JP2003195951A - Active type vibration control device and same for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce noise and vibration unpleasant to a user generated when a transfer function is identified. <P>SOLUTION: In an identification signal generation part 10, a sine wave generation part 21 generates a sine wave signal of a predetermined frequency f<SB>0</SB>and a gain adjusting part 22 adjusts the sine wave signal to a predetermined amplitude. The gain adjusting part 22 sets a frequency with the highest transfer gain of a transfer function as a reference. When an identification signal of the frequency with the highest transfer gain of the transfer function is used, the amplitude of the identification signal y of all the frequencies is adjusted so that the noise generated from the identification signal y causes no unpleasant feeling nor audible noise. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active vibration control device for reducing residual vibration and noise by interfering control vibration or control sound, and further, such a device is suitable for mounting on a vehicle. And a control algorithm for driving a controlled vibration source includes a transfer function between the controlled vibration source and a means for detecting residual vibration or noise. The present invention relates to an active vibration control device and a vehicle active vibration control device that can perform function identification processing.

[0002]

2. Description of the Related Art The transfer function between a control vibration source and a means for detecting residual vibration is slightly different depending on the device to which the active vibration control device is applied and the characteristic variation of each application device. Since there is a possibility that it will change from the initial state due to characteristic changes etc. due to use of the target device, in order to execute highly accurate vibration or noise reduction control, the active vibration control device should be applied to the target device. It is desirable to identify the transfer function after it is incorporated, or to identify the transfer function for each periodic inspection of the application target device.

As a prior art for enabling identification of such a transfer function, an identification signal corresponding to an impulse signal is generated from a controlled vibration source, and its response is measured by means for detecting residual vibration. There is a technique for identifying a transfer function necessary for a control algorithm of a vibration control device. In the prior art disclosed in Japanese Patent Laid-Open No. 11-2283, the identification signal is concentrated in a specific frequency region,
Furthermore, the transfer function is identified by using the identification signals of a plurality of continuous frequencies within the specific frequency region.

[0004]

By the way, in the initial stage of defining the amplitude of the identification signal, a device to which the active vibration control device is applied, for example, an active vibration control device for a vehicle is input to the vehicle body. That is, the amplitude of the identification signal is specified. As a result, the identification signal input to the application target device when the transfer function is identified at the stage of actual use propagates through the components of the application target device,
There is a problem in that it is perceived by the user as vibration or noise.

For example, when the device to be applied is a vehicle body,
When the identification signal is input to the vehicle body, the passenger propagates through the vehicle body and vibrates the floor, steering, and the like, or the vibration transmitted to the vehicle body panel causes the vehicle body panel to become a sounding part and emit a sound. However, there is a problem that these vibrations and noises make the passenger feel uncomfortable. Further, in such a transfer characteristic up to a portion that the user perceives as vibration or noise, the transfer gain may increase due to a resonance phenomenon or the like depending on the frequency of the identification signal, and in this case, At the frequency of such an identification signal, the transmitted vibration level and noise level become high, and the above-mentioned problems become significant.

Therefore, the present invention has been made by paying attention to the unsolved problem of such a conventional technique, and causes the user to feel uncomfortable due to noise or vibration generated when the transfer function is identified. It is an object of the present invention to provide an active vibration damping device that does not apply and an active vibration control device for a vehicle.

[0007]

In order to solve the above-mentioned problems, an active vibration control device according to a first aspect of the present invention is a control vibration source capable of generating a control vibration that interferes with a vibration generated by a vibration source. A reference signal generating means for detecting a vibration occurrence state of the vibration source and outputting it as a reference signal; a residual vibration detecting means for detecting the vibration after the interference and outputting it as a residual vibration signal; the reference signal and the residual vibration. Active control means for driving the controlled vibration source so as to reduce the vibration by using a control algorithm including a transfer function between the controlled vibration source and the residual vibration detection means based on a signal, and selected from a predetermined frequency range An identification signal of the specified frequency is output to the vibration source, and the transfer function identification means identifies the transfer function based on the residual vibration signal input in response to the identification signal. In the vibration control device, set an evaluation point for evaluating noise or vibration generated by the identification of the transfer function, of the identification signal based on the frequency characteristics of the transfer function between the control vibration source and the evaluation point. It is characterized in that it comprises identification signal amplitude adjusting means for adjusting the amplitude.

Further, the active type vibration control device according to a second aspect of the present invention is the active type vibration control device according to the first aspect of the present invention, wherein the identification signal amplitude adjusting means is within the predetermined frequency range. As for the amplitude of the identification signal of the selected frequency, even if the identification signal of the frequency at which the transfer gain of the transfer function from the control vibration source to the evaluation point is maximized,
It is characterized in that the noise or vibration corresponding to the identification signal at the evaluation point is adjusted to be below a predetermined level.

The active vibration control apparatus according to a third aspect of the present invention is the active vibration control apparatus according to the first aspect, wherein the identification signal amplitude adjusting means is within the predetermined frequency range. It is characterized in that the amplitude of the identification signal of the selected frequency is adjusted so that the characteristic shown with respect to the frequency change of the identification signal is the inverse characteristic of the frequency characteristic of the transfer function from the controlled vibration source to the evaluation point. . The active vibration control device according to the invention of claim 4 is
In the active vibration control device according to any one of claims 1 to 3, the identification signal amplitude adjusting means adjusts the amplitude of the identification signal based on amplitude adjustment information obtained in advance. .

