EP2436003B1 - Procede et dispositif d'attenuation d'un bruit a bande etroite dans un habitacle d'un vehicule - Google Patents

Procede et dispositif d'attenuation d'un bruit a bande etroite dans un habitacle d'un vehicule Download PDF

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EP2436003B1
EP2436003B1 EP09740508.8A EP09740508A EP2436003B1 EP 2436003 B1 EP2436003 B1 EP 2436003B1 EP 09740508 A EP09740508 A EP 09740508A EP 2436003 B1 EP2436003 B1 EP 2436003B1
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frequency
noise
determined
youla
control law
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EP2436003A1 (fr
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Bernard Vau
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iXBlue SAS
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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
    • G10K11/17875—General system configurations using an error signal without a reference signal, e.g. pure feedback
    • 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
    • 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
    • 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
    • G10K11/1785—Methods, e.g. algorithms; Devices
    • G10K11/17853—Methods, e.g. algorithms; Devices of the filter
    • G10K11/17854—Methods, e.g. algorithms; Devices of the filter the filter being an adaptive filter
    • 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

Definitions

  • the present invention relates to a method and a device for rejecting noise in a passenger compartment of a vehicle, in particular an automobile, by active control. It has applications in the industrial field of motor vehicles, this term being taken in the broad sense including including light vehicles, heavy, road, rail, boats, barges, submarines, and that of electroacoustic equipment as per example the car radios to which such a function can be added.
  • Some acoustic noises occurring in a passenger compartment of a vehicle may have a broad spectrum, others may instead be approximately single-frequency. This is particularly the case of the noise generated by the rotation of the motor shaft, known as a buzz that results in a noise whose spectrum is composed of lines whose frequencies are proportional to the frequency of rotation of the motor. 'motor shaft with a fundamental and harmonics.
  • a so-called feedforward or precompensation structure This structure requires a loudspeaker, an error microphone at which it seeks to cancel the noise and a controller receiving a reference signal, correlated with the signal to be canceled, producing a correction signal sent on the speaker.
  • This structure is schematically represented on the Figure 1 of the state of the art.
  • This structure has given rise to a series of algorithms based on the least square square (LMS) method: Fx-LMS, FR-LMS, whose goal is to minimize the least squares signal. from the error microphone, by exploiting the reference signal.
  • LMS least square square
  • feedback a structure called “feedback” or feedback.
  • This structure is schematically represented on the Figure 2 of the state of the art.
  • This structure does not require a reference signal, unlike the so-called “feedforward” structure.
  • all the tools of the conventional automatic can be used.
  • a robustness analysis of the looped system with respect to the variation of the transfer function of the passenger compartment can be performed.
  • the present invention is classified in this second type of structure, called "feedback". It relates more particularly to an active process in real time, by feedback, attenuation of a narrow-band noise, essentially single-frequency at at least one determined frequency, in a passenger compartment of a vehicle by emission of a sound by at least one a transducer, typically a loudspeaker, controlled with a signal u (t) or U (t) in a monovariable or multivariable case respectively, generated by a programmable computer, as a function of an acoustic measurement signal y (t) or Y (t) depending on the case, made by at least one acoustic sensor, typically a microphone, the use of a sensor corresponding to a single-variable case and the use of several sensors corresponding to a multivariable case, and in a first phase of design, the electroacoustic behavior of the assembly formed by the passenger compartment, the transducer, and the sensor being modeled by an electroacoustic model in the form of an
  • a correction control law then being determined and calculated from a global model of the system in which the correction control law is applied to the electroacoustic transfer function whose output additionally receives a signal of noise to attenuate p (t) to give the signal y (t) or Y (t) in said design phase, said correction control law making it possible to produce the signal u (t) or U (t) as a function of acoustic measurements y (t) or Y (t), and in a second phase of use, said calculated correction control law being used in the computer to produce the signal u (t) or U (t) then sent to the transducer according to the signal y (t) or Y (t) received from the sensor for attenuation of said noise.
