Controller for hybrid vehicle

• US 6,018,694 A
• Filed: 03/27/1998
• Issued: 01/25/2000
• Est. Priority Date: 07/30/1996
• Status: Expired due to Term

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Fujita, Hiroshi, Tsuji, Hiroya, Obayashi, Kazuyoshi, Kurita, Toyoaki, Egami, Tsuneyuki, Seguchi, Masahiro, Kajiura, Hiroaki, Sawada, Takeshi, Banzai, Keiichiro
• Primary Examiner(s): Wolfe, Willis R.
• Assistant Examiner(s): Vo, Hieu T.
• Application Number:
  US09/049,114
• Time in Patent Office: 669 Days
• Field of Search: 701/102, 701/110, 701/114, 701/22, 701/24, 701/84, 180/65.1, 180/65.2, 180/65.4, 318/139, 318/148
• US Class Current: 701/102
• CPC Class Codes: B60K 1/02 comprising more than one electric motor
• CPC Class Codes: B60K 2006/262 the motor or generator are used as clutch, e.g. between engine and driveshaft
• CPC Class Codes: B60K 6/24 characterised by the combustion engines
• CPC Class Codes: B60K 6/26 characterised by the motors or the generators
• CPC Class Codes: B60K 6/405 Housings
• CPC Class Codes: B60K 6/442 Series-parallel switching type
• CPC Class Codes: B60K 6/448 Electrical distribution type
• CPC Class Codes: B60K 6/46 Series type
• CPC Class Codes: B60L 15/025 using field orientation; Vector control; Direct Torque Control [DTC]
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 2210/40 DC to AC converters
• CPC Class Codes: B60L 2220/52 Clutch motors
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/36 Temperature of vehicle components or parts
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/425 Temperature
• CPC Class Codes: B60L 2240/441 Speed
• CPC Class Codes: B60L 2240/443 Torque
• CPC Class Codes: B60L 2240/486 : Operating parameters
• CPC Class Codes: B60L 2240/545 : Temperature
• CPC Class Codes: B60L 2240/547 : Voltage
• CPC Class Codes: B60L 2240/549 : Current
• CPC Class Codes: B60L 2240/80 : Time limits
• CPC Class Codes: B60L 2250/26 : by pedal actuation
• CPC Class Codes: B60L 2260/26 : Transition between different drive modes
• CPC Class Codes: B60L 3/0023 : Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
• CPC Class Codes: B60L 3/0046 : relating to electric energy storage systems, e.g. batteries or capacitors
• CPC Class Codes: B60L 50/16 : with provision for separate direct mechanical propulsion
• CPC Class Codes: B60L 50/61 : by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
• CPC Class Codes: B60L 58/13 : Maintaining the SoC within a determined range
• CPC Class Codes: B60L 58/14 : Preventing excessive discharging
• CPC Class Codes: B60L 58/15 : Preventing overcharging
• CPC Class Codes: B60L 7/14 : for vehicles propelled by ac motors
• CPC Class Codes: B60W 10/06 : including control of combustion engines
• CPC Class Codes: B60W 10/08 : including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/18 : including control of braking systems
• CPC Class Codes: B60W 10/26 : for electrical energy, e.g. batteries or capacitors
• CPC Class Codes: B60W 10/30 : including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
• CPC Class Codes: B60W 20/00 : Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 2540/12 : Brake pedal position
• CPC Class Codes: B60W 2710/0616 : Position of fuel or air injector
• CPC Class Codes: B60W 2710/0644 : Engine speed
• CPC Class Codes: B60W 2710/105 : Output torque
• CPC Class Codes: H02K 3/527 : applicable to rotors only
• CPC Class Codes: H02K 51/00 : Dynamo-electric gears, i.e. dynamo-electric means for transmitting mechanical power from a driving shaft to a driven shaft and comprising structurally interrelated motor and generator parts
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y10S 903/905 : Combustion engine
• CPC Class Codes: Y10S 903/906 : Motor or generator
• CPC Class Codes: Y10S 903/947 : Characterized by control of braking, e.g. blending of regeneration, friction braking
• CPC Class Codes: Y10S 903/952 : Housing details

Abstract

A gas-sparing vehicle is achieved by a control system for a hybrid vehicle equipped at least with: a hybrid engine which includes at least a first rotary electric unit for deciding the rpm of the engine and a second rotary electric unit for deciding the driving force of the vehicle and which has power converting means connected to the output shaft of the engine; and electricity storing means. In one embodiment, a hybrid controller 16 controls the drive of a first rotary electric unit 2000 according to a startup torque command value which is decided based on the rpm of an engine at the time of engine startup and which decreases as the rpm increases; it also determines that the complete explosion in an engine 1 has occurred when the startup torque command value falls below a predetermined complete explosion judgment value.

