CN116959400A - Noise active control method, device, equipment and readable storage medium - Google Patents
Noise active control method, device, equipment and readable storage medium Download PDFInfo
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17813—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the acoustic paths, e.g. estimating, calibrating or testing of transfer functions or cross-terms
- G10K11/17815—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the acoustic paths, e.g. estimating, calibrating or testing of transfer functions or cross-terms between the reference signals and the error signals, i.e. primary path
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17813—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the acoustic paths, e.g. estimating, calibrating or testing of transfer functions or cross-terms
- G10K11/17817—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the acoustic paths, e.g. estimating, calibrating or testing of transfer functions or cross-terms between the output signals and the error signals, i.e. secondary path
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1787—General system configurations
- G10K11/17879—General system configurations using both a reference signal and an error signal
- G10K11/17881—General system configurations using both a reference signal and an error signal the reference signal being an acoustic signal, e.g. recorded with a microphone
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1787—General system configurations
- G10K11/17879—General system configurations using both a reference signal and an error signal
- G10K11/17883—General system configurations using both a reference signal and an error signal the reference signal being derived from a machine operating condition, e.g. engine RPM or vehicle speed
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/10—Applications
- G10K2210/128—Vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention provides a noise active control method, a device, equipment and a readable storage medium, wherein the noise active control method comprises the following steps: acquiring a vibration acceleration signal of an optimal reference acceleration position; the response of the vibration acceleration signal transmitted to the error microphone through the primary path is obtained through calculation; the road noise active controller uses the weight coefficient to regulate the magnitude of the vibration acceleration signal and outputs a control signal with opposite phase to the vibration acceleration; the weight coefficient is updated based on a difference between a response of the vibration acceleration signal transmitted to the error microphone via the primary path and a response of the control signal transmitted to the error microphone via the secondary path. According to the invention, the vibration acceleration signal is obtained from the optimal reference acceleration position of the vehicle chassis, the weight coefficient is updated according to the error existing after noise elimination, and the output signal of the road noise active controller is adjusted through the weight coefficient, so that the control precision of the road noise active controller can be improved.
Description
Technical Field
The present invention relates to the field of noise reduction technologies for automobiles, and in particular, to a method, an apparatus, a device, and a readable storage medium for actively controlling noise.
Background
Noise in the vehicle cabin is mainly composed of engine noise, road surface excitation noise, and wind excitation noise. With the continuous development of the automobile industry, the comfort of vibration noise of an automobile is more and more paid attention to by consumers, and in recent years, a noise active control method has become a hot spot for noise control research in an automobile, and the noise active control method mainly aims at eliminating or weakening structure propagation road noise by adding a plurality of secondary sound sources through a loudspeaker and emitting sound waves with the same amplitude and opposite phase to primary noise in a sound silencing mode, so as to reduce the noise level of the primary noise. However, the control accuracy of the current active noise control method is not high enough, and the effect of eliminating the noise in the vehicle is not ideal.
Disclosure of Invention
The invention mainly aims to provide a noise active control method, a device, equipment and a readable storage medium, and aims to solve the technical problems that the control precision of the existing noise active control method is not high enough and the effect of eliminating noise in a vehicle is not ideal enough.
In a first aspect, the present invention provides a noise active control method, including:
acquiring a vibration acceleration signal of an optimal reference acceleration position;
according to the transfer function of the vibration acceleration signal and the primary path, obtaining the response of the vibration acceleration signal transferred to the error microphone through the primary path through calculation;
the road noise active controller uses the weight coefficient to regulate the magnitude of the vibration acceleration signal and outputs a control signal with opposite phase to the vibration acceleration;
the response of the control signal transmitted to the error microphone through the secondary channel is obtained through calculation;
updating the weight coefficient according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, and returning to the step of acquiring the vibration acceleration signal of the optimal reference acceleration position.
