JP3480181B2 - Active noise and vibration control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active noise and vibration control device adapted to perform noise or vibration reduction control according to an adaptive algorithm, and more particularly, the adaptive algorithm includes a control sound source or a control vibration source. A transfer function filter that models a transfer function between the residual noise detecting means or the residual vibration detecting means is used, and the transfer function filter and the actual one are used without causing a large increase in calculation load. The deviation from the transfer function of is made as small as possible.

[0002]

2. Description of the Related Art As a conventional technique of this kind, for example, there is one disclosed in Japanese Patent Laid-Open No. 5-8694 proposed by the present applicant.

That is, the prior art described in the above publication relates to an active noise control device for reducing the noise by interfering the control sound generated from the control sound source with the noise transmitted from the noise source. A drive signal for driving the sound source is generated according to a control algorithm including a transfer function between the control sound source and the residual noise detecting means. Then, in order to reduce the deviation between the transfer function model in the control algorithm and the actual transfer function,
The transfer function model is updated to the corrected transfer function model at a predetermined timing, thereby suppressing the divergence of control. Further, the timing at which the divergence of control is detected is listed as the predetermined timing for updating the transfer function model to the corrected transfer function model.

Further, in the above publication, as a concrete construction for creating a correction transfer function model, a test signal is supplied to a control sound source when a divergence of control is detected, and the test signal and a test signal are supplied when the test signal is supplied. A configuration for calculating a correction transfer function model based on the residual noise signal detected by the residual noise detecting means, a structure for changing the phase of the transfer function model by a predetermined amount to form a correction transfer function model, and the like are disclosed.

[0005]

Certainly, according to the conventional technique described in the above publication, since the transfer function model can be updated as appropriate, the transfer function model can be compared to the case where the transfer function model is fixed. With high accuracy, good noise reduction control can be performed.

However, in the configuration in which the correction transfer function model is provided by supplying the test signal to the control sound source as described above, the test sound corresponding to the test signal is emitted from the control sound source, and therefore, in the control space. There is a possibility that the test sound will be heard by humans existing in. Therefore, it is necessary to make the test sound as small as possible, or to generate the test sound in a situation where the noise level is high so that the masking effect can be obtained. Then, components other than the test sound are also included in the residual noise signal at a relatively high level, so in order to create a high-accuracy transfer function model, for example, an update operation according to an adaptive algorithm must be performed many times. In addition, in order to create a transfer function model in a short time and with high accuracy, for example, an expensive microprocessor or the like having high computing ability is required, which is disadvantageous in terms of cost.

On the other hand, in the configuration in which the correction transfer function model is created by changing the phase of the transfer function model by a predetermined amount as described above, the increase of the calculation load is extremely small, but the phase of the transfer function model is simplified. Since the configuration is changed, a highly accurate corrected transfer function model may not be obtained in some cases. That is, in terms of accuracy, it does not reach the configuration for obtaining the corrected transfer function model by generating the test sound as described above.

These problems are not limited to the active noise control device disclosed in the above publication.
The same applies to an active vibration control device to which a similar control algorithm can be applied.

The present invention has been made by paying attention to the unsolved problems of the prior art as described above, and seeks a highly accurate transfer function filter without causing a large increase in calculation load. It is an object of the present invention to provide an active noise and vibration control device capable of performing the above.

[0010]

In order to achieve the above object, the invention according to claim 1 provides a control sound source or a control vibration source capable of generating a control sound or a control vibration interfering with noise or vibration, and the interference. Residual noise detection means or residual vibration detection means for detecting residual noise or residual vibration after output and outputting it as a residual noise signal or residual vibration signal, and a reference signal generation for detecting the generation state of the noise or vibration and outputting it as a reference signal Means, and a control means for generating and outputting a drive signal for driving the control sound source or the controlled vibration source according to an adaptive algorithm based on the residual noise signal or the residual vibration signal and the reference signal, and the adaptive algorithm, Use a transfer function filter that models the transfer function between the control sound source or control vibration source and the residual noise detection means or residual vibration detection means. In the active noise and vibration control device, the divergence detection means for detecting that the control has diverged, the divergence frequency detection means for detecting the frequency at which the divergence has occurred as a divergent frequency, and the divergence when the divergence occurs A divergence suppressing unit that suppresses divergence by adjusting the component of the divergence frequency among the frequency components of the transfer function filter is provided.

According to a second aspect of the present invention, there is provided the active noise vibration control device according to the first aspect,
The transfer function filter includes a divided transfer function filter obtained by dividing at least the frequency component at which the divergence may occur, and the divergence suppressing unit includes the divided transfer function corresponding to the divergence frequency from the current transfer function filter. A filter is subtracted, and the phase of the divided transfer function filter corresponding to the divergence frequency is converted and then added together to generate a new transfer function filter.

According to a third aspect of the present invention, in the active noise vibration control device according to the first aspect of the present invention, the transfer function filter has a divided transfer function filter divided for each frequency component, The divergence suppressing means converts the phase of only the divided transfer function filter corresponding to the divergence frequency, and then adds the divided transfer function filters to generate a new transfer function filter.

Furthermore, the invention according to claim 4 is the active noise and vibration control device according to claim 1, wherein the transfer function filter is divided into at least the frequency components at which the divergence may occur. The divergence suppressing means has a transfer function filter, and the division transfer function filter corresponding to the divergence frequency is subtracted from the transfer function filter at the present time to generate a new transfer function filter.

According to a fifth aspect of the present invention, in the active noise vibration control device according to the first aspect of the present invention,
The transfer function filter has a divided transfer function filter divided for each frequency component, the divergence suppressing means, by adding the divided transfer function filter except the divided transfer function filter corresponding to the divergence frequency A new transfer function filter is generated.

On the other hand, the invention according to claim 6 is the active noise and vibration control device according to any one of claims 1 to 5, wherein the divergence detecting means includes the residual noise signal, the residual vibration signal, or the drive signal. A bandpass filter means for bandpass filtering this
Divergence determining means for determining whether or not divergence has occurred based on the processing result of the filter means, and the divergence frequency detecting means determines when the divergence determining means determines that divergence has occurred. The divergence frequency is detected on the basis of the pass frequency band of the band pass filter and the fundamental frequency of the reference signal as the basis.

The invention according to claim 7 is the active noise vibration control device according to claim 6, wherein:
The divergence frequency detecting means detects, as the divergence frequency, a frequency that is an integral multiple of the fundamental frequency of the reference signal among the frequencies included in the pass frequency band of the bandpass filter that is the basis of the determination. did.