Claims

1. A controller for a hybrid vehicle having:

an internal-combustion engine having a combustion chamber;

an engine controller for controlling intake air volume regulating means for regulating the volume of air to be drawn into said combustion chamber, and an electronically controlled fuel injection unit which controls fuel injection amount, respectively;

power converting means which is connected to said engine and which has a first rotary electric unit for deciding the rpm of the engine and a second rotary electric unit for deciding the driving force of a vehicle;

an inverter which drives said first and second rotary electric units; and

electricity storing means electrically connected to said inverter;

said controller for a hybrid vehicle comprising;

vehicle driving power demand value calculating means which calculates a vehicle driving torque command value of said hybrid vehicle according to the operational information on at least an accelerator pedal or a brake pedal and a shift lever, and calculates a vehicle driving power demand value based on the calculated vehicle driving torque command value and the vehicle speed of the hybrid vehicle;

engine rpm command value calculating means which calculates an engine rpm command value from said calculated vehicle driving power demand value according to the characteristics of said engine stored in advance; and

torque controlling means which calculates a first torque command value for said first rotary electric unit according to said engine rpm command value and the information related to said engine rpm and calculates a second torque command value for said second rotary electric unit according to the first torque command value and said vehicle driving torque command value, performs the output of said first and second torque command values to said inverter, and controls the torques of said first and second rotary electric units according to said first and second torque command values.

2. A controller for a hybrid vehicle according to claim 1, wherein:

said power converting means comprises a housing, relatively rotatable first and second rotors which are placed in said housing and which transmit a torque from said engine to a load output, and a stator secured to said housing;

said second rotor comprises a first magnetic circuit which performs mutual electromagnetic action by rotary drive relative to said first rotor and a second magnetic circuit which performs mutual electromagnetic action by rotary drive relative to said stator;

said first rotor is provided with a first coil which makes it possible to control, by energization, the relative angular velocity and the torque with respect to said second rotor so as to constitute a first rotary electric unit together with said first magnetic circuit, and said stator is provided with a second coil which makes it possible to control, by energization, the relative velocity and the torque with respect to said second rotor so as to constitute a second rotary electric unit together with said second magnetic circuit;

either said first rotor or said second rotor is joined to said engine and rotationally driven as said engine is driven, while the other rotor is joined to said load output;

said first rotor and second rotor, and stator are disposed concentrically;

said second rotor is disposed inside said stator, while said first rotor is disposed inside said second rotor, a magnetic pole of said second rotor being composed of a permanent magnet; and

an input shaft coupled to said engine in said first rotor and said second rotor and an output shaft coupled to the load output are disposed on the same side of said housing.

3. A controller for a hybrid vehicle according to claim 1, further comprising:

charge state detecting means for detecting the charge state of said electricity storing means; and

command data setting means for setting a torque command value for said second rotary electric unit or a target rpm of said engine, using said charge state of said electricity storing means as a parameter.

4. A controller for a hybrid vehicle according to claim 3, wherein:

said charge state detecting means detects the voltage, current, power, or remaining capacity of said electricity storing unit; and

said command data setting means sets the torque command value of said second rotary electric unit such that the voltage, current, power, or remaining capacity of said electricity storing unit remains constant or stays in a predetermined permissible range.

5. A controller for a hybrid vehicle according to claim 3, wherein:

said charge state detecting means detects the voltage, current, power, or remaining capacity of said electricity storing unit; and

said command data setting means sets the target rpm of said engine such that the voltage, current, power, or remaining capacity of said electricity storing unit remains constant or stays in a predetermined permissible range.

6. A controller for a hybrid vehicle according to claim 3, comprising means for variably setting the control target value of the voltage, current, power, or remaining capacity of said electricity storing unit.

