JPH10319971A - Active noise controller and active vibration controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid that control diverges due to a change in a transfer characteristic of a transmission system due to a temp. change by detecting a temp. in the transmission system and updating a renewal relation according to the detected temp. SOLUTION: A temp. detection value (t) from a temp. sensor is read in (step 131). A temp. range containing the read in temp. detection value (t) is specified referring to a correspondent table beforehand set and stored in a prescribed storage area (step 132). The temp. range specified this time is compared with the temp. range specified the last time beforehand preserved in the prescribed storage area, and whether or not the temp. range is changed is decided (step 133). When the temp. range is changed, values of a convergent coefficient αand a divergent suppression coefficient β are replaced to the values of newly specified convergent coefficient a and divergent suppression coefficient β referring to the correspondent table (step 134). A filter coefficient is set based on the renewal relation that these coefficients α, β are revised, and vibration reduction control is performed based on the coefficients.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active noise control device and an active vibration control system for executing noise or vibration reduction control using an adaptive digital filter whose filter coefficient is updated according to an adaptive algorithm. The control device is capable of appropriately coping with a change in the characteristic of a noise or vibration transmission system generated from a noise source or a vibration source due to a temperature change.

[0002]

2. Description of the Related Art As a prior art of this kind, there is one disclosed in Japanese Patent Laid-Open Publication No. Hei 5-61483 previously proposed by the present applicant.

[0003] That is, the prior art described in this publication is
The present invention relates to an active noise control device using an adaptive algorithm such as an LMS algorithm, and more specifically, as an evaluation function in an adaptive algorithm, a square value of a residual noise signal which is an interference result of noise to be reduced and control sound. The present invention relates to an active noise control device using the sum of the square value of a drive signal to a loudspeaker that emits a control sound.

[0004] In the conventional active noise control device described in the above publication, a coefficient multiplied by the square of the drive signal included in the evaluation function (referred to as an effort coefficient in the above publication). ) Is changed in a direction in which the divergence is suppressed (a direction in which the filter coefficient is reduced) as the divergence of the control progresses, whereby the divergence of the control is suppressed even when the acoustic transfer function changes. Since the control can be effectively suppressed, the control can be prevented from diverging in earnest, and when applied to a vehicle, for example, occupants and the like do not have to feel uncomfortable.

[0005]

According to the prior art described above, the divergence suppressing effect as described above can be obtained. Although it is possible to reduce discomfort to the occupants, etc., it is not to detect in advance situations that are likely to diverge and to prevent divergence more reliably, so further improvement is expected. Was rare.

As a method of determining whether or not control is diverging, a method of determining that divergence has occurred when the filter coefficient of the adaptive digital filter exceeds a predetermined threshold value can be considered. The threshold value set in advance for determining the divergence is set as a threshold value in an environment in which the noise transmission system is in an initial state. Since the transmission characteristic of the noise transmission system changes in accordance with the change, the threshold value does not match the actual situation, and it is not possible to accurately determine whether or not divergence occurs. For this reason, as a result of the change of the transmission characteristic of the noise transmission system, the possibility of erroneously detecting the divergence or the possibility of missing the divergence increases.

[0007] The above-mentioned problems are not limited to the active noise control device, but also apply to the active vibration control device that executes the vibration reduction control using the adaptive algorithm. If the vibration transmission system includes a rubber or the like whose vibration transmission characteristics greatly change according to a temperature change, the divergence is erroneously detected because the transmission characteristics greatly change depending on the temperature. The possibility of overlooking the possibility or divergence is greater.

The present invention has been made in view of the above-mentioned unsolved problems of the related art, and is intended to prevent the control from diverging due to a change in the transfer characteristic of the transfer system due to a temperature change. It is an object to provide a possible active noise control device and an active vibration control device.

[0009]

In order to achieve the above object, an active noise control device according to a first aspect of the present invention includes a control sound source capable of generating a control sound that interferes with noise emitted from a noise source; Reference signal generating means for generating and outputting a reference signal indicating a state of occurrence of the noise, residual noise detecting means for detecting the noise after the interference and outputting it as a residual noise signal, an adaptive digital filter having a variable filter coefficient, and the reference signal A drive signal generating means for generating a drive signal for driving the control sound source by performing a filtering process on the adaptive digital filter, and a noise reduction between the control sound source and the residual noise detection means based on the reference signal and the residual noise signal. Filter coefficient updating means for updating a filter coefficient of the digital filter in accordance with an update equation according to a transfer characteristic of a transfer system. In the noise control device, a temperature detection means for detecting a temperature of the transmission system, and a correction means for correcting the update equation in accordance with the detected temperature detected by said temperature detecting means, characterized in that it comprises a.

According to the present invention, the control sound source is driven by the drive signal obtained by filtering the reference signal indicating the noise generation state with the adaptive digital filter, and thereby the control sound generated from the control sound source and the noise source are emitted. Interference with noise reduces noise. The filter coefficient of the adaptive digital filter, according to an update equation according to the transfer characteristics of the transfer system between the control sound source and the residual noise detection means,
The filter coefficient is updated by the filter coefficient updating means based on the residual noise signal obtained by detecting the noise after the interference and the reference signal.

At this time, the temperature of the transmission system is detected by the temperature detecting means, and an updating equation for updating the filter coefficient is corrected in accordance with the detected temperature. Therefore, if a temperature change occurs in the transmission system due to a change in the temperature environment, etc., the noise transmission characteristics of the transmission system change with the temperature change.
The noise reduction control is performed based on an update formula based on a transfer characteristic different from the actual transfer characteristic, and the accuracy of the transfer characteristic is reduced. Therefore, there is a high possibility that the control becomes unstable and divergence occurs.However, since the updating equation of the filter coefficient updating means is corrected in accordance with the temperature detected by the temperature detecting means, the control is performed, for example, in accordance with a change in the transfer characteristic. Is corrected so as to further stabilize, the possibility that control divergence due to a change in transfer characteristics due to a temperature change is reduced.

Further, in the active noise control apparatus according to a second aspect of the present invention, the update formula includes a divergence suppression term that acts to reduce a filter coefficient of the adaptive digital filter as the drive signal increases. An update expression including a degree of influence of the divergence suppression term of the update expression and a convergence coefficient affecting an update speed of a filter coefficient of the adaptive digital filter. It is characterized by that.

According to the present invention, the filter coefficient updating means updates the filter coefficient using an update expression including a divergence suppression term that acts to reduce the filter coefficient of the adaptive digital filter as the drive signal increases. It is supposed to. Then, according to the detected value of the temperature detecting means, the correcting means updates the degree of influence of the divergence suppression term of the updating equation, or updates the convergence coefficient affecting the updating speed of the filter coefficient of the adaptive digital filter, The update formula is corrected by taking at least one of the above measures.

Therefore, even when the transfer characteristic of the transfer system changes according to the temperature change, at least one of the convergence coefficient and the divergence suppression term is corrected according to the temperature change. Is corrected in a direction in which the control becomes more stable, the possibility that the control will diverge is reduced.