  • a correction control law comprising a fixed coefficient part called a central corrector and a variable coefficient part as a function of the frequency of the noise to be attenuated, which is here a parameter of Youla, the part the variable coefficient corrector being an infinite impulse response filter and after determining and calculating the correction control law, at least one of said variable coefficients is stored in a computer memory, preferably in a table according to the frequency (s); noise determinations p (t) used in the design phase and in the utilization phase, in real time: the current frequency of the noise to be attenuated is recovered and the calculator is computed with the correction control law, including the corrector fixed coefficient coefficient with the variable coefficient part using for the variable coefficient part, the coefficients nts stored at a determined frequency corresponding to the current frequency of the noise to be attenuated.
  • a central corrector with fixed coefficients is used for the attenuation of the noise at at least one determined frequency, to which is added a block with variable coefficients which is a parameter of Youla in the form of a Q block of Youla.
  • SISO single input single outpout
  • MIMO multi-inputs-multi-outputs
  • signal in the context of the invention relates both to analog signals such as the electrical signal coming out of the microphone itself as digital signals such as the output signal of the block Q (q - 1 ) Youla.
  • transducer and sensor are used in a generic and functional manner and that in practice interface electronics are associated therewith such as in particular analog-digital or digital-to-analog converters, one or more filters. anti-aliasing, amplifiers (for the speaker (s) and microphone).
  • signal also covers single-ended cases (a sensor and thus a single input of acoustic measurements) and multivariable (several sensors and therefore several inputs of acoustic measurements) and regardless of the number of loudspeakers.
  • the invention can be applied both to a monovariable case (a single microphone, that is to say a single location where the noise will be attenuated in the cabin), as multivariable cases (several microphones, that is to say, as many locations where the noise will be attenuated).
  • the invention is applicable both to attenuation of a noise which is at a particular fixed frequency over time (for example noise of a truck refrigeration compressor) that a noise whose frequency can evolve over time and in this case, in the design phase, it is preferable to determine and calculate Youla parameters, block Q (q - 1 ) , for several determined frequencies in order to take during the phase of using the result of the calculation of the Youla parameter for a determined frequency which corresponds (equal to or close to, which in fact corresponds best or is interpolated otherwise) to the current frequency of the noise to be attenuated.
  • the parameterization of Youla has already been used for sinusoidal disturbance rejection: it is the vibration control of an active suspension.
  • the corresponding article is: "Adaptive narrow disturbance applied to an active suspension- an internai model approach" (Automatica 2005), whose authors are ID Landau , et al.
  • the Youla parameter is in the form of a finite impulse response filter (transfer function with a single polynomial without denominator) whereas in the present invention we will see that this parameter of Youla is in the form of an infinite impulse response filter (transfer function with a numerator and denominator).
  • Youla parameter coefficients are computed using an adaptive device, that is, disturbance frequency information is not known unlike the present invention where this frequency is known from measurements, including a revolution counter, and where the Youla parameter coefficients are stored in tables for their use in real time.
  • the devices and method of the invention allow a much greater robustness of the control law. In the case of the invention, this corresponds to an insensitivity of the control law to the parametric variations of the electroacoustic model, that is to say to the variations of the configuration of the passenger compartment, which, of an industrial point of view, is a capital element.
  • the invention also relates to a device specially adapted for implementing the method of the invention for attenuation of narrow-band noise, essentially single-frequency at at least one determined frequency
  • the device comprising at least one transducer , typically a loudspeaker, controlled with a signal generated by a programmable computer, as a function of a signal of acoustic measurements made by at least one acoustic sensor, typically a microphone, a correction control law having been determined and calculated in a first design phase, said calculated correction control law being used in a second phase of use in the computer to produce a signal sent to the transducer according to the signal received from the sensor for attenuation of said noise, and which device comprises means implementation in the calculator of a correction control law c omportant the application of a Youla parameter to a central corrector, only the Youla parameter having coefficients dependent on the frequency of the noise to attenuate in said correction control law the central corrector having fixed coefficients and a memory of the calculator stores at least said
  • An aspect of the invention also relates to an instruction medium for directly or indirectly controlling the computer so that it operates according to the method of the invention and in particular in real time in the use phase.