7. A controller for a hybrid vehicle according to claim 1, further comprising fuel injection operating means for decreasing or stopping the fuel injection to the engine by said fuel injection controlling means when the vehicle is braked.

8. A controller for a hybrid vehicle according to claim 7, wherein an exhaust pipe of said engine is provided with a catalyst and a heater is attached to said catalyst;

said controller for a hybrid vehicle comprising heater controlling means for energizing said heater to heat it by supplying electric power from said electricity storing unit when reducing or stopping the fuel injection by said fuel injection operating means.

9. A controller for a hybrid vehicle according to claim 8, comprising:

charge state detecting means for detecting the charge state of said electricity storing unit;

wherein said heater controlling means energizes and heats said heater when only the charge state of said electricity storing unit reaches a predetermined charge level.

10. A controller for a hybrid vehicle according to claim 9, wherein said charge state detecting means detects the voltage or the remaining capacity or said electricity storing unit.

11. A controller for a hybrid vehicle according to claim 1, further comprising startup torque value setting means which sets a startup torque value, which is matched to an engine startup state, for said first torque command value at the beginning of the startup of said engine, and which also sets said second torque command value so that the absolute value of the sum of the second torque command value and the set first torque command value is a predetermined value or less.

12. A controller for a hybrid vehicle according to claim 11, wherein the startup torque value set by said startup torque value setting means is a characteristic value which decreases as said engine rpm increases.

13. A controller for a hybrid vehicle according to claim 12, wherein the startup torque value set by said startup torque value setting means is a characteristic value which decreases as said engine temperature increases.

14. A controller for a hybrid vehicle according to claim 11, comprising a first control unit which conducts fuel injection control based primarily on engine operation state, and a second control unit which issues a command on the engine torque control amount to said first control unit and also controls the drive of said inverter;

wherein, at the beginning of the startup of said engine, said first control unit calculates the startup torque value of said first rotary electric unit according to the engine startup state, and said second control unit captures said calculation result given by the first control unit and sets the value as a first torque command value and also sets said second torque command value such that the absolute value of the sum of the second torque command value and said first torque command value is a predetermined value or less.

15. A controller for a hybrid vehicle according to claim 1, comprising torque control amount restricting means which restricts the torque control amount by a predetermined lower limit value according to an engine output characteristic which has the output torque and rpm of said engine as parameters thereof.

16. A controller for a hybrid vehicle according to claim 15, wherein the lower limit value for restricting said torque control amount is set as the value of boundary of a high efficiency zone and a low efficiency zone of the engine.

17. A controller for a hybrid vehicle according to claim 15 or claim 16, wherein said torque control amount restricting means selectively implements a first restriction for limiting said torque control amount by the lower limit value or a second restriction for setting the torque control amount to "0" if the torque control amount is lower than said predetermined lower limit value.

18. A controller for a hybrid vehicle according to claim 17, comprising state amount calculating means for calculating the state amount which corresponds to the electricity storage state of said electricity storing unit, wherein said torque control amount restricting means carries out said first restriction if it determines that the electricity storing unit need to be charged according to said state amount, or it carries out said second restriction if the discharge of the electricity storing unit is allowed according to said state amount.

19. A controller for a hybrid vehicle according to claim 18, wherein said torque control amount restricting means controls the torque control amount according to a hysteresis characteristic in which it continues said first restriction until said electricity storing unit is almost fully charged, or it continues said second restriction until the state amount of said electricity storing unit reduces to a predetermined level when the electricity storing unit has reached the almost fully charged state and the discharge is permitted.

21. A controller or system for a hybrid vehicle according to any one of claims 1 to 20, further comprising charge state detecting means for detecting the charge state of said electricity storing means;

wherein said hybrid controller increases or decreases at least said vehicle driving torque command value, said power demand value, or said engine rpm command value to make a correction according to the charge state information on the electricity storing means supplied by the charge state detecting means.

