponding to the torque pulsation of a natural number multiple order generated by driving the internal combustion engine and the amount by which each frequency component extracted by the extraction unit exceeds the reference value to a map that defines the relationship between the frequency, the amount by which each frequency component exceeds the reference value, and the amplitude of the correction torque.

6. A rotary electric machine control device according to any one of claims 1 to 3, wherein the correction torque calculation unit calculates the amplitude of the correction torque of each order by multiplying the amount by which each frequency component exceeds the reference value by a linear coefficient set according to the frequency corresponding to the torque pulsation of a natural number multiple order generated by driving the internal combustion engine.

7. A rotary electric machine control device as described in claim 5, wherein the correction torque calculation unit calculates the correction torque of each order based on the amplitude of the correction torque of each order, and calculates the correction torque by adding the correction torques from the first order to a predetermined order.

8. The rotary electric machine control device according to any one of claims 1 to 3, wherein the correction torque calculation unit calculates the correction torque based on a crank angle of the internal combustion engine.

9. The rotary electric machine control device according to claim 8, wherein the correction torque calculation unit calculates the crank angle based on the electrical angle of the rotary electric machine.

10. A rotary electric machine control device as described in claim 9, wherein the correction torque calculation unit calculates the correction crank angle used to calculate the damping torque and the correction torque based on a communication delay when receiving the electrical angle and a phase shift between the calculated crank angle and the control timing of the rotary electric machine.

11. A rotary electric machine control device according to any one of claims 1 to 3, wherein the crankshaft (21) of the internal combustion engine and the driven shaft (31) of the rotary electric machine are directly connected.

12. A rotary electric machine control device as described in claim 11, wherein the vibration damping torque calculation unit calculates a start-up vibration damping torque that reduces torque pulsation that occurs when the internal combustion engine is started by driving the rotary electric machine, and the command value calculation unit calculates a torque command value for the rotary electric machine at the start-up of the internal combustion engine, taking into account the start-up vibration damping torque calculated by the vibration damping torque calculation unit and the correction torque calculated by the correction torque calculation unit.

13. A rotary electric machine control device as described in claim 12, wherein the vibration damping torque calculation unit terminates calculation of the start-up vibration damping torque after the rotation speed of the internal combustion engine has stabilized when the internal combustion engine is started, and the correction torque calculation unit terminates calculation of the correction torque after the rotation speed of the internal combustion engine has stabilized when the internal combustion engine is started.

14. A rotating electric machine control device according to any one of claims 1 to 3, wherein the reference value is set to a value that can determine whether at least one of the target noise and vibration exceeds a threshold value.

15. A rotating electric machine control method for controlling a rotating electric machine (30) driven by an internal combustion engine (20), comprising: a damping torque calculation step for calculating a damping torque that reduces torque pulsation generated by driving the internal combustion engine; an extraction step for extracting frequency components included in a fluctuation waveform of the rotational speed of the rotating electric machine; a correction torque calculation step for calculating a correction torque based on an excess amount by which each frequency component extracted by the extraction step exceeds a predetermined reference value corresponding to each frequency component; and a command value calculation step for calculating a torque command value for the rotating electric machine by taking into account the damping torque calculated by the damping torque calculation step and the correction torque calculated by the correction torque calculation step.

16. A rotating electric machine control program for controlling a rotating electric machine (30) driven by an internal combustion engine (20), the program causing a computer (42, 43) to execute the following: a damping torque calculation process for calculating a damping torque that reduces torque pulsation generated by driving the internal combustion engine; an extraction process for extracting frequency components included in the fluctuation waveform of the rotational speed of the rotating electric machine; a correction torque calculation process for calculating a correction torque based on the amount by which each frequency component extracted by the extraction process exceeds a predetermined reference value corresponding to each frequency component; and a command value calculation process for calculating a torque command value for the rotating electric machine taking into account the damping torque calculated by the damping torque calculation process and the correction torque calculated by the correction torque calculation process.

Images