Abstract: It is provided a control device for a vehicle power transmission device having a stepped automatic transmission making up a portion of a power transmission path between an engine and a drive wheel, the control device setting a shift point of the automatic transmission in accordance with a request drive force of a driver and a vehicle speed, the control device setting a shift point of the automatic transmission in accordance with a rotation speed of the engine and a vehicle speed instead of the request drive force, if a vehicle is in a predetermined fuel consumption priority running state.

Abstract: A vehicle includes an engine, an electric machine, a transmission, and at least one controller. The at least one controller, in response to a gear shift of the transmission that causes a speed of the engine to exceed a predetermined speed, commands a change in current to the electric machine such that the speed of the engine decreases to a target speed to avoid engine flare.

Abstract: Disclosed herein is a motor control system and method for a vehicle with a transmission comprising for improving the quality of shifting, by improving precision in shifting control with precise and active motor torque control by calculating a maximum and a minimum motor torque in response to determining a power-on up-shift for increasing a shifting gear and a power-off down-shift for decreasing the shifting gear in shifting of the vehicle.

Abstract: An electric vehicle includes an electric storage device, an electric motor that generates driving force for running the vehicle, using electric power output from the storage device, and a controller that controls an output of the storage device. The controller includes a restriction control unit that restricts a permissible output power indicating electric power permitted to be output from the storage device, based on a load condition of the storage device, and an output control unit that reduces the rate of increase of the electric power output from the storage device as the permissible output power is more likely to be restricted when returning from a restricted condition in which the permissible output power is restricted by the restriction control unit.

Abstract: A hybrid drive system configured to selectively establish one of a first drive mode in which a first motor/generator MG1 is operated with a drive force of an engine, to generate an electric energy and in which a vehicle drive force is generated primarily by a second motor/generator MG2, and a second drive mode in which the vehicle drive force is generated by the engine, and at least one of the first motor/generator MG1 and second motor/generator MG2 is operated to generate an assisting vehicle drive force, as needed, and further configured such that an amount of a working oil to be supplied to the first motor/generator MG1 is larger in the first drive mode than in the second drive mode, permitting sufficient cooling of the electric motor depending upon a selected one of the vehicle drive modes.

Abstract: Creep control is performed, in response to an accelerator-off operation, to control a second motor to cause a predetermined creep torque Tcr to be output from the second motor to a driveshaft. First creep cut-off control is performed, in response to a brake-on operation during the creep control, to control the second motor to cause a torque reduced from the creep torque Tcr at a high rate by a predetermined high variation ?Thi to be output from the second motor to the driveshaft. Subsequent to the first creep cut-off control, second creep cut-off control is performed to control the second motor to cause a torque reduced at a low rate by a predetermined low variation ?Tlow smaller than the predetermined high variation ?Thi to be output from the second motor to the driveshaft.

Abstract: A drive system for a machine having an engine, a generator, a trolley drive arrangement, a motor, wheels and auxiliary devices is provided. The drive system includes an inverter circuit and an auxiliary driver both being operatively connected to the trolley drive arrangement. The inverter circuit may be coupled to each of the generator and the motor. The auxiliary driver may be coupled to each of the generator and the auxiliary devices. The inverter circuit and the auxiliary driver may be configured to automatically communicate power from the trolley drive arrangement and any power from the auxiliary devices to the motor in a trolley propel mode, and automatically communicate power from the motor to the engine, the trolley drive arrangement, and optionally to a hybrid system if applicable, in a dynamic braking mode, while attached to trolley lines so as to eliminate fuel consumption while attached to the trolley lines.

Abstract: In a vehicle equipped for regenerative and non-regenerative braking, regenerative braking only is applied to predetermined wheels in response to braking demand when the driver attempts to slow the vehicle at a first rate (<D1 ft/sec2), no wheel locking on any braking wheel as indicated by an anti-lock braking system controller and speed exceeds a minimum threshold. If braking is applied in a turn, appropriate amount of non-drive wheel service/foundation brake torque to maintain vehicle stability is applied. The appropriate amount of foundation braking to be applied is determined by the amount of vehicle yaw, steering wheel input and vehicle speed by using a look-up table. As braking demand increases foundation/service braking is added, first to any wheels not providing for regenerative braking and later to wheels having regenerative braking.