20. A control system for a hybrid vehicle provided at least with a hybrid engine composed of an engine which is equipped at least with intake air volume regulating means which is provided on an inlet pipe to open and close a throttle valve which adjusts the volume of air drawn into a combustion chamber, and an electronically controlled fuel injection unit;

a power converting means which includes at least a first rotary electric unit for deciding the rpm of the engine and a second rotary electric unit for deciding the driving force of a vehicle and which is connected to the output shaft of said engine; and

electricity storing means;

said control system for a hybrid vehicle comprising;

an engine controller which controls said intake air volume regulating means and electronically controlled fuel injection unit, an inverter which drives said respective rotary electric units, and a hybrid controller which controls said hybrid system;

wherein said hybrid controller calculates a vehicle driving torque command value of said hybrid vehicle according to the operational information on at least an accelerator pedal or a brake pedal and a shift lever, calculates a vehicle driving power demand value based on the vehicle driving torque command value and the vehicle speed of the hybrid vehicle, and performs the output of the vehicle driving power demand value to said engine controller;

said engine controller calculates an engine rpm command value based on said vehicle driving power demand value and the characteristics of said engine stored in advance, calculates the regulating amount of said intake air volume regulating means, controls said intake air volume regulating means according to the regulating amount, controls said electronically controlled fuel injection unit according to the intake air volume decided by the control of at least the intake air volume regulating means, and performs the output of said engine rpm command value to said hybrid controller;

said hybrid controller calculates a first torque command value for said first rotary electric unit according to said engine rpm command value and the information related to the rpm of said engine and calculates a second torque command value for said second rotary electric unit according to said first torque command value and said vehicle driving torque command value, and performs the output of said first and second torque command values to said inverter; and

said inverter controls the torques of said first and second rotary electric units according to said first and second torque command values.

22. A control system for a hybrid vehicle according to claim 20, further comprising voltage detecting means for detecting the voltage of said electricity storing means;

wherein said hybrid controller increases or decreases at least said vehicle driving torque command value, said power demand value, or said internal-combustion engine rpm command to make a correction in order to maintain said electricity storing means at a predetermined voltage at all times according to the voltage of the electricity storing means detected by the voltage detecting means.

23. A control system for a hybrid vehicle according to claim 22, wherein said predetermined voltage is the voltage in a fully charged state or in an almost fully charged state of said electricity storing unit.

24. A control system for a hybrid vehicle according to claim 22, wherein said predetermined voltage is increased or decreased to make a correction according to the temperature of said electricity storing unit or the temperature in the vicinity thereof.

25. A controller for a hybrid vehicle having:

an engine including a combustion chamber;

an engine controller for controlling intake air volume regulating means which regulates the volume of air to be drawn into said combustion chamber, and an electronically controlled fuel injection device which controls fuel injection amount, respectively;

power converting means which is connected to said engine and which has a first rotary electric unit for deciding the rpm of the engine and a second rotary electric unit for deciding the driving force of a vehicle;

an inverter which drives said first and second rotary electric units; and

electricity storing means electrically connected to said inverter;

said controller for a hybrid vehicle comprising;

vehicle driving torque command value calculating means which calculates a vehicle driving torque command value of said hybrid vehicle according to the operational information on at least an accelerator pedal or a brake pedal and a shift lever;

engine rpm command value calculating means which calculates an engine rpm command value from said calculated vehicle driving torque command value; and

torque controlling means which calculates a first torque command value for said first rotary electric unit according to said engine rpm command value and the information related to the rpm of said engine and calculates a second torque command value for said second rotary electric unit according to said first torque command value and said vehicle driving torque command value, performs the output of said first and second torque command values to said inverter, and controls the torques of said first and second rotary electric units according to said first and second torque command values;

wherein, when the rpm of said first rotary electric unit is in the vicinity of zero, the first torque command value to said first rotary electric unit is changed to cause a slight change in the rpm of said first rotary electric unit via said inverter.

26. A controller for a hybrid vehicle according to claim 25, wherein the torque resulting from the change of the first torque command value supplied to said first rotary electric unit is compensated for by said second rotary electric unit.

27. A controller for a hybrid vehicle according to claim 25, further comprising:

torque calculating means for calculating the torque resulting from the change of the first torque command value supplied to said first rotary electric unit; and

second torque command value determining means for determining the second torque command value supplied to said second rotary electric unit in order to cancel the torque calculated by the torque calculating means.

28. A controller for a hybrid vehicle according to claim 27, wherein said torque calculating means calculates said torque from the inertia connected to said first rotary electric unit and the change in the rpm of the first rotary electric unit.

