JP2000056806A - Active noise vibration control unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an active noise vibration control unit which can prevent the reduction effect of noise and vibration from greatly decreasing by reducing variation of phase characteristics of a drive signal. SOLUTION: A controller 25 is provided with a phase characteristic variation reducing process part 25G which generates a new adaptive digital filter W by performing interpolative operation canceling variation of phase characteristics of a drive signal (y) accompanying the switching of a division number D for respective filter coefficients of an adaptive digital filter when the division number D is switched and then generates a new adaptive digital filter W consisting of filter coefficients as many as the division number D after the switching by properly interpolating or thinning out the respective filter coefficients Wi of the adaptive digital filter W after the interpolative operation. When the division number D is switched, the new adaptive digital filter W is used to generate the drive signal (y).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active noise and vibration control device for reducing a noise level or a vibration level by causing a control sound or a control vibration to interfere with a periodic noise or a vibration, and more particularly to a digital signal or a digital signal. When a control signal or control vibration is generated by driving a loudspeaker or a control vibration generator with a certain drive signal, a digital signal as a drive signal generated within one cycle of noise or vibration is generated. It is possible to reduce deterioration of control characteristics due to switching of the number and switching of the configuration of a reference signal used when generating a drive signal.

[0002]

2. Description of the Related Art The prior art of this type relates to noise reduction control.
There is an active noise control device described in Japanese Patent Publication No. 92-92. That is, in such a conventional apparatus, a control sound capable of canceling out periodic noise such as engine rotation noise is generated in accordance with an LMS algorithm which is a successively updated adaptive algorithm. In one embodiment, the number of control sound pulses output in one cycle of the noise is set to 4
It is designed to be either pulse or 8 pulse, and the switching of the pulse number is 200 Hz of the noise frequency
Is performed as a boundary.

That is, in a situation where the frequency of the noise is high (the period is short), if the number of pulses of the control sound to be output in one cycle of the noise is large, the update of the filter coefficient executed in synchronization with the output of each pulse is performed. D executed as processing or interrupt processing
The time that can be spent on the / A conversion processing and the like becomes short, and the calculation may not be performed depending on the ability of the microprocessor that executes the processing. On the other hand, in the situation where the frequency of the noise is low (the cycle is long), If the number of pulses of the control sound output in one cycle is small, the output time of the same pulse signal becomes longer, and the smoothness of the control sound actually emitted from the loudspeaker is lost, and the noise reduction effect is reduced. In some cases, there is a problem. Therefore, in the above-described conventional apparatus, the number of pulses of the control sound to be output within one cycle of the noise is made variable instead of fixed, thereby coping with the above problem.

[0004]

However, in the above-described conventional apparatus, the number of pulses of the control sound output within one cycle of the noise is simply switched according to the noise frequency. There is a problem that the noise reduction control is deteriorated.

That is, in the above-described conventional apparatus, the output interval (sampling clock) of each pulse signal is always T / D obtained by dividing the noise period T by the number of pulses (the number of divisions) D.
When the number of pulses at that time is either 4 or 8, the output of the first pulse is started immediately after the detection of the rise of the signal (tach pulse signal) synchronized with one cycle of the noise, and then T / The output of the second pulse is started after the lapse of D, and then the output of the third pulse is started after the lapse of T / D, and so on. If the same pulse signal is present, the intermediate point of the same pulse signal (intermediate point between the start of the output of the pulse signal and the start of the output of the next pulse signal) is expressed as a position with respect to one cycle of the noise. , It is different between 4 pulses and 8 pulses,
As a result, the phase characteristics change and the noise reduction control deteriorates until the adaptive calculation converges.

In other words, in the above-described conventional apparatus adapted to perform adaptive processing, when the number of pulses of the control sound to be output within one cycle of the noise is switched, the drive signal serving as the control sound is switched. The relative accuracy of
Until the filter coefficient of the adaptive digital filter converges to the optimum value by the adaptive operation, the noise level must be deteriorated.

In addition, even if the number of pulses of the control sound output in one cycle of the noise is constant, the control sound is convoluted with a reference signal indicating the noise generation state and an adaptive digital filter having a variable filter coefficient. In a device adapted to calculate, as a result of switching the configuration of the reference signal used for the convolution, the phase characteristic of the generated control sound may be changed. Until the filter coefficient of the adaptive digital filter converges to the optimum value by the adaptive operation, the noise level deteriorates.

The present invention has been made in view of such unresolved problems of the prior art, and reduces noise and vibration by reducing the change in the phase characteristic of the drive signal as described above. It is an object of the present invention to provide an active noise and vibration control device capable of preventing the effect of reducing noise from being significantly reduced.

[0009]

According to a first aspect of the present invention, there is provided a control sound source or control vibration source capable of generating a control sound or control vibration that interferes with periodic noise or vibration. Control means for generating and outputting a drive signal for driving the control sound source or the control vibration source so that the residual noise or residual vibration after the interference is reduced, and the control means includes: The drive signal is generated using a filter coefficient variable adaptive digital filter with a time obtained by dividing the basic period by a predetermined number of divisions as a sampling period, and the number of divisions is switched according to a predetermined condition. In the active noise and vibration control apparatus, when the number of divisions is switched, a change in the phase characteristic of the drive signal accompanying the switching of the number of divisions is reduced. The phase characteristic change reduction processing is performed on the adaptive digital filter, and the adaptive digital filter on which the phase characteristic change reduction processing has been performed is used for the drive signal generation processing after switching the division number. .

According to a second aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, the phase characteristic change reduction processing is performed by converting a vector having each filter coefficient of the adaptive digital filter as an element. On the other hand, a process for performing conversion using a square matrix is included.

According to a third aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect,
Reference signal generating means for generating a reference signal indicating a state of occurrence of the noise or vibration; and residual noise detecting means or residual vibration for detecting the residual noise or residual vibration after the interference and outputting it as a residual noise signal or residual vibration signal. Detection means, and the reference signal generation means generates an impulse train having the same cycle as a fundamental cycle of the noise or vibration as the reference signal, and the adaptive digital filter includes A digital filter comprising the same number of filter coefficients as the digital filter, wherein the control means includes a sampling cycle setting means for setting the sampling cycle, and the sampling filter set at an interval of the sampling cycle from the time when the latest impulse of the reference signal is generated. Drive signal generating means for sequentially using filter coefficients of an adaptive digital filter as the drive signal An adaptive processing unit that updates a filter coefficient of the adaptive digital filter according to an adaptive algorithm based on the residual noise signal or the residual vibration signal and the reference signal, and a division number setting unit that sets the division number. In the phase characteristic change reduction process, a new adaptive digital filter is created by performing an interpolation operation on each filter coefficient of the adaptive digital filter so as to cancel the change in the phase characteristic. By appropriately interpolating or thinning out the filter coefficients of the above, the new adaptive digital filter including the same number of filter coefficients as the number of divisions after switching is created.

According to a fourth aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, reference signal generating means for generating a reference signal indicating a state of occurrence of the noise or vibration; Residual noise detecting means or residual vibration detecting means for detecting the residual noise or residual vibration after the interference and outputting the residual noise signal or residual vibration signal,
And the reference signal generating means generates an impulse train having the same cycle as the basic cycle of the noise or vibration as the reference signal, and the adaptive digital filter has the same number as the number of divisions. A digital filter comprising a filter coefficient, wherein the control means includes a sampling cycle setting means for setting the sampling cycle, and the adaptive digital filter having an interval of the sampling cycle from the time when the latest impulse of the reference signal is generated. Drive signal generating means for sequentially using the filter coefficients as the drive signal; adaptive processing means for updating filter coefficients of the adaptive digital filter according to an adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal; Number setting means for setting the number The phase characteristic change reduction process interpolates or thins out the filter coefficients of the adaptive digital filter as appropriate to create a digital filter having the same number of filter coefficients as the number of divisions after switching, and the digital filter The interpolation processing is performed on each of the filter coefficients to cancel the change in the phase characteristic to create the new adaptive digital filter.

According to a fifth aspect of the present invention, there is provided the active noise and vibration control apparatus according to the first aspect of the present invention,
Reference signal generating means for generating a reference signal indicating a state of occurrence of the noise or vibration; and residual noise detecting means or residual vibration for detecting the residual noise or residual vibration after the interference and outputting it as a residual noise signal or residual vibration signal. Detection means, and the reference signal generation means generates an impulse train having the same cycle as a fundamental cycle of the noise or vibration as the reference signal, and the adaptive digital filter includes A digital filter comprising the same number of filter coefficients as the digital filter, wherein the control means includes a sampling cycle setting means for setting the sampling cycle, and the sampling filter set at an interval of the sampling cycle from the time when the latest impulse of the reference signal is generated. Drive signal generating means for sequentially using filter coefficients of an adaptive digital filter as the drive signal An adaptive processing unit that updates a filter coefficient of the adaptive digital filter according to an adaptive algorithm based on the residual noise signal or the residual vibration signal and the reference signal, and a division number setting unit that sets the division number. The phase characteristic change reduction process performs a conversion using a square matrix of the same order as the number of divisions before switching on a vector having each filter coefficient of the adaptive digital filter as an element, and converts each element of the vector after the conversion. Is appropriately interpolated or thinned to generate a new adaptive digital filter having the same number of filter coefficients as the number of divisions after switching.

According to a sixth aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, reference signal generating means for generating a reference signal indicating a state of occurrence of the noise or vibration; Residual noise detecting means or residual vibration detecting means for detecting the residual noise or residual vibration after the interference and outputting the residual noise signal or residual vibration signal,
And the reference signal generating means generates an impulse train having the same cycle as the basic cycle of the noise or vibration as the reference signal, and the adaptive digital filter has the same number as the number of divisions. A digital filter comprising a filter coefficient, wherein the control means includes a sampling cycle setting means for setting the sampling cycle, and the adaptive digital filter having an interval of the sampling cycle from the time when the latest impulse of the reference signal is generated. Drive signal generating means for sequentially using the filter coefficients as the drive signal; adaptive processing means for updating filter coefficients of the adaptive digital filter according to an adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal; Number setting means for setting the number The phase characteristic change reduction process interpolates or thins out the filter coefficients of the adaptive digital filter as appropriate to create a digital filter having the same number of filter coefficients as the number of divisions after switching, and the digital filter Is applied to a vector having each filter coefficient as an element, using a square matrix having the same order as the number of divisions after the switching, and creating the new adaptive digital filter using each element of the converted vector as a filter coefficient. And processing.

