JP2001140974A - Controlling method of active vibration control device and active vibration control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an active vibration control device capable of restraining crossover distortion in a PWM signal producing device and distortion generated by the time constant of an electromagnetic actuator, in driving signal. SOLUTION: In a driving device 40 constituted of an H bridge circuit for producing a sinusoidal signal from a sinusoidal table stored in a sinusoidal storage unit 32 on the basis of the suitable filter coefficient data found by an adaptive control method to an input signal, for outputting the amplitude of the produced sinusoidal signal as a modulation pulse signal obtained by modulating the amplitude into the pulse width, and having switching elements arranged into a bridge shape, driving current is formed by switching the switching elements according to the polarity of the modulation pulse signal, and an electromagnetic actuator 23 connected to the output side of the H bridge circuit is operated by the driving current. Distortion by a high order component is previously provided in the sinusoidal table stored in the sinusoidal storage unit.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active vibration isolator for actively suppressing vibration of a vehicle body or the like.

[0002]

2. Description of the Related Art Conventionally, as an active control method of an engine mount of an automobile, a control apparatus of a vehicle includes, for example, a delay harmonic synthesizer minimum mean square filter 50 (hereinafter, DXHS).
LMS filter). That is,
As shown in FIG. 7, a crankshaft rotation pulse or an ignition pulse signal is extracted from a vibration source 51 such as an automobile engine, which is a signal source, by a sensor, and is shaped into a pulse signal s synchronized with a control target signal. Is done.
Further, the vibration from the vibration source 51 is transmitted to the transmission system 52.
Through (G '), it is transmitted as an external force d into the vehicle interior. The pulse signal s is converted into a sine wave synchronized with the control target signal by the frequency determination unit 53 to be a control target signal x, and the control target signal x is an adaptive filter 54 (W) which is a function of an amplitude compensation coefficient and a phase compensation coefficient. ), The sine wave signal y having the amplitude and the phase is compensated by the filter coefficient
Is output as The output signal y is input to the control target system 55 (the transfer function G), and the processed signal z is output via the control target system 55. The estimated transfer function 56 is obtained in advance by an impulse response measurement, a frequency sweep excitation test, and the like, and is referred to when updating the adaptive filter.

[0003] The response signal z is added with an external force d passing through a transmission system 52 (G '), which is the vibration of the engine, and detected by a sensor as an observed value. In vibration control, the target of the detected value of the sensor is 0. And the difference from the target becomes the error signal e. Using the error signal e and the estimated value of the estimated transfer function 56, an adaptive filter 54
(W) is sequentially updated. As described above, the optimum filter coefficient for each arbitrary number of rotations (frequency) is obtained, and the output signal y, which is amplitude- and phase-compensated by the filter coefficient and synthesized and output as a sine wave signal, is output to the control target system (transmission The processing signal z is output to the function G), and the processing signal z is output from the transmission system 52 such as the vibration of the engine.
The external force d via (G ′) is suppressed.

Further, as shown in FIG. 7, an optimum filter coefficient for each arbitrary number of rotations (frequency) is obtained by using a DXHS LMS filter 50, and this optimum filter coefficient data is stored as a data table. A simple method of taking out the data table 58 in the form of a ROM and performing active control adapted to the control device of the vehicle is also performed. That is, as shown in FIG. 8, a crankshaft rotation pulse or the like is extracted by a sensor from a vibration source 51 such as an automobile engine, which is a signal source, and the frequency determination unit 53 determines that the frequency is the control target frequency ω. Then, a control target signal having the control target frequency ω is selected and output. This signal x is amplitude- and phase-compensated by the filter coefficients of the data table 58, and is synthesized with a sine wave signal and output. The output signal y is supplied to a control target system 54 (transfer function G), and a processing signal z is output. The processing signal z is used to generate an external force d via a transmission system 52 (G ') that is vibration of the engine or the like.
Is suppressed. Thereby, in the control device 30, a sensor for detecting vibration can be omitted, and the configuration of the control device 30 can be simplified as compared with the adaptive control device.