29. A controller for a hybrid vehicle according to claim 27, wherein said torque calculating means calculates said torque from the change in the current value of said first rotary electric unit.

30. A controller for a hybrid vehicle according to claim 27, wherein said torque calculating means calculates said torque from the compensation amount based on the rpm feedback from said first rotary electric unit.

31. A controller for a hybrid vehicle having:

an engine including a combustion chamber;

an engine controller for controlling intake air volume regulating means which regulates the volume of air to be drawn into said combustion chamber, and an electronically controlled fuel injection unit which controls fuel injection amount, respectively;

power converting means which is connected to said engine and which has a first rotary electric unit for deciding the rpm of the engine and a second rotary electric unit for deciding the driving force of a vehicle;

an inverter which drives said first and second rotary electric units; and

electricity storing means electrically connected to said inverter;

said controller for a hybrid vehicle comprising;

vehicle driving torque command value calculating means which calculates a vehicle driving torque command value of said hybrid vehicle according to the operational information on at least an accelerator pedal or a brake pedal and a shift lever and the vehicle speed of the hybrid vehicle;

vehicle driving power demand value calculating means which calculates the vehicle driving power demand value according to said calculated vehicle driving torque command value and the vehicle speed;

engine rpm command value calculating means which calculates an engine rpm command value from said calculated vehicle driving power demand value; and

torque controlling means which calculates a first torque command value for said first rotary electric unit according to said engine rpm command value and the information related to the rpm of said engine and calculates a second torque command value for said second rotary electric unit according to the first torque command value and said vehicle driving torque command value, performs the output of said first and second torque command values to said inverter, and controls the torques of said first and second rotary electric units according to said first and second torque command values;

wherein, when the rpm of said first rotary electric unit is in the vicinity of zero, the first torque command value to said first rotary electric unit is changed to cause a slight change in the rpm of said first rotary electric unit via said inverter.

32. A controller for a hybrid vehicle having:

an engine including a combustion chamber;

an engine controller for controlling intake air volume regulating means which regulates the volume of air to be drawn into said combustion chamber, and an electronically controlled fuel injection device which controls fuel injection amount, respectively;

power converting means which is connected to said engine and which has a first rotary electric unit for deciding the rpm of the engine and a second rotary electric unit for deciding the driving force of a vehicle;

an inverter which drives said first and second rotary electric units; and

electricity storing means electrically connected to said inverter;

said controller for a hybrid vehicle comprising;

vehicle driving torque command value calculating means which calculates a vehicle driving torque command value of said hybrid vehicle according to the operational information on at least an accelerator pedal or a brake pedal and a shift lever and the vehicle speed of the hybrid vehicle;

vehicle driving power demand value calculating means which calculates the vehicle driving power demand value according to said calculated vehicle driving torque command value and the vehicle speed;

engine rpm command value calculating means which calculates an engine rpm command value from said calculated vehicle driving power demand value; and

torque controlling means which calculates a first torque command value for said first rotary electric unit according to said engine rpm command value and the information related to the rpm of said engine and calculates a second torque command value for said second rotary electric unit according to the first torque command value and said vehicle driving torque command value, performs the output of said first and second torque command values to said inverter, and controls the torques of said first and second rotary electric units according to said first and second torque command values;

wherein, when said shift lever has been selected to a reverse state, said engine is set to an idle state, said first torque command value is set to zero, and said second command value is set to said vehicle driving torque command value.

33. A controller for a hybrid vehicle according to claim 32, further including remaining capacity detecting means for detecting the remaining capacity of said electricity storing unit;

wherein, if the remaining capacity of said electricity storing unit falls to a predetermined value or lower, then said hybrid controller corrects said vehicle driving power demand value or said vehicle driving torque command value or said engine rpm command value to at least maintain said remaining capacity.

34. A controller for a hybrid vehicle applied to a hybrid vehicle provided with an engine, power converting means which is connected to the engine and which includes a first rotary electric unit for deciding engine rpm and a second rotary electric unit for deciding the driving force of the vehicle, an inverter for driving said first and second rotary electric units, and an electricity storing unit electrically connected to the inverter;

wherein the output torque of said engine is controlled according to vehicular drive information, and the torque values for said first and second rotary electric units are controlled according to the torque control amount and the target rpm of said engine corresponding to the characteristics of said engine;

said controller for a hybrid vehicle comprising;

transient state detecting means for detecting a vehicle transient state corresponding to the acceleration or deceleration of the vehicle; and

torque correcting means which corrects the torque command value for said first rotary electric unit by decreasing it and also corrects the torque command value for said second rotary electric unit by increasing it if the vehicle is being accelerated, while it corrects the torque command value for said first rotary electric unit by increasing it and also corrects the torque command value for said second rotary electric unit by decreasing it if the vehicle is being decelerated, according to a detection result of said transient state.