According to a seventh aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, a reference signal generation for generating a reference signal indicating a state of generation of the periodic noise or vibration is provided. Means, and a residual noise detecting means or a residual vibration detecting means for detecting the residual noise or residual vibration after the interference and outputting it as a residual noise signal or a residual vibration signal, and the reference signal generating means,
A sine wave having the same cycle as the fundamental cycle of the noise or vibration is generated as the reference signal, the adaptive digital filter is a digital filter including two filter coefficients, and the control unit Sampling cycle setting means for setting a cycle; drive signal generating means for generating the drive signal by convolving the reference signal and the adaptive digital filter; and an adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal. And a division number setting means for setting the number of divisions, wherein the phase characteristic change reduction processing comprises two filter coefficients of the adaptive digital filter. For a vector with elements as Alms, we were treated to create a new piece of the adaptive digital filter of two elements of the vector of the converted as a filter coefficient.

On the other hand, in order to achieve the above object, an invention according to claim 8 comprises a control sound source or control vibration source capable of generating a control sound or control vibration that interferes with periodic noise or vibration, Reference signal generating means for generating a reference signal indicating a state of occurrence of noise or vibration, and residual noise detecting means or residual vibration for detecting residual noise or residual vibration after the interference and outputting it as a residual noise signal or residual vibration signal Detecting means, and control means for generating and outputting a drive signal for driving the control sound source or control vibration source so that residual noise or residual vibration after the interference is reduced,
The reference signal generating means is configured to generate a sine wave having the same cycle as the fundamental cycle of the noise or vibration as the reference signal, and the control means convolves the reference signal and the adaptive digital filter. A drive signal generation unit that generates the drive signal, and an adaptive processing unit that updates a filter coefficient of the adaptive digital filter according to an adaptive algorithm based on the residual noise signal or the residual vibration signal and the reference signal, The drive signal generation means, in an active noise and vibration control device configured to switch the configuration of the reference signal used for the convolution according to the basic period of the noise or vibration, the driving of the reference signal used for the convolution When switching the configuration, a phase characteristic for reducing a change in the phase characteristic of the drive signal accompanying the switching is provided. The change reduction processing performed on the adaptive digital filter, an adaptive digital filter whose phase characteristic change reducing process is performed, and as used in the process of generating the drive signal after the switching.

Here, in the inventions according to the first to seventh aspects, when the number of divisions is switched, the phase characteristic change reduction processing is performed on the adaptive digital filter, and the adaptive digital filter on which the processing is performed is executed. However, since the adaptive digital filter used before the switching of the division number is used after the switching of the division number, the phase characteristic of the driving signal is Is reduced, or
Such a change in the phase characteristic is eliminated.

In particular, since the invention according to claim 2 includes a process of performing conversion using a square matrix in the phase characteristic change reduction process, by appropriately creating the square matrix, it is possible to obtain a desired phase characteristic change. Can be reliably given to the adaptive digital filter.

The invention according to claims 3 to 6 is a synchronous Filtered-X LMS algorithm (hereinafter, referred to as a synchronous Filtered-X LMS algorithm).
This is called the SFX algorithm. The present invention relates to an active noise and vibration control apparatus to which an adaptive algorithm adapted to use an impulse train synchronized with a basic cycle of noise or vibration as a reference signal as in the case of an adaptive digital filter is used. Has the same number of filter coefficients as the number of divisions. Therefore, when the number of divisions is switched, the number of filter coefficients (the number of taps) of the adaptive digital filter also increases or decreases.

If the number of taps of the adaptive digital filter is to be increased, a new filter coefficient is generated by, for example, an interpolation operation using the filter coefficient of the original adaptive digital filter, and the number of taps is increased. Conversely, if the number of taps is to be reduced, the number of taps will be reduced, for example, by thinning out the filter coefficients of the original adaptive digital filter.

Then, in the phase characteristic change reduction processing, after the processing for phase adjustment is performed on the original adaptive digital filter as in the invention according to claim 3 or 5, A new adaptive digital filter may be created by increasing or decreasing the number of taps by interpolation or thinning out, or as in the invention according to claim 4 or 6, first perform the above interpolation or thinning out. The number of taps may be increased or decreased to create a digital filter, and a process for adjusting the phase of the digital filter may be performed to create a new adaptive digital filter.

According to a seventh aspect of the present invention, there is provided an active noise control system to which an adaptive algorithm, such as a normal LMS algorithm, which uses a sine wave having the same period as the fundamental period of noise or vibration as a reference signal. The present invention relates to a vibration control device, and the number of taps of the adaptive digital filter is two. In this case, even if the number of divisions is switched, the number of taps of the adaptive digital filter remains two. Therefore, the phase characteristic change reduction process is realized by a process of performing a two-dimensional (2 × 2) square matrix conversion on a vector having two filter coefficients of an adaptive digital filter as elements.

On the other hand, the invention according to claim 8 is an active noise and vibration control apparatus in which the sampling cycle (output cycle of the drive signal) is constant, and furthermore, as in the case of a normal LMS algorithm or the like, as a reference signal. The present invention relates to an active noise and vibration control apparatus to which an adaptive algorithm adapted to use a sine wave having the same cycle as the basic cycle of noise or vibration is applied. The active noise and vibration control device is configured to switch the configuration of the reference signal used for the convolution operation when generating the drive signal in accordance with the basic period of noise or vibration.

Here, "switch the configuration of the reference signal"
Means, for example, that the number of taps of the adaptive digital filter is 2, and the reference signals sampled in synchronization with the sampling period are x (n), x (n-1), and x (n-2) (n, n −1 and n−2 are sampling times), and the reference signals used for the convolution operation for generating the drive signal are usually x (n) and x (n−1). , X (n) and x (n−2) according to predetermined conditions.

The reason for switching the configuration of the reference signal in this manner is that the ratio of the substantial sampling period of the reference signal to the fundamental period of noise or vibration approaches 1: 4 in a gradient algorithm such as the LMS algorithm. This is because it is useful in bringing the shape of a so-called error surface closer to a perfect circle. This point is described in detail in, for example, Japanese Patent Application Laid-Open No. 5-323975, which was previously proposed by the present applicant.

If the configuration of the reference signal is switched as described above, the substantial sampling period of the reference signal can be changed without changing the sampling period of the drive signal. As a result, the ratio can be changed to a desired value. Can be easily approached.

However, when the configuration of the reference signal is switched as described above, the phase characteristic of the drive signal changes before and after the switching, which causes deterioration in noise or vibration.

Therefore, if the phase characteristic change reduction processing is performed on the adaptive digital filter when the configuration of the reference signal is switched as in the invention according to the sixth aspect, compared with the case where such processing is not performed, As a result, the change in the phase characteristic of the drive signal is reduced, or such change in the phase characteristic is eliminated.

[0029]

According to the first to seventh aspects of the present invention, when the number of divisions is switched, a phase characteristic change reduction process is performed on the adaptive digital filter, and the adaptive digital filter on which the process is performed is divided. Because the adaptive digital filter used before the switching of the number of divisions is used as it is after the switching of the number of divisions, the change in the phase characteristic of the driving signal is changed compared to the case where the adaptive digital filter used before the switching of the number of divisions is used as is Is reduced, or such a change in the phase characteristic is eliminated, so that there is an effect that a better noise or vibration reduction control can be executed.

According to the eighth aspect of the invention, when the configuration of the reference signal is switched, the phase characteristic change reduction processing is performed on the adaptive digital filter. In comparison, a change in the phase characteristic of the drive signal is reduced or such a change in the phase characteristic is eliminated, so that there is an effect that a better noise or vibration reduction control can be executed.

[0031]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 5 are views showing an embodiment of the present invention. FIG. 1 is a schematic side view of a vehicle to which an active vibration control device which is an embodiment of the active noise vibration control device according to the present invention is applied. FIG.

First, the structure will be described. An engine 17 mounted horizontally is supported by a vehicle body 18 composed of a suspension member and the like via an active engine mount 20 disposed rearward in the vehicle longitudinal direction. . In addition,
Actually, a plurality of engine mounts that generate a passive supporting force according to the relative displacement between the engine 17 and the vehicle body 18 are interposed between the engine 17 and the vehicle body 18 in addition to the active engine mount 20. . As a passive engine mount, for example, a normal engine mount that supports a load with a rubber-like elastic body, or a known fluid-filled mount in which a fluid is sealed inside a rubber-like elastic body so that a damping force can be generated. An insulator or the like can be applied.

FIG. 2 is a plan view showing an upper structure of an active engine mount 20 connected to the engine 17 via a bracket (not shown) fixed to the engine 17. The two projecting connection bolts 30a are inserted from below into the insertion holes of the bracket described above, and nuts are screwed into the engine 17 so that the engine 17 is rotated.
Is fixed at the upper end. Reference numeral 60 denotes a rebound restricting member. The rebound restricting member 60 extends perpendicularly to a line connecting the two connecting bolts 30a and extends above the engine-side connecting member 30 in an arch shape. It is fixed to the case 43 and is located above the rebound stopper 31 made of a rubber elastic body fixed to the upper surface of the engine side connecting member 30.

FIG. 3 shows the internal structure of the active engine mount 20 shown in a sectional view taken in the direction of the arrow in FIG.
Of the A-A arrow sectional along a line connecting the two connecting bolts 30a, the axis of FIG. 3 (hereinafter, referred to as the mounting shaft) P ₁
Are shown on the right side as boundaries, and the two connecting bolts 30 of FIG.
The direction taken along line B-B cross sectional view perpendicular to the line connecting the a, are shown to the right of the mounting shaft P ₁ in FIG. 3 as the boundary.

In the active engine mount 20, mounting parts such as an outer cylinder 34, an intermediate cylinder 36, an orifice constituting member 37, and a supporting elastic body 32 are built in an apparatus case 43, and a fluid chamber 84 is provided below these mounting parts. The movable member 78 elastically supported while forming a part of the partition
This is a device incorporating an electromagnetic actuator 52 for displacing in the direction in which the volume of the vehicle changes, and a load sensor 64 for detecting a vibration state of a vehicle body member (not shown). The member 30 has a lower peripheral edge portion 30g formed with roundness,
The first hole 30c is formed at a position along the mounting shaft P _1. The connection bolt 30a fitted into the engine connection member 30 from below and facing upward has a head 30d protruding from the lower surface of the engine connection member 30. Here, the outer peripheral edge of the head 30d is formed to be rounded.

