DE102006010223A1 - Regulating hybrid drive torque distribution for hybrid vehicle involves distributing load demand according to torque demand if first variably coupled mode is selected, taking into account reaction of hybrid drive to distribution - Google Patents

Abstract

The hybrid vehicle has at least one electric motor (EM) and at least one internal combustion engine (E) coupled via a planetary gear mechanism (2) and method involves determining at least one parameter related to a demand, especially a desired torque demand, deriving the operating mode of the hybrid drive and distributing the load demand according to the demand if a first variably coupled mode is selected, taking into account of the reaction of the hybrid drive to the distribution. Independent claims are also included for the following: (A) a hybrid drive for a hybrid vehicle (B) a motor controller for a hybrid drive (C) and a computer program product for implementing the inventive method.

Description

The The invention relates to a control of a hybrid drive for a hybrid vehicle as well as a hybrid drive for a hybrid vehicle having at least one electric motor and at least an internal combustion engine comprising, via a planetary gear can be connected to each other.

hybrid drives are used for example in the field of motor vehicle drives. A control of a hybrid drive, for example, to control the operating behavior, in particular an energy management, a Output power or the like used.

task The present invention is a performance of a hybrid drive especially during load changes to improve.

These Task is solved by a method for controlling a torque distribution of a Hybrid drive with the features of claim 1, a hybrid drive with the features of claim 12, a motor control with the Features of claim 15 and by a computer program product with The features of claim 16. Advantageous embodiments and Further developments are specified in the respective dependent claims.

• – wird zumindest ein Parameter ermittelt, der in Zusammenhang mit einer Anforderung, insbesondere einer Solldrehmomentanforderung steht,
• – zumindest anhand des Parameters eine Betriebsart des Hybridantriebes ermittelt,
• – erfolgt entsprechend der Anforderung eine Aufteilung einer Lastanforderung, falls eine erste Betriebsart ausgewählt wird, in welcher der Elektromotor und die Verbrennungskraftmaschine über das Planetengetriebe jeweils variabel drehbar miteinander gekoppelt sind,
• – wobei eine dafür vorgesehene Regelung eine Reaktion des Hybridantriebes auf die Aufteilung berücksichtigt wird.

In a method according to the invention for controlling a torque distribution of a hybrid drive for a hybrid vehicle, which comprises at least one electric motor and at least one internal combustion engine, which are connected to one another via a planetary gear and are interconnectable,

• At least one parameter is determined, which is related to a request, in particular a target torque request,
• At least determines an operating mode of the hybrid drive based on the parameter,
• A division of a load request takes place in accordance with the requirement, if a first operating mode is selected, in which the electric motor and the internal combustion engine are each coupled in a variably rotatable manner via the planetary gearbox,
• - Wherein a regulation provided for a reaction of the hybrid drive is taken into account on the distribution.

Of the Hybrid drive is particularly designed so that a drive power the electric motor and a drive power of the internal combustion engine combined to a resultant drive power of the hybrid drive can be. Preferably, an energy distribution between a purely electromotive Operation and an exclusive Operation of the internal combustion engine can be varied continuously.

When Internal combustion engine is preferably one after the Otto or diesel principle working reciprocating internal combustion engine used.

Of the Electric motor is preferably also usable as a generator, so that an electrical energy storage can be charged with it.

A mechanical linkage the first torque of the internal combustion engine and the second Torque of the electric motor by means of the planetary gear, the electric motor, the internal combustion engine and a Output shaft of the hybrid drive in each case one element from the group the planetary gear comprising ring gear, sun gear and planet carrier assigned are. The tarpaulin gear includes, for example, exactly one ring gear, a sun gear and a planet carrier. However, it can also be provided be, several planet carriers to use. In another embodiment instead of a planetary gear also be provided, the electric motor on one of the internal combustion engine mounted driven axle. For example, in a hybrid vehicle an electric motor is arranged on a wheel axle on each wheel which is driven by the internal combustion engine.

