USO0RE38790E
(19) United States (12) Reissued Patent
(10) Patent Number: US (45) Date of Reissued Patent:
Maeda et al.
(54) POWER OUTPUT APPARATUS, METHOD OF
(56)
References Cited
CONTROLLING POWER OUTPUT
U.S. PATENT DOCUMENTS
APPARATUS, AND DRIVING SYSTEM WITH POWER OUTPUT APPARATUS INCORPORATED THEREIN
3,683,249 A 3,789,281 A
(75) Inventors: Tomoharu Maeda, Toyota (JP); Yoshihide Nii, Anjo (JP); Shoichi Sasaki, Okazaki (JP); Takeshi Kotani, Nisshin (JP); Eiji Yamada, OWariasahi (JP); Yasutomo Kawabata, Aichi-ken
PCT Filed:
Oct. 28, 1996
PCT No.:
PCT/JP96/03157
May 5, 1998
Kiuchi et al.
7/1997
Takeuchi et al. . . . . . .
A
.....
. . . .. 322/18 . . . .. 322/16
8/1998 Yamada et al. .......... .. 180/65.2 9/1998 Shamoto et al. .... .. 318/139 9/1998 Yamada et al. ............. .. 318/77
EP JP JP JP JP JP JP
0 725 474 A1 49-043311 50-30223 51-22132 53-133814 55-1030100 7-135701
8/1996 4/1974 3/1975 7/1976 11/1978 8/1980 5/1995
output from an engine to a crankshaft 56, and expressed as the product of its revolving speed and torque, to be con verted to the poWer expressed as the product of a revolving
Related US. Patent Documents Reissue of:
6,087,734
Issued:
Jul. 11, 2000
Appl. No.:
09/068,208
Filed:
May 5, 1998
ABSTRACT
A poWer output apparatus 20 includes a clutch motor, an assist motor, and a controller. The clutch motor and the assist motor are controlled by the controller to enable the poWer
PCT Pub. Date: May 22, 1997
speed and a torque of a drive shaft and to be output to the drive shaft. The engine can be driven at an arbitrary driving point de?ned by a revolving speed and a torque, as long as the energy or poWer output to the crankshaft is identical. A
desired driving point that attains the highest possible effi
Foreign Application Priority Data
Nov. 14, 1995 Jun. 26, 1996
4/1997
5,650,713
(Continued)
(57)
(87) PCT Pub. N0.: WO97/18101
(30)
5,621,304 A
Primary Examiner—Nicholas Ponomarenko (74) Attorney, Agent, or Firm—Oliff & Berridge, PLC
§ 371 (6X1),
(64) Patent No.:
Shibata ..................... .. 318/205 Shibata ........ .. 318/696
FOREIGN PATENT DOCUMENTS
(73) Assignee: Toyota Jidosha Kabushiki Kaisha, Toyota (JP) (21) Appl. No.: 10/191,281
(2), (4) Date:
8/1972 1/1974
5,791,426 A 5,801,497 A 5,804,934 A
(JP)
(22) (86)
RE38,790 E Sep. 6, 2005
(JP) ........................................... .. 7-321060 (JP) ........................................... .. 8-186736
ciency With respect to each amount of output energy is determined in advance. In order to alloW the engine to be driven at the desired driving point, the controller controls the clutch motor and the assist motor as Well as the fuel injection
(51)
Int. Cl.7 ............................................... .. F02N 11/06
(52)
US. Cl. ..................... .. 290/40 C; 322/16; 318/140;
(58)
Field of Search ........................... .. 290/40 C, 40 B;
180/652
322/16, 14, 15; 318/77, 9, 140; 180/652
CONTROL CPU
and the throttle valve position. Such control procedures of the poWer output apparatus enhance the energy efficiency of the Whole poWer output apparatus.
