CN113593515A - Wide-band and narrow-band hybrid active noise control system for coping with frequency offset - Google Patents
Wide-band and narrow-band hybrid active noise control system for coping with frequency offset Download PDFInfo
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Abstract
The invention discloses a broadband and narrowband mixed active noise control system for coping with frequency offset, aiming at the occasion of inhibiting broadband and narrowband mixed noise, the invention designs a frequency compensation structure based on a parallel preset band-pass filter and a parallel self-adaptive band-pass filter, takes narrowband reference frequency provided by a non-acoustic reference sensor as a frequency initial value of a coefficient related to central frequency in two modules, and quickly tracks the real narrowband frequency component in a reference signal by utilizing a self-adaptive smooth gradient algorithm, thereby realizing effective compensation of the frequency offset generated by the non-acoustic reference sensor; the frequency compensation structure is used for a wide-band and narrow-band hybrid ANC system, a reference signal synthesis subsystem is formed by the frequency compensation structure, the frequency offset compensation performance of a non-acoustic reference sensor due to aging, abrasion and the like possibly existing in the non-acoustic reference sensor can be improved, the performance of a narrow-band controller in the wide-band and narrow-band hybrid ANC system for responding to target noise narrow-band components is improved, and therefore the stability and the convergence of the whole system are improved.
Description
Technical Field
The invention relates to a broadband and narrowband hybrid active noise control system for dealing with frequency offset, and belongs to the technical field of active noise control.
Background
Active Noise Control (ANC) utilizes the principle of sound wave destructive interference, and has the advantages of good low-frequency Noise suppression performance, small volume, low cost and the like compared with the traditional passive Noise reduction technology (S.M.Kuo and D.R.Morgan, "Active Noise Control: a tubular review," Proc.IEEE, vol.87, No.6, pp.943-973, Jun.1999). In practical application, a large amount of periodic noise or interference generated by rotating mechanical equipment such as a cutting machine, a fan, an engine and the like exists, narrow-band components of the periodic noise or interference account for main components, but broadband interference still exists. Conventional ANC systems of narrow-band or wideband feedforward type have difficulty suppressing the wide-narrow-band mixed noise.
2011, Xiao & Wang designs a wide-narrow band hybrid ANC system based on a sinusoidal noise canceller, which solves the problem of 'spark' phenomenon existing in the traditional wideband feedforward type ANC system when the wide-narrow band hybrid noise is suppressed, and further improves the overall performance of the system (y.xiao and j.wang, 'a new feedback active noise control system,' IEEE Signal process.letters, vol.18, No.10, pp.591-594, oct.2011.). However, the system simultaneously adopts an acoustic reference sensor and a non-acoustic reference sensor to acquire a reference signal, wherein the non-acoustic reference sensor (such as a tachometer and the like) arranged at the position of the noise source of the control device can cause the obtained narrowband reference frequency to be inconsistent with the actual narrowband component frequency due to the conditions of aging, abrasion and the like, namely, frequency offset occurs. The frequency offset may directly cause the performance of the narrowband controller in the wide-narrowband hybrid ANC system for suppressing the target noise narrowband component to be reduced, thereby affecting the stability and convergence of the wide-narrowband hybrid ANC system and restricting the practical application thereof. Therefore, a corresponding frequency offset compensation structure or algorithm needs to be researched, and the method has important theoretical and application values for improving the robustness of the broadband and narrowband hybrid ANC system.
In 2015, Weathering et al designed a frequency offset compensation structure based on an IIR trap on the basis of a narrow-band feedforward type ANC system, and simulation results show that the structure still has good frequency offset compensation performance under the condition of large frequency offset, so that the noise reduction performance of the narrow-band ANC system is improved (Weathering, Huang Boyan, Xiao Yi, etc.. the new structure [ J ] of the narrow-band ANC system based on the IIR trap to cope with frequency offset [ 2015, 43 (1): 129) 134 ]. However, this narrow-band feedforward ANC system mainly aims at suppressing narrow-band noise, and it is difficult to effectively cope with wide-band noise interference, and the noise reduction level is restricted. In addition, the structure of the narrow-band feedforward type ANC system is different from that of a wide-band and narrow-band hybrid ANC system, so that a frequency offset compensation structure in the narrow-band feedforward type ANC system is difficult to directly transplant into the wide-band and narrow-band hybrid ANC system, a novel frequency offset compensation structure needs to be developed and is further used for the wide-band and narrow-band hybrid ANC system, frequency offset caused by possible aging, abrasion and the like of a non-acoustic sensor is compensated, the performance of a narrow-band controller in the wide-band and narrow-band hybrid ANC system for responding to target noise narrow-band components is improved, and the stability and convergence of the whole system are improved.