A hollow cylindrical body 30b having an inverted trapezoidal cross section is fixed to the lower surface of the engine side connecting member 30.
This hollow cylinder 30b, with a second hole 30e at a position close to the connecting bolts 30a are formed, the third hole 30f is formed on the lower surface along the mounting axis P _1. No hole is formed in the hollow cylinder 30b at a position separated from the connection bolt 30a.

A rubber support elastic body 32 is provided on the lower surface side of the engine side connecting member 30 so as to cover the inside of the hollow cylindrical body 30b and the lower side of the engine side connecting member 30.
Are fixed by vulcanization adhesion.

That is, the support elastic body 32 is a rubber elastic body whose diameter is increased downward from the engine-side connecting member 30 side, and has a hollow section 32 having a mountain-shaped cross section on its inner surface.
a, but the outer peripheral surface of the support elastic body 32 at a portion apart from the connecting bolt 30a is formed on the rebound stopper 31 while covering the outer peripheral portion of the engine side connecting member 30 as shown on the left side of FIG. It is continuous. On the other hand, as shown in the right side of FIG. 3, the support elastic body 32 that is close to the connection bolt 30a has a covering portion 32b that covers the entire area of the head 30d of the connection bolt 30a, and the head 30d
Has a shape that is largely recessed inward (hereinafter, referred to as a recessed outer peripheral portion indicated by reference numeral 32c). The inner surface of the support elastic body 32 facing the concave outer peripheral portion 32c while forming the above-described hollow portion 32a is also formed into a shape which is greatly expanded inward (hereinafter, reference numeral 32d).
(Referred to as a bulge inner peripheral portion). And connecting bolt 3
The thickness of the portion of the support elastic body 32 close to 0a is substantially the same as the thickness of the portion away from the connecting bolt 30a by providing the bulging inner peripheral portion 32d facing the concave outer peripheral portion 32c. Is set to

[0039] Then, the lower end portion of the resilient support member 32 which is a thin shape, the inner peripheral surface of the intermediate cylinder member 36 which mounts shaft P ₁ is oriented vibrator support direction to the hollow cylinder 30b coaxially by vulcanization bonding bond are doing.

The intermediate cylinder 36 is a member in which a small-diameter cylinder 36c is continuously formed between an upper cylinder 36a and a lower cylinder 36b having the same outer diameter, and has an annular concave portion on the outer periphery. Although not shown, an opening is formed in the small-diameter cylindrical portion 36c, and the inside and the outside of the intermediate cylindrical body 36 communicate with each other through this opening.

An outer cylinder 34 is fitted on the outside of the intermediate cylinder 36, and the outer cylinder 34 has the same inner diameter as the outer diameter of the upper cylinder 36a and the lower cylinder 36b of the intermediate cylinder 36. age,
It is a cylindrical member whose axial length is set to the same size as the intermediate cylinder 36. An opening 34a is formed in the outer cylinder 34, and an outer periphery of a diaphragm 42 made of a rubber thin film elastic body is coupled to an opening edge of the opening 34a so as to close the opening 34a. It bulges toward the inside of the outer cylinder 34.

When the outer cylinder 34 having the above configuration is fitted around the intermediate cylinder 36 so as to surround the annular recess, an annular space is defined in the circumferential direction between the outer cylinder 34 and the intermediate cylinder 36, and the annular space is defined. The diaphragm 42 is disposed in the space in a swelled state. A tubular orifice component member 37 is fitted inside the intermediate tubular body 36.

The orifice constituting member 37 has a minimum diameter cylindrical portion 3 formed to have a smaller diameter than the small diameter cylindrical portion 36c of the intermediate cylindrical body 36.
An upper annular portion 37b and a lower annular portion 37c are formed radially outward at upper and lower ends of the minimum diameter cylindrical portion 37a, and the minimum diameter cylindrical portion 37a, the upper and lower annular portions 37b are formed. , 37c and an intermediate space between the intermediate cylinder 36. In addition, the minimum diameter cylindrical portion 3
A second opening 37d is formed in a part of 7a. Here, the upper annular portion 37b is located below the support elastic body 32, but as shown on the right side of FIG.
upper annular portion 37b ₁ which is located below the resilient support member 32 in proximity to a is provided with a recess to form a thin wall thickness, a position away from the bulge in the peripheral portion 32d of the elastic support member 32 Facing each other.

The device case 43 has an upper end caulking portion 43a having a circular opening smaller than the outer diameter of the upper end cylindrical portion 36a at the upper end thereof, and a case body continuous with the upper end caulking portion 43a. Is a cylindrical member (the lower end opening is indicated by a broken line in FIG. 2) having the same inner diameter as the outer diameter of the outer cylinder 34 and continuing to the lower end opening. By caulking the lower end opening portion inward in the radial direction after the completion of assembling, the caulked portion shown by the solid line in FIG. 2 is formed.

The support elastic body 32, the intermediate cylinder 36,
The outer cylinder 34 in which the orifice constituting member 37 and the diaphragm 42 are integrated is fitted into the inside of the apparatus case 43 from the lower end opening thereof, and the outer cylinder 34 is attached to the lower surface of the upper end caulking part 43a.
When the upper ends of the intermediate cylinders 36 are brought into contact with each other, they are arranged at the upper part in the device case 43. At this time, an air chamber 42c is defined in a portion surrounded by the inner peripheral surface of the device case 43 and the diaphragm 42, and an air hole 43a is formed at a position facing the air chamber 42c. 43
The air chamber 42c communicates with the atmosphere via a.

A cylindrical spacer 70 is fitted in the lower part of the apparatus case 43, and a movable member 78 is disposed in the upper part of the spacer 70.
An electromagnetic actuator 52 is arranged at a lower part in the area “0”. The spacer 70 includes a cylindrical upper cylindrical body 70a,
It is composed of a cylindrical lower cylinder 70b and a substantially cylindrical diaphragm 70c made of a rubber thin film elastic body that is vulcanized and bonded between upper and lower ends of these cylinders.

The electromagnetic actuator 52 has an external cylindrical yoke 52a, an annular exciting coil 52b disposed on the upper end side of the yoke 52a, and a magnetic pole fixed vertically to the center of the upper surface of the yoke 52a. Permanent magnet 52c
It is composed of The yoke 52a has an annular first yoke member 53a and a permanent magnet 5 in a central cylindrical portion.
2c is fixed to the second yoke member 53b.

The upper and lower cylinders 70a, 70b
The intervening diaphragm 70c bulges toward a concave portion 52d formed on the outer periphery of the yoke 52a. In addition, a load sensor 64 is interposed between the lower surface of the yoke 52a and the lid member 62 having the vehicle body side connection bolts 60 in order to detect residual vibration required for vibration reduction control. As the load sensor 64, a piezoelectric element, a magnetostrictive element, a strain gauge, or the like can be applied. As shown in FIG. 1, the detection result of this sensor is supplied to the controller 25 as a residual vibration signal e. I have.

On the other hand, above the electromagnetic actuator 52, a seal ring 72 for fixing a seal member, a support ring 74 for supporting an outer peripheral portion of a leaf spring 82 described below from a lower end at a free end, and a permanent Magnet 52c
And a gap holding ring 76 for setting a gap H between the movable members 78. The outer diameters of the seal ring 72, the support ring 74, and the gap holding ring 76 are set to the same dimensions as the inner diameter of the upper cylinder 70a of the spacer 70 described above, and the upper cylinder projecting upward from the yoke 52a. A seal ring 72 in the body 70a;
All of the support ring 74 and the gap retaining ring 76 are fitted inside. A movable member 78 is arranged inside the seal ring 72, the support ring 74, and the gap holding ring 76 so as to be vertically displaceable.

The movable member 78 is a member composed of a partition wall forming member 78A having a disk shape in appearance and a magnetic path forming member 78B formed in a disk shape larger in diameter than the partition wall forming member 78A. A bolt hole 80a is formed in the axial center of the partition wall forming member 78A located farther from the electromagnetic actuator 52, and a magnetic path forming member 78B close to the electromagnetic actuator 52 is formed.
The partition wall forming member 78A and the magnetic path forming member 78B are integrally connected by screwing a movable member bolt 80 that passes through the bolt hole 80a into the bolt hole 80a.

The partition wall forming member 78A and the magnetic path forming member 78
A ring-shaped continuous constriction 79 is defined between B, and a plate spring 82 for elastically supporting the movable member 78 is accommodated in the constriction 79. That is, the leaf spring 82 is a disk-shaped member having a hole formed in the center, and the free end of the inner periphery of the leaf spring 82 is supported from below the rear center of the partition wall forming member 78A. 82 is supported at its free end from below by a spring support portion 74a of a support ring 74, whereby the movable member 78 is
3 is elastically supported via a leaf spring 82.

The partition wall forming member 78A is formed by reducing the thickness of the partition wall portion 80c facing the fluid chamber 84,
A member formed with an annular rib 80b protruding upward from the outer periphery of the member. A fluid chamber 84 is formed by the upper surface of the partition wall forming member 78A, the lower surface of the support elastic body 32, and the inner peripheral surface of the orifice constituting member 37, and the fluid is sealed in the fluid chamber 84.

Further, in order to prevent leakage of fluid from the fluid chamber 84 to the constricted portion 79 containing the leaf spring 82,
A ring-shaped seal member 86 made of a rubber-like elastic body is fixed between the outer periphery of the partition wall forming member 78A and the inner periphery of the seal ring 72. The elastic deformation of the seal member 86 causes the seal ring 72, The relative displacement of the movable member 78 in the vertical direction with respect to the device case 43 is allowed.

Next, a brief description will be given of the vibration input damping action of the active engine mount 20 of the present embodiment. In the active engine mount 20 of the present embodiment, the hollow portion 32a of the support elastic body 32 communicates with the axial center space of the orifice member 37, and the axial center space of the orifice member 37 and the orifice member 37 and the intermediate cylindrical body. 36, the annular space communicates through a second opening 37d, and the annular space and the space in which the diaphragm 42 bulges communicate through an opening formed in the intermediate cylinder 36. From the hollow portion 32a of the supporting elastic body 32,
A fluid such as ethylene glycol is sealed in the communication path to the space where the bulges.

