公开(公告)号：JP2006182168A

公开(公告)日：2006-07-13

申请号：JP2004377381

申请日：2004-12-27

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： UECHI KENSUKE ,  KAMIOKA KIYOSHIRO ,  YAMAMOTO MASAYA ,  OKASAKA KAZUOMI

IPC: B60K6/445 ,  B60K6/448 ,  B60K6/52 ,  B60K6/547 ,  B60L11/14 ,  B60W10/02 ,  B60W10/04 ,  B60W10/06 ,  B60W10/08 ,  B60W10/10 ,  B60W20/00

CPC classification number: Y02T10/6239 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/7077

Abstract: PROBLEM TO BE SOLVED: To prevent a vehicle from rapidly decelerating when any abnormality is generated in a motor MG2.
SOLUTION: When any abnormality may be generated in a motor MG2 since the revolution Nm2 of the motor MG2 is increased due to the abnormality of the clutch of a change gear 60, the connection of a rotary shaft 48 of the motor MG2 to a link gear shaft 32a connected to driving wheels 39a and 39b is released by turning off the clutch of the change gear 60. Thus, it is possible to prevent a vehicle from rapidly decelerating when any abnormality is generated in the motor MG2. Also, it is possible to output a power from an engine 22 to the link gear shaft 32a even when any abnormality is generated in the motor MG2.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：为了防止在电动机MG2中产生任何异常时车辆快速减速。 解决方案：由于马达MG2的转数Nm2由于变速齿轮60的离合器的异常而增加，所以马达MG2中可能产生异常，马达MG2的转轴48与 通过关闭变速齿轮60的离合器来解除连接到驱动轮39a和39b的连杆齿轮轴32a。因此，当在电动机MG2中产生异常时，可以防止车辆快速减速。 此外，即使在马达MG2中产生任何异常，也可以将发动机22的动力输出到连杆齿轮轴32a。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2006115586A

公开(公告)日：2006-04-27

申请号：JP2004299118

申请日：2004-10-13

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO MASAYA

IPC: B60L11/14 ,  B60K6/445 ,  B60K6/448 ,  B60K6/52 ,  B60K6/54 ,  B60K17/04 ,  B60W10/06 ,  B60W10/08 ,  B60W20/00 ,  F16H48/10

CPC classification number: Y02T10/6239 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/7077

Abstract: PROBLEM TO BE SOLVED: To more appropriately restrain a motor from being driven over its upper limit revolution during speed change of a transmission.
SOLUTION: In an automobile where an engine, a generator, and a drive shaft are connected to each rotating element of a planetary gear mechanism and also a motor is connected to the drive shaft via the transmission, a torque limit value Trmax is set (S150-S170), based on the number of revolutions Nset on the smaller side between the estimated number Nm2est of revolutions computed from the car velocity V and the gear ratio Gr of the transmission and the number Nm2 of revolutions of the motor, during speed change of the transmission, and the requested torque Tr* requested for the drive shaft is limited (S180) by the torque upper limit value Trmax thereby controlling the engine, the generator, and the motor. Hereby, it can restrain the motor from being driven over its upper limit value, and also it can restrain excessive drive control from being performed when the revolution of the motor is beginning to drop though the car velocity V is going up such as at the time of changing the transmission from Lo gear to Hi gear when it is descending a slope.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：为了在变速器变速期间更适当地抑制电动机在其上限转速下的驱动。 解决方案：在发动机，发电机和驱动轴连接到行星齿轮机构的每个旋转元件的汽车中，并且电动机经由变速器连接到驱动轴，转矩极限值Trmax为 （S150-S170），基于从轿厢速度V计算的估计转速Nm2转数与变速器齿轮比Gr之间的较小侧的转数Nset和电动机的转数Nm2 通过转矩上限值Trmax限制传动轴所需要求的转矩Tr *（S180），从而控制发动机，发电机和电动机。 由此，能够将电动机驱动超过其上限值，并且当电动机的转速例如在时间上升时马达的转动开始下降时，也可以抑制过大的驱动控制 当斜坡下降时，将变速箱从Lo档改为Hi档。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2006109671A