Disclosure of Invention
In order to solve the problem that the performance of a narrow-band controller in a wide-band and narrow-band hybrid active noise control system for suppressing a target noise narrow-band component is restricted by frequency offset generated by aging, abrasion and the like of a non-acoustic reference sensor in the existing traditional wide-band and narrow-band hybrid active noise control system, so that the performance and stability of the wide-band and narrow-band hybrid noise suppression of the whole system are reduced, the invention provides a wide-band and narrow-band hybrid active noise control system for coping with the frequency offset,
the traditional frequency compensation structure based on the IIR wave trap is only suitable for the situation that the energy of the narrow-band component and the broadband component in the reference signal is relatively large when narrow-band noise is suppressed, but the noise reduction performance of the traditional frequency compensation structure based on the IIR wave trap is limited when the energy of the narrow-band component and the broadband component in the reference signal is relatively small when wide-band and narrow-band mixed noise is suppressed. Aiming at the situation of inhibiting the broadband and narrowband mixed noise, the invention designs a frequency compensation structure based on a parallel type preset band-pass filter and a parallel type self-adaptive band-pass filter, and further the frequency compensation structure is used for a broadband and narrowband mixed ANC system. In general, the broadband and narrowband hybrid ANC system designed by the invention is structurally different from the prior art narrowband ANC system based on IIR wave trap to deal with frequency detuning.
Based on the above, the present invention provides a wideband and narrowband hybrid active noise control system for dealing with frequency offset, and the technical solution is as follows:
a wide-band and narrow-band hybrid active noise control system for coping with frequency offset is disclosed, wherein the active noise control system respectively adopts an acoustic reference sensor to collect a reference signal, adopts a non-acoustic reference sensor to collect a narrow-band reference frequency, adopts an acoustic microphone to collect an error signal and adopts a secondary loudspeaker to provide a secondary sound source; the actual primary channel in the acoustic space is a channel model of the propagation of the reference signal to the error sensor; the actual secondary channel in the acoustic space propagates the secondary sound source provided by the secondary speaker to the channel model of the error microphone. In particular, the active noise control system comprises a reference signal synthesis subsystem (1), a narrowband secondary sound source synthesis subsystem (2) and a broadband secondary sound source synthesis subsystem (3).
The reference signal synthesis subsystem (1) is used for coping with frequency offset of a non-acoustic reference sensor caused by aging, abrasion and the like, and further used for accurately synthesizing a narrow-band reference component and a wide-band reference component; the reference signal synthesis subsystem (1) comprises: a parallel type preset band-pass filter module (11) and a parallel type self-adaptive band-pass filter module (12); the parallel type preset band-pass filter module (11) provides input signals with similar signal-to-noise ratios for the parallel type adaptive band-pass filter (12); the parallel type self-adaptive band-pass filter module (12) outputs accurate narrow-band reference components, and then the sum of all the output narrow-band reference components of the parallel type self-adaptive band-pass filter module (12) is subtracted from the reference signal to obtain a broadband reference component.
The narrow-band secondary sound source synthesizing subsystem (2) is used for synthesizing a narrow-band secondary sound source and further used for suppressing the components related to the narrow-band reference component in the target noise; the narrow-band secondary sound source synthesis subsystem (2) comprises: a narrow band controller (21) and a first filter-X least mean square algorithm module (22); the narrow-band controller (21) adopts an amplitude phase adjustment structure, and the narrow-band controller (21) is updated by a first filtering-X least mean square algorithm module (22).
The broadband secondary sound source synthesizing subsystem (3) is used for synthesizing a broadband secondary sound source and further used for suppressing components related to a broadband reference component in target noise; the broadband secondary sound source synthesis subsystem (3) comprises: a wideband controller (31) and a second filter-X least mean square algorithm module (32); the broadband controller (31) adopts a linear finite impulse response filter, and updates the broadband controller (31) by a second filtering-X least mean square algorithm module (32).
In one embodiment of the invention, in the reference signal synthesis subsystem (1), the parallel preset band-pass filter module (11) is composed of preset band-pass filters in a parallel mode, and q preset band-pass filters are arranged according to the number q of narrow-band reference frequencies provided by the non-acoustic reference sensor, wherein each preset band-pass filter is implemented by a second-order IIR trap, and a z-domain model H of a corresponding ith second-order IIR trapi(z) and z-domain model H of the preset bandpass filteri，bp(z) are respectively:
in the formula, rho is a polar radius parameter, and the value is between 0 and 1; c. Ci＝-2cos(ωi) For the ith coefficient, ω, related to the center frequency of the second order IIR trapiThe center frequency of the ith second-order IIR wave trap is obtained; i is 1, 2, …, q. The input of the parallel preset band-pass filter module (11) is a reference signal x provided by an acoustic reference sensorr(n) q narrow-band components as output
Are respectively used as the input of a parallel type adaptive band-pass filter module (12); n is time, n is not less than 0.