  • this device under control of a programmable computer, consisting of a microphone and a microphone. one or more speakers connected to each other and integrated into the vehicle.
  • the loudspeakers are controlled by a control law which generates control signals from the signal received from the microphone.
  • the control law and the methodology for regulating this control law will therefore be described in detail.
  • in a first part we will be interested in the simpler single-variable case (only one microphone) then in a second part in the multivariable case (several microphones).
  • the device of the invention (and the method that is implemented therein) comprises means for rejecting a monofrequency disturbance (noise), the frequency of which is assumed to be known thanks to external information such as, for example, the speed rotation of the engine of the vehicle given by a tachometer ...
  • a monofrequency disturbance noise
  • the electroacoustic model In order to synthesize a control law, one must have a model of the real system consisting of the electroacoustic and acoustic elements of the passenger compartment including the / speakers (transducers), microphones (sensor), associated electronic elements (amplifiers, converters ).
  • This model called the electroacoustic model must be in the form of a rational transfer function, that is to say behaving as an infinite, discrete impulse response filter.
  • the computer being digital, analog-digital and digital-to-analog converters are used in particular for sampling the analog signals.
  • the equations governing the real behavior of the passenger compartment are partial differential equations, ie the transfer function representing exactly the real system is of infinite dimension (parameter model distributed). Therefore, in order to put the invention into practice, it is necessary to find a compromise for defining the electroacoustic model and the order of the transfer function of said model is chosen with a sufficiently small dimension so as not to result in a large volume of calculations. but large enough to correctly approximate the model. It follows from this constraint that oversampling is to be avoided. For example, for a maximum disturbing noise frequency of 120 Hz, a sampling frequency of 500 Hz can be chosen. One of the advantages of choosing a moderate sampling frequency lies in a reduction in the charging load. calculation of the on-board computer.
  • the speaker amplifier since the speaker amplifier has a much higher sampling frequency (or even operates with analog components), it is desirable to place between the computer output and the speaker input.
  • a low-pass filter operating at the frequency of the loudspeaker amplifier, the cut-off frequency of said filter being constant, in order to reduce the harmonic distortions due to the transition between different sampling period signals.
  • the identification is performed by stimulating the real system with a signal u (t) whose spectral density is substantially uniform, over the frequency range [0, Fe / 2], Fe / 2 being the Nyquist frequency. It is understood that the frequency / frequencies of the noise that one seeks to attenuate must also be included in the same range and Fe is therefore chosen according to the highest frequency of the noise to be attenuated.
  • a stimulation excitation signal can be produced for example by an SBPA (pseudo-random binary sequence).
  • SBPA pseudo-random binary sequence
  • this identification operation with stimulation is performed for all occupancy configurations of the passenger compartment of the actual model.
  • This occupation may correspond to placements of passengers, accessories (additional seats for example), change of acoustic or electronic equipment, or any other condition that may change the electroacoustic behavior of the passenger compartment.
  • the characterization of the level of rejection of the acoustic disturbance which acts on the cabin is done by means of the direct sensitivity function of the looped system noted Syp.
  • the RST corrector is the most general form of implementation of a monovariable corrector.
  • q - d B q - 1 AT q - 1 is the transfer function of the electroacoustic model described more high.
  • p (t) is the equivalent of the acoustic disturbance that was deported at the output of the system, without loss of generality.
  • the direct sensitivity function Syp can be defined as the transfer function between the perturbation signal p (t) and the microphone signal y (t). This transfer function describes the behavior of the closed loop concerning the rejection of acoustic disturbance.
  • the object of the control law being to allow the rejection of disturbance at a fpert frequency, it is necessary that at said frequency the Syp module is low, in practice much below 0 dB.
  • FIG. Figure 6 An example of a direct sensitivity function is shown in FIG. Figure 6 and the two areas, below and above the 0 dB axis, are equal.
  • Equation (2) is a Bézout equation.
