JP5207991B2 - Active vibration control device - Google Patents

Description

  The present invention relates to an active vibration control device that generates a canceling vibration with respect to a vibration to be canceled and reduces the vibration to be canceled.

  2. Description of the Related Art An active vibration control apparatus (hereinafter referred to as “AVC apparatus”) is known as an apparatus for controlling vibrations in a passenger compartment. In the AVC apparatus, the vibration to be canceled is reduced by outputting a cancellation vibration having an opposite phase to the vibration to be canceled from a vibration generator (actuator) in the vehicle interior. Further, the error between the vibration to be canceled and the canceling vibration is detected as a combined vibration by the vibration sensor and used for the subsequent determination of the canceling vibration. Some AVC devices reduce, for example, vibrations of parts such as a steering wheel accompanying operation of an engine mounted on a vehicle (Patent Documents 1 to 3).

  Further, a telescopic mechanism and a tilt mechanism are well known as means for adjusting the position of the steering wheel. The telescopic mechanism is used to move the steering wheel closer to or away from the driver. The tilt mechanism is used to adjust the relative height of the steering wheel with respect to the driver. Although an actuator is not used, vibration control considering the operation of a telescopic mechanism is also known (Patent Document 4).

Japanese Patent Application Laid-Open No. 07-190138 JP 09-072375 A Japanese Patent Laying-Open No. 2005-075136 Japanese Patent Laid-Open No. 06-107186

  In the techniques described in Patent Documents 1 to 3, although some vibration reduction is achieved by using an actuator, there is still room for improvement. For example, in order to directly determine the vibration felt by the driver in the steering wheel, it is preferable to provide a vibration sensor in the steering wheel itself or in the vicinity thereof, but Patent Documents 1 and 3 can realize such a configuration. Not. That is, in Patent Document 1, a sensor (S2) is provided below the steering case (2) (see FIG. 1 of Patent Document 1), and in Patent Document 3, a rigid housing (76) fixed to a bracket (26). Is provided with a sensor (114) for vibration detection (see FIG. 1 and paragraph [0049] of Patent Document 3).

  Moreover, in patent document 2, a vibration detection sensor (4) is fixed to the actuator (3) provided in the shaft part (102) (refer FIG. 2 of patent document 2). Since the shaft portion (102) is understood to rotate together with the steering (101), it seems that vibration equivalent to the vibration in the steering (101) can be detected. However, in Patent Document 2, since the actuator (3) and the vibration detection sensor (4) are arranged in contact with each other, there is a risk of design restrictions and the like. That is, when the actuator (3) and the vibration detection sensor (4) are arranged integrally, the degree of design freedom is lost as compared with the case where they are arranged separately.

  Further, in Patent Documents 1 and 3, since both the actuator and the vibration sensor are fixed to a fixed portion (a portion that is not displaced by the operation of the telescopic mechanism or the tilt mechanism), in Patent Document 2, the actuator and the vibration sensor are both Are fixed to the movable part (the part displaced by the operation of the telescopic mechanism or the tilt mechanism), and in Patent Documents 1 to 3, a configuration in which the actuator and the vibration sensor are arranged separately in the fixed part and the movable part is examined. Absent. In this respect, the degree of freedom in design is low.

  The present invention has been made in consideration of such problems, and can stably cancel the vibration to be canceled regardless of the operation of the telescopic mechanism or the tilt mechanism, and also increases the degree of freedom of design. It is an object of the present invention to provide an active vibration control device that can be used.

  An active vibration control device according to the present invention includes a canceling vibration generating unit that generates a canceling vibration for canceling a canceling target vibration generated from a vibration source, and an error between the canceling target vibration and the canceling vibration. Based on the error signal generation unit that detects the error signal and generates an error signal indicating this error, the vibration frequency detection unit that detects the vibration frequency of the vibration source, A control signal generation unit that generates a control signal that defines cancellation vibration, wherein the cancellation vibration generation unit and the error signal generation unit are relatively positioned by an operation of a telescopic mechanism or a tilt mechanism. The control signal generation unit is configured to switch control characteristics used for generating the control signal according to a relative positional relationship between the cancellation vibration generation unit and the error signal generation unit. The features.

