Power output apparatus, hybrid vehicle having the same, and method of controlling the power output apparatus

The hybrid vehicle transfers power between the two motors, releases a coupling between one of the motors and the drive shaft, adjusts the rotation speed of one of the motors which is released from the coupling to the drive shaft by the transmission so as to enable drive source element connection, and connects the clutch as well as cranks the engine by either one or the other motor when the engine is started while the clutch is released, the engine is stopped, both the motors are coupled to the drive shaft as well as at least one of the motors is caused to output power.

This is a 371 national phase application of PCT/JP2007/070437 filed 19 Oct. 2007, claiming priority to Japanese Patent Application No. JP 2006-296482 filed 31 Oct. 2006, the contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to a power output apparatus for outputting power to a drive shaft, a hybrid vehicle having the same, and a method of controlling the power output apparatus.

BACKGROUND ART

Conventionally, as such a power output apparatus, there has been known a power output apparatus including an internal combustion engine, two motors, a so-called ravigneaux planetary gear mechanism, a parallel shaft-type transmission capable of selectively coupling two output elements of the planetary gear mechanism to an output shaft (for example, see Patent Document 1). The power output apparatus is adapted for a front-wheel-drive vehicle, and the power output apparatus is configured such that the internal combustion engine is arranged transversely, as well as the rotating shafts of the internal combustion engine and the planetary gear mechanism, the two motors, and the parallel shaft-type transmission extend in parallel to each other. In addition, conventionally, there has been known a power output apparatus including a planetary gear device having an input element connected to an internal combustion engine and two output elements; and a parallel shaft-type transmission having a countershaft connected to each of the corresponding output elements of the planetary gear device (for example, see Patent Document 2). According to the power output apparatus, each of the two output elements of the planetary gear device is fixed to an inner periphery of a corresponding rotor in an electric drive section.Patent Document 1: Japanese Patent Laid-Open No. 2005-155891Patent Document 2: Japanese Patent Laid-Open No. 2003-106389

DISCLOSURE OF THE INVENTION

The power output apparatuses disclosed in the above individual Patent Documents can transmit power to an output shaft by stopping the internal combustion engine as well as changing the speed of the power output from one of the motors by a transmission. However, the above individual Patent Documents do not disclose in detail how to perform such a motor drive for outputting power only by the motor.

In view of this, an object of the present invention is to start the internal combustion engine by more properly outputting a demanded power to the drive shaft when the power is transmitted to the drive shaft by stopping the internal combustion engine as well as changing the speed of the power output from the motor by the transmission mechanism.

In order to achieve the above object, the power output apparatus and the hybrid vehicle in accordance with the present invention adopt the following means.

The present invention is directed to a power output apparatus for outputting power to a drive shaft. The power output apparatus includes: an internal combustion engine; a first motor capable of inputting and outputting power; a second motor capable of inputting and outputting power; an accumulator capable of sending and receiving power to and from each of the first and second motors; a power distribution and integration mechanism having a first element connected to a rotating shaft of the first motor; a second element connected to a rotating shaft of the second motor; a third element connected to an engine shaft of the internal combustion engine, said power distribution and integration mechanism being configured so that these three elements can be differentially rotated with respect to each other; a connection/disconnection device capable of performing a drive source element connection being any one of a connection between the first motor and the first element, a connection between the second motor and the second element, and a connection between the internal combustion engine and the third element, the connection/disconnection device capable of performing a release of the drive source element connection; a transmission mechanism capable of selectively coupling one or both of the rotating shaft of the first motor and the rotating shaft of the second motor to the drive shaft, and transmitting power from the first motor and power from the second motor to the drive shaft at a predetermined speed ratio respectively; a power demand setting module for setting a power demand which is power required for the drive shaft; and a control module for controlling the first and second motors, the connection/disconnection device, and the transmission mechanism so that power based on the set power demand is outputted to the drive shaft while performing a power transfer process of transferring power from one of the first and second motors to the other, a release of the coupling between one of the first and second motors and the drive shaft by the transmission mechanism, a rotation speed adjusting process of adjusting a rotation speed of one of the first and second motors released from the coupling to the drive shaft so as to enable the drive source element connection, the drive source element connection, and an engine start process of cranking the internal combustion engine by the first or second motor, if an engine start condition for starting the internal combustion engine is established when said transmission mechanism couples both the first and second motors to the drive shaft and at least one of the first and second motors outputs power in a state in which the drive source element connection is released and the internal combustion engine is stopped.

According to this power output apparatus, in a state in which the drive source element connection is released, the internal combustion engine is stopped, and the transmission mechanism is used to couple both the first and second motors to the drive shaft. By doing so, the internal combustion engine, can be prevented from corotating, and power from at least one of the first and second motors can be transmitted to the drive shaft at a predetermined fixed speed ratio. In this state, a larger power can be output to the drive shaft in comparison with the state in which only one of the first and second motors is caused to output power. If the engine start condition is established while power from at least one of the first and second motors is being transmitted to the drive shaft at a predetermined fixed speed ratio, a power transfer process of transferring power from one of the first and second motors to the other is executed so as to output power based on the set power demand to the drive shaft in a state in which the drive source element connection is released. Then, the coupling between one of the first and second motors by the transmission mechanism and the drive shaft is released. Further, a rotation speed adjusting process of adjusting a rotation speed of one of the first and second motors released from the coupling to the drive shaft is executed so as to enable the drive source element connection as well as output power based on the set power demand to the drive shaft. Then, the drive source element connection can be executed. When the drive source element connection is performed, the internal combustion engine can be started by cranking the internal combustion engine by one of the first and second motors as well as outputting power based on the set power demand to the drive shaft. As a result, according to this power output apparatus, the internal combustion engine can be started by more properly outputting a demanded power to the drive shaft if the engine start condition is established while in a state in which the drive source element connection is released, the internal combustion engine is stopped, and power from at least one of the first and second motors is being transmitted to the drive shaft at a predetermined fixed speed ratio by the transmission mechanism.

In this case, the power transfer process may be a process of decreasing power from one of the first and second motors and increasing power from the other one of the first and second motors so that at a time when a predetermined transfer time has elapsed since the power transfer process started, power outputted from one of the first and second motors becomes a value of 0 and power outputted from the other of the first and second motors becomes a value based on the power demand and a target speed ratio which is a speed ratio of the transmission mechanism after a coupling between one of the first and second motors and the drive shaft is released.

Moreover, the power transfer process may be a process of setting a torque command to the first motor and second motor based on power outputted from the first and second motors, a power demand set by the power demand setting module and the target speed ratio so that power based on a power demand is always outputted to the drive shaft during an execution of the power transfer process and the power transfer is completed within the transfer time. Thereby, even if the power demand is changed during the execution of the power transfer process, power based on the power demand set by the power demand setting module can be outputted more reliably to the drive shaft as well as the power can be transmitted between the first and second motors.

The power transfer process may be a process of setting a torque command to the first and second motors based on power outputted from the first and second motors when the power transfer process starts, the power demand and the target speed ratio at the start time of the power transfer process so that the power transfer is completed within the transfer time. Thereby, the power outputted to the drive shaft can be suppressed from fluctuating due to a difference in response to the torque command between the first motor and the second motor as well as the power can be transferred between the first and second motors.

Further, the rotation speed adjustment process may be a process of synchronizing a rotation speed of the first or second motor which is released from a coupling to the drive shaft with a rotation speed of the first or second element under the drive source element connection based on a rotation speed of the second or first motor which is coupled to the drive shaft.

In addition, the transmission mechanism may be a parallel shaft-type transmission including: a first transmission mechanism having at least one parallel shaft-type gear train capable of coupling one of the first and second elements of the power distribution and integration mechanism to the drive shaft; and a second transmission mechanism having at least one parallel shaft-type gear train capable of coupling a rotating shaft of the first or second motor which corresponds to the other one of the first and second elements to the drive shaft. According to such a transmission mechanism which is a parallel shaft-type transmission, one of or both of the rotating shaft of the first motor and the rotating shaft of the second motor can be selectively coupled to the drive shaft.

Further, the transmission mechanism may be a planetary gear transmission including a first transmission planetary gear mechanism having an input element connected to one of the first and second elements of the power distribution and integration mechanism, an output element connected to the drive shaft, and a fixable element, the first transmission planetary gear mechanism being configured so that these three elements can be differentially rotated with respect to each other; a first fixing mechanism capable of non-rotatably fixing said fixable element of the first transmission planetary gear mechanism; a second transmission planetary gear mechanism having an input element connected to a rotating shaft of the first or second motor which corresponds to the other of said first and second elements, and an output element connected to the drive shaft, and a fixable element, the second transmission planetary gear mechanism being configured so that these three elements can be differentially rotated with respect to each other; and a second fixing mechanism capable of non-rotatably fixing the fixable element of the second transmission planetary gear mechanism. According to such a transmission mechanism which is a planetary gear transmission, when one of the first and second fixing mechanisms is placed in a fixed state, one of the rotating shaft of the first motor and the rotating shaft of the second motor can be coupled to the drive shaft. In addition, when both the first fixing mechanism and the second fixing mechanism are placed in a fixed state, both the rotating shaft of the first motor and the rotating shaft of the second motor can be coupled to the drive shaft.

In this case; the transmission mechanism may further include a transmission connection/disconnection device capable of performing a connection and a disconnection between the output element of one of the first transmission planetary gear mechanism and the second transmission planetary gear mechanism and the fixable element. According to such a transmission mechanism, an output element of the first or second transmission planetary gear mechanism which corresponds to the transmission connection/disconnection device is connected to the fixable element by the transmission connection/disconnection device, as well as a fixable element of the second or first transmission planetary gear mechanism which does not correspond to the transmission connection/disconnection device is non-rotatably fixed. By doing so, both the rotating shaft of the first motor and the rotating shaft of the second motor can be coupled to the drive shaft. In addition, according to this transmission mechanism, an output element of the first or second transmission planetary gear mechanism which corresponds to the transmission connection/disconnection device is connected to a fixable element, as well as a fixable element of the second or first transmission planetary gear mechanism which does not correspond to the transmission connection/disconnection device is non-rotatably fixed. In this state, if the fixable element of the second or first transmission planetary gear mechanism is made to be rotatable, the individual elements of the first or second transmission planetary gear mechanism corresponding to the transmission connection/disconnection device are substantially locked by the transmission connection/disconnection device to rotate integrally. Therefore, power from one of the rotating shaft of the first motor and the rotating shaft of the second motor can be directly transmitted to the drive shaft.

The present invention is directed to a hybrid vehicle including a, drive wheel driven by power from a drive shaft. The hybrid vehicle includes: an internal combustion engine; a first motor capable of inputting and outputting power; a second motor capable of inputting and outputting power; an accumulator capable of sending and receiving power to and from each of the first and second motors; a power distribution and integration mechanism having a first element connected to a rotating shaft of the first motor; a second element connected to a rotating shaft of the second motor; a third element connected to an engine shaft of the internal combustion engine, the power distribution and integration mechanism being configured so that these three elements can be differentially rotated with respect to each other; a connection/disconnection device capable of performing a drive source element connection being any one of a connection between the first motor and the first element, a connection between the second motor and the second element, and a connection between the internal combustion engine and the third element, the connection/disconnection device capable of performing a release of the drive source element connection; a transmission mechanism capable of selectively coupling one or both of the rotating shaft of the first motor and the rotating shaft of the second motor to the drive shaft, and transmitting power from the first motor and power from the second motor to the drive shaft at a predetermined speed ratio respectively; a power demand setting module for setting a power demand which is power required for the drive shaft; and a control module for controlling the first and second motors, the connection/disconnection device, and the transmission mechanism so that power based on the set power demand is outputted to the drive shaft while performing a power transfer process of transferring power from one of the first and second motors to the other, a release of the coupling between one of the first and second motors and the drive shaft by the transmission mechanism, a rotation speed adjusting process of adjusting a rotation speed of one of the first and second motors released from the coupling to the drive shaft so as to enable the drive source element connection, the drive source element connection, and an engine start process of cranking the internal combustion engine by the first or second motor, if an engine start condition for starting the internal combustion engine is established, when the transmission mechanism couples both the first and second motors to the drive shaft and at least one of the first and second motors outputs power in a state in which the drive source element connection is released and the internal combustion engine is stopped.

