Power output apparatus and method of controlling the same

• US 6,131,680 A
• Filed: 03/10/1997
• Issued: 10/17/2000
• Est. Priority Date: 05/20/1996
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kotani, Takeshi, Sasaki, Shoichi, Nii, Yoshihide
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US08/813,404
• Time in Patent Office: 1,317 Days
• Field of Search: 180/65.1, 180/65.2, 180/65.3, 180/65.4, 180/165, 477/2, 477/3, 477/4, 477/5, 477/6, 310/101, 310/102 R, 310/118, 310/121, 310/122, 290/40
• US Class Current: 180/65.235
• CPC Class Codes: B60K 1/02 comprising more than one electric motor
• CPC Class Codes: B60K 6/365 with the gears having orbital motion
• CPC Class Codes: B60K 6/40 characterised by the assembly or relative disposition of components
• CPC Class Codes: B60K 6/445 Differential gearing distribution type
• CPC Class Codes: B60L 15/007 Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 2210/40 DC to AC converters
• CPC Class Codes: B60L 2220/14 Synchronous machines
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/441 Speed
• CPC Class Codes: B60L 2240/443 Torque
• CPC Class Codes: B60L 2240/445 Temperature
• 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 2250/24 by lever actuation
• CPC Class Codes: B60L 2250/26 by pedal actuation
• 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 58/15 : Preventing overcharging
• CPC Class Codes: B60L 7/003 : Dynamic electric braking by short circuiting the motor
• 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 10/26 : for electrical energy, e.g. batteries or capacitors
• 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 20/11 : using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance utilising navigation and traffic information in the control strategy B60W20/12
• CPC Class Codes: B60W 2510/244 : Charge state
• CPC Class Codes: B60W 2710/0644 : Engine speed
• CPC Class Codes: B60W 2710/0666 : Engine torque
• CPC Class Codes: B60W 2710/0677 : Engine power
• CPC Class Codes: B60W 2710/083 : Torque
• CPC Class Codes: B60W 2710/105 : Output torque
• CPC Class Codes: B60W 2710/1061 : Output power
• CPC Class Codes: Y02T 10/40 : Engine management systems
• 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 903/903 : having energy storing means, e.g. battery, capacitor
• CPC Class Codes: Y10S 903/91 : Orbital, e.g. planetary gears
• CPC Class Codes: Y10S 903/951 : Assembly or relative location of components

Abstract

A power output apparatus includes a planetary gear having a planetary carrier, a sun gear, and a ring gear. A crankshaft of an engine is mechanically linked with the planetary carrier, a first motor with the sun gear, and a second motor with the ring gear. A controller drives the second motor with electric power regenerated by the first motor or drives the first motor with electric power regenerated by the second motor, based on a gear ratio of the sun gear to the ring gear of the planetary gear, thereby enabling the power output from the engine to be converted to a desired power and output to a power transmission gear mechanically connected with the ring gear. The engine may be driven at any driving point that can output energy identical with the energy output to the ring gear. This structure allows the engine to be driven at a desired driving point of highest possible efficiency, thereby enhancing the efficiency of the whole apparatus.

Claims

1. A method of controlling a power output apparatus, said method comprising the steps of:

(a) providing (1) an engine having an output shaft;

(2) a first motor having a rotating shaft, said first motor inputting and outputting power to and from said rotating shaft;

(3) a second motor for inputting and outputting power to and from a drive shaft; and

(4) a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts; and

(5) storage battery means being discharged to supply electric power required for driving said second motor;

(b) specifying a target power to be output to said drive shaft, based on an instruction of a user;

(c) when the target power specified in said step (b) exceeds a predetermined power controlling operation of said engine, based on the predetermined power;

(d) driving and controlling said first motor, in order to enable the power output from said engine controlled in said step (c) to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft as the predetermined power; and

(e) driving and controlling said second motor, in order to make the power output from said engine equal to a difference between the target power and power output via said three shaft-type power input/output means to said drive shaft.

