DE102020109131A1 - Device and method for compensating vibrations - Google Patents

Abstract

Disclosed is a device comprising: at least one bearing for mounting the hybrid drive in an environment; at least one sensor for detecting information about vibrations of a second partial drive of the hybrid drive; at least one actuator for applying compensation forces to the hybrid drive and / or on at least one of the bearings and / or on the environment; - a control for determining compensation forces on the basis of the recorded information and for controlling the actuator or actuators.

Description

Technical field

The present disclosure relates to devices and methods for compensating for vibrations generated by a hybrid drive.

background

Hybrid vehicles can, for example, include both an internal combustion engine and an electric drive. It is expected that the number of vehicles with hybrid drives will increase significantly in the future. For a hybrid drive with an electric and an electromotive partial drive, it is also estimated that the power share of the electric partial drive will increase compared to the internal combustion engine partial drive. The electric partial drive and the internal combustion engine partial drive are often arranged as a drive unit in the front or rear of the vehicle and integrated into the vehicle via a common unit mounting. The problem arises as to how such a hybrid drive is best stored. A company-internal finding is that an arrangement based solely on the electrical partial drive or solely on the internal combustion engine partial drive does not meet the requirements for a bearing for hybrid drives. Improvements in these areas are desirable.

description

One object is to improve a bearing for a hybrid drive.

This object is achieved by the invention, which is defined by the subjects of the independent claims. The dependent claims relate to corresponding developments. Various aspects and embodiments of these aspects are disclosed below that provide additional features and advantages.

Some embodiments solve the special task of mounting a hybrid drive consisting of an electrical partial drive and an internal combustion engine partial drive in an automobile vehicle. The electrical partial drive is dimensioned larger than the internal combustion engine drive, which is only designed as an auxiliary drive. The electric partial drive impresses disruptive frequencies in the body in both low and high frequency ranges. In contrast, the internal combustion engine excitation, in particular from the ignition order or from the main engine order, acts predominantly in a lower frequency range, in particular between 50 Hz and 350 Hz. However, these limits can vary, for example, depending on the number of cylinders of an internal combustion engine partial drive. A lower limit can also be 25 Hz. Accordingly, a mounting for the hybrid drive is proposed, which is based on a four-point mounting. The bearings each include a plastic-rubber element. This is intended in particular to isolate the vibrations caused by the electrical partial drive from the body. In contrast, active dampers are used to isolate the vibrations in the lower frequency range, in particular the vibrations of the internal combustion engine drive. There is one absorber in each case on a warehouse. The corresponding vibrations are measured by sensors with an acceleration sensor each, which is arranged directly on the bearing or on the drive side in the vicinity of a bearing. The absorbers are regulated by a control system in such a way that they compensate for the vibrations of the drive as much as possible and thereby isolate them from the body. Engine noises occurring in the interior can thereby advantageously be reduced.

• - wenigstens ein Lager zum Lagern des hybriden Antriebs in einer Umgebung;
• - wenigstens einen Sensor zum Erfassen von Informationen über Schwingungen eines zweiten Teilantriebs des hybriden Antriebs;
• - wenigstens einen Aktor zum Aufbringen von Kompensationskräften auf den hybriden Antrieb und/oder auf wenigstens eines der Lager und/oder auf die Umgebung;
• - eine Steuerung zum Bestimmen von Kompensationskräften auf Basis der erfassten Information und zur Ansteuerung des bzw. der Aktoren.

A first aspect relates to an apparatus comprising:

• - At least one bearing for storing the hybrid drive in an environment;
• - At least one sensor for detecting information about vibrations of a second partial drive of the hybrid drive;
• - At least one actuator for applying compensation forces to the hybrid drive and / or to at least one of the bearings and / or to the environment;
• - A control for determining compensation forces on the basis of the recorded information and for controlling the actuator or actuators.