According to this hybrid vehicle, the internal combustion engine can be started by more properly outputting a demanded power to the drive shaft if the engine start condition is established when, in a state in which the drive source element connection is released, the internal combustion engine is stopped, and power from at least one of the first and second motors is transmitted to the drive shaft at a predetermined fixed speed ratio by the transmission mechanism. Therefore, this hybrid vehicle can well improve the fuel consumption and the drive performance by appropriately switching a state of running in which power from at least one of the first and second motors is transmitted to the drive shaft at a predetermined fixed speed ratio and a state of running in which power is output to the drive shaft with an operation of the internal combustion engine.

The present invention is directed to a method of controlling a power output apparatus including: a drive shaft; an internal combustion engine; a first motor and a second motor capable of inputting and outputting power respectively; an accumulator capable of sending and receiving power to and from each of the first and second motors; a power distribution and integration mechanism having a first element connected to a rotating shaft of the first motor; a second element connected to a rotating shaft of the second motor; a third element connected to an engine shaft of the internal combustion engine, the power distribution and integration mechanism being configured so that these three elements can be differentially rotated with respect to each other; a connection/disconnection device capable of performing a drive source element connection being any one of a connection between said first motor and the first element, a connection between the second motor and the second element, and a connection between the internal combustion engine and the third element, the connection/disconnection device capable of performing a release of the drive source element connection; a transmission mechanism capable of selectively coupling one or both of the rotating shaft of the first motor and the rotating shaft of the second motor to the drive shaft, and transmitting power from the first motor and power from the second motor to the drive shaft at a predetermined speed ratio respectively. The control method includes steps of: (a) transferring power from one of the first and second motors to the other, if an engine start condition for starting the internal combustion engine is established when the transmission mechanism couples both the first and second motors to the drive shaft and at least one of the first and second motors outputs power in a state in which the drive source element connection is released and the internal combustion engine is stopped; (b) releasing the coupling between one of the first and second motors and the drive shaft by the transmission mechanism; (c) adjusting a rotation speed of one of the first and second motors released from the coupling to the drive shaft so as to enable the drive source element connection; (d) executing the drive source element connection; and (e) starting the internal combustion engine with cranking by the first or second motor.

According to this method, the internal combustion engine can be started by more properly outputting a demanded power to the drive shaft if the engine start condition is established while in a state in which the drive source element connection is released, the internal combustion engine is stopped, and power from at least one of the first and second motors is being transmitted to the drive shaft at a predetermined fixed speed ratio by the transmission mechanism.

Moreover, in the method of controlling the power output apparatus in accordance with the present invention, the torque command to the first and second motors may be set so that power based on the power demand required for the drive shaft is outputted during the execution of the steps (a) to (e).

Further, the step (a) may be a process of decreasing power from one of the first and second motors and increases power from the other one of the first and second motors so that at a time when a predetermined transfer time has elapsed since its start, power outputted from one of the first and second motors becomes a value of 0 and power outputted from the other of the first and second motors becomes a value based on the power demand and a target speed ratio which is a speed ratio of the transmission mechanism after a coupling between one of the first and second motors and the drive shaft is released. In this case, the step (a) may be a process of setting a torque command to the first and second motors based on power outputted from the first and second motors, the power demand and the target speed ratio so that power based on a power demand is always outputted to the drive shaft during an execution of the power transfer process and the power transfer is completed within the transfer time. In addition, the step (a) may be a process of setting a torque command to the first and second motors based on power outputted from the first and second motors at the start time of the step (a), the power demand at, the start time and the target speed ratio so that the power transfer is completed within the transfer time.

In addition, the step (c) may synchronize a rotation speed of the first or second motor which is released from a coupling to the drive shaft with a rotation speed of the first or second element under the drive source element connection based on a rotation speed of the second or first motor which is coupled to the drive shaft.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, the best mode for carrying out the invention will be described with reference to embodiments.

FIG. 1is a schematic configuration view of a hybrid vehicle20in accordance with a present embodiment of the present invention. The hybrid vehicle20shown in the same figure is configured as a rear-wheel-drive vehicle, and includes an engine22arranged in a vehicle front portion; a power distribution and integration mechanism (differential rotation mechanism)40connected to a crankshaft26which is an output shaft of the engine22; a generatable, motor MG1connected to the power distribution and integration mechanism40; a generatable motor MG2arranged coaxially with the motor MG1and connected to the power distribution and integration mechanism40through a reduction gear mechanism50; a transmission60capable of transmitting power from the power distribution and integration mechanism40to a drive shaft67with a change in speed ratio; and a hybrid electronic control unit (hereinafter referred to as “hybrid ECU”)70for controlling the entire hybrid vehicle20and the like.

The engine22is an internal combustion engine which outputs power by receiving a supply of a hydrocarbonaceous fuel such as gasoline and a diesel oil, and receives control of a fuel injection amount, an ignition timing, an intake air amount, and the like from an engine electronic control unit (hereinafter referred to as “engine ECU”)24. The engine ECU24receives signals from various kinds of sensors which are provided with respect to the engine22and detect an operating state of the engine22. Moreover, the engine ECU24communicates with the hybrid ECU70, controls the operation of the engine22based on control signals from the hybrid ECU70and signals from the above sensors, and outputs data about the operating state of the engine22to the hybrid ECU70as needed.

Each of the motor MG1and the motor MG2is configured as a known synchronous generator/motor which can operate not only as a generator, but also as a motor; and supplies and receives electric power to and from a battery35which is a secondary battery through inverters31and32. Power lines39connecting the inverters31and32and the battery35are configured as a positive electrode bus line and a negative electrode bus line shared by the individual inverters31and32; and are configured such that the power generated by one of the motors MG1and MG2can be consumed by the other motor. Therefore, the battery35is charged with electric power generated by one of the motors MG1and MG2and is discharged due to electric power shortage. If the electric power consumption and generation is balanced between the motors MG1and MG2, the battery35is assumed to be neither charged nor discharged. Both the motors MG1and MG2are drive-controlled by a motor electronic control unit (hereinafter referred to as “motor ECU”)30. The motor ECU30receives a signal necessary for drive-controlling the motors MG1and MG2; for example, a signal from rotational position detection sensors33and34for detecting a rotational position of a rotor of motors MG1and MG2; and a phase current which is detected by a current sensor (not shown) and is applied to the motors MG1and MG2. The motor ECU30outputs a switching control signal to inverters31and32and the like. The motor ECU30executes a rotation speed calculation routine (not shown) based on a signal inputted from the rotational position detection sensors33and34, and calculates the rotation speeds Nm1and Nm2of rotors of the motors MG1and MG2. Moreover, the motor ECU30communicates with the hybrid ECU70, drive-controls the motors MG1and MG2, based on control signals from the hybrid ECU70and the like, and outputs data about the operating states of, the motors MG1and MG2to the hybrid ECU70as needed.

The battery35is managed by a battery electronic control unit (hereinafter referred to as (battery ECU)36. The battery ECU36receives a signal necessary for managing the battery35, for example, an inter-terminal voltage from a voltage sensor (not shown) provided between the terminals of the battery35; a charge-discharge current from a current sensor (not shown) provided on the power line39connected to an output terminal of the battery35; a battery temperature Tb from a temperature sensor37attached to the battery35, and the like. The battery ECU36outputs data about a state of the battery35to the hybrid ECU70and the engine ECU24through communication as needed. Further, the battery ECU36calculates a state of charge (SOC) based on an integrated value of charge and discharge currents detected by the current sensor in order to manage the battery35.

The power distribution and integration mechanism40is housed in a transmission case (not shown) together with the motors MG1and MG2, the reduction gear mechanism50, the transmission60, and arranged coaxially with a crankshaft26spaced at a predetermined distance from the engine22. The power distribution and integration mechanism40of the present embodiment is a double pinion planetary gear mechanism having a sun gear41which is an external gear; a ring gear42which is an internal gear arranged concentrically with the sun gear41; a carrier45which rotatably and spinably holds at least one pair of two pinion gears43and44meshed with each other, one of which is meshed with the sun gear41and the other of which is meshed with the ring gear42; and is configured such that the sun gear41(second element), the ring gear (third element), and the carrier45(first element) can differentially rotate with each other. According to the present embodiment, the motor MG1(hollow rotor) serving as the second motor is connected to the sun gear41which is a second element of the power distribution and integration mechanism40through a hollow sun gear shaft41aextending from the sun gear41to an opposite side (rear part of the vehicle) of the engine22and a hollow first motor shaft46. Moreover, the motor MG2(hollow rotor) serving as the first motor is connected to the carrier45which is a first element through the reduction gear mechanism50provided between the power distribution and integration mechanism40and the engine22and a hollow second motor shaft55extending toward the engine22from the reduction gear mechanism50(sun gear51). Further, a crankshaft26of the engine22is connected to the ring gear42which is a third element through the ring gear shaft42aextending through the second motor shaft55and the motor MG2, and a damper28.

Moreover, as, shown inFIG. 1, a clutch C0(connection/disconnection device) is provided between the sun gear shaft41aand the first motor shaft46so as to perform a connection and a disconnection therebetween (drive source element connection). According to the present embodiment, the clutch C0is configured, for example, as a dog clutch which can provide a mesh between a dog fixed to a leading edge of the sun gear shaft41aand a dog fixed to a leading edge of the first motor shaft46with less loss and can release the mesh therebetween; and is driven by an electric, electromagnetic, or, hydraulic actuator88. When the clutch C0releases the connection between the sun gear shaft41aand the first motor shaft46, the connection between the motor MG1serving as the second motor and the sun gear41which is a second element of the power distribution and integration mechanism40is released. In short, a function of the power distribution and integration mechanism40can substantially disconnect the engine22from the motors MG1and MG2and the transmission60.

As described above, the first motor shaft46which can be coupled to the sun gear41of the power distribution and integration mechanism40through the clutch C0further extends from the motor MG1to an opposite side (rear part of the vehicle) of the engine22, and is connected to the transmission60. Moreover, a carrier shaft (coupling shaft)45aextends from the carrier45of the power distribution and integration mechanism40to an opposite side (rear part of the vehicle) of the engine22through the hollow sun gear shaft41aand the first motor shaft46, and the carrier shaft45ais also connected to the transmission60. Thereby, according to the present embodiment, the power distribution and integration mechanism40is provided between the motors MG1and MG2which are arranged coaxially with each other, and is arranged coaxially with both the motors MG1and MG2; and the engine22is arranged coaxially with the motor MG2and faces the transmission60with the power distribution and integration mechanism40therebetween. That is, according to the present embodiment, the components of the power output apparatus such as the engine22, the motors MG1and MG2, the power distribution and integration mechanism40, and the transmission60are arranged starting with the engine22, the motor MG2(reduction gear mechanism50), the power distribution and integration mechanism40, the motor MG1, and the transmission60in that order starting at the front part of the vehicle. This allows the power output apparatus to be compact in size, excellent in mountability, preferable for the hybrid vehicle20which runs mainly by driving rear wheels.