According to a third aspect of the present invention, there is provided an active noise control apparatus for generating a control sound source capable of generating a control sound that interferes with noise generated from a noise source, and a reference signal indicating a generation state of the noise. Reference signal generating means for detecting and outputting the noise after the interference and outputting the residual noise signal as a residual noise signal; an adaptive digital filter having a variable filter coefficient; and filtering the reference signal with the adaptive digital filter. Drive signal generating means for generating a drive signal for driving the control sound source, and control according to a transmission characteristic of a noise transmission system between the control sound source and the residual noise detection means based on the reference signal and the residual noise signal. Filter coefficient updating means for updating a filter coefficient of the digital filter according to an algorithm; A divergence detecting means for detecting that the control has diverged by comparing the coefficient with a predetermined threshold value; anda temperature detecting means for detecting a temperature of the transmission system, comprising: Threshold value changing means for changing the threshold value according to the temperature detected by the temperature detecting means.

According to the present invention, the control sound source is driven by the drive signal obtained by filtering the reference signal indicating the noise generation state by the adaptive digital filter, and thereby the control sound generated from the control sound source and the noise source are emitted. Interference with noise reduces noise. The filter coefficient of the adaptive digital filter, according to an update equation according to the transfer characteristics of the transfer system between the control sound source and the residual noise detection means,
The filter coefficient is updated by the filter coefficient updating means based on the residual noise signal obtained by detecting the noise after the interference and the reference signal. Further, by comparing the filter coefficient with a predetermined threshold value such as a preset value, the divergence detecting means detects whether or not the control has diverged. Further, the threshold value of the divergence detecting means is changed according to the temperature of the transmission system detected by the temperature detecting means.

Therefore, when a temperature change occurs in the transmission system due to, for example, a change in the temperature environment, the noise transmission characteristic of the transmission system changes accordingly. The numerical value changes, and the range in which the filter coefficient can be regarded as an appropriate value changes. Therefore, when the filter coefficient value is compared with a predetermined threshold value, which is a criterion for determining whether the filter coefficient is an appropriate value, the possible range of the filter coefficient value changes. In some cases, it may be determined that the control has diverged by mistake, or that the control has actually diverged but has not diverged.

However, when the threshold value is changed by the threshold value changing means in accordance with the temperature change, the threshold value corresponding to the value that the filter coefficient can take at each temperature is set. The accuracy of divergence detection by the divergence detection means does not need to be reduced.

In the active noise control apparatus according to a fourth aspect of the present invention, the threshold value changing means increases the threshold value as the temperature detected by the temperature detecting means decreases. It is characterized by having.

According to the present invention, the threshold value changing means increases the threshold value as the temperature detected by the temperature detecting means decreases. For example, the threshold value is continuously increased in accordance with the continuous decrease in the detected temperature, or the threshold value is increased in a stepwise manner in accordance with the stepwise decrease in the detected temperature.

Therefore, for example, when the environmental temperature changes and the temperature of the transmission system decreases, for example, a part of the transmission system such as a spring portion of a speaker for driving the control sound source is hardened. In addition, the filter coefficient becomes larger. Therefore, if the threshold value is increased as the detected temperature decreases, even if the filter coefficient value does not actually lead to divergence, the filter coefficient value increases as the detected temperature decreases. , Crossing the threshold,
This prevents the divergence detecting means from erroneously determining that the control is diverging.

According to a fifth aspect of the present invention, there is provided an active vibration control apparatus comprising: a control vibration source capable of generating a control vibration that interferes with a vibration generated from the vibration source; and a reference signal indicating a state of generation of the vibration. Reference signal generating means for generating and outputting, residual vibration detecting means for detecting the vibration after the interference and outputting it as a residual vibration signal, an adaptive digital filter having a variable filter coefficient, and filtering the reference signal with the adaptive digital filter A drive signal generating means for generating a drive signal for driving the control vibration source; and a transmission characteristic of a vibration transmission system between the control vibration source and the residual vibration detection means based on the reference signal and the residual vibration signal. According to a corresponding update formula, filter coefficient updating means for updating the filter coefficient of the digital filter, A temperature detecting means for detecting the temperature of the serial transmission system, in accordance with the detected temperature detected by said temperature detecting means, is characterized in that and a correcting means for correcting the update equation of the filter coefficient updating means.

According to the present invention, the control vibration source is driven by the drive signal obtained by filtering the reference signal indicating the generation state of the vibration with the adaptive digital filter, whereby the control vibration generated from the control vibration source and the control vibration are generated. The generated vibrations interfere with each other, and the vibrations are reduced. The filter coefficient of the adaptive digital filter is based on the residual vibration signal and the reference signal, which have detected the vibration after the interference, according to an update formula according to the transmission characteristic of the transmission system between the control vibration source and the residual vibration detecting means. Then, it is updated by the filter coefficient updating means. At this time, the temperature of the transmission system is detected by the temperature detecting means, and the updating formula is corrected according to the detected temperature.

Therefore, if a temperature change occurs in the transmission system due to a change in the temperature environment, etc., the transmission characteristic of the vibration of the transmission system changes with the temperature change, and therefore the update is performed based on a transmission characteristic different from the actual transmission characteristic. The vibration reduction control is performed based on the equation, and the accuracy of the transfer characteristics is reduced. Therefore, there is a high possibility that the control becomes unstable and divergence occurs.However, the update formula of the filter coefficient updating means is corrected in accordance with the temperature detected by the temperature detecting means. If the updating formula is corrected in a direction to further stabilize the control, the possibility that the control will diverge due to a change in the transfer characteristic due to a temperature change is reduced.

According to a sixth aspect of the present invention, in the active vibration control apparatus, the updating equation includes a divergence suppression term that acts to reduce a filter coefficient of the adaptive digital filter as the drive signal increases. An update expression including a degree of influence of the divergence suppression term of the update expression and a convergence coefficient affecting an update speed of a filter coefficient of the adaptive digital filter. It is characterized by that.

According to the present invention, the filter coefficient updating means updates the filter coefficient by using an update expression including a divergence suppression term acting to reduce the filter coefficient of the adaptive digital filter as the drive signal increases. It is supposed to. Then, according to the detected value of the temperature detecting means, the correcting means updates the degree of influence of the divergence suppression term of the updating equation, or updates the convergence coefficient affecting the updating speed of the filter coefficient of the adaptive digital filter, The update formula is corrected by taking at least one of the above measures. Therefore, even when the transfer characteristic of the transfer system changes according to the temperature change, at least one of the convergence coefficient and the divergence suppression term is corrected in a direction to stabilize the control according to the temperature change. This reduces the likelihood that the control will diverge.

According to the active vibration control device of the present invention, a control vibration source capable of generating a control vibration that interferes with a vibration generated from the vibration source and a state of generation of the vibration are represented. Reference signal generation means for generating and outputting a reference signal; residual vibration detection means for detecting the vibration after the interference and outputting it as a residual vibration signal; an adaptive digital filter having a variable filter coefficient; and the adaptive digital filter A driving signal generating means for generating a driving signal for driving the control vibration source by performing a filtering process, and a vibration transmission system between the control vibration source and the residual vibration detecting means based on the reference signal and the residual vibration signal. Filter coefficient updating means for updating a filter coefficient of the digital filter according to an adaptive algorithm according to a transfer characteristic; A divergence detecting means for detecting that the control has diverged by comparing a filter coefficient of the filter with a predetermined threshold value, wherein the temperature detecting means detects a temperature of the transmission system. And threshold changing means for changing the threshold according to the temperature detected by the temperature detecting means.