In one embodiment of the invention, in the reference signal synthesis subsystem (1), the parallel adaptive band-pass filter module (12) is composed of adaptive band-pass filters in parallel and is based on narrow-band parameters provided by a non-acoustic reference sensorSetting q adaptive band-pass filters with reference to the number q of frequencies; wherein the z-domain model of each adaptive band-pass filter is the same as the z-domain model of the corresponding preset band-pass filter in the parallel preset band-pass filter module (11). The input of the ith adaptive band-pass filter in the parallel type adaptive band-pass filter module (12) is a reference signal xr(n) subtracting the sum of the outputs of q-1 preset band-pass filters except the ith preset band-pass filter, i.e. the input is
The output is the ith narrow-band reference component xi(n)。
In one embodiment of the invention, in the reference signal synthesis subsystem (1), the coefficient c related to the center frequency of the ith adaptive band-pass filter in the parallel adaptive band-pass filter module (12)i＝-2cosωiCenter frequency ωiIs determined by a narrow band reference frequency provided by a non-acoustic reference sensor; to compensate for frequency shifts of non-acoustic reference sensors due to aging, wear, etc., the coefficient ci(n) updating according to a self-adaptive smooth gradient algorithm, wherein the updating formula is as follows:
gi(n)＝xd，i(n-1)-ρyb，i(n-1)；
in the formula, mucIs ci(n) an update step size; epsilon is a parameter ensuring that the denominator is non-zero; lambda is a convergence factor and takes a value between 0 and 1; y isb，iAnd (n) is the output of the ith adaptive second-order IIR wave trap. When the system reaches steady state, ci(n) convergence to-2 cos (. omega.)i，0) Wherein ω isi，0Performing frequency offset compensation for the true frequency value of the narrow-band component in the reference signal。
In one embodiment of the invention, in the narrowband secondary sound source synthesis subsystem (2), the narrowband controller (21) adopts an amplitude phase adjustment structure, and the first filtering-X least mean square algorithm module (22) is used for updating the narrowband controller (21), and the coefficient of the narrowband controller (21)
The update formula of (2) is:
in the formula, muNAn update step for the narrowband controller coefficients; e (n) residual noise acquired by the error microphone;
narrow-band reference component x provided for a reference signal synthesis subsystem (1)i(n) estimating the model via the secondary channel
Filtered signal, wherein a secondary channel estimation model
The actual secondary channel S (z) is obtained by using a secondary channel off-line identification method. The model of the secondary channel S (z) is expressed as a coefficient of
An impulse response sequence of length M; secondary channel estimation model
The coefficients of the model are
Has a length of
In one embodiment of the invention, in the broadband secondary sound source synthesizing subsystem (3), the broadband controller (31) adopts a linear finite impulse response filter, the second filtering-X least mean square algorithm module (32) is used for updating the broadband controller (31), and the coefficient of the linear finite impulse response filter of the broadband controller (31) is
L is the filter length, the wideband controller (31) coefficient
The update formula of (2) is:
in the formula, muBUpdating step length of broadband controller coefficient;
narrow-band reference component x provided for a reference signal synthesis subsystem (1)w(n) estimating the model via the secondary channel
The filtered signal.
In one embodiment of the invention, the reference signal synthesis subsystem (1) adopts a combined structure of a parallel preset band-pass filter module (11) and a parallel adaptive band-pass filter module (12), takes a reference signal provided by an acoustic reference sensor and a narrow-band reference frequency provided by a non-acoustic reference sensor as input, can effectively cope with frequency offset generated by the non-acoustic reference sensor due to aging, abrasion and the like, is further used for accurately synthesizing a narrow-band reference component and a wide-band reference component, and is respectively used as a narrow-band reference component and a wide-band reference componentInput of a secondary sound source synthesis subsystem (2) and a broadband secondary sound source synthesis subsystem (3); the sum of the outputs of the narrow-band secondary sound source synthesis subsystem (2) and the wide-band secondary sound source synthesis subsystem (3) is a secondary sound source y (n), and the secondary sound source y (n) generates anti-noise y after passing through an actual secondary channelpAnd (n) counteracting with the target noise p (n) in an acoustic space to obtain residual noise, and acquiring the residual noise by using an error microphone to obtain e (n) for the active noise control system.
The invention has the beneficial effects that:
the system adopts a parallel type preset band-pass filter module (11) and a parallel type self-adaptive band-pass filter module (12), takes a narrow-band reference frequency provided by a non-acoustic reference sensor as a frequency initial value of a coefficient related to a central frequency in the two modules, and quickly tracks a real narrow-band frequency component in a reference signal by using a self-adaptive smooth gradient algorithm, so that the effective compensation of frequency deviation generated by the non-acoustic reference sensor is realized;
secondly, the parallel type preset band-pass filter module (11) and the parallel type self-adaptive band-pass filter module (12) based on the IIR wave trap are adopted, so that a narrow-band reference component can be accurately synthesized and used as a reference input of a narrow-band controller (21), the performance of the system for restraining the narrow-band component in the corresponding target noise is improved, and the stability and the convergence of the system are further improved on the whole;
thirdly, the parallel type preset band-pass filter module (11) and the parallel type self-adaptive band-pass filter module (12) based on the IIR wave trap are adopted, so that the broadband reference component can be accurately synthesized and used as the reference input of a broadband controller, and the performance of a system for inhibiting and dealing with the broadband component in target noise is improved;
the reference signal synthesis subsystem (1), the narrow-band secondary sound source synthesis subsystem (2) and the broadband secondary sound source synthesis subsystem (3) are organically combined to jointly improve the broadband and narrow-band noise suppression performance of the system on the whole, so that the residual error energy of the system tends to the environmental noise level in a steady state, and the practical application is promoted.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of a wideband and narrowband hybrid active noise control system for dealing with frequency offset according to a first embodiment of the present invention.