  According to the present invention, the control characteristics used for generating the control signal are switched according to the relative positional relationship between the canceling vibration generating unit and the error signal generating unit that change due to the operation of the telescopic mechanism or the tilt mechanism. As a result, it is possible to use control characteristics according to the relative positional relationship, and even if the relative positional relationship is changed by operating a telescopic mechanism or a tilt mechanism, the relative positional relationship after the change is changed. It is possible to generate a canceling vibration according to the above. Therefore, it is possible to stably cancel the vibration to be canceled regardless of the operation of the telescopic mechanism or the tilt mechanism. Further, one of the canceling vibration generating unit and the error signal generating unit is arranged in a fixed part (a part that is not displaced by the operation of the telescopic mechanism or the tilt mechanism), and the other is a movable part (a part that is displaced by the operation of the telescopic mechanism or the tilt mechanism). Therefore, the degree of freedom in design can be increased.

  The control characteristic may be at least one of a simulated transfer function, a stabilization coefficient, and a step size parameter from the canceling vibration generation unit to the error signal generation unit.

  The canceling vibration generation unit may be provided in a steering hanger or a subframe, and the error signal generation unit may be provided in a steering column or a steering wheel.

  The control signal generation unit includes a reference signal generation unit that generates a harmonic reference signal of a vibration frequency of the vibration source, an adaptive filter that outputs the control signal based on the reference signal, and a cancellation vibration generation unit. A reference signal generation unit that generates a reference signal by adjusting the amplitude and phase of the reference signal using a simulated transfer function up to the error signal generation unit, and the error signal based on the error signal and the reference signal A filter coefficient updating unit that sequentially updates the filter coefficient of the adaptive filter so as to be minimized, and the reference signal generation unit is configured according to a relative positional relationship between the cancellation vibration generation unit and the error signal generation unit. The simulated transfer function may be switched.

  According to the present invention, the control characteristics used for generating the control signal are switched according to the relative positional relationship between the canceling vibration generating unit and the error signal generating unit that change due to the operation of the telescopic mechanism or the tilt mechanism. As a result, it is possible to use control characteristics according to the relative positional relationship, and even if the relative positional relationship is changed by operating a telescopic mechanism or a tilt mechanism, the relative positional relationship after the change is changed. It is possible to generate a canceling vibration according to the above. Therefore, it is possible to stably cancel the vibration to be canceled regardless of the operation of the telescopic mechanism or the tilt mechanism. Further, one of the canceling vibration generating unit and the error signal generating unit is arranged in a fixed part (a part that is not displaced by the operation of the telescopic mechanism or the tilt mechanism), and the other is a movable part (a part that is displaced by the operation of the telescopic mechanism or the tilt mechanism). Therefore, the degree of freedom in design can be increased.

1 is a schematic configuration diagram of a vehicle equipped with an active vibration control device according to an embodiment of the present invention. It is a block diagram which shows the rough function implement | achieved by software processing in the control part of the said active type vibration control apparatus as a circuit structure. It is a flowchart which produces | generates cancellation vibration. It is a flowchart which produces | generates a control signal. It is a figure which shows the relationship between the displacement amount of a X direction, a simulation transfer function, a stabilization coefficient, and a step size parameter. The vibration level when the active vibration control device is not operated, the vibration level when the active vibration control device is operated but the simulation transfer function, the stabilization coefficient, and the step size parameter are fixed, and the active An example of the vibration level when the type vibration control device is operated and the simulated transfer function, the stabilization coefficient, and the step size parameter are switched according to the displacement signal is shown. It is a schematic block diagram of the vehicle carrying the modification of the said active type vibration control apparatus.

[A. One Embodiment]
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

1. Overall and Configuration of Each Part (1) Overall Configuration FIG. 1 is a schematic configuration of a vehicle 10 equipped with an active vibration control device 12 (hereinafter referred to as “AVC device 12”) according to an embodiment of the present invention. FIG. The vehicle 10 can be, for example, a gasoline vehicle.

  In the vehicle 10, vibration (vibration to be canceled Va) from the engine 14 (vibration source) is transmitted to the steering hanger 16 via a frame or the like (not shown), and the vibration Va to be cancelled is transmitted to the steering column. 18 and the steering shaft 20 are transmitted to the steering wheel 22. On the other hand, the AVC device 12 generates a canceling vibration Vb by a method described later and cancels the vibration Va to be canceled.

  The steering column 18 is fixed to the steering hanger 16, the steering shaft 20 is rotatably supported by the steering column 18, and the steering wheel 22 is fixed to the steering shaft 20.

  The steering column 18 includes a telescopic mechanism 24 and a tilt mechanism 26. The telescopic mechanism 24 and the tilt mechanism 26 can be operated by operating an operation button (not shown) provided on the front surface of the front panel (not shown). When the telescopic mechanism 24 is operated, the steering wheel 22 moves in the X direction (direction approaching and moving away from the driver) in the figure. When the tilt mechanism 26 is operated, the steering wheel 22 moves in the Y direction in the figure (the direction in which the relative height of the steering wheel 22 with respect to the driver changes).