An active vibration control device according to a fifth aspect of the present invention is the active vibration control device according to any one of the first to fourth aspects, in which noise or vibration at the evaluation point is detected. It is characterized in that the identification signal amplitude adjusting means adjusts the amplitude level of the identification signal based on the detection result of the detecting means. An active vibration control device according to a sixth aspect of the present invention is the active vibration control device according to any one of the first to fifth aspects, wherein the identification signal amplitude adjusting means has a plurality of the evaluation values. The amplitude of the identification signal is adjusted based on the transfer function between the point and the controlled vibration source.

Further, an active type vibration control device according to a seventh aspect of the present invention is the active type vibration control device according to any one of the first to sixth aspects, wherein the evaluation point is used during actual use. It is a feature that a person senses noise or vibration. According to an eighth aspect of the present invention, there is provided an active vibration control device for a vehicle, wherein the active vibration control device according to any one of the first to fifth aspects is configured to be mounted on a vehicle. The control device is characterized in that the evaluation point is a portion where noise in a vehicle compartment, vibration of a steering wheel, vibration of a floor of a vehicle body, or vibration of a seat is detected.

According to a ninth aspect of the present invention, there is provided an active vibration control device for a vehicle, wherein the active vibration control device according to the sixth aspect is mounted on a vehicle. It is characterized in that the plurality of evaluation points are a plurality of locations where noise in a vehicle compartment, vibration of a steering wheel, vibration of a floor of a vehicle body, or vibration of a seat is detected. Here, in the invention according to claim 1, an evaluation point for evaluating noise or vibration generated by identification of the transfer function is provided separately from the residual vibration detection means, and the evaluation point and the control vibration source are combined. The amplitude of the identification signal is adjusted based on the frequency characteristic of the transfer function between the two. Also,
The transfer function between the evaluation point and the controlled vibration source changes depending on the frequency of the identification signal.
The amplitude of the identification signal is determined based on the frequency characteristic of the transfer function. For example, as in the invention according to claim 7, the evaluation point is a portion where the user senses noise or vibration during actual use.

Further, in particular, the transfer gain of the transfer function from the controlled vibration source to the evaluation point shows a peak in the identification signal of a certain frequency within the predetermined frequency range. Correspondingly to this, in the invention according to claim 2, the transfer gain of the transfer function from the controlled vibration source to the evaluation point is maximized with respect to the amplitude of the identification signal of the frequency selected in the predetermined frequency range. Even if the frequency identification signal is used, the noise or vibration corresponding to the identification signal at the evaluation point is adjusted to be below a predetermined level. That is, the amplitude of the identification signal of the frequency whose transfer function has the largest transfer gain is adjusted so that the evaluation point becomes a predetermined level or less even when the identification signal is used, and the amplitudes of the identification signals of other frequencies are also adjusted. It has this amplitude. Here, the predetermined level is, for example, a noise level or a vibration level at which the user does not feel uncomfortable at the evaluation point.

Further, the transfer gain of the transfer function from the controlled vibration source to the evaluation point exhibits different characteristics depending on the frequency of the identification signal. Corresponding to this, in the invention according to claim 3, the characteristic indicating the amplitude of the identification signal of the frequency selected in the predetermined frequency region with respect to the frequency change of the identification signal is evaluated from the control vibration source. The transfer function is adjusted to have the inverse characteristic of the frequency characteristic. That is, the change in the amplitude of the identification signal with respect to each frequency is set to the opposite characteristic based on the transfer gain characteristic that varies depending on the frequency of the identification signal.

Further, in the invention according to claim 4, for example, the amplitude of the identification signal is adjusted based on amplitude adjustment information obtained in advance such as an experimental result. Further, in the invention according to claim 5, the amplitude level of the identification signal is adjusted based on the detection result of noise or vibration at the evaluation point.
Whether the noise or vibration generated by the identification of the transfer function is sensed by the user depends on the noise level or vibration level of the environment in which the user is placed at that time. That is, if the environmental noise level or vibration level is high, the user cannot perceive it even if the amplitude level of the identification signal is increased, while the environmental noise level or vibration level is low. In addition, the user will perceive unless the amplitude level of the identification signal is reduced. In response to this, in the invention according to claim 5, the amplitude level of the identification signal is determined based on the detection result of noise or vibration at an evaluation point in the environment where such a user exists. There is.

For example, the user may perceive not only the noise generated by the identification but also the vibration caused by the identification of the transfer function. The noise level generated by the identification of the transfer function depends on the frequency of the identification signal used for the identification. The vibration level generated by the identification of the transfer function differs depending on the frequency of the identification signal used for the identification. Furthermore, the noise transfer characteristic and the vibration transfer characteristic show different characteristics with respect to the identification signal of the same frequency. Therefore, in the invention according to claim 6, the amplitude of the identification signal is adjusted based on the transfer function between the plurality of evaluation points and the controlled vibration source.

For example, on the low frequency side of the identification signal, the transfer gain of the transfer function is large at one evaluation point, but at the other evaluation points the transfer gain of the transfer function is small, while on the other hand, on the high frequency side of the identification signal. Then, the transfer gain of the transfer function is large at the other evaluation points, and the transfer gain of the transfer function is small at the one evaluation point. In such a case, the amplitude of the identification signal is adjusted based on the transfer function between the plurality of evaluation points and the controlled vibration source, and in the case of identification by the low frequency identification signal, the above-mentioned one evaluation If the amplitude of the identification signal is adjusted so that the transfer gain of the transfer function becomes small at the point and identification is performed by the high frequency identification signal, make sure that the transfer gain of the transfer function becomes small at the other evaluation points mentioned above. Adjust the amplitude of the identification signal.