  • the detail of the resolution of Bézout's equation can be found, for example, in the work of I.D. Landau cited above, on pages 151 and 152. It goes through the resolution of a Sylvester system.
  • the choice of poles can be made according to various strategies. One of these strategies is explained below.
  • Such a corrector is based on a so-called central corrector RS consisting of the blocks Ro ( q -1 ) and So ( q -1 ) .
  • Ro and So being polynomials in q -1
  • the blocks q - d B ( q -1 ) and A ( q -1 ) are the numerator and denominator of the transfer function of the electroacoustic system to be controlled.
  • S q - 1 So q - 1 . ⁇ q - 1 - q - d B q - 1 ⁇ q - 1 in order to specify the block S with a prespecification block Hs, that is to say: S ' q - 1 .
  • Hs q - 1 So q - 1 . ⁇ q - 1 - q - d B q - 1 ⁇ q - 1 Is : S ' q - 1 .
  • Hs q - 1 + q - d B q - 1 ⁇ q - 1 So q - 1 . ⁇ q - 1 which is also a Bézout equation, allowing in particular to find ⁇ if ⁇ and Hs are defined.
  • Sypo be the direct sensitivity function of the looped system with the central corrector without Youla parameter.
  • Hs and ⁇ such that the transfer function Hs q - 1 ⁇ q - 1 results from the discretization of a continuous block of the second order by the method of Tustin with "prewarping": s 2 2 ⁇ . fpert 2 + 2 ⁇ ⁇ 1 . s 2 ⁇ . fpert + 1 s 2 2 ⁇ . fpert 2 + 2 ⁇ ⁇ 2 . s 2 ⁇ . fpert + 1
  • Hs and ⁇ are polynomials in q -1 of degree 2 and , are damping coefficients of a second-order cell.
  • the discretization operation of the continuous transfer function can be performed by means of calculation routines which can be found, for example, in computer software dedicated to the automatic. In the case of Matlab®, this is the "c2d" function.
  • the number of variant parameters as a function of the frequency of the disturbing noise to be rejected in the control law is only 4.
  • the calculation of these parameters parameters as a function of the frequency f of the disturbance to be rejected can be performed offline, previously, by solving the Bézout equation (10), during the design phase of the control law, the parameters that can be stored in tables on the on-board programmable computer in the vehicle and called, in real time, according to the frequency to be rejected.
  • the Figure 8 represents the complete schema of the correction control law (central corrector RS + parameter of Youla Q).
  • an electroacoustic model that can be described as median, that is to say, a model corresponding to an intermediate level of occupancy of the passenger among the models. electroacoustics corresponding to different occupancy configurations of the passenger compartment.
  • the central corrector For the synthesis of the central corrector, it is preferably sought that it guarantees maximum margins without a particular objective of disturbance rejection. This can be achieved, for example, by a pole placement technique, and, if necessary, one can consult the book of ID Landau already cited for this, in particular, the whole of chapter 3. More precisely, it can be seen proceed as explained later.
  • auxiliary poles whose value is between 0.05 and 0.5 in the complex plane are also placed (in the case where there is no oversampling). Recall that a sampled system is stable if all its poles are strictly included in the unit circle in the complex plane. These auxiliary poles have the role of increasing the robustness of the control law, when adding the Youla parameter.
  • the central corrector was thus determined and calculated.
  • the damping factors are selected , of equation (12), so as to adjust the depth of attenuation of Syp at said frequency, as well as the width of the notch (bandwidth) at the frequency fpert in Syp, while providing a sufficient robustness measurable by the module margin described above (maximum Syp). It is possible, for example, to set a target for a module margin of 0.7, which corresponds to a high level of robustness of the closed loop, a robustness that will guarantee the stability of the active control system during variations in passenger compartment configuration.
  • the polynomials Hs ( q -1 ) and ⁇ ( q -1 ) are calculated as explained above by discretizing a second order cell and the Bézout equation (10) is solved to determine ⁇ ( q -1 ). .