(2) AVC device 12
The AVC device 12 includes an actuator 30 (vibration generator) provided in the steering hanger 16 and generating a canceling vibration Vb, a vibration sensor 32 and a displacement sensor 34 provided in the steering wheel 22, and a front panel (not shown). And a control unit 36 arranged.

(A) Actuator 30
The actuator 30 is an actuator for generating a vibration (excitation force), and generates a canceling vibration Vb corresponding to the control signal Sc from the control unit 36 and cancels it with the vibration Va to be canceled. As a result, a combined vibration Vc indicating an error between the vibration Va to be canceled and the canceling vibration Vb is transmitted to the steering wheel 22 via the steering column 18 and the steering shaft 20. In this embodiment, since the cancellation vibration Vb is determined so that the vibration Va to be canceled is minimized, the combined vibration Vc is smaller than the vibration Va to be canceled. Accordingly, vibrations felt by the driver at the steering wheel 22 are reduced. In the present embodiment, the canceling vibration Vb generated by the actuator 30 is only in one axis direction (Y direction in FIG. 1), but may be in any two axis direction or three axis direction depending on the required specifications. .

(B) Vibration sensor 32
The vibration sensor 32 can detect the same component in the Y-axis direction as the vibration direction of the canceling vibration Vb generated by the actuator 30 in the combined vibration Vc. In addition to this, components such as the X-axis direction may be detectable. The vibration sensor 32 generates an error signal e corresponding to the detected amplitude and phase of the combined vibration Vc and outputs the error signal e to the control unit 36.

(C) Displacement sensor 34
The displacement sensor 34 includes a displacement amount Dx [cm] in the displacement direction (X direction in FIG. 1) by the telescopic mechanism unit 24 and a displacement amount Dy [cm] in the displacement direction (Y direction in FIG. 1) by the tilt mechanism unit 26. And a displacement signal Sd indicating these displacement amounts Dx and Dy is output to the control unit 36.

(D) Control unit 36
The control unit 36 includes hardware such as a microcomputer, a memory, and an input / output circuit (not shown), and a fuel injection control device 40 that controls fuel injection and ignition of the engine 14 (hereinafter referred to as “FI ECU 40” (FI ECU: Fuel Injection Electronic Control Unit). }, The actuator 30, the vibration sensor 32, and the displacement sensor 34 are communicably connected. The controller 36 controls the actuator 30 by outputting a control signal Sc based on the engine pulse Ep from the FI ECU 40, the error signal e from the vibration sensor 32, and the displacement signal Sd from the displacement sensor 34.

  The engine pulse Ep is high when a piston (not shown) comes to top dead center. If the engine 14 is a four-cylinder engine, the crankshaft (not shown) rotates 1/2 (180 ° rotation). ), The engine pulse Ep becomes high. Therefore, the engine rotation frequency f [Hz] can be detected based on the engine pulse Ep.

(3) Details of Control Unit (a) Overall Configuration FIG. 2 is a block diagram showing a schematic function implemented by software processing in the control unit 36 as a circuit configuration. As shown in FIG. 2, the control unit 36 includes an engine rotation frequency detection unit 50 (hereinafter also referred to as “detection unit 50”), a reference signal generation unit 52, and a control signal generation unit 54.

  The basic configuration / calculation in the control unit 36 is described in, for example, JP 2008-137636 A, JP 2008-139367 A, JP 2008-213755 A, and JP 2004-361721 A. Things can be used.

(B) Detection unit 50
Based on the engine pulse Ep from the FI ECU 40, the detection unit 50 makes every time the engine pulse Ep goes high {that is, if the engine 14 is a four-cylinder engine, a crankshaft (not shown) rotates half a turn (180 The engine rotation frequency f [Hz] is detected and output to the reference signal generator 52 every time the rotation is performed.

(C) Reference signal generator 52
The reference signal generator 52 generates a reference signal Sb based on the engine pulse Ep. The engine pulse Ep is equal to the combustion cycle in the engine 14, and the combustion cycle is the order of the rotation period [s] of the engine 14. In other words, the frequency [Hz] of the engine pulse Ep is a harmonic of the vibration frequency of the engine 14. As a result, the frequency of the engine pulse Ep is also correlated with the frequency of vibration (the vibration Va to be canceled) with the engine 14 as a vibration source.

