EP3486897B1 - Work vehicle with noise reduction in a vehicle cabin - Google Patents
Work vehicle with noise reduction in a vehicle cabin Download PDFInfo
- Publication number
- EP3486897B1 EP3486897B1 EP18202776.3A EP18202776A EP3486897B1 EP 3486897 B1 EP3486897 B1 EP 3486897B1 EP 18202776 A EP18202776 A EP 18202776A EP 3486897 B1 EP3486897 B1 EP 3486897B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- microphone
- control unit
- driver
- inertial
- pane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000009467 reduction Effects 0.000 title claims description 19
- 230000003044 adaptive effect Effects 0.000 claims description 23
- 238000005070 sampling Methods 0.000 claims description 11
- 238000001914 filtration Methods 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 6
- 239000012528 membrane Substances 0.000 claims description 4
- 230000033228 biological regulation Effects 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 210000005069 ears Anatomy 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 3
- 238000010304 firing Methods 0.000 description 3
- 230000001629 suppression Effects 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000001066 destructive effect Effects 0.000 description 2
- 230000005520 electrodynamics Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000009993 protective function Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- 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 invention relates to work vehicles, by which for example forklifts, excavators, combine harvesters, bulldozers, rollers for road construction, tractors, etc. are understood.
- a closed driver's cab protects the driver from environmental influences such as noise, climate, rain, falling objects, etc.;
- the driver's cab is largely airtight, particularly to protect against noise in the working environment.
- the EP 0434 468 A2 revealed in the figures 6 -11 a motor vehicle in which vibrations are detected using sensor devices designed as acceleration sensors which are arranged on the drive motor and the chassis springs, and piezoelectric actuators are arranged as actuator devices in the windows of the closed passenger cell interior of the motor vehicle, which act on the corresponding pane.
- the signals from the acceleration sensors represent the input variables of a digital filter forming a control unit, which generates signals for controlling the piezoelectric actuators on the output side and controls the piezoelectric actuators in such a way that noise reduction in the passenger compartment interior is achieved.
- the control unit also includes a control block ("coefficient renewal algorithm"), which works adaptively and receives the signals from the acceleration sensors and the signals from microphones arranged in the headrests of the seats on the input side.
- This control block generates corresponding filter coefficients of the digital filter.
- the microphones arranged in the headrests of the seats are arranged close to the people's ears so that the microphones deliver the remaining error signals close to the people's ears in order to be able to generate corresponding new filter coefficients of the digital filter.
- the DE 10 2014 223 738 A1 revealed in the figure 4 a motor vehicle with a noise control system in which an adaptive control element receives on the input side a reference signal from a reference signal obtaining unit and the signals from a microphone which represents an error sensor.
- the adaptive controller generates a control signal for a vibration generator.
- the microphone and the vibration generator are arranged separately from each other.
- the U.S. 2006/0061744 A1 discloses a motor vehicle with active noise reduction, in which an adaptive filter is connected on the input side to an acceleration sensor near the wheels of the motor vehicle and a microphone in the passenger compartment of a motor vehicle and controls an actuator arranged on the underside of a floor panel of the vehicle, which acts as a piezo -Electric actuator is formed.
- the DE 103 07 168 B3 discloses a vibration damping system for a vehicle, in which piezoelectric elements (piezo actuators) for vibration damping are arranged on a flat body component of a vehicle.
- a sensor system that detects vibrations of the flat body component is provided on the flat body component as a sensor. According to the figure 3 the sensors are arranged separately from the piezo actuators.
- the control unit is set up to generate control signals for the piezoceramic actuators based on the vibrations of the window pane detected by the sensor in such a way that the vibrations of the window pane detected by the sensor are minimized. In this way, the sound level emitted through the vibrating window pane into the interior of the driver's cab is to be reduced by the vibrations of the window pane being suppressed as far as possible.
- the generation of anti-noise for active noise reduction is also mentioned in this document as known in principle, but is to be replaced by a simpler procedure (vibration suppression of the window panes).
- the closed air volume in the cabin interior together with the windows in the cabin wall openings form a vibro-acoustic system (VAS), which is weakly damped at low frequencies and is therefore susceptible to vibration.
- VAS vibro-acoustic system
- the VAS is stimulated in particular by a combustion engine in the work vehicle, by hydraulic units and by tyre-road interactions, such as the impact of the tread lugs distributed around the circumference of the tires on the road surface. Therefore, high sound levels of over 110 dB can occur in the resonance range of the VAS at approx. 40 Hz, which the driver perceives as an unpleasant hum or boom.
- an inertial vibration exciter which can cause the disk to oscillate, is fastened to the disk as an actuator device.
- Inertial vibration exciters also known as shakers
- Inertial vibration exciters are based on an inertial mass (actuator) that is movably suspended along an axis in the housing of the vibration exciter and is electromagnetically driven to oscillate, with the vibration frequency being adjustable by setting the electromagnetic drive frequency.
- the inertial vibration exciter is attached to the disk in such a way that the axis of the oscillating movement is perpendicular to the plane of the disk in order to be able to couple mechanical vibrations into the disk effectively. In this way, the disk itself becomes the Sound source that generates counter-noise for noise reduction in the interior of the driver's cab in a manner to be described.
- An actuator which can be driven to oscillate and which has an electromagnet which is suspended on springs and on which two axially spaced ferromagnetic attracting elements act can serve as the inertial mass of the inertial oscillating exciter.
- An example of an inertial shaker is given in EP 3 217 053 A1 described.
- control unit is set up to process the signals from the microphone directed towards the interior of the driver's cab using an adaptive and predictive control algorithm, in order thereby to generate a control signal for the inertial shaker to the pane on which the inertial shaker is attached is to be vibrated in such a way that the disc generates anti-noise in the interior of the driver's cab, which minimizes the error signal picked up by the microphone.
- the inertial vibration exciter should be able to be operated in the low-frequency range below 100 Hz in particular, since critical noise situations in driver's cabs of work vehicles occur in this frequency range.
- the fastening of the electrodynamic inertial shaker on the disc creates a structure with a compact actuator (inertial shaker) with which sound with low frequencies and high sound levels can be generated in the interior of the driver's cab through the disc, which is specifically excited to vibrate, which leads to cancellation of the noise in the area of the microphone.
- a compact actuator inertial shaker
- IMC adaptive internal model controller
- the arrangement of the microphone in the immediate vicinity of the inertial shaker has the further advantage that the acoustic transit time between the microphone and the inertial shaker is very small, which makes the control more stable and robust to movements of the driver's head, because movements of the driver's head would change the controlled system more with a microphone placed closer to the driver's head.
- the control unit is set up to sample the microphone signal with a sampling frequency of at least 20 kHz for digitization. Due to oversampling, low-pass filtering is only required from 10 kHz. However, this already takes place physically due to the inertia of the microphone membrane.