Abstract: A hybrid vehicle has an internal combustion engine, at least one electric drive motor and a starter. The internal combustion engine optionally can be started by the starter or the electric drive motor. However, the internal combustion engine is started by the starter when the vehicle is already being driven by the electric drive motor.

Abstract: In a method for determining a power limiting value for an electric machine in a vehicle, the electric machine being assigned an energy storage device, an intermediate power value is calculated from a maximally allowable current of the energy storage device and an instantaneous voltage. A corrected intermediate power value is determined by adding at least one power loss to the intermediate power value. A first correction value is determined for reducing the absolute value of the corrected intermediate power value if an instantaneous power of the energy storage device is greater than the absolute value of the calculated intermediate power value. The power limiting value is determined by superimposing the first correction value on the corrected intermediate power value.

Abstract: A motor vehicle comprising an electric motor, at least one battery, and an electronic regulation unit connected to a potentiometer of the accelerator to regulate the power supply of the electric motor. The stator of the electric motor is rotatably mounted on two fixed supports joined to the frame of the vehicle, an axle shaft of a wheel is connected to the stator and the axle shaft of the other wheel is connected to the rotor. The vehicle additionally comprises a rotation reversing device to reverse the rotation of one of the two axle shafts of the wheels with respect to the rotation of the rotor or stator, respectively, an endothermic motor, an electric generator connected to the battery and a three way clutch to couple the endothermic motor to the generator and/or stator of the electric motor.

Abstract: In a hybrid vehicle including an engine, a motor, a generator, and a battery that is electrically connected to the motor and the generator, an ECU performs “battery-less travel control” enabling the vehicle to travel when a fault occurs in the battery by disconnecting the battery from an electrical system including the motor and the generator and driving the motor using power that is generated by the generator using the power of the engine. When the battery-less travel control is underway and a vehicle speed V exceeds a vehicle speed limit Vsh, the ECU implements a vehicle speed limitation. As a result, a control mode of the motor is less likely to shift to a rectangular control mode during the battery-less travel control.

Abstract: A system and method for controlling an electric vehicle include at least one controller configured to detect an over-voltage condition when an electric-machine voltage exceeds an over-voltage threshold. In response to the over-voltage condition, the electric machine and a variable voltage controller (VVC) are disabled. Upon determining the electric-machine voltage is decreased to at least a second threshold being less than the over-voltage threshold, the controller is configured to set the VVC to a limited-operation mode. Upon determining the electric-machine voltage is decreased to at least a third threshold being less than the second threshold and the over-voltage threshold, the controller is configured to re-enable the electric machine and set the VVC to a normal-operation mode. The limited operation-mode enables the vehicle to maintain vehicle propulsion during the drive-cycle as the electric machine is recovered from a transient condition causing the over-voltage condition.

Abstract: In a vehicle with a driving power source (an engine, a motor generator, or a similar component) to output driving power for running to a driving wheel, in a case where a restart is requested on the driving power source in an accelerator-on state after a stop operation is performed on the driving power source (a hybrid system) during running of a vehicle, the driving power corresponding to an accelerator position at the time of restart request is not directly output. Instead, the driving power is output to the driving wheels while being gradually increased. This reduces deterioration of drivability in recovery of the driving power.

Abstract: A vehicle drive device, having a case with a support wall that extends at least radially, and an axially protruding portion that is cylindrically shaped integrally with the support wall and protrudes axially from the support wall toward a rotating electrical machine. A rotor support member is supported radially and axially so as to be rotatable with respect to the axially protruding portion via a support bearing provided on an outer or inner peripheral surface of the axially protruding portion. The element to be supplied with the oil pressure is positioned on a side axially opposite to the support wall. The vehicle drive device includes a supply oil passage, which is provided inside the support wall and the axially protruding portion, and has an end face opening that is formed in an end face located in a protruding direction of the axially protruding portion.

Abstract: A vehicle drive device includes an input member coupled to an internal combustion engine; an output member coupled to a wheel; a rotating electrical machine; a fluid coupling; and a case containing at least the rotating electrical machine and the fluid coupling. The fluid coupling includes an input and an output that is paired with the input. The rotating electrical machine includes a rotor and a rotor support that extends radially inward from the rotor in an axial direction with respect to the coupling input, and supports the rotor via a support bearing. A power transmission member is formed by coupling at least the rotor support and the coupling input together so that at least the rotor support and the coupling input rotate together. A movement restricting mechanism restricts axial movement of the power transmission member toward the axial direction.