According to the present invention, the control vibration source is driven by the drive signal obtained by filtering the reference signal indicating the generation state of the vibration with the adaptive digital filter, whereby the control vibration generated from the control vibration source and the control vibration are generated. The generated vibrations interfere with each other, and the vibrations are reduced. In addition, the filter coefficient of the adaptive digital filter is based on an update equation according to a transmission characteristic of a transmission system between the control vibration source and the residual vibration detecting means, and is used to calculate a residual vibration signal and a reference signal that have detected vibration after interference. On the basis of this, it is updated by the filter coefficient updating means. Then, by comparing the filter coefficient value with a predetermined threshold value such as a preset value,
The divergence detection means detects whether the control has diverged. Further, the temperature of the transmission system is detected by the temperature detecting means, and the threshold value of the divergence detecting means is changed according to the detected temperature.

Therefore, when a temperature change occurs in the transmission system due to, for example, a change in environmental temperature, the vibration transmission characteristics of the transmission system change accordingly, and the filter coefficient is regarded as an appropriate value accordingly. Since the range of filter coefficient values that can be changed changes, when compared with a predetermined threshold value, it is determined that divergence is erroneous, or divergence is actually diverged It may be judged as. However, since the threshold value is changed by the threshold value changing means according to the temperature change,
By changing the threshold value for judging an appropriate value that the filter coefficient can take at each temperature in accordance with the temperature change, the detection accuracy of the divergence detecting means due to the temperature change does not need to be reduced.

[0030] According to the active vibration control device of the present invention, the threshold value changing means increases the threshold value as the temperature detected by the temperature detecting means decreases. It is characterized by that.

According to the present invention, the threshold value is increased by the threshold value changing means as the temperature detected by the temperature detecting means decreases. For example, the threshold value is continuously increased in accordance with the continuous decrease in the detected temperature, or the threshold value is increased in a stepwise manner in accordance with the stepwise decrease in the detected temperature.

Therefore, for example, when the transmission system contains a material such as rubber that cures with a decrease in temperature, the rubber cures as the temperature decreases, and the gain of the transmission system increases. , The filter coefficient becomes a larger value. Therefore, if the threshold value is increased as the detected temperature decreases, even if the filter coefficient value does not actually lead to divergence, the filter coefficient value increases as the detected temperature decreases. Is exceeded, thereby preventing the divergence detecting means from erroneously determining that the control is diverging.

According to the active vibration control device of the ninth aspect of the present invention, the vibration source is applied to a vehicle, the vibration source is an engine, and the control vibration source is connected between the engine and a vehicle body side member. A control vibration source including a support elastic body interposed therebetween, wherein the temperature detecting means detects a temperature of the support elastic body.

According to the present invention, the control vibration source is a control vibration source having a support elastic body interposed between the engine as the vibration source and the vehicle body-side member, and the temperature of the support elastic body is equal to the temperature. It is detected by the detecting means. Since the supporting elastic body is interposed between the engine and the vehicle body-side member, a change in the transmission characteristics thereof causes a change in the transmission characteristics of the transmission system.
In particular, when the vibration characteristics of the supporting elastic body change significantly depending on the temperature, for example, when the supporting elastic body is formed of rubber or the like, the change in the characteristics of the supporting elastic body is largely caused by the change in the transmission characteristics of the transmission system. become.

Accordingly, the temperature of the support elastic body is detected by the temperature detecting means, and the temperature detected by the temperature detecting means, that is, the correction by the correction means or the threshold value by the threshold value changing means based on the temperature of the support elastic body. , Etc., a more appropriate correction or setting of a threshold value is performed.

Further, according to the active vibration control device of the tenth aspect, applied to a vehicle, the vibration source is an engine, and the control vibration source is interposed between the engine and a vehicle body side member. A control vibration source having a supporting elastic body, wherein the temperature detecting means detects a surrounding temperature of the supporting elastic body and predicts a temperature of the supporting elastic body from the surrounding temperature. It is characterized by.

According to the present invention, the control vibration source is a control vibration source having a support elastic body interposed between the engine as the vibration source and the vehicle body-side member, and the control vibration source is provided by the temperature detecting means. Is detected, and the temperature of the supporting elastic body is predicted from the surrounding temperature of the supporting elastic body. Then, based on the predicted temperature, correction by the correction means or change of the threshold value by the threshold value change means is performed.

Since the supporting elastic body is interposed between the engine and the vehicle body-side member, a change in the transmission characteristic of the supporting elastic body contributes to a change in the transmitting characteristic of the transmission system. Is preferred. However, even when the temperature of the supporting elastic body cannot be directly detected,
For example, the correlation between the peripheral temperature of the support elastic body and the temperature of the support elastic body is detected in advance by an experiment or the like, and the temperature of the support elastic body is predicted based on the correlation from the detected peripheral temperature of the support elastic body. By performing correction by the correction means based on the predicted temperature or changing the threshold value by the threshold value changing means, more appropriate correction of each coefficient or change of the threshold value is performed.

[0039]

According to the active noise control apparatus of the first aspect of the present invention, the updating equation of the filter coefficient of the adaptive digital filter is corrected by the correcting means according to the temperature of the transmission system detected by the temperature detecting means. Therefore, even when the temperature of the transmission system changes due to, for example, a change in the environmental temperature, etc., and the control is performed based on an update formula according to a transfer characteristic different from the actual one, the control is made more stable by the correction unit. Correcting the update formula in the direction to make it possible to avoid instability of control by performing noise reduction control based on the update formula corresponding to low-accuracy transfer characteristics and reduce the possibility that control may diverge The noise can be reduced and good noise reduction control can be executed.

Further, according to the active noise control device of the present invention, according to the temperature detected by the temperature detecting means,
At least one of a divergence suppression term that acts to reduce the filter coefficient of the adaptive digital filter as the drive signal increases and a convergence coefficient that affects the update rate of the filter coefficient of the adaptive digital filter included in the update equation. Because I am trying to correct either one,
By correcting these in a direction in which the control becomes more stable, it is possible to prevent the control from becoming unstable due to a change in the transfer characteristic due to a change in the environmental temperature and reduce the possibility of divergence.

Further, according to the active noise control device of the third aspect of the present invention, it becomes a reference for judging whether or not the control is diverged according to the temperature of the transmission system detected by the temperature detecting means. Since the threshold value is changed, even when the transfer characteristic changes with the temperature change and the appropriate value that the filter coefficient can take changes, it is possible to prevent the detection accuracy of the divergence detection unit from lowering, Good noise reduction processing can be performed.

According to the active noise control device of the fourth aspect of the present invention, the threshold value changing means increases the threshold value as the temperature detected by the temperature detecting means decreases. It is possible to appropriately cope with an increase in the filter coefficient value due to a decrease in the temperature of the transmission system, and it is possible to reliably avoid a decrease in detection accuracy by the divergence detection unit.

Further, according to the active vibration control device of the present invention, the temperature of the transmission system is detected by the temperature detecting means, and the updating equation of the filter coefficient of the adaptive filter is corrected accordingly. Therefore, even when the transfer characteristic changes due to a change in the temperature of the transfer system and the filter coefficient is updated based on an update formula according to a transfer characteristic different from the actual one, the correction means can make the control more stable. By correcting the updating formula, it is possible to prevent the control from becoming unstable by performing the vibration reduction control based on the updating formula corresponding to the transfer characteristic with low accuracy, and reduce the possibility that the control may diverge. , Good vibration reduction control can be performed.