2. A power output apparatus for outputting power to a drive shaft, said power output apparatus comprising:

an engine having an output shaft;

a first motor having a rotating shaft, said first motor inputting and outputting power to and from said rotating shaft;

a second motor inputting and outputting power to and from said drive shaft;

a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts;

target power setting means for setting a target power to be output to said drive shaft;

engine operation control means for controlling operation of said engine, based on the target power set by said target power setting means and an operating condition setting unit that specifies an operating condition of the engine which enables the engine to operate with the highest possible engine efficiency based on a predetermined relationship between operating condition and engine efficiency; and

power control means for driving and controlling said first motor and said second motor, in order to enable power output from said engine to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft as the target power.

4. A power output apparatus in accordance with claim 2, wherein said power control means comprises:

means for driving and controlling said second motor, in order to enable part of the power output to said drive shaft via said three shaft-type power input/output means to be regenerated as electric power by said second motor; and

means for driving and controlling said first motor, in order to enable power to be output from said first motor to said rotating shaft by utilizing the electric power regenerated by said second motor.

5. A power output apparatus in accordance with claim 2 said power output apparatus further comprising:

storage battery means being charged with electric power regenerated by said first motor, being charged with electric power regenerated by said second motor, being discharged to supply electric power required for driving said first motor, and being discharged to supply electric power required for driving said second motor; and

charge state measuring means for measuring charge state of said storage battery,

wherein said power control means comprises means for driving and controlling said first motor and said second motor based on the charge state of said storage battery means measured by said charge state measuring means, in order to enable the power output from said engine and electric power stored into and discharged from said storage battery means to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft.

6. A power output apparatus in accordance with claim 5, said power output apparatus further comprising:

target power setting means for setting a target power to be output to said drive shaft;

engine power setting means for setting power to be output from said engine, based on the target power set by said target power setting means and the charge state of said storage battery means measured by said charge state measuring means; and

engine operation control means for controlling operation of said engine based on the power set by said engine power setting means,

wherein said power control means comprises means for enabling the power output from said engine and the electric power stored into and discharged from said storage battery means to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft as the target power.

7. A power output apparatus in accordance with claim 6 wherein said engine power setting means comprises:

drive shaft power setting means for setting required power output to said drive shaft, based on the target power set by said target power setting means;

charging and discharging power setting means for setting required power to charge and discharge said storage battery means, based on the charge state of said storage battery means measured by said charge state measuring means; and

addition means for summing up the power set by said drive shaft power setting means and the power set by said charging and discharging power setting means to calculate a total power to be output from said engine.

8. A power output apparatus in accordance with claim 2, wherein said engine operation control means comprises means for driving and controlling said first motor, in order to regulate a revolving speed of said output shaft of said engine.

9. A power output apparatus in accordance with claim 2, wherein said engine operation control means comprises means for driving and controlling said first motor, in order to regulate a torque output from said engine.

10. A power output apparatus in accordance with claim 2, said power output apparatus further comprising:

power setting means for specifying power input to and output from said engine, power input to and output from said first motor, and power input to and output from said second motor, based on the target power set by said target power setting means,

wherein said power control means comprises means for driving and controlling said engine as well as said first motor and said second motor, in order to enable the powers set by said power setting means to be respectively input to and output from said engine, said first motor, and said second motor.

11. A power output apparatus in accordance with claim 10, wherein said power setting means comprises:

means for presetting the power input to and output from said engine based on the target power; and

means for setting the power input to and output from said first motor and the power input to and output from said second motor, in order to enable the preset power to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft as the target power.

12. A power output apparatus in accordance with claim 10 said power output apparatus further comprising:

storage battery means being discharged to supply electric power required for driving said second motor,

wherein said power setting means comprises means for setting the power input to and output from said engine equal to zero and specifying the power input to and output from said second motor in order to enable the target power to be output from said second motor to said drive shaft, in response to a predetermined driving requirement,

said power control means comprising means for driving said second motor with electric power stored in said storage battery means, in response to the predetermined driving requirement.