If the communication path from the hollow portion 32a of the support elastic body 32 to the annular space between the orifice constituting member 37 and the intermediate cylinder 36 is the main fluid chamber 84, the intermediate cylinder 3
A fluid resonance system is formed in which the vicinity of the opening formed in 6 is an orifice, and the region surrounded by the diaphragm 42 facing the opening is a sub-fluid chamber. The characteristics of this fluid resonance system, that is, the mass of the fluid in the orifice,
The characteristic determined by the expansion direction spring of the support elastic body 32 and the expansion direction spring of the diaphragm 42 is that when the engine vibration is generated while the vehicle is stopped, that is, when the engine mount 20 is at 20 to 30 Hz.
A and 20B are adjusted so as to exhibit a high dynamic spring constant and a high damping force when vibrated.

On the other hand, the exciting coil 52b of the electromagnetic actuator 52 generates a predetermined electromagnetic force according to a drive signal y which is a current supplied from the controller 25 through, for example, a harness. Controller 25
Is a microcomputer, necessary interface circuit, A / D converter, D / A converter, amplifier, ROM, R
A drive signal y for the active engine mount 20 is generated such that an active support force that is configured to include a storage medium such as an AM or the like and reduces vibration generated in the engine 17 is generated in the active engine mount 20. Output.

As described above, the load sensor 64 is built in the active engine mount 20 and
8 is detected in the form of a load and output as a residual vibration signal e, and the residual vibration signal e is used as a signal representing the vibration after the interference by the controller 2 through, for example, a harness.
5.

Here, for example, in the case of a reciprocating four-cylinder engine, the engine vibration of the engine rotation secondary component is generated by
The main reason is that the vibration is transmitted to the engine 8 and, if the drive signal y is generated and output in synchronization with the secondary component of the engine rotation, the vibration on the vehicle body side can be reduced. Therefore, in the present embodiment, an impulse signal synchronized with the rotation of the crankshaft of the engine 17 (for example, in the case of a reciprocating four-cylinder engine, one for every 180 ° rotation of the crankshaft) is generated, and the reference signal x Pulse signal generator 19 which outputs as
Is provided, and the reference signal x is supplied to the controller 25.

Then, the controller 25 executes the SFX algorithm, which is one of the adaptive algorithms, based on the supplied residual vibration signal e and the reference signal x, thereby obtaining the drive signal y for the active engine mount 20.
Is calculated, and the drive signal y is calculated as the active engine mount 2
0 is output.

More specifically, the controller 25 has an adaptive digital filter W having a variable filter coefficient W _i (i = 0, 1, 2,..., I-1: I is the number of taps). At a predetermined sampling clock interval from the time when the reference signal x is input, the adaptive digital filter W
Of one of outputting a filter coefficient W _i in the order as the drive signal y, it is adapted to execute a process of appropriately updating the filter coefficient W _i of the adaptive digital filter W based on the reference signal x and the residual vibration signal e.

The updating equation for the filter coefficient W _i of the adaptive digital filter W is as shown in the following equation (1) according to the SFX algorithm. _{W i (n + 1) =} W i (n) + αR T e (n) ...... (1) where the term stick is (n), (n + 1 ) represents the sampling time n, the n + 1, the value ing.
The update reference signal R ^T is theoretically the reference signal x
Is a value obtained by performing a filtering process using a transfer function filter C ＾ that models a transfer function C between the electromagnetic actuator 52 and the load sensor 64 of the active engine mount 20. The magnitude of the reference signal x is “1”. Therefore, when the impulse responses of the transfer function filter C # are successively generated in synchronization with the reference signal x, the impulse responses coincide with the sum of the impulse response waveforms at the sampling time n.

In theory, the reference signal x is filtered by the adaptive digital filter W to generate the drive signal y. However, since the magnitude of the reference signal x is "1", the filter coefficient W _{Even if i} is sequentially output as the drive signal y, the result is the same as when the result of the filter processing is set as the drive signal y.

The controller 25 performs the output processing of the drive signal y and the adaptive digital filter W as described above.
Recently impulses is controlled so as to run in synchronization with the sampling clock which is initiated on the basis of the time when it is generated, the period of the sampling clock of the update processing of the filter coefficient W _i, the reference signal x (sampling period) T _S is, in this embodiment, the fundamental period of vibration, i.e. the reference signal x time period T divided by the number of divisions D of (T _S
= T / D).

Specifically, the controller 25 includes an adaptive digital filter W and an adaptive digital filter W as shown in FIG.
A filter coefficient updating unit 25A that updates the filter coefficient W _i of the filter coefficient W according to the above equation (1), and the filter coefficient W of the adaptive digital filter W for each sampling period from the time when the latest impulse of the reference signal x is generated.
and a D / A converter 25B that sequentially converts _i into an analog signal and outputs it as a drive signal y, and an A / A converter 25 that converts the residual vibration signal e into a digital signal for each sampling period and supplies the digital signal to the filter coefficient update unit 25A. A D converter 25C;
And basically, the adaptive digital filter W
The SFX algorithm is executed by the filter coefficient updating unit 25A.

Then, the controller 25 sends the reference signal x
Period measuring unit 2 for calculating the fundamental period T of vibration based on the input interval between the latest impulse of the current and the immediately preceding impulse
5D, a division number setting unit 25E for setting the division number D based on the basic period T obtained by the period measurement unit 25D, and a sampling period T based on the basic period T and the division number D.
_S (= T / D) setting sampling period setting unit 25
F.

The division number setting unit 25E has a
Are classified into two stages (long and short) based on a predetermined threshold value. For example, when the basic period T is long, D = 8, and when the basic period T is short, D = 4, for example. It has become.

Further, when the number of divisions D is switched from D ₁ to D ₂ (hereinafter, the number of divisions before switching is D ₁ and the number of divisions after switching is D ₂ ), the controller 25 sets the number of divisions to D ₂ .
For each filter coefficient of the adaptive digital filter, a new adaptive digital filter W is created by performing an interpolation operation to cancel the change in the phase characteristic of the drive signal y accompanying the switching of the division number D, and then, The adaptive digital filter W after the interpolation operation is provided with a phase characteristic change reduction processing unit 25G that creates a new adaptive digital filter W composed of D ₂ filter coefficients by appropriately interpolating or thinning out each filter coefficient W _i , After the number D is switched, a process of generating the drive signal y using the new adaptive digital filter W is executed.

The processing in the phase characteristic change reduction processing section 25G will be described in further detail. Here, the division number D is constantly monitored, and the predetermined processing is executed only when the division number D is switched. It has become.

Then, the phase characteristic change reduction processing section 25G
Calculates the amount of phase shift P of the drive signal y accompanying the switching of the number of divisions D. That is, FIG. 5A shows an output waveform of the drive signal y when D = 4, and FIG.
The output waveform of the drive signal y at the time of = 8 is shown. However, since the output start time of the first drive signal y is at the same position within one cycle, the intermediate time of the first drive signal y is D
= 4 and D = 8, there is a shift by P. By applying a phase adjustment according to the shift amount P to the adaptive digital filter W, even if the number of divisions D is switched, the result is It is desired to prevent a phase shift in the drive signal y.

The shift amount P is calculated according to the following equation (2). P = (１ ／ D ₁ -１ ／ D ₂ ) / (1 / D ₁ ) = (D ₂ -D ₁ ) / 2D ₂ (2) The shift amount P obtained by the equation (2) is switched. This is a value normalized by the previous division number D ₁ , for example, D ₁ = 4, D
Shift amount P when ₂ = 8 (shift amount P shown in FIG. 5)
Becomes 1/4.

Next, the filter coefficient W _i of the adaptive digital filter W is interpolated based on the shift amount P, and the phase is advanced by an amount corresponding to the shift amount P (when D ₂ > D ₁ ) or by that amount. A new filter coefficient W _i of the adaptive digital filter W with a phase delay of D ₂ <D ₁ is created.
The arithmetic expression at this time is as follows.

I <D ₁ -1; W _i = (1−P) × W _i + P × W _{(i + 1)} (3) i = D ₁ -1; W _(D1-1) = (1 −P) × W _(D1-1) + P × W ₀ (4) Thereafter, the filter coefficient W _i of the adaptive digital filter W having the number of taps D ₁ obtained by the above equations (3) and (4).
Is further interpolated, and a new adaptive digital filter W having the number of taps D ₂ is created so that the phase characteristic and the gain characteristic do not change. For example, the arithmetic expression when D ₁ = 4 and D ₂ = 8 is as follows.

[0073] _{i = 0,2,4,6; W BUFi = W} (i / 2) ...... (5) i = 1,3,5,7; W BUFi = (2 2/1 / 2) × { _{W (i-1) + W} (i + 1)} ...... (6) W i = W BUFi ...... (7) in addition, (3) - (7) of operation, the adaptive digital filter of tap number D ₁ after the phase adjustment on the basis of the shift amount P with respect to W, but follows the procedure to convert the adaptive digital filter W taps D ₂ it conversely, the adaptive number of taps D ₁ from this Digital filter W
May be converted into an adaptive digital filter W having the number of taps D ₂ and then the phase adjustment based on the shift amount P may be performed. That is, after performing the interpolation calculations of the above equations (5) to (7), the calculations of the above equations (3) and (4) may be performed. However, in such a case, it is necessary to normalize the shift amount P based on the number of divisions D ₂ after the switching, so that the equation for calculating the shift amount P is as follows.

P = (1 / 2D ₁ −1 / 2D ₂ ) / (1 / D ₂ ) = (D ₂ −D ₁ ) / 2D ₁ (8) Next, the operation of the present embodiment will be described. I do.

That is, when an engine shake occurs, the shape of the flow path of the orifice 5a is appropriately selected. As a result, the active engine mount 1 functions as a supporting device having a high dynamic spring constant and a high damping force. The engine shake generated on the vehicle body side is attenuated by the active engine mount 1, and the vibration level on the vehicle body 35 side is reduced. It is not necessary to positively displace the movable plate 12 with respect to the engine shake.

On the other hand, when the fluid in the orifice 5a is in the stick state and the vibration of the frequency equal to or higher than the idle vibration frequency at which the fluid cannot move between the fluid chamber 15 and the sub-fluid chamber 16 is input, the controller Reference numeral 25 executes a predetermined calculation process, outputs a drive signal Y to the electromagnetic actuator 10, and generates an active support force capable of reducing vibration in the active engine mount 1.