As a parameter which is associated with a request, in particular a target torque request, a position of an accelerator pedal is determined, for example. For example, an at least approximately linear assignment of the accelerator pedal position to a requested setpoint torque takes place. Alternatively or additionally, a power request and / or a speed request can be determined as parameters. Furthermore, it can be provided, the requirement of the parameter in addition to determine an acceleration of the accelerator pedal. In particular, in the case of a strong acceleration of the accelerator pedal during a passage, a request for an increased setpoint torque is determined. Alternatively or in addition to a position of the Gaspe dals also a signal of a controller can be determined. For example, a signal of a traction slip control is used as the signal for specifying a setpoint torque.

When Operating mode of the hybrid drive is in particular a first mode provided in which electric motor and internal combustion engine each variable over rotatable the planetary gear are connected together. Electric motor and Internal combustion engine can for example, have different speeds from each other. Especially can Electric motor and internal combustion engine different directions of rotation exhibit. By choosing the appropriate speeds and the according to predetermined transmission ratios the planetary gear, for example, a corresponding distribution the drive energy between electric motor and internal combustion engine be made.

Of Furthermore, a second operating mode is preferably provided, in which electric motor and internal combustion engine rotatably with each other are blocked.

to fixed coupling of electric motor and internal combustion engine in the Parallel operation, for example, a corresponding coupling connected, which provided in particular in or on the planetary gear is. For example, sun gear and ring gear and / or plate carrier are rotationally fixed Coupled with each other.

Preferably The requested target torque can be arbitrarily set to a torque the electric motor or a torque of the internal combustion engine be split.

to Selection of the operating mode of the hybrid drive, for example the requested target torque and / or the output speed of the Hybrid drive compared to a predetermined threshold. It However, it can also be provided based on a driving situation or based on an energy status of an energy storage of the electric motor make a selection of the operating mode.

The first mode is selected in particular when the output speed of the hybrid drive is less than a predetermined value. The default Value is chosen, for example, that startup operations or modes of operation of the hybrid vehicle, for example, in city traffic with correspondingly frequent Acceleration and deceleration phases fall into the first mode. As output speed is in particular a speed of an output shaft the hybrid drive, which with a transmission input of the hybrid vehicle connected, to understand. The default value is, for example used an output speed of 2,500 revolutions per minute. Correspondingly but also higher or lower values.

Corresponding the second mode is preferably selected when the output speed of the hybrid drive greater than its default value is. In particular, the second mode at higher Speeds of the hybrid vehicle applied. As given Value can be, for example, a value of 2,500 to 3,000 revolutions be set. Correspondingly but here too larger or smaller values can be provided.

The Reaction of the hybrid drive on the division is preferred vorermittelt. A pre-determined reaction of the hybrid drive is based For example, on previously determined kinematic characteristics of Hybrid drive. For example, this can be physically modeled be described or also by means of an expert system become. The pre-determined reaction is in particular an estimation of a dynamic one Behavior of the hybrid drive within a finite time step after a change in the Torque distribution. For example, such a change based on a gradient in an operating point of a characteristic field estimated. This pre-determined reaction, for example, at a setting the speeds of electric motor and / or internal combustion engine used. In particular, allows a consideration the pre-determined response a reduction of a regular effort the corresponding speeds. Preferably, this allows a reduction the usual effort and in particular a reduction of transient operating conditions. advantageously, allows This also means a faster reaction of the scheme and in particular a lower control error. Preferably, a quick adjustment the torque distribution to different operating conditions of Hybrid vehicle allows.

In In one embodiment, a setpoint torque is determined as a parameter and a torque of the hybrid drive based on a speed change the internal combustion engine and / or a speed change the electric motor to the target torque regulated, with a deviation from a predetermined setpoint curve of the speed of the internal combustion engine is reduced, wherein the setpoint curve is a function of the output speed of the hybrid drive, and wherein a change in the output speed proportional to a quotient of the setpoint torque and a dependent on the output speed effective mass moment of inertia, which is both an inertia of the hybrid vehicle as well as mass moment of inertia of rotating drive elements considered and which abuts the planetary gear on the output side. With a Speed change the internal combustion engine or the electric motor, for example a translation ratio between the respective speed of the internal combustion engine or the electric motor and the output speed set. Accordingly, a torque change be set. Furthermore, a torque of the internal combustion engine or the electric motor depend on the respective speed. Corresponding can preferably be changed so that a torque. The nominal curve is particularly predetermined so that the best possible operation of the Internal combustion engine with regard to torque and / or energy output allows becomes. Particular consideration the setpoint curve that the internal combustion engine always with a Speed is operated above an idle speed. Preferably is the setpoint one from the idle speed monotone increasing function.

