JP2003049897A - Adaptive control method for pneumatic vibration exciter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a proper vibration suppressing effect by a pneumatic vibration exciter irrespective of change in a controlled system. SOLUTION: The pneumatic vibration exciter is provided with a sealed air chamber 35 and a solenoid valve 44 interposed in an air communication passage connected with the air chamber and alternately changing communicating states to the air chamber of two air pressure sources respectively having different air pressures. Amplitude and phase are compensated in an input signal based upon a pulse signal from a vibration generating source by a filter coefficient which is a function of an amplitude compensation coefficient and a phase compensation coefficient of a digital filter. On the basis of amplitude updated by the digital filter, a pulse control signal is formed having a duty ratio of a size responding to the amplitude, and change-over of an electromagnetic change-over means is controlled by the pulse control signal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to an actuator having an air chamber, in which two air pressure sources having different air pressures are alternately connected to the air chamber by electromagnetic switching means such as an electromagnetic valve. The present invention relates to an adaptive control method for a pneumatic vibration device that causes a pressure change inside an air chamber by switching and actively suppresses vibration of a vehicle or the like by a vibration force of an actuator based on the pressure change.

[0002]

2. Description of the Related Art Conventionally, a pneumatic vibrating device is an electromagnetic valve interposed in an air flow pipe connecting a negative pressure actuator having an air chamber, a negative pressure source such as an intake port of an engine, and the atmosphere side. The negative pressure actuator is vibrated by switching the communication state between the negative pressure source and the air chamber on the atmosphere side by using electromagnetic switching means such as. Regarding the control signal for performing such switching control of the electromagnetic switching means,
It is formed in advance corresponding to the frequency (engine speed etc.) of the input pulse signal and the operating state (air conditioner on / off, shift position, throttle opening etc.). This control signal data is stored in the storage unit of the control device in the form of a data map, and is selected according to the input pulse signal frequency and the operating state.

[0003]

However, in the case of the conventional control method, since the control signal is stored in the storage unit of the control device in the form of a data map, the change of the controlled object, for example, the vibration of the engine. It was difficult for the control signal to properly follow level changes, temperature changes, and secular changes. Therefore, there is a problem that the proper vibration suppressing effect of the pneumatic vibration device is impaired.

The present invention is intended to solve the above-mentioned problems, and provides an adaptive control method for a pneumatic vibrator that can obtain a proper vibration suppressing effect regardless of changes in the controlled object. It is intended.

[0005]

In order to achieve the above object, the structural features of the invention according to claim 1 are: an actuator having a closed air chamber; and an air flow connected to the air chamber. An electromagnetic switching unit that alternately switches the communication states of two air pressure sources having different air pressures, which are interposed in the passage, to the air chamber is provided, and the switching operation of the electromagnetic switching unit is controlled, thereby the inside of the air chamber. In a pneumatic exciter that causes a pressure change in the pressure and actively suppresses the vibration to be controlled by the excitation force of the actuator based on the pressure change, the input signal based on the periodic pulse signal from the vibration source. , The amplitude and phase are compensated by the filter coefficient that is a function of the amplitude compensation coefficient and the phase compensation coefficient of the digital filter, and the updated amplitude is obtained by the digital filter. Zui and forms a pulse control signal having a duty ratio of a magnitude corresponding to the amplitude, in that to perform the switching control of the electromagnetic switching means by the pulse control signal.

According to the invention of claim 1, which is configured as described above, a filter which is a function of the amplitude compensation coefficient and the phase compensation coefficient of the digital filter with respect to the input signal based on the periodic pulse signal from the vibration source. Amplitude and phase compensation is performed by the coefficient, and the amplitude and phase data updated by the digital filter is output. Since the amplitude and the phase are thus compensated by the filter coefficient, the amplitude and the phase can properly follow the change of the controlled object. A pulse control signal having a duty ratio of a magnitude corresponding to this amplitude is formed, switching control of the electromagnetic switching means is performed by this pulse control signal, and the pulse control signal is interposed in the air flow passage connected to the air chamber and is different from each other. The communication state of the two air pressure sources having air pressure to the air chamber is alternately switched. By performing the switching control of the electromagnetic switching means by the pulse control signal of the duty ratio adaptively controlled in this way, the switching control can properly follow the change of the controlled object, and as a result, the pneumatic type A proper vibration suppressing effect by the vibration device can be obtained.