According to the active vibration control device of the present invention, the degree of influence of the update-type divergence suppression term or the influence on the update speed of the filter coefficient is determined in accordance with the value detected by the temperature detecting means. Since at least one of the provided convergence coefficients is corrected, if these are corrected in a direction to stabilize the control in accordance with the temperature change, it is possible to suppress the control from becoming unstable and to diverge. Can be reduced.

Further, according to the active vibration control device of the present invention, the reference becomes a reference for detecting whether or not the control has diverged in accordance with the temperature of the transmission system detected by the temperature detecting means. Since the threshold value is changed, even when the transfer characteristic changes with the temperature change and the appropriate value that the filter coefficient can take changes, it is possible to prevent the detection accuracy of the divergence detection unit from lowering, Good vibration reduction processing can be performed.

According to the active vibration control device of the present invention, the threshold value changing means increases the threshold value as the temperature detected by the temperature detecting means decreases. It is possible to appropriately cope with an increase in the filter coefficient due to a decrease in the temperature of the transmission system, and it is possible to prevent a decrease in the detection accuracy of the divergence detection unit.

According to the active vibration control device of the ninth aspect of the present invention, the temperature detecting means is interposed between the engine and the vehicle body-side member, and is supported by a change in the transmission characteristics of the transmission system. Since the temperature of the elastic body is detected, the correction by the correction means or the change of the threshold value by the threshold value change means can be performed more effectively.

Further, according to the active vibration control device of the tenth aspect of the present invention, the temperature detecting means detects the surrounding temperature of the supporting elastic body interposed between the engine and the vehicle body side member, Predict the temperature of the support elastic body based on the ambient temperature, so even if the temperature of the support elastic body cannot be directly detected, accurately detect the temperature of the support elastic body due to the temperature change of the transmission system can do.

[0049]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 6 show the first embodiment of the present invention.
FIG. 1 is a schematic configuration diagram in which an example of an embodiment of an active vibration control device according to the present invention is applied to a vehicle.

First, the structure will be described. The engine 30 is supported by a vehicle body 35 composed of a suspension member and the like via an active engine mount 1 capable of generating an active supporting force according to a drive signal. . 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 interposed. doing. As a passive engine mount, for example, a normal engine mount that supports a load with a rubber-like elastic body, or a known fluid-filled mount in which a fluid is sealed inside a rubber-like elastic body so that a damping force can be generated. An insulator or the like can be applied.

On the other hand, the active engine mount 1 is configured, for example, as shown in FIG. That is, the active engine mount 1 according to the present embodiment has a cap 2 integrally provided with a mounting bolt 2a for mounting to the engine 30 at the upper portion and having a hollow inside and an open lower portion. The upper end of the inner cylinder 3 whose shaft is oriented in the vertical direction is caulked.

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

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

The orifice structure 5 is formed in a substantially cylindrical shape in alignment with the internal space of the inner cylinder 3, and has a circular concave portion 5a formed 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 has, for example, a groove spirally extending along the outer peripheral surface of the orifice structure 5, and one end of the groove formed by a recess 5a.
And a flow path that connects the other end of the groove to the opening 3a.

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

The lower end of the outer cylinder 7 is fixed by caulking 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 attachment to the vehicle body 35. The mounting bolt 9 protrudes. The mounting bolt 9 is accommodated in a central hollow portion 8b of a flat plate member 8a provided with its head 9a 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
An excitation coil 10B wound around the center of the yoke with its axis up and down, and a permanent magnet 1 fixed with its poles up and down on the upper surface of a portion of the yoke 10A surrounded by the excitation coil 10B.
0C is provided.

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

Further, a ring-shaped thin film elastic body 13 and a flange portion 14a of a force transmitting member 14 are provided on the crimp-stopping portion so as to be 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 transmitting member 14, and the leaf spring 11 are overlapped in this order, and the whole of the overlapped portion is outside. The lower end of the cylinder 7 is caulked and integrated.

The force transmitting member 14 is a short cylindrical member surrounding the magnetic path member 12, and has an upper end portion serving as a flange portion 14 a and a lower end portion provided on the upper surface of the yoke 10 A of the electromagnetic actuator 10. Are combined. Specifically, the lower end of the force transmitting member 14 is fitted into a circular groove formed in the peripheral edge of the upper end surface of the yoke 10A, and the two are joined. 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 the present embodiment, the supporting elastic member 6
A main 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 the diaphragm 4 and the concave portion 5a are formed.
The main fluid chamber 15 and the sub-fluid chamber 16 communicate with each other through an orifice 5b formed in the orifice structure 5. The main fluid chamber 15, the sub-fluid chamber 16, and the orifice 5b are filled with a fluid such as ethylene glycol.

The characteristics of the fluid mount determined by the flow path shape and the like of the orifice 5b are such that a high dynamic spring constant occurs when an engine shake occurs during running, that is, when the active engine mount 1 is vibrated at 5 to 15 Hz. , Is adjusted to show high damping force.

The exciting coil 10B of the electromagnetic actuator 10 generates a predetermined electromagnetic force according to a drive signal y which is a current supplied from the controller 25 through the harness 23a.

The controller 25 includes a microcomputer, necessary interface circuits, an A / D converter, and a D / A
When an idle vibration, a muffled sound vibration, and an acceleration vibration, which are vibrations higher in frequency than the engine shake, are input to the vehicle body 35, an active device capable of reducing the vibration is provided. The active engine mount 1 is provided so that the supporting force is generated in the active engine mount 1.
Is generated and output.

Here, idle vibration and muffled sound vibration are as follows.
For example, in the case of a reciprocating four-cylinder engine,
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 body can be reduced. Thus, in the present embodiment, the crankshaft of the engine 30 is synchronized with the rotation of the crankshaft so as to be synchronized with the combustion timing (for example, in the case of a reciprocating four-cylinder engine, one for each rotation of the crankshaft by 180 degrees). A pulse signal generator 26 (FIG. 1) for generating an impulse signal and outputting the generated signal as a reference signal x is provided so that the reference signal x is supplied to the controller 25 as a signal indicating a state of occurrence of vibration in the engine 30. It has become.

On the other hand, the yoke 1 of the electromagnetic actuator 10
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 provided, and a detection result of the load sensor 22 is supplied to the controller 25 as a residual vibration signal e through a harness 23b. ing. Specifically, as the load sensor 22, a piezoelectric element, a magnetostrictive element, a strain gauge, or the like can be applied.

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

More 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).
The filter coefficient W _i of the adaptive digital filter W is sequentially output as the drive signal y at a predetermined sampling clock interval from the time when the latest reference signal x is input, while the reference signal x and the residual vibration signal e are output. A process for appropriately updating the filter coefficient W _i of the adaptive digital filter W based on this is executed.

However, in this embodiment, the synchronous Fi
The following equation (1) is used as an evaluation function in the iterated-X LMS algorithm. Jm = {e (n)} ² + β {y (n)} ² (1) That is, in the LMS algorithm, the evaluation function Jm
Since the filter coefficient W _i is updated in a direction in which is smaller, the filter coefficient W _i becomes smaller as the square value of the residual vibration signal e becomes smaller, as is clear from the content of the right side of the above equation (1). , The value obtained by multiplying the square value of the drive signal y by β becomes smaller. Β is a coefficient called a divergence suppression coefficient. As the divergence suppression coefficient β increases, the drive signal y tends to decrease. That is, the divergence suppression coefficient β has an effect of suppressing the divergence of the control.