[0005] In practice, as shown in FIG.
A sine wave storage unit 3 storing a sine wave table based on an optimum filter coefficient by adaptive control or an optimum filter coefficient selected according to an input signal from a data table of optimum filter coefficients formed based on adaptive control.
2 to generate corresponding sine wave signal data and output signal y
Output as The sine wave output signal y is output by the pulse width modulation (PWM) signal generation device 41 as a PWM pulse signal p modulated by pulse width modulation for changing the amplitude of the sine wave to a pulse width. Further, this PWM pulse signal p is formed into a sine-wave drive current in accordance with the polarity reversal of the signal by a drive circuit 42 constituted by a so-called H-bridge circuit 43, and the drive current is used to connect an electromagnetic actuator connected to the output side. 23 is driven. That is, an AC drive is performed in a drive circuit using a DC power supply.

[0006]

By the way, in the PWM signal generator 41, every time the sine wave signal inverts the polarity, a slight back electromotive force is generated, so that the output PWM signal has a crossover distortion. And the drive current in the final electromagnetic actuator 23 is distorted. Further, it has been clarified that the drive signal is distorted also by the time constant of the electromagnetic actuator 23. As an example, when examining the waveform of the driving current, it was confirmed that distortion occurred at the portion where the polarity was reversed, as shown in FIG. Further, as a result of analyzing the frequency of the drive current, as shown in FIG. 6B, many high-order components having a frequency 3f, which is three times the reference frequency f of the main signal component, are included. The ratio of the higher order component to the main signal component was about -30 dB. That is, although the original drive current z should be z = Asin (ωt), the result actually contained a third-order higher-order component as shown in the following Expression 1.

[0007]

## EQU1 ## z = Asin (ωt) + CAsin (3ωt
+ Π / 2)

Here, A is amplitude, ω = 2πf is angular frequency, and C is a predetermined coefficient value. As a result, even if an appropriate sine wave signal corresponding to the input signal is output by adaptive control or the like, since the drive output signal includes distortion, the appropriate excitation force of the final electromagnetic actuator cannot be obtained, and There is a problem that the effect of the control cannot be obtained properly.

An object of the present invention is to solve the above-mentioned problem, and it is an active type that can suppress crossover distortion included in a PWM signal generating apparatus for a sine wave output signal and distortion generated by a time constant of a final electromagnetic actuator. An object of the present invention is to provide a control method of a vibration isolator and an active vibration isolator.

[0010]

Means for Solving the Problems and Effects of the Invention In order to achieve the above object, the structural feature of the invention according to claim 1 is that an input signal based on a periodic pulse signal from a vibration source is provided. On the other hand, based on the optimum filter coefficient data obtained by the adaptive control method, a sine wave signal is generated using a sine wave table stored in advance in the storage means, and the generated sine wave signal is width-modulated by the pulse width modulation means. The modulated pulse signal is output as a modulated pulse signal, and the modulated pulse signal is input to a driving unit having a bridge arrangement of switching elements, and the switching element is switched according to the polarity of the modulated pulse signal to output a driving current, which is driven by the driving current. Drives the electromagnetic actuator connected to the output side of the unit, and suppresses the vibration of the vibration source by the excitation force based on the operation of the electromagnetic actuator A method of controlling a dynamic vibration insulator,
This is because the sine wave table stored in the storage means includes distortion due to higher-order components in advance.

In the invention according to claim 1 configured as described above, the storage means stores not a sine wave but a sine wave obtained by subtracting a higher-order component from the sine wave, that is, a sine wave containing distortion in advance. Accordingly, even if a crossover distortion generated in PWM modulation or a distortion generated by a time constant of an electromagnetic actuator is added to a sine wave signal including the distortion, the distortion previously included in the sine wave signal is canceled by these distortions. Will be removed. As a result, claim 1
According to the invention, since the electromagnetic actuator can be driven by the drive current having almost no distortion, the vibration of the vibration source can be effectively suppressed by an appropriate excitation force based on the drive current.