Moreover, according to the present embodiment, as described above, the sun gear41which is a second element of the power distribution and integration mechanism40is connected to the transmission60through the sun gear shaft41a, and clutch C0, and the first motor shaft46; and the carrier45which is a first element of the power distribution and integration mechanism40is connected to the transmission60through the carrier shaft45a. Thereby, according to the hybrid vehicle20, one of the sun gear41and the carrier45of power distribution and integration mechanism40is set to a reaction element receiving a reaction of a torque outputted from the engine22, and the other is set to an output element; and thereby power can be outputted to the transmission60. If the sun gear41is set to the reaction element, the motor MG1functions as a generator. In this case, the power distribution and integration mechanism40receives power from the engine22through the ring gear42and distributes the power to the sun gear41side and the carrier45side according to the gear ratio; integrates the power from the engine22and power from the motor MG2functioning as a motor and outputs the integrated power to the carrier45side. If the carrier45is set to the reaction element, the motor MG2functions as a generator. In this case, the power distribution and integration mechanism40receives power from the engine22through the ring gear42and distributes the power to the sun gear41side and the carrier45side according to the gear ratio; integrates the power from the engine22and the power from the motor MG1functioning as a motor and outputs the integrated power to the sun gear41side.

The reduction gear mechanism50is a single pinion planetary gear mechanism having a sun gear51which is an external gear; a ring gear52which is an internal gear arranged concentrically with the sun gear51; a plurality of pinion gears53which are meshed with both the sun gear51and the ring gear52; and a carrier54which rotatably and spinably holds the plurality of pinion gears53. The sun gear51of the reduction gear mechanism50is connected to a rotor of the motor MG2through the above described second motor shaft55. Moreover, the ring gear52of the reduction gear mechanism50is fixed to the carrier45of the power distribution and integration mechanism40. Thereby, the reduction gear mechanism50is substantially integral with the power distribution and integration mechanism40. The carrier54of the reduction gear mechanism50is fixed with respect to the transmission case. Therefore, by the operation of the reduction gear mechanism50, the power from the motor MG2is reduced in speed and is inputted to the carrier45of the power distribution and integration mechanism40; and at the same time, the power from the carrier45is increased in speed and is inputted to the motor MG2. It should be noted that as shown in the present embodiment, the power output apparatus can be more compact by placing the reduction gear mechanism50between the motor MG2and the power distribution and integration mechanism40so as to be formed integrally with the power distribution and integration mechanism40.

The transmission60is configured as an automatic parallel shaft-type transmission capable of setting a speed ratio at a plurality of stages, and includes a first counter drive gear61aand a first counter driven gear61bconstituting the first speed gear train; a second counter drive gear62aand a second counter driven gear62bconstituting the second speed gear train; a third counter drive gear63aand a third counter driven gear63bconstituting the third speed gear train; a fourth counter drive gear64aand a fourth counter driven gear64bconstituting the fourth speed gear train; a countershaft65to which individual counter driven gears61bto64band gear66bare fixed; clutches C1and C2; a gear66aattached to the drive shaft67; further a reverse gear train (not shown) and the like (hereinafter, as needed, the “counter drive gear” and the “counter driven gear” are simply referred to as “gear”). It should be noted that in the transmission60, the first speed gear train has a maximum gear ratio; and changing to the second speed gear train, to the third speed gear train, and to the fourth speed gear train reduces the gear ratio accordingly.

As shown inFIG. 1, the first gear61aof the first speed gear train is held rotatably and non-movably in the axial direction on the carrier shaft45aextended from the carrier45which is a first element of the power distribution and integration mechanism40and is always meshed with the first gear61bfixed to the countershaft65. Likewise, the third gear63aof the third speed gear train is also held rotatably and non-movably in the axial direction on the carrier shaft45a, and is always meshed with the third gear63bfixed to the countershaft65. According to the present embodiment, the clutch C1is provided on the carrier shaft45aside (counter drive gear side) so as to selectively fix one of the first gear61a(first speed gear train) and the third gear63a(third speed gear train) to the carrier shaft45aand to be able to rotatably release both the first gear61aand the third gear63awith respect to the carrier shaft45a. According to the present embodiment, the clutch C1is configured as, for example, a dog clutch which can mesh a dog which is held non-rotatably and movably in the axial direction on the carrier shaft45awith one of the dog fixed to the first gear61aand the dog fixed to the third gear63awith less loss, and can release the mesh therebetween; and is driven by the above described actuator88. These gears61aand61bof the first speed gear train, the gears63aand63bof the third speed gear train, and the clutch C1constitute a first transmission mechanism of the transmission60. Moreover, the second gear62aof the second speed gear train is held rotatably and non-movably in the axial direction on the first motor shaft46which can be coupled with the sun gear41which is a second element of the power distribution and integration mechanism40through the clutch C0; and is always meshed with, the second gear62bfixed to the countershaft65. Likewise, the fourth gear64aof the fourth speed gear train is held rotatably and non-movably in the axial direction on the first motor shaft46and is always meshed with the fourth gear64bfixed to the countershaft65. According to the present embodiment, the clutch C2is provided on the first motor shaft46side (counter drive gear side) so as to selectively fix one of the second gear62a(second speed gear train) and the fourth gear64a(fourth speed gear train) to the first motor shaft46and to be able to rotatably release both the second gear62aand the fourth gear64awith respect to the first motor shaft46. According to the present embodiment, the clutch C2is also configured as, for example, a dog clutch which can mesh a dog which is held non-rotatably and movably in the axial direction on the first motor shaft46with one of the dog fixed to the second gear62aand the dog fixed to the fourth gear64awith less loss, and can release the mesh therebetween; and is driven by the above described actuator88. These gears62aand62bof the second speed gear train, the gears64aand64bof the fourth speed gear train, and the clutch C2constitute a second transmission mechanism of the transmission60. It should be noted that according to the present embodiment, the actuator88is illustrated as a single unit, but it is obvious that the clutches C0, C1, and C2may be driven individually.

Moreover, a power transmitted from the carrier shaft45aor the first motor shaft46to the countershaft65is transmitted to the drive shaft67through the gears66aand66band is finally outputted to the rear wheels69aand69bas the drive wheels through the differential gear68. It should be noted that according to the transmission60of the present embodiment, it is possible to reduce the loss when the clutches C1and C2are used to fix the gears61ato64ato the carrier shaft45aor the first motor shaft46by providing the clutches C1and C2on the carrier shaft45aand the first motor shaft46side. That is, depending on the gear ratio of an individual gear train, particularly about the second transmission mechanism including the fourth speed gear train having a small reduction gear ratio, the rotation speed of the gear64awhich is idle before being fixed to the first motor shaft46by the clutch C2is lower than the rotation speed of the corresponding gear64bon the countershaft65side. Therefore, a dog of the gear64acan be engaged with a dog of the first motor shaft46with less loss by at least providing the clutch C2on the first motor shaft46side. It should be noted that about the first transmission mechanism including the first speed gear train having a large reduction gear ratio, the clutch C1may be provided on the countershaft65side.

According to the transmission60configured as described above, when the clutch C2is released, and the clutch C1is used to fix one of the first gear61a(first speed gear train) and the third gear63a(third speed gear train) to the carrier shaft45a, power from the carrier shaft45acan be transmitted to the drive shaft67through the first gear61a(first speed gear train) or the third gear63a(third speed gear train) and the countershaft65. Moreover, when the clutch C0is connected, the clutch C1is released, and the clutch C2is used to fix one of the second gear62a(second speed gear train) and fourth gear64a(fourth speed gear train) to the first motor shaft46, power from the first motor shaft46can be transmitted to the drive shaft67through the second gear62a(second speed gear train) or the fourth gear64a(fourth speed gear train) and the countershaft65. Hereinafter, as needed, a state of transmitting power using the first speed gear train is referred to as “first speed state (1st speed)”, a state of transmitting power using the second speed gear train is referred to as “second speed state (2nd speed)”, a state of transmitting power using the third speed gear train is referred to as “third speed state (3rd speed)”, and a state of transmitting power using the fourth speed gear train is referred to as “fourth speed state (4th speed)”. Moreover, according to the transmission60of the present embodiment, the clutches C1and C2are provided on the carrier shaft45aand the first motor shaft46side, and thus, it is possible to reduce the loss when the clutches C1and C2are used to fix the gears61ato64ato the carrier shaft45aor the first motor shaft46. That is, depending on the gear ratio of an individual gear train, particularly about the second transmission mechanism including the fourth speed gear train having a small reduction gear ratio, the rotation speed of the gear64awhich is idle before being fixed to the first motor shaft46by the clutch C2is lower than the rotation speed of the corresponding gear64bon the countershaft65side. Therefore, a dog of the gear64acan be engaged with a dog of the first motor shaft46with less loss by at least providing the clutch C2on the first motor shaft46side. It should be noted that about the first transmission mechanism including the first speed gear train having a large reduction gear ratio, the clutch C1may be provided on the countershaft65side.

The hybrid ECU70is configured as a microprocessor around a CPU72, and in addition to the CPU72, includes a ROM74for storing a processing program; a RAM76for temporarily storing data; an input/output port (not shown); and a communication port (not shown). The hybrid ECU70receives an ignition signal from an ignition switch (start switch)80; a shift position SP from a shift position sensor82for detecting the shift position SP which is an operation position of a shift lever81; an accelerator opening Acc from an accelerator pedal position sensor84for detecting the amount of depression of an accelerator pedal83; a brake pedal position BP from a brake pedal position sensor86for detecting the amount of depression of a brake pedal85; and a vehicle speed V from a vehicle speed sensor87through the input port. As described above, the hybrid ECU70is connected to the engine ECU24, the motor ECU30, and the battery ECU36through a communication port, and sends and receives Various kinds of control signals and data to and from the engine ECU24, the motor ECU30, and the battery ECU36. Moreover, the hybrid ECU70also controls the actuator88which drives the clutch C0, and the clutches C1and C2of the transmission60.

Next, with reference toFIGS. 2 to 8, the outline of an operation of the above hybrid vehicle20will be described. When the above described hybrid vehicle20runs with an engagement of the clutch C0and an operation of the engine22, if the clutch C2is released and the first gear61a(first speed gear train) is fixed to the carrier shaft45aby the clutch C1, as shown inFIG. 2, power from the carrier shaft45acan be changed in speed (reduced) based on the speed ratio of the first speed gear train (first gears61aand61b) and can be outputted to the drive shaft67. Moreover, according to the change in vehicle speed V, as shown inFIG. 3, in the first speed state in which the first gear61a(first speed gear train) is fixed to the carrier shaft45aby the clutch C1, if the second gear62a(second speed gear train) is fixed to the first motor shaft46by the clutch C2and each of the torque commands to the motors MG1and MG2is set to a value of 0, power (torque) from the engine22can be transmitted mechanically (directly) to the drive shaft67without conversion to electrical energy at a fixed (constant) speed ratio (a value between the speed ratio of the first speed gear train and the speed ratio of the second speed gear train). Hereinafter, the state (FIG. 3) in which the first speed gear train of the transmission60is used to couple the carrier45which is a first element of the power distribution and integration mechanism40, and the second speed gear train of the transmission60is used to couple the sun gear41which is a second element thereof to the drive shaft67is referred to as “1st to 2nd simultaneous engagement state”.

Further, when the clutch C1is released in the 1st to 2nd simultaneous engagement state shown inFIG. 3, as shown by the two-dot chain line inFIG. 4, the clutch C2allows only the second gear62a(second speed gear train) to be fixed to the first motor shaft46(sun gear41) and thereby, power from the first motor shaft46can be changed in speed based on the speed ratio of the second speed gear train (second gears62aand62b) and can be output to the drive shaft67. Moreover, according to the change in vehicle speed V, in the second speed state in which the clutch C2is used to fix the second gear62a(second speed gear train) to the first motor shaft46as shown inFIG. 5, if the clutch C1is used to fix the third gear63a(third speed gear train) to the carrier shaft45aand set each of the torque commands to the motors MG1and MG2to a value of 0, power (torque) from the engine22can be transmitted mechanically (directly) to the drive shaft67without conversion to electrical energy at a fixed (constant) speed ratio (a value between the speed ratio of the second speed gear train and the speed ratio of the third speed gear train) different from that in the 1st to 2nd simultaneous engagement state. Hereinafter, the state (FIG. 5) in which the second speed gear train of the transmission60is used to couple the sun gear41which is a second element of the power distribution and integration mechanism40, and the third speed gear train of the transmission60is used to couple the carrier45which is a first element thereof to the drive shaft67is referred to as “2nd to 3rd simultaneous engagement state”.