Abstract: A drive system has a switched reluctance motor (SR motor) and a control system configured to determine an estimated total torque of SR motor as a function of the phase voltages and phase currents of the phases of the SR motor.

Abstract: A control device for a hybrid vehicle causes the hybrid vehicle to travel in limp-home mode with motive power from an engine when either a motor or a battery for travel cannot be used. The engine incorporated in the hybrid vehicle includes an EGR device for recirculating part of exhaust gas to an intake system of the engine again. Even if an operation state of the engine satisfies a prescribed EGR permission condition for operating the EGR device, during the travel in limp-home mode with an abnormality detection flag being set to 1, the control device prohibits operation of the EGR device.

Abstract: A method and apparatus for managing power in a hybrid vehicle is disclosed. The vehicle includes an engine, an electric motor, and an energy storage element coupled to the motor. The method involves receiving a request to supply operating power to drive the vehicle and responding to the request by selecting an apportionment of operating power between the engine and the motor from among a plurality of apportionments having respective operating costs such that the selected apportionment is associated with a minimum operating cost, the operating cost including at least an engine fuel consumption cost and a storage element lifetime cost. The method further involves causing power to be supplied by at least one of the engine and the motor in accordance with the selected apportionment.

Abstract: A mobile environment-controlled unit, such as an over-the-road compartment trailer, having an environmental-control system, such as a refrigeration unit, powered by an alternator and having a high-voltage alternating current (AC) bus. The unit incorporates a high resistance ground scheme and can incorporate a solid-state input module to detect phase-chassis faults. This combination provides an improvement in protection for mobile applications that cannot have a voltage reference (or neutral point) solidly connected to earth ground.

Abstract: The functionality of a “Launch Control” is implemented in a hybrid vehicle, i.e. the hybrid vehicle can be accelerated to a maximum degree by starting the internal combustion engine immediately from the stationary state (S20), and acceleration takes place with the aid of the electric motor with full torque (S22) before a changeover to accelerating the internal combustion engine takes place (S24). The “Launch Control” differs from a further mode in which firstly acceleration takes place from the stationary state using a partial torque of the electric motor (S14), with the result that the internal combustion engine can be tow-started by means of the electric motor (S16) before a changeover to acceleration using the internal combustion engine (S18) occurs.

Abstract: A system for simulated shifting for a hybrid vehicle, the system includes a plurality of wheels, an engine, a sensor, a transmission, a memory for storing target engine speeds and deceleration torques for a plurality of simulated gears, and a processor. The engine provides a torque to the plurality of wheels. The sensor detects a requested deceleration torque. The transmission simulates a current simulated gear by delivering an applied torque, which corresponds to the requested deceleration torque, to the plurality of wheels and an engine speed corresponding to the simulated gear. The processor simulates a downshift by increasing an engine speed of the engine without changing the applied torque to the plurality of wheels when the requested deceleration torque exceeds a deceleration torque of a lower simulated gear.

Abstract: A diagnostic system configured to test the performance of a vehicle component may include a processor configured to process test information from the vehicle component and control the vehicle component to be tested. The system may also include a memory configured to store the test information of the vehicle component and software that operates the vehicle component and a capacitive element configured to supply power to perform the testing of the vehicle component, wherein the memory and the capacitive element are in communication with the processor.

Abstract: A cargo handling controller includes a rotation speed setting unit, an engine control unit, a memory, a rotation speed detection unit, a deviation calculator, an assistance amount setting unit, and a generator-motor control unit. The deviation calculator calculates a deviation of a feedback control rotation speed, which is determined from a target engine rotation speed stored in the memory a predetermined time earlier, and an actual rotation speed of the generator-motor, which is detected by the rotation speed detection unit. The assistance amount setting unit obtains a generator-motor assistance amount in accordance with the deviation. The generator-motor control unit sends a drive signal that is in accordance with the generator-motor assistance amount to the generator-motor.