13. A power output apparatus in accordance with claim 10, said power output apparatus further comprising:

storage battery means being discharged to supply electric power required for driving said second motor,

wherein said power setting means comprises;

means for, when the target power exceeds a predetermined power, presetting the power input to and output from said engine based on the predetermined power;

means for setting the power input to and output from said first motors in order to enable the preset power to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft as the predetermined power; and

means for setting a difference between the target power and power output from said three shaft-type power input/output means to said drive shaft based on the preset power output from said engines as the power output from said second motor,

said power control means for implementing control with electric power that is discharged from said storage battery means and corresponds to a difference between the target power and the predetermined power.

14. A power output apparatus in accordance with claim 2, wherein said target power setting means comprises:

means for specifying a target torque applied to said drive shaft, based on an instruction of a user; and

means for setting the target power according to the target torque thus specified.

15. A power output apparatus in accordance with claim 2, wherein said target power setting means comprises:

means for specifying a target revolving speed of said drive shaft, based on an instruction of a user; and

means for setting the target power according to the target revolving speed thus specified.

27. A power output apparatus in accordance with claim 10, said power output apparatus further comprising:

storage battery means being discharged to supply electric power required for driving said first and second motor,

wherein said power setting means comprises means for setting the power input to and output from said engine equal to zero and specifying the power input to and output from said first motor in order to enable the target power to be output from said first motor to said drive shaft via said three shaft-type power input/output means, in response to a predetermined driving requirement,

said power control means comprising means for driving said first motor with electric power stored in said storage battery means, in response to the predetermined driving requirement,

said power control means comprising means for driving said second motor in order to enable said output shaft of engine to a predetermined rotating state.

3. A power output apparatus for outputting power to a drive shaft, said power output apparatus comprising:

an engine having an output shaft;

a first motor having a rotating shaft, said first motor inputting and outputting power to and from said rotating shaft;

a second motor inputting and outputting power to and from said drive shaft;

a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts;

target power setting means for setting a target power to be output to said drive shaft;

engine operation control means for controlling operation of said engine, based on the target power set by said target power setting means and an operating condition setting unit that specifies an operating condition of the engine which enables the engine to operate with the highest possible engine efficiency, based on a predetermined relationship between operating condition and engine efficiency; and

power control for driving and controlling said first motor and said second motor, in order to enable power output from said engine to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft, wherein said power control means includes means for driving and controlling said first motor, in order to enable part of the power output from said engine to be regenerated as electric power by said first motor via said three shaft-type power input/output means and means for driving and controlling said second motor, in order to enable power to be output from said second motor to said drive shaft by utilizing the electric power regenerated by said first motor.

16. A method of controlling a power output apparatus, said method comprising the steps of:

(a) providing (1) an engine having an output shaft;

(2) a first motor having a rotating shaft, said first motor inputting and outputting power to and from said rotating shaft;

(3) a second motor for inputting and outputting power to and from a drive shaft; and

(4) a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts; and

(5) storage battery means being charged with electric power regenerated by said second motor and being discharged to supply electric power required for driving said second motor;

(b) specifying a target power to be output to said drive shaft, based on an instruction of a user;

(c) controlling operation of said engine, based on the target power specified in said step (by and a revolving speed of said drive shaft;

(d) keeping said first motor in a lock-up state to prevent rotation of said rotating shaft; and

(e) driving and controlling said second motor, in order to enable the target power to be output to said drive shaft by utilizing power output from said engine and power input to and output from said second motor.

17. A power output apparatus for outputting power to a drive shaft, said power output apparatus comprising:

an engine having an output shaft;

a first motor having a rotating shaft, said first motor inputting and outputting power to and from said rotating shaft;

a second motor inputting and outputting power to and from said output shaft of said engine;

a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts;

power control means for driving and controlling said first motor and said second motor, in order to enable power output from said engine to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft;

target power setting means for setting a target power to be output to said drive shaft; and

engine operation control means for controlling operation of said engine, based on the target power set by said target power setting means and an operating condition setting unit that specifies an operating condition of the engine which enables the engine to operate with the highest possible engine efficiency, based on a predetermined relationship between operating condition and engine efficiency,

wherein said power control means comprises means for enabling the power output from said engine to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft as the target power.