96 Claims, 36 Drawing Sheets
US RE38,790 E Page 2
US. PATENT DOCUMENTS 5,818,116 A
10/1998 Nakae et a1. ........... .. 290/38 R
5,914,575 A 5,917,248 A 5,920,160 A
6/1999 Sasaki ...................... .. 318/150 6/1999 Seguchi et a1. ............. .. 290/31 7/1999 Yamada et a1. .............. .. 318/9
5,903,113 A
5/1999 Yamada et a1. ............. .. 318/10
5,935,040 A
8/1999 Tabata et a1,
5,905,346 A 5,909,094 A
5/1999 Yamada et a1. ............. .. 318/50 6/1999 Yamada et a1. ........... .. 318/140
5,936,312 A 5,942,862 A
8/1999 Koide et a1. ............ .. 290/40 R 8/1999 Yamada et a1. .............. .. 318/9
477/3
U.S. Patent
Sep. 6,2005
Sheet 1 0f 36
US RE38,790 E
Fig. 1
20
5O
30
SV
40
39 $3235 36 as u. 38 a3
1.5
1.8
4249
+
_/91
99L1
94
_ BATTERY
92
-
95 96
Tn
T
Tn
.
Tr 3 ms
(
97
|
CONTROL CPU ‘
i
|__
_J' 65
64
U.S. Patent
Sep. 6,2005
Sheet 2 0f 36
US RE38,790 E
Fig.2
30
1.0
5% 32 £35 36 3e 38%
34
56
1.3
U.S. Patent
Sep. 6,2005
Sheet 3 0f 36
US RE38,790 E
Fig.3
r
70
EF I ECU
ST
5g
51 62
52
E o
82
30,40f :3 2;
$6 CONTROLLER < A \ 84
\
79
U.S. Patent
Sep. 6,2005
Sheet 4 0f 36
US RE38,790 E
Fig.4
T TORQUE T
T2
T1
REVOLVING SPEED N
i)
U.S. Patent
Sep. 6,2005
Sheet 5 0f 36
US RE38,790 E
Fig.5
Q TORQUE CONTROL
>
INPuT REVOLVING SPEED Nd
/S1OO
0F DRIvE SHAFT
INPUT AccELERAToR PEDAL
r5101
POSITION AP
Td>l<¢—f (AP)
"#5102
CALCULATE OUTPUT ENERGY Pd
SET TARGET ENGINE TORQUE Te* fS104 AND TARGET ENGINE SPEED Ne*
CONTROL CLUTCH MOTOR
f5108
CONTROL ASSIST MOTOR
I/‘ST 1O
CONTROL ENGINE
f 51“
END
U.S. Patent
Sep. 6,2005
Sheet 7 0f 36
US RE38,790 E
Fig.8
C CLUTCH MOTOR CONTROL ) I INPUT ENGI NE SPEED Ne
SET TORQUE COMMAND VALUE
f51 13
Tc* 0F CLUTCH MOTOR
INPUT ROTATIONAL ANGLE
fsnl‘
e d OF DRIVE SHAFT
INPUT ROTATIONAL ANGLE
[5115
0 E OF CRANKSHAFT
l COMPUTE RELATIVE ANGLE e c 6 c = 6 e- 6 d
l MEASURE CLUTCH MOTOR CURRENTS I u c.