35. A controller for a hybrid vehicle according to claim 34, comprising:

fuel injection controlling means for controlling the fuel injection to said engine; and

fuel cutoff command means for stopping the fuel injecting operation by said fuel injection controlling means when the vehicle is being decelerated.

36. A controller for a hybrid vehicle according to claim 34 or 35, comprising torque control amount calculating means for calculating the torque control amount based on vehicular drive information;

wherein said transient state detecting means detects that the vehicle is being accelerated if said calculated torque control amount exceeds a predetermined judgment value and shifts to an increase, while it detects that the vehicle is being decelerated if said calculated torque control amount exceeds the judgment value and shifts to a decrease.

37. A controller for a hybrid vehicle according to claim 36, wherein said torque control amount calculating means calculates the vehicle driving torque command value of said hybrid vehicle according to the operational information of at least an accelerator pedal or brake pedal and a shift lever and also calculates the vehicle driving power demand value according to the calculated vehicle driving torque command value and the vehicle speed of the hybrid vehicle, and provides the vehicle driving torque command value or the vehicle driving power demand value as said torque control amount.

38. A controller for a hybrid vehicle according to claim 34 or claim 35, comprising:

target rpm calculating means for calculating the target rpm of said engine according to the vehicle drive state, the torque value of said first rotary electric unit being controlled according to the difference between the calculated target rpm of the engine and an actual engine rpm;

wherein said transient state detecting means detects that the vehicle is being accelerated if said calculated target rpm of the engine exceeds a predetermined judgment value and shifts to an increase, while it detects that the vehicle is being decelerated if said calculated target rpm of the engine exceeds the judgment value and shifts to a decrease.

39. A controller for a hybrid vehicle according to claim 34, comprising:

a first control unit which carries out the fuel injection control including the cutoff of fuel to said engine, and a second control unit which issues a command on torque control amount to said first control unit and which also controls the drive of said inverter;

wherein said second control unit commands said first control unit to cut off the fuel to the engine, and said first control unit implements the cutoff of the fuel in response to said command.

40. A controller for a hybrid vehicle according to claim 34, comprising:

a first control unit which carried out the fuel injection control including the cut off of fuel to said engine, and a second control unit which issues a command on torque control amount to said first control unit and which also controls the drive of said inverter;

wherein said first control unit implements the cutoff of fuel to the engine according to the torque control amount instructed by said second control unit to said first control unit at the time of cutting off the fuel to the engine.

41. A controller for a hybrid vehicle applied to a hybrid vehicle provided with an engine, power converting means which is connected to the engine and which includes a first rotary electric unit for deciding engine rpm and a second rotary electric unit for deciding the driving force of the vehicle, an inverter for driving said first and second rotary electric units, and an electricity storing unit electrically connected to the inverter;

wherein the output torque of said engine is controlled according to vehicular drive information, and the torque values for said first and second rotary electric units are controlled according to the torque control amount of the engine and the target rpm of the engine corresponding to the characteristics of the engine;

said controller for a hybrid vehicle comprising;

band restricting means which captures an actual value of engine rpm and restricts a predetermined frequency band based on the torque ripple of said engine on the captured actual rpm; and

torque command value calculating means for calculating the torque command value of said first rotary electric unit by employing said restricted actual rpm.

42. A controller for a hybrid vehicle according to claim 41, wherein said band restricting means is constituted by a band-stop filter which removes the frequency component of the torque ripple of said engine from the actual value of the engine rpm.

43. A controller for a hybrid vehicle according to claim 42, wherein the central frequency of said band-stop filter is changed according to the actual value of the engine rpm.

44. A controller for a hybrid vehicle according to claim 42, wherein said band-stop filter is configured so as to remove the frequency components of a predetermined multiple of the engine rpm.

