96 results about "Torque controller" patented technology

The invention discloses an operation control method for a wind power generation system, and relates to the technical field of operation control, and the method comprises the steps: obtaining the historical operation data of a wind power generation system in a target sea area, taking an offshore environment factor as an interference factor, and coupling the time-space parameters of ocean turbulence intensity, wave load and salt spray corrosion rate; establishing a fan-marine environment digital twinborn body; operation data is acquired in real time, synchronous mapping and dynamic updating of the digital twin are realized, and a state prediction model is established in combination with historical operation characteristics; taking the maximum power generation efficiency and the minimum mechanical load as a multi-objective optimization function, and introducing a model prediction controller to obtain an optimal control sequence of the wind power generation system in a future time domain of each control period; and selecting a first control instruction in the optimal control sequence, issuing the first control instruction to a physical fan torque controller and a variable pitch system in real time, realizing rolling optimization of the wind power generation system, and obtaining a self-adaptive operation control scheme of the wind power generation system. The power generation benefit of the whole life cycle is improved.

The invention provides a curve braking force distribution control method for an electric vehicle carrying an EMB braking system, and the method comprises the following steps: obtaining ideal values of a yaw velocity and a side slip angle during the steering of the vehicle through a two-degree-of-freedom vehicle model; the actual values of the yaw velocity and the side slip angle during vehicle steering are obtained through a Kalman filtering method and a vehicle sensor, and after the deviation is obtained through calculation, a sliding mode additional yaw moment controller is designed to calculate and correct the additional yaw moment needed by vehicle steering; obtaining the vertical load of each wheel according to a vehicle dynamics model, and controlling the EMB system by using a differential braking method according to the obtained vertical load of each wheel and the obtained additional yawing moment required for correcting the steering of the vehicle. The EMB system is controlled in a differential braking mode, the posture of the vehicle body is adjusted, and the curve braking stability of the vehicle is improved while the braking efficiency is guaranteed.

The invention discloses an aircraft performance constraint compliance control method for contact type nondestructive testing, and belongs to the field of aircraft control. The implementation method comprises the following steps: introducing a saturated contact force controller into a position ring, and dynamically adjusting a confidence factor based on a position error to adaptively adjust normal rigidity and tangential flexibility; a zero-order control barrier function ZOCBF restrains the force controller, a three-dimensional dynamic safety boundary is established by using a sampling data mechanism, and the position, speed and contact force of the unmanned aerial vehicle are optimized and limited through quadratic programming; designing a hybrid torque controller in the attitude ring, and dynamically selecting a balance point through a binary logic switching strategy; the controller performs safety limitation on the attitude and angular velocity of the unmanned aerial vehicle in combination with zero-order control obstacle function constraint; monitoring a quaternion scalar component symbol in real time by defining a manifold switching set and a jump set; by fusing position loop and attitude loop control logic, compliance control during contact-type nondestructive testing of the unmanned aerial vehicle is realized.

The invention relates to the technical field of vehicle braking control, and discloses a turning braking force distribution control method and system for a vehicle carrying an electronic mechanical braking system. The method comprises the following steps: acquiring real-time state information of a vehicle; initial braking force distribution is conducted on the vehicle; calculating an expected yaw velocity and an expected side slip angle of the vehicle by adopting a linear two-degree-of-freedom vehicle steady-state model; a torque adjusting controller is adopted to calculate the torque adjusting quantity of the yaw velocity and the torque adjusting quantity of the side slip angle; dynamically adjusting the torque adjusting quantity of the yaw velocity and the torque adjusting quantity of the side slip angle by adopting an error weight proportion distribution method to obtain an expected braking torque needing to be applied to a wheel; a compensation torque controller is adopted to calculate the slip rate compensation torque of each wheel; and secondary braking force distribution is conducted on all the wheels of the vehicle according to the expected braking torque of the wheels and the slip rate compensation torque of all the wheels. According to the method, yaw stability improvement, sideslip suppression and braking efficiency optimization of the vehicle in the turning braking process can be achieved.