18. A power output apparatus in accordance with claim 17, wherein said power control means comprises:

means for driving and controlling said first motor, in order to enable part of the power output to said rotating shaft via said three shaft-type power input/output means to be regenerated as electric power by said first motor; and

means for driving and controlling said second motor, in order to enable power to be output from said second motor to said output shaft of said engine by utilizing the electric power regenerated by said first motor.

19. A power output apparatus in accordance with claim 17, wherein said power control means comprises:

means for driving and controlling said second motor, in order to enable part of the power output from said engine to be regenerated as electric power by said second motor; and

means for driving and controlling said first motor, in order to enable power to be output from said first motor to said rotating shaft by utilizing the electric power regenerated by said second motor.

20. A power output apparatus in accordance with claim 17, said power output apparatus further comprising:

storage battery means being charged with electric power regenerated by said first motor, being charged with electric power regenerated by said second motor, being discharged to supply electric power required for driving said first motor, and being discharged to supply electric power required for driving said second motor, and charge state measuring means for measuring charge state of said storage battery,

wherein said power control means comprises means for driving and controlling said first motor and said second motor based on the charge state of said storage battery means measured by said charge state measuring means, in order to enable the power output from said engine and electric power stored into and discharged from said storage battery means to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft.

21. A power output apparatus in accordance with claim 20, said power output apparatus further comprising:

engine power setting means for setting power to be output from said engine, based on the target power set by said target power setting means and the charge state of said storage battery means measured by said charge state measuring means,

wherein said power control means comprises means for enabling the power output from said engine and the electric power stored into and discharged from said storage battery means to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said shaft as the target power.

22. A power output apparatus in accordance with claim 21, wherein said engine power setting means comprises:

drive shaft power setting means for setting required power output to said drive shafts based on the target power set by said target power setting means;

charging and discharging power setting means for setting required power to charge and discharge said storage battery means, based on the charge state of said storage battery means measured by said charge state measuring means; and

addition means for summing up the power set by said drive shaft power setting means and the power set by said charging and discharging power setting means to calculate a total power to be output from said engine.

23. A power output apparatus in accordance with claim 17, wherein said engine operation control means comprises means for driving and controlling said first motor, in order to regulate a revolving speed of said output shaft of said engine.

24. A power output apparatus in accordance with claim 17, wherein said engine operation control means comprises means for driving and controlling said first motor, in order to regulate a torque output from said engine.

25. A power output apparatus in accordance with claim 17, said power output apparatus further comprising:

power setting means for specifying power input to and output from said engine, power input to and output from said first motor, and power input to and output from said second motor, based on the target power set by said target power setting means,

wherein said power control means comprises means for driving and controlling said engine as well as said first motor and said second motor, in order to enable the powers set by said power setting means to be respectively input to and output from said engine, said first motor, and said second motor.

26. A power output apparatus in accordance with claim 25, wherein said power setting means comprises:

means for presetting the power input to and output from said engine, based on the target power; and

means for setting the power input to and output from said first motor and the power input to and output from said second motors in order to enable the preset power to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft as the target power.

28. A power output apparatus in accordance with claim 25, said power output apparatus further comprising:

storage battery means being discharged to supply electric power required for driving said first and second motor,

wherein said power setting means comprises;

first setting means for, when the target power exceeds a predetermined power, presetting the power input to and output from said engine based on the predetermined power;

second setting means for setting a difference between one power which is the power preset by said first setting means and the other power as power to be input to and output from said second motor, wherein the other power has the same number of revolutions as the power preset by said first setting means and is output to said output shaft as said target power output to said rotating shaft through said three shaft-type power input/output means; and

third setting means for setting power to be input to and output from said first motor in such a way that a sum of said power set to be input to and output from said second motor, and said power preset to be input to and output from said engine is output to said rotating shaft as said target power by said three shaft-type power input/output means and said first motor,

wherein said power control means uses power which is the equivalent to a difference between said target power discharged from said storage battery means and said predetermined power to execute control.