When effective mass moment of inertia is to be understood in particular that mass moment of inertia, which is a virtual rotating part on the output side of the Hybrid drive can be assigned. This effective moment of inertia of the virtual rotating part is dimensioned so that the actually on the output side connected to the hybrid drive mechanical elements, in particular the rotating drive elements, in terms of their mechanical Behavior regarding a moment of inertia preferably be reproduced exactly. Furthermore, in particular the inertia of the hybrid vehicle considered. For one given speed, the effective moment of inertia, for example from a torque occurring at an angular acceleration be determined. Preferably, the effective moment of inertia at least about determined a speed range in this way with good nutrition become. Preferably, at least in a predetermined speed range both the inertia of the hybrid vehicle as well as mass moment of inertia of rotating drive elements thereby considered flat rate with a single mechanical size become.

For example, a function W _ice (w _cvt ) is used as the desired function. W _ice is the output speed of the internal combustion engine. w _cvt is the output _{speed of} the hybrid drive. Preferably, a change in the rotational speed of the internal combustion engine dw _ice / dt is used for eliminating a deviation of the torque distribution from the target torque distribution. For example, consider the following term; it describes the change in the speed of the internal combustion engine in the period .DELTA.t due to the vehicle acceleration and the setpoint curve W _ice (w _cvt ):

Δt is here a time step. In similar Way this applies to the electric motor.

A speed change ẇ _mg is determined in particular on the basis of the gear ratios of the planetary gear.

According to a development, the setpoint torque is determined on the basis of a predetermined acceleration of the hybrid vehicle, neglecting a planetary gearbox output-side load in addition to the effective mass moment of inertia. Specifically, the target torque will be determined as a product of the effective moment of inertia and one of the predetermined accelerations of the hybrid vehicle according to the following Equation 2. ẇ cvt = T cvt / J veh Equation 2

T _cvt is the target _torque . Furthermore, J _{veh is} the effective mass moment of inertia.

In one variant, it is provided that the setpoint torque is determined on the basis of a predetermined acceleration of the hybrid vehicle, taking into account a load on the output side in addition to the effective mass moment of inertia. This is done, for example, according to the following equation 3.

T _which is the target torque T _L (w _CVT) is the speed-dependent load. The speed-dependent load takes into account frictional resistances, for example, which can occur in particular due to air resistance and / or rolling resistance. Overall, the load takes into account, for example, dissipative effects that occur in the hybrid drive.

Especially is provided that based on a dependent of the output speed load torque as well as the effective mass moment of inertia from a given change the output speed, the target torque is determined. For this purpose is preferably also the equation 3 used, which accordingly resolved according to the setpoint torque can be.

According to one Training is based on a dependent on the output speed load torque as well as the effective moment of inertia and the setpoint torque a change the output speed specified. For this purpose, for example, the Equation 3 are used directly. A change the corresponding speeds of internal combustion engine and Electric motor can according to the following Equations 4 and 5 are determined.

The function W _mg is a corresponding setpoint curve of the electric motor as a function of the output speed. This setpoint curve can be determined on the basis of the transmission ratios from the setpoint curve of the internal combustion engine.