  Since the reference signal Sb is generated based on the engine pulse Ep, the frequency of the reference signal Sb is the order component of the frequency of the engine pulse Ep (for example, in the case of four cylinders, the second, fourth, sixth, and eighth). Next is equivalent to)). In other words, the frequency [Hz] of the reference signal Sb is equal to each order component of the rotational frequency [Hz] of the engine 14. Therefore, the reference signal Sb has a correlation with the frequency of the vibration Va to be canceled.

(D) Control signal generator 54
The control signal generation unit 54 performs adaptive filter processing on the reference signal Sb to generate the control signal Sc, and includes an adaptive filter 60, a reference signal generation unit 62, and a filter coefficient update unit 64.

  The adaptive filter 60 is a notch filter or FIR (Finite impulse response) type filter, and performs adaptive filter processing using the filter coefficient W on the reference signal Sb to show the waveform of the canceling vibration Vb. A control signal Sc is output to the actuator 30.

  The reference signal generation unit 62 generates a reference signal Sr by performing transfer function processing on the standard signal Sb output from the standard signal generation unit 52, and outputs the reference signal Sr to the filter coefficient update unit 64. The transfer function process is a process of filtering the reference signal Sb based on the simulated transfer function C ^ (filter coefficient) of the canceling vibration Vb from the actuator 30 to the vibration sensor 32 and adjusting the amplitude and phase of the reference signal Sb. . The simulated transfer function C ^ used in this transfer function processing is a measured value or predicted value of the actual transfer function C of the canceling vibration Vb from the actuator 30 to the vibration sensor 32.

The filter coefficient update unit 64 sequentially calculates and updates the filter coefficient W of the adaptive filter 60. The filter coefficient update unit 64 calculates the filter coefficient W using an adaptive algorithm calculation {for example, a least square method (LMS) algorithm calculation}. That is, based on the reference signal Sr from the reference signal generator 62, the error signal e from the vibration sensor 32, and the displacement signal Sd from the displacement sensor 34, the filter coefficient is set so that the square e ² of the error signal e is zero. W is calculated. Specifically, the following formula (1) is used.
W (n + 1) = W (n) −μ {e (n) · Sr (n) + α · Sr (n)} (1)

In the above equation (1), “μ” is a step size parameter, and “α” is a stabilization coefficient (or stability compensation coefficient) (0 ≦ α <1). A method for setting the step size parameter μ and the stabilization coefficient α will be described later. As can be seen from the equation (1), by adjusting the step size parameter μ, the convergence time until the square e ² of the error signal e is minimized can be adjusted. Further, the magnitudes of the error signal e and “α · Sr (n)” can be adjusted by adjusting the stabilization coefficient α. That is, if the stabilization coefficient α is increased, the value of the second term on the right side of Equation (1) is relatively increased, so that the value of the filter coefficient W (n + 1) is decreased. As a result, the amplitude and phase of the control signal Sc output from the adaptive filter 60 can be adjusted. Therefore, the control signal Sc can be adjusted by adjusting the step size parameter μ and the stabilization coefficient α.

2. Generation of Cancellation Vibration Vb Next, the flow of generation of the cancellation vibration Vb in the present embodiment will be described. FIG. 3 shows a flowchart for generating the canceling vibration Vb.

  In step S1, the detection unit 50 detects the engine rotation frequency f based on the engine pulse Ep from the FI ECU 40. In step S2, the reference signal generator 52 generates the reference signal Sb based on the engine rotation frequency f. In step S <b> 3, the control signal generator 54 generates the control signal Sc based on the reference signal Sb from the reference signal generator 52, the error signal e from the vibration sensor 32, and the displacement signal Sd from the displacement sensor 34.

  FIG. 4 shows a flowchart for generating the control signal Sc.

  In step S <b> 11, the reference signal generation unit 62 sets a simulated transfer function C ^ based on the displacement signal Sd from the displacement sensor 34. In steps S12 and S13, the filter coefficient updating unit 64 sets the stabilization coefficient α and the step size parameter μ based on the displacement signal Sd from the displacement sensor 34. In steps S11 to S13, for example, a data table as shown in FIG. 5 is created in advance and stored in a memory (not shown), and the simulated transfer function C ^, the stabilization coefficient α, and the step size parameter according to the displacement Dx. Set μ. Note that A to D as simulated transfer functions C ^ in FIG. 5 indicate characteristics, and each of the characteristics A to D includes a combination of correction coefficients for amplitude compensation and phase compensation. The simulated transfer function C ^, the stabilization coefficient α, and the step size parameter μ can be set based on not only the displacement amount Dx but also the displacement amount Dy.