45. A controller for a hybrid vehicle according to claim 41, wherein said band restricting means restricts the frequency band of the engine rpm only when the actual value of the engine rpm is a predetermined value or less.

46. A controller for a hybrid vehicle according to claim 41, wherein the actual value of said engine rpm is calculated based on the rpm measurement of said first rotary electric unit and the rpm measurement of said second rotary electric unit.

47. A controller for a hybrid vehicle applied to a hybrid vehicle provided with an engine, power converting means which is connected to the engine and which includes a first rotary electric unit for deciding engine rpm and a second rotary electric unit for deciding the driving force of the vehicle, an inverter for driving said first and second rotary electric units, and an electricity storing unit electrically connected to the inverter;

wherein the output torque of said engine is controlled according to vehicular drive information, the torque command values for said first and second rotary electric units are calculated according to the torque control amount of the engine and the target rpm of the engine corresponding to the characteristics of the engine, and the respective rotary electric units are controlled by the calculated torque command values;

said controller for a hybrid vehicle comprising;

energy balance calculating means for calculating the energy balance in a hybrid control system from first information on said electricity storing unit and second information on said first and second rotary electric units; and

failure determining means for determining the presence of a failure in said hybrid control system according to said calculated energy balance.

48. A controller for a hybrid vehicle according to claim 47, wherein said energy balance calculating means comprising:

means for calculating the electric power moving in and out of said electricity storing unit as the first information;

means for calculating the electric power balance in said first and second rotary electric units as the second information; and

means for comparing the electric power moving in and out of said electricity storing unit with the electric power balance of said rotary electric units.

49. A controller for a hybrid vehicle according to claim 48, wherein the electric power balance in said first and second rotary electric units is calculated from said torque command values and rpms of the respective rotary electric units.

50. A controller for a hybrid vehicle according to claim 48, wherein the electric power balance in said first and second rotary electric units is calculated from the output torque values and rpms of the respective rotary electric units obtained from torque detecting means or torque estimating means.

51. A controller for a hybrid vehicle according to claim 50, wherein said torque estimating means estimates the output torque values of the respective rotary electric units from the currents and rotary electric unit constants of said first and second rotary electric units.

52. A controller for a hybrid vehicle according to claim 48, wherein the electric power balance in said first and second rotary electric units is calculated from the currents and voltages of the respective rotary electric units.

53. A controller for a hybrid vehicle according to claim 48, wherein the electric power balance of the respective rotary electric units is corrected according to the efficiency of said first and second rotary electric units and said inverter.

54. A controller for a hybrid vehicle according to claim 48, wherein the electric power balance of the respective rotary electric units is corrected according to the losses of said first and second rotary electric units and said inverter.

55. A controller for a hybrid vehicle according to claim 47, wherein the output of the vehicle is restricted or stopped if said failure determining means has determined that a failure has occurred in the hybrid control system.

56. A controller for a hybrid vehicle applied to a hybrid vehicle which is provided with an engine, power converting means which is connected to said engine and which includes a first rotary electric unit for deciding engine rpm and a second rotary electric unit for deciding the driving force of said vehicle, an inverter for driving said first and second rotary electric units, and an electricity storing unit electrically connected to said inverter;

wherein the output torque of said engine is controlled according to vehicular drive information, the torque command values for said first and second rotary electric units are calculated according to the torque control amount of said engine and the target rpm of said engine corresponding to the characteristics of said engine, and said respective rotary electric units are controlled according to said calculated torque command values;

said controller for a hybrid vehicle comprising;

startup controlling means for controlling the drive of said first rotary electric unit according to a startup torque command value which is determined based on engine rpm at the time of startup of said engine and which decreases as said rpm increases; and

complete explosion determining means which determines that the complete explosion in said engine has occurred if said startup torque command value is smaller than a predetermined complete explosion judgment value.

57. A controller for a hybrid vehicle according to claim 56, wherein said complete explosion determining means determines that complete explosion has occurred if a state in which said startup torque command value stays below said predetermined completion explosion judgment value has continued for a predetermined time.

58. A controller for a hybrid vehicle according to claim 56 or claim 57, comprising means for setting the torque command value for said second rotary electric unit such that the absolute value of the sum of said torque command value and the startup torque command value used by said startup controlling means is a predetermined value or less.