公开(公告)日：2006-04-20

申请号：JP2004296062

申请日：2004-10-08

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO MASAYA

IPC: B60L11/14 ,  B60K6/28 ,  B60K6/445 ,  B60K6/448 ,  B60K6/52 ,  B60K17/04 ,  B60W10/06 ,  B60W10/08 ,  B60W10/10 ,  B60W20/00 ,  F02D29/00 ,  F02D29/02 ,  F02D41/04 ,  F16H48/10

CPC classification number: Y02T10/6239 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/7077

Abstract: PROBLEM TO BE SOLVED: To restrain an electric motor from being driven in excess of an upper limit rotational speed without impairing driving feeling. SOLUTION: In an automobile in which an engine, a generator, and a driving shaft are connected to each rotating element of a planetary gear mechanism, and the electric motor is connected to the driving shaft through a transmission, if the transmission cannot be switched to an Hi gear from an Lo gear (the Lo gear fixed), a hysteresis is provided to a vehicle speed V on the decrease side of the vehicle speed V and an automobile speed Vhis is set after the hysteresis processing without providing the hysteresis on the increase side of the automobile speed V (S140 to S180). After the hysteresis processing, a request torque Tr* of the driving shaft is limited by a torque upper limit value Trmax on the basis of the automobile speed Vhis to control the engine, the generator and the electric motor. Thereby, the torque upper limit value Trmax is not frequently changed against a slight change on the decrease side of the automobile speed Vto, thus restraining the electric motor from being driven in excess of the upper limit rotational speed without impairing the driving feeling. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：限制电动机超过上限转速而不损害驾驶感觉。 解决方案：在其中发动机，发电机和驱动轴连接到行星齿轮机构的每个旋转元件的汽车中，并且电动机通过变速器连接到驱动轴，如果变速器不能 从Lo齿轮（Lo齿轮固定）切换到Hi齿轮，在车速V的减少侧向车速V提供滞后，并且在迟滞处理之后设置汽车速度Vhis，而不提供滞后 在汽车速度V的增加侧（S140〜S180）。 在滞后处理之后，驱动轴的请求扭矩Tr *基于汽车速度Vhi由转矩上限值Trmax限制，以控制发动机，发电机和电动机。 因此，扭矩上限值Trmax不会随着汽车速度Vto的减小侧的轻微变化而频繁地变化，从而抑制电动机超过上限转速而不损害驾驶感觉。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2006050811A

公开(公告)日：2006-02-16

申请号：JP2004229481

申请日：2004-08-05

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO MASAYA

IPC: B60L9/18

CPC classification number: B60W30/18063 ,  B60W10/08 ,  B60W2520/10 ,  B60W2540/12

Abstract: PROBLEM TO BE SOLVED: To improve the operability of an electric vehicle and to reduce power consumption by performing creep-cut when depressing a brake pedal appropriately according to the situation of a vehicle. SOLUTION: When creep torque is generated, a creep torque command value is set primarily according to a vehicle speed (a step S100). When the brake pedal is being depressed, the upper-limit value of the torque corresponding to the amount of depressing of a brake is set (steps S140, S145). The smaller value between the primary creep torque command value and the upper-limit value of torque is set as a final creep torque command value (step S150). The setting of the upper-limit value of torque is changed according to the situation of a vehicle including a change in the vehicle speed, and a change in the amount of depressing of a brake (step S130). Especially, when it is estimated that a driver intends to reduce speed from the vehicle situation, the final creep torque command value is set smaller than the primarily set one. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：为了提高电动车辆的操作性，通过根据车辆的情况适当地踩下制动踏板，通过进行蠕动切断来降低功耗。 解决方案：当产生蠕变转矩时，主要根据车速设定蠕变转矩指令值（步骤S100）。 当制动踏板被压下时，设定与制动器的下压量对应的转矩的上限值（步骤S140，S145）。 主蠕变转矩指令值与转矩上限值之间的较小值被设定为最终的蠕变转矩指令值（步骤S150）。 根据包括车速的变化和制动器的下压量的变化的车辆的情况，改变转矩的上限值的设定（步骤S130）。 特别地，当估计驾驶员意图从车辆状况中减速时，最终的蠕变扭矩指令值被设定为小于主要设定值。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005344882A