Further, the configuration of the invention according to the second aspect is characterized in that a storage unit storing a sine wave table and an adaptive control method for an input signal based on a periodic pulse signal from a vibration source. A sine wave signal generation unit that generates a corresponding sine wave signal from a sine wave table stored in a storage unit based on the obtained optimum filter coefficient data, and a modulated pulse signal that is a width modulation of the generated sine wave signal. A pulse width modulation section for outputting, and a bridge circuit in which switching elements are arranged in a bridge arrangement, wherein the output of the bridge circuit is output by a drive current output by switching of the switching elements according to the polarity of the input modulated pulse signal. And a drive unit that drives the electromagnetic actuator connected to the side, and generates vibration by the excitation force based on the operation of the electromagnetic actuator A inhibits the active vibration isolation system vibrations is that the moistened distortion by pre-order component to the sine wave table stored in the storage unit.

[0013] In the invention according to claim 2 configured as described above, instead of storing a sine wave, a high-order component is subtracted from the sine wave, that is, a sine wave table containing distortion is stored in advance in the storage unit. The sine wave signal generated by the sine wave signal generator in response to the input pulse contains distortion. The sine wave signal containing this distortion is converted into P
The signal is subjected to WM modulation, and the crossover distortion generated at this time is added to a sine wave signal containing distortion in advance. further,
When the PWM-modulated signal is processed in the drive unit and output to the electromagnetic actuator, distortion occurs due to the time constant of the electromagnetic actuator, and this distortion is also added to the drive signal. However, since the sine wave signal contains distortion in advance, such close-over distortion and distortion due to the time constant of the electromagnetic actuator are added, and thus the sine wave signal is canceled out by the distortion that is previously included in the sine wave signal. As a result. As a result, according to the second aspect of the present invention, the electromagnetic actuator can be driven by the drive current having almost no distortion, and the vibration of the vibration source can be effectively suppressed by the appropriate excitation force based on the drive current. Can be.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG.
FIG. 2 schematically shows a vibration removing system of a cycle gasoline engine vehicle M, and FIG. 2 is a block diagram showing an electric control configuration for removing vibration.

The gasoline engine vehicle M has an engine mount (hereinafter referred to as an engine mount) 20 mounted on the body 10 of the vehicle. Engine mount 2
As shown in FIG. 3, as shown in FIG. 3, a cylindrical case 21 is provided with a vibration-proof rubber 22 and an electromagnetic actuator 23 below the vibration-proof rubber 22 for controlling dynamic displacement of the engine. The anti-vibration rubber 22 is fixed to the inner wall at an intermediate position in the axial direction of the case 21, and is attached to the fixing bracket 24.
The fixing bracket 24 has a stopper portion 22a of the vibration isolating rubber 22.
Are provided toward one end (the upper end in the figure) of the case 21. A fixed shaft 25 is attached in the axial direction of the fixing bracket 24 in the axial direction.
Protrudes from a through hole 21a provided on one end side. The other end of the case 21 is provided with a fixed shaft 26. The engine mount 20 is fixed to the vehicle body 10 by a fixed shaft 26, and supports the engine 11 by attaching the engine 11 to the fixed shaft 25. A rotation pulse sensor 12 is provided on a crankshaft of the engine 11, and the rotation pulse sensor 12 outputs a crankshaft rotation pulse signal. Based on this, a control unit 31, which will be described later, determines a fundamental frequency of the output signal. decide.

A control device 30 for electrically controlling the vibration elimination system includes a control unit 31 composed of a microcomputer.
A data table ROM 58 storing update data of filter coefficients for adaptive control, and a sine wave storage unit 32 storing a sine wave table based on the filter coefficients. As the sine wave table, a table value obtained by subtracting a higher-order component expected to be a distortion on the drive device 40 side described later from the sine wave is used. The rotation pulse sensor 12 is connected to an input side of the control unit 31. On the output side of the control unit 31,
The electromagnetic actuator 23 of the engine mount 20 is connected via the driving device 40.