  • this calculation resulting in the determination of ⁇ ( q -1 ) and ⁇ ( q -1 ) as a function of fpert is performed over the entire frequency range where it is intended to perform a disturbance rejection.
  • ⁇ and ⁇ can be calculated for frequencies varying from 2 Hz to 2 Hz over a range from 30 to 120 Hz.
  • the set of coefficients of the polynomials ⁇ ( q -1 ) and ⁇ ( q -1 ) as a function of fpert is stored in memory, a table for these last, the calculator.
  • the tables make it possible to find the data that will be used in real time according to the current conditions, in particular the current frequency of the noise to be attenuated and possibly a current configuration of occupancy of the passenger compartment.
  • the correction control law (corrector RS + Youla parameter) is then synthesized. It is possible, in an optional phase of the design phase, to verify that it has a stability and a correct level of robustness (module margin> 0.5) with a simulation of the looped system and disturbance rejection over the entire range of Frequency for all occupancy configurations of the passenger compartment using the electroacoustic models identified in the various configurations. If this is not the case, we come back to the design of the control law by playing on the coefficients , (depth and frequency width of the rejection). If this is still not enough, we can then try to take as another electro acoustic model among those obtained for the various cockpit configurations or, then, to play on the location of the auxiliary poles of the closed loop (high poles frequency).
  • the stored data in particular the coefficients of the polynomials ⁇ (q -1 ) and ⁇ ( q -1 ) for the Youla parameter, are called as a function of the information on the current frequency of the noise to be rejected originating, for example, indirectly , a tachometer measurement on the motor shaft.
  • the coefficients of the polynomials ⁇ (q -1 ) and ⁇ ( q -1 ) are estimated by interpolating between coefficients calculated for two or more known frequency values. In the latter case, it is preferable that the frequency mesh is not too great between the frequencies used for the calculations of the coefficients, a mesh of 2 Hz in 2 Hz is generally suitable.
  • the invention relates to a real-time active method, by feedback, attenuation of a narrow-band noise, essentially single-frequency at at least a predetermined frequency, in a passenger compartment of a vehicle by emission of a sound by at least one transducer, typically a loudspeaker, controlled with a signal u (t) generated by a programmable computer, depending of a signal of acoustic measurements y (t) made by an acoustic sensor, typically a microphone, in a first phase of design, the electroacoustic behavior of the assembly formed by the passenger compartment, the transducer, and the sensor being modeled by an electroacoustic model in the form of an electroacoustic transfer function which is determined and calculated, a correction control law then being determined and calculated from a global model of the system in which the correction control law is applied to the electroacoustic transfer function whose output additionally receives a noise signal p (t) to give the signal y (t)
  • Eliott indicates that the zone of silence around the error microphone does not exceed one tenth of the wavelength of the noise to be rejected. about 110 cm for a noise of 30 Hz, 55 cm for a noise of 60 Hz, 28 cm for a noise of 120 Hz at room temperature.
  • a first solution is to use the previously established control scheme for a single microphone to make a loudspeaker-microphone loop one by one.
  • This solution may give very poor results, or even instability. Indeed, a given loudspeaker of a modeled system will have an influence on all the microphones of the cabin, even those which are not of its own modeled system.
  • FIG. 9 a diagram of the electroacoustic transfer on a 2 * 2 system (2 loudspeakers, 2 microphones).
  • the microphone 1 is sensitive to the acoustic effects of the speaker 1 (HP1) and the speaker 2 (HP2).
  • the microphone 2 is sensitive to the acoustic effects of speaker 2 (HP2) and speaker 1 (HP1).
  • nu ny to simplify the explanations but this is not restrictive, the following may also apply to the case n> ny.
  • the coefficients of matrices G, H, W define the multivariable linear system.
  • X (t) corresponds to the vector X at time t
  • X (t + Te) corresponds to the vector X at time t + Te (ie a sampling period after X (t)).
  • the correction control law is based on this state representation, so, as for the monovariable case, is it necessary to determine and calculate the model of the electroacoustic system to be controlled (electroacoustic model of the passenger compartment), that is to say say the coefficients of matrices G, H, W.