Here, in the invention according to claim 1,
The reference signal generation means generates a reference signal indicating a noise generation state, while the residual noise detection means or the residual vibration detection means detects residual noise or residual vibration and generates a residual noise signal or residual vibration signal. Then, the control means generates a drive signal according to the adaptive algorithm based on the reference signal and the residual noise signal or the residual vibration signal, and the generated drive signal is supplied to the control sound source or the control vibration source to generate the control sound or the control vibration. Occurs.

Then, the divergence detection means detects that the control has diverged, and the divergence frequency detection means detects the frequency at which the control has diverged as the divergence frequency. Then, the divergence suppressing means adjusts the component corresponding to the divergent frequency among the frequency components of the transfer function filter so that the divergence is suppressed. That is, in the invention according to the first aspect, the divergence of the control is suppressed by adjusting only the specific frequency component of the transfer function filter instead of adjusting the entire transfer function filter.

The divergence of control is mainly caused by an extreme level of a component corresponding to a fundamental order component or a higher-order component of noise or vibration to be reduced among control sounds or control vibrations emitted from a control sound source or a control vibration source. One of the main reasons for the divergence, which is an increasing phenomenon, is that the adaptive algorithm used by the control means for generating the drive signal is the control sound source or the controlled vibration source and the residual noise detection means or the residual vibration detection means. This is because the transfer function filter that models the transfer function between and is used. That is, the transfer function between the control sound source or the controlled vibration source and the residual noise detection means or the residual vibration detection means may change under the influence of a physical change such as deterioration with time of the control sound source or the controlled vibration source. Therefore, if the transfer function changes from the initial state, the accuracy of the transfer function filter, which was initially highly accurate, is reduced. In addition, according to the experiments and the like confirmed by the present inventors, the change of the transfer function does not occur all over the frequency band at the same time but occurs at a specific frequency.

Since the control means is adapted to generate the drive signal based on the reference signal, the control means generates the drive signal capable of reducing noise or vibration of the fundamental frequency of the reference signal and its higher order frequencies. be able to. For this reason,
If the accuracy of the transfer function filter decreases at a specific frequency and the specific frequency matches or substantially matches the fundamental frequency of the reference signal or its higher order frequencies, there are many frequency components that do not contribute to noise or vibration reduction. The generated control sound or control vibration is generated, and this is taken into the control means as a residual noise signal or residual vibration signal, which adversely affects the generation processing of the drive signal, and a frequency component which does not contribute to the reduction of noise or vibration is generated. A control sound or control vibration including more is generated, and the control diverges due to a vicious cycle of ...

Therefore, as in the invention according to the first aspect, if the divergence suppressing means appropriately adjusts only the specific frequency component for which the control has diverged among the frequency components of the transfer function filter, the control can be performed more reliably. The divergence of can be suppressed. That is, like the prior art described in the above publication,
If you simply change the phase of the transfer function filter,
There is a possibility that the divergence cannot be surely suppressed because the phase changes even for the frequency component for which the control has not diverged, that is, the accuracy has not deteriorated.

According to the second aspect of the invention, the divergence suppressing means performs an operation of subtracting the divided transfer function filter corresponding to the divergence frequency from the transfer function filter, and after appropriately converting the phase to the operation result. Since the calculation of adding the divided transfer function filters is performed, only the phase of the component corresponding to the divergence frequency among the frequency components of the transfer function filter is converted. That is, of the frequency components of the transfer function filter, only the component of the divergence frequency is adjusted, so that the operation of the invention according to claim 1 is reliably exhibited.

According to the invention of claim 3,
The divergence suppressing means generates a transfer function filter by adding the divided transfer function filters. When adding the divided transfer function filters, only the phase of the divided transfer function filter corresponding to the divergence frequency is converted. Therefore, in the generated transfer function filter, only the component of the divergence frequency is adjusted, so that even the invention according to claim 3 can reliably exert the action of the invention according to claim 1. It

Further, in the invention according to claim 4,
The divergence suppressing means performs an operation of subtracting the divided transfer function filter corresponding to the divergence frequency from the transfer function filter,
Since a new transfer function filter is generated, only the component corresponding to the divergence frequency is removed from each frequency component of the transfer function filter. That is, only the component corresponding to the divergence frequency whose accuracy is lowered is removed from the transfer function filter. Therefore, even in the invention according to claim 4, the operation of the invention according to claim 1 is surely performed. To be demonstrated.

Further, in the invention according to claim 5, the divergence suppressing means generates the transfer function filter by adding the divided transfer function filters. When adding the divided transfer function filters, The split transfer function filter corresponding to the divergence frequency is excluded. Therefore, since the generated transfer function filter does not include only the component of the divergence frequency, even the invention according to claim 5 reliably exhibits the action of the invention according to claim 1. To be done.

On the other hand, the divergence of control is a phenomenon that the level of the control sound or the control vibration emitted from the control sound source or the control vibration source is extremely increased as described above. When the level is increased, the level of the drive signal is increased. Similarly, the level of the residual noise signal or the residual vibration signal also increases. Therefore, as in the invention according to claim 6, if the divergence determination means of the divergence detection means is based on the processing result of the bandpass filter means, the divergence of the control can be detected.

When the control diverges, the level increases in the component corresponding to the fundamental order component or the higher order component of the noise or vibration to be reduced. Therefore, as in the invention according to claim 6, when the divergence frequency detecting means determines that the divergence determining means determines that divergence has occurred, the bandpass filter that is the basis of the determination, that is, when the output level is non-divergent The divergence frequency can be detected based on the pass frequency band of the bandpass filter which is increasing more than the above and the fundamental frequency of the reference signal. For example, as in the invention according to claim 7, among the frequencies included in the pass frequency band of the bandpass filter on which the determination is based, a frequency that is an integral multiple of the fundamental frequency of the reference signal is detected as the divergence frequency. You can

[0028]

As described above, according to the present invention,
When divergence occurs, the divergence is suppressed by adjusting the divergence frequency component of each frequency component of the transfer function filter.Therefore, it is possible to improve the transfer function filter without increasing the cost significantly. There is an effect that it can be performed accurately and in a short time, and divergence can be suppressed.

Particularly, according to the inventions according to claims 2 to 5,
Since only the divergence frequency component of each frequency component of the transfer function filter can be reliably adjusted, the transfer function filter capable of suppressing the divergence can be surely corrected.

According to the invention of claim 6 or 7, there is an effect that the divergence detection and the divergence frequency can be detected easily and surely.

[0031]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 6 are views showing a first embodiment of the present invention, and FIG. 1 is a vehicle to which an active vibration control device which is an embodiment of an active noise vibration control device according to the present invention is applied. It is a schematic side view of.