Further, a structural feature of the invention according to claim 2 is that an actuator having a closed air chamber,
An electromagnetic switching unit that alternately switches the communication states of the two air pressure sources having different air pressures, which are interposed in the air flow passages connected to the air chamber, are provided, and the switching operation of the electromagnetic switching unit is performed. In a pneumatic exciter that causes pressure change inside the air chamber by controlling and actively suppresses the vibration that is the controlled object by the exciting force of the actuator based on the pressure change, the period from the vibration source Amplitude and phase compensation for the input signal based on the positive pulse signal by the filter coefficient that is a function of the amplitude compensation coefficient and the phase compensation coefficient of the digital filter, and the electromagnetic switching is performed based on the amplitude updated by the digital filter. In relation to the operating characteristics of the means, when the amplitude is small, the duty ratio is larger than when the amplitude and the duty ratio are in direct proportion. When the amplitude is large, a pulse control signal having a duty ratio that makes the duty ratio smaller than when the amplitude and the duty ratio are in direct proportion is formed, and switching control of the electromagnetic switching means is performed by the pulse control signal. Is to do.

According to the second aspect of the present invention configured as described above, the filter is a function of the amplitude compensation coefficient and the phase compensation coefficient of the digital filter with respect to the input signal based on the periodic pulse signal from the vibration source. Amplitude and phase compensation is performed by the coefficient, and the amplitude and phase data updated by the digital filter is output. Since the amplitude and the phase are thus compensated by the filter coefficient, the amplitude and the phase can properly follow the change of the controlled object. Next, in relation to the operating characteristics of the electromagnetic switching means, when the updated amplitude is small, the duty ratio is larger than when the duty ratio and the amplitude are in direct proportion, and when the updated amplitude is large, the duty ratio is large. The pulse control signal is formed so that the duty ratio becomes smaller than that when the pulse amplitude and the amplitude have a direct proportional relationship. In this manner, the switching control of the electromagnetic switching means is performed by the pulse control signal having the duty ratio adjusted according to the magnitude of the amplitude, and the different air pressures are provided in the air flow passages connected to the air chamber. The communication state of the two air pressure sources that it has with the air chamber is alternately switched.

Here, there is a time delay between the timing of switching the electromagnetic switching means and the timing of switching to different air pressures in the air chamber. Therefore, when the duty ratio of the pulse control signal becomes small, it becomes impossible to obtain the exciting force due to the pressure fluctuation in the air chamber corresponding to the amplitude. However, according to the invention of claim 2, when the amplitude is small, the duty ratio is increased as compared with the case where the duty ratio and the amplitude are in direct proportion to each other, in association with the operation characteristic of the electromagnetic switching means. The vibration force corresponding to the amplitude can be obtained by compensating for the time delay of the switching timing.
On the other hand, when the amplitude is large, the pulse control signal is formed so that the duty ratio becomes smaller than when the duty ratio and the amplitude are in a direct proportional relationship. can get. As a result, in the vibrating device, it is possible to generate the vibrating force of the actuator that is substantially proportional to the change in the amplitude of the input signal.

Further, the constitutional feature of the invention according to claim 3 is that in the adaptive control method for a pneumatic vibrator according to claim 2, the duty ratio is a function with the amplitude as a variable, and the function Is a cubic function that monotonically increases, and the position of the inflection point of the cubic function is in the vicinity of the duty ratio of 25%. As a result, regarding the relationship between the duty ratio and the amplitude, as shown in FIG. 3, for example, the conventional duty ratio and the amplitude have a direct proportional relationship (dotted line), whereas in the present invention, when the amplitude is small, The duty ratio is made larger than that when the duty ratio and the amplitude are in direct proportion. When the duty ratio and the amplitude match at the inflection point position of the cubic function where the duty ratio slightly exceeds 25%, and when the amplitude is large, compared to when the duty ratio and the amplitude are in direct proportion. The duty ratio is reduced.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing an overall configuration of a pneumatic vibration device applied to a vibration control target such as a vehicle body to which the embodiment is applied, and FIG. 2 is a pneumatic vibration device. FIG. 3 is a sectional view showing a dynamic damper which is a main part of the apparatus. This pneumatic vibration device is composed of a dynamic damper 10 and an air pressure control means 40 that changes the air pressure of the dynamic damper 10 to generate a vibration force.