The device can in particular be set up to isolate vibrations which are caused by a hybrid drive from an environment of the hybrid drive. Vibrations are mechanical vibrations which are characterized by a more or less periodic force, a corresponding pressure and / or a corresponding movement. An environment can be, for example, an interior of a vehicle, for example an interior of an automobile. In general, an environment can be any spatial area that should be isolated as far as possible from vibrations of the hybrid drive. In particular, such insulation can relate to acoustic insulation. Additionally or alternatively, isolation from larger and lower-frequency movements can be included, e.g. vibration isolation.

A hybrid drive can in particular comprise an electric drive and an internal combustion engine drive. In addition, a hybrid drive can also include further partial drives. Alternatively, a hybrid drive can also include a drive with a hydrogen drive. In general, a hybrid drive can also comprise several drives of the same type of drive, for example different electric drives and / or different internal combustion engine drives and / or different hydrogen drives. A hybrid drive can in particular comprise partial drives which are arranged next to one another and / or which comprise a common housing. A first partial drive of the hybrid drive can therefore in particular be an electric drive or a hydrogen drive. A second partial drive of the hybrid drive can in particular be an internal combustion engine drive.

An actuator is an active element for applying forces, at least indirectly, to the hybrid drive. An actuator can in particular comprise an electric drive. In particular, an actuator can also include a mass. Additionally or alternatively, an actuator can also include rigidity or flexibility, for example a spring element. For example, an actuator can be an electrically operated actuator that includes a defined spring-mass system. In particular, an actuator can be a damper used in particular in automobile construction. The actuator or actuators can in particular be arranged in such a way that the vibrations caused by the second partial drive can be compensated for at a predetermined position. Further explanations and features will follow later.

A controller can in particular be a programmable computer or a microcontroller. Additionally or alternatively, a controller can also include an electronics unit that has fixed, predetermined functionality, for example an FPGA or an analog electronic circuit. A controller can be a central controller, for example a central controller of a vehicle. A vehicle can in particular be an automobile or a motorcycle. Additionally or alternatively, a vehicle can also be a ship or an airplane.

One embodiment of the first aspect relates to a device, at least one of the bearings being set up to accommodate different hybrid drives.

In particular, a warehouse can be a standardized warehouse. In particular, an arrangement of different bearings which are set up to accommodate the hybrid drive can be a standardized arrangement. For example, such a standardized arrangement can comprise a standardized geometry, in particular such that the bearings can accommodate different drives and / or drive types. Such communal storage advantageously results in the possibility of a modular construction of a device, in particular a vehicle, which includes the hybrid drive. In particular, the mounting can be provided to accommodate various actuators, which in particular are dependent on the selected hybrid drive. For heavier hybrid drives, more powerful actuators for vibration compensation can be installed than for lighter hybrid drives. If the hybrid drive is to be or is integrated into a vehicle, then different drive types can affect all typical classes of vehicles with hybrid drive, in particular Hybrid Electric Vehicles (HEV), Plug-in Hybrid Electric Vehicles (PHEV), Battery Electric Vehicles (BEV), e.g. with several electric drives or with range extenders, or corresponding Fuel Cell Electric Vehicles (FCEV).

One embodiment of the first aspect relates to a device, at least one bearing comprising a passive bearing element for compensating for vibrations.

A passive bearing element can in particular be a bearing element made of plastic. For example, such a passive bearing element can comprise a rubber element or can be formed entirely from a rubber. A rubber can also be made from a natural raw material. Such elements are also comprised by a passive bearing element. A passive bearing element can in particular have a predetermined impedance, in particular a predetermined mass, a predetermined rigidity and / or a predetermined damping. In particular, the mechanical properties of the passive bearing element are specified in such a way that a compensation of high-frequency vibrations, in particular vibrations of an electrical partial drive, can be compensated. The passive bearing element can in particular be arranged in such a way that a direction-dependent compensation of vibrations takes place. In particular, a direction for maximum compensation can be different from an effective direction of one or more actuators, so that the passive element and the actuator or actuators develop their maximum compensation effect in different directions. In this way, different directions of excitation of different partial drives of the hybrid drive can advantageously be individually compensated.