5118
l v c
I TRANSFORMATION OF COORDINATES
Idc _J§[-s i n (66-1 20) s i 09c I qc _
-cos (6c- 1 20) cosBc
b/‘S12O
Iuc
1 v0
[ coMPuTE VOLTAGE COMMAND VALUES Vdc=Kp1Aldc+ZK i 1A1 dc
fS12Z
TRANSFORMATI ON OF COORDI NATES OF VOLTAGE COMMAND VALUES
[Vuc _F [co 56c Vvc _ E co 5 (Sc-l
—s i n8c
20) —s i n (60-1 20)
I PwM CONTROL
@
M5126
Vdc
Vqc
U.S. Patent
Sep. 6,2005
Sheet 8 0f 36
US RE38,790 E
F i g. 9
A Tc>K
' Tex _______ __
Tc>l<=kc (Ne—Ne>l<) +Te>l<
REVOLVING SPEED Ne
U.S. Patent
Sep. 6,2005
Sheet 9 0f 36
US RE38,790 E
Fig.10
ASSIST MOTOR CONTROL) 1 INPUT REVOLVING SPEED
L/‘S131
m1 OF DRIVE SHAFT
1 INPUT ENGINE SPEED Ne
fsnz
1 COMPUTE REVOLVING SPEED
_/*S_133
DIFFERENCE Nc N c =N e —N d
S134 NO
YES {S135
(S137
COMPUTE POWER REGENERATED
COMPUTE POWER CONSUMED
av CLUTCH MOTOR
BY CLUTCIEI MOTOR
Pc=Ksc>
|<
Pc= Ksc XNcXTcX
l
I
r513
CALCULATE TORQUE COMMAND VALUE Ta* OF ASSIST MOTOR
CALCULATE TORQUE COMMAND VALUE Ta* 01F ASSIST MOTOR
Ta*:Ksa>
Ta>|<=
\
Ta>K>Ta ma x
Sa XPc/Nd I
S139 YES
{5140
07
‘NO
TaXH-Ta ma x
,
I
INPUT ROTATIONAL ANGLE
fsun
a d 0F DRIVE SHAFT
I MEASURE ASSIST MOTOR
CURRENTS
I u a.
I v a
{5138
f
5142
U.S. Patent
Sep. 6,2005
Sheet 10 0f 36
US RE38,790 E
F i g. l 1
TRANSFORMATION OF COORDINATES
f5144
[Ida]_J-—[—s in (Gd-l (ad-1 20) 20) c0s6d s i n6d][lua Iqa " 2 —cos Iva COMPUTE VOLTAGE comma VALUES Vda=KplAIda+ZKi IAIda
,/~S146
Vqa=Kp2AIqa+ZKi2AIqa AIda=Ida>I<-Ida AI qa.=Iqa>l<- I qa
r5148 TRANSFORMATION OF COO'RDINATES OF
VOLTAGE comma VALUES
[Vua]_F[cos6d " +5 vda Vva " *3‘ cos (Gd-120) —s iinn?d (6d—120)][\/qa] Vwa=—-Vua-Vva
PWM CONTROL
RET
U.S. Patent
Sep. 6,2005
Sheet 11 0f 36
US RE38,790 E
Fig-.12 THROTTLE VALVE POSITION CONTROL ROUTINE
INPUT THROTTLE VALVE POSlTlON 5P
INPUT ENGINE SPEED Ne
fs152
f5154
BPF+—g(P¢)
S156
BP>l<+-ke (Ne>K—Ne) +BpF
S158
ABPT-BPX-BP
ACTUATE THROTTLE VALVE
T
RETURN
’
fSTSO
f5162
U.S. Patent
Sep. 6,2005
Sheet 12 0f 36
US RE38,790 E
Fig. 13
FUEL INJECTION
CONTRCL ROUTINE
INPUT ENGINE SPEED Ne
INPUT AMOUNT OF INTAKE AIR Q
TPI-k t -Q/Ne
fs16l‘
5166
f5168
TAuI—TP~FAF-FwI_-a-I3 [5170 SET FUEL INJECTION TIME CORRESPONDING T0 TAU
(
RETURN
f5172
U.S. Patent
Sep. 6,2005
Sheet 13 0f 36
US RE38,790 E
F 1 g. 1 4
TORQUE Te
REVOLVING SPEED Ne
F‘ i g. 1 5
U.S. Patent
Sep. 6,2005
Sheet 14 0f 36
US RE38,790 E
Fig.16 INPUT ENGINE SPEED Ne
r5180
S182
INPUT REVOLVING SPEED Nd OF DRIVE SHAFT
INPUT ACCELERATOR PEDAL POSITION AP
f5184 G
l Td>K+-f (AP)
5186
I Pe'——Tc>kxN e
I APdkPd-PB
r5190
S192
APd>Pref o
YES
F’dhpezl-pref
5196
T|< SET TARGET ENGINE TORQUE Te* fSZOO AND TARGET ENGINE sPEED Ne:
Pd=Te>I<>I< CONTROL CLUTCH MOTOR
I/“SZOZ
‘I CONTROL ASSIST MOTOR
f5204
CONTROL ENGINE
L/‘52O6
@
U.S. Patent
Sep. 6,2005
Sheet 15 0f 36
US RE38,790 E
Fig.1?