The dynamic damper 10 includes a mounting member 11 mounted on a vibration generating portion of a vehicle body of an automobile, a mass member 20 arranged to face the mounting member 11, and a mounting member 1.
1. A rubber elastic body 30 that elastically connects 1 and the mass member 20.
Are provided, and an air chamber 35 that is in a hermetically sealed state is surrounded by these. The air pressure control means 40 uses the intake port 41 of the engine, which is a negative pressure generation source, and the atmosphere side as two air pressure supply sources having different pressures, and switches the electromagnetic valve 44 based on the control of the electric control device 50, thereby dynamically By alternately switching the inside of the air chamber 35 in the damper 10 between the negative pressure state and the atmospheric pressure state, the air chamber 3
A change in air pressure is generated with respect to 5. Due to this change in air pressure, an exciting force is generated in the mass member 20, and the vibration of the mass member 20 is transmitted to the vehicle body side through the rubber elastic body 30. It should be noted that the two air pressure sources are not limited to the negative pressure source and the atmosphere side, and a combination of a positive pressure source and the atmosphere side, a negative pressure source and a positive pressure source, and the like are also possible.

As shown in FIG. 2, the mounting bracket 11 is
On the one surface side (lower surface in the drawing), which is disk-shaped, an annular groove 12 is provided coaxially in the vicinity of the outer periphery, and an annular convex portion 13 adjacent to the inside of the groove 12 is provided. The inside of the convex portion 13 is a concave portion 15 slightly recessed from the outer flat portion 14 of the groove portion 12. Further, the mounting member 11 has a ventilation hole 16 which penetrates a part of the outer periphery thereof and extends toward the center, and penetrates to the one surface side at the center position and communicates with the recess 15.
A port 17 for connecting an air circulation pipe 42, which will be described later, is attached to the outer peripheral portion connected to the ventilation hole 16 so as to project radially outward. Mounting bracket 11
On the other surface side (upper surface in the drawing), a bolt 18 is erected vertically at the axial center position.

The mass member 20 has a disk shape having substantially the same outer diameter as that of the mounting member 11, and a recess 21 is provided at a position facing the convex portion 13 on the surface facing the mounting member 11. The inside of the recess 21 is a trapezoidal protruding portion 22, and the outside of the recess 21 is a flat portion 23.

The rubber elastic body 30 has an outer peripheral diameter of the groove portion 1 described above.
A rubber portion 31 which is a thick annular body having a diameter substantially equal to the diameter of 2 and is formed such that the outer peripheral side and the inner peripheral side are slightly axially displaced from each other.
And an annular support fitting 32 fixed to the outer peripheral portion of the rubber portion 31 by vulcanization adhesion. The outer diameter of the support fitting 32 is substantially the same as the outer diameter of the mass member 20. The rubber elastic body 30 includes the support fitting 32 and the outer flat portion 1 of the mounting fitting 11.
Mounting bracket 1 by closely adhering to 4 and fixing by welding, etc.
It is fixed at 1. The inner peripheral portion of the rubber elastic body 30 is fixed to the outer peripheral inclined surface of the protruding portion 22 of the mass member 20 with an adhesive. As a result, inside the mounting bracket 11, the mass member 20, and the rubber elastic body 30,
An airtight air chamber 35 is formed. The dynamic damper 10 is fixed to the vehicle body side by screwing the mounting member 11 to the vehicle body side member with the bolt 18.

When the dynamic damper 10 is mounted on a vehicle, as shown in FIG. 1, an air circulation pipe 42, which is an air flow passage, is connected to the port 17 of the dynamic damper 10. The other end of the air circulation pipe 42 is connected to the intake port 41 of the engine, which is a negative pressure source. Near the intake port 41 side of the air circulation pipe 42, a negative pressure tank 43 for stabilizing the negative pressure state of the intake port 41 is interposed and connected. Further, on the port 17 side of the air circulation pipe 42, a 3-port type electromagnetic valve 4 is provided.
4 is interposed by its 2 ports. The other port of the electromagnetic valve 44 is connected to a pipe 45 that communicates with the atmosphere side. The electromagnetic valve 44 is configured such that the air chamber 35 side communicates with the atmosphere side in a non-energized state, the valve is switched by energization, and the air chamber 35 communicates with the negative pressure tank 43 side. The connection state may be reversed.

The electric control unit 50, as shown in FIG.
A control unit 51 including a microcomputer and the like, and a drive unit 54 are provided. The control unit 51 includes an adaptive control unit 52 and a pulse signal generation unit 53, and executes the “excitation control program” shown in FIG. The adaptive control unit 52 performs adaptive control based on an input pulse signal having a frequency corresponding to a vibration frequency of a vibration source such as a rotation pulse signal of a rotation speed sensor (not shown) provided in the engine and an error signal described later. Amplitude and phase compensation is performed by the filter coefficient W of the digital filter, and the updated amplitude a and phase φ data is output to the pulse signal generation unit 53. Here, as the adaptive control, for example, a method using a delay harmonic synthesizer least mean square filter (DXHS-LMS filter) is preferable. The pulse signal generation unit 53 maps and stores the amplitude and duty ratio data shown in FIG. 3 as conversion data representing the relationship between the amplitude and the duty ratio of the pulse signal in the storage unit. The pulse signal generation unit 53 selects duty ratio data from the storage unit on the basis of the amplitude updated by the adaptive control in the adaptive control unit 52, and generates and outputs the pulse control signal having the duty ratio.