That is, when the drive signal Y is output, a magnetic force corresponding to the drive signal Y is generated in the exciting coil 10B.
Since a constant magnetic force is already applied to the magnetic path member 12 by the permanent magnet 10C, it can be considered that the magnetic force by the exciting coil 10B acts to increase or decrease the magnetic force of the permanent magnet 10C. That is, the exciting coil 1
When the drive signal Y is not supplied to the magnetic path member 0B, the magnetic path members 12
Will be displaced to a neutral position that is balanced with the magnetic force. When the drive signal Y is supplied to the exciting coil 10B in this neutral state, if the magnetic force generated in the exciting coil 10B by the drive signal Y is in the opposite direction to the magnetic force of the permanent magnet 10C, the magnetic path member 12 Electromagnetic actuator 10
Is displaced in the direction in which the clearance with the 増 大 increases. Conversely, if the magnetic force generated in the exciting coil 10B is in the same direction as the magnetic force of the permanent magnet 10C, the magnetic path member 12 is displaced in a direction in which the clearance with the electromagnetic actuator 10 decreases.

As described above, the magnetic path member 12 can be displaced in both the forward and reverse directions, and if the magnetic path member 12 is displaced, the main fluid chamber 15 can be displaced.
Is changed, and the expansion spring of the support elastic body 6 is deformed by the change of the volume, so that the active engine mount 1 generates an active support force in both forward and reverse directions.

On the other hand, in the controller 25, the cycle T of the reference signal x is calculated in the cycle calculator 25D by counting the input interval of the reference signal x, for example, at the interval of the clock pulse. The period T obtained here is
Since it is the input interval between the latest reference signal x and the immediately preceding reference signal x, it is strictly speaking that it represents the length of a new cycle after the latest reference signal x is input. However, there is no particular problem since adjacent periods of the reference signal x can be regarded as substantially equal even during acceleration or deceleration of the vehicle.

When the period T is calculated by the period calculating section 25D, the division number setting section 25E sets the division number D to, for example, 4 or 8 based on the length of the period T. When the number of divisions D is set, the sampling period setting unit divides the period T by the number of divisions D to obtain a sampling period T _S
Is calculated and set. Then, the D / A converter 25B sequentially converts the filter coefficient W _i of the adaptive digital filter W into an analog signal as a drive signal y at an interval of the sampling period T _S , and outputs the drive signal y to the electromagnetic actuator 10. The D converter 25C also has a sampling period T
_At the intervals of _S , the residual vibration signal e is converted into a digital signal and supplied to the filter coefficient updating unit 25A. Residual vibration signal e
Is also synchronized with the sampling period T _S , and updates the filter coefficient W _i of the adaptive digital filter W according to the above equation (1).

Here, the sampling period T _S is _equal to the period T
And the number of divisions D, the number of divisions D does not change and changes in accordance with the increase or decrease of the period T. On the other hand, if the number of divisions D does not change, the number of taps of the adaptive digital filter W does not change, and the phase characteristic change reduction processing unit 25G remains on standby.

When the number of divisions D changes, for example, from 4 to 8, or from 8 to 4, the phase characteristic change reduction process performs the interpolation operation as shown in the above equations (3) to (7) by adaptive digital processing. The adaptive digital filter W that has been executed for the filter W and has been subjected to the interpolation operation is used for the subsequent generation processing of the drive signal y.

Then, immediately after switching the number of divisions D,
Since the vibration reduction process using the adaptive digital filter W having the same phase characteristics as before the switching is performed, the state in which the effect of the signal reduction process is reduced even in a very short time due to the change in the phase characteristics. Can be avoided, and a better vibration reduction process can be achieved.

Here, in the present embodiment, the active engine mount 1 corresponds to the control vibration source, and the controller 25
Corresponds to the control means, the pulse signal generator 19 corresponds to the reference signal generating means, the load sensor 64 corresponds to the residual vibration detecting means, the sampling cycle setting section 25F corresponds to the sampling cycle setting means, and the D / A The converter 25B corresponds to the drive signal generation unit, the filter coefficient update unit 25A corresponds to the adaptive processing unit, the division number setting unit 25E corresponds to the division number setting unit, and the phase characteristic change reduction processing unit 25G corresponds to the phase characteristic change unit. Corresponds to reduction processing means.

Next, a second embodiment of the present invention will be described. Note that the overall configuration of the vehicle and the like according to the second embodiment and the basic part of the functional configuration of the controller 25 are the same as those of the first embodiment.
Illustration and description of the overlapping portion will be omitted.

More specifically, the present embodiment is different from the first embodiment only in the content of the processing in the phase characteristic change reduction processing section 25G in the controller 25, and the other configuration is different. And the action is the same. Therefore, the present embodiment will be described with reference to FIG.

That is, in the phase characteristic change reduction processing section 25G of the present embodiment, the adaptive digital filter W is regarded as a vector having its filter coefficient W _i as an element, and is transformed by a square matrix to obtain a divided signal. The change in the phase characteristic when the number D is switched is canceled. That is, in the first embodiment, the adjustment process of the phase feature performed by the operation of interpolation (interpolation) for each filter coefficient W _i of the adaptive digital filter W is realized by the product of the matrix and the vector. Things.

The purpose of the conversion of the vector by the square matrix is to express the timing shift generated in the adaptive digital filter W with the switching of the division number D by the phase θ normalized by the period T, The phase characteristic of the fundamental order component of W is θ, and the phase characteristic of the second harmonic component (frequency component twice the fundamental order) is 2
That is, the phase characteristic of the k-th harmonic component is delayed (D ₂ <D ₁ ) or advanced (D ₂ > D ₁ ) by θ and by kθ. In other words, when a timing shift (shift on the time axis) to be eliminated is expressed by a phase (an angle with respect to the period T),
Since a low frequency component has a small phase and a high frequency component has a large phase, it is necessary to delay or advance the phase at the above ratio.

When the reference signal x is an impulse train having only one pulse with respect to the basic period of the noise as in the present embodiment, the filter coefficient train of the adaptive digital filter W becomes the drive signal train as it is. Assuming that there is a digital filter having the above-described phase characteristic for each frequency component, a signal sequence obtained by repeating each filter coefficient W _i of the adaptive digital filter W is convolved with the digital filter, and the result of the convolution The phase characteristic extracted for one cycle from is obtained by changing the phase characteristic of each frequency component of the original adaptive digital filter W by the amount described for the purpose of the conversion.

However, since the number of divisions D is switched, an interpolation process for increasing or decreasing the number of taps of the adaptive digital filter W is performed, for example, a phase conversion process using the square matrix as in the first embodiment. You need to go before doing that.

[0091] Figure 6 is a flowchart showing an outline of the processing in the phase characteristic changing reduction processing section 25G of the present embodiment, first, in step 101, each of the original adaptive digital filter W taps D ₁ By interpolating or thinning out the filter coefficient W _i , an adaptive digital filter W having the number of taps D ₂ is created without changing the phase characteristics.

Then, the process proceeds to a step 102, wherein a vector using the filter coefficients W _i of the adaptive digital filter W of tap number D ₂ created in the step 101 as elements is subjected to phase conversion by a square matrix, and the vector W _BUF
And goes to step 103 to create a new adaptive digital filter W using each element of the vector W _BUF. Thereafter, the new adaptive digital filter W is used to generate the drive signal y. Execute generation processing.

The outline of the phase characteristic change reduction processing in this embodiment has been described above. The important point here is the procedure for creating a square matrix as described above. However, here, as shown in FIG. 6, the process of adjusting the number of taps is performed before the phase conversion process using a square matrix, and the number of divisions D ₂ after switching is an even number. The other cases will be described later.

First, when the division number D is switched from D ₁ to D ₂ , a change in the phase characteristic generated in the drive signal y (FIG. 5).
(Corresponding to the shift amount P) in the following equation. θ = π / D ₂ −π / D ₁ (9) Next, the following vector V is considered.

[0095]

(Equation 1)

(10) This vector V expresses the phase characteristics to be realized in the form of Fourier coefficients for each order, and sequentially arranges them vertically. However, in order to be able to perform processing only by real number operation,
The real part and the imaginary part of the Fourier coefficients are shown in separate rows in that order. As for the D _2/2-order harmonic component, for corresponding to the Nyquist frequency, it is impossible to change the phase characteristics, and the 1 to the last row of the vector V to adjust only the real component. The reason why the row above it is set to 0 is to reduce the DC component to zero.

Next, consider the following matrix M.

[0098]

(Equation 2)

... (11) This matrix M has a real term and an imaginary term so that the calculation for obtaining the Fourier coefficient of the FIR filter (finite impulse response filter) can be performed by the product of the matrix and the vector having only the real number. Are divided into separate lines, and in each line, coefficients are arranged in order from the basic order.

Therefore, the product (M · A) of the matrix M and an arbitrary vector A is obtained by calculating the phase characteristic when the vector A is interpreted as an FIR type filter, that is, the Fourier coefficient, from the basic order to the real part and the imaginary number in order. Parts are arranged vertically.

Here, the vector A (= [A (1) A (2) A
(3).. A (N)]) frequency characteristic V (= [V (1) V (2) V (3).
]) Is calculated as follows.

[0102]

(Equation 3)

(12) Note that j is an imaginary unit and has the following relationship.

[0104]

(Equation 4)

(13) At this time, V (1) represents the frequency 0 of the signal sequence, that is, the characteristic of the DC component, V (2) represents the characteristic of the fundamental frequency (repetition frequency) component of the signal sequence, and V ( k) represents the characteristic of the frequency component of k−1 times the fundamental frequency (k = 3, 4, 5,..., N / 2).

From the above equation (13), the Fourier coefficient obtained by the above equation (12) is a complex number. If the characteristics of this signal sequence at the fundamental frequency are phase θ and gain B, then V ( 1) is as follows.

V (1) = B · cos (θ) + j · B · sin (θ) (14) The above description of the expressions (12) to (14) is based on the discrete Fourier transform of the periodic signal sequence. As a simple explanation, if each element of the signal sequence is replaced with a filter coefficient of a digital filter, the frequency characteristics of the digital filter can be obtained by the same calculation.