AP\ AP2 ______ __F____________ ACCELERATOR PEDAL POSITION
AP]
P eA
P e 2
OUTPUT ENERGY
I
‘
FROM ENGINE
I P e 1
T C Jr
I
I
|
I
I
k
I
l
r 1 l '
t 2| I
I
|
I I
| l
t 1
t 2
\
nus t
T c 2
TORQUE 0F CLUTCH MOTOR
Tc I
TIME 1'.
U.S. Patent
Sep. 6,2005
US RE38,790 E
Sheet 16 0f 36
F i g. 1 8
C ASSI ST MOTOR CONTROL? 5210
SET TORQUE COMMAND VALUE Ta* OF ASSI ST MOTOR
INPUT ROTAT IONAL ANGLE
0 d OF DRIVE SHAFT
MEASURE ASSIST MOTOR CURRENTS
Iuc.
fSZTZ
I v c
TRANSFORMATION OF COORDI NATES
lua Iva
[ ] H —sin (Gd-I20) sin6d][ ] Ida Iqa
-c0s (6d- I 20) cos6d
I COMPUTE VOLTAGE COMMAND VALUES
Vda=KplAlda+ZKi lAIda
Vqa=Kp2AIqa+ZKi2AIqa AIda=Ida>K-I da
AIqa=Iqa>I<-Iq"a
f TRANSFORMATION OF COORDI NATES OF VOLTAGE COMMAND VALUES
[Vua Vva
_
2
cased
—sin6d
“jg-[cos (9d- 1 20) —s i n (ed-1 20
PWM CONTROL
RET
>] [32 2]
x5220
S218
U.S. Patent
Sep. 6, 2005
Sheet 17 0f36
US RE38,790 E
F i g. 1 9
‘
CLUTCH MOTOR CONTROL )
READ TORQUE Tc OF CLUTCH MOTOR
INPUT ROTATI ONAL SPEED w OF ENGINE
COMPUTE CHANGE RATE 0) '
SPEED w
5230
S232
OF ROTATI ONAL
0F ENGINE (9- previous (0..
to
At
COMPUTE ESTIMATED TORQUE Tef OF ENGINE
Tef=Tc+|Xw'
LEAD ESTIMATED TARGET REVOLVING SPEED Nef* OF ENGINE
SET TORQUE COMMAND VALUE Tc* OF CLUTCH MOTOR
5238
U.S. Patent
Sep. 6,2005
Sheet 18 0f 36
US RE38,790 E
F1520
@
INPUT ROTATIONAL ANGLE
5244
e d 0F DRlVE SHAFT
INPUT ROTATIONAL ANGLE
fSZAS
e e OF CRANKSHAFT
COMPUTE RELATIVE ANGLE a c
_/~S246
6 c = 6 e - 6 d
MEASURE CLUTCH MOTOR CURRENTS /“5248 I u c,
I v c
TRANSFORMATION OF COORDINATES ldc _J'§[—s i n (Sc-I 20) s i n6c Inc‘ —cos(9c-l20)cos6c
fSZSO Iuc Ivc
COMPUTE VOLTAGE COMMAND VALUES Vdc=KplA1dc+ZK i lAIdC
_/"S252
Vqc=Kp2AIqc+ZKi2AIqc
AIdc=1dc>K-1d'c AIqc=Iqc>K—lqc
I
{5254
TRANSFORMATION OF coonomnes OF VOLTAGE COMMAND VALUES
[vuc _ F‘Q’ [cos-6c Vvc _ COS (BC-1
20) -s -s ii nn60 (Oc-l 20)
PWM CONTROL
RET
Vdc Vqc