An embodiment of the first aspect relates to a device, wherein one or more, in particular all natural frequencies of the drive, in particular of the second partial drive, are greater than an excitation frequency of the second partial drive, in particular greater than 350 Hz. In this case in particular, the drive can be comprised by the device.

An excitation frequency can be a speed and / or be based on a main engine order, in particular on a main engine order of the internal combustion engine partial drive of the hybrid drive. An excitation frequency can result from the ignition order, for example, at the maximum speed of the internal combustion engine partial drive. Additionally or alternatively, an excitation frequency can also include higher motor orders of a hybrid drive. In particular, the excitation frequencies can be in an operating range between 1500 rpm and 10,000 rpm. Such an operating range can also be set between 1500 rpm and 7000 rpm. Alternatively, in particular for motorcycles, an operating range can also apply for a higher speed, for example for a speed of up to 11,000 rpm. In particular, the vibrations generated by the second partial drive of the hybrid drive are between 50 Hz and 350 Hz. However, the limits can also be higher and / or lower, in particular a lower limit can be around 25 Hz. Additionally or alternatively, the hybrid drive can be mounted in such a way that its six rigid body modes are below a frequency of 40 Hz, in particular 30 Hz, in particular 20 Hz. As a result, vibrations due to the operation of the hybrid drive, in particular the first and / or the second partial drive, are advantageously not amplified in the operating range.

• - an einem Lager;
• - an oder in dem hybriden Antrieb, insbesondere an und/oder im zweiten Teilantrieb, z.B. an einer Kurbelwelle des zweiten Teilantriebs;
• - an oder in der Umgebung, insbesondere einer Karosserie, Chassis, Antriebsstrang und/oder einem Innenraum eines Fahrzeugs.

One embodiment of the first aspect relates to a device, at least one of the sensors being arranged in one of the following positions:

• - at a warehouse;
• on or in the hybrid drive, in particular on and / or in the second partial drive, for example on a crankshaft of the second partial drive;
• - on or in the vicinity, in particular a body, chassis, drive train and / or an interior of a vehicle.

In particular, a sensor can be arranged in the vicinity of a bearing, in particular directly on a bearing. In this way, vibrations that are applied to the bearing by the hybrid drive can advantageously be recorded directly. The recorded vibrations can then be compensated accordingly by the actuator. In this way, a vibration on the bearing or in the vicinity of the bearing can be compensated effectively, in particular optimally, e.g. with minimal energy or minimal amplitude. Additionally or alternatively, one or more sensors can also be arranged in the vicinity of the hybrid drive. Accordingly, one or more actuators can be controlled in such a way that the vibrations in the vicinity of the hybrid drive are effectively extinguished. Any phase shifts or oscillation changes that result when the oscillations spread from the hybrid drive to the position of the sensor can be ignored in the control by arranging the sensor at the point at which the oscillations are to be compensated. Otherwise, these vibrations can be transformed by a corresponding model in such a way that the control technology in the control system can compensate for the vibrations at the desired location.

If an environment represents, for example, an interior of a vehicle, a corresponding sensor in the interior can advantageously effectively compensate for acoustic background noises caused by the vibrations in the interior of the vehicle. In addition or as an alternative to a sensor arrangement in the vicinity of the hybrid drive, one or more sensors can also be arranged on or in the hybrid drive. For example, a sensor can be arranged on a crankshaft of an internal combustion engine partial drive. This can in particular be an angle sensor. This enables precise detection or observation of the excitation frequencies.

• - positionsbasierte Informationen; und/oder
• - kraftbasierte Informationen.

One embodiment of the first aspect relates to a device, at least one of the sensors being set up to record the following information:

• - position-based information; and or
• - force-based information.