Therefore, since all the elements of the vector A are real numbers, the frequency characteristic is obtained by calculating only the real numbers by dividing the above equation (12) into a real part V _Re and an imaginary part V _{Im as} follows. To be able to

[0109]

(Equation 5)

... (15)

[0111]

(Equation 6)

.. (16) The vector V in the above equation (10) is a real element of the frequency characteristic (Fourier coefficient) whose first element is obtained at the fundamental frequency (k = 1), that is, V _Re (2) obtained, the second element is an imaginary term of the frequency characteristic obtained at the fundamental frequency, that is, V _Im (2) obtained by the above equation (16). After arranging the real and imaginary terms of the characteristic at a frequency of (N / 2-1) times the frequency, the Nyquist frequency, that is, the characteristic at a frequency of N / 2 times the fundamental frequency,
This is a table in which characteristics for a DC component are arranged.

Since the frequency characteristics of the Nyquist frequency and the DC component are only real terms, the vector V
Are one by one. Then, each element of the matrix M in the above equation (11) is represented by “cos (2π · ki · N)” or “−” on the right side in the above equations (15) and (16).
sin (2π · ki · i / N) ”.

That is, if the vector A is determined so that M · A = V, the digital filter A in which the elements of the vector A are arranged becomes a digital filter having the same frequency characteristics as the vector V. Is obtained by convolving the filter coefficient W _i with the digital filter A so that the phases of the fundamental order component and the harmonic component of the adaptive digital filter W are adjusted so as to be determined by the vector V.

That is, the vector A is obtained as A = D ₂ · M ^-1 · V (17). If the elements of this vector A are arranged in accordance with the convolution calculation procedure, the vector A is used for the operation in step 102 in FIG. A square matrix is obtained, and the operation in step 102 is as follows.

[0116]

(Equation 7)

(18) If the number of divisions D ₂ after switching is an odd number, the vector V
And the matrix M are as follows.

[0118]

(Equation 8)

... (19)

[0120]

(Equation 9)

(20) When the division number D ₂ is an odd number, the last row of the vector V becomes unnecessary, and accordingly, the shapes of the vector V and the matrix M are different from those in the case where the division number D ₂ is an even number. Is different.

FIG. 7 shows a phase characteristic change reduction processing section 2.
FIG. 7G is a flowchart showing an outline of processing when the number of taps is adjusted after performing the phase adjustment of the adaptive digital filter W, contrary to the case of FIG. 6.

In this case, first, in step 201, a vector having each filter coefficient W _i of the adaptive digital filter W having the number of taps D ₁ as an element is subjected to phase conversion by a square matrix to generate a vector W _BUF. Then, the process proceeds to step 202, where a new adaptive digital filter W is created using each element of the vector W _BUF . Then, the process proceeds to step 203, in which the filter characteristics W _i of the new adaptive digital filter W are interpolated or thinned out, thereby maintaining the phase characteristics and the like.
The number of taps is changed from D ₁ to D _2, thereafter, it executes the process of generating the drive signal y using the new adaptive digital filter W whose number of taps is changed.

In the case where the phase characteristic change reduction processing section 25G executes the processing of FIG. 7, the vector V and the matrix M when the division number D ₁ before switching is an even number
Are represented by the following equations (21) and (22), and the vector V vector V and the matrix M when the division number D ₁ is an odd number
Is as shown in the following equations (23) and (24).

[0125]

(Equation 10)

... (21)

[0127]

[Equation 11]

... (22)

[0129]

(Equation 12)

... (23)

[0131]

(Equation 13)

(24) Then, the vector A is obtained as A = D ₁ · M ^-1 · V (25). If the elements of this vector A are arranged in accordance with the convolution calculation procedure, the step shown in FIG. A square matrix used for the operation of 201 is obtained, and the operation in step 201 is as follows.

[0133]

[Equation 14]

.. (26) The square matrix A is actually divided by the division number D selected by the division number setting section 25E and the phase characteristic change reduction processing section 25G by FIG.
Alternatively, based on which of the processes in FIG. 7 is to be executed, it is calculated and obtained in advance, only the result is stored in a storage device such as a ROM, and the result is read out and read in the above (18). Alternatively, it is used for the calculation of the equation (26).

Then, when the number of divisions D is switched, the phase characteristic change reduction processing unit 25G executes the processing shown in FIG. 6 or FIG. 7, so that even in the present embodiment, the first embodiment In the same manner as in the embodiment, immediately after the division number D is switched, the vibration reduction processing using the adaptive digital filter W having the same phase characteristic as before the switching is performed. Even if there is, it is possible to avoid a state where the effect of the signal reduction processing is reduced,
As a result, good vibration reduction processing becomes possible.

Further, in the present embodiment, since the phase adjustment processing for the adaptive digital filter W is performed using the square matrix created by the above-described procedure, a higher precision can be achieved. There is also an advantage that phase adjustment processing is possible.

FIG. 8 is a diagram showing the third embodiment of the present invention, and is a block diagram showing the functional configuration of the controller 25, similarly to FIG. 5 in the first embodiment. Since the overall configuration is the same as that of the first embodiment, the illustration and description thereof are omitted, and the same reference numerals are given to the same configuration regarding the functional configuration of the controller 25, and the duplicate description is omitted. Omitted.

That is, the controller 25 of the present embodiment
Receives a reference signal x synchronized with the fundamental cycle of the vibration,
A sine wave generator 25 that generates a sine wave X having the same period
The sine wave X generated by the sine wave generation unit 25H is supplied to the adaptive digital filter W and the filter coefficient update unit 25A instead of the reference signal x. That is, in the present embodiment, the sine wave X is used as the reference signal X.

On the other hand, the adaptive digital filter W
A digital filter composed of two filter coefficients W ₀ and W ₁ , wherein the drive signal y is generated by convolving the adaptive digital filter W and the reference signal X.

Therefore, the arithmetic expression of the drive signal y is as follows. _{y (n) = W 0 ·} X (n) + W 1 · X (n-1) ...... (27) Here, when expressed by Figure the relationship between the Fourier coefficients and the phase characteristics shown in the above (14) , As shown in FIG.

That is, FIGS. 9A and 9B show the relationship between the Fourier coefficient which is a complex number and the waveform of its frequency component, and FIG. 9A shows the relationship between the real axis (Real) and the imaginary axis (Ima).
g) are plotted on a vector from the origin to the Fourier coefficients in an orthogonal coordinate system, and the vector is rotated in a counterclockwise direction. FIG. The real component is plotted on the horizontal time axis, and this is the waveform of the frequency component. The length of the vector indicates the magnitude of the frequency component, and the angle between the vector and the real axis indicates the phase of the frequency component.

Next, the operation of the 2-tap adaptive digital filter will be described with reference to FIGS. Since the filter processing in the 2-tap adaptive digital filter is as shown in the above equation (27), FIG.
And W ₀ times each sinusoidal shown, those obtained by adding to ₁ × W as an output (drive signal y) to (c). In addition,
“D” in FIG. 10C indicates the number of divisions, and X
(N-1) indicates that the phase is delayed by 2π / D compared to X (n).

The phase and amplitude of the drive signal y can be expressed as shown in FIG. That is, set the W ₀ axis overlaid on the real axis, an axis rotated by 2 [pi / D clockwise from the real axis, W
Determined as _one axis.

Then, for each of the W ₀ axis and the W ₁ axis,
The values of the filter coefficients W ₀ and W ₁ are plotted, and the vector from the origin to the plotted point is defined as a vector W ₀ ,
And W _1.

The characteristic of the adaptive digital filter W is represented by a composition of the two vectors W ₀ and W ₁ . That is, what read the coordinates of the synthesized vector in the original coordinate system consisting of the real number axis and the imaginary number axis is the Fourier coefficient expressing the phase and amplitude of the adaptive digital filter W. In FIG. 11, the combined vector is indicated by a thick line, but its value is obtained as follows.

W (real part) = W ₀ + W ₁ · cos (2π / D) (28) W (imaginary part) = − W ₁ · sin (2π / D) (29) The phase shift that occurs in the drive signal y due to the switching is as shown in FIG. 5, so that the phase characteristic of the original adaptive digital filter W is previously reduced by that amount so as to cancel such a phase shift. It may be rotated in the opposite direction. Specifically, the real part and the imaginary part of the adaptive digital filter W shown in the above equations (28) and (29) are
The filter coefficients W ₀ and W ₁ may be changed so that if the phase changes after switching the number of divisions, the phase characteristics of the original adaptive digital filter W become exactly the same.

On the other hand, in the case of the present embodiment, when the division number D is switched, the phase relationship between the reference signals X (n) and X (n-1) as shown in FIG. Also, the phase characteristic of the drive signal y changes.

That is, when the division number D is switched, the phase characteristic of the drive signal y changes for two main reasons. One of the reasons is as shown in FIG.
Another is the reason as shown in FIG.

As for the latter reason, assuming that the number of divisions D changes from D ₁ = 6 to D ₂ = 8, FIG.
This will be described with reference to FIG. That is, when the number of divisions D ₁ = 6 is, 2 [pi / D ₁ in the clockwise direction from W ₀ axis that overlaps the real axis
= It is W ₁ axis 60 ° was rotated. However, when the division number D ₂ = 8, the W ₁ axis exists at a position rotated by 2π / 8 = 45 ° clockwise from the W ₀ axis. Therefore,
Even if the magnitudes of the filter coefficients W ₀ and W ₁ do not change, the filter characteristic (Fourier coefficient) of the adaptive digital filter W is determined only by the fact that the number of divisions D has changed from 6 to 8.
Changes greatly as shown by the composite vector in FIG.

To prevent such a characteristic change,
As shown in FIG. 13, the filter coefficient W ₁ when the number of divisions D ₁ = 6 is decomposed into components of the W ₀ axis and the W ₁ axis when the number of divisions D ₂ = 8 (that is, Projection), the W ₀ axis component of the decomposition is added to the original W ₀ axis component (filter coefficient W ₀ ), and for the W ₁ axis component, the projection is added to the new W ₁ axis component. (Filter coefficient W ₁ ).

With such an operation, the phase change of the adaptive digital filter W for the reason shown in FIG. 12 is canceled out. The phase may be adjusted in the same manner as in the above embodiments.

That is, the vector having the complex numbers represented by the above equations (28) and (29) as elements is represented by θ (= π / D ₂ −π
/ D ₁ ), the filter coefficients W ₀ and W ₁ may be changed so that the one rotated counterclockwise becomes the filter characteristic of the new adaptive digital filter W finally created.