Optionally, before the obtaining the vibration acceleration signal of the optimal reference acceleration position, the method includes:
collecting vibration acceleration of different positions of a chassis of a vehicle and corresponding actual noise in the vehicle;
according to the transfer function from the vibration acceleration of the wheel center to the error microphone and the vibration acceleration of each position, calculating to obtain the estimated noise in the vehicle at each position;
calculating the difference between the actual noise in the vehicle and the estimated noise in the vehicle at each position to obtain an initial error;
PID adjustment is carried out on the initial error, and updated estimated noise in the vehicle is obtained;
calculating the difference between the actual noise in the vehicle and the updated estimated noise in the vehicle to obtain the final error of each position;
and determining the position with the minimum final error as the optimal reference acceleration position.
Optionally, before calculating the estimated noise in the vehicle at each position according to the transfer function from the vibration acceleration of the wheel center to the error microphone and the vibration acceleration at each position, the method includes:
under the stationary working condition of the vehicle, a force hammer excitation test is carried out at the center of the wheel, and vibration acceleration signals and response at an error microphone are collected;
a transfer function from the vibration acceleration of the wheel center to the error microphone is determined based on the vibration acceleration signal and the response of the error microphone.
Optionally, the road noise active controller uses a weight coefficient to adjust the magnitude of the vibration acceleration signal, and outputting a control signal opposite to the vibration acceleration phase includes:
the road noise active controller uses a weight coefficient to regulate the magnitude of a vibration acceleration signal through a formula I, and outputs a control signal with opposite vibration acceleration phase, wherein the formula I is as follows:
wherein un (k) is an output control signal with opposite phase to the vibration acceleration, k is a natural number, and represents the sequence of the signals, W l (k) As the weight coefficient, W l (k)＝[W 1 (k),...W l (k),...,W L (k)]L is the order of the road noise active controller, and xn (k-l+1) is the kth-l+1 signal of the vibration acceleration xn.
Optionally, updating the weight coefficient according to a difference between a response of the vibration acceleration signal transmitted to the error microphone through the primary path and a response of the control signal transmitted to the error microphone through the secondary channel includes:
updating the weight coefficient according to a formula II according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, wherein the formula II is as follows:
w(k+1)＝w(k)-μen(k)rn(k)；
wherein w (k+1) is the weight coefficient after updating, w (k) is the weight coefficient before updating, μ is the step size factor, en (k) is the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, rn (k) is the filter signal, rn (k) =xn (k) =sz (k), xn (k) is the vibration acceleration, sz (k) is the impulse response of the secondary channel transfer function.
Optionally, updating the weight coefficient according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel further includes:
updating the weight coefficient according to a difference between a response of the vibration acceleration signal transmitted to the error microphone through the primary path and a response of the control signal transmitted to the error microphone through the secondary channel by a formula III, wherein the formula III is as follows:
w(k+1)＝w(k)-x(k)μen(k)rn(k)；
where x (k) is a scaling factor, w (k+1) is an updated weight coefficient, w (k) is a weight coefficient before updating, μ is a step size factor, en (k) is a difference between a response of a vibration acceleration signal transmitted to the error microphone through the primary path and a response of a control signal transmitted to the error microphone through the secondary path, rn (k) is a filter signal, rn (k) =xn (k) =sz (k), xn (k) is a vibration acceleration, and sz (k) is an impulse response of the secondary path transfer function.
Optionally, before updating the weight coefficient by the formula three according to a difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path, the method includes:
the target response of the error microphone is obtained through calculation of a formula IV, wherein the formula IV is as follows:
target＝txn(k)*Gn(k)；
taking the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel as an input value, and calculating the difference between the target response of the error microphone and the input value to obtain a target response error;
PID adjustment is carried out on the target response error, and an updated input value is obtained;
according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel and the updated input value, a scaling factor is obtained through calculation of a formula five, wherein the formula five is as follows:
x(k)＝min(abs(en(k))/abs(u(k)),10)；
where target is the target response of the error microphone, t is a constant greater than 0 and less than 1, xn (k) is the vibration acceleration, gn (k) is the transfer function from the vibration acceleration at the center of the wheel to the error microphone, x (k) is the scaling factor, en (k) is the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path, and u (k) is the updated input value.