In one embodiment, it is provided that a speed change of the internal combustion engine based on a predetermined change in the output speed at a given output speed from a product of the desired change in the output speed and a slope S of the setpoint curve at the point of the given output speed is specified. The slope S corresponds, for example, the differential quotient in equation 4. It is accordingly provided that a speed change A of the electric motor based on the desired change C of the output speed at a given output speed of the desired change C of the output speed and a slope S of the setpoint curve at the given point Output speed and gear ratios i ₁ and i _{2 of} the planetary gear set as follows: A = (1 - i ₂ × S) × A / i ₁

In a corresponding notation using differential quotients, this is given in Equation 6 as follows:

The gear ratios i1 and i2 of the planetary gear are defined as follows:

The gear ratios are defined in each case as ratios of two waves while held third wave. For the gear ratios, for example, values of i ₁ = 0.4 and i ₂ = 0.6. However, other values may be provided.

In A modification of the above variants can be carried out in an analogous manner also reversed the role of internal combustion engine and electric motor become. Accordingly, a feedforward control of the speed change the electric motor are made and therefrom a speed change the internal combustion engine are determined.

In addition to the desired acceleration, the control can also compensate for an error present without pressure torque change request, which requires additional acceleration of the internal combustion engine. The required acceleration of the internal combustion engine is estimated, for example, as follows: ẇ ice = ẇ ice-pi + ẇ ice-the Equation 8

The term dw _ice-pi / dt corresponds to a controller output, which is provided in order to return the speed of the internal combustion engine to the setpoint curve. Preferably, this term dw _ice-pi / dt is a very small size. This is made possible for example by an optimized feedforward control.

To compensate for an error in the torque distribution, the electric motor, for example, a corresponding acceleration is impressed. In order to maintain only balance at a constant output speed, a change in the speed of the electric motor is determined in particular as follows:

Corresponding to an acceleration of the electric motor can be determined in particular according to the following relationship:

From equation 8 and equation 10, the torques of internal combustion engine and electric motor can be determined according to the following equations 11:

Thus, the internal combustion engine and the electric motor at a given torque request T _L in the next time step can be controlled accordingly.

For a regulation the predetermined speed change the electric motor is provided in particular that the predetermined Speed change by means of a proportional-integral controller he follows. However, instead of a proportional-integral controller can also other common ones Controller can be used.

The Speed change the internal combustion engine is in accordance with an embodiment by means of adjusted by a proportional-integral controller. Again, however, you can other control algorithms are used.

The setpoint curve can have various features. In a first embodiment, the target decreases curve at an output speed 0 a 0 different idle speed of the internal combustion engine. This bears particular account of the boundary condition that a speed of the internal combustion engine can not be set arbitrarily small.

alternative or additionally indicates the setpoint curve for Output speeds above a speed value W1, which is greater than the idling speed is constant in at least a portion Slope greater than 0 on. Between the speed 0 and the speed value W1 increases Target curve preferably monotonically from the idle speed at.

Preferably is provided that the setpoint curve at the location of the speed value W1 is continuously differentiable. In particular, directly above and below the speed value W1 the slopes of the setpoint curve identical. Preferably, a smooth regulation allows.

• – zumindest ein Parameter ermittelbar ist, der in Zusammenhang mit einer Anforderung, insbesondere einer Solldrehmomentanforderung steht,
• – zumindest anhand des Parameters eine Betriebart des Hybridantriebes ermittelbar ist,
• – falls eine erste Betriebsart ausgewählt ist, in welcher der Elektromotor und die Verbrennungskraftmaschine über das Planetengetriebe jeweils variabel dreh bar miteinander gekoppelt sind, entsprechend der Anforderung eine Lastanforderung aufteilbar ist,
• – wobei zur Regelung eine Reaktion des Hybridantriebes auf die Aufteilung berücksichtigbar ist.

The invention further relates to a hybrid drive for a hybrid vehicle, comprising at least one electric motor, at least one internal combustion engine and at least one planetary gear, with which a first torque of the electric motor and a second torque of the internal combustion engine are connectable to a third torque on a drive train of a motor vehicle, and at least a control by means of which in particular according to a method according to at least one of the preceding embodiments

• At least one parameter can be determined which is associated with a request, in particular a setpoint torque request,
• At least on the basis of the parameter a mode of operation of the hybrid drive can be determined,
• - If a first mode is selected in which the electric motor and the internal combustion engine via the planetary gear are each variable rotatably bar coupled to each other, according to the request, a load request is divisible,
• - In which a reaction of the hybrid drive to the division is taken into account for the regulation.