Here, a matrix representing rotation on a complex plane where the real axis and the imaginary axis are orthogonal to each other is as follows.

[0154]

(Equation 15)

(30) Here, the object of rotation is a column vector having elements of the real part and the imaginary part of the above equations (28) and (29), and the column vector is a filter vector. This is equivalent to multiplying a column vector having coefficients W ₀ and W ₁ by a matrix represented by the following equation from the left.

[0156]

(Equation 16)

(31) Accordingly, when the number of divisions D is D ₁ = 6, the matrix of the above equation (31) is M ₁ , and when the number of divisions D is D ₂ = 8, the matrix of the above equation (31) is Is M ₂ , M _{R is} the matrix of the above equation (30), V _W is a column vector having filter coefficients W ₀ and W ₁ before switching the number of divisions D as elements, and M _W is a square matrix. _W
Filter coefficients W ₀ of the adaptive digital filter W after the (phase adjustment process multiplied by the square matrix M _W in, W ₁
A vector) comprising a, and further multiplied by the matrix M ₂ is a final phase adjustment processing completion characteristics of the adaptive digital filter W after (Fourier coefficient), which,
A matrix vector M obtained by multiplying the column vector V _W before switching of the number of divisions by the matrix M ₁ (the characteristic (Fourier coefficient) of the adaptive digital filter W before switching) and a matrix M _R (shift shown in FIG. 5) Correction).

That is, the square matrix M
_{When W} is determined, the change in the phase characteristic of the drive signal y due to the change in the number of divisions D can be canceled out, and good vibration reduction control can be performed as in the first embodiment.

M _R · M ₁ · V _W = M ₂ · M _W · V _W (32) Accordingly, the square matrix M _W is obtained by the following equation. M _W = M ₂ ⁻¹ · M _R · M ₁ (33) This square matrix M _W is calculated in advance for each switching pattern of the number of divisions D, and is obtained by ROM or the like in the controller 25. In the phase characteristic change reduction processing unit 25G, the square matrix M
_W may be read and used.

Therefore, the outline of the processing in the phase characteristic change reduction processing section 25G when the number of divisions D is switched is shown in FIG.
It becomes as shown in. That is, in step 301, a column vector V _W is created using the filter coefficients W ₀ and W ₁ of the adaptive digital filter W at that time, and then the process proceeds to step 302, where the square vector read out according to the switching pattern of the division number D a matrix M _W, by multiplying a column vector V _W created in step 301, to create a digital filter W _BUF, the process proceeds to step 303, a new adaptive digital filter using each element of the digital filter W _BUF W is created, and the new adaptive digital filter W is used in the subsequent vibration reduction processing.

The procedure for obtaining the square matrix M _W may be, for example, as follows. First, even the number of divisions D is changed from D ₁ to D _2, the reference signal X (n) X
X (n−) so that the phase relationship with (n−1) does not change.
It is assumed that the characteristic of 1) is adjusted.

For example, in a configuration in which the number of divisions D switches between 4 and 8, when D = 4, the reference signals X (n) and X (n) are obtained as shown in the above equation (27). -1), the driving signal y is generated, and when D = 8, the reference signal X (n-2) captured at the immediately preceding sampling time is used instead of the reference signal X (n-1). ), And so on. This is one of the methods adopted to make the contours of the error surface of the LMS algorithm close to a perfect circle and improve the convergence to the optimum value. That is, a method adopted when it is desired to make the phase relationship between the reference signals X (n) and X (n-1) used for the convolution operation for generating the drive signal y as close to π / 2 (rad) as possible. It is.

In this case, the equation for calculating the drive signal y when the number of divisions D = 4 is as shown in the above equation (27), but the equation for calculating the drive signal y when the number of divisions D = 8 is , As follows:

Y (n) = W ₀ .X (n) + W ₁ .X (n−2) (34) In this case, even if the division number D changes, the W ₀ axis and the W ₁ axis Does not change, it is not necessary to consider the second of the reasons why the phase characteristic of the drive signal y changes due to the switching of the division number D described above. Is as follows.

M _R · M ₁ · V _W = M ₁ · M _W · V _W (35) Accordingly, the square matrix M _W is obtained by the following equation. M _W = M ₁ ⁻¹ · M _R · M ₁ (36) Here, in the present embodiment, the pulse signal generator 19 and the sine wave generator 25H constitute a reference signal generator, and the A / D The drive signal generation means is configured by the converter 25B and the calculations of the above equations (27) and (34).

FIG. 15 is a diagram showing the fourth embodiment of the present invention, and is a block diagram showing the functional configuration of the controller 25, similarly to FIG. 5 in the first embodiment. Since the overall configuration is the same as that of the first embodiment, its illustration and description are omitted, and the same reference numerals are given to the same components as those of the above-described embodiments with regard to the functional configuration of the controller 25. , And the overlapping description will be omitted.

That is, the controller 25 of the present embodiment
Has an adaptive digital filter W having two taps as in the third embodiment, and has a sine wave generator 2
5, a reference signal configuration changing unit 25I is provided on the output side. The reference signal configuration changing unit 25I is supplied with the period T measured by the period measuring unit 25D in addition to the reference signal X which is a sine wave. It has become. Then, based on the cycle T, the reference signal configuration changing unit 25I sets the phase relationship between the two reference signals X used in the convolution operation for generating the drive signal y as close as possible to π / 2 (rad), for example. When the period T is short, the reference signals X (n) and X (n-1) are output. When the period T is long, the reference signals X (n) and X (n) are output.
(N-2) or the reference signals X (n) and X (n-
3) is output.

Accordingly, the formula for calculating the drive signal y is as follows, for example, assuming that the configuration of the reference signal X used for generating the drive signal y switches between two patterns.

[0169] _{y (n) = W 0 ·} X (n) + W 1 · X (n-k i); i = 1,2 ...... also (37), in this embodiment, the output period of the drive signal y Is constant, and the same sampling period is used even if the period T changes.

On the other hand, the period T is also supplied to the phase characteristic change reduction processing section 25G,
G determines whether or not it is time to switch the configuration of the reference signal X based on the cycle T. When the timing is changed, G follows the procedure of FIG. 14 described in the third embodiment. , A phase adjustment process is performed on the adaptive digital filter W.

The procedure for obtaining the square matrix M _W is the same as that in the third embodiment, but the division numbers D ₁ and D _{2 at} that time are defined as follows. D ₁ = k ₁ · f _S / f _V (38) D ₂ = k ₂ · f _S / f _V (39) k ₁ and k ₂ are the second term on the right side of the above equation (37). Reference signal X
Are the k _i in parentheses representing the discrete time of f, f _S is the sampling frequency, and f _V is the fundamental frequency of the reference signal x.

Also in the present embodiment, the phase of the adaptive digital filter W is adjusted when the configuration of the reference signal X is switched. Therefore, the drive signal y generated when the configuration of the reference signal X is switched. Can reduce or cancel the change in the phase characteristics of the above, so that a better vibration reduction control can be executed.

Here, in the present embodiment, D / A
The drive signal generation means is configured by the converter 25B, the reference signal configuration change unit 25I, and the calculation of the above equation (37). Note that, in the first embodiment, the above equation (3) is used.
The phase adjustment of the adaptive digital filter W is performed by the interpolation calculation using the equation (4). However, instead of such an interpolation calculation, for example, for each shift amount P, that is, for the number of divisions D ₁ and D ₂ . For each switching pattern, a calculation formula such as the following formula using a coefficient calculated in advance may be used.

I <D ₁ -1; W _i = a ₁ (P) × W _i + a ₂ (P) × W _{(i + 1)} (40) i = D ₁ -1; W _{(D1-1 )} = A ₁ (P) × W _(D1-1) + a ₂ (P) × W ₀ (41) For example, when D ₁ = 4 and D ₂ = 8, a ₁ = 0.9239 and a ₂ = 0.3827. This corresponds to a case where interpolation calculation is performed with emphasis on the basic order of the vibration waveform generated by the engine 17. By the way, when the above equations (3) and (4) are used, an interpolation operation that widely affects harmonic components other than the basic order is required.

The above equations (40) and (41) are equations for the case where the phase adjustment is performed after the number of taps of the adaptive digital filter W is changed from D ₁ to D _2. First, the calculation formula in the case of performing the phase adjustment first is as follows.

I <D ₂ -1; W _i = a ₁ (P) × W _i + a ₂ (P) × W _{(i + 1)} (42) i = D ₂ -1; W _{(D2-1 )} = A ₁ (P) × W _(D2-1) + a ₂ (P) × W ₀ (43) In the first embodiment and the like, the number of divisions D is set to the period T
, That is, the number of divisions D tends to decrease as the cycle T decreases. For example,
When the controller 25 is configured to execute control other than the vibration reduction control, for example, engine ignition timing control, driving force control, and the like, according to a change in the calculation load of the control other than the vibration reduction control, The division number D may be set. In other words, if the calculation load of the control having a higher priority than the vibration reduction control becomes large, it may be desirable for the entire vehicle to allocate the calculation time to the control having the higher priority even if the calculation time for the vibration reduction control is divided. Because.

In each of the above embodiments, the case where the present invention is applied to an active vibration control device for a vehicle that reduces the vibration transmitted from the engine 30 to the vehicle body 35 has been described. The present invention is not limited to this, and may be, for example, a device that reduces noise. In the case of such an active noise control device, a loudspeaker as a control sound source for generating a control sound in the vehicle cabin;
If a microphone is provided as a residual noise detecting means for detecting residual noise in the vehicle interior, and the same arithmetic processing as in the above embodiment is executed, the same operation and effect as in the above embodiment can be obtained.

Further, the application of the present invention is not limited to a vehicle, but includes an active vibration control device and an active noise control device for reducing periodic vibrations and noises generated outside the engine 30. Even if the present invention is applicable,
The same operation and effect as those of the above embodiments can be obtained regardless of the application target. For example, the present invention is applicable to a device or the like that reduces vibration and noise transmitted from a machine tool to a floor or a room.

[Brief description of the drawings]

FIG. 1 is a schematic side view of a vehicle showing a first embodiment.

FIG. 2 is a plan view showing an example of an active engine mount.