In a second aspect, the present invention also provides a noise active control apparatus, including:
the acquisition module is used for acquiring a vibration acceleration signal of the optimal reference acceleration position;
the first calculation module is used for obtaining the response of the vibration acceleration signal transmitted to the error microphone through the primary path through calculation according to the transfer function of the vibration acceleration signal and the primary path;
the output module is used for adjusting the magnitude of the vibration acceleration signal by using the weight coefficient and outputting a control signal with the opposite phase to the vibration acceleration by the road noise active controller;
the second calculation module is used for obtaining the response of the control signal transmitted to the error microphone through the secondary channel through calculation;
and the updating module is used for updating the weight coefficient according to the difference value between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, and returning to the step of executing the vibration acceleration signal for acquiring the optimal reference acceleration position.
In a third aspect, the present invention also provides a noise active control apparatus, the noise active control apparatus comprising a processor, a memory, and a noise active control program stored on the memory and executable by the processor, wherein the noise active control program, when executed by the processor, implements the steps of the noise active control method as described above.
In a fourth aspect, the present invention further provides a readable storage medium, where a noise active control program is stored, where the noise active control program, when executed by a processor, implements the steps of the noise active control method as described above.
In the invention, a vibration acceleration signal of an optimal reference acceleration position is obtained; according to the transfer function of the vibration acceleration signal and the primary path, obtaining the response of the vibration acceleration signal transferred to the error microphone through the primary path through calculation; the road noise active controller uses the weight coefficient to regulate the magnitude of the vibration acceleration signal and outputs a control signal with opposite phase to the vibration acceleration; the response of the control signal transmitted to the error microphone through the secondary channel is obtained through calculation; updating the weight coefficient according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, and returning to the step of acquiring the vibration acceleration signal of the optimal reference acceleration position. According to the invention, the vibration acceleration signal is acquired from the optimal reference acceleration position of the vehicle chassis, the correlation degree between the vibration acceleration signal and the noise in the vehicle is higher, the elimination of the noise in the vehicle can be more accurate, then the weight coefficient is updated according to the error existing after the noise elimination, and the output signal of the road noise active controller is adjusted through the weight coefficient, so that the control precision of the road noise active controller can be improved, and the noise elimination effect is improved.
Drawings
FIG. 1 is a flow chart of an embodiment of a noise active control method according to the present invention;
FIG. 2 is a schematic diagram of a signal transmission path according to an embodiment of the noise active control method of the present invention;
FIG. 3 is a flow chart illustrating the determination of the optimal reference acceleration position according to an embodiment of the noise active control method of the present invention;
FIG. 4 is a schematic diagram of a functional module of an embodiment of a noise active control device according to the present invention;
fig. 5 is a schematic hardware structure of an embodiment of the noise active control apparatus of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In a first aspect, an embodiment of the present invention provides a method for actively controlling noise.
In an embodiment, referring to fig. 1, fig. 1 is a flowchart of an embodiment of a noise active control method according to the present invention, as shown in fig. 1, where the noise active control method includes:
step S10, obtaining a vibration acceleration signal of the optimal reference acceleration position.
In this embodiment, the optimal reference acceleration position is located at a certain position of the chassis of the vehicle, the vibration acceleration signal can be obtained from the optimal reference acceleration position through the sensor, the vibration acceleration signal obtained from the optimal reference acceleration position has higher correlation with noise in the vehicle, and the vibration acceleration signal is used for controlling the noise cancellation signal, so that a better noise cancellation effect can be achieved.
Step S20, according to the transfer function of the vibration acceleration signal and the primary path, the response of the vibration acceleration signal transferred to the error microphone through the primary path is obtained through calculation.
In this embodiment, the error microphone is a component of the active noise reduction system, and may be installed near the ear of the seat in the vehicle, and is used to monitor the residual noise signal after the infrasound source signal and the source noise signal in the noise cancellation area are offset, and feed back the residual noise signal to the road noise active controller, and perform convolution operation on the vibration acceleration signal and the transfer function of the primary path, so as to obtain the response that the vibration acceleration signal is transferred to the error microphone through the primary path.
And step S30, the road noise active controller uses the weight coefficient to adjust the magnitude of the vibration acceleration signal and outputs a control signal with the opposite phase to the vibration acceleration.