First, the structure will be described. An engine 30 is supported by a vehicle body 35 composed of suspension members and the like via an active engine mount 1 capable of generating an active supporting force according to a drive signal. . In addition, actually, between the engine 30 and the vehicle body 35, in addition to the active engine mount 1, a plurality of engine mounts that generate a passive supporting force according to the relative displacement between the engine 30 and the vehicle body 35 are also interposed. is doing. Examples of the passive engine mount include a normal engine mount that supports a load with a rubber-like elastic body, and a known fluid-filled mount in which a fluid is enclosed inside the rubber-like elastic body so that damping force can be generated. Insulator etc. can be applied.

On the other hand, the active engine mount 1 is constructed, for example, as shown in FIG. That is, the active engine mount 1 in this embodiment has a cap 2 integrally provided with a bolt 2a for mounting on the engine 30 in the upper part, and having a hollow inside and an open lower part. The upper end of the inner cylinder 3 whose axis faces the up-down direction is caulked.

The inner cylinder 3 has a shape in which the lower end side is reduced in diameter, and the lower end portion is horizontally bent inward,
A circular opening 3a is formed here. A diaphragm 4 is disposed inside the inner cylinder 3 so as to vertically divide the space inside the cap 2 and the inner cylinder 3 into two parts, which are sandwiched between the cap 2 and the inner cylinder 3 by caulking. There is. The space above the diaphragm 4 communicates with the atmospheric pressure by forming a hole in the side surface of the cap 2.

Further, an orifice structure 5 is arranged inside the inner cylinder 3. In the present embodiment, a thin film elastic body (the outer peripheral portion of the diaphragm 4 may be extended) between the inner surface of the inner cylinder 3 and the orifice constituting body 5.
Is interposed, whereby the orifice constituting body 5 is firmly fitted inside the inner cylinder 3.

The orifice structure 5 is formed in a substantially columnar shape so as to be aligned with the inner space of the inner cylinder 3, and has a circular recess 5a on the upper surface thereof. The recess 5a and the portion of the bottom surface facing the opening 3a communicate with each other via the orifice 5b. The orifice 5b is, for example, a groove that extends spirally along the outer peripheral surface of the orifice structure 5 and one end of the groove is a recess 5a.
And a flow path that allows the other end of the groove to communicate with the opening 3a.

On the other hand, the outer peripheral surface of the inner cylinder 3 is vulcanized and bonded to the inner peripheral surface of a thick-walled cylindrical support elastic body 6 whose inner peripheral surface side is slightly raised. The outer peripheral surface is vulcanized and adhered to the upper portion of the inner peripheral surface of the outer cylinder 7 as a cylindrical member whose upper end side is expanded in diameter.

The lower end of the outer cylinder 7 is caulked to the upper end of a cylindrical actuator case 8 having an open upper surface, and the lower end of the actuator case 8 is used for mounting on the vehicle body 35 side. The mounting bolt 9 is protruding. The head portion 9a of the mounting bolt 9 is housed in the central hollow portion 8b of the flat plate member 8a arranged in a state of being attached to the inner bottom surface of the actuator case 8.

Further, inside the actuator case 8, a cylindrical iron yoke 10A and this yoke 10A are provided.
Exciting coil 10B wound around the center of the magnet with its axis oriented vertically, and a permanent magnet 1 fixed with its poles oriented vertically on the upper surface of the portion of the yoke 10A surrounded by the exciting coil 10B.
An electromagnetic actuator 10 composed of 0C is provided.

Further, the upper end portion of the actuator case 8 is a flange portion 8A formed in a flange shape,
The lower end portion of the outer cylinder 7 is crimped to the flange portion 8A so that both are integrated, and the peripheral portion (end portion) of the circular metal leaf spring 11 is sandwiched between the crimping prevention portions. A magnetic path member 12 that can be magnetized by a rivet 11a is fixed to the electromagnetic actuator 10 side of the central portion of the leaf spring 11. The magnetic path member 12
Is an iron disc with a diameter slightly smaller than that of the yoke 10A,
The bottom surface is formed to have a thickness close to the electromagnetic actuator 10.

Further, at the caulking preventing portion, a ring-shaped thin film elastic body 13 and a flange portion 14a of the force transmitting member 14 are sandwiched between the flange portion 8A and the leaf spring 11.
And are supported. Specifically, on the flange portion 8A of the actuator case 8, the thin film elastic body 13, the flange portion 14a of the force transmission member 14, and the leaf spring 11 are superposed in this order, and the overlapped whole is covered with an outer cylinder. The lower end of 7 is caulked to be integrated.

The force transmitting member 14 is a short cylindrical member that surrounds the magnetic path member 12. The upper end portion of the force transmitting member 14 is a flange portion 14a, and the lower end portion thereof is on the upper surface of the yoke 10A of the electromagnetic actuator 10. Are connected. Specifically, the lower end portion of the force transmission member 14 is fitted into a circular groove formed in the peripheral edge portion of the upper end surface of the yoke 10A so that the both are joined. Further, the spring constant of the force transmitting member 14 during elastic deformation is set to a value larger than the spring constant of the thin film elastic body 13.

Here, in this embodiment, the support elastic body 6 is used.
A fluid chamber 15 is formed in a portion defined by the lower surface of the plate spring 11 and the upper surface of the leaf spring 11, and a sub-fluid chamber 16 is formed in a portion defined by the diaphragm 4 and the recess 5a. The fluid chambers 16 communicate with each other via an orifice 5b formed in the orifice structure 5. A fluid such as oil is enclosed in the fluid chamber 15, the sub-fluid chamber 16 and the orifice 5b.

The characteristics of the fluid mount, which is determined by the flow path shape of the orifice 5b, have a high dynamic spring constant when the engine shake occurs during running, that is, when the active engine mount 1 is vibrated at 5 to 15 Hz. Adjusted to show high damping force.

The exciting coil 10B of the electromagnetic actuator 10 is adapted to generate a predetermined electromagnetic force according to the drive signal y which is a current supplied from the controller 25 through the harness 23a. Controller 25
Is composed of a microcomputer, a necessary interface circuit, an A / D converter, a D / A converter, an amplifier, etc., and produces idle vibration, muffled sound vibration, and vibration during acceleration, which are vibrations of higher frequency than the engine shake. When input to the vehicle body 35, an active supporting force capable of reducing the vibration is generated in the active engine mount 1,
The drive signal y for the active engine mount 1 is generated and output.

Here, idle vibration and muffled sound vibration are
For example, in the case of a reciprocating 4-cylinder engine, the engine rotation 2
The main cause is that the engine vibration of the next component is transmitted to the vehicle body 35. Therefore, if the drive signal y is generated and output in synchronization with the engine rotation secondary component, the vehicle side vibration can be reduced. . Therefore, in the present embodiment, the engine 30
Is provided with a pulse signal generator 26 that generates an impulse signal in synchronization with the rotation of the crankshaft (for example, in the case of a reciprocating 4-cylinder engine, one every time the crankshaft rotates 180 degrees) and outputs it as a reference signal x. However, the reference signal x is supplied to the controller 25 as a signal indicating the vibration generation state of the engine 30.