When the convergence coefficient is α and an update equation for the filter coefficient W _i is obtained based on the evaluation function Jm expressed by the above equation (1), the following equation (2) is obtained. _{W i (n + 1) =} W i (n) + 2αR T e (n) -2βαy (n) ...... (2) Therefore, this (2) a new convergence factor to "2α" in the formula α
And then, if the a new divergence suppression factor β "2βα" update equation of the filter coefficients W _i of the adaptive digital filter W is as the following equation (3).

[0071] _{W i (n + 1) =} W i (n) + αR T e (n) -βy (n) ...... (3) here, (n), terms that stick is (n + 1), the sampling time n, n + 1 ,, And.
The update reference signal R ^T is theoretically the reference signal x
The electromagnetic actuator 1 of the active engine mount 1
0 and a value obtained by performing a filtering process using a transfer function filter C ＾ that models a transfer function C between the load sensors 22.
Since the magnitude of the reference signal x is "1", the magnitude of the impulse response of the transfer function filter C # coincides with the sum at the sampling time n when the impulse response waveforms 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 result is the same as when the result of the filter processing is set as the drive signal y.

[0073] Furthermore, controller 25 while performing the vibration reduction processing comprising a process of updating the filter coefficient W _i of the output processing and the adaptive digital filter W of the drive signal y as described above, for detecting the divergence of the control Is performed. In the divergence detection process, in the present embodiment, the absolute value of the filter coefficient W _i of the adaptive digital filter W is obtained, and the determination value calculated based on the absolute value exceeds a predetermined threshold value W _TH. It is a process of determining that divergence has occurred. If it is determined that divergence has occurred by the divergence detection process, a predetermined divergence suppression process for suppressing the divergence is executed. .

Further, the controller 25 executes a process of updating the updating equation of the filter coefficient W _i of the adaptive digital filter W of the equation (3) used in the vibration reducing processing.

That is, the controller 25 has a temperature sensor 28 formed of, for example, a thermocouple or the like, which is inserted through the actuator case 8 and inserted into the yoke 10A.
Is input to the controller 25 based on the temperature detection value t from the temperature sensor 28 so that the stability is not significantly impaired even if the transmission characteristic of the vibration transmission system changes. A coefficient correction process for correcting the convergence coefficient α and the divergence suppression coefficient β is also executed.

In this coefficient correction process, a convergence coefficient α corresponding to each temperature range, which is set in advance for each temperature range and stored in a predetermined storage area, based on the temperature detection value t input from the temperature sensor 28. And among the divergence suppression coefficients β, select each coefficient value according to the temperature range corresponding to the temperature detection value t,
The convergence coefficient α and the divergence suppression coefficient β in the above equation (3)
As a replacement. In the vibration reduction processing, the processing is executed according to an update formula based on the replaced convergence coefficient α and divergence suppression coefficient β.

Next, the operation of the first embodiment will be described. That is, as a result of adjusting the resonance frequency of the fluid resonance system in the active engine mount 1 to 20 Hz, 5-1
Since a certain amount of damping force is generated in the active engine mount 1 even when the engine shake, which is a vibration of 5 Hz, occurs, the engine shake generated on the engine 30 side is attenuated to some extent by the active engine mount 1 and other components not shown. The engine shake is also attenuated by the fluid-filled engine mount, etc.
The side vibration level is reduced. It is not necessary to actively displace the magnetic path member 12 for the engine shake.

On the other hand, when a vibration having a frequency equal to or higher than the idle vibration frequency is input, the controller 25 executes a predetermined calculation process, outputs a drive signal y to the electromagnetic actuator 10, and outputs the drive signal y to the active engine mount 1. Generate an active support force that can reduce vibration.

This will be described in detail with reference to FIG. 3 which is a flowchart 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 initial setting is performed in step 101, the process proceeds to step 102, where a transfer function filter C set in advance according to the vibration transfer characteristic between the active engine mount 1 and the load sensor 22 is set. Based on ＾, an updating reference signal ^RT is calculated. In this step 102, the update reference signal ^RT for one cycle is calculated collectively.

[0080] Then, the process proceeds to step 103, counter i is after being zero cleared, the process proceeds to step 104, i th filter coefficient W _i of the adaptive digital filter W is outputted as the drive signal y.

When the drive signal y is output in step 104, the process proceeds to step 105, where the residual vibration signal e is read. Then, the process proceeds to step 106, counter j is zero cleared, then the process proceeds to step 107, j-th filter coefficient W _j of the adaptive digital filter W is updated according to equation (3) above.

When the updating process in step 107 is completed, the process proceeds to step 108, where it is determined whether or not the next reference signal x has been input. If it is determined that the reference signal x has not been input, Moves 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 number of outputs T _y (more precisely, since the counter j starts from 0, a value obtained by subtracting 1 from the number of outputs T _y ). This determination, the filter coefficient W _i of the adaptive digital filter W in step 104, after outputting the drive signal y, the filter coefficient W _i of the adaptive digital filter W, whether to update the necessary number as the drive signal y Is to judge. Therefore, if the determination in step 109 is “NO”, step 11
After incrementing the counter j by 0, step 1
Returning to step 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 update processing 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, it waits for a predetermined time. This predetermined time is determined in step 104 above.
Is performed until the time corresponding to the predetermined sampling clock interval elapses from the execution of the processing of FIG. Then, when the time corresponding to the sampling clock has elapsed, the process returns to step 104 to repeatedly execute the above-described processing.

On the other hand, if it is determined in step 108 that the reference signal x has been input, the process proceeds to step 112, where the counter i (exactly, since the counter i starts from 0, 1 is added to the counter i). _Is stored as the latest output count Ty, and the process returns to step 102 to repeatedly execute the above-described processing.

As a result of repeatedly executing the processing of FIG. 3, the controller 25 sends the active engine mount 1
From the time when the reference signal x is input to the electromagnetic actuator 10 at an interval of the sampling clock.
The filter coefficients W _i of the adaptive digital filter W are sequentially supplied as drive signals y.

As a result, the drive signal y is supplied 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, the magnetic force of the exciting coil 10B is applied to the permanent magnet 10C.
Act to increase or decrease the magnetic force of. That is, when the drive signal y is not supplied to the excitation coil 10B, the magnetic path member 12
Is displaced to a neutral position where the supporting force of the magnetic force and the magnetic force with 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 It is displaced in a direction in which the clearance with the electromagnetic actuator 10 increases. Conversely, 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 a direction in which the clearance with the electromagnetic actuator 10 decreases.

As described above, the magnetic path member 12 can be displaced in both the forward and reverse directions, and when the magnetic path member 12 is displaced, the main fluid chamber 1 is displaced.
The volume of the support elastic member 6 is changed by the change in the volume.
Is deformed, active support force in both 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 determined by the synchronous filter
Since the sequentially updated by according to the red-X LMS algorithm described above (1), after the convergence to the optimal values each filter coefficient W _i of the adaptive digital filter W has passed a certain time, the drive signal y is By being supplied to the active engine mount 1, the engine 3
Thus, idle vibration and muffled sound vibration transmitted from 0 to the vehicle body 35 via the active engine mount 1 are reduced.