In this embodiment, the road noise active controller outputs a signal with the same amplitude and opposite phase to the vibration acceleration signal under ideal conditions, so that the noise can be completely eliminated, but due to the complex sound field environment, the noise source sound field has larger fluctuation with time and variable frequency spectrum, and the like, the road noise active controller cannot completely eliminate the noise, so that the road noise active controller needs to use a weight coefficient to adjust the amplitude of the vibration acceleration signal and then output a control signal with opposite phase to the vibration acceleration signal.
Step S40, the response of the control signal transmitted to the error microphone through the secondary channel is obtained through calculation.
In this embodiment, the convolution operation is performed on the transfer function from the control signal and the active road noise controller to the error microphone, so as to obtain a response that the control signal is transferred to the error microphone through the secondary channel.
Step S50, updating the weight coefficient according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path, and returning to the step of executing the vibration acceleration signal for acquiring the optimal reference acceleration position.
In this embodiment, the smaller the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel is, the better the noise cancellation effect is represented, the difference between the two also represents the controlled error feedback to the road noise active controller, the weight coefficient is updated by using the difference between the two, and the weight coefficient is further used for adjusting the output signal of the road noise active controller, so that the control precision of the road noise active controller can be improved, and the noise cancellation effect is improved. Referring to fig. 2, fig. 2 is a schematic diagram of a signal transmission path of an embodiment of a noise active control method of the present invention, as shown in fig. 2, a response of an upper vibration acceleration signal x (k) transmitted to an error microphone is dn (k) through a transfer function P (k) of a primary path in fig. 2, a lower noise active controller in fig. 2 outputs a control signal un (k) through a transfer function Sy (k) of a secondary channel using a weight coefficient w (k), a response of the lower noise active controller transmitted to the error microphone is yn (k), and the weight coefficient w (k) is updated according to a difference en (k) between the response of the vibration acceleration signal x (k) transmitted to the error microphone through the primary path and the response of the control signal yn (k) transmitted to the error microphone through the secondary channel.
In this embodiment, the vibration acceleration signal is obtained from the position of the optimal reference acceleration on the chassis of the vehicle, and has higher correlation with noise in the vehicle, so that the vibration acceleration signal is used for controlling the noise cancellation signal, a better noise cancellation effect can be achieved, the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path represents the error existing after noise cancellation, then the weight coefficient is updated according to the error existing after noise cancellation, and the output signal of the road noise active controller is adjusted through the weight coefficient, so that the control precision of the road noise active controller can be improved, and the noise cancellation effect is improved.
Further, in an embodiment, referring to fig. 3, fig. 3 is a flow chart illustrating determination of an optimal reference acceleration position according to an embodiment of the noise active control method of the present invention, before step S10, the flow chart includes:
step S01, under a test working condition, collecting vibration acceleration of different positions of a vehicle chassis and corresponding actual noise in the vehicle;
step S02, calculating the estimated noise in the vehicle at each position according to the transfer function from the vibration acceleration of the wheel center to the error microphone and the vibration acceleration of each position;
step S03, calculating the difference between the actual noise in the vehicle and the estimated noise in the vehicle at each position to obtain an initial error;
step S04, PID adjustment is carried out on the initial error, and updated estimated noise in the vehicle is obtained;
step S05, calculating the difference between the actual noise in the vehicle and the updated estimated noise in the vehicle to obtain the final error of each position;
step S06, determining the position with the minimum final error as the optimal reference acceleration position.
In this embodiment, the test condition may be determined according to a specific driving scenario of the vehicle, for example, the test condition may be an asphalt pavement, a driving speed of 60 km/hour, etc., different positions of the chassis of the vehicle, such as a damper tower top, a damper body, a swing arm body, a wheel center, etc., vibration acceleration of different positions of the chassis of the vehicle and corresponding actual noise in the vehicle are collected through an acceleration sensor and a microphone, a position with a minimum final error is an optimal reference acceleration position, a vibration acceleration signal is obtained from the optimal reference acceleration position of the chassis of the vehicle, and the correlation degree with noise in the vehicle is higher.
Further, in an embodiment, before step S02, the method includes:
under the stationary working condition of the vehicle, a force hammer excitation test is carried out at the center of the wheel, and vibration acceleration signals and response at an error microphone are collected;
a transfer function from the vibration acceleration of the wheel center to the error microphone is determined based on the vibration acceleration signal and the response of the error microphone.