Further, in the invention described in claims 8 and 9, when the invention is applied to a device for a vehicle, a place where an occupant who is a user in the vehicle senses noise and vibration. Is set as the evaluation point.

[0019]

According to the present invention, an evaluation point for evaluating noise or vibration generated by the identification of the transfer function is provided separately from the residual vibration detecting means, and the evaluation point is used as a reference, and further the evaluation point is transmitted. By adjusting the amplitude of the identification signal based on the frequency characteristic of the function, it is possible to prevent the user from feeling uncomfortable by sensing noise or vibration generated when identifying the transfer function.

According to the second aspect of the present invention, the frequency of the highest transfer gain is not limited to the other frequency that causes less discomfort to the user than the frequency of the highest transfer gain. Even in the identification using the identification signal, it is possible to prevent the user from feeling uncomfortable due to noise or vibration. Further, according to the invention of claim 3, in the identification by the identification signal of each frequency, it is possible to prevent the user from feeling uncomfortable because the user senses noise or vibration generated at that time.

According to the fourth aspect of the invention, the amplitude of the identification signal is adjusted based on the amplitude adjustment information obtained in advance, and the amplitude of the identification signal can be easily adjusted. According to the invention of claim 5, by determining the amplitude level of the identification signal according to the noise or vibration level (for example, background noise) of the evaluation point at the time of identification, the situation of the evaluation point (user The user's discomfort due to noise or vibration due to the identification of the transfer function can be eliminated or reduced regardless of the noise level or vibration level sensed by the user. For example, when the noise level or vibration level other than the control vibration or control sound at the evaluation point is relatively high,
Noise or vibration due to the control vibration or the control sound becomes inconspicuous, and in this case, the amplitude level of the identification signal can be increased. As a result, the identification time can be shortened and the accuracy can be improved.

Further, according to the sixth aspect of the invention, even when there are a plurality of places where the user senses noise and vibration when identifying the transfer function, the noise and vibration at those places can be reduced appropriately. can do. In addition, according to the invention of claim 7, it is possible to accurately prevent the user from feeling uncomfortable by setting the evaluation point to a site where the user feels uncomfortable.

According to the eighth and ninth aspects of the present invention, the occupant may perceive noise or vibration by setting a point in the vehicle where the occupant can easily perceive noise or vibration as an evaluation point. Can be prevented.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the first embodiment, the present invention is applied to an active vibration control device for a vehicle in which the active vibration control device is suitably mounted on a vehicle. For example, the vehicle is configured as a so-called hybrid car that uses the driving force by switching the output of the engine and the motor. As shown in FIG. 1, the vehicle includes a control device 1 and a motor generator control unit (MG
The CU is hereinafter referred to as a motor control unit. )
2, a motor generator (MG) 3, an engine 4, a rotation fluctuation measuring device 5, a battery 7, and a control unit (HEV CU) 8 for hybrid drive.
The control device 1 constitutes an active vibration control device for a vehicle.

In such a vehicle, the control unit 8 for hybrid drive drives the motor generator 3 by the motor control unit 2 when the driving force is obtained by the motor. At this time, electric power is supplied from the battery 7. In addition, the hybrid drive portion normally stops when the engine 4 obtains a driving force,
Alternatively, the battery 7 is being regenerated (charged). In the present invention, the engine 4 is utilized by utilizing this hybrid drive part.
In the case where the engine is driven by, the vibration caused by the engine 4 is reduced.

Specifically, the control device 1, as shown in FIG. 2, has a transfer function filter (block C ^ in the figure) 11,
An LMS processing unit 12 and an adaptive digital filter (block W in the figure) 13 are provided. The adaptive digital filter 13 has variable filter coefficients Wi (i = 0, 1, 2,
, I-1: I has the number of taps). The adaptive digital filter 13 performs convolution processing at a predetermined sampling clock interval from the time when the reference signal x is input, and the resulting filter coefficient Wi is sequentially
It is output as a control signal y whose phase and amplitude are adjusted.

The transfer function filter 11 generates a reference signal r by performing a convolution operation on the standard signal x and outputs the reference signal r to the LMS processing section 12. The transfer function filter 11 uses the transfer function C of the path from the control signal y output from the control device 1 and returning to the control device 1 as an error signal e via the engine 4 as control vibration as a digital filter. It is a representation. In addition,
Here, the reference signal x is a signal synchronized with the vibration of the engine 4. That is, the idle vibration and the muffled sound vibration, which are the main vibrations in the engine 4, are mainly caused by the transmission of the engine vibration of the secondary component of the engine rotation to the vehicle body 35 in the case of a reciprocating four-cylinder engine. The vibration can be reduced by generating and outputting the control signal y in synchronization with the engine rotation secondary component. Because of this, the reference signal x is synchronized with the vibration of the engine 4.

Specifically, an impulse signal is generated in synchronization with the rotation of the crankshaft of the engine 4 (for example, in the case of a reciprocating four-cylinder engine, one impulse signal is generated each time the crankshaft rotates 180 degrees), and a reference signal x is generated. The pulse signal generator 16 for outputting
As a result, the reference signal x is supplied to the control device 1 as a signal indicating the vibration generation state in the engine 4. The LMS processing unit 12 appropriately updates the filter coefficient Wi of the adaptive digital filter 13 based on the reference signal r and the error signal e. The LMS processing unit 12 updates the filter coefficient W of the adaptive digital filter 13 by the LMS algorithm using the error signal e so as to minimize the error signal e. Specifically, the LMS processing unit 12 uses the Filtered-X LM.
The adaptive digital filter 13 is updated by the following equation (1) according to the S algorithm.

