| 摘要 |
PROBLEM TO BE SOLVED: To cancel engine pulse torque in consideration of a delay in estimating the engine pulse torque or in estimating delay in response of motor torque, thus improving performance in suppressing a noise caused by the engine pulse torque.SOLUTION: A torque control apparatus performs: calculating a first term of an engine pulse torque estimation value from a motor torque instruction value and engine torque instruction value, by using a filter having a transmission characteristic H(s) that passes through a frequency band of the engine pulse torque and calculating a second term of the engine pulse torque estimation value from a motor rotation speed detection value by using a filter having the transmission characteristic H(s) and a reverse system of a torque input and a transmission characteristic model Gp(s) of a motor rotation speed, to thus calculate an engine pulse torque estimation value from a difference between the calculated first and second terms of the engine pulse torque estimation value; and calculating a second motor toque target value for correcting the engine pulse torque on the basis of the engine pulse torque estimation value, to calculate a motor torque instruction value on the basis of the first and second motor torque target values. |