- control unit is provided with an equalization filter in the adaptive and predictive control algorithm, which is the inverse of the minimum-phase component of the frequency response of the controlled system around the convergence time of the adaptive and predictive control algorithm frequency-independent.
- an equalization filter in the adaptive and predictive control algorithm which is the inverse of the minimum-phase component of the frequency response of the controlled system around the convergence time of the adaptive and predictive control algorithm frequency-independent.
- the control unit with its electrical circuits and digital processor units combined as a control module is attached to the housing of the inertial shaker or integrated therein.
- a work vehicle with active noise reduction in the driver's cab can be realized by attaching the inertial shaker with the associated microphone and control unit to the window of the driver's cab and then connecting it to the DC electrical power supply in the driver's cab. This makes it very easy to retrofit a work vehicle without active noise reduction by installing and connecting a single component.
- the monitor and error microphones are located at different locations in the cabin, there are two different transmission mobility-transmission impedance paths from the actuator (shaker) to the sensors located in 4 are referred to as structural-acoustic transmission 1 and 2.
- structural-acoustic transmission 1 and 2 the interference transmission to two different locations takes place via two different paths, so that a distinction must be made between interference transmission to the error sensor and to the monitor sensor, although the interference source is identical.
- the output of the interpolation filter is subjected to a digital-to-analog conversion, the analog signal is amplified and fed as a control signal to the inertial shaker. Then the structure-acoustic transmission takes place from the vibrating pane via the air volume in the interior of the driver's cab to the error microphone, where the counter-noise generated in this way is intended to extinguish the external interference noise by superimposition.
- Multirate processing (20 kHz A/D - D/A conversion, 2 kHz signal processing) according to the block diagram in figure 5 realized.
Landscapes
- 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)
Description
Die vorliegende Erfindung betrifft ein Arbeitsfahrzeug mit einer Fahrerkabine, die einen geschlossenen Kabineninnenraum aufweist, der von strukturfesten Kabinenwandelementen und wenigstens einer Scheibe umgeben ist, die eine von den Kabinenwandelementen freigelassene Kabinenwandöffnung schließt, mit einer auf die Scheibe einwirkenden Aktuatoreinrichtung, mit einer Sensoreinrichtung und einer mit der Sensoreinrichtung und der Aktuatoreinrichtung verbundenen Steuereinheit, die dazu eingerichtet ist, in Abhängigkeit von Signalen der Sensoreinrichtung die Aktuatoreinrichtung zur Lärmreduzierung im Kabineninnenraum anzusteuern.The present invention relates to a work vehicle with a driver's cab, which has a closed cab interior, which is surrounded by structurally fixed cab wall elements and at least one pane, which closes a cab wall opening left free by the cab wall elements, with an actuator device acting on the pane, with a sensor device and with the sensor device and the actuator device connected control unit, which is set up to control the actuator device for noise reduction in the cabin interior as a function of signals from the sensor device.
Die Erfindung betrifft Arbeitsfahrzeuge, worunter hierin z.B. Gabelstapler, Bagger, Mähdrescher, Planierraupen, Walzen für den Straßenbau, Traktoren etc. verstanden werden. In einem Arbeitsfahrzeug schützt eine geschlossene Fahrerkabine den Fahrer vor Umwelteinflüssen wie Lärm, Klima, Regen, herabfallenden Gegenständen etc.; insbesondere wegen des Schutzes vor Lärm in der Arbeitsumgebung ist die Fahrerkabine weitestgehend luftdicht abgeschlossen.The invention relates to work vehicles, by which for example forklifts, excavators, combine harvesters, bulldozers, rollers for road construction, tractors, etc. are understood. In a work vehicle, a closed driver's cab protects the driver from environmental influences such as noise, climate, rain, falling objects, etc.; The driver's cab is largely airtight, particularly to protect against noise in the working environment.
In Bezug auf Lärm in Fahrerkabinen von Arbeitsfahrzeugen sind auch Versuche unternommen worden, Maßnahmen zur aktiven Lärmreduzierung durch Gegenschall zu ergreifen, nämlich im niedrigen Frequenzen unterhalb von 500 Hz (für höhere Frequenzen sind schalldämmende Materialen an den Innenwänden der Fahrerkabine effektiv). Beispiele für aktive Lärmreduzierung sind die in
Aus
Das beschriebene System ist insbesondere auf die Unterdrückung von stationären tonalen Geräuschkomponenten gerichtet, die die Resonanzen der Fahrerkabine anregen, wie die periodischen Geräusche, die durch die rotierenden Schneiden eines Mähdreschers erzeugt werden. Für Geräuschanteile außerhalb der Resonanzfrequenzen oder bei gedämpften Kabinenmoden führt die beschriebene Verfahrensweise nicht zur Reduktion von Lärm im Kopfbereich des Fahrers, da aufgrund der Laufzeitdifferenz vom Lautsprecher zum Kopfbereich und zum Mikrophon eine effektive Auslöschung der sich überlagernden Schallkomponenten nicht möglich ist. Grundsätzlich kann mit der vorgeschlagenen Sensor-Aktuator-Anordnung kein Lärm unterdrückt werden, bei dem die Änderungsdauer von Frequenz und/oder der Amplitude des Lärmschalls kürzer als die Laufzeit zwischen dem Sensor und dem Lautsprecher ist.The system described is particularly directed to the suppression of stationary tonal noise components that excite cab resonances, such as the periodic noise produced by the rotating blades of a combine harvester. For noise components outside of the resonant frequencies or with damped cabin modes, the one described leads This procedure is not used to reduce noise in the driver's head area, since the difference in transit time between the loudspeaker and the head area and the microphone means that the superimposed sound components cannot be effectively eliminated. In principle, the proposed sensor-actuator arrangement cannot be used to suppress noise in which the change duration of the frequency and/or the amplitude of the noise is shorter than the transit time between the sensor and the loudspeaker.