  • the coefficients of the model of the electroacoustic system to be controlled by an identification procedure during the design phase, that is to say by stimulation of the real electroacoustic system with spectral density noise. substantially uniform, the naked speakers being excited by signals that are decorrelated between them.
  • the input data (microphones measurements) and outputs (signals for the loudspeakers) are stored in a computer and are used therein to obtain a state representation of said system, this time using algorithms dedicated identification multivariable systems.
  • algorithms are for example provided in toolboxes of software specialized in the field of automation such as for example Matlab®.
  • Matlab® One can also consult advantageously L. LJUNG's book "System identification-Theory for the user" Prentice Hall, Englewood Cliffs, NS, 1987, the algorithms presented in this work having given birth to a box tool dedicated to the identification in Matlab® software. It is the same for the validation algorithms of the model obtained from the electroacoustic system to be controlled.
  • Another possible embodiment consists in identifying the one-to-one transfer functions one by one with the monovariable identification tools, and stimulating the loudspeakers one to one, and then proceeding to an aggregation of the nu * ny models in one, multivariable.
  • This aggregation can be done, for example by the least squares method of innovation, algorithm described in Ph de Larminat's book: "Automatique appliquée” Hermès 2007.
  • the placement of the poles of the closed loop provided with the central corrector can be done by choosing the coefficients of Kf and Kc which are the adjustment parameters of this control structure.
  • the number of poles to be placed is 2 * n.
  • Kc Another way of proceeding to calculate Kc consists of an optimization LQ (quadratic linear) for which the literature is very abundant. For example, one can refer to the book “Robustness and optimal order" CEPADUES editions, 1999 on pages 69-79 .
  • we will find associated with this work a calculation routine for the software Matlab®, allowing the calculation of the coefficients of Kc following the optimization LQ type B.
  • the central corrector being determined and calculated, we will now present how to determine and calculate the Youla parameter which is associated with the central corrector for realize the correction control law in the multivariable case.
  • the objective is always to reject sinusoidal perturbations of known frequency fpert, here at the level of each microphone, making sure that only the coefficients of the Youla parameter vary as fpert varies.
  • Q parameter of Youla
  • X Q t + You AT Q X Q t + B Q Y t - W ⁇ X ⁇ t
  • X Q being the state vector of the Youla parameter.
  • G 2 i W 2 i is not unique.
  • hs 1 i and hs 2 i are deduced from the numerator of a transfer function H s i q - 1 ⁇ i q - 1 resulting from the discretization of a continuous cell of the second order, identical to that used in the monovariable case: s 2 2 ⁇ . fpert 2 + 2 ⁇ ⁇ 1 i . s 2 ⁇ . fpert + 1 s 2 2 ⁇ . fpert 2 + 2 ⁇ ⁇ 2 i . s 2 ⁇ . fpert + 1
  • the discretization of the continuous transfer function can be done for example by means of the calculation routine "c2d" of the Matlab® software.
  • Kf 2 i as a function of G 2 i , W 2 i , ⁇ i ( q -1 ) and is a classical pole placement.
  • Matlab® software routine dedicated to this operation whose name is "PLACE”.
  • Kf 2 K f 21 0 ⁇ 0 0 K f 22 ⁇ 0 0 ⁇ K f 2 ny
  • equations (36) and (37) can be found in ph. de Larminat: "Automatic Applied" hermès 2007 on pages 202 205.
  • the resolution of equations (37) leads to the resolution of a Sylvester system. It should be noted that a calculation routine for the Matlab® software solving the asymptotic rejection equations is provided with the aforementioned work.
  • the coefficients of A Q , B Q and C Q can be calculated during the adjustment of the correction control law and put into tables in order, in use phase, to be called as a function of fpert on the real time calculator.
  • the Figure 14 gives the scheme of application of the correction control law in the phase of use in real time in the programmable computer.
  • the Youla Q block can be implemented as a transfer matrix to minimize the number of variant coefficients in this block. Such an operation can be carried out for example by means of the "ss2tf" routine of the Matlab® software.