Abstract: There is provided a controller for a hybrid vehicle which can improve fuel consumption performance and driveability. A controller for a hybrid vehicle which can run in an EV drive mode in which an electric motor 101 is driven by electric power of a battery 113 only and a series drive mode in which the electric motor 101 is driven by electric power generated by a generator 107 using power of an engine 109 includes a demanded driving force calculation unit, a demanded electric power calculation unit, an available uppermost outputting value setting unit, and an engine starting determination unit. The engine starting determination unit starts the engine 109 so that the vehicle runs in the series drive mode when the demanded electric power demanded of the electric motor 101 exceeds the available uppermost outputting value.

Abstract: Provided is a vehicle behavior controller capable of stabilizing a behavior of a vehicle with a high response when an unstable state of the vehicle is judged. The vehicle behavior controller includes: a running state detecting unit for detecting a running state of the vehicle; an unstable state judging unit for judging the unstable state of the vehicle based on the running state; a motor generator connected to an engine of the vehicle, the motor generator operating as a power generator for using an output of a prime mover to generate power and an electric motor for assisting the output of the prime mover; and a control unit for controlling an operation of the motor generator based on r.p.m. of the motor generator, in which the control unit controls the operation of the motor generator to generate braking torque when the unstable state is judged.

Abstract: A hybrid vehicle 1 includes as drive sources an internal combustion engine 20, to which fuel stored in a fuel tank 21 is supplied, and a second M/G 32, to which electricity stored in a battery 40 is supplied. The vehicle 1 also includes a battery charger 70 for charging the battery 40 from the outside of the vehicle 1. For each of a plurality of refuelings to the fuel tank 21, the history of the time of refueling and the amount of refueling are stored. Based on the history, the degree of deterioration of fuel in the fuel tank 21 is calculated.

Abstract: A controller for hybrid vehicle includes: an electric generator that generates an electricity by a power of an internal combustion engine; an electric storage apparatus that is able to store the generated electricity of the electric generator; an electric motor that generates a vehicle driving power through at least the generated electricity of the electric generator or the stored electricity of the electric storage apparatus; a required-driving-force measurement section that measures a required driving force of a driver; a sound parameter setting section that sets a parameter relating to a sound which can be heard by the driver; and an electric generation control section that controls an electric generation output of the electric generator based on the required driving force, which is measured by the required-driving-force measurement section, and the parameter which is set by the sound parameter setting section.

Abstract: A hybrid excavator includes a control unit that is arranged at an upper turning body and is configured to supply a drive signal to at least one of a motor generator control part and a charge/discharge control part. During a regeneration operation performed by a motor, the control unit sets an electrical energy storage target value for a second electrical energy storage device to a higher value than an electrical energy storage target value for a first electrical energy storage.

Abstract: A control apparatus for a hybrid vehicle includes a torque determining device for determining respective divided torques outputted from a first electric motor and a second electric motor on the basis of total torque required for driving of a hybrid vehicle; a torque correcting device for correcting the respective divided torques of the first electric motor and the second electric motor such that pulsation torque of an internal combustion engine on a drive shaft is canceled by the respective divided torques outputted from the first electric motor and the second electric motor and such that the respective divided torques of the first electric motor and the second electric motor are directed opposite to each other with respect to the drive shaft; and a controlling device for controlling each of the first electric motor and the second electric motor so as to output respective one of the corrected divided torques.

Abstract: A control device of a vehicle drive device includes: a hydraulic power transmission device having a lockup clutch mechanically coupling an input-side rotating member to which power from an engine is input and an output-side rotating member outputting power to drive wheels; and an electric motor coupled to a power transmission path between the hydraulic power transmission device and the drive wheels. If regeneration braking of a vehicle is performed with the electric motor, an engagement force of the lockup clutch is made larger when a vehicle speed related value varying depending on a vehicle speed is higher.

Abstract: A method for adjusting braking in a vehicle having wheels and a regenerative braking system is provided. The method comprises the steps of providing regenerative braking torque for the vehicle via the regenerative braking system at a first level if a wheel slip of the vehicle is not present, and providing regenerative braking torque for the vehicle via the regenerative braking system at one of a plurality of modulated levels if the wheel slip is present. Each of the plurality of modulated levels is dependent on a magnitude, a location, or both, of the wheel slip. Each of the modulated levels is less than the first level.