  The simulated transfer function C ^ is a simulated vibration transfer function from the actuator 30 to the vibration sensor 32, and is a correction coefficient for performing amplitude compensation and phase compensation of the reference signal Sb. The stabilization coefficient α adjusts the stability of control of the canceling vibration Vb. The step size parameter μ defines the learning speed in the filter coefficient update unit 64. For details of the simulated transfer function C ^, the stabilization coefficient α, and the step size parameter μ, for example, those described in Japanese Patent Application Laid-Open No. 2008-137636 can be used.

  In step S14, the reference signal generation unit 62 generates the reference signal Sr by performing amplitude compensation and phase compensation on the reference signal Sb from the reference signal generation unit 52 using the simulated transfer function C ^ set in step S11. To do.

  In step S15, the filter coefficient updating unit 64 calculates a new filter coefficient W by performing a least square algorithm calculation using the reference signal Sr from the reference signal generation unit 62 and the error signal e from the vibration sensor 32, The filter coefficient W of the adaptive filter 60 is updated. In the least square algorithm calculation, the stabilization coefficient α set in step S12 and the step size parameter μ set in step S13 are used.

  In step S16, the adaptive filter 60 performs adaptive filter processing on the reference signal Sb from the reference signal generation unit 52 using the filter coefficient W updated in step S15 to generate the control signal Sc.

  Returning to FIG. 3, in step S <b> 4, the actuator 30 generates a canceling vibration Vb corresponding to the control signal Sc from the control unit 36.

  In step S5, the vibration sensor 32 detects a component in the detectable direction (component in the Y direction in FIG. 1) in the combined vibration Vc, and generates an error signal e corresponding thereto.

  While the AVC device 12 is operating, the above-described steps S1 to S5 are repeated.

  FIG. 6 shows the vibration level Lv1 when the AVC device 12 is not operated, and the vibration when the simulated transfer function C ^, the stabilization coefficient α, and the step size parameter μ are fixed although the AVC device 12 is operated. An example of the vibration level Lv3 when the level Lv2 and the AVC device 12 are operated and the simulated transfer function C ^, the stabilization coefficient α, and the step size parameter μ are switched according to the displacement signal Sd is shown. As can be seen from FIG. 6, the vibration level Lv2 suppresses the vibration at a higher engine speed Ne [rpm] than the vibration level Lv1. Further, the vibration level Lv3 suppresses vibration at a higher engine speed Ne [rpm] than the vibration level Lv2.

3. As described above, according to the present embodiment, the control characteristics used for generating the control signal Sc according to the displacement amounts Dx and Dy indicating the relative positional relationship between the actuator 30 and the vibration sensor 32 ( The simulated transfer function C ^, stabilization coefficient α and step size parameter μ) are switched. This makes it possible to use control characteristics according to the relative positional relationship, and even if the relative positional relationship is changed by operating the telescopic mechanism unit 24 or the tilt mechanism unit 26, the relative It is possible to generate a canceling vibration Vb corresponding to a specific positional relationship. Therefore, regardless of the operations of the telescopic mechanism 24 and the tilt mechanism 26, the vibration Va to be canceled can be canceled stably. Further, the actuator 30 is disposed in a fixed part (a part that is not displaced by the operation of the telescopic mechanism part 24 or the tilt mechanism part 26), and the vibration sensor 32 is a part that is displaced by the operation of the telescopic mechanism part 24 or the tilt mechanism part 26. It is possible to increase the degree of freedom in design.

[B. Application of the present invention]
Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the description in this specification. For example, the following configuration can be adopted.

  In the above-described embodiment, the vibration Va from the engine 14 is canceled, but if it is preferable to change the control characteristics of the control signal Sc by the telescopic mechanism unit 24 or the tilt mechanism unit 26, this is used. Not limited. For example, if the vehicle 10 is an electric vehicle, the vibration corresponding to the operation of the motor can be canceled out and the vibration Va can be obtained. Alternatively, the vibration of the suspension accompanying the traveling of the vehicle 10 may be cancelled.

  In the above-described embodiment, the steering column 18 includes both the telescopic mechanism portion 24 and the tilt mechanism portion 26. However, the present invention can be applied to only one of them.