On the other hand, the yoke 1 of the electromagnetic actuator 10
So that it is sandwiched between the lower end surface of 0A and the upper surface of the flat plate member 8a forming the bottom surface of the actuator case 8,
A load sensor 22 for detecting an exciting force transmitted from the engine 30 through the support elastic body 6 is arranged, and a detection result of the load sensor 22 is supplied to the controller 25 as a residual vibration signal e through the harness 23b. ing. As the load sensor 22, specifically, a piezoelectric element, a magnetostrictive element, a strain gauge, or the like can be applied.

Then, the controller 25, based on the supplied residual vibration signal e and the reference signal x, is a synchronous Filtered-X LMS which is one of the adaptive algorithms.
The drive signal y for the active engine mount 1 is calculated by executing the algorithm, and the drive signal y is calculated.
Is output to the active engine mount 1.

Specifically, the controller 25 has an adaptive digital filter W with a variable filter coefficient W _i (i = 0, 1, 2, ..., I-1: I is the number of taps), and the latest The adaptive digital filter W at a predetermined sampling clock interval from the time when the reference signal x is input.
While the filter coefficient W of No. 1 is sequentially output as the drive signal y, the filter coefficient W _i of the adaptive digital filter W is appropriately updated based on the reference signal x and the residual vibration signal e.

The update formula of the adaptive digital filter W is F
The following equation (1) follows the iltered-X LMS algorithm. W _i (n + 1) = W _i (n) −μR ^T e (n) (1) Here, the terms with (n) and (n + 1) represent values at sampling times n and n + 1, μ is a convergence coefficient. Further, theoretically, the update reference signal R ^T is
The reference signal x is a value obtained by filtering the transfer function C between the electromagnetic actuator 10 of the active engine mount 1 and the load sensor 22 with a transfer function filter C ^ modeled by a finite impulse response type filter. Is "1", which corresponds to the sum at the sampling time n of the impulse response waveforms when the impulse responses of the transfer function filter C ^ are generated one after another in synchronization with the reference signal x.

Further, theoretically, the reference signal x is filtered by the adaptive digital filter W to generate the drive signal y. However, since the magnitude of the reference signal x is "1", the filter coefficient W _{Even if i} is sequentially output as the drive signal y, the same result as when the filter processing result is used as the drive signal y is obtained.

Although the arithmetic operation in the controller 25 is actually executed in the microprocessor, its functional configuration is shown in a block diagram in FIG. That is, the controller 25 outputs the drive signal generation unit 25A that sequentially outputs the filter coefficient W _i of the adaptive digital filter W as the drive signal y from the time when the reference signal x is input, the reference signal x, and the transfer function filter C ^. and updating the reference signal calculation unit 25B for calculating the updated reference signal R ^T convolved, each filter coefficient of the adaptive digital filter W according to the above (1) based on the updated reference signal R ^T and the residual vibration signal e And a filter coefficient updating unit 25C that updates W _i .

Furthermore, the controller 25 detects the divergence of the control based on the residual vibration signal e, and the divergence based on the detection result of the divergence detector 25D and the reference signal x. A divergence frequency detection unit 25E that obtains the divergence frequency f _D of the generated frequency, and a component corresponding to the divergence frequency f _D among the frequency components of the transfer function filter C ^ when the divergence detection unit 25D detects the divergence of the control. Function filter correction unit 25F for converting the phase of
And have.

The divergence detecting section 25D is provided with a plurality of bandpass filter processing sections for filtering the residual vibration signal e so that the respective pass frequency bands are different, and the processing results of the bandpass filter processing sections are shown. When at least one of the levels exceeds a predetermined threshold value e _th , it is determined that the control has divergence. That is, the divergence of control in the active vibration control device as in the present embodiment is a phenomenon in which the vibration level on the member 35 side rather increases due to the control vibration generated from the active engine mount 1. The divergence of the control can be detected based on the level of the signal e.

The divergence frequency detecting section 25E is the divergence detecting section 2
In 5D, if it is determined that at least one level of the processing result of the bandpass filter processing unit exceeds the predetermined threshold value e _th , that is, if it is detected that the control is diverging, the processing is performed. The pass frequency band f _{L to} f _{U of} the band pass filter processing unit, which is determined to have _{exceeded the} threshold value e _th, and the frequency f _{x of the} reference signal x which is known from the generation interval of the reference signal x. Based on this, the divergence frequency f _D is detected.

That is, the divergence of control is a phenomenon in which the level of the component corresponding to the fundamental order component or the higher-order component of the vibration to be reduced is extremely increased. Therefore, the frequency at which the divergence of control occurs is It is very likely that it is an integral multiple of the fundamental frequency of vibration. When the divergence detection unit 25D is designed to detect the divergence of control based on the processing result of the bandpass filter processing unit as in the present embodiment, at least the divergence frequency f _D has the processing result. Threshold e
It is clear that exists been judged bandpass filtering of the pass frequency band f _L ~f the _U exceeds the _th. On the other hand, since the fundamental frequency of vibration is nothing but the frequency f _x of the reference signal x, the frequency that is an integral multiple of the frequency f _x existing in the pass frequency band f _{L to} f _U is defined as the divergence frequency f _D. You can be certified.

Then, the transfer function filter correction unit 25F
Adjusts only the phase of the component corresponding to the divergence frequency f _D among the frequency components of the transfer function filter C ^ to eliminate the decrease in accuracy of the transfer function filter C ^ and suppress the divergence of control. It is like this. Specifically, the controller 25, the transfer function filter C ^ to another, the transfer function filter C plurality of divided transfer function filter C ^ which ^ were divided for each frequency component _{(f 1) ~C ^ (f} N ) Is remembered. However, in this embodiment, the actual division into each of all the frequencies of all the frequency band required for the vibration reduction control transfer function filter _{C ^ (f 1) ~C ^} (f N)
Rather than remembering, store the split transfer function filter for frequencies where control divergence is likely to occur, and store the split transfer function filter for frequencies where control divergence is extremely unlikely. Therefore, the storage area of the controller 25 is saved. The frequency at which control divergence easily occurs can be obtained by a durability experiment or simulation in which an overload is applied to the active engine mount 1.