This invention relates to a low-current harmonic direct torque control method for a dual three-phase permanent magnet synchronous motor (PMSM), belonging to the field of PMSM control technology. The method is as follows: S1: Establish mathematical models of the fundamental and harmonic subspaces of the dual three-phase PMSM under vector space decoupling, and clarify the voltage vector distribution characteristics of the two subspaces; S2: In the fundamental subspace, design a duty cycle modulation strategy based on the principle of minimizing the error vector, and an improved deadbeat flux linkage torque controller; S3: In the harmonic subspace, design an online learning harmonic canceller, using the least mean square algorithm to update the weight coefficients in real time; S4: Select the D1 vector set as the effective vector of the harmonic subspace and perform sector division; S5: Add the effective voltage vector action time of the fundamental and harmonic subspaces to generate the final switching sequence, which is output to the dual three-phase inverter to effectively suppress torque ripple and harmonic current of the dual three-phase PMSM.

The utility model discloses screening equipment for selecting simulated bone materials and cancellous structures, which is characterized in that a torque measuring instrument is fixed below a fixing frame, and a test block fixing mechanism for fixing and positioning a to-be-tested bone planting test block is fixedly arranged on a measuring workbench of the torque measuring instrument; the screwdriver can rotate in the circumferential direction and can be installed on the fixing frame in the mode that the screwdriver can ascend and descend by a set distance in the axial direction, the lower end of the screwdriver is provided with a pattern matched with the head of a to-be-locked simulation planting nail on a bone planting test block, and the rotation driving device installed on the fixing frame can drive the screwdriver to rotate. The balance weight mechanism which can be installed on the fixing frame in a lifting mode provides axial downward pressure for the screwdriver, the torque measuring instrument can detect the torque applied to the bone planting test block by the screw, the controller controls the rotation driving device to operate, and the bone planting test block is simple in structure, convenient to operate and high in practicability. According to the utility model, the material for simulating the alveolar bone in the dental implant practical training model can be selected more objectively, and errors caused by subjective hand feeling selection are avoided.

This application provides a vehicle speed control method, device, vehicle controller, and storage medium based on the Harris Eagle algorithm, belonging to the field of automotive technology. The method includes: inputting the deviation and rate of change of the deviation between the actual vehicle speed and the target vehicle speed into the vehicle's torque controller; then initializing the integral and proportional factors using a Harris Eagle population; and iteratively updating each factor to select the best-performing factor. Based on the optimized integral and proportional factors, the deviation and rate of change of the deviation are controlled to achieve vehicle speed control. This method automatically optimizes the integral and proportional factors in the controller using the Harris Eagle algorithm, replacing the fixed or linearly changing parameter settings in traditional PID control. This allows the controller to adjust the control strategy in real time according to the deviation and rate of change between the actual vehicle speed and the target vehicle speed, thereby effectively suppressing overshoot and oscillation in vehicle speed control and improving the response accuracy of the vehicle speed control process.

The invention relates to a flow valve control system of a source furnace and a control method thereof. Comprises: a flow valve configured to control an actual flow of a source furnace by adjusting an opening degree; the flow valve is connected with the source furnace; the sensor is configured to monitor the position of a valve element of the flow valve so as to monitor the opening degree of the flow valve; the servo motor is configured to drive the valve element to move so as to adjust the opening degree of the flow valve; the torque sensor is configured to monitor the torque of the valve element during rotation; the controller is configured to obtain the preset opening degree of the flow valve, control the servo motor to drive the valve element to move and adjust the opening degree of the flow valve according to the obtained position information, fed back by the position sensor, of the valve element; the controller is further configured to determine the abrasion condition of the valve element according to torque information sent by the torque sensor in the movement process of the valve element so as to correct the movement of the valve element, and prompt information is sent out. The position sensor and the torque sensor are both in communication connection with the controller. According to the technical scheme, the situation that the needle valve control flow is unstable can be solved.

Provided are a control method and device for a wind turbine. The control method comprises: obtaining operation data of the wind turbine within a preset time length, wherein the operation data comprises at least one of the following: a rotating speed, a torque, and a pitch angle; determining, based on the operation data, a target control stage in which the wind turbine is located within the preset time length from among a plurality of preset control stages; determining, based on the operation data, whether an oscillation condition of the wind turbine reaches a preset oscillation condition corresponding to the target control stage; in response to the oscillation condition reaching the preset oscillation condition, adjusting parameters of a torque controller and / or parameters of a pitch controller of the wind turbine; and controlling operation of the wind turbine based on the adjusted parameters.