In dem genannten Dokument
Die
Die
Die
Die
Die
Aus
Wie oben erwähnt sind die Fahrerkabinen von Arbeitsfahrzeugen wegen ihrer verschiedenen Schutzfunktionen weitestgehend luftdicht abgeschlossen. In Arbeitsfahrzeugen muss der Fahrer seine Umgebung sehr gut beobachten können, um Unfallgefahren erkennen zu können. Daher haben derartige Fahrerkabinen neben strukturfesten Kabinenwandelementen eine oder mehrere größere, von den Kabinenwandelementen freigelassene Öffnungen, die durch Scheiben geschlossen sind. Die Scheiben bestehen in der Regel aus transparentem Glas oder Kunststoff. Meist sind daher an allen Seiten der Fahrerkabine Wandöffnungen mit Scheiben als Fenster vorgesehen, so dass der Fahrer seine Umgebung nach vorne, nach hinten und zu beiden Seiten wahrnehmen kann. Schwingungstechnisch bildet das geschlossene Luftvolumen im Kabineninnenraum zusammen mit den Scheiben in den Kabinenwandöffnungen ein Vibro-Akustisches-System (VAS), das bei tiefen Frequenzen schwach gedämpft und daher schwingungsanfällig ist. Anregungen des VAS erfolgen bei tiefen Frequenzen insbesondere durch einen Verbrennungsmotor des Arbeitsfahrzeugs, durch Hydraulik-Aggregate und durch Reifen-Fahrbahn-Wechselwirkungen, wie z.B. das Auftreffen der um den Umfang der Reifen verteilten Stollen des Profils auf die Fahrfläche. Es können daher hohe Schallpegel von über 110 dB in Resonanzbereichen des VAS bei ca. 40 Hz auftreten, die vom Fahrer als unangenehmes Brummen oder Wummern wahrgenommen werden.As mentioned above, the driver's cabs of work vehicles are largely airtight due to their various protective functions. In work vehicles, the driver must be able to observe his surroundings very well in order to be able to recognize the risk of accidents. Driver cabs of this type therefore have, in addition to structurally fixed cab wall elements, one or more larger openings which are left free by the cab wall elements and are closed by panes. The discs are usually made of transparent glass or plastic. Wall openings with panes as windows are therefore usually provided on all sides of the driver's cab, so that the driver can perceive his surroundings to the front, to the rear and to both sides. In terms of vibration technology, the closed air volume in the cabin interior together with the windows in the cabin wall openings form a vibro-acoustic system (VAS), which is weakly damped at low frequencies and is therefore susceptible to vibration. At low frequencies, the VAS is stimulated in particular by a combustion engine in the work vehicle, by hydraulic units and by tyre-road interactions, such as the impact of the tread lugs distributed around the circumference of the tires on the road surface. Therefore, high sound levels of over 110 dB can occur in the resonance range of the VAS at approx. 40 Hz, which the driver perceives as an unpleasant hum or boom.
Eine weitere Problematik besteht darin, dass die zur Fahrerkabine übertragenen Schwingungen sich nach Frequenz- und Amplitudenzusammensetzung als Funktion der Zeit schnell verändern können. Zum Beispiel erhöhen sich bei einem beschleunigenden Gabelstapler die Motorzündfrequenz und die Motordrehzahl. Erheblich schneller steigt gegenüber diesen die Reifen-Fahrbahn-Kontaktfrequenz; wenn z.B. die Reifen über ihren Umfang verteilt jeweils 28 Radprofilstollen haben, erhöht sich die Radstollen-Kontaktfrequenz um den Faktor 28 schneller als die Raddrehfrequenz. Die sich daraus ergebende komplexe Entwicklung der Frequenzund Amplitudenzusammensetzung der auf die Fahrerkabine einwirkenden Schwingungskomponenten kann nicht mit Maßnahmen entgegengewirkt werden, die für stationäre externe Schall- und Vibrationsquellen funktionsfähig sind, wie etwa die oben beschriebene Feedforward-Steuerung.Another problem is that the vibrations transmitted to the driver's cab can change quickly as a function of time in terms of frequency and amplitude composition. For example, increase at a accelerating forklift engine firing frequency and engine speed. Compared to these, the tire-road contact frequency increases considerably faster; If, for example, the tires each have 28 wheel tread lugs distributed over their circumference, the wheel lug contact frequency increases by a factor of 28 faster than the wheel rotation frequency. The resulting complex development of the frequency and amplitude composition of the vibration components acting on the driver's cab cannot be counteracted with measures that are functional for stationary external noise and vibration sources, such as the feedforward control described above.
Es ist Aufgabe der vorliegenden Erfindung, ein Arbeitsfahrzeug mit einer Fahrerkabine mit einer Aktuatoreinrichtung und einer diese betreibenden Steuereinheit zur aktiven Lärmreduzierung in der Fahrerkabine so auszugestalten, dass die oben beschriebenen erheblichen Amplituden der Schwingungen des Vibro-Akustischen-Systems aus dem Innenraum-Luftvolumen der Fahrerkabine und den Scheiben der Fahrerkabine im niederfrequenten Bereich und der damit verbundene Lärm effektiv unterdrückt werden und dass die Steuereinheit sich dabei den zeitveränderlichen Bedingungen der Frequenz- und Amplitudenzusammensetzung der auf das Vibro-Akustische-System einwirkenden Schwingungen beim Betrieb des Arbeitsfahrzeugs einstellen kann.It is the object of the present invention to design a work vehicle with a driver's cab with an actuator device and a control unit operating this for active noise reduction in the driver's cab in such a way that the above-described significant amplitudes of the vibrations of the vibro-acoustic system from the interior air volume of the driver's cab and the windows of the driver's cab in the low-frequency range and the associated noise are effectively suppressed and that the control unit can adjust to the time-varying conditions of the frequency and amplitude composition of the vibrations affecting the vibro-acoustic system when the working vehicle is in operation.
Zur Lösung dieser Aufgabe dient das Arbeitsfahrzeug mit den Merkmalen des Patentanspruchs 1. Vorteilhafte Ausführungsformen der Erfindung sind in den Unteransprüchen aufgeführt.The work vehicle with the features of patent claim 1 serves to solve this problem. Advantageous embodiments of the invention are listed in the dependent claims.
Erfindungsgemäß ist zunächst vorgesehen, dass als Aktuatoreinrichtung an der Scheibe ein Inertial-Schwingerreger befestigt ist, der die Scheibe in Schwingungen versetzen kann. Inertial-Schwingerreger (die auch als Shaker bezeichnet werden) basieren in ihrer Funktionsweise auf einer im Gehäuse des Schwingerregers entlang einer Achse beweglich aufgehängten trägen Masse (Aktor), die elektromagnetisch zur Oszillation angetrieben wird, wobei die Schwingungsfrequenz durch Einstellung der elektromagnetischen Antriebsfrequenz einstellbar ist. Der Inertial-Schwingerreger ist dabei so an der Scheibe angebracht, dass die Achse der Oszillationsbewegung senkrecht auf der Scheibenebene steht, um so effektiv mechanische Schwingungen in die Scheibe einkoppeln zu können. Auf diese Weise wird die Scheibe selbst zur Schallquelle, die in noch zu beschreibender Weise Gegenschall zur Lärmreduzierung im Innenraum der Fahrerkabine erzeugt.According to the invention, it is initially provided that an inertial vibration exciter, which can cause the disk to oscillate, is fastened to the disk as an actuator device. Inertial vibration exciters (also known as shakers) are based on an inertial mass (actuator) that is movably suspended along an axis in the housing of the vibration exciter and is electromagnetically driven to oscillate, with the vibration frequency being adjustable by setting the electromagnetic drive frequency. The inertial vibration exciter is attached to the disk in such a way that the axis of the oscillating movement is perpendicular to the plane of the disk in order to be able to couple mechanical vibrations into the disk effectively. In this way, the disk itself becomes the Sound source that generates counter-noise for noise reduction in the interior of the driver's cab in a manner to be described.