That is, the transfer function filter C ^ which is a finite impulse response type digital filter is shown in FIG.
The waveform is as shown in (b).
If frequency analysis is performed using, and the result is subjected to inverse FFT for each frequency component and returned to the model on the time axis, a plurality of divided transfer function filters C ^ (f ₁ ), as illustrated in FIG.
It can be divided into C ^ (f ₂ ), C ^ (f ₃ ), ... C ^ (f _N ). Therefore, by adding the divided transfer function filters, the original transfer function filter C ^ is obtained.
Then, the controller 25 selects _{one of the} plurality of divided transfer function filters C ^ (f ₁ ) to C ^ (f _N ) obtained by the above FFT and inverse FFT, which is likely to cause divergence of control. I remember.

Then, the transfer function filter correction unit 25F
When the divergence detection unit 25D detects the divergence of the control and the divergence frequency detection unit 25 detects the divergence frequency f _D , the transfer function filter C ^ divides the transfer function filter C ^ corresponding to the divergence frequency f _D. (f _D) subtracted, to the subtraction result, split transfer function filter C obtained by converting the phase ^
A new modified transfer function filter C ^ is generated by adding (f _D ) '.

[0060] The controller 25 is to store the divided transfer function filter C ^ phases are converted by the transfer function filter modifying section 25F (f _D) ', as a new dividing transfer function filter C ^ (f _D) It has become. Further, the correction of the transfer function filter C ^ in the transfer function filter correction unit 25F is repeatedly executed until the divergence of the control is eliminated.

The phase conversion of the divided transfer function filter C ^ (f _D ) executed by the transfer function filter correction section 25F is a conversion in the phase advancing direction in the present embodiment. The reason is that, in the case of the active vibration control device using the active engine mount 1 as in the present embodiment, the decrease in the accuracy of the transfer function filter C ^ is caused by the support elastic body 6 or the like of the active engine mount 1. The main cause is the change of the actual transfer function due to the deterioration of the rubber-like part in the curing direction,
This is because when the support elastic body 6 and the like harden, the resonance frequency becomes high, and the phase of the actual transfer function changes in the proceeding direction.

[0062] that advancing the phase of the divided transfer function filter C ^ (f _D) is, in fact, because the division transfer function filter C ^ (f _D) is represented by a sequence on the time axis,
For example, the number sequence is shifted one by one so that the phase advances on the time axis. For example, split transfer function filter C ^ (f _{D) is, {C ^ 1, C ^} 2, C ^ 3, ..., C
^ If that _n} of the sequence is only one division transfer function filter advanced phase C ^ (f _D) is on the time axis, {C ^
₂ , C ^ ₃ , C ^ ₄ , ..., C ^ _n , C ^ ₁ }.

Next, the operation of this embodiment will be described. That is, when an engine shake occurs, the flow path shape of the orifice 5a is appropriately selected. As a result, the active engine mount 1 functions as a support device for a high dynamic spring constant and a high damping force. The engine shake is damped by the active engine mount 1, and the vibration level on the vehicle body 35 side is reduced. Note that it is not necessary to positively displace the movable plate 12 with respect to the engine shake.

On the other hand, when the vibration in the frequency higher than the idle vibration frequency is input, which makes the fluid in the orifice 5a stick and the fluid cannot move between the fluid chamber 15 and the sub-fluid chamber 16, 25 executes a predetermined arithmetic process, outputs a drive signal y to the electromagnetic actuator 10, and causes the active engine mount 1 to generate an active supporting force capable of reducing vibration.

This will be specifically described with reference to FIG. 5, which is a flow chart showing the outline of the processing executed in the controller 25 when the idle vibration and the muffled sound vibration are input.
First, after a predetermined initialization is performed in step 101, the process proceeds to step 102, and the update reference signal R ^T is calculated based on the transfer function filter C ^. In this step 102, the update reference signals R ^T for one cycle are collectively calculated.

Then, after shifting to step 103 and the counter i is cleared to zero, the routine proceeds to step 104,
I-th filter coefficient W _{i of the} adaptive digital filter W
Is output as the drive signal y.

When the drive signal y is output in step 104, the process proceeds to step 105, and the residual vibration signal e is read. This residual vibration signal e is stored together with the current value of the counter i.

Then, in step 106, the counter j is cleared to zero, then in step 107, the j-th filter coefficient W _{j of} the adaptive digital filter W is updated according to the above equation (1).

When the updating process in step 107 is completed, the routine proceeds to step 108, where it is judged whether or not the next reference signal x is inputted. If it is judged here that the reference signal x is not inputted, , The process proceeds to step 109 in order to update the next filter coefficient of the adaptive digital filter W or output the drive signal y.

In step 109, it is determined whether or not the counter j has reached the output count T _y (more precisely, since the counter j starts from 0, the output count T _y minus 1). In this determination, it is determined whether the filter coefficient W _i of the adaptive digital filter W is output as the drive signal y in step 104 and then the filter coefficient W _i of the adaptive digital filter W is updated by the necessary number as the drive signal y. It is for judging. Therefore, if the determination in step 109 is “NO”, step 11
After incrementing the counter j by 0, step 1
Returning to 07, the above processing is repeatedly executed.

However, the determination in step 109 is "YE
In the case of “S”, it can be determined that the updating process of the necessary number of filter coefficients as the drive signal y among the filter coefficients of the adaptive digital filter W has been completed.
After shifting to 1 and incrementing the counter i, after executing the processing of step 104, wait until the time corresponding to the interval of the predetermined sampling clock elapses, and when the time corresponding to the sampling clock elapses. Then, the processing returns to step 104 and the above-mentioned processing is repeatedly executed.

On the other hand, when it is determined in step 108 that the reference signal x is input, the process proceeds to step 112, and the counter i (to be precise, since the counter i starts from 0, 1 is added to the counter i). Value) is stored as the latest output count T _y , and then the process returns to step 102 and the above-described processing is repeatedly executed.

As a result of repeatedly executing the processing shown in FIG. 5, the controller 25 activates the active engine mount 1
For the electromagnetic actuator 10 of, from the time when the reference signal x is input, at the sampling clock interval,
The filter coefficient W _i of the adaptive digital filter W is sequentially supplied as the drive signal y.

As a result, the drive signal y is applied to the exciting coil 10B.
However, since a constant magnetic force is already applied to the magnetic path member 12 by the permanent magnet 10C,
It can be considered that the magnetic force generated by the exciting coil 10B acts to strengthen or weaken the magnetic force of the permanent magnet 10C. That is, in the state where the drive signal y is not supplied to the exciting coil 10B, the magnetic path member 12 is displaced to a neutral position where the supporting force of the leaf spring 11 and the magnetic force of the permanent magnet 10C are balanced. When the drive signal y is supplied to the exciting coil 10B in this neutral state, if the magnetic force generated in the exciting coil 10B by the drive signal y is in the opposite direction to the magnetic force of the permanent magnet 10C, the magnetic path member 12 is generated.
Is displaced in the direction in which the clearance with the electromagnetic actuator 10 increases. On the contrary, if the magnetic force generated in the exciting coil 10B is in the same direction as the magnetic force of the permanent magnet 10C, the magnetic path member 12 is displaced in the direction in which the clearance with the electromagnetic actuator 10 decreases.