This disclosure relates to a time-sharing adaptive precision assistance method, device, electronic device, and storage medium that adapts to changing target assistance needs. The method includes: calibrating and initializing sensors in the exoskeleton wearer coupling system; identifying the wearer's gait characteristics; predicting the wearer's current target assistance needs based on gait characteristics, joint interaction force characteristics, and center of mass motion characteristics, and matching joint controller parameters accordingly; establishing an exoskeleton swing phase and support phase enhancement torque controller that adaptively adjusts with joint motion amplitude and frequency; and switching the exoskeleton swing phase and support phase enhancement torque controller based on the target assistance needs, thereby achieving time-sharing adaptive assistance of the exoskeleton to adapt to changing target assistance needs. This disclosure achieves dynamic matching of the target motion position by adjusting joint controller parameters, which helps improve the exoskeleton robot's autonomous perception and efficient assistance to the wearer's target assistance needs.

A variable speed wind turbine maximum power capture method, system and application thereof, the method is based on active disturbance rejection control, RBF neural network and variable speed wind turbine maximum power capture method, including the following steps: establishing the equivalent model of variable speed wind turbine; using the second order linear active disturbance rejection control (LADRC) algorithm to construct the generator torque controller; using the gravity search algorithm to optimize the generator torque controller parameters and obtain the optimal parameter data set; based on the optimal parameter data set, the radial basis function neural network is trained, and the trained radial basis function neural output is suitable for the generator torque controller parameters under the current wind speed condition. Using the gravity search algorithm to optimize the generator torque controller parameters and obtain the optimal parameter data set; based on the optimal parameter data set, the radial basis function neural network is trained, and the trained radial basis function neural output is suitable for the generator torque controller parameters under the current wind speed condition.

The invention provides a robot joint control system based on a position and torque sensor, and relates to the technical field of robot control, the robot joint control system is characterized in that the robot joint control system comprises a trunk and supporting legs, the trunk comprises a shell, a fixing frame and a battery pack, the battery pack is located on the inner side of the fixing frame, and through holes are symmetrically formed in the two ends of the fixing frame; the trunk connecting structure is used for fixing the trunk connecting structure, the supporting legs are located on the two sides of the trunk and rotationally connected with the trunk connecting structure through leg connecting structures, each supporting leg comprises a mounting plate and a connecting rod, and a driving assembly is arranged in each mounting plate and rotationally connected with the corresponding leg connecting structure; a connecting shaft is arranged at the upper end of the connecting rod, is rotationally connected with the mounting plate and is matched with the linkage rod to perform leg movement; a dynamic balance control algorithm can be operated in cooperation with the planning evaluation module, the control module, the whole-body controller and the low-level torque controller, and robot posture self-adaption is achieved. The method has the advantages that the operation efficiency of the robot is improved, and the corresponding operation pressure is reduced.

The application relates to a torque controller and a storage medium. The torque controller comprises a function layer configured to perform torque calculation according to a torque calculation link to obtain at least one intermediate result; and a safety layer configured to monitor an unintended acceleration risk according to the at least one intermediate result; wherein the safety layer comprises at least one torque checking unit connected in sequence, and each torque checking unit is configured to check the at least one intermediate result, and determine that the unintended acceleration risk exists when the check of any intermediate result fails. By using the torque controller provided by the application, the unintended acceleration risk can be detected in advance, and the driving safety is greatly improved.

The invention relates to the technical field of variable-speed wind turbine generator control, and discloses a wind turbine generator active power control method, system and device and a medium, and the method comprises the steps: S1, calculating a normalized power tracking error and a power tracking error variable quantity; s2, designing a fuzzy controller based on S1, and dynamically updating filtering parameters; s3, designing a double-stage control architecture based on the filtering parameters updated in S2; s4, based on the double-stage control architecture designed in the S3, designing a kinetic energy utilization coefficient, and redefining a rotating speed tracking error; and S5, based on the torque reference values generated in S3 and S4, a final torque reference value is generated through a torque controller, and power control is achieved in cooperation with a pitch angle controller. The method can fully coordinate the response characteristic difference of the variable pitch and torque execution mechanisms of the wind turbine generator, effectively improves the power tracking performance, and reduces the load of the variable pitch system.