Position-based information can in particular be the position itself. Additionally or alternatively, position-based information can include one or more integrations of a position signal. Additionally or alternatively, position-based information can include one or more derivatives of a position signal. For example, position-based information can thus represent a speed and / or an acceleration and / or a jolt. These parameters can also be recorded directly by appropriate sensors and do not have to be generated by integrating or deriving a recorded position signal. For example, an acceleration can be detected by a gyroscope. Position-based information can also be an angle, an angular velocity and / or an angular acceleration.

Force-based information can relate to a force itself as well as parameters defined by time integration or derivation of the force. Sensors for determining a force can in particular be position-based sensors. Additionally or alternatively, sensors that detect a force can also be sensors based on electrical and / or magnetic measurement principles, for example a current sensor.

• - Lineartilger;
• - Mehrachstilger;
• - Torsionstilger.

One embodiment of the first aspect relates to a device, at least one of the actuators being a damper of the following type:

• - linear absorber;
• - Mehrachstilger;
• - torsion damper.

A damper can in particular be an electrically driven spring-mass system. In particular, the damper can be operated supercritically, i. H. a resonance frequency of a damper consisting of a spring-mass system is, in particular just under (e.g. less than 5%, less than 10% or less than 25%), below the operating range of the second partial drive. In particular, the resonance frequency of a damper can be less than 50 Hz, in particular less than 25 Hz. In particular, the resonance frequency of a damper can be less than an operating range of the second partial drive of the hybrid drive.

One embodiment of the first aspect relates to a device, at least one of the actuators being arranged essentially perpendicular to an excitation direction of the second partial drive. The direction of excitation can in particular be a main direction of excitation.

In particular, if more than one actuator is used to compensate for the vibrations of the hybrid drive, several, in particular all, actuators used can be arranged in such a way that they act perpendicular to the direction of excitation. Depending on the arrangement of the actuators, they can be arranged obliquely relative to the bearing or to the drive in order to be able to act essentially perpendicular to the direction of excitation of the drive, in particular to an excitation direction of the second partial drive. An optimal compensation effect can advantageously be achieved in this way. In particular, several actuators can also be arranged at right angles to their connecting line, in particular when this connecting line runs through the center of gravity of the hybrid drive and / or through the center point of the drive shaft.

One embodiment of the first aspect relates to a device comprising three or four bearings and / or three or four actuators.

A bearing with three bearings is also called a three-point bearing. A bearing with four bearings is also called a four-point bearing. Additionally or alternatively, the hybrid drive can be supported by a torque roll axle bearing and / or a pendulum support bearing.

One embodiment of the first aspect relates to a device, at least one actuator, in particular all actuators, being arranged on a respective bearing.

By arranging one or more actuators directly on one or more bearings of the hybrid drive, compensation can advantageously take place where the vibrations are introduced into the environment, for example a vehicle body. As a result, good isolation of the hybrid drive from its surroundings can advantageously be achieved. This can take place effectively in particular if the vibrations at the bearing are also measured or observed, as already explained above.

Additionally or alternatively, one or more actuators to compensate for vibrations of the second partial drive of the hybrid drive can also be arranged outside the bearings. For example, one or more torsion absorbers can be arranged along the axis of rotation of the hybrid drive, around which the hybrid drive rotates due to the vibrations of the second partial drive. A compensation effect can also advantageously be developed in this way. As a result, assembly of the hybrid drive and assembly of actuators to compensate for vibrations can also advantageously take place independently of one another, and assembly can thus be simplified. This is also particularly advantageous if municipal storage is intended, but the actuator or actuators are to be selected depending on the type of second partial drive.

One embodiment of the first aspect relates to a device, at least one actuator, in particular all of them, having a stroke of at least 1 mm and / or less than 5 mm.

In particular, a stroke of an actuator can be greater than 1.5 mm, than 2 mm, than 2.5 mm, than 3 mm, or than 4.5 mm. In particular, a stroke of one or more actuators can be smaller than 4.5 mm, than 4 mm, than 3.5 mm, than 3 mm, than 2.5 mm, than 2 mm, or than 1.5 mm.

One embodiment of the first aspect relates to a device, at least one actuator, in particular all of them, being arranged in the vicinity of the drive.