As described above, the magnetic path member 12 can be displaced in both forward and reverse directions, and if the magnetic path member 12 is displaced, the main fluid chamber 15 can be moved.
Since the volume of the engine is changed and the expansion spring of the support elastic body 6 is deformed by the volume change, an active supporting force in both the forward and reverse directions is generated in the active engine mount 1.

Then, each filter coefficient W _i of the adaptive digital filter W serving as the drive signal y is a synchronous filter.
Since it is sequentially updated by the above equation (1) according to the red-X LMS algorithm, after a certain amount of time has passed and each filter coefficient W _i of the adaptive digital filter W has converged to the optimum value, the drive signal y is By being supplied to the active engine mount 1, idle vibration and muffled sound vibration transmitted from the engine 30 to the vehicle body 35 side via the active engine mount 1 are reduced.

On the other hand, in the controller 25, the processing by the divergence detection section 25D, the divergence frequency detection section 25E and the transfer function filter correction section 25F shown in FIG. 3, that is, the divergence detection processing and the transfer function filter correction processing shown in FIG. It is supposed to be executed. The divergence detection process and the transfer function filter correction process are executed substantially in parallel with the vibration reduction process shown in FIG. 5 by, for example, a time sharing method.

That is, when the processing of FIG. 6 is executed, first, at step 201, the residual vibration signal e is subjected to each band pass filter processing, and the level of the residual vibration signal e for each pass frequency band of the band pass filter. Is required.
Next, in step 202, the bandpass
It is determined whether at least one of the results of the filtering process exceeds a predetermined threshold value e _th corresponding to the level of the residual vibration signal e when the control has diverged. If the determination in step 201 is “NO”, that is, if the results of all bandpass filtering processes are equal to or less than the threshold value e _th, it is determined that the transfer function filter C ^ does not need to be modified, The processing of FIG. 6 this time is terminated as it is.

However, the determination in step 201 is "YE
In the case of “S”, it is determined that divergence has occurred, and the process proceeds to step 203. In step 203, the frequency f of the reference signal x is calculated based on the input interval of the reference signal x.
Calculates _x .

Then, the process proceeds to step 204, and based on the pass frequency bands f _{L to} f _{U of} the band pass filter which is the basis of the divergence detection in steps 201 to 202 and the frequency f _X of the reference signal x, The divergence frequency f _D is calculated. Among the frequencies in the pass frequency bands f _{L to} f _U , the frequency that is an integral multiple (1 time, 2 times, 3 times, ...) Of the reference signal x is set as the divergence frequency f _D. By the frequency f _x of the pass frequency band width and a reference signal x of the band pass filter, there is a case where the frequency corresponding to the diverging frequency f _D there are a plurality, in such a case, a plurality of frequencies Each may be selected as the divergence frequency f _D.

Then, the process proceeds to step 205, and the divergence frequency f of the transfer function filter C ^ is calculated according to the following equation (2).
Correct the component of _D. C ^ = C ^ -C ^ ( f D) + C ^ (f D) '...... (2) In addition, (2) C in the formula ^ (f _D)' is divided transfer function filter C ^ (f _D ) Is one phase advanced. In addition, after the calculation in step 205 is performed,
Phased advanced transfer function filter C ^ (f _D ) '
Is stored as a new split transfer function filter C ^ (f _D ). When the processing of step 205 is completed, this FIG.
Since the processing of FIG. 6 is always executed, the correction processing of the transfer function filter C ^ in steps 203 to 205 is repeatedly executed until the determination in step 202 becomes "NO". , Transfer function filter C
The component of the divergence frequency f _D of ^ is until the divergence is suppressed,
In other words, the transfer function filter C ^ and the actual transfer function are successively corrected until the deviation becomes extremely small.

For example, the initial transfer function filter C ^ has a waveform as shown in FIG. 4 (b), and the divided transfer function filters C ^ (f ₁ ) to C ^ (f _N ) are shown in FIG. 4 (a). When the waveform is as shown in FIG. 6, it is assumed that the determination in step 202 in FIG. 6 is “YES” and the divergence frequency f _D obtained in step 204 is the frequency f ₃ .

Then, in step 205, the divided transfer function filter C ^ (f ₃ ) which is also a sequence on the time axis is subtracted from the transfer function filter C ^ on the time axis, and the subtracted result is split transfer function filter C ^ (f ₃₎ is shifted only one in the direction in which the phase is advanced as shown in FIG. 4 (c) each sequence representing a formed by dividing transfer function filter C ^ (f ₃₎ alignment plus' Then, a new transfer function filter C ^ is generated, and this new transfer function filter C ^ is used in the subsequent processing in step 102 of FIG.

As described above, in the present embodiment, the divergence detection processing and the transfer function filter correction processing are executed in parallel with the vibration reduction control, and the transfer function filter correction processing is performed as described above. , Subtraction, addition, and shift of a sequence can be performed by simple operations. As a result, the transfer function C is caused by deterioration of the support elastic body 6 and the like over time.
, The transfer function filter C ^, which is corrected by following the change in the transfer function C with high accuracy, is used for the vibration reduction control, so that good vibration reduction control can be executed. Of. Moreover, a high-speed processing and therefore an expensive microprocessor or the like is not particularly required.

Further, in this embodiment, in addition to the transfer function filter C ^, the necessary split transfer function filter C ^ (f
_{Since 1} ) to C ^ (f _N ) are stored, a component corresponding to the divergence frequency f _D among the frequency components of the transfer function filter C ^ can be calculated by simple operations such as subtraction and addition as described above. Only the phase of can be converted. If only the transfer function filter C ^ is stored, the transfer function filter C ^ is stored.
In order to convert only the phase of the frequency component having the characteristic of, the transfer function filter C ^ is FFT processed to extract each frequency component, the phase of the specific frequency component is converted, and then the inverse FFT is performed.
Then, a series of processing of returning to the time axis is required, and thus the number of calculations becomes large as compared with the case of the present embodiment.

Moreover, when the transfer function filter C ^ is modified, it is not necessary to generate a test vibration from the active engine mount 1, so that there is an advantage that the occupant does not feel uncomfortable.