In this embodiment, after the responses of the vibration acceleration signal and the error microphone are collected, the responses of the vibration acceleration signal and the error microphone are subjected to spectral analysis, so that a transfer function from the vibration acceleration of the wheel center to the error microphone is obtained.
Further, in an embodiment, step S30 includes:
the road noise active controller uses a weight coefficient to regulate the magnitude of a vibration acceleration signal through a formula I, and outputs a control signal with opposite vibration acceleration phase, wherein the formula I is as follows:
wherein un (k) is an output control signal with opposite phase to the vibration acceleration, k is a natural number, and represents the sequence of the signals, W l (k) As the weight coefficient, W l (k)＝[W 1 (k),...W l (k),...,W L (k)]L is the order of the road noise active controller, and xn (k-l+1) is the kth-l+1 signal of the vibration acceleration xn.
In this embodiment, the road noise active controller uses a weight coefficient to adjust the magnitude of the vibration acceleration signal through a formula pair, so as to improve the control accuracy of the road noise active controller, and output a control signal opposite to the vibration acceleration phase, so as to realize noise elimination.
Further, in an embodiment, step S50 includes:
updating the weight coefficient according to a formula II according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, wherein the formula II is as follows:
w(k+1)＝w(k)-μen(k)rn(k)；
wherein w (k+1) is the weight coefficient after updating, w (k) is the weight coefficient before updating, μ is the step size factor, en (k) is the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, rn (k) is the filter signal, rn (k) =xn (k) =sz (k), xn (k) is the vibration acceleration, sz (k) is the impulse response of the secondary channel transfer function.
In this embodiment, the weight coefficient is updated according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path, that is, the error existing after noise cancellation is used for adjusting the output signal of the road noise active controller, so that the control precision of the road noise active controller is improved, and the noise cancellation effect is improved.
Further, in an embodiment, step S50 further includes:
updating the weight coefficient according to a difference between a response of the vibration acceleration signal transmitted to the error microphone through the primary path and a response of the control signal transmitted to the error microphone through the secondary channel by a formula III, wherein the formula III is as follows:
w(k+1)＝w(k)-x(k)μen(k)rn(k)；
where x (k) is a scaling factor, w (k+1) is an updated weight coefficient, w (k) is a weight coefficient before updating, μ is a step size factor, en (k) is a difference between a response of a vibration acceleration signal transmitted to the error microphone through the primary path and a response of a control signal transmitted to the error microphone through the secondary path, rn (k) is a filter signal, rn (k) =xn (k) =sz (k), xn (k) is a vibration acceleration, and sz (k) is an impulse response of the secondary path transfer function.
In this embodiment, in the updating process of the weight coefficient, a scaling factor is introduced, so that the control precision of the road noise active controller is further improved, and the noise elimination effect is improved.
Further, in an embodiment, before updating the weight coefficient by the formula three according to a difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path, the method includes:
the target response of the error microphone is obtained through calculation of a formula IV, wherein the formula IV is as follows:
target＝txn(k)*Gn(k)；
taking the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel as an input value, and calculating the difference between the target response of the error microphone and the input value to obtain a target response error;
PID adjustment is carried out on the target response error, and an updated input value is obtained;
according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel and the updated input value, a scaling factor is obtained through calculation of a formula five, wherein the formula five is as follows:
x(k)＝min(abs(en(k))/abs(u(k)),10)；
where target is the target response of the error microphone, t is a constant greater than 0 and less than 1, xn (k) is the vibration acceleration, gn (k) is the transfer function from the vibration acceleration at the center of the wheel to the error microphone, x (k) is the scaling factor, en (k) is the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path, and u (k) is the updated input value.
In this embodiment, in order to determine the scaling factor, the target response of the error microphone is introduced, the target response error is further calculated, PID adjustment is performed, and scaling is performed through the fifth formula to obtain the scaling factor.
In a second aspect, the embodiment of the invention further provides a noise active control device.
Referring to fig. 4, fig. 4 is a schematic functional block diagram of an active noise control device according to an embodiment of the invention.