The driving device 40 controls the pulse width modulation (PWM) to change the amplitude of the sine wave into a pulse width.
A pulse width modulation signal generation device 41 that outputs a WM signal;
Drive circuit 42 constituted by a so-called H-bridge circuit
And The drive circuit 42 has an H bridge circuit 43 in which the source and drain terminals of four FETs (field effect transistors) F1 to F4 are symmetrically arranged in a bridge.
Are connected, and the electromagnetic actuator 23 is connected between the other symmetrical ends. A pre-driver 4 that selects the positive and negative polarities of the PWM signal and outputs the selected signal to the gate terminal of each FET of the H-bridge circuit 43 is provided before the H-bridge circuit 43.
4 are provided. The four output terminals a to d of the pre-driver 44 output signals when the terminals a and d are connected to F1 and F4, respectively, and have one polarity of the driving current.
c is connected to F2 and F3, and outputs a signal when the polarity of the drive current is the other.

Next, the operation of the above embodiment will be described. The crankshaft rotation pulse is extracted from the vibration source 51 by the sensor 12, the frequency determination unit 61 determines that the frequency is the control target frequency ω, and generates and outputs the control target signal of the control target frequency ω. The signal x is amplitude- and phase-compensated by the filter coefficient of the data table ROM 58, and a corresponding sine wave signal is generated from a sine wave table stored in the sine wave storage unit 32 and output as a sine wave signal y. I do. As shown in FIG. 4, the sine wave signal y is a signal obtained by subtracting a higher-order component from the sine wave signal y = Ysin (ωt), that is, the sine wave signal includes a previously obtained distortion. Has become.

[0019]

## EQU2 ## y = Ysin (ωt) −0.0316Ysi
n (3ωt + π / 2)

Here, Y is the amplitude, and ω = 2πf is the angular frequency. The sine wave signal y including this distortion is supplied to the driving device 40
Is subjected to PWM modulation by the pulse width modulation signal generation device 41, and the crossover distortion generated at this time is added to the sine wave signal containing distortion in advance. Further, when the PWM-modulated modulation signal p is input to the drive circuit 42, it is output from the pre-driver 44 to the H-bridge circuit 43 according to the polarity of the PWM modulation signal p. For example, when the PWM signal is positive, it is output from the output terminals a and d shown in FIG.
Is turned on, a drive current corresponding to the magnitude of the output signal flows, a current flows from the left to the right in the figure, and the electromagnetic actuator 23 is driven. When the PWM signal is negative, the output terminals b,
c, and outputs the H-bridge circuit 43 according to the output signal.
F2 and F3 are turned on, a drive current corresponding to the magnitude of the output signal flows, and a current flows from right to left in the figure to the electromagnetic actuator 23, and the electromagnetic actuator 23 is driven. At this time, a distortion due to the time constant of the electromagnetic actuator 23 is added to the drive current.

However, since the sine wave signal y contains distortion in advance, the sine wave signal is subjected to the crossover distortion added by the pulse width modulation signal generation device 41 or the distortion due to the time constant of the electromagnetic actuator, so that the sine wave signal is distorted. As a result, the distortion previously included in the signal y is canceled and removed. for that reason,
Drive current with almost no distortion allows electromagnetic actuator 2
3 can be driven, and the vibration of the engine, which is the vibration source, can be effectively suppressed by an appropriate excitation force based on the driving.

Next, a specific example of the above embodiment will be described in comparison with a conventional example. FIG.
As shown in (a) and (b), in the embodiment and the conventional example,
There is almost no difference for the primary component which is the fundamental vibration component, but for the secondary component and the tertiary component which are the higher order components,
It is clear that the embodiment is lower by 1 to 4 Nrms than the conventional example. In particular, when the frequency is equal to or higher than the predetermined frequency, the secondary component and the tertiary component are included in the conventional example in the range of about 1 to 4 Nrms.