FIG. 2(a) is a graph showing the dynamic variation of mean square residual error with sampling points in the system of the second embodiment;
FIG. 2(b) is a graph showing the dynamic variation of the coefficients related to the center frequency of the adaptive bandpass filter with respect to the sampling points in the system of the second embodiment;
FIG. 3(a) is a dynamic variation curve of residual noise with sampling points in the system of the third embodiment;
fig. 3(b) is a dynamic variation curve (first half) of coefficients related to the center frequency of the adaptive band-pass filter in the system of the third embodiment;
fig. 3(c) is a dynamic variation curve (second half) of coefficients related to the center frequency of the adaptive band-pass filter in the system of the third embodiment;
in the figure: the system comprises a reference signal synthesis subsystem 1, a narrowband secondary sound source synthesis subsystem 2, a wideband secondary sound source synthesis subsystem 3, a parallel type preset band-pass filter module 11, a parallel type adaptive band-pass filter module 12, a narrowband controller 21, a first filtering-X least mean square algorithm module 22, a wideband controller 31 and a second filtering-X least mean square algorithm module 32.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The first embodiment is as follows:
the present embodiment provides a wide-band and narrow-band hybrid active noise control system for dealing with frequency offset, referring to a system schematic diagram shown in fig. 1, the active noise control system respectively adopts an acoustic reference sensor to collect a reference signal, adopts a non-acoustic reference sensor to collect a narrow-band reference frequency, adopts an acoustic microphone to collect an error signal, and adopts a secondary speaker to provide a secondary sound source; the actual primary channel in the acoustic space is a channel model of the propagation of the reference signal to the error sensor; the actual secondary channel in the acoustic space propagates the secondary sound source provided by the secondary speaker to the channel model of the error microphone. Further, the active noise control system comprises a reference signal synthesis subsystem (1), a narrowband secondary sound source synthesis subsystem (2) and a broadband secondary sound source synthesis subsystem (3).
The reference signal synthesis subsystem (1) is used for coping with frequency offset of a non-acoustic reference sensor caused by aging, abrasion and the like, and further used for accurately synthesizing a narrow-band reference component and a wide-band reference component; the reference signal synthesis subsystem (1) comprises: a parallel type preset band-pass filter module (11) and a parallel type self-adaptive band-pass filter module (12); the parallel type preset band-pass filter module (11) provides input signals with similar signal-to-noise ratios for the parallel type adaptive band-pass filter (12); the parallel type self-adaptive band-pass filter module (12) outputs accurate narrow-band reference components, and then the sum of all the output narrow-band reference components of the parallel type self-adaptive band-pass filter module (12) is subtracted from the reference signal to obtain a broadband reference component.
The narrow-band secondary sound source synthesizing subsystem (2) is used for synthesizing a narrow-band secondary sound source and further used for suppressing the components related to the narrow-band reference component in the target noise; the narrow-band secondary sound source synthesis subsystem (2) comprises: a narrow band controller (21) and a first filter-X least mean square algorithm module (22); the narrow-band controller (21) adopts an amplitude phase adjustment structure, and the narrow-band controller (21) is updated by a first filtering-X least mean square algorithm module (22).
The broadband secondary sound source synthesizing subsystem (3) is used for synthesizing a broadband secondary sound source and further used for suppressing components related to a broadband reference component in target noise; the broadband secondary sound source synthesis subsystem (3) comprises: a wideband controller (31) and a second filter-X least mean square algorithm module (32); the broadband controller (31) adopts a linear finite impulse response filter, and updates the broadband controller (31) by a second filtering-X least mean square algorithm module (32).
The reference signal provided by the acoustic reference sensor is
In the formula, xf(n) is a narrowband component in the reference signal,
discrete fourier coefficients that are narrowband components; cosine component
And a sinusoidal component
Is the synthesized ith sine-cosine frequency component; omegai，0The ith real angular frequency of the narrow-band component in the reference signal measured by the acoustic sensor; x is the number ofw(n) is the wideband component of the reference signal with zero mean and variance
n is time (n.gtoreq.0). Reference signal xr(n) passing through the actual primary path P (z) (the model coefficients are
Length Mp) Then, the target noise is obtained as
In the formula (I), the compound is shown in the specification,
discrete Fourier coefficients, p, for narrow-band components in target noisew(n) is xw(n) actual primary path P (z) filtered signal, vp(n) is the mean value of zero and the variance of
White gaussian noise.
In the reference signal synthesis subsystem (1), a parallel preset band-pass filter module (11) is composed of preset band-pass filters in a parallel mode, and q preset band-pass filters are set according to the number q of narrow-band reference frequencies provided by a non-acoustic reference sensor; each preset band-pass filter is realized by a second-order IIR wave trap, and the z-domain models of the corresponding ith second-order IIR wave trap and the preset band-pass filter are respectively as follows:
in the formula, rho is a polar radius parameter, and the value is between 0 and 1; c. Ci＝-2cos(ωi) For the ith coefficient, ω, related to the center frequency of the second order IIR trapiThe center frequency of the ith second-order IIR wave trap is obtained; i is 1, 2, …, q. The input of the parallel preset band-pass filter module (11) is a reference signal x provided by an acoustic reference sensorr(n) q narrow-band components as output
Are respectively used as the input of a parallel type adaptive band-pass filter module (12); n is time, n is not less than 0.