公开(公告)日：2005-12-15

申请号：JP2004167423

申请日：2004-06-04

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMANAKA AKIHIRO ,  UECHI KENSUKE ,  KAMIOKA KIYOSHIRO ,  YAMAMOTO MASAYA ,  OKASAKA KAZUOMI ,  KAYUKAWA ATSUSHI ,  TAJIMA YOICHI ,  KOMURA KAZUO

IPC: B60K6/365 ,  B60K6/445 ,  B60K6/547 ,  B60K17/04 ,  B60L11/14 ,  B60W10/08 ,  B60W10/10 ,  B60W10/30 ,  B60W20/00 ,  F16H3/66 ,  F16H3/72 ,  F16H61/06 ,  F16H61/12 ,  B60K6/04

CPC classification number: Y02T10/7077

Abstract: PROBLEM TO BE SOLVED: To avoid shifting shock during malfunction while quickly changing over a shift stage. SOLUTION: This automobile has a motor connected to a drive shaft via a transmission. Herein, in preparation for down-shift of the transmission with the engagement of a brake B2, a line hydraulic pressure PL is put into the condition of high pressure Phi by using a three-way solenoid 106 for adjusting a pressure control valve 108 to be opened/closed and then first fill for filling oil in a pack is executed by using a linear solenoid 111 for adjusting a control valve 113 to be opened/closed, and the line hydraulic pressure PL is changed over from the condition of the high pressure Phi to the condition of low pressure Plo after finishing the first fill for the engagement of the brake B2. Thus, the preparation of the engagement of the brake B2 is quickly executed and the shifting shock is avoided because the brake B2 does not suddenly engage even when the line hydraulic pressure BL is operated directly on the brake B2 with the malfunction of the linear solenoid 111 or others. COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：为了避免发生故障时的冲击，同时在换档阶段快速切换。

解决方案：该汽车具有通过变速器连接到驱动轴的电动机。 这里，为了准备通过制动器B2的接合来进行变速器的下降，通过使用用于调节压力控制阀108的三通螺线管106将管路液压PL置于高压力Phi的状态 打开/关闭，然后通过使用用于调节控制阀113打开/关闭的线性螺线管111来执行填充包装中的油的首先填充，并且将线路液压PL从高压Phi 在完成第一次填充以制动器B2的接合之后到低压Plo的状态。 因此，即使线性液压BL直接在制动器B2上操作，线性螺线管111的故障也能够快速地执行制动器B2的接合的准备，并且避免了制动器B2不会突然接合的换档冲击 或其他。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005344825A

公开(公告)日：2005-12-15

申请号：JP2004164922

申请日：2004-06-02

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMANAKA AKIHIRO ,  UECHI KENSUKE ,  KAMIOKA KIYOSHIRO ,  YAMAMOTO MASAYA ,  OKASAKA KAZUOMI ,  TAJIMA YOICHI ,  KAYUKAWA ATSUSHI ,  KOMURA KAZUO