Further, in this embodiment, a synchronous Filtered-X LM in which the reference signal x is an impulse train is used.
Although the S algorithm is applied, since the reference signal x, which is an impulse train, contains high-frequency components in addition to its fundamental frequency, high-frequency components must also be considered. For example, if the sampling frequency is set low, it is not necessary to think about high frequencies, but for that purpose, a low-pass filter whose cutoff frequency is a frequency less than half the sampling frequency is required. However, in reality, unless the filter order of the low-pass filter is increased, the pass characteristic before and after the desired cutoff frequency cannot be changed sharply. However, increasing the filter order of the low-pass filter increases the calculation load. turn into. Therefore, in order to avoid an increase in computational load, the actual cutoff frequency of the low-pass filter should be set to a frequency lower than the desired cutoff frequency, but lowering the cutoff frequency changes the phase. Has grown,
If the phase of the transfer function filter C ^ deviates at a specific frequency, the phase deviation further increases, and the control tends to be unstable. That is, when the synchronous Filtered-X LMS algorithm is applied as the control algorithm, it is important to keep the transfer function filter C ^ with high accuracy, and as shown in FIG. The configuration for executing the divergence detection processing and the transfer function filter correction processing as shown is particularly suitable for the active vibration control device using the synchronous Filtered-X LMS algorithm.

Since the bandpass filter used for divergence detection is outside the system including the transfer function filter C ^, it does not affect the control stability. In this embodiment, since the load sensor 22 is used as a means for detecting the vibration transmitted to the vehicle body 35 side through the active engine mount 1, the residual vibration signal that accurately represents the magnitude of the vibration amplitude. e to controller 25
There is also an advantage that can be supplied to. Therefore, in the controller 25, the drive signal y accurately reflecting the magnitude of the vibration amplitude is generated and output, and the electromagnetic actuator 10 displaces the movable plate 12 with the amplitude proportional to the vibration amplitude. You can Therefore, idle vibration (20
It is possible to execute good vibration reduction control over the entire control frequency band from (~ 30 Hz) to muffled sound vibration (80-800 Hz).

Further, since the load sensor 22 is built in the active engine mount 1 and the tightening force of the bolt 9 is not applied to the load sensor 22, the load sensor has a low withstand load condition and is small in size. The load sensor 22 can be adopted, which is very suitable for the active engine mount 1 which has a small space, and is advantageous in cost. In addition, if the load sensor 22 is integrated with the active engine mount 1, the time and effort required for actually mounting the load sensor 22 on a vehicle are reduced, so that there is an advantage that efficiency in the manufacturing line can be improved.

Here, in the present embodiment, the active engine mount 1 corresponds to the control vibration source, the pulse signal generator 26 corresponds to the reference signal generating means, and the drive signal generating section 25A in the controller 25 is updated. Reference signal calculator 25
B, the filter coefficient updating unit 25C and the process of FIG. 5 correspond to the control unit, the load sensor 22 corresponds to the residual vibration detecting unit, the divergence detecting unit 25D in the controller 25 and the processes of Steps 201 and 202 in FIG. 6 corresponds to the divergence detecting means, and the processing of steps 203 and 204 in FIG. 6 corresponds to the divergence frequency detecting means, and the transfer function filter correcting section 25F in the controller 25 and step 205 in FIG. 6 corresponds to the divergence suppressing means, and the process of step 201 in FIG.
The process of step 202 in FIG. 6 corresponds to the filter unit, and corresponds to the divergence determination unit.

FIG. 7 is a diagram showing a second embodiment of the present invention, and is a flow chart showing the divergence detection processing and the transfer function filter correction processing as in FIG. 6 of the first embodiment. Since the overall configuration of the active vibration control device and the vibration reduction process are the same as those in the first embodiment, the illustration and description thereof will be omitted, and during the process of FIG. 7, the same as the process of FIG. The same reference numerals are given to the steps of (1) and (2) and their duplicate description is omitted.

That is, in the present embodiment, step 204
When the divergence frequency f _D is detected by the processing of step 30, step 30
1, and the component of the divergence frequency f _D of the transfer function filter C ^ is corrected according to the following equation (3).

[0093] C ^ = C ^ -C ^ ( f D) ...... (3) That is, in this embodiment, the transfer function filter C ^ currently in use, split transfer function filter corresponding to the diverging frequency f _D by subtracting C ^ a (f _D), and so as to generate a new transfer function filter C ^.

Even with such a correction to the transfer function filter C ^, when divergence is detected, the component corresponding to the divergence frequency f _D is removed from the transfer function filter C ^, so that the divergence of control is eliminated. The phase shift at the divergence frequency f _D of the transfer function filter C ^, which is the cause of the above, is substantially eliminated, and the divergence of control is suppressed.

Incidentally, in some cases, after the divergence of the control is sufficiently canceled, the transfer function filter C ^ is subjected to the above (3).
Divided transfer function filter C ^ subtracted according to the formula
(F _D ) may be added. Then, if the divergence of control occurs again after performing such addition,
Again the (3) subtracted division transfer function filter C ^ (f _D) by performing the calculation of the equation, then may not be added.

Other functions and effects are similar to those of the first embodiment. Here, in the present embodiment, the process of step 301 in FIG. 7 corresponds to the divergence suppressing means.

In the above embodiment, the component corresponding to the divergence frequency f _D of the transfer function filter C ^ is corrected by performing the calculation of the above formula (2) or (3). It is not limited to this, for example,
If the storage area of the controller 25 has enough space,
All of the divided transfer function filters C ^ (f ₁ ) to C ^ (f _N ) obtained by dividing the transfer function filter C ^ for each frequency component are stored in sufficient numbers to reproduce the transfer function filter C ^. In step 205, the divergence frequency f
After converting the divided transfer function filter C ^ (f _D) only in the phase corresponding to _D, all the divided transfer function filter C ^
_{(F 1) ~C ^ (f} N) the summing up may be generated a new transfer function filter C ^, the process of step 301, the divided transfer function filter C corresponding to the diverging frequency f _D ^ (f _D) all the divided transmission excluding the function filter _{C ^ (f 1) ~C ^} (f N) may be configured to generate a C ^ new transfer function filter are summed, and such Even with the configuration, it is possible to obtain the same operational effects as the above-described embodiment.

In the first embodiment, the split transfer function filter C ^ is used in the processing of step 205.
The phase conversion in the direction of advancing the phase conversion of (f _D ) is performed, but this is appropriately determined by experiments or the like according to the characteristics of the vibration transmission system. Depending on the case, the phase conversion of the divided transfer function filter C ^ (f _D ) may be advanced or delayed while searching for the direction in which the divergence of control is eliminated.

In the above embodiment, the residual vibration is detected by the load sensor 22 incorporated in the active engine mount 1. However, the present invention is not limited to this. An acceleration sensor that detects vibration may be provided and the output signal of the acceleration sensor may be the residual vibration signal e.