By arranging one or more actuators on the environment side, it is advantageously possible to achieve good compensation for vibrations which are generated by the hybrid drive before they penetrate to the environment. If the environment is a body of a vehicle, one or more actuators can be arranged on the body side.

One embodiment of the first aspect relates to a device, the resonance frequency of at least one actuator being less than 50 Hz, in particular less than 25 Hz.

In particular, an actuator, in particular a damper, can be operated supercritically, d. H. the operating range of the hybrid drive to be damped can accordingly be above a resonance frequency of the actuator or damper. The resonance frequency of the actuator or the damper is advantageously selected so that it is just below the operating range of the hybrid drive, in particular of the second partial drive of the hybrid drive. Otherwise, a force that can be applied by the actuators or absorber could be too small.

• - Erfassen von Informationen über Schwingungen eines zweiten Teilantriebs des hybriden Antriebs;
• - Bestimmen von Kompensationskräften auf Basis der erfassten Information;
• - Aufbringen von Kompensationskräften durch Ansteuern eines oder mehrerer Aktoren.

A second aspect relates to a method comprising the steps:

• - Acquisition of information about vibrations of a second partial drive of the hybrid drive;
• - Determination of compensation forces on the basis of the recorded information;
• - Applying compensation forces by controlling one or more actuators.

In particular, such a method can be a method for operating a device according to the first aspect. In particular, the method can comprise further steps in order to generate or create functions and / or structures which are carried out under the first aspect.

• - Kompensieren von Schwingungen eines ersten Teilantriebs durch ein passives Lagerelement, insbesondere ein Kunststoffelement.

One embodiment of the second aspect relates to a method comprising the step:

• - Compensation of vibrations of a first partial drive by a passive bearing element, in particular a plastic element.

The passive bearing element can in particular be a bearing element, as was described above under the first aspect. The passive bearing element can in particular serve to compensate frequencies that are above the frequencies that can be compensated with the actuators.

Figure list

• 1a eine perspektivische Ansicht eines gelagerten Hybridantriebs;
• 1b eine Seitenansicht des gelagerten Hybridantriebs aus 1a;
• 1c eine Seitenansicht einer Lagerung des gelagerten Hybridantriebs aus 1a;
• 2 ein Blockdiagramm zur Kompensation von Schwingungen in einem Hybridantrieb.

Further advantages and features emerge from the following embodiments, which refer to the figures. The figures do not show the embodiments true to scale. The dimensions of the various features may be enlarged or reduced accordingly, particularly for the sake of clarity of the description. This shows, partly schematically:

• 1a a perspective view of a mounted hybrid drive;
• 1b a side view of the stored hybrid drive 1a ;
• 1c a side view of a storage of the stored hybrid drive from 1a ;
• 2 a block diagram for the compensation of vibrations in a hybrid drive.

In the following descriptions, identical reference symbols relate to identical or at least functionally or structurally similar features.

In the following description, reference is made to the accompanying drawings, which form a part of the disclosure, and in which there are shown, for purposes of illustration, specific aspects in which the present disclosure may be understood.

In general, a disclosure about a described method also applies to a corresponding device in order to carry out or produce the method, or to a corresponding system which comprises one or more devices, and vice versa. If, for example, a special method step is described, a corresponding device can comprise a feature in order to carry out the method step described, even if this feature is not explicitly described or illustrated. If, on the other hand, a special device is described on the basis of functional units and / or structural features, for example, a corresponding method can comprise a step that executes the described functionality or with which a corresponding structure can be produced, even if such steps are not explicitly described or illustrated are. Likewise, a system can be provided with corresponding device features or with features in order to carry out a specific method step. Features of the various aspects and embodiments described above or below can be combined with one another, unless expressly stated otherwise.