IPC: B60L11/14 ,  F16H59/38 ,  F16H59/68 ,  F16H61/12 ,  F16H61/68 ,  F16H61/684 ,  F16H61/686

CPC classification number: Y02T10/7077

Abstract: PROBLEM TO BE SOLVED: To provide a state detecting device for a transmission, preventing an error in detecting the state of the transmission.
SOLUTION: In a running gear for outputting power from a motor via the transmission to a driving shaft, a rotating speed Nr (a thick solid line in Fig.) of the driving shaft detected by a sensor (for example, a MRE sensor) which has detecting responsiveness changed with the rotating speed of the driving shaft has a response delay from a change in an actual rotating speed Nr (a thin solid line in Fig.) of the driving shaft when the rotating speed of the driving shaft is changed, while a rotating speed Nm2 (a thin dotted line in Fig.) of a motor detected by a sensor (for example, a resolver) which has relatively high accuracy and high responsiveness is almost equal to the actual rotating speed of the motor even when the rotating speed of the motor is changed. At this time, a moderating constant which is set to correspond to a response delay time constant is used for applying moderating control to the rotating speed Nm2 of the motor to calculate a regulated rotating speed Nm2smo (a thick dotted line in Fig.) so that a gear ratio calculated by dividing it by the rotating speed Nr is used for determining the malfunction of the transmission.
COPYRIGHT: (C)2006,JPO&NCIPI

Abstract translation: 要解决的问题：为了提供用于传输的状态检测装置，防止检测传输状态的错误。 解决方案：在用于通过变速器将电力输出到驱动轴的运行装置中，由传感器（例如，MRE）检测到的驱动轴的转速Nr（图中的粗实线） 检测响应性随着驱动轴的旋转速度而变化的传感器具有当驱动轴的旋转速度为驱动轴的实际转速Nr（图中的细小实线）的变化的响应延迟 而由具有相对高的精度和高响应性的传感器（例如，旋转变压器）检测到的电动机的转速Nm2（图中的细虚线）几乎等于电动机的实际转速甚至 当电机的转速变化时。 此时，使用与响应延迟时间常数相对应的调节常数来对电机的转速Nm2进行调节控制，以计算调节转速Nm2smo（图中的粗虚线），使得 通过将其除以转速Nr而计算的齿轮比用于确定变速器的故障。 版权所有（C）2006，JPO＆NCIPI

公开(公告)号：JP2005248714A

公开(公告)日：2005-09-15

申请号：JP2004056114

申请日：2004-03-01

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAMOTO MASAYA ,  YAMANAKA AKIHIRO

IPC: B60W20/00 ,  B60K6/445 ,  B60K6/448 ,  B60K6/52 ,  B60L11/14 ,  B60W10/06 ,  B60W10/08 ,  F02D29/02 ,  F02D29/06 ,  B60K6/04

CPC classification number: Y02T10/6286 ,  Y02T10/7077

Abstract: PROBLEM TO BE SOLVED: To provide a power output device which prevents overcharging of a battery. SOLUTION: In a hybrid car in which a carrier, a sun gear and a ring gear of a planetary gearing mechanism are connected to an engine, a first motor and a driving shaft respectively and a second motor is connected to the driving shaft, when required torque to be outputted to the driving shaft is suddenly reduced (when a value of a throttle opening annealing prohibition flag Fth is 1), fuel injection control and ignition control are carried out (S210) while target throttle opening TH* is set on the basis of target torque of the engine set from the required torque (S202) and the throttle control is executed as it is without being subjected to annealing treatment for purification of exhaust or the like with respect to the target throttle opening TH* (S208). By so doing, engine output is swiftly reduced to suppress the generation power of the first motor for receiving reaction force of the engine torque. As a result, overcharging of a battery can be prevented while corresponding to the required torque of the driving shaft which is abruptly reduced by the second motor. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供一种防止电池过充电的电力输出装置。 解决方案：在其中载体，太阳齿轮和行星齿轮传动机构的齿圈连接到发动机的混合动力车中，第一马达和驱动轴分别连接到驱动轴 当要求输出到驱动轴的扭矩突然减小（当节气门开启退火禁止标志Fth的值为1时），进行燃料喷射控制和点火控制（S210），同时设定目标节气门开度TH * 基于从所需转矩设定的发动机的目标转矩（S202），并且执行节气门控制而不进行相对于目标节气门开度TH *的排气等的净化的退火处理（S208 ）。 通过这样做，发动机输出迅速降低以抑制用于接收发动机扭矩的反作用力的第一马达的发电功率。 结果，可以防止电池的过充电，同时对应于由第二电动机突然减小的驱动轴的所需扭矩。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2014231344A