Then, when the clutch C2is released in the 2nd to 3rd simultaneous engagement state shown inFIG. 5, as shown by the one-dot chain line inFIG. 6, the clutch C1allows only the third gear63a(third speed gear train) to be fixed to the carrier shaft45a(carrier45). Thereby, power from the carrier shaft45acan be changed in speed based on the speed ratio of the third speed gear train (third gears63aand63b) and can be outputted to the drive shaft67. Further, according to the change in vehicle speed V as shown inFIG. 7, in the third speed state in which the clutch C1is used to fix the third gear63a(third speed gear train) to the carrier shaft45a, when the clutch C2is used to fix the fourth gear64a(fourth speed gear train) to the first motor shaft46and set the individual torque command to the motors MG1and MG2to a value of 0, power (torque) from the engine can be transmitted mechanically (directly) to the drive shaft67without conversion to electrical energy at a fixed (constant) speed ratio (a value between the speed ratio of the third speed gear train and the speed ratio of the fourth speed gear train) different from that in the 1st to 2nd simultaneous engagement state and the 2nd to 3rd simultaneous engagement state. Hereinafter, the state (FIG. 7) in, which the third speed gear train of the transmission60is used to fix the carrier45which is a first element of the power distribution and integration mechanism40, and the fourth speed gear train of the transmission60is used to fix the sun gear41which is a second element thereof to the drive shaft67is referred to as “3rd to 4th simultaneous engagement state”. Afterward, when the clutch C1is released in the 3rd to 4th simultaneous engagement state shown inFIG. 7, as shown by the two-dot chain line inFIG. 8, the clutch C2allows only the fourth gear64a(fourth speed gear train) to be fixed to the first motor shaft46(sun gear41). Thereby, power from the first motor shaft46can be changed in speed based on the speed ratio of the fourth speed gear train (fourth gears64aand64b) and can be outputted to the drive shaft67. It should be noted that with reference toFIGS. 2 to 8, the S axis indicates a rotation speed (rotation speed Nm1of the motor MG1, namely, the first motor shaft46) of the sun gear41of the power distribution and integration mechanism40; the R axis indicates a rotation speed (rotation speed Ne of the engine22) of the ring gear42of the power distribution and integration mechanism40; and the C axis indicates a rotation speed of the carrier45of the power distribution and integration mechanism40(the carrier shaft45aand the ring gear52of the reduction gear mechanism50) respectively. Moreover, the61aaxis to64aaxis, the65axis, and the67axis each indicate a rotation speed of the first gear61ato the fourth gear64aof the transmission60, the countershaft65, and the drive shaft67respectively.

While the hybrid vehicle20is running with an operation of the engine22as described above, when the transmission60is set to the first or third speed state, the carrier45of the power distribution and integration mechanism40becomes the output element. Thereby, the motors MG1and MG2can be drive-and-controlled such that the motor MG2connected to the carrier45functions as a motor, and the motor MG1connected to the sun gear41which becomes a reaction element functions as a generator. Hereinafter, the mode in which the motor MG1functions as a generator and the motor MG2functions as a motor is referred to as “first torque conversion mode”.FIG. 9shows an example of an alignment chart representing a relationship of a rotation speed and a torque between an individual element of the power distribution and integration mechanism40and an individual element of the reduction gear mechanism50in the first torque conversion mode. It should be noted that in theFIG. 9, the S axis, the R axis, and the C axis denote like elements shown inFIGS. 2 to 8; the54axis denotes a rotation speed of the carrier54of the reduction gear mechanism50; the51axis denotes a rotation speed (rotation speed Nm2of the motor MG2, namely, the second motor shaft55) of the sun gear51of the reduction gear mechanism50; ρ denotes a gear ratio (the number of teeth of the sun gear41/the number of teeth of the ring gear42) of the power distribution and integration mechanism40; and ρr denotes a reduction gear ratio (the number of teeth of the sun gear51/the number of teeth of the ring gear52) of the reduction gear mechanism50respectively. Moreover, inFIG. 9, a thick arrow indicates a torque acting on an individual element. An upward arrow in the Figure indicates that the value of the torque is positive; and a downward arrow in the Figure indicates that the value of the torque is negative (same as inFIGS. 2 to 8, and10and11). In the first torque conversion mode, the power distribution and integration mechanism40and the motors MG1and MG2perform a torque conversion on power from the engine22and output the power to the carrier45; and the ratio between the rotation speed Ne of the engine22and the rotation speed of the carrier45which is an output element can be changed steplessly and Continuously by controlling the rotation speed of the motor MG1. While the hybrid vehicle20is running with an operation of the engine22, when the transmission60is set to the second or fourth speed state, the sun gear41of the power distribution and integration mechanism40becomes the output element. Thereby, the motors MG1and MG2can be drive-and-controlled such that the motor MG1connected to the sun gear41functions as a motor, and the motor MG2connected to the carrier45which becomes a reaction element functions as a generator. Hereinafter, the mode in which the motor MG2functions as a generator and the motor MG1functions as a motor is referred to as a “second torque conversion mode”.FIG. 10shows an example of an alignment chart representing a relationship of a rotation speed and a torque between an individual element of the power distribution and integration mechanism40and an individual element of the reduction gear mechanism50in the second torque conversion mode. In the second torque conversion mode, the power distribution and integration mechanism40and the motors MG1and MG2perform a torque conversion on power from the engine22and output the power to the sun gear41, and the ratio between the rotation speed Ne of the engine22and the rotation speed of the sun gear41which is an output element can be changed steplessly and continuously by controlling the rotation speed of the motor MG2. It should be noted that the reference characters inFIG. 10are the same as inFIG. 9.

As described above, according to the hybrid vehicle20of the present embodiment, with the change in speed ratio (speed state) of the transmission60, the first torque conversion mode and the second torque conversion mode are alternately switched; and thus, particularly when the rotation speed Nm2or Nm1of the motor MG2or MG1which functions as a motor is increased, the rotation speed Nm1or Nm2of the motor MG1or MG2which functions as a generator can be prevented from having a negative value. Therefore, the hybrid vehicle20can suppress the occurrence of a power circulation in which as the rotation speed of the motor MG1becomes negative in the first torque conversion mode, the motor MG2uses part of the power outputted to the carrier shaft45ato generate electric power and the motor MG1consumes the electric power generated by the motor MG2and outputs the power; and a power circulation in which as the rotation speed of the motor MG2becomes negative in the second torque conversion mode, the motor MG1uses part of the power outputted to the first motor shaft46to generate electric power and the Motor MG2consumes the electric power generated by the motor MG1and outputs the power; and can improve power transmission efficiency in a wider driving area. Moreover; as such a power circulation is suppressed, a maximum rotation speed of the motors MG1and MG2can also be suppressed, and thereby the motors MG1and MG2can be made compact. Further, the hybrid vehicle20can mechanically (directly) transmit power from the engine22to the drive shaft67at a speed ratio uniquely determined depending on the above described 1st to 2nd simultaneous engagement state, the 2nd to 3rd simultaneous engagement state, and the 3rd to 4th simultaneous engagement state. Therefore, a chance of mechanically outputting the power from the engine22to the drive shaft67without conversion to electrical energy can be increased and the power transmission efficiency can be further increased in a wider driving area. In general, according to a power output apparatus using the engine, two motors, and the differential rotation mechanism such as a planetary gear mechanism, when the reduction gear ratio between the engine and the drive shaft is relatively large, more engine power is converted to electrical energy, and thus the power transmission efficiency is deteriorated, and the motors MG1and MG2tend to generate heat. Therefore, the above described simultaneous engagement mode is advantageous particularly when the reduction gear ratio between the engine22and the drive shaft is relatively large. Further, according to the hybrid vehicle20of the present embodiment, before the speed ratio of the transmission60is changed, the simultaneous engagement mode is performed between the first torque conversion mode and the second torque conversion mode. Therefore, a so-called torque loss does not occur at the time of change in speed ratio, and the change in speed ratio, namely, the switching between the first torque conversion mode and the second torque conversion mode can be performed very smoothly and without a shock.

Next, with reference toFIG. 11and the like, the outline of the motor drive mode will be described. The motor drive mode is a mode in which, in a state of stopping the engine22, an electric power from the battery35is used to cause the motor MG1and the motor MG2to output power, by which the hybrid vehicle20is driven. According to the hybrid vehicle20of the present embodiment, the motor drive mode is broadly classified into a clutch engagement single motor drive mode in which the clutch C0is connected and one of the motors MG1and MG2is caused to output the power; a clutch release single motor drive mode in which the clutch C0is released and one of the motors MG1and MG2is caused to output the power; and a 2-motor drive mode in which the clutch C0is released and the power from both the motors MG1and MG2can be used.

When the clutch engagement single motor drive mode is performed, with the clutch C0being connected, the clutch C2of the transmission60is released and the clutch C1is used to fix the first gear61aof the first speed gear train or the third gear63aof third speed gear train to the carrier shaft45ato cause only the motor MG2to output the power, or the clutch C1of the transmission60is released and the clutch C2is used to fix the second gear62aof the second speed gear train or the fourth gear64aof the fourth speed gear train to the first motor shaft46to cause only the motor MG1to output the power. In such a clutch engagement single motor drive mode, the clutch C0allows the sun gear41of the power distribution and integration mechanism40and the first motor shaft46to be connected. Therefore, the motor MG1or MG2which does not output power is idle by being corotated by the motor MG2or MG1which is outputting power (see the broken line inFIG. 11). Moreover, when the clutch release single motor drive mode is performed, the clutch C0is released, the clutch C2of the transmission60is released, and the clutch C1is used to fix the first gear61aof the first speed gear train or the third gear63aof the third speed gear train to the carrier shaft45ato cause only the motor MG2to output power, or the clutch C1of the transmission60is released, the clutch C2is used to fix the second gear62aof the second speed gear train or the fourth gear64aof the fourth speed gear train to the first motor shaft46to cause only the motor MG1to output power. In such a clutch release single motor drive mode, as shown by the one-dot chain line and the two-dot chain line inFIG. 11, the clutch C0is released, and the connection between the sun gear41and the first motor shaft46is released. Therefore, the crankshaft26of the engine22which is stopped by a function of the power distribution and integration mechanism40is prevented from corotating. In addition, since the clutch C2or C1is released, the motor MG1or MG2which is stopped can be prevented from corotating, and thereby, power transmission efficiency can be suppressed from decreasing. When the 2-motor drive mode is performed, the clutch C0is released, and the clutches C1and C2are used to set the transmission to the above described 1st to 2nd simultaneous engagement state, the 2nd to 3rd simultaneous engagement state, or the 3rd to 4th simultaneous engagement state, and then, at least one of motors MG1and MG2is drive-and-controlled. This can prevent the engine22from corotating, can cause both the motors MG1and MG2to output power, and can transmit a large power to the drive shaft67in the motor drive mode. Therefore, a so-called starting on a slope can be well performed and a good towing capability and the like at a motor drive can be well maintained.