Wi (n + 1) = Wi (n) -μR ^ {T} e (n) (1) Here, the terms with (n) and (n + 1) are values at sampling times n and n + 1. Is present, and μ is a convergence coefficient. In this case, the transfer function filter 11 is generating the update reference signal R ^ {T}, and the update reference signal R
{Circumflex over (T)} is theoretically a value obtained by filtering the reference signal x by modeling the transfer function C in the control space with a finite impulse response filter.

The rotation fluctuation measuring device 5 is a sensor for detecting a rotation fluctuation of the engine 4. For example, a crank angle sensor. The configuration of the control device 1 described above is a configuration for vibration reduction processing. Next, a configuration for an identification process for identifying the transfer function C in the control device 1 will be described. The control device 1 includes an identification signal generation unit 10, an FFT (Fast Fourier Transform) processing unit 14, and an inverse FFT (Inverse Fast Fourier Transform) as a configuration for the identification process.
rm) processing unit 15.

The identification signal generation section 10 outputs the sinusoidal identification signal y instead of the control signal y to the motor control unit 2 and the FFT processing section 14. Specifically, the identification signal generator 10 includes a sine wave generator 21 and a gain adjuster 22, as shown in FIG. The sine wave generation unit 21 generates a step sine wave signal having a constant amplitude. Then, the sine wave generator 21
Can generate sinusoidal signals of such various frequencies f ₀ . The sine wave generation unit 21 outputs the generated sine wave signal to the gain adjustment unit 22.

The gain adjusting section 22 is a sine wave generating section 21.
Adjust the amplitude of the sine wave signal from. The gain adjusting unit 22 adjusts the amplitude of the sine wave signal based on the transfer gain. Here, in FIG. 5, the horizontal axis represents the frequency of the identification signal and the vertical axis represents the noise transmissibility, and shows the change of the transfer function depending on the frequency of the identification signal y. Here, the transfer function is until the identification signal y output from the control device 1 becomes noise at the driver's seat position which is the evaluation point.

As shown in FIG. 5, the transfer gain differs depending on the frequency of the identification signal y. When the transmission gain is large, the occupant can easily perceive it as noise. Therefore, as can be seen from the result shown in FIG. 5, the identification gain y at a certain frequency has a large transmission gain.
In this case, the occupant perceives it as noise. For this reason, when the identification signal y of the frequency having the largest transfer gain of this transfer function is used with the frequency having the largest transfer gain of the transfer function as a reference, noise generated by the identification signal y is uncomfortable. The gain adjusting unit 22 adjusts the amplitudes of the identification signals y at all frequencies so that the amplitude is not felt (or the amplitude of the adjustment target) so that such noise cannot be heard.

As described above, in the identification signal generating section 10, the sine wave generating section 21 generates a sine wave signal having a predetermined frequency f ₀ , and the gain adjusting section 22 adjusts the sine wave signal to a predetermined amplitude for identification. The signal y is output to the motor control unit 2 and is also output to the FFT processing unit 14. Here, the amplitude to be the adjustment target is obtained in advance as adjustment data by carrying out a hearing experiment that outputs identification signals of various frequencies. Further, the frequency f ₀ of the identification signal y
Regarding, specifically, the minimum value f at the start of the identification process.
After setting to _min (for example, f _min = 10 Hz), in principle, a predetermined increase Δf (for example, Δf = 10 Hz) until the maximum value f _max (for example, f _max = 150 Hz) is reached.
It is increasing in steps.

The motor control unit 2 drives the motor generator 3 according to the identification signal y. As a result, the engine 4 is vibrated by the drive thereof. The rotation fluctuation amount of the engine 4 at this time is detected by the rotation fluctuation measuring device 5, and the detection result is input to the FFT processing unit 14 of the control device 1 as an error signal e. The FFT processing unit 14 FFTs each sequence of the error signal e.
By processing, the component corresponding to the frequency f ₀ of the identification signal y is extracted. Then, the FFT processing unit 14 outputs the result of combining the extracted frequency components to the inverse FFT processing unit 15.

The inverse FFT processing unit 15 includes the FFT processing unit 14
Inverse FFT processing is performed on the signal subjected to FFT processing in step S1 to obtain an impulse response as the transfer function C. In the transfer function filter 11, the impulse response obtained by the inverse FFT processing unit 15 is used as a transfer function C of a finite impulse response type, and is replaced with the transfer function C up to then. More than,
It is a configuration for an identification process in the control device 1. Next, the operation of the vibration reduction process by the control device 1 will be described.
FIG. 6 is a flowchart showing the operation of the control device 1 in the vibration reduction process. Note that in this processing example, the LMS processing unit 12 uses the adaptive digital filter 13 according to the equation (1) according to the Filtered-X LMS algorithm.
Is for updating.

First, after a predetermined initialization is performed in step S101, the process proceeds to step S102, and the transfer function filter 11 calculates the update reference signal (reference signal r) R ^T based on the reference signal x. . Then, after shifting to step S103 and the counter i is cleared to zero, the process shifts to step S104 and the i-th filter coefficient Wi of the adaptive digital filter 13 is output as the control signal y.