Abstract: A hybrid propulsion system for powering vehicles such as class 8 DOT classified semi-tractor trucks under normal load conditions and at highway speeds comprises an internal combustion engine, an AC generator powered by the engine, DC battery packs, an AC/DC controller, and an AC electric motor driving the drive train of the vehicle. The AC generator and the DC battery packs provide input to the AC/DC controller, which, in turn, converts the DC input from the DC battery packs via a DC circuit to AC so that the output from the AC/DC controller to the electric motor is AC for powering the vehicle. The DC battery packs may comprise thin plate flooded lead acid cells and may be connected in series, in parallel or a combination thereof. Vehicles may be retrofitted to incorporate the propulsion system.

Abstract: A method for operating a hybrid vehicle is provided, in which an engine generates secondary power that is either stored or used as direct input energy by a secondary power source to provide motive power to the vehicle. The secondary power source is powered by secondary energy from an energy storage device, direct input energy generated by the engine, or both, depending on the amount of stored secondary energy in combination with vehicle speed. When in use, the power level at which the engine is operated is also determined on the basis of available stored energy and vehicle speed. At higher vehicle speeds, the amount of stored energy is allowed to be depleted in order to increase the available storage capacity for regenerative braking.

Abstract: A vehicle control system to control operation of a vehicle includes a powertrain system operable according to a plurality of operating modes that drive the vehicle. A sensor is mounted to the vehicle to detect a quality of air surrounding the vehicle. A vehicle control module is configured to select an operating mode of the powertrain system. The operating mode is selected to reduce at least one emission exhausted from the vehicle that contributes to a low air quality measure by the sensor.

Abstract: The invention relates to a method for starting the movement of a hybrid vehicle, which has a first (1) and a second drive unit (2), the first drive unit (1) being disposed on a first sub-transmission (T2) of a twin-clutch transmission having two sub-transmissions (T1, S1; T2, S2), In order to avoid rolling backwards when starting to move the hybrid vehicle in an attempt to start the movement using the first drive unit (1), the second drive unit (2) is started when starting the movement of the hybrid vehicle using the first drive unit (1), without interrupting the stress applied on the drive train (3) comprising the twin-clutch transmission.

Abstract: A power transmission reception system for pairing a charge-requesting vehicle with a discharge-requesting vehicle for power transmission reception therebetween includes an extraction device and a transmitter. From each vehicle, a center acquire information about a present location, a traveling direction, and a destination point, and records the acquired information in a database while classifying the vehicle as the charge-requesting vehicle or the discharge-requesting vehicle. The extraction device extracts the charge-requesting vehicle and the discharge-requesting vehicle that are to simultaneously travel in a same area as paired vehicles in accordance with the information in the database. The transmitter generates information about a power transmission reception area and a partner vehicle in the power transmission reception, and transmits the generated information to the paired vehicles.

Abstract: A motor generator control unit controls operation of a motor generator which generates power using a driving force transmitted from an engine. A charge/discharge control unit electrically connects first and second electrical power storage devices and controls charging/discharging of power between the first and second electrical power storage devices in response to an externally supplied control signal. A motor which is electrically connected to the second electrical power storage device is capable of regenerating electric energy and storing the regenerated energy in the second electrical power storage device. A control device supplies a control signal to at least one of the motor generator control unit and the charge/discharge control unit and reduces an electrical power storage target value of at least one of the first and second electrical power storage devices before the motor regenerates energy.

Abstract: Method for operating a hybrid drive, in particular a parallel hybrid drive, of a vehicle. The parallel hybrid drive includes an internal combustion engine and at least one electric drive, at least one energy storage device, and a vehicle transmission. During deceleration phases in which a torque required on the transmission input side is present, the internal combustion engine is operated either in drag mode or at a minimum drive torque.

Abstract: A powertrain includes a first electric motor coupled to an internal combustion engine with a ratio changing device and a second motor selectively coupled to the engine through an engine disconnect clutch, the second motor further coupled to an input shaft of a transmission. A method to control the powertrain includes monitoring a propelling torque provided by the second motor, monitoring a speed of the second motor, determining a condition of the second motor based upon the propelling torque and the speed of the second motor, selecting a control mode for the first motor based upon the condition of the second motor and controlling the first motor, the second motor, and the engine disconnect clutch based upon the control mode.

Abstract: A powered transport device for a person support apparatus includes a floor contacting driver, a prime mover, a power source and a controller. The prime mover is coupled to the driver and an output of the prime mover provides input to the driver. The power source provides power to the prime mover. The controller senses a performance characteristic of the powered transport device and varies the operation of the powered transport device based solely on the performance characteristic.