公开(公告)日：2014-12-11

申请号：JP2013114223

申请日：2013-05-30

Applicant: トヨタ自動車株式会社 ,  Toyota Motor Corp ,  アイシン・エィ・ダブリュ株式会社 ,  Aisin Aw Co Ltd

Inventor： KATO HARUYA ,  KIMURA AKIHIRO ,  YAMAMOTO MASAYA ,  FURUTA HIDEKI

IPC: B60T8/17 ,  B60K6/445 ,  B60K6/547 ,  B60L7/10 ,  B60L7/24 ,  B60L15/20 ,  B60W10/00 ,  B60W10/06 ,  B60W10/08 ,  B60W10/11 ,  B60W10/18 ,  B60W20/00

CPC classification number: Y02T10/6239 ,  Y02T10/6286 ,  Y02T10/7275

Abstract: 【課題】回生制動および摩擦制動を実行可能な車両において、自動変速機の変速動作を考慮して適切な制動を実現する。【解決手段】回生制御部1002は、車両1の要求制動トルクBrqに応じて、第2MG400の回生制動トルクTmを制御する。変速制御部1001は、変速比を変更するための変速制御を実行し、変速制御の実行中に、駆動軸560に作用する変速機出力制動トルクTpの変動を抑制するように回生制動トルクTmを補正する。ブレーキ制御部1003は、摩擦ブレーキ800の摩擦制動トルクTbkを制御する。ブレーキ制御部1003は、変速制御の非実行中には、回生制動トルクTmに基づいて摩擦制動トルクTbkを決定し、変速制御の実行中には、変速機出力制動トルクTpに基づいて摩擦制動トルクTbkを決定する。【選択図】図1

Abstract translation: 要解决的问题：在能够执行再生制动和摩擦制动的车辆中考虑自动变速器的换档操作时执行适当的制动。解决方案：再生控制部1002根据第二MG 400的再生制动转矩Tm 变速控制部1001执行变速比变化的变速控制，在变速控制的执行期间，校正再生制动转矩Tm，以抑制作用于变速器的变速器输出制动转矩Tp的波动 制动控制部1003控制摩擦制动器800的摩擦制动转矩Tbk。制动控制部1003在不执行变速控制的同时，基于再生制动转矩Tm来确定摩擦制动转矩Tbk， 变速控制的执行基于变速器输出b确定摩擦制动转矩Tbk 耙力Tp。

公开(公告)号：JP2014184804A

公开(公告)日：2014-10-02

申请号：JP2013060297

申请日：2013-03-22

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社 ,  Aisin Aw Co Ltd ,  アイシン・エィ・ダブリュ株式会社

Inventor： KATO HARUYA ,  MATSUBARA TORU ,  KIMURA AKIHIRO ,  YAMAMOTO MASAYA ,  FURUTA HIDEKI ,  SUYAMA DAISUKE ,  MORI YUMA

IPC: B60W10/10 ,  B60K6/445 ,  B60K6/547 ,  B60W10/02 ,  B60W20/00 ,  F16H61/04 ,  F16H63/50

CPC classification number: B60W10/105 ,  B60K6/445 ,  B60K6/547 ,  B60K2741/02 ,  B60W10/02 ,  B60W10/04 ,  B60W10/08 ,  B60W10/115 ,  B60W20/00 ,  B60W30/19 ,  B60W2510/083 ,  B60Y2300/74 ,  F16H2061/0462 ,  F16H2061/6602 ,  F16H2342/044 ,  Y02T10/6239 ,  Y10T477/23 ,  Y10T477/26

Abstract: PROBLEM TO BE SOLVED: To provide a control unit of an engagement device for hybrid vehicles that brings about neither impairment of durability of the engagement device nor occurrence of an engagement shock even when a maximum torque state of a first rotator and/or second rotator is affected by gear change of a stepped transmission.SOLUTION: When at least one of a first electric motor M1 and a second electric motor M2 is run with a predefined maximum torque of a positive or negative side, if an engagement device to be involved in clutch-to-clutch gear change of an automatic transmission 20 is slipperily activated, the slippery state of the engagement device is controlled by changing a torque capacity of the engagement device. Therefore, the slippery state of the engagement device can be approached to a predefined target slippery state (target input shaft number-of-rotations change rate dωm2/dt(rad/sec2)). Accordingly, impairment of durability of the engagement device or occurrence of an engagement shock of the engagement device, that is, a gear change shock of a vehicle can be preferably suppressed.