The control signal y thus output from the control device 1 is input to the motor control unit 2 as a torque command signal, and the motor control unit 2
Drives the motor generator 3 based on the control signal y as a torque command signal, and the driving force is transmitted to the engine 4. The rotation fluctuation measuring device 5 detects the rotation fluctuation amount corresponding to the input of the driving force. In response to this, in the control device 1, after outputting the control signal y in step S104, the process proceeds to step S105, and the error signal e is read into the LMS processing unit 12. Then, step S10
In step 6, the counter j is cleared to zero, then in step S107, the j-th filter coefficient Wj of the adaptive digital filter 13 is updated in accordance with the equation (1).

When the updating process in step S107 is completed, the process proceeds to step S108 to determine whether or not the next reference signal x is input. If it is determined that the reference signal x is not input here, , So that the next filter coefficient of the adaptive digital filter 13 is updated or the control signal y is output, the process proceeds to step S109.
In step S109, the counter j indicates the output count T.
_y (To be exact, counter j starts from 0, so
It is determined whether the number of output times T _y minus 1) has been reached. In this determination, after outputting the filter coefficient Wi of the adaptive digital filter 13 as the control signal y in step S104, it is determined whether or not the filter coefficient Wi of the adaptive digital filter 13 is updated by the necessary number as the control signal y. It is for. Therefore, if the determination in step S109 is "NO", step S109
After incrementing the counter j in 110, the process returns to step S107 and the above-described processing is repeatedly executed.

However, the determination in step S109 is "YE
In the case of “S”, it can be determined that the update processing of the filter coefficients of the adaptive digital filter 13 necessary for the control signal y has been completed.
After shifting to step 111 and incrementing the counter i, it waits until the time corresponding to the predetermined sampling clock interval elapses after executing the processing of step S104, and when the time corresponding to the sampling clock elapses. Then, the process returns to step S104, and the above-described processing is repeatedly executed.

On the other hand, when it is determined in step S108 that the reference signal x is input, the process proceeds to step S112, and the counter i (to be precise, since the counter i starts from 0, 1 is added to the counter i). Value) is stored as the latest output count T _y , and the process returns to step S102 to repeat the above-described processing. As a result of repeatedly executing the processing of FIG. 6, the filter coefficient of the adaptive digital filter 13 is applied to the motor control unit 2 at the sampling clock interval from the time when the reference signal x is input to the control device 1. Wi is sequentially supplied as the control signal y. As a result, the error signal e is processed to be small, and the vibration from the engine 4 is reduced.

That is, the rotation fluctuation of the engine 4 is reduced, and as a result, the torque fluctuation of the engine 4 can be reduced. As an effect of this, the vibration that is input to the vehicle body from the engine mount where the torque fluctuation is an exciting force is reduced, and the vibration that is transmitted to the drive shaft by the torque variation is input to the vehicle body through the suspension. Can reduce the noise level generated when these vibrations are input to the vehicle body panel. in this way,
It is possible to reduce vibration and noise that the occupant feels uncomfortable.

Next, the operation of the identification processing by the active vibration control device will be described. FIG. 7 shows a flowchart of the identification processing operation. When the identification process is started, first in step S201, the frequency f ₀ of the identification signal y is changed to
The minimum value f in the frequency band (f _{min to} f _max ) in which the vibration reduction control that needs to execute the identification process is executed
Set to _min (for example, 10Hz). Then, the process proceeds to step S202, where the identification signal y is output from the identification signal generation unit 10.
As a result, a sine wave signal of frequency f ₀ is output to the motor control unit 2. Here, as described above, the identification signal y is the identification signal y of the frequency having the largest transfer gain.
Is used, the amplitude level is set so that the occupant does not feel uncomfortable.

The motor control unit 2 drives the motor generator 3 in accordance with the input identification signal (torque command signal) y, and a signal corresponding to the identification signal y is sent via the engine 4 to a rotation fluctuation measuring instrument. Input to 5. In the following step S203, the rotation fluctuation detected by the rotation fluctuation measuring device 5 is read as an error signal e, and then,
In step S204, it is determined whether a sufficient number of error signals e have been read.

The value set as a sufficient number of error signals e is the FFT processing unit 14 and the inverse FFT processing unit 15.
Since the transfer function C is obtained as an impulse response by, the time required for the impulse response to be sufficiently attenuated should be equal to or greater than the value obtained by dividing the time by the sampling clock. However, the error signal e captured as a time series
On the other hand, since the FFT processing unit 14 performs the FFT operation later, it is desirable that the number of error signals e fetched be a power of 2, and if an extremely large number of error signals e are read, Since the reading time becomes long and the time required for the FFT calculation also becomes long, the value set as a sufficient number of the error signals e is the time required for the impulse response to be sufficiently attenuated.・ It is desirable to set the minimum value of the power of 2 that exceeds the number when divided by the clock.

If the determination in step S204 is "NO", the process returns to step S202 to identify signal y.
The output process (step S202) and the error signal e read process (step S203) are repeatedly executed. When the determination in step S204 is "YES", the process proceeds to step S205. Note that step S2
The error signals e sequentially read in 03 are stored in a storage unit (not shown) as time series data corresponding to the frequency f ₀ .

Then, in step S205, a new frequency f ₀ is calculated by adding the increment Δf to the current frequency f ₀ . Next, the process proceeds to step S206, and it is determined whether or not the new frequency f ₀ exceeds the maximum value f _{max of the} frequency for performing the identification process. If the determination in step S208 is "NO", then step S208
Returning to 202, the above-mentioned processing is executed again. Therefore, the series of processes in steps S202 to S205 is executed until the determination in step S208 becomes “YES”.