Abstract: A hybrid vehicle which runs on power from at least one of an electric motor and an engine. When a required output exceeds a sum of an output of the electric motor which is driven by electric power supplied from a battery and an output of the engine while the hybrid vehicle is running on a drive mode in which at least the engine works as a drive source with a clutch engaged, a transmission ratio changing unit increases a ratio of electrical transmission to mechanical transmission of the output of the engine, and an engaging/disengaging control unit releases the clutch at a time point when the mechanically-transmitted output of the engine becomes 0, with the clutch engaged.

Abstract: A vehicle includes a first drive device and a second drive device. The first drive device includes a motor, a motor control device, a connection-disconnection device, and a connection-disconnection device controller. When the vehicle is driven in a state where a driving force of the first drive device is substantially zero, or the vehicle is driven only by a driving force of the second drive device, the connection-disconnection device controller couples the connection-disconnection device to establish a connected state of the connection-disconnection device. The motor control device is configured to perform loss reduction control on the motor to reduce at least one of a loss of the motor and a loss in a power transmission path in power transmitted to the first driving wheel, by establishing the connected state of the connection-disconnection device.

Abstract: For controlling a recuperation behavior in a motor vehicle having a hybrid drive or an electric drive, a basic value of a recuperation torque which is to be used for recuperation is predefined and/or can be set by at least one first operating element, a second operating element is used to set an intermediate value deviating from a basic value for the recuperation torque, after the intermediate value has been set by an operator temporarily, in particular for at least one coasting phase, the intermediate value is used as a recuperation torque, after which switching back to the basic value occurs where a resetting operation is entered.

Abstract: A vehicle drive system for a vehicle including a first prime mover, a first prime mover driven transmission, and a rechargeable power source can be configured for reduced fuel consumption at idle. The vehicle drive system includes an electric motor in direct or indirect mechanical communication with the first prime mover, wherein the electric motor can receive power from the first prime mover driven transmission and can receive power from the first prime mover. The vehicle drive system also includes a control system.

Abstract: A method and a device are described for starting an internal combustion engine of a hybrid drive train, having an internal combustion engine and at least one additional machine, in particular an electric machine, a separating clutch, which is situated between the internal combustion engine and the additional machine, and a crankshaft angle sensor for detecting the instantaneous crankshaft angle of the internal combustion engine being provided.

Abstract: A method and a system that control a drive torque of a vehicle in which there is a change in a torque of a predetermined magnitude when drive power of the vehicle enters a zone in which a predetermined maximum output is generated to allow a driver to feel that the drive power of the vehicle enters the maximum output zone during traveling. The method may include calculating, by a controller, a drive request torque of a vehicle and calculating drive power displayed on a drive power gauge of an instrument cluster based on the calculated drive request torque. In addition, the method may include adding, by the controller, a predetermined additional torque to the drive request torque when the calculated drive power displayed on the drive power gauge enters a predetermined zone of the drive power gauge.

Abstract: A method is provided for operating a braking system of a hybrid vehicle that can be driven by an internal combustion engine and an electrical machine. A brake pressure for a mechanical brake in the braking system is reduced during braking with recuperation, in comparison to the brake pressure during braking without recuperation. A braking system and a vehicle having a braking system that functions in accordance with the method also are provided.

Abstract: A hybrid-type construction machine includes a controller configured to control a revolution speed of an engine; a hydraulic pump configured to be driven by the engine; a motor generator configured to assist the engine; and a hydraulic circuit configured to supply an operating oil discharged from the hydraulic pump to a hydraulic load, wherein when the controller determines that the hydraulic circuit is in an excessive output state, the controller controls the revolution speed of the engine so as to be lower than an ordinary revolution speed of the engine while controlling the motor generator to generate electricity.

Abstract: The present invention controls torque of a hybrid vehicle that calculates power and torque of each motor when the hybrid vehicle provided with two motors operates at a transient state are used. More specifically, target power of a battery is determined. Then calculations are performed to determine target torque of the first motor, target torque of the second motor, target torque of an engine, and target speed of the engine at a steady state. The torque of the first motor at a transient state is calculated from the target torque of the second motor at the steady state and speeds of the first and second motors. Finally, torque of the second motor at the transient state is calculated from the torque of the first motor at the transient state and the speeds of the first and second motors.