In this embodiment, the noise active control device includes:
an acquisition module 10 for acquiring a vibration acceleration signal of an optimal reference acceleration position;
a first calculation module 20, configured to calculate a response of the vibration acceleration signal transmitted to the error microphone through the primary path according to the transfer function of the vibration acceleration signal and the primary path;
the output module 30 is used for adjusting the magnitude of the vibration acceleration signal by using the weight coefficient by the road noise active controller and outputting a control signal with the opposite phase to the vibration acceleration;
a second calculation module 40 for calculating a response of the control signal transmitted to the error microphone via the secondary channel;
the updating module 50 is configured to update the weight coefficient according to a difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path, and return to the step of acquiring the vibration acceleration signal of the optimal reference acceleration position.
Further, in an embodiment, the active noise control device further includes a first determining module, configured to:
collecting vibration acceleration of different positions of a chassis of a vehicle and corresponding actual noise in the vehicle;
according to the transfer function from the vibration acceleration of the wheel center to the error microphone and the vibration acceleration of each position, calculating to obtain the estimated noise in the vehicle at each position;
calculating the difference between the actual noise in the vehicle and the estimated noise in the vehicle at each position to obtain an initial error;
PID adjustment is carried out on the initial error, and updated estimated noise in the vehicle is obtained;
calculating the difference between the actual noise in the vehicle and the updated estimated noise in the vehicle to obtain the final error of each position;
and determining the position with the minimum final error as the optimal reference acceleration position.
Further, in an embodiment, the noise active control device further includes a second determining module, configured to:
under the stationary working condition of the vehicle, a force hammer excitation test is carried out at the center of the wheel, and vibration acceleration signals and response at an error microphone are collected;
a transfer function from the vibration acceleration of the wheel center to the error microphone is determined based on the vibration acceleration signal and the response of the error microphone.
Further, in an embodiment, the output module 30 is configured to:
the road noise active controller uses a weight coefficient to regulate the magnitude of a vibration acceleration signal through a formula I, and outputs a control signal with opposite vibration acceleration phase, wherein the formula I is as follows:
wherein un (k) is an output control signal with opposite phase to the vibration acceleration, k is a natural number, and represents the sequence of the signals, W l (k) As the weight coefficient, W l (k)＝[W 1 (k),...W l (k),...,W L (k)]L is the order of the road noise active controller, and xn (k-l+1) is the kth-l+1 signal of the vibration acceleration xn.
Further, in an embodiment, the updating module 50 is configured to:
updating the weight coefficient according to a formula II according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, wherein the formula II is as follows:
w(k+1)＝w(k)-μen(k)rn(k)；
wherein w (k+1) is the weight coefficient after updating, w (k) is the weight coefficient before updating, μ is the step size factor, en (k) is the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, rn (k) is the filter signal, rn (k) =xn (k) =sz (k), xn (k) is the vibration acceleration, sz (k) is the impulse response of the secondary channel transfer function.
Further, in an embodiment, the updating module 50 is further configured to:
updating the weight coefficient according to a difference between a response of the vibration acceleration signal transmitted to the error microphone through the primary path and a response of the control signal transmitted to the error microphone through the secondary channel by a formula III, wherein the formula III is as follows:
w(k+1)＝w(k)-x(k)μen(k)rn(k)；
where x (k) is a scaling factor, w (k+1) is an updated weight coefficient, w (k) is a weight coefficient before updating, μ is a step size factor, en (k) is a difference between a response of a vibration acceleration signal transmitted to the error microphone through the primary path and a response of a control signal transmitted to the error microphone through the secondary path, rn (k) is a filter signal, rn (k) =xn (k) =sz (k), xn (k) is a vibration acceleration, and sz (k) is an impulse response of the secondary path transfer function.
Further, in an embodiment, the active noise control device further includes a third determining module, configured to:
the target response of the error microphone is obtained through calculation of a formula IV, wherein the formula IV is as follows:
target＝txn(k)*Gn(k)；
taking the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel as an input value, and calculating the difference between the target response of the error microphone and the input value to obtain a target response error;
PID adjustment is carried out on the target response error, and an updated input value is obtained;
according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel and the updated input value, a scaling factor is obtained through calculation of a formula five, wherein the formula five is as follows:
x(k)＝min(abs(en(k))/abs(u(k)),10)；
where target is the target response of the error microphone, t is a constant greater than 0 and less than 1, xn (k) is the vibration acceleration, gn (k) is the transfer function from the vibration acceleration at the center of the wheel to the error microphone, x (k) is the scaling factor, en (k) is the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path, and u (k) is the updated input value.