When Control, for example, a known motor control an internal combustion engine, which also uses a controller of the electric motor allows. However, it may also be provided, various controls for electric motor and internal combustion engine provided separately. Furthermore can be provided, separate controls for the hybrid drive, the electric motor and to provide the internal combustion engine.

According to one Further development is provided that the control at least one first control of a torque distribution and at least one second control of a speed of the internal combustion engine and / or of the electric motor. In particular, at least one can each Control of a speed of the internal combustion engine or be provided of the electric motor.

According to one Variant is the first controller a master controller, which the second controller is assigned as a slave controller. Especially is the slave control as a self-sufficient control of a speed of Internal combustion engine and / or the electric motor designed. Preferably, the master control is only a speed or a speed change the electric motor and / or the internal combustion engine before. Preferably a slave controller can have a lower computing power, as this example for a single controller, which performs both tasks of master control as well as the slave control is required.

For a connection of electric motor, internal combustion engine and powertrain In particular, provided that the electric motor with a planet carrier of the Planet gear is connected. Furthermore, for example provided that the internal combustion engine with a sun gear the planetary gear is connected. In particular, the internal combustion engine and the electric motor over a sun gear and a planet carrier of the planetary gear together connected. In this case, for example, the electric motor connected to the planet carrier whereas the internal combustion engine is connected to the sun gear is. However, according to the above statements is also a reverse arrangement possible.

Farther The invention relates to a motor control of a hybrid drive according to a the above-described embodiments for a hybrid vehicle.

One Hybrid vehicle is in particular a road or rail Motor vehicle.

Finally, concerns the invention relates to a computer program product on a computer-readable storage medium provided program code means for carrying out a method according to a the embodiments described above, when the program code means comprehensive program running on a computer. As a computer readable Storage medium, in particular a memory chip is an optical, magnetic, magneto-optical disk or the like provided. In particular, the storage medium is a memory chip of a controller. For example, the computer is a microcontroller of a controller, in particular a motor control.

in the The invention will be explained by way of example with reference to the drawing. The However, the invention is not based on the feature combinations shown there limited. Rather, respectively, in the description including the Description of the figures and features indicated in the figures Further developments can be combined with each other.

It demonstrate:

1 : a schematic arrangement of a hybrid drive,

2 : a schematic of a kinematic model,

3 a setpoint curve,

4 : a step response of a torque request in a conventional system,

5 : too 4 associated controlled speed curves,

6 a step response of a torque request in a system according to the invention, and

7 : too 6 associated controlled speed curves.

1 shows a schematic arrangement of a hybrid drive 1 , This includes an electric motor EM and an internal combustion engine E. These are via a planetary gear 2 connected with each other. The planetary gear 2 includes a sun wheel 3 , a ring gear 4 and a first 5 and a second planet carrier 6 , Furthermore, the tarpaulin gear 2 provided with a clutch C, by means of which a connection between the ring gear 4 and an input shaft 7 a transmission AT can be produced. Furthermore, the hybrid drive includes 1 a first engine control 8th , which is connected to the electric motor EM, and a second motor control 9 , which is connected to the internal combustion engine E. The first and the second engine control 8th ; 9 are in turn with a master control 10 the hybrid drive 1 connected to which the respective motor controls 8th ; 9 Speed requirements or requirements of a speed change can pass. The engine controls 8th ; 9 serve at least one control of a rotational speed of the electric motor EM or the internal combustion engine E.

The master control 10 taken into account when outputting actuating signals to the motor controls 8th ; 9 a requirement of a torque on the input shaft 7 of the transmission AT.

in the Following are equivalent elements with the same reference numerals Mistake.