Description of the figures

1a shows a perspective view of a mounted hybrid drive 100 how it is installed in a vehicle. The hybrid drive comprises an electric drive as the first partial drive and an internal combustion engine drive as the second partial drive. Both partial drives are in one housing 101 arranged and act on the drive shaft 102 . The hybrid drive is mounted on a four-point mounting. The four-point storage comprises four storage units 103a - 103d . The storage units 103a - 103d are symmetrical about the center of the housing 101 of the hybrid drive arranged. Two storage units 103a and 103b are on the top of the drive housing 101 arranged. Two more storage units 103c and 103d are on the lower side of the drive housing 101 arranged. Each storage unit 103 comprises a support bracket 105 , which is arranged on the output side, ie it forms the connection between the bearing element 103 and the housing 101 of the hybrid drive 100 . Furthermore, a bearing element comprises a bearing block 104 , which connects the bearing 103 with its surroundings, in this case the vehicle body. Between the trestle 105 and the bearing block 104 a bearing element comprises a bearing bush 106 . The bearing bush comprises a passive bearing element made of a flexible plastic, for example a rubber. The passive bearing element is set up to deal with, in particular, higher-frequency vibrations that are generated by the electrical partial drive of the hybrid drive 100 are generated to compensate. Compensation is understood to mean, in particular, isolation of the vibrations from the body. Furthermore, each bearing element 103 comprises an active damper 107 . The damper is set up to compensate for frequencies between 50 Hz and 350 Hz, these frequencies in particular from the second partial drive of the hybrid drive 100 , that is, caused by the internal combustion engine partial drive. The lower limit can also be 25 Hz. The absorbers have a stroke of approx. 3 mm.

1b shows a side view of the mounted hybrid drive from 1a . It becomes clear that the damper 107 are arranged obliquely on the bearing units 103 and thus a line of force acting obliquely to these 110 exhibit. The inclination of the damper 107 serves to effectively compensate for vibrations of the internal combustion engine partial drive of the hybrid drive 100 . Due to the inclination, the absorbers are 107 aligned perpendicular to the direction of excitation of the internal combustion engine partial drive. The vertical alignment of the effective direction 108 derTilger can, for example, by arranging two absorbers at right angles to their connecting line 109 take place, with their connecting line in particular through the center of gravity of the hybrid drive 100 runs. This ensures that the energy applied by the absorbers is optimal to compensate for the vibrations caused by the second partial drive 110 is used.

1c shows a side view of a bearing element 103, as it is for mounting the hybrid drive 100 in the 1a , 1b is used. The bearing element has a support bracket 105 on which the connection of the bearing element 103 to the drive 100 manufactures as well as a bearing block 104 , which is set up to establish the connection of the bearing element 103 to the body. The moreover one is about the bearing block 104 an active damper 107 connected to the bearing element 103. When operating the hybrid drive 100 The second partial drive, i.e. the internal combustion engine drive, causes vibrations depending on the speed 110 introduced into the bearing 103 in a range from 25 Hz to 350 Hz. These vibrations are recorded by sensors (not shown). These sensors can observe a speed, for example by arranging an angle sensor on the crankshaft of the internal combustion engine drive. Furthermore, sensors can be arranged on the individual bearing elements, in particular on the bearing blocks 104 . This has the advantage that the vibrations 110 are measured where they can also be compensated in order to isolate the vibrations 110 to effect from the body. A control is used as a function of the recorded vibrations 110 the active damper 107 controlled so that this in particular a correspondingly antiphase oscillation 111 on the bearing block and / or on the hybrid drive 100 exercises. By the control variable 111 the vibrations on the bearing block are extinguished accordingly, so that there is at least one reduced vibration 112 on the bearing block results. In order to be able to transmit as much force as possible, the damper, which consists of a spring-mass system, is designed so that its natural frequency is just below the operating range of the second partial drive of the hybrid drive. This means that the natural frequency of the absorber is just below the frequencies that the absorber is supposed to compensate. This causes the vibration generated by the internal combustion engine partial drive 111 not or only to a small extent transferred into the body and thus the body from the vibration 111 isolated.