In the above embodiment, the divergence detecting section 25D in the controller 25 detects the divergence by processing the residual vibration signal e in each bandpass filter processing section, but the present invention is not limited to this. Instead of the residual vibration signal e, the drive signal y may be processed by the band pass filter processing unit to detect the divergence. Further, the residual vibration signal e and the drive signal y are detected by the divergence based on only the level thereof without band-pass filtering, and the band-pass filtering is performed only when the divergence is detected to cause divergence. It is also possible to detect the rough band of the frequency that is present. By doing so, it is possible to further reduce the calculation load at all times.

Furthermore, in the above-described embodiment, the active noise and vibration control device according to the present invention is used for the engine 30 to the vehicle body 3.
The case where the invention is applied to the active vibration control device for a vehicle that reduces the vibration transmitted to the vehicle 5 is described, but the application target of the present invention is not limited to this. For example, from the engine 30 as a noise source to the vehicle. It may be an active noise control device that reduces the periodic noise transmitted to the room. In the case of such an active noise control device, a loudspeaker as a control sound source for generating a control sound in the vehicle interior,
A microphone as a residual noise detecting means for detecting the residual noise in the vehicle compartment is provided, and the loudspeaker is driven according to the drive signal y obtained by the same calculation processing as in the above-described embodiment, and the output of the microphone is changed to the residual noise. The signal e may be used for updating the filter coefficients W _i of the adaptive digital filter W. Then, if the same masking state detection processing and transfer function filter identification processing as those in the above-described embodiment are executed, the same operational effects as those in the above-described embodiment can be obtained.

Further, the application target of the present invention is not limited to the vehicle, and the active vibration control device and the active noise control for reducing the periodic vibration and the periodic noise generated in the parts other than the engine 30. The present invention can be applied even to a device, and the same operational effect as that of the above-described embodiment can be achieved regardless of the application target. For example, the present invention can be applied to a device that reduces periodic vibration and noise transmitted from a machine tool to a floor or a room.

In the above embodiment, the case where the synchronous Filtered-X LMS algorithm is applied as the adaptive algorithm has been described, but the applicable adaptive algorithm is not limited to this.
For example, a normal Filtered-X LMS algorithm or the like may be used.

[Brief description of drawings]

FIG. 1 is a schematic side view of a vehicle showing a first embodiment.

FIG. 2 is a sectional view showing an example of an active engine mount.

FIG. 3 is a block diagram showing a functional configuration of a controller.

FIG. 4 is a waveform diagram showing a relationship between a transfer function filter and a divided transfer function filter.

FIG. 5 is a flowchart showing an outline of vibration reduction processing.

FIG. 6 is a flowchart showing an outline of divergence detection processing and transfer function filter correction processing in the first embodiment.

FIG. 7 is a flowchart showing an outline of divergence detection processing and transfer function filter correction processing according to the second embodiment.

[Explanation of symbols]

1 Active engine mount (controlled vibration source) 22 Load sensor (residual vibration detection means) 25 controller 25A drive signal generator 25B Update reference signal generator 25C filter coefficient updating unit 25D divergence detection unit (divergence detection means) 25E Divergence frequency detection unit (divergence frequency detection means) 25F Transfer function filter correction unit (divergence suppressing means) 26 pulse signal generator (reference signal generating means) 30 engine 35 car body

Front page continuation (72) Inventor Yosuke Akatsu 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (56) References JP-A-8-123444 (JP, A) JP-A-8-69288 (JP) , A) JP 5-8694 (JP, A) JP 7-248784 (JP, A) JP 7-248782 (JP, A) JP 7-239690 (JP, A) JP 6-43883 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G10K 11/178 F01N 1/00 G05B 13/02 G05B 13/04 G05D 19/02

Claims (7)

(57) [Claims] 1. A control sound source or a control vibration source capable of generating a control sound or control vibration that interferes with noise or vibration, and residual noise or residual vibration after the interference is detected and output as a residual noise signal or residual vibration signal. Residual noise detecting means or residual vibration detecting means, reference signal generating means for detecting the generation state of the noise or vibration and outputting it as a reference signal, and an adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal A control means for generating and outputting a drive signal for driving the control sound source or the controlled vibration source, wherein the adaptive algorithm is provided between the control sound source or the controlled vibration source and the residual noise detection means or the residual vibration detection means. The divergence of control in an active noise and vibration control device that uses a transfer function filter that models the transfer function of A divergence detecting unit for detecting, a divergence frequency detecting unit for detecting a frequency at which the divergence occurs as a divergence frequency, and a component of the divergence frequency among the respective frequency components of the transfer function filter when the divergence occurs An active noise and vibration control device comprising: a divergence suppressing means for suppressing divergence. 2. A divided transfer function filter obtained by dividing the transfer function filter with respect to at least the frequency component in which the divergence may occur, and the divergence suppressing unit corresponds to the divergence frequency from the transfer function filter at the present time. Wherein the divided transfer function filter is subtracted, the phase of the divided transfer function filter corresponding to the divergence frequency is converted, and the result is added to generate a new transfer function filter. 1. The active noise and vibration control device described in 1. 3. A division transfer function filter obtained by dividing the transfer function filter for each frequency component, wherein the divergence suppressing means converts the phase of only the division transfer function filter corresponding to the divergence frequency. The active noise and vibration control apparatus according to claim 1, wherein the divided transfer function filters are added to generate a new transfer function filter. 4. A divided transfer function filter obtained by dividing the transfer function filter with respect to at least the frequency component in which the divergence may occur, and the divergence suppressing means corresponds to the divergence frequency from the transfer function filter at the present time. 2. The active noise and vibration control device according to claim 1, wherein a new transfer function filter is generated by subtracting the divided transfer function filter. 5. A divided transfer function filter obtained by dividing the transfer function filter for each frequency component, wherein the divergence suppressing means includes the divided transfer function filters excluding the divided transfer function filter corresponding to the divergence frequency. 2. The active noise and vibration control device according to claim 1, wherein a new transfer function filter is generated by adding 6. The divergence detecting means applies a bandpass signal to the residual noise signal, the residual vibration signal or the drive signal.
The divergence frequency detecting means includes a bandpass filter means for performing a filter process and a divergence determining means for deciding whether or not divergence has occurred based on a processing result of the bandpass filter means. When the determination means determines that divergence has occurred, the divergence frequency is detected based on the pass frequency band of the bandpass filter and the fundamental frequency of the reference signal which are the basis of the determination. The active noise and vibration control device according to any one of claims 1 to 5. 7. The divergence frequency detecting means selects a frequency that is an integral multiple of the fundamental frequency of the reference signal among the frequencies included in the pass frequency band of the bandpass filter that is the basis of the determination. The active noise and vibration control device according to claim 6, wherein the active noise and vibration control device is detected as.