The invention discloses an electric screwdriver control method, device and equipment based on a torsion closed loop and a storage medium. The method comprises the steps that an electric screwdriver is controlled to run from an initial first preset position to a second preset position; after the electric screwdriver reaches the second preset position, the electric screwdriver is controlled to run at the first preset constant speed; when the electric screwdriver runs at a first preset constant speed, a torsion feedback value of the torsion sensor is collected in real time, and when the torsion feedback value is larger than first preset torsion, the torsion feedback value and second preset torsion are input into the torsion control ring; and when the torsion feedback value is equal to the second preset torsion, the electric screwdriver is controlled to stop screwing. A high-speed section and a low-speed section based on a position control mode are adopted, the proportion of the distance of the low-speed section in the whole stroke distance is adjusted, a torsion feedback value is collected, second preset torsion and the torsion feedback value are input into a torsion control ring, and an electric screwdriver is controlled to operate according to driving current output by the torsion control ring. And the overshoot generated by the torque controller can be inhibited while the torque quick following is met.

This invention discloses an adaptive control system for a coal mining machine cutting transmission system under complex working conditions. The system uses an extended state observer in the adaptive torque compensation controller to track the state variables of the cutting transmission system, and estimates in real time disturbances such as nonlinearity and time-varying parameters. The real-time effect of the total disturbance is compensated into the feedforward compensation disturbance term in the actual control quantity. A BP network adaptively adjusts the parameters of the second-order active disturbance rejection torque controller, and an adaptive convolutional neural network fuzzy module adaptively adjusts the output compensation of the active disturbance rejection torque compensation controller to obtain expert control rules that satisfy complex impact conditions. Nonlinear state error feedback, combined with the adjustment amount of the adaptive convolutional neural network fuzzy module, calculates the initial electromagnetic torque. After feedforward compensation, a compensated electromagnetic torque is generated, which is superimposed on the torque compensation amount generated by the PI controller. This achieves adaptive compensation control for suppressing the dynamic load of the system and effective suppression of the impact energy of the dynamic load on the cutting transmission system.

The application relates to the technical field of vehicle braking control, and discloses a vehicle turning braking force distribution control method and system loaded with an electronic mechanical braking system. The method comprises the following steps: acquiring real-time state information of a vehicle; performing initial braking force distribution on the vehicle; calculating expected yaw angular velocity and expected mass center side slip angle of the vehicle by adopting a linear two-degree-of-freedom vehicle steady-state model; calculating torque adjustment amounts of the yaw angular velocity and the mass center side slip angle by adopting a torque adjustment controller; dynamically adjusting the torque adjustment amounts of the yaw angular velocity and the mass center side slip angle by adopting an error weight proportion distribution method, so as to obtain expected braking torques needed on the vehicle wheels; calculating slip rate compensation torques of the vehicle wheels by adopting a compensation torque controller; and performing secondary braking force distribution on the vehicle wheels according to the expected braking torques of the vehicle wheels and the slip rate compensation torques of the vehicle wheels. The application can improve the yaw stability of the vehicle in the turning braking process, inhibit side slip and optimize braking efficiency.

The utility model relates to a mobile phone torque measuring device. Comprising a base, a first clamping block arranged on the base, a second clamping block arranged on the first clamping block, a speed reducing mechanism arranged on the first clamping block and the second clamping block, a power handle connected to the detection end of the speed reducing mechanism, a magnetic brake arranged on the base and a torque controller for detecting torque. The knob is used for adjusting and controlling the resistance of the magnetic brake; the display screen is used for displaying torque; the magnetic brake is arranged on one side of the base; the first clamping block is fixed on the other side of the base; the second clamping block is detachably connected to the first clamping block; the speed reducing mechanism is fixed on the first clamping block through the second clamping block; the magnetic brake is connected with the acting end of the speed reducing mechanism; the torque controller is connected with the magnetic brake; and the knob and the display screen are arranged on the torque controller. The mobile phone torque measuring device solves the problem that before an operation mobile phone is completely used, the torque of the mobile phone needs to be measured, and therefore the mobile phone torque measuring device is needed.

An electronic steering apparatus of a vehicle may include a reaction torque generator configured to generate command reaction torque based on a steering condition, and a reaction torque controller configured to receive a rack force and vehicle speed, to tune road sensitivity according to the vehicle speed, to set road sensitive torque by applying a gain according to a reaction sensitivity, to reflect the road sensitive torque into the command reaction torque to generate a final reaction torque, and to output the final reaction torque to a driving motor.