A crankshaft rotation pulse signal or the like is input as an input pulse signal from a rotation sensor (not shown) provided on the crankshaft of the engine to the adaptive control unit 52,
Further, an error signal used for adaptive control is input from a pickup acceleration sensor or the like (not shown) provided at a control target position such as a lower portion of the driver's seat. In addition, the control unit 51
The drive unit 54 is connected to the output side of the pulse signal generation unit 53. The drive unit 54 performs a switching operation according to the input of the pulse control signal, and drives the solenoid of the electromagnetic valve 44 by the output thereof.

In the dynamic damper 10, when the electromagnetic valve 44 is not energized, the inside of the air chamber 35 is the pipe 45,
The mass member 20 is in a steady position, communicating with the atmosphere side through the air circulation pipe 42, the port 17, and the ventilation hole 16. By turning on the electromagnetic valve 44, the air in the air chamber 35 is sucked by the intake port 41 through the air circulation pipe 42, the port 17 and the vent hole 16, and the inside of the air chamber 35 is brought into a negative pressure state. result,
The mass member 20 is pulled upward. In this way, the mass member 20 vibrates due to repeated non-energization / energization of the electromagnetic valve 44, and the vehicle body is vibrated by the vibration.

The operation of the above embodiment will be described. The control unit 51 starts the execution of the “excitation control program” shown in FIG. 4 at step 60, initializes various variables, and then frequency-converts the input pulse signal input from the rotation sensor of the vibration source. The control section calculates the control frequency and outputs the input signal related to the control frequency to the adaptive filter (steps 61 to 63). In response to this input signal, the control unit 51 uses a filter coefficient of a digital filter (DXHS-LMS filter) based on the error signal input from the pickup acceleration sensor and the estimated transfer function of the controlled system that is an estimated value. Amplitude compensation and phase compensation are performed, and the amplitude a and the phase φ are updated (steps 64 and 65). The updated amplitude a and phase φ data is used as the pulse signal generation unit 5
3 is output.

The pulse signal generator 53 selects a corresponding duty ratio from the amplitude / duty ratio data stored in the memory according to the input amplitude data. Further, the pulse signal generator 53 generates a pulse control signal based on the updated phase and the selected duty ratio and outputs it to the driver 54 (steps 66 and 67). In response to the pulse control signal input, the drive unit 54 drives the electromagnetic valve 44 by the output of the switching operation. As a result, the dynamic damper 10 can be excited by the pulse control signal based on the amplitude and phase updated by the adaptive control. As described above, in the dynamic damper 10 of the present embodiment, the amplitude and the phase are compensated by the filter coefficient of the digital filter, so that the pulse control signal properly follows the change of the control target. As a result, according to the present embodiment, it is possible to reliably obtain an appropriate vibration suppressing effect by the dynamic damper 10 even if the control target changes.

Further, as shown in FIG. 3, when the updated amplitude is small, the duty ratio of the pulse control signal is increased as compared with the case where the duty ratio and the amplitude are in a direct proportional relationship. By compensating for the time delay of the switching timing of the pressure change in 35, a vibration force relatively corresponding to the amplitude can be obtained. On the other hand, when the amplitude is large, as shown in FIG. 3, by forming the pulse control signal so that the duty ratio becomes smaller than when the duty ratio and the amplitude are in a direct proportional relationship, the pulse control signal is slightly increased with respect to the amplitude. A vibrating force suppressed to a low level can be obtained. As a result, the dynamic damper 10 can obtain a vibrating force substantially proportional to the change in the amplitude of the input signal, and can effectively suppress the vehicle body vibration.

In the above embodiment, the duty ratio of the pulse control signal is corrected based on the data shown in FIG. 3 according to the magnitude of the updated amplitude. It is also possible to use a pulse control signal having a duty ratio that is directly proportional to the updated amplitude, without performing.