29. A power output apparatus in accordance with claim 17, wherein said target power setting means comprises:

means for specifying a target torque applied to said drive shaft, based on an instruction of a user; and

means for setting the target power according to the target torque thus specified.

30. A power output apparatus in accordance with claim 17, wherein said target power setting means comprises:

means for specifying a target revolving speed of said drive shaft based on an instruction of a user; and

means for setting the target power according to the target revolving speed thus specified.

31. A power output apparatus for outputting power to a drive shaft, said power output apparatus comprising:

an engine having an output shaft;

a motor having a rotating shaft, said motor inputting and outputting power to and from said rotating shaft;

three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts, when power are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts;

target power setting means for setting a target power to be output to said drive shaft;

engine operation control means for controlling operation of said engine, based on the target power set by said target power setting means and an operating condition setting unit that specifies an operating condition of the engine which enables the engine to operate with the highest possible engine efficiency, based on a predetermined relationship between operating condition and engine efficiency; and

lock-up state control means for keeping said motor in a lock-up state to prevent rotation of said rotating shaft, in response to a predetermined driving requirement.

32. A power output apparatus in accordance with claim 31, wherein said motor is a first motor, said power output apparatus further comprising:

a second motor for inputting and outputting power to and from said drive shaft;

storage battery means being charged with electric power regenerated by said second motor and being discharged to supply electric power required for driving said second motor;

drive shaft speed measuring means for measuring a revolving speed of said drive shaft; and

motor control means for driving and controlling said second motor, in order to enable the target power to be output to said drive shaft by utilizing power output from said engine and power input to and output from said second motor, wherein the engine operation control means controls operation of the engine based on the revolving speed of the drive shaft measured by the drive shaft speed measuring means, the target power set by the target power setting means, and the operating condition setting unit.

33. A power output apparatus in accordance with claim 31, wherein said motor is a first motor,

said power output apparatus further comprising:

a second motor for inputting and outputting power to and from said output shaft of said engine;

storage battery means being discharged to supply electric power to said first motor and said second motor;

drive shaft speed measuring means for measuring a revolving speed of said drive shaft; and

motor control means for driving and controlling said second motor, in order to enable the target power to be output to said drive shaft by utilizing power output from said engine and power input to and output from said second motor, wherein the engine operation control means controls operation of the engine based on the revolving speed of the drive shaft measured by the drive shaft speed measuring means, the target power set by the target power setting means, and the operating condition setting unit.

34. A power output apparatus for outputting power to a drive shaft, said power output apparatus comprising:

an engine having an output shaft;

a first motor having a first rotating shaft that is coaxial with said output shaft, said first motor inputting and outputting power to and from said first rotating shaft;

a second motor having a second rotating shaft that is coaxial with said output shaft, said second motor inputting and outputting power to and from said second rotating shaft;

a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft, said first rotating shaft, and said second rotating shaft as said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts; and

power transmission means arranged between said engine and said second motor and linked with said second rotating shaft and said drive shaft for transmitting power of said second rotating shaft to said drive shaft.

35. A power output apparatus in accordance with claim 34, wherein said first motor is arranged between said engine and said second motor.

36. A power output apparatus in accordance with claim 34, wherein said second motor is arranged between said engine and said first motor.

37. A power output apparatus in accordance with claim 34, said power output apparatus further comprising:

target power setting means for setting a target power to be output to said drive shaft; and

power control means for controlling said engine said first motor, and said second motor, in order to enable the target power to be output to said drive shaft.