Moreover, according to the hybrid vehicle20of the present embodiment, when the clutch release single motor drive mode is selected, the speed ratio (speed state) of the transmission60can be easily changed so as to efficiently transmit power to the drive shaft67. For example, in the clutch release single motor drive mode, the clutch C1of the transmission60is used to fix the first gear61aof the first speed gear train or the third gear63aof the third speed gear train to the carrier shaft45aand causes only the motor MG2to output power. At this time, the rotation speed of the stopped motor MG1is synchronized with the rotation speed of the second gear62aof the second speed gear train or the fourth gear64aof the fourth speed gear train, and the clutch C2is used to fix the second gear62aor the fourth gear64ato the first motor shaft46. Thereby, the state can be changed to one of the above described 1st to 2nd simultaneous engagement state, the 2nd to 3rd simultaneous engagement state, and the 3rd to 4th simultaneous engagement state, namely, the 2-motor drive mode. Then, in this state, when the clutch C1of the transmission60is released and only the motor MG1is caused to output power, the power outputted from the motor MG1can be transmitted to the drive shaft67through the second speed gear train or the fourth speed gear train of the transmission60. As a result, according to the hybrid vehicle20of the present embodiment, even in the motor drive mode, the transmission60can be used to change the rotation speed of the carrier shaft45aand the first motor shaft46to increase the torque. Therefore, the maximum torque required for the motors MG1and MG2can be decreased and thus the motors MG1and MG2can be made compact. Moreover, in such a motor drive mode, before the speed ratio of the transmission60is changed, the simultaneous engagement state of the transmission60, namely, the 2-motor drive mode is performed, and thus, a so-called torque loss does not occur at the time of change in speed ratio, and the speed ratio can be changed very smoothly and without a shock. It should be noted that when a required driving force is increased or the state of charge (SOC) of the battery35is decreased in these motor drive modes, one of the motors MG1and MG2, whichever does not output power according to the speed ratio of the transmission60, is used to perform cranking of the engine22, thereby starting the engine22.

Subsequently, with reference toFIGS. 12 to 16, a detailed description will be given to a procedure for controlling the hybrid vehicle20running in the 2-motor drive mode in which the clutch C0is released so as to use the power from both the motors MG1and MG2.FIG. 12is a flowchart showing an example of a 2-motor drive time drive control routine executed by the hybrid ECU70when the 2-motor drive mode is selected. This routine is executed every predetermined time (e.g., every several msec). It should be noted that examples of the cases in which the 2-motor drive mode is selected include a case in which the hybrid vehicle20starts on a slope (starting on a slope), a case in which the hybrid vehicle starts in a state of being coupled with a predetermined object to be tracked, and the like.

When the 2-motor drive time drive control routine ofFIG. 12starts, the CPU72of the hybrid ECU70executes a data input process required for control such as the accelerator opening Acc from the accelerator pedal position sensor84; the vehicle speed V from the vehicle speed sensor87; the rotation speeds Nm1and Nm2of the motors MG1and MG2; the current speed ratios γ1and γ2of the first and second transmission mechanisms of the transmission60; the charge-discharge power demand Pb*; and the input limit Win and the output limit Wout of the battery35(Step S100). Here, the rotation speeds Nm1and Nm2of the motors MG1and MG2are assumed to be inputted from the motor ECU40by communication. The current speed ratio γ1corresponds to one of the first speed gear train and the third speed gear train, constituting the first transmission mechanism of the transmission60, whichever is used to couple the carrier shaft45aand the drive shaft67during the execution of the 2-motor drive mode. The current speed ratio γ2corresponds to one of the second speed gear train and the fourth speed gear train, constituting the second transmission mechanism of the transmission60, whichever is used to couple the first motor shaft46and the drive shaft67during the execution of the 2-motor drive mode. When the carrier shaft45aor the first motor shaft46is coupled to the drive shaft67, the current speed ratio γ1or γ2is stored in a predetermined area of the RAM76accordingly. Further, the charge-discharge power demand Pb* is assumed to be electric power which is inputted from the battery ECU36by communication, namely, the electric power which is set as electric power to be charged or discharged by or from the battery35by the battery ECU36based on the state of charge (SOC) of the battery35, and the like. Moreover, the input limit Win as a charge allowable power which is electric power allowable to charge the battery35and the output limit Wout as a discharge allowable power which is electric power allowable to discharge the same are assumed to be inputted from the battery ECU36by communication, namely, the electric power which is set based on the battery temperature Tb of the battery35detected by the temperature sensor37and the state of charge (SOC) of the battery35. It should be noted that the input limit Win and the output limit Wout of the battery35can be set by setting a basic value of the input limit Win and the output limit Wout based on the battery temperature Tb, setting an output limit correction coefficient and an input limit correction coefficient based on the state of charge (SOC) of the battery35and multiplying the set basic value of the input limit Win and the output limit Wout by the correction coefficient.

After the data input process in Step S100, the torque demand Tr* to be outputted to the drive shaft67is set based on the inputted accelerator opening Acc and the vehicle speed V, and the power demand P* required for the entire hybrid vehicle20is set (Step S110). According to the present embodiment, a torque demand setting map (not shown) which preliminarily defines the relationship among the accelerator opening Acc, the vehicle speed V, and the torque demand Tr* is stored in ROM74. As the torque demand Tr*, a torque demand corresponding to a given accelerator opening Acc and a vehicle speed V is derived and set from the map. Moreover, according to the present embodiment, the power demand P* is calculated by multiplying the torque demand Tr* set in Step S110by the vehicle speed V indicating the rotation speed of the drive shaft67and by a conversion factor k; and adding the product to the charge-discharge power demand Pb* (assuming the charge requesting side as positive) plus a loss (Loss). Subsequently, for example, a determination is made as to whether the engine22remains stopped or not based on the power demand P* set, in Step S110, the output limit Wout (or the state of charge (SOC)) inputted in Step S100, and the like (Step S120).

If a determination is made that the engine22remains stopped in Step S120, the torque demand Tr* set in Step S110, the current speed ratio γ1and the reduction gear ratio ρr of the reduction gear mechanism50are used to calculate the tentative motor torque Tm2tmp as a torque to be outputted from the motor MG2based on the following expression (1) (Step S130). The tentative motor torque Tm2tmp calculated in this manner is a value which is assumed to cause the motor MG2to tentatively output all the torque demand Tr* set in Step S110. Next, the torque command Tm2* of the motor MG2is set as a value which limits the tentative motor torque Tm2tmp by the maximum rated torque Tm2rat of the motor MG2and a predetermined minimum output torque Tm2set (Tm2set<Tm2rat) (Step S140). Further, the following expression (2) is calculated based on the torque demand Tr* set in Step S110, the torque command Tm2* to the motor MG2set in Step S140, the current speed ratios γ1and γ2, and the reduction gear ratio ρr of the reduction gear mechanism50, and then, the torque command Tm1* to the motor MG1is set (Step S150). The torque command Tm1* set in this manner indicates an insufficient torque of a case in which the torque demand Tr* cannot be satisfied even by causing the motor MG2to output a torque according to the torque command Tm2*. When the torque commands Tm1* and Tm2* of the motors MG1and MG2are set, the set torque commands Tm1* and Tm2* are sent to the motor ECU40(Step S160), and then, the processes following Step S100are executed again. The motor ECU40which received the torque commands Tm1* and Tm2* performs switching control on the switching elements of the inverters31and32so as to allow the motors MG1and MG2to be driven according to the torque commands Tm1* and Tm2*. As described above, when the hybrid vehicle20of the present embodiment runs in the 2-motor drive mode, the motor MG2, one of the two motors MG1and MG2, is preferentially assumed to output power. If the motor MG2alone cannot supply the torque demand Tr*, the other motor MG1is assumed to output the insufficient torque. This can suppress the fluctuation of the power outputted to the drive shaft67due to a difference in response to the torque command between the motor MG1and the motor MG2. In addition, noise due to a carrier sound of the inverters31and32can also be reduced.
Tm2*=−Tr*/γ1·ρr(1)
Tm1*=(Tr*+Tm2*/ρr·γ1)/γ2  (2)

On the contrary, in Step S120, when a determination is made that the engine22should start, one of the motors MG1and MG2needs to be placed in a state capable of performing cranking of the engine22so as to start the engine22. For this reason, when a negative determination is made in Step S120, the torque transfer flag Ftt is set to a value of 1 so as to instruct the torque transfer routine to be executed to transfer the power from one of the motors MG1and MG2to the other (Step S170), and then the present routine is terminated. Then, the torque transfer routine is executed as described later.

FIG. 13is a flowchart showing an example of a torque transfer routine executed by the hybrid ECU70. When the torque transfer flag Ftt is set to a value of 1, this routine is executed every predetermined time (e.g., every several msec). When the torque transfer routine ofFIG. 13starts, in the same manner as in Step S100ofFIG. 12, the CPU72of the hybrid ECU70executes a data input process required for control such as the accelerator opening Acc, the vehicle speed V, the rotation speeds Nm1and Nm2of the motors MG1and MG2, the target speed ratio γ* of the transmission60, and the input limit Win and the output limit Wout of the battery35(Step S200). It should be noted that the target speed ratio γ* of the transmission60is set as a speed ratio of the transmission60which starts the engine22according to the vehicle speed V, the torque demand, and the like through the speed change process routine (not shown), and then is stored in a predetermined area of the RAM76. Subsequently, the torque demand Tr* to be output to the drive shaft67is set based on the accelerator opening Acc and the vehicle speed V input in Step S200(Step S210). Further, a determination is made as to whether the flag Fx indicating that the torque is being transferred is set to a value of 0 (Step S220). If the flag Fx is a value of 0, a predetermined timer (not shown) is turned on, and the flag Fx is set to a value of (Step S230). Then, a determination is made as to whether the time t measured by the timer is less than the predetermined torque transfer time ts (Step S240). If the time t measured by the timer is less than the torque transfer time ts, a determination is made as to which one of the first speed gear train to the fourth speed gear train corresponds to the target speed ratio γ* (Step S250). It should be noted that if a determination is made in Step S220that the flag Fx is a value of 1, the process of Step S230is skipped and the process of Step S240is executed.

Here, the present routine is a series of processes of decreasing the power from one of motors MG1and MG2and increasing the power from the other motor thereof so that at the time when the above torque transfer time ts has elapsed since the routine started, the power from one of the motors MG1and MG2, whichever does not correspond to the target speed, ratio γ* become a value of 0, and the power outputted from the other one of the motors MG2and MG1becomes a value based on the torque demand Tr* and the target speed ratio γ*. For this reason, when the determination process in Step S240is executed, first, calculation is made on the tentative target torques Tm1tag and Tm2tag which should be outputted by the motors MG1and MG2when the torque transfer is completed based on the target speed ratio γ*, the torque demand Tr* at a point of time, and the like. That is, if the target speed ratio γ* corresponds to the first speed gear train or the third speed gear train, when the engine22starts, the carrier shaft45ais coupled to the drive shaft67to cause only the motor MG2to output power and to cause the motor MG1to perform cranking of the engine22. Therefore, the tentative target torque Tm1tag of the motor MG1is set to a value of 0, and the torque demand Tr* set in Step S210as well as the target speed ratio γ* and the reduction gear ratio ρr of the reduction gear mechanism50are used to calculate the tentative target torque Tm2tag of the motor MG2by the following expression (3) (Step S260). If the target speed ratio γ* corresponds to the second speed gear train or the fourth speed gear train, when the engine22starts, the first motor shaft46is coupled to the drive shaft67to cause only the motor MG1to output power and to cause the motor MG2to perform cranking of the engine22. Therefore, the tentative target torque Tm2tag of the motor MG2is set to a value of 0, and the torque demand Tr* set in Step S210and the target speed ratio γ* are used to calculate the tentative target torque Tm1tag of the motor MG1by the following expression (4) (Step S270). After the process in Step S260or S270is executed, the previous torque command value to the motors MG1and MG2is set as the current output, torques Tm1n and Tm2n which are outputted by the motors MG1and MG2at the point of time (Step S280). The following expressions (5) and (6) are calculated based on the tentative target torques Tm1tag and Tm2tag calculated in Step S270and the current output torques Tm1n and Tm2n set in Step S280, and the torque commands Tm1* and Tm2* to the motors MG1and MG2are set (Step S290). Then, the set torque commands Tm1* and Tm2* are sent to the motor ECU40(Step S300). Then, the processes following Step S200are executed again.
Tm2tag=−Tr*/γ*·ρr(3)
Tm1tag=Tr*/γ*(4)
Tm1*=(t·Tm1tag+(ts−t)·Tm1n)/ts(5)
Tm2*=(t·Tm2tag+(ts−t)·Tm2n)/ts(6)