That is, the processes of steps S202 and S203 are adapted to be executed for each frequency f _{0 which} changes by the increment Δf in the range from the minimum value f _min to the maximum value f _max , and therefore the process of step S206. When is YES, it means that the error signals e stored as time-series data by the process of step S203 are stored in the same number as the types of the frequency f ₀ . Therefore, step S
If the determination in 206 is “YES”, step S20
7, the FFT processing unit 14 performs an FFT operation on each time series data of the error signal e to extract the frequency component of each time series data.

At this time, the frequency component of each time series data may be extracted only by the component corresponding to the frequency of the original sine wave determined by the corresponding frequency f ₀ , that is, the component of the frequency f ₀ . It is also possible to perform only the operations that are sufficient to obtain Then, step S208
In step S209, the inverse FFT processing unit 15 performs an inverse FFT operation to convert it into an impulse response on the time axis.
Then, the impulse response obtained in step S208 is stored as the transfer function C of the transfer function filter 11. When the storage of the transfer function C is completed, the identification processing of the transfer function C is ended. The above is the identification processing operation.

In the above-described operation, the vehicle active vibration control apparatus determines the amplitude of the identification signal y at various frequencies f _{0 and} the identification signal y at the frequency with the highest transfer gain of the transfer function up to the evaluation point. As a reference, the level is set so that the occupant does not feel uncomfortable even if the identification signal y having the highest frequency of the transfer gain is used. As a result, the active vibration control device for a vehicle performs identification based on the identification signal y of the frequency having the highest such transmission gain, not only when performing identification for other frequencies where the transmission gain is small and the occupant is less uncomfortable. Also, it is possible to prevent the user from feeling uncomfortable due to noise. That is, the amplitudes of the identification signals y of all frequencies are identified by the identification signal y of the frequency with the highest transfer gain.
By setting the amplitude to focus on, the amplitude of the identification signal y at other frequencies, which originally has a small transfer gain and causes less occupant discomfort, is prevented from becoming unnecessarily small, and further, identification of all frequencies is performed. A simple adjustment method such as setting the amplitude of the signal y to a constant amplitude effectively prevents the occupant from feeling uncomfortable due to noise.

Next, a second embodiment will be described. Second
In this embodiment, the amplitude of the identification signal is determined so that the frequency characteristic of the transfer function that changes with frequency is inversely specified. That is, in the above-described first embodiment,
The identification signal generation unit 10 outputs the identification signal y for various frequencies f ₀ as a constant amplitude. However, in the second embodiment, the frequency characteristics of the transfer function that changes depending on the frequency are taken into consideration. Various frequencies f so that the characteristics are reversed
The amplitude of the identification signal y for ₀ is changed. Figure 8
Shows the configuration of the identification signal generation unit 10 that realizes this.
As shown in FIG. 8, the identification signal generation unit 10 includes an inverse characteristic filter 23 that inversely identifies the transfer function of the sine wave signal generated by the sine wave generation unit 21.

For example, with respect to the frequency characteristic of the transfer function obtained as the characteristic as shown in FIG. 5, a similar form of the inverse characteristic has a change in amplitude with respect to frequency as shown in FIG. Become a characteristic. The inverse characteristic filter 23 adjusts its amplitude according to the frequency f ₀ of the input sine wave signal so as to have such an inverse characteristic. Here, for example, the gain characteristic of the inverse characteristic filter 23 is obtained in advance as adjustment data by performing a hearing test that outputs identification signals of various frequencies.

By thus determining the amplitude of the identification signal y of each frequency f ₀ , the level at which the occupant feels uncomfortable can be suppressed to a constant level regardless of the frequency of the identification signal y. Further, even if there is a resonance phenomenon until the identification signal y becomes noise, it is possible to prevent the noise level from increasing at that frequency and making the user feel uncomfortable. Further, at the frequency of the identification signal y, which has a smaller noise transmission gain than originally,
Since the amplitude of the identification signal y can be relatively increased, the time required for identification can be shortened and the efficiency of the identification process can be improved. It is known empirically that the time required to identify the transfer function is shortened by empirically increasing the amplitude of the identification signal, and is obtained by such a phenomenon.

Next, a third embodiment will be described. In the third embodiment, the amplitude of the identification signal y is changed so as to have different frequency characteristics with a predetermined frequency as a boundary. FIG. 10 shows an identification signal generator 1 that realizes this.
The structure of 0 is shown. As shown in FIG. 10, the identification signal generation unit 10 includes first and second inverse characteristic filters 24 and 25 having gain characteristics different from each other for the sine wave signal generated by the sine wave generation unit 21.

The first inverse characteristic filter 24 has a gain characteristic which is an inverse characteristic of a transfer function up to the steering wheel (a portion where the occupant senses vibration) which is one evaluation point, and
The second inverse characteristic filter 25 has a gain characteristic which is an inverse characteristic of the transfer function up to the driver's seat (a part where the occupant senses noise) which is another evaluation point. The first and second inverse characteristic filters 24 and 25 are switched by the procedure shown in the flowchart of FIG.

That is, first, in step S301, the first
The inverse characteristic filter 24 of (1) passes the sine wave signal generated by the sine wave generation unit 21 to adjust the amplitude. Then, in step S302, it is determined whether the frequency f ₀ is equal to or higher than a predetermined frequency (hereinafter, referred to as a switching frequency) f ₁ . If this determination is “No”, the amplitude of the sine wave signal is adjusted using the first inverse characteristic filter 24 in step S301. Then, if this determination is “Yes”, the process proceeds to step S303.