  In the above embodiment, the vibration sensor 32 is provided on the steering wheel 22 and the actuator 30 is provided on the steering hanger 16. However, the relative positional relationship between the vibration sensor 32 and the actuator 30 is determined by the operation of the tilt mechanism unit 26 or the telescopic mechanism unit 24. It is not limited to this as long as it changes. For example, the vibration sensor 32 can be provided in the movable part of the steering column 18 and the actuator 30 can be provided in the subframe of the vehicle 10.

  In the above embodiment, the relative positional relationship between the vibration sensor 32 and the actuator 30 is determined using the displacement signal Sd, but the present invention is not limited to this. For example, as in the AVC device 12A mounted on the vehicle 10A in FIG. 7, the relative positional relationship is determined using the displacement signal Steel from the telescopic mechanism unit 24a and the displacement signal Still from the tilt mechanism unit 26a. Also good. The displacement signal Steel indicates the displacement amount Dx (movement amount in the X direction in FIG. 7) of the steering wheel 22 associated with the operation of the telescopic mechanism 24a, and the displacement signal Still indicates the steering wheel associated with the operation of the tilt mechanism 26a. 22 shows a displacement amount Dy (a movement amount in the Y direction in FIG. 7).

  In the above-described embodiment, the simulated transfer function C ^, the stabilization coefficient α, and the step size parameter μ are exemplified as those set in accordance with the displacement signal Sd, but only one of them may be used. Further, as the stabilization coefficient α, the one used in the calculation (equation (1)) of the filter coefficient update unit 64 has been shown, but for example, the above-described Japanese Patent Application Laid-Open Nos. 2008-137636 and 2008-139367 are disclosed. Another stabilization factor described in Kaikai 2008-213755 can also be used. Furthermore, other control characteristics relating to generation of the control signal Sc may be used.

DESCRIPTION OF SYMBOLS 10, 10A ... Vehicle 12, 12A ... Active type vibration control apparatus 14 ... Engine (vibration source) 16 ... Steering hanger 18 ... Steering column 22 ... Steering wheel 24, 24a ... Telescopic mechanism part 26, 26a ... Tilt mechanism part 30 ... Actuator (Canceling vibration generator)
32 ... Vibration sensor (error signal generation unit) 36 ... Control unit (control signal generation unit)
50. Engine rotation frequency detector (vibration frequency detector)
52 ... Standard signal generation unit 60 ... Adaptive filter 62 ... Reference signal generation unit 64 ... Filter coefficient update unit C ^ Simulated transfer function e ... Error signal Sb ... Reference signal Sc ... Control signal Sr ... Reference signal Va ... Target of cancellation Vibration Vb ... Cancellation vibration W ... Filter coefficient α ... Stabilization coefficient μ ... Step size parameter

Claims (4)

A canceling vibration generating unit for generating a canceling vibration for canceling the vibration to be canceled generated from the vibration source;
An error signal generator for detecting an error between the cancellation object vibration and the cancellation vibration, and generating an error signal indicating the error;
A vibration frequency detector for detecting a vibration frequency of the vibration source;
A control signal generation unit that generates a control signal that defines the cancellation vibration based on the error signal and a vibration frequency of the vibration source;
The canceling vibration generating unit and the error signal generating unit are provided such that their positions change relatively by the operation of a telescopic mechanism or a tilt mechanism,
The active vibration control device, wherein the control signal generation unit switches control characteristics used for generation of the control signal according to a relative positional relationship between the canceling vibration generation unit and the error signal generation unit. The active vibration control device according to claim 1,
The active vibration control device, wherein the control characteristic is at least one of a simulated transfer function, a stabilization coefficient, and a step size parameter from the canceling vibration generating unit to the error signal generating unit. The active vibration control device according to claim 1 or 2,
The active vibration control device, wherein the canceling vibration generation unit is provided in a steering hanger or a subframe, and the error signal generation unit is provided in a steering column or a steering wheel. The active vibration control device according to any one of claims 1 to 3,
The control signal generator is
A reference signal generator for generating a harmonic reference signal of the vibration frequency of the vibration source;
An adaptive filter that outputs the control signal based on the reference signal;
A reference signal generation unit that generates a reference signal by adjusting the amplitude and phase of the reference signal using a simulated transfer function from the cancellation vibration generation unit to the error signal generation unit;
A filter coefficient updating unit that sequentially updates filter coefficients of the adaptive filter so that the error signal is minimized based on the error signal and the reference signal;
The said reference signal generation part switches the said simulated transfer function according to the relative positional relationship of the said cancellation vibration generation part and the said error signal generation part. The active type vibration control apparatus characterized by the above-mentioned.

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