On the other hand, in the controller 25, the divergence detection processing shown in FIG. 4 is executed at a predetermined interruption timing during the execution of the vibration reduction processing shown in FIG. That is, when the processing shown in FIG. 4 is executed at a predetermined interrupt interval, first, in step 121, the divergence determination value W _H is determined based on the absolute value of the filter coefficient W _i of the adaptive digital filter W. Is calculated. This judgment value W
_H, for example may be used as the maximum value of the absolute value of the filter coefficient W _i, or may be a sum of a predetermined number of the absolute value of the filter coefficient W _i.

Next, the routine proceeds to step 122, where it is determined whether or not the determination value _WH is larger than a predetermined threshold value _Wth . This threshold value W _th is a threshold value for determining whether or not the determination value W _H is excessive. If the determination in step 122 is “NO”, the determination value W _H especially not excessive, thus the filter coefficients W _i is the calculation basis can be determined that are within the normal range which can be taken in a suitable vibration reduction control execution. Therefore, it is determined that no divergence tendency is found in the control, and the current divergence detection process is terminated as it is.

However, the determination in step 122 is "YE
In the case of S ", the determination value W _H is excessively large, the filter coefficient W _i is the calculation basis can be determined that in a suitable vibration reduction control execution has led to a large value that can not be taken . Therefore, it is determined that the vibration reduction control has a tendency to diverge, and the process proceeds to step 123 to execute a divergence suppression process.

The divergence suppressing process in step 123 is not particularly limited here.
Resetting the value of each filter coefficient W _i of the adaptive digital filter W to an initial value; reducing the value of each filter coefficient W _i of the adaptive digital filter W by a predetermined ratio (for example, 50%); For example, processing may be performed to remove high frequency components. Alternatively, as the divergence suppression processing, the vibration reduction control itself as shown in FIG. 3 may be prohibited so that the active engine mount 1 functions as a mere passive engine mount. This measure of prohibiting the vibration reduction control itself is effective when divergence occurs repeatedly even if other divergence suppression processing is executed. When the vibration reduction control is prohibited, it is desirable to turn on a predetermined lamp provided on a dash panel, for example, to notify the user of the fact.

Further, in the controller 25, the coefficient correction process shown in FIG. 5 is executed at a predetermined interruption timing during the execution of the vibration reduction process shown in FIG. 3 and the divergence detection process shown in FIG.

That is, when the processing shown in FIG. 5 is executed at a predetermined interruption interval, first, in step 131, the detected temperature value t from the temperature sensor 28 is read. Then, the process proceeds to step 132, is previously set is stored in a predetermined storage area, for example with reference to the correspondence table M ₁ shown in FIG. 6 to identify the temperature range including the read detected temperature t.

[0096] The correspondence table M _1, as shown in FIG. 6, for example, every four temperature ranges, are set β convergence factor α and diverging suppression coefficient corresponding, stored in a predetermined storage area. This temperature range is, for example, −50.
A first range from 0 to 0 ° C, a second range from 0 to 50 ° C, a third range from 50 to 100 ° C, and 100 to 150 ° C.
It is divided into a fourth range of [° C.]. Then, in the temperature environment of each of these temperature ranges, the update equation (3) including the update reference signal ^RT based on the transfer function filter C # set in advance according to the transfer characteristics in the vibration transfer system. Based on the filter coefficient W _i in each temperature range.
Are updated, a convergence coefficient α and a divergence suppression coefficient β that can avoid the divergence of the control are set by performing experiments in advance.

Then, the second temperature range (0 to 50 ° C.)
The convergence coefficient α at this time_TwoAnd divergence suppression coefficient β
_TwoTemperature range deviates from the reference temperature range
, The convergence coefficient α becomes smaller, that is,
α_Two> Α₁, Α_Two> Α_Three> Α _FourSet to satisfy
Conversely, the divergence suppression coefficient β increases, that is,
β_Two<Β₁, Β_Two<Β_Three<Β_FourSet to satisfy
Each is set to provide more control stability.
Have been.

Therefore, in the process of step 132,
Which of the first to fourth temperature ranges the temperature detection value t falls within is specified, and the specified temperature range is updated and stored in a predetermined storage area. Next, the routine proceeds to step 133, where the previously specified temperature range previously stored in the predetermined storage area is compared with the currently specified temperature range to determine whether the temperature range has changed.

If the temperature range has not changed, it is determined that there is no need to change the convergence coefficient α and the divergence suppression coefficient β, and the process ends. On the other hand, if the temperature range has changed, the process proceeds to step 134, where the correspondence table M
₁ , the convergence coefficient α and the divergence suppression coefficient β corresponding to the specified temperature range are specified, and the values of the convergence coefficient α and the divergence suppression coefficient β in the equation (3) are replaced with the newly specified convergence coefficient α. And the value of the divergence suppression coefficient β. Then, the process ends.

Therefore, the convergence coefficient α and the divergence suppression coefficient β are changed according to the temperature detection value t of the temperature sensor 28, that is, the temperature of the active engine mount 1, and the coefficients α and β are changed. The filter coefficient W _i is set based on the update equation of the filter coefficient W _i of the adaptive digital filter W in the equation (3), and the vibration reduction control is performed based on the filter coefficient W _i .

Therefore, for example, when the transmission characteristic of the vibration transmission system changes due to a change in the temperature environment while the vehicle is running, the filter coefficient Wi corresponding to the transmission characteristic different from the actual vibration transmission characteristic is obtained. Even if the vibration reduction control is performed on the basis of the update formula, since the convergence coefficient α and the divergence suppression coefficient β are changed in accordance with the detected temperature value t, the control is performed in a direction to further stabilize the control. By performing control in accordance with low-accuracy transfer characteristics, control instability can be suppressed, the possibility of divergence can be reduced, and good vibration reduction control can be performed.

In particular, when rubber is interposed in the vibration transmission system such as the support elastic body 6 of the active engine mount 1 and the like, the transmission characteristics of the rubber when the temperature exceeds, for example, about 0 to 100 ° C. Is greatly changed, for example, when the temperature becomes 0 ° C. or lower, the resin hardens. As a result, the transmission characteristic of the vibration transmission system changes, the difference from the transmission characteristic in the initial state becomes large, and the vibration transmission system tends to be unstable. However, in the above-described embodiment, the convergence coefficient α and the divergence suppression coefficient β are changed to the convergence coefficient α and the divergence suppression coefficient β, respectively, as the temperature deviates from the reference value according to the temperature change of the active engine mount 1. Since the control is changed in a direction in which the stability of the control is increased, the possibility that the control is diverged can be reduced.

At this time, the coefficients α and β are changed in accordance with the temperature change of the active engine mount 1 including the rubber portion which affects the change of the transmission characteristic of the vibration transmission system. It can be changed accurately and effectively.

Here, in the present embodiment, the engine 30
Corresponds to the vibration source, the active engine mount 1 corresponds to the control vibration source, the pulse signal generator 26 corresponds to the reference signal generation means, the load sensor 22 corresponds to the residual vibration detection means, and the processing of FIG. , The process of outputting the filter coefficient W _i as the drive signal y in step 104 in synchronization with a predetermined sampling clock corresponds to the drive signal generating means, and the process of step 107 in FIG. 3 corresponds to the filter coefficient updating means. , The temperature sensor 28 corresponds to a temperature detecting means,
The processing in FIG. 5 corresponds to the correction unit.