  • the adjustment parameters of the correction control law reside in the choice of control poles (by Kc parameters) which have an influence on the robustness of the control law.
  • the choice of damping factors is available , continuous second-order cells, influencing the frequency widths and depth of the disturbance rejections at the fpert frequency.
  • the robustness of the servocontrol can be evaluated by calculating the infinite norm of the transfer matrix between P (t) and Y (t) (generalization of the monovariable case). Since the calculation of the infinite norm of a transfer matrix is done by calculating the singular values of said transfer matrix, one can also use the Matlab® software and in particular the "SIGMA" function of the "control toolbox".
  • the invention thus implements a central corrector with a Youla parameter which is in the form of an infinite impulse response filter with at least one input and at least one output, which number depends on the chosen embodiments (single variable, multivariable, number of sensors and transducers ).
  • Hs and ⁇ are here polynomials in q -1 of degree 4 and are damping factors allowing just as in the case of single-frequency rejection to adjust the width and depth of the attenuation notch in the representative curve of the Syp module, ⁇ ( q -1 ) is a command polynomial 4 and ⁇ ( q -1 ) a polynomial of order 3.
  • the number of variable coefficients in the control law is therefore higher: there are 4 additional coefficients to be varied according to fpert.
  • the vector X 2 (t) is this time of size (4ny * 1) and the matrix W 2 is this time of size (ny * 4ny).
  • the asymptotic rejection equations (36) and (37) are unchanged. The resolution of such a multivariable system is similar to the case of the rejection of a single previously detailed frequency.
  • a central corrector to which a Youla parameter is added can be applied in practice for noise attenuation in other ways than the one detailed above.
  • the type of electroacoustic model may be different, the methods for determining and / or synthesizing the central corrector and Youla parameter may also be different and it is useful to refer to the literature indicated for the practical implementation of these other modalities.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Soundproofing, Sound Blocking, And Sound Damping (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
EP09740508.8A 2009-05-28 2009-08-31 Procede et dispositif d'attenuation d'un bruit a bande etroite dans un habitacle d'un vehicule Active EP2436003B1 (fr)

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FR0902585A FR2946203B1 (fr) 2009-05-28 2009-05-28 Procede et dispositif d'attenuation d'un bruit a bande etroite dans un habitacle d'un vehicule
PCT/FR2009/051647 WO2010136661A1 (fr) 2009-05-28 2009-08-31 Procede et dispositif d'attenuation d'un bruit a bande etroite dans un habitacle d'un vehicule

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FR2983335B1 (fr) 2011-11-25 2019-11-08 Renault S.A.S. Procede et dispositif de controle d'un systeme de reduction active de bruit
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FR2999772B1 (fr) 2012-12-19 2016-12-30 Ixblue Procede de controle actif acoustique de bruit perturbateur a bande(s) etroite(s) a microphone(s) mobile(s), systeme correspondant
WO2014125204A1 (fr) * 2013-02-13 2014-08-21 Ixblue Procédé de contrôle actif acoustique bande étroite à fonction(s) de transfert variable(s), système correspondant
FR3002068B1 (fr) * 2013-02-13 2015-03-06 Ixblue Procede de controle actif acoustique bande etroite a fonction(s) de transfert variable(s), systeme correspondant
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KR101939383B1 (ko) * 2016-10-18 2019-04-10 현대오트론 주식회사 초음파 센서 장치 및 초음파 센서 장치의 센싱 방법
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FR2946203B1 (fr) 2016-07-29
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RU2504025C2 (ru) 2014-01-10
JP5409900B2 (ja) 2014-02-05
JP2012528034A (ja) 2012-11-12
KR101749951B1 (ko) 2017-07-03
FR2946203A1 (fr) 2010-12-03
US20120070013A1 (en) 2012-03-22
WO2010136661A1 (fr) 2010-12-02
RU2011152851A (ru) 2013-08-10
MX2011012516A (es) 2012-06-19
BRPI0925323A2 (pt) 2016-04-19
US8682000B2 (en) 2014-03-25

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