In the above embodiment, the dynamic damper has been described as the pneumatic vibration device.
Instead of this, the present invention can be applied to an engine mount. Further, in the above embodiment, the adaptive control using the delay harmonic synthesizer least mean square filter as the adaptive control system has been described, but the same applies to the control using the adaptive least mean square filter (Filtered-X LMS). The present invention can be applied. Besides, what is shown in the above embodiment is an example, and various modifications can be made without departing from the gist of the present invention.

[0025]

According to the first aspect of the invention, since the pulse control signal has the duty ratio corresponding to the amplitude updated by the filter coefficient of the digital filter,
An appropriate vibration control effect can be reliably obtained even with changes in the controlled object such as changes with time. Furthermore, when the updated amplitude is small, the duty ratio of the pulse control signal is larger than when the duty ratio and the amplitude are in direct proportion,
When the amplitude is large, the pulse control signal is formed so that the duty ratio becomes smaller than when the duty ratio and the amplitude are in direct proportion, so that the pulse control signal is substantially proportional to the amplitude change of the input signal. The vibrating force can be obtained, and the vibration of the controlled object can be effectively suppressed (effects of the invention of claims 2 and 3).

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a pneumatic vibration device according to an embodiment of the present invention.

FIG. 2 is a cross-sectional view showing a dynamic damper of the pneumatic vibration device.

FIG. 3 is a graph showing the relationship between the amplitude of the output signal and the duty ratio.

FIG. 4 is a flowchart of a “vibration control program” executed by a control unit.

[Explanation of symbols]

10 ... Dynamic damper, 11 ... Mounting bracket, 20 ... Mass member, 21 ... First support bracket, 30 ... Rubber elastic body, 35
... Air chamber, 40 ... Pneumatic control device, 41 ... Intake port, 42 ... Air distribution pipe, 44 ... Electromagnetic valve, 50 ...
Electric control device, 51 ... Control unit, 52 ... Adaptive control unit, 53
... Pulse signal generating unit, 54 ... Driving unit.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) // B60G 17/015 F16F 9/32 ZF term (reference) 3D001 AA02 DA02 DA17 EA44 EB01 3D035 CA21 CA23 3J048 AA06 AB08 AB09 AB15 AC04 AD03 BE02 DA03 3J069 AA21 EE63 EE65 5H004 GA09 GB12 HA03 HB08 HB09 KA22 KB21 KC53 KC54

Claims (3)

[Claims] 1. An actuator provided with a closed air chamber and two air pressure sources, which are interposed in an air flow passage connected to the air chamber and have different air pressures, alternately communicate with the air chamber. And an electromagnetic switching unit for switching the electromagnetic switching unit to control the switching operation of the electromagnetic switching unit to generate a pressure change in the air chamber, and the vibration force of the actuator based on the pressure change causes the controlled object to be controlled. In a pneumatic exciter that actively suppresses certain vibrations, a filter coefficient that is a function of the amplitude compensation coefficient and phase compensation coefficient of the digital filter is applied to the input signal based on the periodic pulse signal from the vibration source. Pulse control that performs amplitude and phase compensation and has a duty ratio of a magnitude corresponding to the amplitude based on the amplitude updated by the digital filter Adaptive control method of the pneumatic vibrator being characterized in that to perform the switching control of the electromagnetic switching means by the formation, and the pulse control signal to issue. 2. An actuator having a closed air chamber, and two air pressure sources, which are interposed in an air flow passage connected to the air chamber and have different air pressures, alternately communicate with the air chamber. And an electromagnetic switching unit for switching the electromagnetic switching unit to control the switching operation of the electromagnetic switching unit to generate a pressure change in the air chamber, and the vibration force of the actuator based on the pressure change causes the controlled object to be controlled. In a pneumatic exciter that actively suppresses certain vibrations, a filter coefficient that is a function of the amplitude compensation coefficient and phase compensation coefficient of the digital filter is applied to the input signal based on the periodic pulse signal from the vibration source. Amplitude and phase compensation is performed, and based on the amplitude updated by the digital filter, the amplitude is correlated with the operating characteristic of the electromagnetic switching unit. When it is open, the duty ratio is larger than when the amplitude and the duty ratio are in a direct proportional relationship, and when the amplitude is large, the duty ratio is smaller than when the amplitude and the duty ratio are in a direct proportional relationship. A pulse control signal having such a duty ratio is formed and switching control of the electromagnetic switching means is performed by the pulse control signal. 3. The duty ratio is a function having the amplitude as a variable, and the function is a cubic function that monotonically increases,
3. The adaptive control method for the pneumatic vibrator according to claim 2, wherein the inflection point position of the cubic function is in the vicinity of a duty ratio of 25%.