2 shows a schematic of a kinematic model 11 a hybrid drive according to 1 , By means of a planetary gear 2 For example, a torque T _{mg of} an electric motor and a torque T _{ice of} an internal combustion engine are linked to a resulting torque T _{cvd of} the hybrid drive. The electric motor, not shown, is assigned a mass moment of inertia J _mg at a rotational speed w _mg . Accordingly, the internal combustion engine, not shown, a mass moment of inertia J _{ice assigned} at a speed w _ice . Corresponding to a first transmission ratio i ₁ and a second transmission ratio i _{2 of} the planetary gear 2 acts on the planetary gear 2 a first torque T _pgs1 and a second torque T _pgs2 , which is linked to the resulting torque T _cvt . On the output side, that is on an input shaft of a transmission according to an embodiment in 1 , an effective moment of inertia J _veh at a rotational speed w _{cvt of} the input shaft is assumed. Furthermore, a load torque T _{L is taken} on the output side, which results, for example, as a result of air resistance. This load torque T _L is dependent in particular on the speed w _{cvt of} the input shaft, which is in particular an output speed of the hybrid drive. For the gear ratios, for example, values of i ₁ = 0.4 and i ₂ = 0.6 are given. It can, however, too other values may be provided.

A appraisal the effective mass moment of inertia takes place, for example, according to a the embodiments set out above.

In particular, the illustrated load torque T _L with the torque T _cvt at a speed w _cvt according to equation 4 on the effective moment of inertia J _veh with a speed change _{ẇ cvt.} connected.

3 shows a setpoint curve 12 , The nominal curve 12 describes a desired course of a speed W _{ice of} the internal combustion engine as a function of a speed w _cvt , which is an output speed of the hybrid drive. A course of the setpoint curve 12 is designed so that at an output speed 0 of the hybrid drive an idle speed w _{0 of} the internal combustion engine is present. Furthermore, the setpoint curve shows 12 for output speeds above a value w ₁ a linearly increasing course. Below the output speed w ₁ , the curve is monotonously increasing starting from the idle speed w _{0 of} the internal combustion engine. At point (w ₁ , w ₁ ) is the setpoint curve 12 continuously differentiable. The nominal curve 12 is used in particular to determine a required acceleration of the speed of the internal combustion engine based on the desired acceleration of the output speed according to the equation 5. The latter is determined according to Equation 4.

4 shows a step response of a torque request in a conventional system. The abscissa shows the time in seconds. On the ordinate a torque in Newton meters is plotted. At a time of about four seconds, a torque request is registered.

5 shows 4 associated controlled speed curves. Shown on the abscissa is a time and on the ordinate a speed. A speed curve of an internal combustion engine 13 and a speed curve of an electric motor 14 are each regulated so that a speed curve 15 As the output speed curve of the hybrid drive results. Shown are the gradients for a startup. The output speed curve of the hybrid drive 15 increases linearly.

6 shows a step response of a torque request in a system according to the invention. A time is shown on the abscissa and a torque on the ordinate. The illustrated torque curve 16 It rises almost suddenly to about 100 Newton meters according to a torque request at about four seconds. Unlike the in 4 As shown, almost no overshoot is visible.

7 shows 6 associated controlled speed curves. On the abscissa a time is shown and on the ordinate turn a speed. Shown are a speed curve 13 an internal combustion engine, a speed curve 14 an electric motor and an output speed curve 15 a hybrid drive. The output speed curve 15 in turn increases linearly from a time of about four seconds. In turn, a start-up procedure is shown. Unlike the in 5 shown courses a much smoother control behavior is recognizable.

Claims (16)