In the reference signal synthesis subsystem (1), a parallel type self-adaptive band-pass filter module (12) is composed of self-adaptive band-pass filters according to a parallel type mode, and q self-adaptive band-pass filters are set according to the number q of narrow-band reference frequencies provided by a non-acoustic reference sensor; wherein the z-domain model of each adaptive band-pass filter is the same as the z-domain model of the corresponding preset band-pass filter in the parallel preset band-pass filter module (11). The input of the ith adaptive band-pass filter in the parallel type adaptive band-pass filter module (12) is a reference signal, and the input is reduced except the ith preset band-pass filterThe sum of the outputs of the other g-1 preset bandpass filters, i.e. the input being
The output is the ith narrow-band reference component xi(n)＝xd，i(n)-yb，i(n) of (a). The corresponding sub-reference signal synthesis subsystem (1) provides an accurate wideband reference component of
Center frequency-dependent coefficients c of the ith adaptive band-pass filter in the parallel adaptive band-pass filter module (12) in the reference signal synthesis subsystem (1)i＝-2cosωiCenter frequency ωiIs determined by a narrow band reference frequency provided by a non-acoustic reference sensor. To compensate for frequency shifts of non-acoustic sensors due to aging, wear, etc., the coefficient ci(n) updating according to a self-adaptive smooth gradient algorithm, wherein the updating formula is as follows:
gi(n)＝xd，i(n-1)-ρyb，i(n-1)；
in the formula, mucIs ci(n) an update step size; epsilon is a parameter ensuring that the denominator is non-zero; lambda is a convergence factor and takes a value between 0 and 1; y isb，iAnd (n) is the output of the ith adaptive second-order IIR wave trap. When the system reaches steady state, ci(n) convergence to-2 cos (. omega.)i，0) Wherein ω isi，0And the real frequency value of the narrow-band component in the reference signal is obtained, and then frequency offset compensation is completed.
In the narrow-band secondary sound source synthesis subsystem (2), the narrow-band controller (21) adopts an amplitude phase adjustment structure and utilizes first filtering-the X least mean square algorithm module (22) updates the narrowband controller (21), the coefficients of the narrowband controller (21)
The update formula of (2) is:
in the formula, muNAn update step for the narrowband controller coefficients; e (n) residual noise acquired by the error microphone;
narrow-band reference component x provided for a reference signal synthesis subsystem (1)i(n) estimating the model via the secondary channel
Filtered signal, wherein a secondary channel estimation model
The actual secondary channel S (z) is obtained by using a secondary channel off-line identification method. The model of the actual secondary channel S (z) is expressed as a coefficient of
An impulse response sequence of length M; secondary channel estimation model
The coefficients of the model are
Has a length of
The narrow-band secondary sound source synthesized by the narrow-band secondary sound source synthesis subsystem (2) is as follows:
in the broadband secondary sound source synthesis subsystem (3), the broadband controller (31) adopts a linear finite impulse response filter, the second filtering-X least mean square algorithm module (32) is used for updating the broadband controller (31), and the coefficient of the linear finite impulse response filter of the broadband controller (31) is
L is the filter length, the above coefficient of the broadband controller (31)
The update formula of (2) is:
in the formula, muBUpdating step length of broadband controller coefficient;
narrow-band reference component x provided for a reference signal synthesis subsystem (1)w(n) estimating the model via the secondary channel
The filtered signal. The broadband secondary sound source synthesized by the broadband secondary sound source synthesizing subsystem (2) is as follows:
the reference signal synthesis subsystem (1) adopts a combined structure of a parallel preset band-pass filter module (11) and a parallel adaptive band-pass filter module (12) to provide reference signals provided by an acoustic sensorThe signal and the narrow-band reference frequency provided by the non-acoustic sensor are used as input, frequency offset generated by aging, abrasion and the like of the non-acoustic sensor can be effectively coped with, and the narrow-band reference frequency and the wide-band reference frequency are further used for accurately synthesizing a narrow-band reference component and a wide-band reference component and are respectively used as input of a narrow-band secondary sound source synthesizing subsystem (2) and a wide-band secondary sound source synthesizing subsystem (3); the sum of the outputs of the narrow-band secondary sound source synthesizing subsystem (2) and the wide-band secondary sound source synthesizing subsystem (3) is a secondary sound source y (n) ═ yf(n)+yw(n), secondary sound source y (n) inverse noise y after actual secondary channelp(n) and the target noise p (n) are counteracted in an acoustic space to obtain residual noise
And an error microphone is utilized to acquire the signal to obtain e (n) for the active noise control system.
In the following, the two situations of the simulated noise and the secondary channel and the actual noise and the secondary channel are combined to verify that the broadband and narrowband hybrid active noise control method has a good broadband and narrowband hybrid active noise control effect for coping with the frequency offset.