When the above described process is repeatedly executed, the torque commands Tm1* and Tm2* to the motors MG1and MG2are set so as to output power based on the torque demand Tr* set to the drive shaft67based on the power outputted by the motors MG1and MG2every predetermined time (execution cycle of the present routine), the torque demand Tr*, and the target speed ratio γ* as well as to complete the power transfer within the torque transfer time ts. Thereby, even if the torque demand Tr* is changed during the execution of the torque transfer routine, power based on the torque demand Tr* can be more reliably outputted to the drive shaft67and the power can be transferred between the motors MG1and MG2. If a determination is made in Step S240that the time t measured by the timer is equal to or greater than the torque transfer time ts, that means that the power transfer between the motors MG1and MG2has been completed. Therefore, at this stage, the actuator88is drive-and-controlled so as to release the coupling between the first motor shaft46or the carrier shaft45aand one of the first to the fourth speed gear trains, whichever does not correspond to the target speed ratio γ*, by the clutch C1or C2of the transmission60(Step S310). By doing so, the motor MG1or MG2used for cranking of the engine22can be disconnected from the drive shaft67, and the change of the speed ratio (speed state) of the transmission60assuming the speed ratio as the target speed ratio γ* can be completed. It should be noted that at this stage, the target speed ratio γ* up to the point of time is stored as the current speed ratio γ in a predetermined storage area of the RAM76. Then, the above flag Fx and the torque transfer flag Ftt are set to a value of 0 (Step S320). At this stage, the clutch C0is released, and the motors MG1and MG2are substantially disconnected from the engine22. Therefore, in order to start the engine22, a process of connecting the clutch C0needs to be executed before starting the engine22. For this reason, after the process in Step S320, a predetermined motor, synchronization flag Fms is set to a value of 1 so as to be able to connect the clutch C0(Step S330). Then, the present routine is terminated and the execution of a motor synchronization control routine described below is started.

FIG. 14is a flowchart showing an example of a motor synchronization control routine executed by the hybrid ECU70. When the motor synchronization flag Fms is set to a value of 1, this routine is executed every predetermined time (e.g., every several msec). When the motor synchronization control routine ofFIG. 14starts, the CPU72of the hybrid ECU70executes a data input process required for control such as the accelerator opening Acc, the vehicle speed V, the rotation speeds Nm1and Nm2of the motors MG1and MG2, the current speed ratio γ of the transmission60, and the input limit Win and the output limit Wout of the battery35(Step S400). Then, the torque demand Tr* to be outputted to the drive shaft67is set (Step S410). Further, a determination is made as to which one, of the first speed gear train to the fourth speed gear train corresponds to the current speed ratio γ (target speed ratio γ* when the torque transfer routine is executed) (Step S420).

If the current speed ratio γ corresponds to the first speed gear train or the third speed gear train, the carrier shaft45ais coupled to the drive shaft67by the transmission60, and only the motor MG2outputs power. Since the clutch C0is released, the rotation speed Nm1of the motor MG1(first motor shaft46) is different from the rotation speed of the sun gear41of the power distribution and integration mechanism40at the point of time when the clutch C0is engaged. For this reason, if the current speed ratio γ corresponds to the first speed gear train or the third speed gear train, in order to rotatably synchronize the motor MG1, namely, the first motor shaft46with the sun gear41of the power distribution and integration mechanism40, the rotation speed Nm2of the motor MG2, the gear ratio ρ of the power distribution and integration mechanism40, and the reduction gear ratio ρr of the reduction gear mechanism50inputted in Step S400are used to calculate the target rotation speed Nm1* of the motor MG1by the following expression (7) (Step S430). The expression (7) is an expression for matching the rotation speed Nm1of the motor MG1(second motor) which is released from the coupling state with the drive shaft67, with the rotation speed of the sun gear (second element)41at the time of drive source element connection based on the rotation speed Nm2of the motor MG2(first motor) coupled with the drive shaft67, and can be easily derived from the alignment chart ofFIG. 9. After the target rotation speed Nm1* of the motor MG1is calculated, a determination is made as to whether the absolute value of a deviation between the target rotation speed Nm1* and the rotation speed Nm1of the motor MG1inputted in Step S400is greater than a predetermined value α (Step S440). If the absolute value is greater than the predetermined value α, the calculation of the following expression (8) is executed based on the target rotation speed Nm1* calculated in Step S430and the rotation speed Nm1of the motor MG1to set the torque command Tm1* of the motor MG1(Step S450). It should be noted that the expression (8) is a relational expression in feedback control for rotating the motor MG1at the target rotation speed Nm1*; in the expression (8), “k11” the first term on the right-hand side is a gain of the proportional term; and “k12” of the second term on the right-hand side is a gain of the integral term. Then, a deviation between the input limit Win and, the output limit Wout of the battery35and the power consumption (generated electric power) of the motor MG1obtained as a product between the torque command Tm1* of the motor MG1set in S450and the current rotation speed Nm1of the motor MG1is divided by the rotation speed Nm2of the motor MG2. By doing so, calculation is made on the torque restrictions Tmin and Tmax as the upper and lower limits of a torque which may be outputted from the motor MG2(Step S460). Further, the tentative motor torque Tm2tmp as a torque to be outputted from the motor MG2is calculated by the above expression (1) (Step S470). The torque command Tm2* of the motor MG2is set as a value limiting the tentative motor torque Tm2tmp by the torque restrictions Tmin and Tmax calculated in Step S460(Step S480). Setting the torque command Tm2* of the motor MG2in this manner allows a torque to be outputted from the motor MG2to be set as a torque restrictioned within the input limit Win and the output limit Wout of the battery35. After the torque commands Tm1* and Tm2* of the motors MG1and MG2are set, the set torque commands Tm1* and Tm2* are sent to the motor ECU40(Step S490). Then, the processes following Step S400are executed again.
Nm1*=ρr·Nm2/ρ·(1−ρ)  (7)
Tm1*=k11(Nm1*−Nm1)+k12∫(Nm1*−Nm1)dt(8)

On the contrary, if the current speed ratio γ corresponds to the second speed gear train or the fourth speed gear train, the first motor shaft46is coupled to the drive shaft67by the transmission60, and only the motor MG1outputs power. Since the clutch C0is released, the rotation speed (=ρr×Nm2) of the carrier shaft45ais different from the rotation speed of the carrier45of the power distribution and integration mechanism40at the time when the clutch C0is engaged. For this reason, if the current speed ratio γ corresponds to the second speed gear train or the fourth speed gear train, in order to synchronize (correspond to) the rotation speed Nm2of the motor MG2with the rotation speed of the carrier45at the time when the clutch C0is engaged, the rotation speed Nm1of the motor MG1, the gear ratio ρ of the power distribution and integration mechanism40, and the reduction gear ratio ρr of the reduction gear mechanism50inputted in Step S400are used to calculate the target rotation speed Nm2* of the motor MG2by the following expression (9) (Step S500). The expression (9) is an expression for matching the rotation speed Nm2of the motor MG2(first motor) which is released from the coupling state with the drive shaft67, with the rotation speed of the carrier (first element)45at the time of drive source element connection based on the rotation speed Nm1of the motor MG1(second motor) coupled with the drive shaft67, and can be easily derived from the alignment chart ofFIG. 10. After the target rotation speed Nm2* of the motor MG2is calculated, a determination is made as to whether the absolute value of a deviation between the target rotation speed Nm2* and the rotation speed Nm2of the motor MG2inputted in Step S400is greater than a predetermined value α (Step S510). If the absolute value is greater than the predetermined value α, the calculation of the following expression (10) is executed based on the target rotation speed Nm2* calculated in Step S500and the rotation speed Nm2of the motor MG2to set the torque command Tm2* of the motor MG2(Step S520). It should be noted that the expression (10) is a relational expression in feedback control for rotating the motor MG2at the target rotation speed Nm2*; in the expression (10), “k21” of the first term on the right-hand side is a gain of the proportional term; and “k22” of the second term on the right-hand side is a gain of the integral term. Then, a deviation between the input limit Win and the output limit Wout of the battery35and the power consumption (generated electric power) of the motor MG2obtained as a product between the torque command Tm2* of the motor MG2set in S520and the current rotation speed Nm2of the motor MG2is divided by the rotation speed Nm1of the motor MG1. By doing so, calculation is made on the torque restrictions Tmin and Tmax as the upper and lower limits of a torque which may be outputted from the motor MG1(Step S530). Further, the tentative motor torque Tm1tmp as a torque to be outputted from the motor MG1is calculated by the above expression (2) (Step S540). The torque command Tm1* of the motor MG1is set as a value limiting the tentative motor torque Tm2tmp by the torque restrictions Tmin and Tmax calculated in Step S530(Step S550). After the torque commands Tm1* and Tm2* of the motors MG1and MG2are set, the set torque commands Tm1* and Tm2* are sent to the motor ECU40(Step S490). Then, the processes following Step S400are executed again.
Nm2*=Nm1·ρ/(1−ρ)/ρr(9)
Tm2*=k21(Nm2*−Nm2)+k22∫(Nm2*−Nm2)dt(10)

As described above, the present routine is a process of matching the rotation speed Nm1or Nm2of the motor MG1or MG2which is released from the coupling state with the drive shaft67, with the rotation speed of the sun gear41or the carrier45at the time of drive source element connection based on the rotation speed Nm2or Nm1of the motor MG2or MG1which is coupled to the drive shaft67(seeFIG. 15). When the above described processes are repeatedly executed, the rotation speed Nm1or Nm2of one of the motors MG1and MG2is substantially matched with the target rotation speed Nm1* or Nm2*, and thus a negative determination is made in Step S440or S510. At a stage in which a negative determination is made in Step S440or S510, the rotation speed Nm1of the motor MG1and the rotation speed Nm2of the motor MG2indicate a relationship at the time when the clutch C0is engaged (seeFIG. 15). The actuator88is drive-and-controlled so as to connect the sun gear41of the power distribution and integration mechanism40to the first motor shaft46by the clutch C0, and the motor synchronization flag Fms is set to a value of 0 (Step S560). Then, in order to start the engine22by cranking using one of the motors MG1and MG2, the engine start flag Fes is set to a value of 1 (Step S570). Then, the present routine is terminated, and then, the execution of an engine start time drive control routine described later is started.

FIG. 16is a flowchart showing an example of the engine start time drive control routine executed by the hybrid ECU70. When the engine start flag Fes is set to a value of 1, this routine is executed every predetermined time (e.g., every several msec). When the engine start time drive control routine ofFIG. 16starts, the CPU72of the hybrid ECU70executes a data input process required for control such as the accelerator opening Acc, the vehicle speed V, the rotation speed Ne of the engine22(crankshaft26), the rotation speeds Nm1and Nm2of the motors MG1and MG2, the current speed ratio γ of the transmission60, and the input limit Win and the output limit Wout of the battery (Step S600). It should be noted that the rotation speed Ne of the engine22is assumed such that a value calculated based on a signal from a crank position sensor (not shown) attached to the crankshaft26is input from the engine ECU24through communication. After the data input process in Step S600, the torque demand Tr* is set based on the input accelerator opening Acc and the vehicle speed V (Step S610). Further, a determination is made as to which one of the first speed gear train to the fourth speed gear train corresponds to the current speed ratio γ (Step S620).