In step S303, the second inverse characteristic filter 25 passes the sine wave signal generated by the sine wave generating section 21 to adjust the amplitude. Then, step S304
Then, it is determined whether or not the frequency f ₀ has become the predetermined frequency f _max . If this determination is “No”, the above step S3
In 03, the amplitude of the sine wave signal is adjusted using the second inverse characteristic filter 25. And this judgment is "Yes"
In the case of, the processing is ended.

As a result, the sine wave generator 21 changes the frequency stepwise with the increment Δf from the minimum value f _min to the maximum value f _max to generate a sine wave signal. _The amplitude of the sine wave signal having the frequency f ₀ of _min <f ₁ is adjusted by the first inverse characteristic filter 24.
_The amplitude of the sine wave signal having the frequency f ₀ of ₁ ≦ f _max is adjusted by the first inverse characteristic filter 24. Here, the switching frequency f ₁ is determined on the basis of, for example, the frequency having the highest transmission gain in the transmission characteristic of vibration in steering. For example, the switching frequency f ₁ is set to a frequency that is 5 to 20 Hz higher than the frequency having the highest transfer gain. Further, as the switching frequency f ₁ , a frequency having a sufficiently small transmissibility may be selected with respect to the frequency having the highest transmission gain. Further, the gain characteristics of the first and second inverse characteristic filters 24 and 25 are preliminarily obtained as adjustment data by carrying out an auditory perception experiment that outputs identification signals of various frequencies.

By thus determining the amplitude level of the identification signal y at each frequency f ₀ , even when the portion where vibration or noise is easily sensed differs depending on the frequency of the identification signal y, the identification at each frequency is performed. The vibration and noise can be appropriately reduced to prevent the occupant from feeling uncomfortable. That is, for example, the occupant may sense not only the noise generated by the identification of the transfer function but also the vibration generated by the identification of the transfer function. As shown in FIG. 5, since the transfer characteristic when the identification signal y is transmitted at the position of the occupant's ear differs depending on the frequency, the noise level generated by the identification of the transfer function is the identification signal used for the identification. It depends on the frequency of y. Similarly, even when the vibration generated by the identification is sensed by the occupant through the steering, the vibration level generated by the identification varies depending on the frequency of the identification signal y used for the identification, as shown in FIG. . The noise transfer characteristic and the vibration transfer characteristic show different characteristics with respect to the identification signal y having the same frequency, as can be seen by comparing FIGS. 5 and 12.

In the case of exhibiting such a transfer characteristic, the first inverse characteristic filter 24, as shown in FIG. 9, is similar to the inverse characteristic of the transfer characteristic for noise shown in FIG. Has a filter characteristic such that
The inverse characteristic filter 25 of FIG.
The filter characteristic is such that the transfer characteristic for noise shown in (1) is similar to its inverse characteristic. By doing so, the first and second inverse characteristic filters 2 that change the amplitude level according to the frequency of the identification signal y.
By switching between 4 and 25, vibration and noise can be reduced appropriately even when the transfer characteristics of a portion where vibration and noise are easily sensed differ depending on the frequency of the identification signal y.
It is possible to prevent the occupant from feeling uncomfortable.

Next, a fourth embodiment will be described. In the fourth embodiment, the identification signal y taking into consideration the noise level in the vehicle compartment is output. FIG. 14 shows the configuration of the identification signal generator 10 that realizes this. As shown in FIG. 14, in the identification signal generation unit 10, the noise characteristic generation unit 26 for adjusting the sine wave signal according to the noise characteristic and the sine wave generation unit 21 generate the amplitude level with the inverse characteristic filter 23. And a noise characteristic filter 30 to which the adjusted sine wave signal is input.

The noise characteristic generating section 26 is arranged in the microphone 2
7, an FFT processing unit 28 and an inverse FFT processing unit 29. The microphone 27 is installed in the vehicle interior position that is the evaluation point, and the FFT processing unit 28 performs FFT calculation from the time-series data of the vehicle interior sound signal input to the microphone 27 to obtain the sound signal. Extract frequency components. The FFT processing unit 28 outputs the calculation result to the inverse FFT processing unit 29. The inverse FFT processing unit 29 converts the calculation result of the FFT processing unit 28 into an impulse response. This impulse response becomes the impulse response of the vehicle interior noise characteristic. The noise characteristic generation unit 26 outputs the impulse response of the vehicle interior noise characteristic thus generated to the noise characteristic filter 30.

The noise characteristic filter 30 filters the sine wave signal from the inverse characteristic filter 23 using the impulse response from the noise characteristic filter 30 as a filter coefficient. In other words, the noise characteristic filter 30 generates a signal obtained by convolving the sine wave signal from the sine wave generation unit 21 and the inverse characteristic filter 23 with the impulse response. The identification signal generation unit 10 outputs the signal thus generated as the identification signal y.

With this configuration, the identification signal y
Even if there is a resonance phenomenon or the like before the noise becomes noise, it is possible to prevent the noise level from increasing at that frequency and making the user feel uncomfortable. In addition, since the identification signal level can be relatively increased at a place where the noise transmission gain is small, it is possible to prevent the identification time from being unnecessarily lengthened, and it is possible to perform the identification efficiently in a timely manner.