Next, a second embodiment of the present invention will be described. In the second embodiment, instead of the coefficient correction processing in the first embodiment, a divergence threshold W _th for determining whether or not there is a divergence tendency in the divergence detection processing is Except that it is changed based on a temperature change, it is the same as the first embodiment,
Since the overall configuration and the processing content of the vibration reduction processing are the same, a duplicate description thereof will be omitted.

In the second embodiment, the vibration reduction process shown in FIG. 3 and the divergence detection process shown in FIG. 4 are executed at predetermined time intervals, and the threshold value changing process shown in FIG. 7 is executed.

That is, when a temperature change occurs in the vibration transmission system, the transmission characteristic of the vibration transmission system changes accordingly. Therefore, the filter coefficient W is updated based on the updating equation of the filter coefficient W _{i in} the equation (3). _{When i} is updated, the filter coefficient W _i is updated based on an update equation based on a transfer characteristic different from the actual transfer characteristic, and a value different from the value of the filter coefficient W _{i that} can be normally obtained is determined. Become. Therefore, a filter coefficient W _i different from this normal value can be obtained.
When the divergence is determined based on the threshold value _Wth and the threshold value _Wth , even if the filter coefficient _Wi is a normal value, it is erroneously determined that the divergence tends to occur, or the divergence tends to diverge. It may be erroneously determined to be a normal value.

To avoid this, the controller 25
In the above, a threshold value changing process is performed as a threshold value changing unit, and the threshold value _Wth is changed according to the detected temperature value t.

That is, when the processing shown in FIG. 7 is executed at a predetermined interruption interval, the controller 25 first reads the temperature detection value t from the temperature sensor 28 (step 201), and then proceeds to step 202. Migrate,
Is previously set is stored in a predetermined storage area, for example with reference to the correspondence table M ₂ shown in FIG. 8, to identify the temperature range corresponding to the detected temperature value t read.

[0110] The correspondence table M _2, as shown in FIG. 8, for example, every four temperature ranges, respectively corresponding threshold W _th is set. This temperature range is, for example,
A first range of −50 to 0 ° C. and a second range of 0 to 50 ° C.
Range, 50 to 100 ° C. third range, 100 to 1
It is divided into a fourth range of 50 ° C. Then, in the temperature environment of each of these temperature ranges, based on the update equation of (3) including the update reference signal ^RT based on the transfer function filter C ＾ preset according to the transfer characteristics of the vibration transfer system. The filter coefficient W in each temperature range.
_{When i} is updated, a threshold value W _th for determining a possible value of a filter coefficient W _i capable of performing normal control without divergence of the control is determined by performing an experiment in advance. It is set based on.

Each time the temperature rises, the threshold value W
_th is set to be smaller, that is, the threshold value W _th1 in the first temperature range is the largest and the threshold value W _th4 in the fourth temperature range is the smallest.

Therefore, in the processing of step 202,
It specifies whether the detected temperature value t falls into any of the first to fourth temperature ranges, and updates and stores this in a predetermined storage area. Next, the process proceeds to step 203 to compare the previously specified temperature range previously held in a predetermined storage area with the currently specified temperature range to determine whether the temperature range has changed.

If the temperature range has not changed, it is determined that there is no need to change the threshold value _Wth , and the process ends. On the other hand, when the temperature range is changed, the process proceeds to step 204, by referring to the correspondence table M _1,
The threshold value _Wth corresponding to the specified temperature range is specified, and the value of the divergence threshold value _Wth in the divergence detection process of FIG.
_Replace with the newly specified threshold value Wth. Then, the process ends.

Therefore, threshold value W _th is changed according to temperature detection value t of temperature sensor 28, and this threshold value W _th
Divergence in the divergence detection processing is determined based on the divergence. Therefore, for example, when the transmission characteristic of the vibration transmission system changes due to a change in the temperature environment while the vehicle is traveling, for example, the divergence threshold value W corresponding to the transmission characteristic different from the actual vibration transmission characteristic Even if the divergence detection process is performed based on _th , the divergence threshold value W _th is changed in accordance with the detected temperature value t, so that the divergence can be properly determined, and divergence error detection is performed. Alternatively, it is possible to avoid overlooking the divergence and make an appropriate judgment.

When rubber or the like is interposed in the vibration transmission system such as the support elastic body 6 of the active engine mount 1, the change in the transmission characteristics due to the temperature change is large, for example, when the temperature becomes 0 ° C. or less. When it is hardened,
Although the value of the filter coefficient W _i increases, the threshold value W _th increases as the temperature detection value t decreases, so that the divergence can be accurately determined.

Further, since the threshold value _Wth is changed in accordance with the temperature change of the active engine mount 1 which is expected to affect the change of the transmission characteristic of the vibration transmission system, it is effective. .

Note that, in the second embodiment,
The case where the threshold value changing process is performed instead of the coefficient correcting process has been described. However, the threshold value changing process may be performed together with the coefficient correcting process. Can be stabilized, the possibility that the control leads to divergence can be reduced, erroneous detection and oversight of divergence can be avoided, and divergence can be detected appropriately.

In the first and second embodiments, the temperature range is divided into four steps so that the convergence coefficient α and the divergence suppression coefficient β, or the threshold value _Wth is changed stepwise. Although the above description has been made, the present invention is not limited to this. The temperature may be divided into a finer temperature range or a broader temperature range, or the temperature may be changed continuously according to a temperature change.

Further, in each of the above-described embodiments, the case where the temperature sensor 28 is inserted into the yoke 10A of the electromagnetic actuator 10 to detect the temperature is described, but the present invention is not limited to this. For example, the active engine mount 1 is susceptible to a temperature change, for example, a portion made of rubber or the like, such as the support elastic body 6, whose vibration transfer function changes greatly with the temperature change. A temperature sensor may be provided on the support elastic body 6 to detect the temperature of the support elastic body 6.

At this time, it is difficult to insert the temperature sensor into the supporting elastic body 6 due to the problem of durability of the supporting elastic body 6, and therefore, for example, a temperature sensor may be provided on the surface thereof. , The yoke 1 is determined in advance by experiments, etc.
The correlation between the temperature of 0 A and the temperature of the supporting elastic body 6 is obtained in advance,
This correlation and the yoke 10A detected by the temperature sensor 28
The temperature of the support elastic body 6 may be predicted on the basis of the detected temperature value t, and it may be determined whether or not to execute the identification process based on the predicted temperature.

The main fluid chamber 1 is not limited to the support elastic body 6.
Alternatively, the temperature of the working fluid in 5 or the temperature of the place where the main body of the active engine mount 1 is installed may be measured.

Further, in each of the above embodiments, the residual vibration is detected by the load sensor 22 built in the active engine mount 1, but the present invention is not limited to this. May be provided with an acceleration sensor for detecting floor vibration, and the output signal of the acceleration sensor may be used as the residual vibration signal e.

In each of the above embodiments, a case has been described in which the active vibration control device of the present invention is applied to an active vibration control device for a vehicle that reduces vibration transmitted from the engine 30 to the vehicle body 35. However, the subject of the present invention is not limited to this, and the present invention can be applied to an active vibration control device for reducing vibration generated in parts other than the engine 30.