Abstract translation: 要解决的问题：为了提供一种用于混合动力车辆的接合装置的控制单元，即使当第一旋转器和/或第二旋转器的最大扭矩状态是第二旋转器和/或第二旋转器时，也不会导致接合装置的耐久性的损害或者发生接合冲击 受到阶梯式变速器的变速的影响。解决方案：当第一电动机M1和第二电动机M2中的至少一个以预定的正或负侧的最大扭矩运行时，如果涉及离合器的接合装置 自动变速器20的离合器变速器滑动地启动，通过改变接合装置的转矩容量来控制接合装置的滑动状态。 因此，接合装置的滑动状态可以接近预定的目标滑动状态（目标输入轴转速变化率dωm2/ dt（rad / sec2））。 因此，可以优选地抑制接合装置的耐久性的损害或接合装置的接合冲击的发生，即车辆的变速冲击。

公开(公告)号：JP2014050130A

公开(公告)日：2014-03-17

申请号：JP2012188684

申请日：2012-08-29

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社 ,  Fuji Heavy Ind Ltd ,  富士重工業株式会社

Inventor： YAMAMOTO MASAYA ,  SETA ITARU

IPC: B60L7/24 ,  B60L15/20 ,  B60T8/17

CPC classification number: B60L7/18 ,  B60K6/445 ,  B60L7/26 ,  B60L11/123 ,  B60L11/126 ,  B60L11/14 ,  B60L2240/12 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2240/642 ,  B60L2270/145 ,  B60W10/08 ,  B60W10/184 ,  B60W10/188 ,  B60W20/14 ,  B60W30/18127 ,  B60W30/20 ,  B60W2710/083 ,  B60W2710/182 ,  B60Y2300/89 ,  Y02T10/6217 ,  Y02T10/6239 ,  Y02T10/642 ,  Y02T10/7077 ,  Y02T10/7258 ,  Y02T10/7291 ,  Y02T90/16

Abstract: PROBLEM TO BE SOLVED: To suppress shaking of an electric vehicle, and also suppress deterioration of fuel consumption thereof.SOLUTION: When it is not in regenerative cooperation conversion for converting a regenerative torque of a motor into braking force by a hydraulic brake, a damping control-on request is output when a motor speed variation ΔNm is a threshold value Nref or more (S140), and a damping control-off request is output when the motor speed variation ΔNm is less than the threshold value Nref (S150). Alternatively, when it is in regenerative cooperation conversion, the damping control-on request is output regardless as to whether the motor speed variation ΔNm is the threshold value Nref or more (S140). Thereby, shaking of a vehicle due to torque fluctuation of a drive shaft easily occurring in regenerative cooperation conversion can be suppressed, and also the shaking can be quickly reduced even if the shaking occurs. Also, deterioration of fuel consumption can be suppressed in comparison to the type that always performs the damping control.

Abstract translation: 要解决的问题：为了抑制电动车辆的晃动，并且还抑制燃料消耗的劣化。解决方案：当不是通过液压制动器将电动机的再生转矩转换为制动力的再生协作转换时，阻尼 当电动机速度变化＆Dgr; Nm是阈值Nref以上时输出控制接通请求（S140），并且当电动机速度变化＆amp; Nm小于阈值Nref时输出阻尼控制关闭请求（S140） S150）。 或者，当处于再生协作转换时，无论电动机速度变化＆Dgr; Nm是阈值Nref还是更多，输出阻尼控制 - 打开请求（S140）。 因此，可以抑制由于再生协作转换中容易发生的驱动轴的扭矩波动而引起的车辆的晃动，并且即使发生振动也可以迅速降低振动。 此外，与总是执行阻尼控制的类型相比，可以抑制燃料消耗的劣化。