Als träge Masse des Inertial-Schwingerregers kann ein zur Oszillation antreibbarer Aktor mit einem Elektromagneten dienen, der an Federn aufgehängt ist und auf den zwei axial beabstandete ferromagnetische Anziehelemente einwirken. Ein Beispiel eines Inertial-Schwingerregers ist in
Weiterhin ist erfindungsgemäß die Steuereinheit dazu eingerichtet, die Signale des auf den Innenraum der Fahrerkabine gerichteten Mikrophons mit einem adaptiven und prädiktiven Regelalgorithmus zu verarbeiten, um dadurch ein Steuersignal für den Inertial-Schwingerreger zu erzeugen, um die Scheibe, an der der Inertial-Schwingerreger befestigt ist, so in Schwingungen zu versetzen, dass die Scheibe Gegenschall im Innenraum der Fahrerkabine erzeugt, der das von dem Mikrophon aufgenommene Fehlersignal minimiert. Der Einsatz eines adaptiven und prädiktiven Regelalgorithmus ermöglicht es, dem nach Frequenz und Amplitudenzusammensetzung zeitlich veränderlichen Lärm im Innenraum der Fahrerkabine beim Betrieb des Arbeitsfahrzeuges so entgegenzuwirken, dass der Gegenschall bereits dann am Ort des Mikrophons eintrifft, wenn die dann dort herrschende Lärmsituation durch diesen Gegenschall destruktiv zu kompensieren ist.Furthermore, according to the invention, the control unit is set up to process the signals from the microphone directed towards the interior of the driver's cab using an adaptive and predictive control algorithm, in order thereby to generate a control signal for the inertial shaker to the pane on which the inertial shaker is attached is to be vibrated in such a way that the disc generates anti-noise in the interior of the driver's cab, which minimizes the error signal picked up by the microphone. The use of an adaptive and predictive control algorithm makes it possible to counteract the noise in the interior of the driver's cab, which changes over time in terms of frequency and amplitude composition, during operation of the work vehicle in such a way that the counter-noise arrives at the microphone location when the noise situation there is destructive due to this counter-noise is to be compensated.
Es hat sich herausgestellt, dass durch die Ankopplung des Inertial-Schwingerregers an einer Scheibe der Fahrerkabine eine besonders effektive und direkte mechanische Ankopplung an das Vibro-Akustische-System aus Innenraum-Luftvolumen und Scheiben der Fahrerkabine bewirkt wird, die eine besonders effektive Lärmunterdrückung im Innenraum der Fahrerkabine ermöglicht. Dadurch wird nicht nur den Resonanzschwingungen der Scheibe und des eingeschlossenen Luftvolumens der Fahrerkabine entgegengewirkt, sondern die Scheibe selbst als Gegenschallquelle betrieben.It has been found that by coupling the inertial shaker to a window in the driver's cabin, a particularly effective and direct mechanical connection to the vibro-acoustic system of interior air volume and windows in the driver's cabin is brought about, which results in particularly effective noise suppression in the interior the driver's cab allows. This not only counteracts the resonance vibrations of the pane and the enclosed volume of air in the driver's cab, but also operates the pane itself as an anti-noise source.
Der Inertial-Schwingerreger sollte insbesondere im Niederfrequenzbereich unterhalb von 100 Hz betreibbar sein, da in diesem Frequenzbereich kritische Lärmsituationen in Fahrerkabinen von Arbeitsfahrzeugen auftreten.The inertial vibration exciter should be able to be operated in the low-frequency range below 100 Hz in particular, since critical noise situations in driver's cabs of work vehicles occur in this frequency range.
Die Befestigung des elektrodynamischen Inertial-Schwingerregers auf der Scheibe realisiert mit einem kompakten Aktuator (Inertial-Schwingerreger) einen Aufbau, mit dem durch die gezielt zu Schwingungen angeregten Scheibe Schall mit tiefen Frequenzen und hohen Schallpegeln im Innenraum der Fahrerkabine erzeugt werden kann, der zur Auslöschung des Lärms im Bereich des Mikrophons dient.The fastening of the electrodynamic inertial shaker on the disc creates a structure with a compact actuator (inertial shaker) with which sound with low frequencies and high sound levels can be generated in the interior of the driver's cab through the disc, which is specifically excited to vibrate, which leads to cancellation of the noise in the area of the microphone.
Adaptive und prädiktive Regel- oder Filteralgorithmen sind im Stand der Technik an sich bekannt. Steuereinheiten, die zur Durchführung eines adaptiven und prädiktiven Regelalgorithmus eingerichtet sind, sind auch unter dem Begriff adaptive Internal-Model-Controller (IMC) bekannt.Adaptive and predictive control or filter algorithms are known per se in the prior art. Control units that are set up to implement an adaptive and predictive control algorithm are also known under the term adaptive internal model controller (IMC).
Weiterhin ist erfindungsgemäß das Mikrophon an oder in dem Gehäuse des Inertial-Schwingerregers platziert. Wenn das Mikrophon im Inneren des Gehäuses angeordnet ist, sollte das Mikrophon im Bereich einer Gehäuseöffnung liegen, die es ermöglicht, dass das Mikrophon den Schall im Innenraum der Fahrerkabine erfasst. In dieser Ausführungsform ist es weiter vorteilhaft, dass Mikrophon so ausgerichtet zu befestigen, dass eine zentrale Oberflächennormale auf der Membran des Mikrophons senkrecht zu der Oszillationsachse des Inertial-Schwingerregers steht. Dadurch wird vermieden, dass die Schwingungen des Inertial-Schwingerregers die Membran des Mikrophons zusätzlich in Schwingungen versetzen, was das Signal des Mikrophons verfälschen könnte.Furthermore, according to the invention, the microphone is placed on or in the housing of the inertial shaker. If the microphone is arranged inside the housing, the microphone should be in the area of a housing opening that allows the microphone to capture the sound inside the driver's cab. In this embodiment, it is also advantageous for the microphone to be attached in such a way that a central surface normal on the membrane of the microphone is perpendicular to the oscillation axis of the inertial shaker. This avoids the vibrations of the inertial shaker causing the membrane of the microphone to vibrate as well, which could falsify the signal from the microphone.