If the current speed ratio γ corresponds to the first speed gear train or the third speed gear train, which means the carrier shaft45ais coupled to the drive shaft67by the transmission60, the motor MG1is used to crank the engine22: Therefore, a predetermined cranking torque setting map (not shown) is used to set the torque command Tm1* of the motor MG1as a cranking torque for cranking the engine22according to the rotation speed Ne of the engine22inputted in Step S600and the elapsed time t since the present routine started (Step S630). Moreover, if the current speed ratio γ corresponds to the second speed gear train or the fourth speed gear train, which means the first motor shaft46is coupled to the drive shaft67by the transmission60, the motor MG2is used to crank the engine22. Therefore, the above cranking torque setting map is used to set the torque command Tm2* of the motor MG2as a cranking torque for cranking the engine22according to the rotation speed Ne of the engine22inputted in Step S600and the elapsed time t since the present routine started (Step S670). The cranking torque setting map used in Steps S630and S670specifies the relationship among the torque commands Tm1* and Tm2* of the motors MG1and MG2, the rotation speed Ne of the engine22, and the elapsed time t since the start thereof when the engine22starts by cranking. According to the present embodiment, the cranking torque setting map is preliminarily created so as to set a relatively large torque as the torque commands Tm1* and Tm2* using a rate process to rapidly increase the rotation speed Ne of the engine22immediately after the present routine started, as well as so as to set a torque capable of stably motoring the engine22at a predetermined rotation speed or more as the torque commands Tm1* and Tm2* after the rotation speed Ne of the engine22passed the resonance rotation speed region or the time required to pass the resonance rotation speed region elapsed, further so as to reduce the torque commands Tm1* and Tm2* up to a value of 0 using the rate process after the rotation speed Ne of the engine22reached the predetermined rotation speed. If such a cranking torque setting map is used, a vibration which can occur when the engine22starts can be well suppressed.

After the torque command Tm1* of the motor MG1is set in Step S630, in the same manner as in Step S460ofFIG. 14, the torque restrictions Tmax and Tmin are calculated as the upper and lower limits of a torque which may be outputted from the motor MG2(Step S640). Further, the torque demand Tr*, the torque command Tm1*, the gear ratio ρ of the power distribution and integration mechanism30, the reduction gear ratio ρr of the reduction gear mechanism50are used to calculate the tentative motor torque Tm2tmp as a torque to be outputted from the motor MG2by the expression (11) (Step S650). It should be noted that the expression (11) can be easily derived from the alignment chart ofFIG. 9. Then, the torque command Tm2* of the motor MG2is set by limiting the calculated tentative motor torque Tm2tmp with the torque restrictions Tmax and Tmin calculated in Step S640(Step S660). Moreover, after the torque command Tm2* of the motor MG2is set in Step S670, in the same manner as in Step S530ofFIG. 14, the torque restrictions Tmax and Tmin is calculated as the upper and lower limits of a torque which may be outputted from the motor MG1(Step S680). Further, the torque demand Tr*, the torque command Tm2*, the gear ratio ρ of the power distribution and integration mechanism30, and the reduction gear ratio ρr of the reduction gear mechanism50are used to calculate the tentative motor torque Tm1tmp as a torque to be outputted from the motor MG1by the expression (12) (Step S690). It should be noted that the expression (12) can be easily derived from the alignment chart ofFIG. 10. Then, the torque command Tm1* of the motor MG1is set by limiting the calculated tentative motor torque Tm1tmp with the torque restrictions Tmax and Tmin calculated in Step S680(Step S700).
Tm2tmp=−ρr·(Tr*/γ+(1−ρ)/ρ·Tm1)  (11)
Tm1tmp=Tr*/γ−ρ/(1−ρ)·Tm2*/ρr(12)

After the torque commands Tm1* and Tm2* are set as described above, the set torque commands Tm1* and Tm2* are sent to the motor ECU40(Step S710). Then, a determination is made as to whether the fuel injection start flag Ffire is set to a value of 0 or not (Step S720). It should be noted that the flag Ffire is set to a value of 0 before the fuel injection control or the ignition control for the engine22starts; and the flag Ffire is set to a value of 1 when the fuel injection control or the ignition control starts. If the fuel injection start flag Ffire is set to a value of 0, further, a determination is made as to whether the rotation speed Ne of the engine22reaches the threshold Nfire (Step S730). The threshold Nfire indicates a rotation speed of the engine22when the fuel injection control and the ignition control of the engine22start, for example, a value of 1000 to 1200 rpm. If the rotation speed Ne of the engine22does not reach the threshold Nfire, the processes following the above Step S600are executed again. If the rotation speed Ne of the engine22reaches the threshold Nref, the commands to start the fuel injection control and the ignition control are sent to the engine ECU24, and the fuel injection start flag Ffire is set to a value of 1 (Step S740). Then, a determination is made as to whether the engine22has reached its complete explosion (Step S750). If the engine22has not reached its complete explosion, the processes following Step S600are executed again. It should be noted that if the fuel injection start flag Ffire is set to a value of 1 in Step S740, a determination is made in Step S720that the fuel injection start flag Ff is set to a value of 1, the processes in Steps S730and S740are skipped, and a determination is made as to whether the engine22has reached its complete explosion (Step S650). If the engine22has reached its complete explosion, the fuel injection start flag Ffire and the engine start flag Fes are set to a value of 0 respectively (Step S760), and then, the present routine is terminated. When the engine22is started in this manner, the hybrid ECU70starts executing a drive and control routine for driving the hybrid vehicle20with an operation of the engine22.

As described above, according to the hybrid vehicle20of the present embodiment, the drive source element connection, which is a connection between the sun gear41of the power distribution and integration mechanism40and the first motor shaft46by the clutch C0, is released. In this state, the engine22is stopped, and the transmission60is used to couple both the motors MG1and MG2to the drive shaft67. By doing so, in the 2-motor drive mode, the engine22can be prevented from corotating, and power from at least one of the motors MG1and MG2can be transmitted to the drive shaft67at a predetermined fixed speed ratio. This state allows a larger power to be outputted to the drive shaft67in comparison with the state in which only one of the motors MG1and MG2outputs power. Then, the 2-motor drive time drive control routine ofFIG. 12is executed. At this time, power from at least one of the motors MG1and MG2is transmitted to the drive shaft67at a predetermined fixed speed ratio. Then, if a determination is made in Step S120ofFIG. 12that an engine start condition is established, control is made so as to output the power based on the torque demand Tr* to the drive shaft67, and at the same time, in a state in which the drive source element connection by the clutch C0is released, control is made so as to output the power based on the torque demand Tr* to the drive shaft67. Then, the torque transfer routine (FIG. 13) is executed as a power transfer process of transferring power from one of the motors MG1and MG2to the other motor. Then, in order to release the coupling between the first motor shaft46or the carrier shaft45aand one of the first to fourth speed gear trains which does not correspond to the target speed ratio γ* by the clutch C1or C2of the transmission60, the actuator88is drive-and-controlled to release the coupling between one of the motors MG1and MG2and the drive shaft67by the transmission60(Step S310ofFIG. 13). Further, the motor synchronization control routine (FIG. 14) is executed as a rotation speed adjustment process of adjusting the rotation speed of one of the motors MG1and MG2which is released from the coupling to the drive shaft67so as to enable the above drive source element connection while power based on the torque demand Tr* can be outputted to the drive shaft67. Then, the drive source element connection can be executed by engaging the clutch C0(Step S560ofFIG. 14). Then, in such a state of drive source element connection, the engine start time drive control routine ofFIG. 16is executed. Then, power based on the torque demand Tr* can be outputted to the drive shaft67, and in this state, the engine22can be started by causing one of the motors MG1and MG2to crank the engine22. As a result, according to the hybrid vehicle20, in a state in which drive source element connection is released, the engine22is stopped, and power from at least one of the motors MG1and MG2is being transmitted to the drive shaft67by the transmission60at a predetermined fixed speed ratio; and, in this state, if an engine start condition is established, the engine22can be started by more properly outputting power based on the torque demand Tr* to the drive shaft67. Therefore, the hybrid vehicle20can well improve fuel consumption and drive performance by appropriately switching between the 2-motor drive mode in which power from at least one of the motors MG1and MG2is transmitted to the drive shaft67at a predetermined fixed speed ratio and a mode in which power is outputted to the drive shaft67with an operation of the engine22.

Moreover, the torque transfer routine ofFIG. 13as a power transfer process is a process of setting the torque commands Tm1* and Tm2* to the motors MG1and MG2so as to output power based on the torque demand Tr* to the drive shaft67every predetermined time based on the current output torques Tm1n and Tm2n of the motors MG1and MG2, the torque demand Tr*, and the target speed ratio γ*, as well as to complete the power transfer within the torque transfer time ts. Thereby, according to the hybrid vehicle20, even if the torque demand Tr* is changed during the execution of the torque transfer routine, power can be transferred between the motors MG1and MG2while the power based on the set torque demand Tr* is more reliably outputted to the drive shaft67. It should be noted that the torque transfer routine may be a process of decreasing power from one of the motors MG1and MG2and increasing power from the other one of the motors MG1and MG2so that the power outputted from one of the motors MG1and MG2becomes a value of 0 at the time when torque transfer time is has elapsed since its start, as well as the power outputted from the other one of the motors MG1and MG2becomes a value based on the torque demand Tr* and the target speed ratio γ* (the speed ratio of the transmission60after the coupling between the motor MG1or MG2and the drive shaft67is released in step S310ofFIG. 13, namely, when the engine22is started). Therefore, the hybrid vehicle20may be configured to execute the torque transfer routine illustrated inFIG. 17instead of the torque transfer routine ofFIG. 13.

When the torque transfer routine ofFIG. 17is executed, first, the data input process (Step S205) and the torque demand Tr* setting process (Step S215) are executed in the same manner as in Steps S200and S210ofFIG. 13respectively. Further, in the same manner as in Steps S250, S260, S270, and S280ofFIG. 13, execution is performed to determine the target speed ratio γ* (Step S225), to set the tentative target torques Tm1tag and Tm2tag (Step S235or S245), and to set the current output torques Tm1n and Tm2n (Step S255). After the process of Step S255, the timer is turned on (Step S265). Afterward, until the time t measured by the timer is equal to or greater than the torque transfer time ts in Step S295, execution is repeatedly performed to set the torque commands Tm1* and Tm2* (Step S275) based on the tentative target torques Tm1tag and Tm2tag, the current output torques Tm1n and Tm2n, and the like at the time when the present routine started, which were set in Steps S235to S255, and to send the torque commands Tm1* and Tm2* (Step S285). Then, the actuator88is drive-and-controlled so as to release the coupling between the first motor shaft46or the carrier shaft45aand one of the first to fourth speed gear trains which does not correspond to the target speed ratio γ* at the time when the torque transfer time ts has elapsed since the present routine Started, and the flags Fx and Ftt are set to a value of 0 respectively (Step S305). Further, the motor synchronization flag Fms is set to a value of 1 (Step S315), and the present routine is terminated. As described above, the torque transfer routine as a power transfer process may be a process of setting the torque commands to the motors MG1and MG2so as to complete the power transfer within the torque transfer time ts based on the current output torques Tm1n and Tm2n of the motors MG1and MG2at the time of its start, the torque demand Tr*, and the target speed ratio γ*. This can suppress the fluctuation of the power outputted to the drive shaft67due to a difference in response to the torque command between the motor MG1and the motor MG2and can transfer the power between the motor MG1and the motor MG2.

Further, the transmission60of the present embodiment is a parallel shaft-type transmission including a first transmission mechanism having the first speed gear train and the third speed gear train, which is a parallel shaft-type gear train capable of coupling the carrier45which is a first element of the power distribution and integration mechanism40, to the drive shaft67; and a second transmission mechanism having the second speed gear train and the fourth speed gear train, which is a parallel shaft-type gear train capable of coupling the first motor shaft46of the motor MG1to the drive shaft67. Therefore, such a transmission60can selectively couple one of or both of the first motor shaft46of the motor MG1and the carrier45(carrier shaft45a) to the drive shaft67. It should be noted that the hybrid vehicle20of the present embodiment may adopt a planetary gear transmission in stead of the parallel shaft-type transmission60.