Example two: theoretical verification under simulated noise and secondary channel conditions
The reference signal comprises three frequency components and additive white Gaussian noise, and the normalized angular frequencies of the three frequency components are respectively omega1＝0.1π、ω20.2 pi and ω30.3 pi; the corresponding discrete Fourier coefficients are respectively a1＝2.0、b1＝-1.0、a2＝1.0、b2＝-0.5、a3＝0.5、b30.1; the mean value of the additive white gaussian noise is zero and the variance is 0.5. The variance of additive white gaussian noise in the target noise p (n) is 0.1. The actual primary channel P (z) adopts an FIR model, the length and the cut-off frequency of the FIR model are 41 pi and 0.4 pi respectively; the actual secondary channel s (z) uses an FIR model with a length and a cut-off frequency of 21 and 0.4 pi, respectively; secondary channel FIR estimation model adopted
Same as the actual secondary channel model; broadband controllerAn FIR model is adopted, and the length of the FIR model is 51; the polar radius parameter is rho 0.975; mu.scEpsilon and lambda are respectively 0.0002, 0.05 and 0.9998; the update step lengths of the narrow-band controller and the wide-band controller are respectively 0.006 and 0.001; the number of runs was 50; the simulation data length is 10000. To simulate the frequency offset introduced by a non-acoustic sensor, the narrowband frequency is set to be offset by 5% from the actual narrowband frequency in the reference signal.
FIG. 2(a) is a graph showing the dynamic variation of the mean square residual error with the sampling points in the system of the present embodiment; fig. 2(b) is a graph showing the dynamic variation of the coefficients related to the center frequency of the adaptive bandpass filter with respect to the sampling points in the system of the present embodiment. As shown in fig. 2(a) and 2(b), when the system reaches steady state, the energy of the residual error of the system is about 0.1074, which is close to the variance of gaussian white noise added in the target noise, indicating that the system of the present invention has good performance of suppressing wide-band and narrow-band noise; from the dynamic variation curve of the coefficient related to the center frequency of the adaptive band-pass filter, it can be known that the system of the present invention can effectively track the actual narrowband frequency component in the reference signal, and realize the frequency offset compensation.
Example three: experimental validation under actual noise and secondary channel conditions
The actual noise comes from large-scale cutting machine noise, and in order to simulate the non-stationary characteristic of target noise, the target noise is divided into two parts, the rotating speed corresponding to the front half part is 1400rpm, the rotating speed corresponding to the rear half part is 1600rpm, the normalized frequencies of the noise of the front half part are 0.0805 pi, 0.1611 pi, 0.2415 pi, 0.3218 pi and 0.4024 pi, and the normalized frequencies of the noise of the rear half part are 0.0905 pi, 0.1808 pi, 0.2712 pi and 0.3615 pi. The actual primary path P (z) uses a linear FIR model with a length and cutoff frequency of 61 and 0.45 π, respectively; the actual secondary channel model used the actual IIR model widely used in the field (S.M. Kuoa and D.R. Morgan, Active Noise Control Systems-Algorithms and DSP evaluation, New York: Wiley, 1996); the secondary channel estimation model is the same as the actual secondary channel model; the FIR estimation model length of the broadband control filter is 51; the polar radius parameter is rho 0.975; mu.scAnd epsilon and lambda are respectively 0.0015, 0.01 and 0.98, respectively; the update step lengths of the narrow-band controller and the broadband controller are respectively 0.5 and 0.1; the actual data length is 30000. And similarly, setting the offset of the initial frequency of the front part and the initial frequency of the rear part relative to the corresponding actual narrow-band frequency in the reference signal to be 5% for simulating the frequency offset brought by the non-acoustic sensor.
FIG. 3(a) is a dynamic variation curve of residual noise with sampling points in the system of example 3; fig. 3(b) is a dynamic variation curve (first half) of coefficients related to the center frequency of the adaptive band-pass filter in the system of example 3; fig. 3(c) is a dynamic variation curve (second half) of the coefficients relating to the center frequency of the adaptive band-pass filter in the system of example 3; as shown in fig. 3(a) -3 (c), the present embodiment is a dynamic variation curve of the system residual error system, the coefficients related to the center frequency of the adaptive bandpass filter in the first half, and the coefficients related to the center frequency of the adaptive bandpass filter in the second half in the case of actual noise and secondary channel; when the system reaches a steady state, the noise reduction of the front half part system is 22.71dB, and the noise reduction of the rear half part system is 23.83dB, which shows that the system still has good broadband and narrow band noise suppression performance under the conditions of actual noise and secondary channels; from the dynamic change curves of the coefficients of the front part and the back part related to the center frequency of the adaptive band-pass filter, the system can effectively track the non-stationary actual narrow-band frequency component in the reference signal and simultaneously complete the frequency offset compensation.
The second embodiment and the third embodiment respectively verify the effectiveness and the practicability of the broadband and narrowband hybrid active noise control system for coping with the frequency offset from two theoretical and experimental conditions, and further promote the practical application of the active noise control technology.
The system adopts a parallel type preset band-pass filter module (11) and a parallel type self-adaptive band-pass filter module (12), takes a narrow-band reference frequency provided by a non-acoustic reference sensor as a frequency initial value of a coefficient related to a central frequency in the two modules, and quickly tracks a real narrow-band frequency component in a reference signal by using a self-adaptive smooth gradient algorithm, thereby realizing effective compensation of frequency deviation generated by the non-acoustic reference sensor;
according to the invention, the parallel type preset band-pass filter module (11) and the parallel type self-adaptive band-pass filter module (12) based on the IIR wave trap are adopted, so that a narrow-band reference component can be accurately synthesized and used as a reference input of a narrow-band controller (21), the performance of the system for restraining the narrow-band component in the corresponding target noise is improved, and the stability and the convergence of the system are further improved on the whole;
according to the invention, the parallel type preset band-pass filter module (11) and the parallel type self-adaptive band-pass filter module (12) based on the IIR wave trap are adopted, so that the broadband reference component can be accurately synthesized and used as the reference input of a broadband controller, and the performance of a system for inhibiting and dealing with the broadband component in target noise is improved;
the invention adopts the reference signal synthesis subsystem (1), the narrow-band secondary sound source synthesis subsystem (2) and the broadband secondary sound source synthesis subsystem (3), and the three are organically combined to jointly improve the broadband and narrow-band noise suppression performance of the system on the whole, thereby realizing that the residual error energy of the system tends to the environmental noise level in a steady state and promoting the practical application of the system.