Further, for example, the engine 30 as a noise source
An active noise control device that reduces noise transmitted from the vehicle to the vehicle interior may be used. 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 may be used. And a microphone as residual noise detecting means for detecting residual noise in the vehicle compartment, and a temperature sensor as temperature detecting means for measuring the temperature in the passenger compartment, and a drive obtained by the same arithmetic processing as in each of the above embodiments. The loudspeaker is driven in accordance with the signal y, and the output of the microphone is used as a residual noise signal e for updating the filter coefficients W _i of the adaptive digital filter W, and coefficient correction processing or threshold value change processing is executed. For example, the same operation and effect as those of the above embodiments can be obtained.

The application of the present invention is not limited to a vehicle, but includes an active vibration control device, an active noise control device, and the like for reducing periodic vibrations and noises generated by components other than the engine 30. Aperiodic vibration and noise (random /
The present invention can be applied to an active vibration control device and an active noise control device for reducing noise), and the same operation and effects as those of the above embodiments can be obtained regardless of the application target. For example, the present invention is applicable to a device for reducing vibration transmitted from a machine tool to a floor or a room.

Further, in each of the above embodiments, a synchronous filter is used as an algorithm for generating the drive signal y.
Although the dX LMS algorithm is applied, the applicable algorithm is not limited to this, and may be, for example, a normal Filtered-X LMS algorithm or the like.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment.

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

FIG. 3 is a flowchart illustrating an outline of a vibration reduction process.

FIG. 4 is a flowchart illustrating an outline of a divergence detection process.

FIG. 5 is a flowchart illustrating an outline of a coefficient correction process.

[6] and a temperature range, a correspondence table M ₁ representing the correspondence between β convergence factor α and diverging suppression coefficient corresponding thereto.

FIG. 7 is a flowchart showing an outline of a threshold value changing process.

[8] and a temperature range, a correspondence table M ₂ representing the correspondence between the threshold W _th corresponding thereto.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 Active engine mount (control vibration source) 10 Electromagnetic actuator 11 Leaf spring 22 Load sensor (residual vibration detection means) 25 Controller 26 Pulse signal generator (reference signal generation means) 28 Temperature sensor (temperature detection means) 30 Engine (vibration) Source) 35 Body

Claims (10)

[Claims] 1. A control sound source capable of generating a control sound that interferes with noise emitted from a noise source, reference signal generation means for generating and outputting a reference signal indicating a state of generation of the noise, A residual noise detecting means for detecting and outputting a residual noise signal; an adaptive digital filter having a variable filter coefficient; and a drive signal generation for generating a drive signal for driving the control sound source by filtering the reference signal with the adaptive digital filter. Means, and a filter coefficient for updating a filter coefficient of the digital filter based on the reference signal and the residual noise signal, in accordance with an update equation according to a transfer characteristic of a noise transmission system between the control sound source and the residual noise detection means. An active noise control device comprising: a temperature detecting means for detecting a temperature of the transmission system; Active noise control apparatus characterized by comprising a correction means for correcting the update equation in accordance with the detected temperature detected by the means. 2. The update formula includes a divergence suppression term that acts to reduce a filter coefficient of the adaptive digital filter as the drive signal increases. 2. The method according to claim 1, wherein at least one of a degree of influence of said divergence suppression term and a convergence coefficient which influences an update speed of a filter coefficient of said adaptive digital filter is corrected. Active noise control device. 3. A control sound source capable of generating a control sound that interferes with noise emitted from a noise source; reference signal generating means for generating and outputting a reference signal indicating a state of generation of the noise; A residual noise detecting means for detecting and outputting a residual noise signal; an adaptive digital filter having a variable filter coefficient; and a drive signal generation for generating a drive signal for driving the control sound source by filtering the reference signal with the adaptive digital filter. Means for updating a filter coefficient of the digital filter according to a control algorithm according to a transfer characteristic of a noise transmission system between the control sound source and the residual noise detection means based on the reference signal and the residual noise signal. Means and control by comparing the filter coefficient of the adaptive digital filter with a predetermined threshold value. An active noise control device comprising: divergence detection means for detecting divergence; a temperature detection means for detecting a temperature of the transmission system; and the threshold value according to a detected temperature detected by the temperature detection means. And a threshold value changing means for changing the threshold value. 4. The active noise according to claim 3, wherein said threshold value changing means increases said threshold value as the temperature detected by said temperature detecting means decreases. Control device. 5. A control vibration source capable of generating a control vibration interfering with a vibration emitted from a vibration source, a reference signal generating means for generating and outputting a reference signal indicating a state of generation of the vibration,
Residual vibration detecting means for detecting the vibration after the interference and outputting it as a residual vibration signal; an adaptive digital filter having a variable filter coefficient; and a drive for driving the control vibration source by filtering the reference signal with the adaptive digital filter. A drive signal generating means for generating a signal, and a digital signal of the digital filter according to an update equation according to a transmission characteristic of a vibration transmission system between the control vibration source and the residual vibration detection means based on the reference signal and the residual vibration signal. An active vibration control device comprising: a filter coefficient updating unit that updates a filter coefficient; a temperature detecting unit that detects a temperature of the transmission system; and the filter coefficient according to a detected temperature detected by the temperature detecting unit. An active vibration control device, comprising: a correcting unit that corrects an updating expression of the updating unit. 6. The update formula includes a divergence suppression term that acts to reduce a filter coefficient of the adaptive digital filter as the drive signal increases, and the correction unit includes the update formula. 6. The method according to claim 5, wherein at least one of a degree of influence of the divergence suppression term and a convergence coefficient which affects a speed of updating a filter coefficient of the adaptive digital filter is corrected. Active vibration control device. 7. A control vibration source capable of generating a control vibration that interferes with a vibration emitted from the vibration source, a reference signal generation unit configured to generate and output a reference signal indicating a state of generation of the vibration,
Residual vibration detecting means for detecting the vibration after the interference and outputting it as a residual vibration signal; an adaptive digital filter having a variable filter coefficient; and a drive for driving the control vibration source by filtering the reference signal with the adaptive digital filter. A drive signal generating means for generating a signal, and an adaptive algorithm according to a transmission characteristic of a vibration transmission system between the control vibration source and the residual vibration detection means based on the reference signal and the residual vibration signal. Active vibration control comprising: filter coefficient updating means for updating a filter coefficient; and divergence detecting means for detecting that control has diverged by comparing the filter coefficient of the adaptive digital filter with a predetermined threshold value. In the apparatus, a temperature detecting means for detecting a temperature of the transmission system, and a temperature detected by the temperature detecting means. And a threshold value changing means for changing the threshold value according to the detected temperature. 8. The active vibration according to claim 7, wherein said threshold value changing means increases said threshold value as the temperature detected by said temperature detecting means decreases. Control device. 9. The method according to claim 1, wherein the vibration source is an engine, and the control vibration source is a control vibration source including a support elastic body interposed between the engine and a vehicle body-side member. The temperature detecting means is adapted to detect the temperature of the supporting elastic body.
The active vibration control device according to any one of the above. 10. The method according to claim 1, wherein the vibration source is an engine, and the control vibration source is a control vibration source including a supporting elastic body interposed between the engine and a vehicle body-side member. 9. The temperature detecting device according to claim 5, wherein the temperature detecting means detects a peripheral temperature of the support elastic body and predicts a temperature of the support elastic body from the peripheral temperature. Active vibration control device.