FIG. 18is a schematic configuration view showing a planetary gear transmission100which can be applied to the hybrid vehicle20of the present embodiment. The transmission100shown in the same Figure can also set the speed ratio (speed state) at a plurality of stages; and includes a first transmission planetary gear mechanism110capable of coupling the carrier45(carrier shaft45a) which is a first element of the power distribution and integration mechanism40to the drive shaft67; a second transmission planetary gear mechanism120capable of coupling the first motor shaft46of the motor MG1to the drive shaft67; a brake B1(first fixing mechanism) provided in the first transmission planetary gear mechanism110; a brake B2(second fixing mechanism) provided in the second transmission planetary gear mechanism120; a brake B3(third fixing mechanism); the clutch C1(transmission connection/disconnection device), and the like. The first transmission planetary gear mechanism110and the brake B1constitute the first transmission mechanism of the transmission100; and the second transmission planetary gear mechanism120and the brake B2constitute the second transmission mechanism of the transmission100. As shown inFIG. 18, the first transmission planetary gear mechanism110is a single pinion planetary gear mechanism including a sun gear111connected to the carrier shaft45a; a ring gear112which is an internal gear arranged concentrically with this sun gear111; a carrier114having a plurality of pinion gears113which are meshed with both the sun gear111and the ring gear112, as well as being connected to the drive shaft67; and is configured such that the sun gear111(input element), the ring, gear112(fixable element), and the carrier114(output element) can be differentially rotated with respect to each other. In addition, the second transmission planetary gear mechanism120is a single pinion planetary gear mechanism including a sun gear121connected to the first motor shaft46; a ring gear122which is an internal gear arranged concentrically with this sun gear121; and a carrier114common to the first, transmission planetary gear mechanism110having a plurality of pinion gears123which are meshed with both the sun gear121and the ring gear122; and is configured such that the sun gear121(input element), the ring gear122(fixable element), and the carrier114(output element) are differentially rotated with respect to each other. In the example ofFIG. 18, the second transmission planetary gear mechanism120is arranged in parallel so as to be located coaxially and forward in the vehicle with respect to the first transmission planetary gear mechanism110, and the gear ratio p2(the number of teeth of the sun gear121/the number of teeth of the ring gear122) of the second transmission planetary gear mechanism120is set so as to be a little larger than the gear ratio (the number of teeth of the sun gear111/the number of teeth of the ring gear112) ρ1of the first transmission planetary gear mechanism110.

The brake B1can non-rotatably fix the ring gear112of tae first transmission planetary gear mechanism110with respect to the transmission case and can release the ring gear112so as to be rotatable, and can be driven by the above described electric, electromagnetic, or hydraulic actuator88. In addition, the brake B2can non-rotatably fix the ring gear122of the second transmission planetary gear mechanism120with respect to the transmission case and can release the ring gear122so as to be rotatable; and can be driven by the actuator88in the same manner as for the brake B1. Further, the brake B3can non-rotatably fix the first motor shaft46, namely, the sun gear41which is a second element of the power distribution and integration mechanism40through the stator130fixed to the first motor shaft46with respect to the transmission case; can release the stator130to cause the first motor shaft46to be rotatable; and can be driven by the actuator88in the same manner as for the brakes B1and B2. In addition, the clutch C1can perform a connection and a disconnection between the carrier114which is an output element of first transmission planetary gear mechanism110and the ring gear112which is a fixable element; and can be driven by the actuator88in the same manner as for the brakes B1to B3. The clutch C1can be configured as, for example, a dog clutch which can mesh a dog fixed to the carrier114with a dog fixed to the ring gear112with less loss and can release the mesh therebetween. Then, power transmitted from the carrier114of the transmission100to the drive shaft67is finally outputted to the rear wheels69aand69bas the drive wheels through the differential gear68. The transmission100configured as described above can reduce the axial and radial sizes, for example, in comparison with the parallel shaft-type transmission. Moreover, the first transmission planetary gear mechanism110and the second transmission planetary gear mechanism120can be located at a downstream side of and coaxially with the engine22, the motors MG1and MG2, and the power distribution and integration mechanism40. Therefore, the use of the transmission100can simplify the shaft bearing and can reduce the number of shaft bearings.

Moreover, the transmission100can set the speed ratio at a plurality of stages as described below. That is, when the brake B1is used to non-rotatably fix the ring gear112of the first transmission planetary gear mechanism110with respect to the transmission case, power from the carrier shaft45acan be changed in speed at a speed ratio (ρ1/(1+ρ1)) based on the gear ratio ρ1of the first transmission planetary gear mechanism110and can be transmitted to the drive shaft67(hereinafter, the state is referred to as a “first speed state (1st speed)”). Moreover, when the brake B2is used to non-rotatably fix the ring gear122of the second transmission planetary gear mechanism120with respect to the transmission case, power from the first motor shaft46can be changed in speed at a speed ratio (ρ2/(1+ρ2)) based on the gear ratio ρ2of the second transmission planetary gear mechanism120and can be transmitted to the drive shaft67(hereinafter, the state is referred to as a “second speed state (2nd speed)”). Further, when the clutch C1is used to connect the carrier114and the ring gear112of the first transmission planetary gear mechanism110, the sun gear111, the ring gear112, and the carrier114constituting the first transmission planetary gear mechanism110are substantially locked to rotate integrally, and thus, power from the carrier shaft45acan be transmitted to the drive shaft67at a speed ratio of 1 (hereinafter, the state is referred to as a “third speed state (3rd speed)”).

In addition, according to the transmission100, the brake B1fixes the ring gear112, and the first transmission planetary gear mechanism110(first transmission mechanism) couples the carrier45of the power distribution and integration mechanism40to the drive shaft67; in such a first speed state, when the ring gear122is fixed by the brake B2constituting the second transmission mechanism, the first motor shaft46is also coupled to the drive shaft67by the second transmission planetary gear mechanism120(second transmission mechanism). Therefore, power from the engine22or power from at least one of the motors MG1and MG2can be mechanically (directly) transmitted to the drive shaft67at a fixed speed ratio (the state is referred to as a “1st-2nd speed simultaneous engagement state”). Moreover, in the second speed state in which the ring gear122of the second transmission planetary gear mechanism120, which does not correspond to the clutch C1which is a transmission connection/disconnection device is non-rotatably fixed, the clutch C1is used to connect the carrier114which is an output element of the first transmission planetary gear mechanism110which corresponds to the clutch C1and the ring gear112which is a fixable element thereof. Even by doing so, both the first motor shaft46and the carrier45can be coupled to the drive shaft67. Then, power from the engine22or power from at least one of the motors MG1and MG2can be mechanically (directly) transmitted to the drive shaft67at a fixed speed ratio different from the above 1st-2nd speed simultaneous engagement state (the state is referred to as a “2nd-3rd speed simultaneous engagement state”). Further, in the third speed state in which the clutch C1is used to connect the carrier114and the ring gear112of the first transmission planetary gear mechanism110, when the brake B3is used to non-rotatably fix the first motor shaft46namely, the sun gear41which is a second element of the power distribution and integration mechanism40with respect to the transmission case through the stator130fixed to the first motor shaft46, the power from the engine22and the motor MG2can be mechanically (directly) transmitted to the drive shaft67at a fixed speed ratio different from that of the above 1st-2nd speed simultaneous engagement state and the 2nd-3rd speed simultaneous engagement state (the state is referred to as a “3rd speed fixed state”). In addition, in the first speed state in which the brake B1fixes the ring gear112and the first transmission planetary gear mechanism110couples the carrier45of the power distribution and integration mechanism40to the drive shaft67, when the brake B3is used to non-rotatably fix the first motor shaft46, namely, the sun gear41which is a second element of the power distribution and integration mechanism40with respect to the transmission case through the stator130fixed to the first motor shaft46, the power from the engine22and the motor MG2can be mechanically (directly) transmitted to the drive shaft67at a fixed speed ratio different from that of the above 1st-2nd speed simultaneous engagement state, the 2nd-3rd speed simultaneous engagement state and 3rd speed fixed state (the state is referred to as a “1st speed fixed state”). As described above, the use of the planetary gear transmission100can provide advantages similar to the use of the parallel shaft-type transmission60.

FIG. 19is a schematic configuration view of the hybrid vehicle20A of a variation of the present embodiment. While the above described hybrid vehicle20is configured as a rear-wheel-drive vehicle, the hybrid vehicle20A which is a variation thereof is configured as a front-wheel-drive vehicle. As shown inFIG. 19, the hybrid vehicle20A has a power distribution and integration mechanism10which is a single pinion planetary gear mechanism including the sun gear11; the ring gear12arranged concentrically with the sun gear11; and the carrier14having plurality of pinion gears13which are meshed with the sun gear11and the ring gear12. In this case, the engine22is arranged transversely, and the crankshaft26of the engine22is connected to the carrier14which is a third element of the power distribution and integration mechanism10. Moreover, the hollow ring gear shaft12ais connected to the ring gear12which is a first element of the power distribution and integration mechanism10, and the motor MG2is connected to the ring gear shaft12athrough the reduction gear mechanism50A which is a parallel shaft-type gear train and the second motor shaft55which extends in parallel to the first motor shaft46. Moreover, the clutch C1can be used to selectively fix one of the first speed gear train (gear61a) and the third speed gear train (gear63a) which constitute the first transmission mechanism of the transmission60to the ring gear shaft12a. Further, the sun gear shaft11ais connected to the sun gear11which is a second element of the power distribution and integration mechanism10, the sun gear shaft11ais connected to the clutch C0through the hollow ring gear shaft12a, and can be connected to the first motor shaft46, namely, the motor MG1by the clutch C0. Then, the clutch C2can be used to selectively fix one of the second speed gear train (gear62a) and the forth speed gear train (gear64a) which constitute the second transmission mechanism of the transmission60to the first motor shaft46. As described above, the hybrid vehicle in accordance with the present invention may be configured as a front-wheel-drive vehicle.

Hereinbefore, the embodiments of the present invention have been described with reference to drawings, but the present invention is not limited to the above embodiments. It will be apparent that various modifications can be made to the present invention without departing from the spirit and scope of the present invention.

That is, according to the above embodiments, the clutch C0is provided between the sun gear41which is a second element of the power distribution and integration mechanism40and the motor MG1as a second motor and is configured to perform a connection and a disconnection therebetween, but the clutch C0may be provided between the carrier45which is a first element of the power distribution and integration mechanism40and the motor MG2as a first motor and may be configured to perform a connection and a disconnection therebetween. Alternatively, the clutch C0may be provided between the ring gear42which is a third element of the power distribution and integration mechanism40and the crankshaft26of the engine22and may be configured to perform a connection and a disconnection therebetween. Moreover, the power distribution and integration mechanism provided in the above hybrid vehicle20may be a planetary gear mechanism including a first sun gear and a second sun gear having a mutually different number of teeth; and a carrier having at least one stepped gear configured by coupling a first pinion gear meshed with the first sun gear and a second pinion gear meshed with the second sun gear. Further the power distribution and integration mechanism provided in the hybrid vehicle20may be a single pinion planetary gear mechanism including a sun gear, a ring gear, and a carrier having at least one pinion gear meshed with both the sun gear and the ring gear. In addition, the above hybrid vehicles20and20A may be configured as a rear-wheel-drive based or front-wheel-drive based four-wheel-drive vehicle. In addition, in the above embodiments, the power output apparatus has been described as being mounted on the hybrid vehicles20and20A, but the power output apparatus in accordance with the present invention may be mounted on a vehicle other than a car, and a mobile body such as vessel and aircraft, and may also be installed in fixed equipment such as construction equipment.

INDUSTRIAL APPLICABILITY

The present invention can be used in a manufacturing industry of a power output apparatus, a hybrid vehicle and the like.