In each of the above embodiments, the rotation pulse signal of the engine is used.
From the vehicle position detection signals such as shift position and water temperature,
It is also possible to perform more stable active control by obtaining an optimum filter for each state and making a table.

In each of the above embodiments, a DXHS LMS filter is used as an adaptive filter.
Another adaptive filter such as an ed-X LMS filter may be used. Further, the present invention can be applied to vibration removal of a vibration source other than an automobile.

[Brief description of the drawings]

FIG. 1 is a schematic diagram schematically showing a part of a vehicle to which an active control device according to an embodiment of the present invention is applied.

FIG. 2 is a block diagram schematically showing a control circuit configuration of the active control device.

FIG. 3 is a partial cross-sectional view showing an actuator mounted engine mount of the active control device.

FIG. 4 is a signal waveform diagram illustrating a sine wave signal including a distortion in advance stored in a sine wave storage unit.

FIG. 5 is a graph showing frequency characteristics of a vibrating force for a specific embodiment and a conventional example.

FIG. 6 is a graph showing a waveform and frequency analysis result of a driving current according to a conventional example.

FIG. 7 is a block diagram showing an adaptive control system using a DXHS LMS filter.

FIG. 8 is a block diagram showing a control system that stores and uses an optimum filter coefficient obtained by an adaptive control system as a data table.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Body, 11 ... Engine, 12 ... Rotation pulse sensor, 20 ... Actuator mounted engine mount, 22
... vibration isolation rubber, 23 ... electromagnetic actuator, 30 ... control unit, 31 ... control unit, 32 ... sine wave storage unit, 40 ... drive unit, 41 ... pulse width modulation signal generation unit, 42 ... drive circuit, 43 ... H bridge Circuit, 44 ... pre-driver, 50
... Digital filter (DXHS LMS), 58 ... Data table ROM.

 ──────────────────────────────────────────────────続 き Continued on front page F term (reference) 3D035 CA32 3J048 AB09 AD03 EA01 5H004 GA40 GB12 HA12 HB12 JB03 KA22 KC12 KC54 LA13 MA05 MA08 MA11 5J023 DB01 DC04 DC06 DD02 DD07 9A001 HH34 KK29 KK31 KK32 KK54

Claims (2)

[Claims] A sine wave table stored in a storage means in advance based on optimum filter coefficient data obtained by an adaptive control method for an input signal based on a periodic pulse signal from a vibration source. A pulse signal is generated, the generated sine wave signal is output as a modulated pulse signal width-modulated by pulse width modulation means, and the modulated pulse signal is input to a drive unit having a bridge arrangement of switching elements. A driving current is output by switching the switching element according to the polarity of the pulse signal, and the driving current drives an electromagnetic actuator connected to the output side of the driving unit, and a vibration force based on the operation of the electromagnetic actuator A method for controlling an active vibration isolator that suppresses vibration of the vibration source by using a sine wave table stored in the storage unit. The method of the active vibration isolation system which is characterized in that included a distortion due to pre-order components. 2. A storage unit storing a sine wave table, and the storage unit based on optimal filter coefficient data obtained by an adaptive control method for an input signal based on a periodic pulse signal from a vibration source. A sine wave signal generating section for generating a corresponding sine wave signal from the sine wave table stored in the memory, a pulse width modulation section for outputting the generated sine wave signal as a modulated pulse signal that is width-modulated, and a switching element as a bridge. A bridge circuit is arranged, and an electromagnetic actuator connected to an output side of the bridge circuit is driven by a drive current output by switching the switching element according to the polarity of the input modulation pulse signal. And a drive unit for controlling the vibration of the vibration source by a vibrating force based on the operation of the electromagnetic actuator. An active vibration isolator, wherein a sine wave table stored in the storage unit includes distortion due to a higher-order component in advance.