Some steps in the embodiments of the present invention may be implemented by software, and the corresponding software program may be stored in a readable storage medium, such as an optical disc or a hard disk.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A broad-band and narrow-band hybrid active noise control system for coping with frequency offset is characterized in that the active noise control system respectively adopts an acoustic reference sensor to collect a reference signal, adopts a non-acoustic reference sensor to collect a narrow-band reference frequency, adopts an acoustic microphone to collect an error signal and adopts a secondary loudspeaker to provide a secondary sound source; the actual primary channel in the acoustic space is a channel model of the propagation of the reference signal to the error sensor; the actual secondary channel in the acoustic space propagates the secondary sound source provided by the secondary speaker to the channel model of the error microphone; the active noise control system comprises a reference signal synthesis subsystem (1), a narrow-band secondary sound source synthesis subsystem (2) and a broadband secondary sound source synthesis subsystem (3);
the reference signal synthesis subsystem (1) is used for synthesizing a narrowband reference component and a wideband reference component; the reference signal synthesis subsystem (1) comprises: a parallel type preset band-pass filter module (11) and a parallel type self-adaptive band-pass filter module (12); the parallel type preset band-pass filter module (11) provides input signals with similar signal-to-noise ratios for the parallel type adaptive band-pass filter (12); the parallel type self-adaptive band-pass filter module (12) outputs accurate narrow-band reference components, and then the sum of all the narrow-band reference components output by the parallel type self-adaptive band-pass filter module (12) is subtracted from a reference signal to obtain a broadband reference component;
the narrow-band secondary sound source synthesizing subsystem (2) is used for synthesizing a narrow-band secondary sound source and further used for suppressing the components related to the narrow-band reference component in the target noise; the narrowband secondary sound source synthesis subsystem (2) comprises: a narrow band controller (21) and a first filter-X least mean square algorithm module (22); the narrowband controller (21) adopts an amplitude phase adjustment structure, and the narrowband secondary sound source synthesis subsystem (2) updates the narrowband controller (21) by using a first filtering-X least mean square algorithm module (22);
the broadband secondary sound source synthesizing subsystem (3) is used for synthesizing a broadband secondary sound source and further used for suppressing components related to a broadband reference component in target noise; the broadband secondary sound source synthesis subsystem (3) comprises: a wideband controller (31) and a second filter-X least mean square algorithm module (32); the broadband controller (31) adopts a linear finite impulse response filter, and the broadband secondary sound source synthesis subsystem (3) updates the broadband controller (31) by utilizing a second filtering-X least mean square algorithm module (32).
2. A wideband hybrid active noise control system against frequency offset according to claim 1, characterized by the fact that in the reference signal synthesis subsystem (1), the summationThe type preset band-pass filter module (11) is composed of preset band-pass filters in a parallel mode, and q preset band-pass filters are arranged according to the number q of narrow-band reference frequencies provided by the non-acoustic reference sensor; each preset band-pass filter is realized by a second-order IIR wave trap, and a z-domain model H of a corresponding ith second-order IIR wave trapi(z) and z-domain model H of the preset bandpass filteri，bp(z) are respectively:
in the formula, rho represents a polar radius parameter, and the value is between 0 and 1; c. Ci＝-2cos(ωi) Representing the centre frequency dependent coefficient, ω, of the ith second-order IIR trapiRepresenting the center frequency of the ith second-order IIR trap; i is 1, 2, …, q; the input of the parallel preset band-pass filter module (11) is a reference signal x provided by an acoustic reference sensorr(n) q narrow-band components as output
Are respectively used as the input of a parallel type adaptive band-pass filter module (12); n is time, n is not less than 0.