Method for controlling a torque distribution of a hybrid drive ( 1 ) for a hybrid vehicle comprising at least one electric motor (EM) and at least one internal combustion engine (E), which via a planetary gear ( 2 ) are interconnected and are interconnected, wherein - at least one parameter is determined, which is related to a request, in particular a target torque request, - at least based on the parameter, an operating mode of the hybrid drive ( 1 ) is determined, - if a first mode is selected, in which the electric motor (EM) and the internal combustion engine (E) via the planetary gear ( 2 ) are respectively variably rotatably coupled to each other, according to the request, a division of a load request is carried out, - wherein a designated control a reaction of the hybrid drive ( 1 ) on the division. A method according to claim 1, characterized in that a desired torque is determined as a parameter and that a torque of the hybrid drive ( 1 ) is controlled to the target torque based on a speed change of the internal combustion engine (E) and / or a speed change of the electric motor (EM) where a deviation from a given nominal curve ( 12 ) the speed of the internal combustion engine (E) is reduced, wherein the setpoint curve ( 12 ) a function of the output speed ( 15 ) of the hybrid drive, and wherein a change in the output speed is proportional to a quotient of the target torque and an output speed dependent effective moment of inertia, which takes into account both a mass inertia of the hybrid vehicle and mass moments of inertia of rotating drive elements and which output side of the planetary gear ( 2 ) is present. Method according to claim 2, characterized in that that the target torque based on a predetermined acceleration of the hybrid vehicle neglecting an addition to effective mass moment of inertia present planetary gear output side load is determined. Method according to one of the preceding claims 2 or 3, characterized in that the target torque based on a predetermined acceleration of the hybrid vehicle taking into account a additionally to the effective moment of inertia present planetary gear output side load is determined. Method according to one of the preceding claims 2 to 4, characterized in that based on one of the output speed dependent Load torque and based on the effective moment of inertia from a given change the output speed, the target torque is determined. Method according to one of the preceding claims 2 to 5, characterized in that based on one of the output speed dependent Load torque and based on the effective moment of inertia and the target torque a change the output speed is specified. Method according to one of the preceding claims 2 to 6, characterized in that a speed change of the internal combustion engine (E) based on a predetermined change in the output speed at a given output speed of a product of the predetermined change in the output speed and a slope S of the setpoint curve ( 12 ) is specified at the point of the given output speed. Method according to one of the preceding claims 2 to 7, characterized in that a speed change A of the electric motor (EM) based on the desired change C of the output speed at a given output speed from the desired change C of the output speed and a slope S of the setpoint curve at the point given Output speed and gear ratios i1 and i2 of the planetary gear ( 2 ) is given as follows: A = (1 - i2 · S) A / i1. Method according to one of the preceding claims 2 to 8, characterized in that the setpoint curve ( 12 ) assumes a non-zero idling speed of the internal combustion engine (E) at an output speed zero. Method according to one of the preceding claims 2 to 9, characterized in that the setpoint curve ( 12 ) for output speeds above a speed value W1, which is greater than the idling speed, increases in at least a portion with a constant slope. Method according to claim 10, characterized in that that the setpoint curve at the location of the speed value W1 continuously differentiable runs. Hybrid drive for a hybrid vehicle, comprising at least one electric motor (EM), at least one internal combustion engine (E) and at least one planetary gear ( 2 ), with which a first torque of the electric motor (EM) and a second torque of the internal combustion engine (E) to a third torque on a drive train ( 7 ) of a motor vehicle and at least one controller ( 10 ) by means of which - at least one parameter can be determined which is related to a request, in particular a setpoint torque request, - at least based on the parameter, a mode of operation of the hybrid drive ( 1 ) can be determined, - if a first operating mode is selected, in which the electric motor (EM) and the internal combustion engine (E) via the planetary gear ( 2 ) are each coupled variably rotatable with each other, according to the request a load request can be divided, - wherein for controlling a reaction of the hybrid drive ( 1 ) is taken into account for the division. Hybrid drive according to claim 12, characterized in that the controller ( 10 ) at least one first controller ( 10 ) of a torque distribution and at least one second controller ( 8th ; 9 ) comprises a speed of the internal combustion engine (E) and / or the electric motor (EM). Hybrid drive according to claim 13, characterized in that the first controller is a master controller ( 10 ), which is the second controller ( 8th ; 9 ) is assigned as a slave controller. Motor control of a hybrid drive ( 1 ) according to one of claims 12 to 14 for a hybrid vehicle. Computer program product with on a computer readable Storage medium provided program code means for carrying out a Method according to one of the claims 1 to 11, when a program comprising the program code means running a computer becomes.