Die Anordnung des Mikrophons in unmittelbarer Nachbarschaft zu dem Inertial-Schwingerreger hat den weiteren Vorteil, dass dadurch die akustische Laufzeit zwischen Mikrophon und Inertial-Schwingerreger sehr klein ist, was die Regelung stabiler und robuster gegenüber von Bewegungen des Kopfes des Fahrers macht, denn Bewegungen des Kopfes des Fahrers würden bei einem näher am Kopf des Fahrers platzierten Mikrophon die Regelstrecke stärker verändern.The arrangement of the microphone in the immediate vicinity of the inertial shaker has the further advantage that the acoustic transit time between the microphone and the inertial shaker is very small, which makes the control more stable and robust to movements of the driver's head, because movements of the driver's head would change the controlled system more with a microphone placed closer to the driver's head.
In einer bevorzugten Ausführungsform ist der Inertial-Schwingerreger in horizontaler und in vertikaler Richtung außerhalb der Mitte der Scheibe liegend an der Scheibe befestigt. Als horizontale Richtung wird hier eine Richtung parallel zur Bodenfläche, auf der das Arbeitsfahrzeug steht, bezeichnet und als vertikale Richtung eine zu dieser Bodenfläche senkrechte Richtung. Der Vorteil, den Inertial-Schwingerreger außermittig an der Scheibe zu platzieren besteht darin, dass die Schwingungsmode, deren Wellenlänge gleich der Länge der Scheibe in horizontaler Richtung ist, und die Schwingungsmode, deren Wellenlänge gleich der Höhe der Scheibe in vertikaler Richtung ist, genau in der Mitte der Scheibe Schwingungsknoten haben. An diese niederfrequenten Schwingungsmoden könnte ein mittig an der Scheibe befestigter Inertial-Schwingerreger nicht effektiv ankoppeln. Außerdem stört ein versetzt außerhalb der Mitte an der Scheibe angeordneter Inertial-Schwingerreger die Durchsicht durch die Scheibe weniger.In a preferred embodiment, the inertial shaker is attached to the disk off-centre in the horizontal and vertical directions of the disk. A direction parallel to the floor surface on which the working vehicle is standing is referred to here as a horizontal direction, and a direction perpendicular to this floor surface is referred to as a vertical direction. The advantage of placing the inertial shaker off-centre on the disk is that the vibration mode whose wavelength is equal to the length of the disk in the horizontal direction, and the vibration modes whose wavelength is equal to the height of the disk in the vertical direction have vibration nodes right at the center of the disk. An inertial shaker mounted centrally on the disk could not couple effectively to these low-frequency vibration modes. In addition, an inertial shaker arranged off-centre on the pane is less disruptive to the view through the pane.
Üblicherweise wäre es sinnvoll, wegen des hier allein interessierenden Niederfrequenzbereichs von Frequenzen kleiner als 100 Hz das Mikrophonsignal zunächst einer Tiefpassfilterung zu unterziehen, da nur diese Frequenzen in die Regelung einbezogen werden müssen. In einer bevorzugten Ausführungsform ist vorgesehen, dass anstelle einer Tiefpassfilterung des analogen Mikrophonsignals die Steuereinheit dazu eingerichtet ist, zur Digitalisierung das Mikrophonsignal mit einer Abtastfrequenz von wenigstens 20 kHz abzutasten. Durch die Überabtastung wird die Tiefpassfilterung erst ab 10 kHz benötigt. Diese erfolgt aber schon physikalisch durch die Trägheit der Mikrophonmembran.Normally, it would make sense to first subject the microphone signal to low-pass filtering because of the low-frequency range of frequencies below 100 Hz that is the only one of interest here, since only these frequencies have to be included in the control. In a preferred embodiment it is provided that instead of low-pass filtering of the analog microphone signal, the control unit is set up to sample the microphone signal with a sampling frequency of at least 20 kHz for digitization. Due to oversampling, low-pass filtering is only required from 10 kHz. However, this already takes place physically due to the inertia of the microphone membrane.
Auf der Ausgangsseite der Steuereinheit ist ebenfalls keine Tiefpassfilterung vorgesehen, da die Trägheit des oszillierenden Körpers in dem Inertial-Schwingerreger effektiv als Tiefpassfilterung wirkt.No low-pass filtering is provided on the output side of the control unit either, since the inertia of the oscillating body in the inertial shaker effectively acts as low-pass filtering.
In einer bevorzugten Ausführungsform ist die Steuereinheit dazu eingerichtet, den adaptiven und prädiktiven Regelalgorithmus nur bis zu einer vorgegebenen Grenzfrequenz adaptierend durchzuführen. Diese Grenzfrequenz lässt sich in Abhängigkeit vom Abstand zwischen dem Mikrophon und dem Ort, wo die Auslöschung durch Gegenschall effektiv am wirksamsten sein soll (Ohren des Fahrers) und der Kabinenform ab. Durch Bestimmung der Grenzfrequenz kann vermieden werden, dass Gegenschallkomponenten erzeugt werden, die zwar am Ort des Mikrophons, nicht aber am tatsächlichen Wirkungsort (Ohren des Fahrers) zu einer Verminderung des Lärms führen würden.In a preferred embodiment, the control unit is set up to carry out the adaptive and predictive control algorithm in an adaptive manner only up to a predefined limit frequency. This cut-off frequency can be determined depending on the distance between the microphone and the place where the anti-noise cancellation should be most effective (driver's ears) and the shape of the cabin. Determining the cut-off frequency can prevent the generation of anti-noise components, which would lead to a reduction in noise at the location of the microphone but not at the actual location (the driver's ears).
Damit nach der Abtastung des Mikrophonsignals mit 20 kHz der Rechenaufwand durch die hohe Abtastfrequenz nicht zu einer signifikanten Erhöhung der Rechenzeit im übrigen Regelalgorithmus führt, ist die Steuereinheit nach der Abtastung mit 20 kHz mit einem Down-Sampler versehen, der dazu eingerichtet ist, das digitalisierte Signal einem Down-Sampling auf höchstens 2 kHz zu unterziehen. Dieses Down-Sampling hat nicht den negativen zeitlich verzögernden Effekt einer Tiefpassfilterung eines analogen Signals, da dieses Down-Sampling für das digitalisierte Signal durchgeführt wird, was keine signifikante Verzögerung mit sich bringt.So that after the sampling of the microphone signal at 20 kHz, the computing effort due to the high sampling frequency does not lead to a significant increase in the computing time im rest of the control algorithm, the control unit is provided with a down-sampler after sampling at 20 kHz, which is set up to subject the digitized signal to a down-sampling to a maximum of 2 kHz. This down-sampling does not have the negative time-delaying effect of low-pass filtering an analog signal, since this down-sampling is performed on the digitized signal, which does not introduce any significant delay.