2 shows a block diagram 200 on the process and structure of a vibration compensation for the hybrid drive 100 according to 1a and 1b . Thereby information about the vibrations 110 , which are generated by the internal combustion engine drive, by a speed sensor 201 and several other vibration sensors 202-204 , which are arranged in particular on the bearing units on the output side, added and a controller 206 fed. The control 206 calculates a control variable from this 111 that after addition with the vibrations 111 essentially to an extinction of the vibrations 110 leads. The control variable 111 is afterwards through an amplifier 205 to the individual damper 107 passed on and impressed by this on the hybrid drive or on the bearing element 103. The control parameters for the individual damper 107 can differ from each other in order to achieve a better compensation effect.

List of reference symbols

100

hybrid drive

101

Hybrid drive housing

102

drive shaft

103a

Storage unit

103b

Storage unit

103c

Storage unit

103d

Storage unit

104

Bearing block

105

Trestle

106

Bearing bush

107

active damper

108

Direction of action of the active damper

109

Connection line between two storage units 103

110

Vibration caused by the second partial drive

111

Vibration by the active damper

112

compensated oscillation as a superposition of the oscillations 110 and 111

200

Structure of a device for compensating a vibration of a hybrid drive

201

Speed sensor

202-204

further sensors

205

amplifier

206

steering

Claims (15)

A device for compensating vibrations of a hybrid drive (100), comprising: - At least one bearing (103) for storing the hybrid drive in an environment; - At least one sensor for detecting information about vibrations (110) which are generated by a second partial drive of the hybrid drive (100); - At least one actuator (107) for applying compensation forces to the hybrid drive (100) and / or to at least one of the bearings (103) and / or to the environment; - A controller (206) for determining compensation forces (111) on the basis of the recorded information and for controlling the actuator or actuators (107). The device according to the preceding claim, wherein at least one of the bearings (103) is set up to accommodate different hybrid drives. The device according to one of the preceding claims, wherein at least one bearing (103) comprises a passive bearing element (106) for compensating for vibrations (110). The device according to one of the preceding claims, wherein one or more, in particular all, natural frequencies of the drive (100), in particular of the second partial drive, are greater than an excitation frequency of the second partial drive, in particular greater than 350 Hz. The device according to one of the preceding claims, wherein at least one of the sensors (201-204) is arranged in one of the following positions: - On at least one of the bearings (203); - on or in the drive (100), in particular on a crankshaft; - on or in the vicinity, in particular a body and / or an interior of a vehicle. The device according to one of the preceding claims, wherein at least one of the sensors (201-204) is set up to detect the following information: - position-based information; and or - force-based information. The device according to one of the preceding claims, wherein at least one of the actuators (107) is a damper of the following type: - linear absorber; - Mehrachstilger; - torsion damper. The device according to one of the preceding claims, wherein at least one of the actuators (107) is arranged so that an effective direction (108) of the actuator (107) is perpendicular to a Excitation direction, in particular a main excitation direction, of the second partial drive is arranged. The device according to one of the preceding claims, comprising three or four bearings (103) and / or three or four actuators (107). The device according to one of the preceding claims, wherein at least one actuator (107), in particular all actuators, are arranged on a respective bearing (103). The device according to one of the preceding claims, wherein at least one actuator (107), in particular all of them, has a stroke of at least 1 mm and / or less than 5 mm. The device according to one of the preceding claims, wherein at least one actuator (107), in particular all of them, are arranged in the vicinity of the drive (100). The device according to one of the preceding claims, wherein a resonance frequency of at least one actuator (107) is less than 50 Hz, in particular less than 25 Hz. A method for compensating for vibrations of a hybrid drive (100), comprising the steps: - Acquisition of information about vibrations (110) of a second partial drive of the hybrid drive (107); - Determination of compensation forces (111) on the basis of the recorded information; - Applying compensation forces by controlling one or more actuators (107). The method according to any one of the preceding claims, comprising the step of: - Compensation of vibrations of a first partial drive by a passive bearing element (106), in particular by a plastic element.

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