FIG. 3 is a cross-sectional view taken along line AA and BB in FIG. 2;

FIG. 4 is a block diagram illustrating a functional configuration of a controller according to the first embodiment.

FIG. 5 is a waveform diagram illustrating a phase change of a drive signal.

FIG. 6 is a flowchart illustrating an outline of a process according to the first embodiment;

FIG. 7 is a flowchart illustrating an outline of a process according to the first embodiment;

FIG. 8 is a block diagram illustrating a functional configuration of a controller according to a second embodiment.

FIG. 9 is a diagram showing a relationship between Fourier coefficients and frequency components.

FIG. 10 is an explanatory diagram of an operation of an adaptive digital filter having two taps.

FIG. 11 is an explanatory diagram of characteristics of an adaptive digital filter.

FIG. 12 is a diagram illustrating a relationship between the number of divisions and a phase change.

FIG. 13 is a diagram illustrating a principle of canceling a phase change.

FIG. 14 is a flowchart illustrating an outline of a process according to the third embodiment;

FIG. 15 is a block diagram illustrating a functional configuration of a controller according to a fourth embodiment.

[Explanation of symbols]

Reference Signs List 17 engine (vibration source) 18 body 19 pulse signal generator (reference signal generation means) 20 active engine mount (control vibration source) 25 controller (control means) 25A filter coefficient update unit (filter coefficient update means) 25B D / A Converter (drive signal generation unit) 25C A / D converter 25D period measurement unit 25E division number setting unit (division number setting unit) 25F sampling period setting unit (sampling period setting unit) 25G phase characteristic change reduction processing unit (phase characteristic) Change reduction processing means) 52 electromagnetic actuator 64 load sensor (residual vibration detection means)

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5D061 FF02 5H004 GA07 GA18 GA26 GB12 GB20 HA12 HA20 HB12 JA03 JA12 JB19 KA32 KA35 KC05 KC17 KC39 KC43 KC55 LA11 LB06 LB08 MA05 MA06 MA36 MA39 MA42 MA43 MA60

Claims (8)

[Claims] 1. A control sound source or control vibration source capable of generating a control sound or control vibration that interferes with periodic noise or vibration;
Control means for generating and outputting a drive signal for driving the control sound source or the control vibration source so that the residual noise or the residual vibration after the interference is reduced. The drive signal is generated using an adaptive digital filter having a variable filter coefficient, with the time obtained by dividing the period by a predetermined number of divisions as a sampling period, and the number of divisions is switched according to a predetermined condition. In the active noise and vibration control device, when the number of divisions is switched, a phase characteristic change reduction process for reducing a change in the phase characteristic of the drive signal accompanying the switching of the number of divisions is performed on the adaptive digital filter. The adaptive digital filter on which the phase characteristic change reduction process has been executed is executed after the switching of the number of divisions. Active noise vibration control apparatus characterized by being adapted to use in the generation process of the serial drive signal. 2. The active noise and vibration control according to claim 1, wherein the phase characteristic change reduction process includes a process of performing a square matrix conversion on a vector having each filter coefficient of the adaptive digital filter as an element. apparatus. 3. A reference signal generating means for generating a reference signal indicating a state of occurrence of the noise or vibration, and a residual noise for detecting the residual noise or residual vibration after the interference and outputting as a residual noise signal or residual vibration signal. Detecting means or residual vibration detecting means, wherein the reference signal generating means generates an impulse train having the same cycle as a basic cycle of the noise or vibration as the reference signal, and the adaptive digital filter Is a digital filter composed of the same number of filter coefficients as the number of divisions, wherein the control means comprises: a sampling cycle setting means for setting the sampling cycle; and the sampling means from the time when the latest impulse of the reference signal is generated. The filter coefficients of the adaptive digital filter are sequentially used as the drive signal at intervals of a cycle. Dynamic signal generating means, adaptive processing means for updating a filter coefficient of the adaptive digital filter according to an adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal, division number setting means for setting the division number, The phase characteristic change reduction process performs an interpolation operation on each filter coefficient of the adaptive digital filter so as to cancel the change in the phase characteristic to create a new adaptive digital filter. 2. The active type filter according to claim 1, wherein the filter coefficient of the adaptive digital filter is appropriately interpolated or thinned out to create the new adaptive digital filter having the same number of filter coefficients as the number of divisions after switching. Noise and vibration control device. 4. A reference signal generating means for generating a reference signal indicating a state of occurrence of the noise or vibration, and a residual noise detecting the residual noise or residual vibration after the interference and outputting as a residual noise signal or residual vibration signal. Detecting means or residual vibration detecting means, wherein the reference signal generating means generates an impulse train having the same cycle as a basic cycle of the noise or vibration as the reference signal, and the adaptive digital filter Is a digital filter composed of the same number of filter coefficients as the number of divisions, wherein the control means comprises: a sampling cycle setting means for setting the sampling cycle; and the sampling means from the time when the latest impulse of the reference signal is generated. The filter coefficients of the adaptive digital filter are sequentially used as the drive signal at intervals of a cycle. Dynamic signal generating means, adaptive processing means for updating a filter coefficient of the adaptive digital filter according to an adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal, division number setting means for setting the division number, The phase characteristic change reduction process, by appropriately interpolating or thinning out each filter coefficient of the adaptive digital filter, to create a digital filter consisting of the same number of filter coefficients as the number of divisions after switching, 2. The active noise and vibration control apparatus according to claim 1, wherein the processing is such that interpolation processing is performed on each of the filter coefficients of the digital filter so as to cancel the change in the phase characteristic to create a new adaptive digital filter. 5. A reference signal generating means for generating a reference signal indicating a state of occurrence of the noise or vibration, and a residual noise for detecting the residual noise or residual vibration after the interference and outputting it as a residual noise signal or residual vibration signal. Detecting means or residual vibration detecting means, wherein the reference signal generating means generates an impulse train having the same cycle as a basic cycle of the noise or vibration as the reference signal, and the adaptive digital filter Is a digital filter composed of the same number of filter coefficients as the number of divisions, wherein the control means comprises: a sampling cycle setting means for setting the sampling cycle; and the sampling means from the time when the latest impulse of the reference signal is generated. The filter coefficients of the adaptive digital filter are sequentially used as the drive signal at intervals of a cycle. Dynamic signal generating means, adaptive processing means for updating a filter coefficient of the adaptive digital filter according to an adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal, division number setting means for setting the division number, The phase characteristic change reduction processing, for a vector having each filter coefficient of the adaptive digital filter as an element,
By performing conversion using a square matrix of the same order as the number of divisions before switching, and appropriately interpolating or thinning out each element of the vector after the conversion, a new number of filter coefficients having the same number as the number of divisions after switching is obtained. 2. The active noise and vibration control device according to claim 1, wherein the process is to create the adaptive digital filter. 6. A reference signal generating means for generating a reference signal indicating a state of occurrence of the noise or vibration, and a residual noise detecting the residual noise or residual vibration after the interference and outputting as a residual noise signal or residual vibration signal. Detecting means or residual vibration detecting means, wherein the reference signal generating means generates an impulse train having the same cycle as a basic cycle of the noise or vibration as the reference signal, and the adaptive digital filter Is a digital filter composed of the same number of filter coefficients as the number of divisions, wherein the control means comprises: a sampling cycle setting means for setting the sampling cycle; and the sampling means from the time when the latest impulse of the reference signal is generated. The filter coefficients of the adaptive digital filter are sequentially used as the drive signal at intervals of a cycle. Dynamic signal generating means, adaptive processing means for updating a filter coefficient of the adaptive digital filter according to an adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal, division number setting means for setting the division number, The phase characteristic change reduction process, by appropriately interpolating or thinning out each filter coefficient of the adaptive digital filter, to create a digital filter consisting of the same number of filter coefficients as the number of divisions after switching, A vector having each filter coefficient of the digital filter as an element is subjected to conversion by a square matrix of the same order as the number of divisions after the switching, and each element of the converted vector is used as a filter coefficient to obtain a new adaptive digital signal. 2. The active noise and vibration control device according to claim 1, wherein the process is a process of creating a filter. Place. 7. A reference signal generating means for generating a reference signal indicating a state of occurrence of said periodic noise or vibration, detecting said residual noise or residual vibration after said interference and outputting it as a residual noise signal or residual vibration signal. And the reference signal generating means generates a sine wave having the same cycle as a fundamental cycle of the noise or vibration as the reference signal. The adaptive digital filter is a digital filter composed of two filter coefficients, and the control means generates the drive signal by convolving the sampling cycle setting means for setting the sampling cycle and the reference signal and the adaptive digital filter. A driving signal generating means for performing adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal. An adaptive processing unit for updating a filter coefficient of the adaptive digital filter according to a algorithm; and a division number setting unit for setting the division number. The phase characteristic change reduction processing includes two filters of the adaptive digital filter. 2. The process according to claim 1, wherein the conversion is performed by a quadratic square matrix on a vector having coefficients as elements, and the new adaptive digital filter is created using two elements of the converted vector as filter coefficients. Active noise and vibration control device. 8. A control sound source or control vibration source capable of generating a control sound or control vibration that interferes with periodic noise or vibration;
Reference signal generating means for generating a reference signal indicating a state of occurrence of the periodic noise or vibration, and residual noise detecting means for detecting the residual noise or residual vibration after the interference and outputting it as a residual noise signal or residual vibration signal Or a residual vibration detecting means, and a control means for generating and outputting a drive signal for driving the control sound source or the control vibration source so that residual noise or residual vibration after the interference is reduced, and the reference signal The generation means generates a sine wave having the same cycle as the basic cycle of the noise or vibration as the reference signal, and the control means convolves the reference signal and the adaptive digital filter to generate the drive signal. Driving signal generating means for generating the adaptive noise based on the residual noise signal or residual vibration signal and the reference signal according to an adaptive algorithm. Adaptive driving means for updating a filter coefficient of the Tal filter, wherein the drive signal generating means switches a configuration of the reference signal used for the convolution according to a basic period of the noise or vibration. In the active noise and vibration control device, when the configuration of the reference signal used for the convolution is switched, a phase characteristic change reduction process for reducing a change in a phase characteristic of the drive signal accompanying the switching is performed by the adaptive method. Active noise and vibration control, wherein the adaptive digital filter executed on the digital filter and subjected to the phase characteristic change reduction processing is used for the drive signal generation processing after the switching. apparatus.