Zur Beschleunigung des adaptiven und prädiktiven Regelalgorithmus ist ferner vorgesehen, dass die Steuereinheit mit einem Entzerrungsfilter in dem adaptiven und prädiktiven Regelalgorithmus versehen ist, das invers zum minimalphasigen Anteil des Frequenzganges der Regelstrecke ist, um die Konvergenzzeit des adaptiven und prädiktiven Regelalgorithmus frequenzunabhängig zu machen. Auf diese Weise kann die Konvergenzgeschwindigkeit des adaptiven und prädiktiven Regelalgorithmus erhöht werden, da es keine Frequenzbereiche mit sehr hohen Konvergenzzeiten einerseits und andere Frequenzbereiche mit sehr niedrigerer Konvergenzzeit gibt, was bedeuten würde, dass die längste Konvergenzzeit als maßgeblich zu berücksichtigen wäre, sondern nur noch eine kleinere mittlere Konvergenzzeit, die dann für alle Frequenzen gilt.To speed up the adaptive and predictive control algorithm, it is also provided that the control unit is provided with an equalization filter in the adaptive and predictive control algorithm, which is the inverse of the minimum-phase component of the frequency response of the controlled system around the convergence time of the adaptive and predictive control algorithm frequency-independent. In this way, the convergence speed of the adaptive and predictive control algorithm can be increased, since there are no frequency ranges with very high convergence times on the one hand and other frequency ranges with very low convergence times, which would mean that the longest convergence time would have to be considered as relevant, but only one smaller average convergence time, which then applies to all frequencies.
In einer bevorzugten Ausführungsform ist nicht nur das Mikrophon an dem Gehäuse des Inertial-Schwingerregers angebracht oder darin integriert, sondern ist auch die Steuereinheit mit ihren elektrischen Schaltkreisen und digitalen Prozessoreinheiten als ein Steuerbaustein zusammengefasst an dem Gehäuse des Inertial-Schwingerregers angebracht oder darin integriert. In dieser Ausführungsform kann ein Arbeitsfahrzeug mit aktiver Lärmreduzierung in der Fahrerkabine realisiert werden, indem der Inertial-Schwingerreger mit dem damit verbundenen Mikrophon und der damit verbundenen Steuereinheit an der Scheibe der Fahrerkabine befestigt wird und dann mit der elektrischen Gleichstromversorgung in der Fahrerkabine verbunden wird. Dadurch ist die Nachrüstung eines Arbeitsfahrzeugs ohne aktive Lärmreduzierung durch den Einbau und den Anschluss einer einzigen Komponente auf sehr einfache Weise möglich.In a preferred embodiment, not only is the microphone attached to the housing of the inertial shaker or integrated therein, but the control unit with its electrical circuits and digital processor units combined as a control module is attached to the housing of the inertial shaker or integrated therein. In this embodiment, a work vehicle with active noise reduction in the driver's cab can be realized by attaching the inertial shaker with the associated microphone and control unit to the window of the driver's cab and then connecting it to the DC electrical power supply in the driver's cab. This makes it very easy to retrofit a work vehicle without active noise reduction by installing and connecting a single component.
Soweit in der vorliegenden Anmeldung von einer "Scheibe" die Rede ist, wird dies in der Praxis in der Regel eine transparente Scheibe aus Glas oder Kunststoff sein. Grundsätzlich ist die Erfindung aber auch realisierbar, wenn neben Öffnungen mit Fenstern eine Öffnung der Fahrerkabine mit einer nicht transparenten Scheibe geschlossen ist, an der dann der Inertial-Schwingerreger befestigt werden könnten, um die aktive Lärmreduzierung in der Fahrerkabine des Arbeitsfahrzeuges zu realisieren.Insofar as a “pane” is mentioned in the present application, in practice this will generally be a transparent pane made of glass or plastic. In principle, the invention can also be implemented if, in addition to openings with windows, an opening in the driver's cab is closed with a non-transparent pane, to which the inertial vibration exciter could then be attached in order to implement active noise reduction in the driver's cab of the work vehicle.
Die Erfindung wird im Folgenden anhand eines Ausführungsbeispiels im Zusammenhang mit den Zeichnungen erläutert, in denen:
-
Fig. 1 zeigt die Motorzündfrequenz eines mit einem Verbrennungsmotor angetriebenen Gabelstaplers bei der Beschleunigung als Funktion der Zeit, -
Fig. 2 zeigt die Radstollenfrequenz des beschleunigenden Gabelstaplers als Funktion der Zeit, -
Fig. 3 zeigt eine schematische perspektivische Ansicht und eine Querschnittsansicht einer Fahrerkabine eines Arbeitsfahrzeuges, -
Fig. 4 zeigt ein schematisches Blockschaltbild einer Fahrerkabine mit Komponenten zur aktiven Lärmreduzierung, -
Fig. 5 zeigt ein Blockschaltbild des Regelkreises mit aktiver Lärmreduzierung und -
Fig. 6 zeigt ein Blockdiagramm des Regelkreises als digitales System.
-
1 shows the engine firing frequency of an internal combustion engine powered forklift during acceleration as a function of time, -
2 shows the wheel lug frequency of the accelerating forklift as a function of time, -
3 shows a schematic perspective view and a cross-sectional view of a driver's cab of a work vehicle, -
4 shows a schematic block diagram of a driver's cab with components for active noise reduction, -
figure 5 shows a block diagram of the control circuit with active noise reduction and -
6 shows a block diagram of the control loop as a digital system.
In der Fahrerkabine eines Arbeitsfahrzeugs wird das Primärsignal (Störschall) mit einem Mikrophon, das hierin auch als Fehlermikrophon bezeichnet wird, gemessen. Der Störschall stellt ein multitonales Signal dar, zu dem verschiedene Frequenzkomponenten beitragen, die wiederum Funktionen der Zeit sind, z.B. wenn das Arbeitsfahrzeug beschleunigt. Als Beispiel für eine beitragende Signalkomponente ist in
Ein akustisches Problem besteht in der Anregung der Hohlraumresonanzen der Fahrerkabine im Frequenzbereich von 30 Hz bis 50 Hz durch die aus der Motordrehfrequenz und der Raddrehfrequenz resultierenden Sinusoiden des Primärsignals. Um diese relativ niedrigen Frequenzen ausreichend durch einen Aktuator anzuregen, wird eine Scheibe mit einem auf deren Oberfläche befestigten Inertial-Schwingerreger als Aktuatoreinrichtung eingesetzt.An acoustic problem is the excitation of the cavity resonances in the driver's cab in the frequency range from 30 Hz to 50 Hz by the sinusoids of the primary signal resulting from the engine rotation frequency and the wheel rotation frequency. In order to sufficiently excite these relatively low frequencies with an actuator, a disc with an inertial vibration exciter attached to its surface is used as the actuator device.