3. A broadband and narrowband hybrid active noise control system coping with frequency offset according to claim 2, characterized in that in the reference signal synthesis subsystem (1), the parallel adaptive band-pass filter module (12) is composed of adaptive band-pass filters in a parallel manner, and q adaptive band-pass filters are set according to the number q of narrowband reference frequencies provided by a non-acoustic reference sensor; wherein the z-domain model of each adaptive band-pass filter is matched with the z-domain of the corresponding preset band-pass filter in the parallel preset band-pass filter module (11)The models are the same; and the input of the ith adaptive band-pass filter in the parallel type adaptive band-pass filter module (12) is a reference signal xr(n) subtracting the sum of the outputs of the q-1 preset band-pass filters except the ith preset band-pass filter, i.e. the input is
The output is the ith narrow-band reference component xi(n)。
4. A wideband hybrid active noise control system coping with frequency offset according to claim 2, wherein in the reference signal synthesis subsystem (1), the coefficients c related to the center frequency of the ith adaptive band pass filter in the parallel adaptive band pass filter module (12)i＝-2cosωiCenter frequency ωiIs determined by a narrow band reference frequency provided by a non-acoustic reference sensor; in order to compensate for the frequency offset of the narrowband component in the reference signal synthesis subsystem (1), the coefficient ciUpdating according to a self-adaptive smooth gradient algorithm, wherein an updating formula is as follows:
gi(n)＝xd，i(n-1)-ρyb，i(n-1)；
in the formula, mucIs ci(n) an update step size; epsilon is a parameter ensuring that the denominator is non-zero; lambda is a convergence factor and takes a value between 0 and 1; y isb，i(n) is the output of the ith adaptive second-order IIR trap; when the system reaches steady state, ci(n) convergence to-2 cos (. omega.)i，0) Wherein ω isi，0Is a reference signal xr(n) the true frequency value of the narrowband component, and thenAnd compensating the frequency offset.
5. A broadband and narrowband hybrid active noise control system coping with frequency offset according to claim 1, characterized in that in the narrowband secondary acoustic source synthesis subsystem (2), the narrowband controller (21) adopts an amplitude and phase adjustment structure, and the coefficient of the narrowband controller (21) is updated by a first filtering-X least mean square algorithm module (22)
The update formula is:
in the formula, muN-an update step size for coefficients of the narrowband controller (21); e (n) residual noise acquired by the error microphone;
narrow-band reference component x provided for the reference signal synthesis subsystem (1)i(n) estimating the model via the secondary channel
Filtered signal, wherein a secondary channel estimation model
Obtaining the actual secondary channel s (z) by using a secondary channel off-line identification method; the model of the actual secondary channel S (z) is expressed as a coefficient of
An impulse response sequence of length M; the secondary channel estimation model
The coefficients of the model are
Has a length of
6. A broadband and narrowband hybrid active noise control system coping with frequency offset according to claim 1, characterized in that in the broadband secondary sound source synthesis subsystem (3), the broadband controller (31) uses a linear finite impulse response filter, and the broadband controller (31) is updated by a second filter-X least mean square algorithm module (32), and the coefficient of the linear finite impulse response filter of the broadband controller (31) is
L is the filter length, coefficient
The update formula of (2) is:
in the formula, muBIs a coefficient of
The update step length of (2);
narrow-band reference component x provided for the reference signal synthesis subsystem (1)w(n) estimating the model via the secondary channel
The filtered signal.
7. As in claimThe broadband and narrowband hybrid active noise control system for coping with frequency offset according to any one of claims 1 to 6, characterized in that the reference signal synthesis subsystem (1) adopts a combined structure of a parallel preset band-pass filter module (11) and a parallel adaptive band-pass filter module (12), and takes a reference signal provided by an acoustic reference sensor and a narrowband reference frequency provided by a non-acoustic reference sensor as inputs, so as to effectively cope with the frequency offset of the non-acoustic reference sensor, and further to accurately synthesize a narrowband reference component and a broadband reference component, and to be respectively used as the inputs of the narrowband secondary sound source synthesis subsystem (2) and the broadband secondary sound source synthesis subsystem (3); the sum of the outputs of the narrow-band secondary sound source synthesis subsystem (2) and the wide-band secondary sound source synthesis subsystem (3) is a secondary sound source y (n), and the secondary sound source y (n) generates anti-noise y after passing through an actual secondary channelpAnd (n) counteracting with the target noise p (n) in an acoustic space to obtain residual noise, and acquiring the residual noise by using an error microphone to obtain e (n) for the active noise control system.
8. A broadband and narrowband hybrid active noise control system coping with frequency offset according to any of the claims 1 to 6, characterized in that the reference signal synthesis subsystem (1) employs the parallel-type preset band-pass filter module (11) and the parallel-type adaptive band-pass filter module (12), uses the narrowband reference frequency provided by the non-acoustic reference sensor as the frequency initial value of the coefficient related to the center frequency in the parallel-type preset band-pass filter module (11) and the parallel-type adaptive band-pass filter module (12), and uses an adaptive smooth gradient algorithm to quickly track the true narrowband frequency component in the reference signal, thereby realizing the compensation of the frequency offset generated by the non-acoustic reference sensor.
9. The broadband and narrowband hybrid active noise control system for coping with frequency offset according to any one of claims 1 to 6, characterized in that the reference signal synthesis subsystem (1) adopts an IIR trap-based parallel type preset band-pass filter module (11) and a parallel type adaptive band-pass filter module (12), can accurately synthesize narrowband reference components, and is used as a reference input of a narrowband controller (21), thereby improving the performance of the system for suppressing narrowband components in coping with target noise, and further improving the stability and convergence of the system.
10. A broadband and narrowband hybrid active noise control system coping with frequency offset according to any of the claims 1 to 6, characterized in that the reference signal synthesis subsystem (1) adopts an IIR trap-based parallel preset band-pass filter module (11) and a parallel adaptive band-pass filter module (12), can accurately synthesize broadband reference components, and is used as a reference input of a broadband controller (31), thereby improving the performance of the system for suppressing broadband components in target noise.
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