38. A power output apparatus for outputting power to a drive shaft, said power output apparatus comprising:

an engine having an output shaft;

a first motor having a first rotating shaft that is coaxial with said output shaft, said first motor inputting and outputting power to and from said first rotating shaft;

a second motor for inputting and outputting power to and from said output shaft of said engine;

a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft, said first rotating shaft, and a second rotating shaft of said second motor as said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts; and

power transmission means arranged between said engine and said first motor and linked with said second rotating shaft and said drive shaft for transmitting power of said second rotating shaft to said drive shaft.

39. A power output apparatus in accordance with claim 38, wherein said second motor is arranged between said engine and said first motor.

40. A power output apparatus in accordance with claim 38, wherein said engine is arranged between said first motor and said second motor.

41. A power output apparatus in accordance with claim 38, said power output apparatus further comprising:

target power setting means for setting a target power to be output to said drive shaft; and

power control means for controlling said engine, said first motor, and said second motor, in order to enable the target power to be output to said drive shaft.

42. A method of controlling a power output apparatus, said method comprising the steps of:

(a) providing (1) an engine having an output shaft;

(2) a first motor having a rotating shaft, said first motor inputting and outputting power to and from said rotating shaft;

(3) a second motor for inputting and outputting power to and from a drive shaft; and

(4) a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts;

(b) specifying a target power to be output to said drive shaft, based on an instruction of a user;

(c) controlling operation of said engines, based on the target power specified in said step (b); and

(d) driving and controlling said first motor and said second motor, in order to enable the power output from said engine controlled in said step (c) to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft as the target power.

43. A method of controlling a power output apparatus, said method comprising the steps of:

(a) providing (1) an engine having an output shaft;

(2) a first motor having a rotating shaft, said first motor inputting and outputting power to and from said rotating shaft;

(3) a second motor for inputting and outputting power to and from a drive shaft; and

(4) a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts; and

(5) storage battery means being charged with electric power regenerated by said first motor, being charged with electric power regenerated by said second motor, being discharged to supply electric power required for driving said first motor, and being discharged to supply electric power required for driving said second motor;

(b) specifying a target power to be output to said drive shaft, based on an instruction of a user;

(c) controlling operation of said engine, based on the target power specified in said step (b) and a charge state of said storage battery means; and

(d) driving and controlling said first motor and said second motor, in order to enable the power output from said engine controlled in said step (c) and electric power stored into and discharged from said storage battery means to be subjected to torque conversion by said three shaft-type power input/output means, said first motor, and said second motor and to be output to said drive shaft as the target power.

44. A method of controlling a power output apparatus said method comprising the steps of:

(a) providing (1) an engine having an output shaft;

(2) a first motor having a rotating shafts said first motor inputting and outputting power to and from said rotating shaft;

(3) a second motor for inputting and outputting power to and from a drive shaft; and

(4) a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts;

(b) specifying a target power to be output to said drive shaft, based on an instruction of a user;

(c) setting power input to and output from said engine, power input to and output from said first motor, and power input to and output from said second motor, based on the target power specified in said step (b); and

(d) driving and controlling said engine, said first motor, and said second motor, in order to enable the powers set in said step (c) to be respectively input to and output from said engine, said first motor, and said second motor.

45. A method of controlling a power output apparatus, said method comprising the steps of:

(a) providing (1) an engine having an output shaft;

(2) a first motor having a rotating shaft, said first motor inputting and outputting power to and from said rotating shaft;

(3) a second motor for inputting and outputting power to and from a drive shaft; and

(4) a three shaft-type power input/output means having three shafts respectively linked with said drive shaft, including said output shaft and said rotating shaft as two shafts of said three shafts, when powers are input to and output from any two shafts among said three shafts, said power input/output means inputting and outputting power, which is determined according to the input and output powers, to and from a residual one shaft of said three shafts; and

(5) storage battery means being discharged to supply electric power required for driving said second motor;

(b) specifying a target power to be output to said drive shaft, based on an instruction of a user; and

(c) stopping operation of said engine and driving and controlling said second motor in order to enable the target power to be output from said second motor to said drive shaft with electric power stored in said storage battery means, in response to a predetermined driving requirement.