In
Im Folgenden wird die Regelung des Inertial-Schwingerregers in Abhängigkeit von dem Fehlersignal beschrieben. Das Stellsignalwird durch den Inertial-Schwingerreger auf der Innenseite der Heckscheibe erzeugt. Das Fehlermikrophon 6 ist in unmittelbarer Nähe zum Inertial-Schwingerreger 4 daran platziert. Der Regler wird gegenwärtig mit Matlab Simulink auf RCP-Plattform (DS1202, dSpace) implementiert; bei der endgültigen Ausführung wird der Regler auf einem Serien-DSP implementiert. Das Blockschaltbild des Aufbaus mit Primärsignalgenerierung, Regelkreis und Auswertung der Schallreduktion durch das Monitormikrophon ist in
Im Blockschaltbild in
Im Blockschaltbild in
In
Unterkomponenten untergliedert ist. Das Signal des Fehlermikrophons wird nach Passieren eines Verstärkers einer Analog-Digital-Umsetzung unterzogen. Auf das digitalisierte Signal wirkt dann ein Antialiasing-Filter. Es ist hier zu beachten, dass das Antialiasing-Filter hier nicht als Tiefpassfilter für das analoge Signal realisiert ist, sondern eine Abtastung mit einer Frequenz von mindestens 20 kHz des digitalisierten Signals bewirkt. Das hat den Vorteil, dass die durch die elektrodynamische Trägheit eines analogen Tiefpassfilters bedingte Verzögerung vermieden werden kann, denn die hochfrequente Abtastung des digitalisierten Signals ist nicht mit einer solchen Verzögerung verbunden. Um den Rechenaufwand im eigentlichen Regelalgorithmus zu begrenzen wird dann ein Down-Sampler angewendet, der ein Down-Sampling auf 2 kHz bewirkt. Der eigentliche Regelalgorithmus läuft dann in dem mit IMC (Internal Model Control) bezeichneten Block ab. Die Ausgabe des Regelalgorithmus durchläuft dann einen Up-Sampler und anschließend ein Interpolationsfilter.Subcomponents is divided. After passing through an amplifier, the signal from the error microphone undergoes analog-to-digital conversion. An antialiasing filter then acts on the digitized signal. It should be noted here that the antialiasing filter is not implemented as a low-pass filter for the analog signal, but causes the digitized signal to be sampled at a frequency of at least 20 kHz. This has the advantage that the delay caused by the electrodynamic inertia of an analog low-pass filter can be avoided, because the high-frequency sampling of the digitized signal is not associated with such a delay. In order to limit the computing effort in the actual control algorithm, a down-sampler is then used, which causes down-sampling to 2 kHz. The actual control algorithm then runs in the block designated IMC (Internal Model Control). The output of the control algorithm then goes through an up-sampler and then an interpolation filter.
Schließlich wird die Ausgabe des Interpolationsfilters einer Digital-Analog-Umsetzung unterzogen, das analoge Signal verstärkt und als Steuersignal dem Inertial-Schwingerreger zugeführt. Dann erfolgt die Struktur-Akustische Übertragung von der in Schwingung versetzten Scheibe über das Luftvolumen im Innenraum der Fahrerkabine zum Fehlermikrophon, wo der so erzeugte Gegenschall den externen Störungsschall durch Überlagerung auslöschen soll.Finally, the output of the interpolation filter is subjected to a digital-to-analog conversion, the analog signal is amplified and fed as a control signal to the inertial shaker. Then the structure-acoustic transmission takes place from the vibrating pane via the air volume in the interior of the driver's cab to the error microphone, where the counter-noise generated in this way is intended to extinguish the external interference noise by superimposition.
Es wird eine Multiratenverarbeitung (20 kHz A/D - D/A - Umsetzung, 2 kHz Signalverarbeitung) gemäß dem Blockdiagramm in
Der Regler H(z) wird als adaptiver (normalized FxLMS) IMC mit Vorentzerrung der Sekundärstrecke implementiert. Unter Annahme fehlerfreier A/D- und D/A-Umsetzung ist der Regelkreis als zeitdiskretes System in
Die Aktualisierungsvorschrift (nFxLMS) der adaptiven Einheit c = [c 0, c 2, ..., C M-1]T ist
Der Vektor des gefilterten Referenzsignal d̂ '(n) = [d̂'(n),d̂'(n - 1),... ,d̂' (n - M + 1) ]T wird aus dem Referenzsignal
gebildet, wobei * der Faltungsoperator ist. Hierbei ist
Normierung des Konvergenzfaktors lautet
Claims (7)
- Working vehicle having a driver's cabin (10) that has a closed cabin interior that is enclosed by structurally rigid cabin wall elements and at least one pane that closes off a cabin wall opening left free by the cabin wall elements, having an actuator device acting on the pane, a sensor device and a control unit connected to the sensor device and the actuator device, which control unit is designed to actuate the actuator device so as to reduce noise in the cabin interior on the basis of signals from the sensor device, characterized in that the actuator device is an inertial oscillator (4) attached to the inner surface of the pane, the sensor device is a microphone (6) oriented towards the cabin interior and the control unit is designed to actuate the inertial oscillator (4) with adaptive and predictive regulation on the basis of the microphone signals in order to perform active noise reduction in the cabin interior, wherein the microphone (6) is placed on or in the housing of the inertial oscillator (4) and is attached in a manner oriented such that a central surface normal to the membrane of the microphone is perpendicular to the axis of oscillation of the inertial oscillator (4) .
- Working vehicle according to Claim 1, characterized in that the inertial oscillator (4) is attached to the pane so as to lie horizontally and vertically outside the centre of the pane.
- Working vehicle according to either of the preceding claims, characterized in that, instead of low-pass filtering of the microphone signal, the control unit is designed to sample the microphone signal at a sampling frequency of at least 20 kHz.
- Working vehicle according to Claim 3, characterized in that the control unit is designed, after sampling the microphone signal, to perform downsampling to at most 2 kHz in order thereby to reduce computing burden in the remaining control algorithm.
- Working vehicle according to one of the preceding claims, characterized in that the control unit is provided with an equalization filter in the adaptive and predictive control algorithm that is inverse to the minimum-phase component of the frequency response of the control loop in order to make the convergence time of the adaptive and predictive control algorithm frequencyindependent and shorter.
- Working vehicle according to one of the preceding claims, characterized in that the control unit is designed to adaptively perform the adaptive and predictive control algorithm only up to a predefined limit frequency.