A vehicle includes a controller configured to calculate initial torques for a variety of the vehicle's wheels and to receive manual input that directs one or more torque differentials to apply those initial torques. The controller adjusts the initial torques according to the one or more torque differentials to obtain output torques and drives the variety of wheels according to those output torques. Manual input can be received from steering wheel-mounted input devices, such as two input wheels. The controller can adjust the left-to-right torque distribution between the vehicle's right and left wheels according to the manual input.

The utility model discloses a lossless torque dismounting tool of a lower shaft sleeve for an oil sprayer, which belongs to the technical field of mechanical maintenance tools and comprises a torque controller, a locking piece and two symmetrical arc-shaped hoops, the locking piece is fixed on the two arc-shaped hoops, and the position of the locking piece can be adjusted. The two arc-shaped hoops are fixed through the locking piece to form a hoop sleeve used for clamping and holding a lower shaft sleeve of the oil sprayer, after the two arc-shaped hoops are clamped and fixed to the lower shaft sleeve of the oil sprayer, a gap of 1-2 mm is reserved between the side end faces of the two arc-shaped hoops, and a torsion hole matched with a torsion controller is formed between the top ends of the two arc-shaped hoops. The torsion hole and the hoop sleeve are both coaxial with the oil sprayer lower shaft sleeve. The torque controller is stressed to drive the hoop sleeve to rotate through the torque hole and disassemble and assemble the oil injector lower shaft sleeve, so that the problems that the torque application cannot be consistent with the manufacturer standard when the oil injector is autonomously repaired, and the oil injector lower shaft sleeve is easily damaged and scrapped due to the pipe wrench side rotation torque are solved; the device has the advantages of being high in autonomous repairing and dismounting efficiency, standardized in dismounting torque and low in maintenance cost.

The invention relates to the technical field of automatic assembly, in particular to a control processing method of a device for preventing a drying agent from being mistakenly assembled, which comprises the following steps: a program controller sets an operation flow sequence; the photoelectric sensor counts the taken-out drying agents in real time, the counting result is compared with the planned number, and an alarm prompt is triggered when the number is abnormal; the torque controller monitors the torque value in the assembling process; the O-shaped ring assembling special tool and the O-shaped ring oiling tool monitor the correct installation and oiling state of the O-shaped ring; the electrical control module and the mechanical limiting module realize automatic control of an operation process; the automatic recording module records the assembly number and compares the assembly number with the planned number, and the alarm module gives out a prompt when abnormity occurs; the special assembling device automatically completes oiling, O-shaped ring installation and counting operation, manual operation is reduced through automatic control, and the operation speed and the engineering reliability are improved; and the problems of wrong use, neglected loading, mixed loading, process step omission and the like of components are prevented through the real-time monitoring and alarm prompting functions, and the reject ratio is reduced.

The present application relates to the technical field of wind power generation control, in particular to an event-triggered wind turbine sliding mode control method and system based on data driving, which calculates the error by real-time acquisition of actual and expected aerodynamic torque of the wind turbine, quantifies the error by a quantizer and restricts it to a preset range by a prescribed performance function, constructs a sliding surface function and a torque controller based on the equivalent error to generate a control signal, screens the control signal by an event-triggered mechanism, and iteratively optimizes until the error converges or the preset time is reached to maximize the power generation efficiency. This method has strong robustness under wind speed gradual change / mutation conditions, reduces communication volume through quantization and event-triggered mechanism, and achieves the collaborative optimization of power generation efficiency and communication energy consumption.

A propulsion system includes a gas turbine engine includes a low speed spool and a high speed spool. The low speed spool includes a low pressure (LP) compressor coupled to a LP turbine via a LP shaft. The high speed spool comprising includes a high pressure (HP) compressor coupled to a HP turbine via a HP shaft. A first starter motor coupled to the HP shaft and configured to provide motive power to spin the HP shaft to start the gas turbine engine. A second starter motor coupled to the LP shaft and configured to provide torque to the LP shaft. A controller configured to operate on the second starter motor to provide the torque to the LP shaft based on a base LP shaft torque schedule.