The function implementation of each module in the noise active control device corresponds to each step in the noise active control method embodiment, and the function and implementation process of each module are not described here again.
In a third aspect, an embodiment of the present invention provides a noise active control apparatus.
Referring to fig. 5, fig. 5 is a schematic hardware structure of an embodiment of the noise active control apparatus of the present invention. In an embodiment of the present invention, the noise active control apparatus may include a processor 1001 (e.g., a central processing unit Central Processing Unit, a CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communications between these components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM) or a stable memory (non-volatile memory), such as a disk memory, and the memory 1005 may alternatively be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration shown in fig. 5 is not limiting of the invention and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
With continued reference to fig. 5, an operating system, a network communication module, a user interface module, and a noise active control program may be included in the memory 1005, which is one type of computer storage medium in fig. 5. The processor 1001 may call a noise active control program stored in the memory 1005, and execute the noise active control method provided by the embodiment of the present invention.
In a fourth aspect, embodiments of the present invention also provide a readable storage medium.
The readable storage medium of the present invention stores a noise active control program, wherein the noise active control program, when executed by a processor, implements the steps of the noise active control method described above.
The method implemented when the noise active control program is executed may refer to various embodiments of the noise active control method of the present invention, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A noise active control method, characterized in that the noise active control method comprises:
acquiring a vibration acceleration signal of an optimal reference acceleration position;
according to the transfer function of the vibration acceleration signal and the primary path, obtaining the response of the vibration acceleration signal transferred to the error microphone through the primary path through calculation;
the road noise active controller uses the weight coefficient to regulate the magnitude of the vibration acceleration signal and outputs a control signal with opposite phase to the vibration acceleration;
the response of the control signal transmitted to the error microphone through the secondary channel is obtained through calculation;
updating the weight coefficient according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, and returning to the step of acquiring the vibration acceleration signal of the optimal reference acceleration position.
2. The noise active control method according to claim 1, characterized by comprising, before the acquisition of the vibration acceleration signal of the optimal reference acceleration position:
collecting vibration acceleration of different positions of a chassis of a vehicle and corresponding actual noise in the vehicle;
according to the transfer function from the vibration acceleration of the wheel center to the error microphone and the vibration acceleration of each position, calculating to obtain the estimated noise in the vehicle at each position;
calculating the difference between the actual noise in the vehicle and the estimated noise in the vehicle at each position to obtain an initial error;
PID adjustment is carried out on the initial error, and updated estimated noise in the vehicle is obtained;
calculating the difference between the actual noise in the vehicle and the updated estimated noise in the vehicle to obtain the final error of each position;
and determining the position with the minimum final error as the optimal reference acceleration position.
3. The noise active control method according to claim 2, characterized by comprising, before said calculating the in-vehicle estimated noise for each position based on the transfer function from the vibration acceleration of the wheel center to the error microphone and the vibration acceleration for each position:
under the stationary working condition of the vehicle, a force hammer excitation test is carried out at the center of the wheel, and vibration acceleration signals and response at an error microphone are collected;
a transfer function from the vibration acceleration of the wheel center to the error microphone is determined based on the vibration acceleration signal and the response of the error microphone.
4. The noise active control method of claim 1, wherein the road noise active controller adjusts the magnitude of the vibration acceleration signal using a weight coefficient, and outputting a control signal having an opposite phase to the vibration acceleration signal comprises:
the road noise active controller uses a weight coefficient to regulate the magnitude of a vibration acceleration signal through a formula I, and outputs a control signal with opposite vibration acceleration phase, wherein the formula I is as follows:
wherein un (k) is an output control signal with opposite phase to the vibration acceleration, k is a natural number, and represents the sequence of the signals, W l (k) As the weight coefficient, W l (k)＝[W 1 (k),...W l (k),...,W L (k)]L is the order of the road noise active controller, and xn (k-l+1) is the kth-l+1 signal of the vibration acceleration xn.