- Working vehicle according to one of the preceding claims, characterized in that the control unit, with its electrical circuits and processor units combined in the form of a control module, is attached to the housing of the inertial oscillator or integrated therein.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017126883.9A DE102017126883B4 (en) | 2017-11-15 | 2017-11-15 | Work vehicle with noise reduction in a driver's cab |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3486897A1 EP3486897A1 (en) | 2019-05-22 |
EP3486897B1 true EP3486897B1 (en) | 2022-08-31 |
Family
ID=64051366
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18202776.3A Active EP3486897B1 (en) | 2017-11-15 | 2018-10-26 | Work vehicle with noise reduction in a vehicle cabin |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3486897B1 (en) |
DE (1) | DE102017126883B4 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020101100A1 (en) | 2020-01-17 | 2021-07-22 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for operating a noise suppression system in a motor vehicle |
DE102021001536A1 (en) | 2021-03-24 | 2022-09-29 | Abdullatif Alhaj Rabie | Silencer system in the car anti-noise in the car anti-noise |
CN114407945B (en) * | 2022-02-07 | 2022-09-16 | 中电建十一局工程有限公司 | Dynamic vibration and noise reduction structure and method for carriage of light rail vehicle |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0434468A3 (en) * | 1989-12-22 | 1992-05-27 | Bridgestone Corporation | Vibration control system |
US5332061A (en) * | 1993-03-12 | 1994-07-26 | General Motors Corporation | Active vibration control system for attenuating engine generated vibrations in a vehicle |
WO1994029845A1 (en) | 1993-06-11 | 1994-12-22 | Caterpillar Inc. | Top speaker mounting for active noise cancellation |
WO1994029846A1 (en) | 1993-06-11 | 1994-12-22 | Caterpillar Inc. | Vehicle operator station with three dimensional active noise cancellation |
US6137886A (en) | 1994-07-18 | 2000-10-24 | Cooper Tire & Rubber Company | Active vibration control method and apparatus |
US5812684A (en) | 1995-07-05 | 1998-09-22 | Ford Global Technologies, Inc. | Passenger compartment noise attenuation apparatus for use in a motor vehicle |
DE10116166C2 (en) | 2001-03-31 | 2003-03-27 | Daimler Chrysler Ag | Acoustically active disc |
DE10307168B3 (en) * | 2003-02-20 | 2004-10-14 | Daimlerchrysler Ag | Vibration damper used for automobile body panel using piezoelectric element providing active vibration damping by transmission of flexure forces to body panel |
JP2006118694A (en) * | 2004-09-21 | 2006-05-11 | Nissan Motor Co Ltd | Optimum location constitution of vibration suppressing device |
WO2008034789A1 (en) | 2006-09-18 | 2008-03-27 | Anocsys Ag | Arrangement having an active noise reduction system |
DE102008013846A1 (en) | 2008-03-12 | 2009-09-17 | Claas Selbstfahrende Erntemaschinen Gmbh | Agricultural work machine with noise-damped cabin |
JP5957810B2 (en) * | 2011-06-06 | 2016-07-27 | ソニー株式会社 | Signal processing apparatus and signal processing method |
EP2629289B1 (en) * | 2012-02-15 | 2022-06-15 | Harman Becker Automotive Systems GmbH | Feedback active noise control system with a long secondary path |
KR101628119B1 (en) * | 2014-08-11 | 2016-06-08 | 현대자동차 주식회사 | System and method for noise control |
DE102016203873A1 (en) | 2016-03-09 | 2017-09-14 | Evoguard Gmbh | Rotary drive, disc valve and beverage bottling plant |
-
2017
- 2017-11-15 DE DE102017126883.9A patent/DE102017126883B4/en active Active
-
2018
- 2018-10-26 EP EP18202776.3A patent/EP3486897B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP3486897A1 (en) | 2019-05-22 |
DE102017126883B4 (en) | 2022-07-28 |
DE102017126883A1 (en) | 2019-05-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3486897B1 (en) | Work vehicle with noise reduction in a vehicle cabin | |
DE102014201228B4 (en) | System and method for active noise control | |
DE69503659T2 (en) | BROADBAND NOISE AND VIBRATION REDUCTION | |
US5754662A (en) | Frequency-focused actuators for active vibrational energy control systems | |
DE4116270C2 (en) | attenuator | |
DE112013003285B4 (en) | Active vibration noise suppression apparatus | |
DE69328148T2 (en) | Motor vehicle vibration damping arrangement | |
DE102015223517A1 (en) | Motor vehicle and method for operating a motor vehicle | |
DE19750218C2 (en) | Method for suppressing periodic pressure changes in a cavity with an external flow and an opening | |
DE112013004693B4 (en) | Active noise reduction device | |
DE10110822A1 (en) | Method and device for influencing the transmission of vibrations of a vibration generator to an associated object, in particular engine vibrations on the body of a motor vehicle | |
DE69130112T2 (en) | SYSTEM FOR ACTIVE VIBRATION CONTROL | |
DE102019125788A1 (en) | Agricultural work vehicle with a cab | |
EP0470064A2 (en) | Internal combustion engine | |
EP3381263B1 (en) | Agricultural vehicle | |
DE102016001593B4 (en) | Method for generating a counter sound for noise reduction in a motor vehicle and motor vehicle | |
DE102008013846A1 (en) | Agricultural work machine with noise-damped cabin | |
DE102008011285A1 (en) | Active sound blocker | |
DE102017200300B4 (en) | Active damping device for reducing a body vibration of a component and motor vehicle | |
Gulyas et al. | Active noise control in agricultural machines | |
DE19826177A1 (en) | Method and device for influencing vibrations emanating from an at least indirectly motor-driven vehicle | |
DE102020200457A1 (en) | Noise minimization on a vehicle | |
EP4401072A1 (en) | Agricultural work vehicle with a cabin | |
EP3799033B1 (en) | Method for driving a noise damping system for an agricultural working vehicle | |
DE102015201626A1 (en) | Motor vehicle door |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20191121 |
|
RBV | Designated contracting states (corrected) |
Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: GRANT OF PATENT IS INTENDED |
|
INTG | Intention to grant announced |
Effective date: 20220523 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE PATENT HAS BEEN GRANTED |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: REF Ref document number: 1515885 Country of ref document: AT Kind code of ref document: T Effective date: 20220915 Ref country code: DE Ref legal event code: R096 Ref document number: 502018010522 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D Free format text: LANGUAGE OF EP DOCUMENT: GERMAN |
|
REG | Reference to a national code |
Ref country code: LT Ref legal event code: MG9D |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: MP Effective date: 20220831 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: RS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20221130 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20221231 Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20221201 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SM Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20230102 Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: MC Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 502018010522 Country of ref document: DE |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230507 |
|
REG | Reference to a national code |
Ref country code: BE Ref legal event code: MM Effective date: 20221031 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20221026 Ref country code: AL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20221130 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20221031 Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20221031 |
|
26N | No opposition filed |
Effective date: 20230601 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20221031 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20221026 Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20221130 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20231023 Year of fee payment: 6 Ref country code: DE Payment date: 20231018 Year of fee payment: 6 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO Effective date: 20181026 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 Ref country code: IT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20220831 |