The application provides a wind turbine control method and device. In the application, the actual air density of the area where the wind turbine is located is obtained. The target pitch angle corresponding to the maximum power generation of the wind turbine under the actual air density is obtained. The pitch angle of the blade in the wind turbine is adjusted from the current pitch angle to the target pitch angle based on the pitch drive. The target torque corresponding to the maximum power generation of the wind turbine under the actual air density is obtained. The torque of the generator in the wind turbine is adjusted from the current torque to the target torque based on the torque controller. The scheme of the application controls the pitch angle of the blade in the wind turbine and the torque of the generator in the wind turbine based on the actual air density of the area where the wind turbine is located, which can effectively consider the influence of the air density on the power generation of the wind turbine, improve the power generation of the wind turbine, and improve the power generation efficiency of the wind turbine.

The present application provides a motor control device and method, a motor module, and an electric power steering device. The motor control device has a torque controller that acts in accordance with a steering torque to provide an input to a control target that is a motor, and a model following controller that generates a correction torque in accordance with an output from the control target to correct the input to the control target by the correction torque. The model following controller includes a high-pass filter having a first cutoff frequency and a low-pass filter having a second cutoff frequency that is greater than the first cutoff frequency, and is configured to constrain a transfer function of the control target to a nominal model in a frequency band in which a gain in a gain characteristic of Q(s)·HPF(s) is 1 when a transfer function of the low-pass filter and the high-pass filter is set to Q(s) and HPF(s), respectively.

The application provides a cross-space satellite attitude control strategy autonomous switching method based on environment estimation, respectively calculates a main angular momentum increment, a coupling angular momentum increment and a reaction wheel group angular momentum increment, estimates a satellite environment disturbance torque by using the main angular momentum increment, the coupling angular momentum increment and the reaction wheel group angular momentum increment, and autonomously switches a control strategy according to the estimated value of the satellite environment disturbance torque; wherein, taking a continuous orbit time as a period, if a current orbit satellite environment disturbance torque three-axis angular momentum accumulation exceeds a current reaction wheel residual angular momentum capacity, and the satellite environment disturbance torque is greater than half of a magnetic torque controller control torque, the jet control strategy is autonomously switched to. The application can avoid early switching into the jet control, reduce fuel consumption, and on the other hand, avoid late switching out of the wheel control, so as to cause the wheel angular momentum saturation and satellite attitude divergence.

A system for controlling torque in a vehicle includes a controller connected to a propulsion system having a plurality of independently controllable actuators configured to apply a combined torque. The controller is configured to execute a method that includes detecting a combined torque request indicative of a total requested torque to be applied to the vehicle, where the total requested torque is split and a portion of the total requested torque is assigned to each actuator. The method further includes determining a torque command for each actuator, estimating a total applied torque provided to the vehicle, and calculating an error value for each actuator based on a difference between the total applied torque and the total requested torque being greater than a first threshold, comparing each error value to a reference value, and determining a torque command for each actuator based on the difference between the total applied torque and the total requested torque being greater than the first threshold. And performing a remedial action based on the at least one error value exceeding the reference value.

Robot control (1) which causes a first workpiece (W1) mounted at a distal end of a robot (100) to move relative to a second workpiece (W2), wherein the robot (100) has a sensor (140) to detect either the magnitude of the force acting on the first workpiece (W1) or the magnitude of the torque acting on the robot (100), wherein the robot control (1) comprises: a calculation unit (5) configured to calculate a force acting on a contact point between the first workpiece (W1) and the second workpiece (W2) and a moment acting on the first workpiece (W1) based on the magnitude of the force or the magnitude of the torque detected by the sensor (140); a control (6) configured to perform force control such that the force and moment calculated by the computation unit (5) correspond to a predetermined force and moment; and a display device (2) configured to display a speed of the first workpiece (W1) and / or an angular velocity about a reference point defined for the first workpiece (W1), wherein the speed and the angular velocity occur as a result of control by the controller (6), wherein the speed or the angular velocity is superimposed on an image of the robot (100).

A driving force control device for a vehicle is provided, which includes a motor, an engine, and a controller. The controller sets a target torque of the vehicle corresponding to accelerator operation, and distributes a target engine torque according to a distribution rule defined beforehand, based on the target torque of the vehicle, and outputs a control signal corresponding to the target engine torque to the engine. The controller estimates a future amount of intake air to a cylinder based on the target engine torque, and estimates a torque of the engine in the future based on the estimated future amount of intake air. The controller sets a target motor torque based on the estimated torque of the engine so that the target torque of the vehicle is achieved in the future, and outputs a control signal corresponding to the target motor torque to the motor.