5. The noise active control method of claim 1, wherein updating the weight coefficient based on a difference between a response of the vibration acceleration signal transmitted to the error microphone via the primary path and a response of the control signal transmitted to the error microphone via the secondary path comprises:
updating the weight coefficient according to a formula II according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, wherein the formula II is as follows:
w(k+1)＝w(k)-μen(k)rn(k)；
wherein w (k+1) is the weight coefficient after updating, w (k) is the weight coefficient before updating, μ is the step size factor, en (k) is the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, rn (k) is the filter signal, rn (k) =xn (k) =sz (k), xn (k) is the vibration acceleration, sz (k) is the impulse response of the secondary channel transfer function.
6. The method of active noise control of claim 1, wherein updating the weighting coefficients based on a difference between a response of the vibration acceleration signal transmitted to the error microphone via the primary path and a response of the control signal transmitted to the error microphone via the secondary path further comprises:
updating the weight coefficient according to a difference between a response of the vibration acceleration signal transmitted to the error microphone through the primary path and a response of the control signal transmitted to the error microphone through the secondary channel by a formula III, wherein the formula III is as follows:
w(k+1)＝w(k)-x(k)μen(k)rn(k)；
where x (k) is a scaling factor, w (k+1) is an updated weight coefficient, w (k) is a weight coefficient before updating, μ is a step size factor, en (k) is a difference between a response of a vibration acceleration signal transmitted to the error microphone through the primary path and a response of a control signal transmitted to the error microphone through the secondary path, rn (k) is a filter signal, rn (k) =xn (k) =sz (k), xn (k) is a vibration acceleration, and sz (k) is an impulse response of the secondary path transfer function.
7. The noise active control method of claim 6, comprising, before updating the weight coefficient by the formula three, before the difference between the response transferred to the error microphone through the primary path according to the vibration acceleration signal and the response transferred to the error microphone through the secondary path according to the control signal:
the target response of the error microphone is obtained through calculation of a formula IV, wherein the formula IV is as follows:
target＝txn(k)*Gn(k)；
taking the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel as an input value, and calculating the difference between the target response of the error microphone and the input value to obtain a target response error;
PID adjustment is carried out on the target response error, and an updated input value is obtained;
according to the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel and the updated input value, a scaling factor is obtained through calculation of a formula five, wherein the formula five is as follows:
x(k)＝min(abs(en(k))/abs(u(k)),10)；
where target is the target response of the error microphone, t is a constant greater than 0 and less than 1, xn (k) is the vibration acceleration, gn (k) is the transfer function from the vibration acceleration at the center of the wheel to the error microphone, x (k) is the scaling factor, en (k) is the difference between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary path, and u (k) is the updated input value.
8. A noise active control apparatus, characterized by comprising:
the acquisition module is used for acquiring a vibration acceleration signal of the optimal reference acceleration position;
the first calculation module is used for obtaining the response of the vibration acceleration signal transmitted to the error microphone through the primary path through calculation according to the transfer function of the vibration acceleration signal and the primary path;
the output module is used for adjusting the magnitude of the vibration acceleration signal by using the weight coefficient and outputting a control signal with the opposite phase to the vibration acceleration by the road noise active controller;
the second calculation module is used for obtaining the response of the control signal transmitted to the error microphone through the secondary channel through calculation;
and the updating module is used for updating the weight coefficient according to the difference value between the response of the vibration acceleration signal transmitted to the error microphone through the primary path and the response of the control signal transmitted to the error microphone through the secondary channel, and returning to the step of executing the vibration acceleration signal for acquiring the optimal reference acceleration position.
9. A noise active control device, characterized in that it comprises a processor, a memory, and a noise active control program stored on the memory and executable by the processor, wherein the noise active control program, when executed by the processor, implements the steps of the noise active control method according to any one of claims 1 to 7.
10. A readable storage medium, wherein a noise active control program is stored on the readable storage medium, wherein the noise active control program, when executed by a processor, implements the steps of the noise active control method according to any one of claims 1 to 7.
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| CN117608208B (en) * | 2024-01-23 | 2024-04-16 | 中汽研（天津）汽车工程研究院有限公司 | Road noise active control hardware-in-loop simulation verification method, system and medium |
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