Furthermore, since the impulse response generated based on the noise characteristic in the vehicle interior is convoluted and the amplitude level of the identification signal y is changed according to the noise level in the vehicle interior, the identification signal is detected when the noise level in the vehicle interior is high. By increasing the amplitude level of y, and as a result, the identification time can be shortened and the transfer function can be identified, and the transfer function can be identified with high time efficiency. On the contrary, when the vehicle interior noise level is low, the amplitude level of the identification signal y can be reduced and the control sound level due to the transfer function identification can be reduced, resulting in a low vehicle interior noise level. Even in this case, it is possible to prevent the passenger from feeling uncomfortable.
Such an effect is obtained by utilizing the phenomenon that whether or not the occupant senses the noise generated by the identification of the transfer function depends on the noise level in the vehicle interior at that time.

In the above embodiment, the engine 4 corresponds to the vibration source, the motor generator 3 corresponds to the control vibration source, the pulse signal generator 16 corresponds to the reference signal generating means, and the rotation The fluctuation measuring device 5 corresponds to the residual vibration detecting means, and the transfer function filter 11 and the L
The processing shown in FIG. 4 as the processing of the MS processing unit 12 and the adaptive digital filter 13 corresponds to the active control means, and the identification signal generation unit 10, the FFT processing unit 14, and the inverse FF are provided.
The T processing unit 15 (that is, the processing of step S203, the processing of steps S201, S205 and S206, and the processing of steps S207 and S208) corresponds to the transfer function identification means. Further, the gain adjusting unit 2 in the first embodiment described above.
2, the inverse characteristic filter 23 in the second embodiment and the first and second inverse characteristic filters 24, 25 in the third embodiment correspond to the identification signal amplitude adjusting means.

Specifically, the gain adjusting unit 22 sets the amplitude of the identification signal of the selected frequency within the predetermined frequency range to the frequency at which the transfer gain of the transfer function from the controlled vibration source to the evaluation point becomes the maximum. Even if the identification signal is used, it corresponds to the identification signal amplitude adjusting means for adjusting the noise or vibration corresponding to the identification signal at the evaluation point to be equal to or lower than a predetermined level, and the inverse characteristic filter 23 and the first and second The inverse characteristic filters 24 and 25 of the above-mentioned characteristic of the frequency characteristic of the transfer function from the control vibration source to the evaluation point indicate the amplitude of the identification signal of the frequency selected in the predetermined frequency region with respect to the frequency change of the identification signal. It corresponds to the identification signal amplitude adjusting means for adjusting so as to have the inverse characteristic. Further, the first and second inverse characteristic filters 24 and 25 are appropriately switched and controlled, so that the amplitude of the identification signal is adjusted based on the transfer function between the plurality of evaluation points and the controlled vibration source. A signal amplitude adjusting means is realized.

Further, the microphone 27 of the noise characteristic generation unit 26 corresponds to the detection means, and the FFT processing unit 28, the inverse FFT processing unit 29 and the noise characteristic filter 30 of the noise characteristic generation unit 26 are the detection means. It corresponds to the identification signal amplitude adjusting means for adjusting the amplitude level of the identification signal based on the detection result of 27. Further, the present invention is not limited to being applied as the above-mentioned embodiment.

That is, in the above-described embodiment, the present invention is applied to the active vibration control device configured for the vehicle and reducing the vibration generated by the driving of the engine, but other than the device configured for the vehicle. The present invention may be applied to the above device. That is, it may be a device for reducing noise or vibration generated outside the engine, or may be a device for reducing vibration or noise transmitted from the machine tool to the floor or the room. Further, in the above-described embodiment, the evaluation point is a portion where noise in the vehicle interior or vibration of the steering wheel is detected, but the evaluation point is a portion where vibration of the floor of the vehicle body or vibration of the seat is detected. May be Further, when the amplitude of the identification signal is adjusted based on the transfer function up to a plurality of evaluation points, the plurality of evaluation points are at a plurality of places including the vibration of the floor of the vehicle body, seats and the like. Also, the evaluation points are not limited to these parts, for example,
It may be set at a site where the user senses noise or vibration.

Further, in the above-mentioned embodiment, the adjustment data obtained from the experimental result is given as an example of the amplitude adjustment information, but the present invention is not limited to this. Further, in the above-described embodiment, the synchronous Filtered-X LMS algorithm is applied as the algorithm for generating the control signal y, but the applicable algorithm is not limited to this and, for example, a normal Filtere.
It may be a d-X LMS algorithm or the like.

Further, the numerical values such as the minimum value f _min , the maximum value f _max , and the frequency increment Δf shown in the above-mentioned embodiments are all examples, and are appropriately selected according to the characteristics of the application target. Is. Further, in the above-described third embodiment, when the identification signal y is shifted from the low frequency to the high frequency, the amplitude of the identification signal y is adjusted to the position where the vibration is detected at the switching frequency f _1. Although the adjustment is switched from the adjustment based on the transfer function to the adjustment based on the transfer function up to the part where noise is detected, the present invention is not limited to this. For example, on the contrary, at the switching frequency f ₁ , the amplitude of the identification signal y is switched from adjustment based on the transfer function up to the site where noise is detected to adjustment based on the transfer function up to the site where vibration is detected. Good.

Also, in the third embodiment, the inverse characteristic filters having different characteristics are switched,
It is also possible to prepare a plurality of gain adjusting units as used in the above-described first embodiment and switch them appropriately. For example, by adjusting the amplitude of the identification signal y at another frequency with reference to the frequency having the largest transfer gain of the transfer function up to the evaluation point where vibration is detected, the transfer function of the transfer function up to the evaluation point where noise is detected is adjusted. You may make it adjust the amplitude of the identification signal y of another frequency on the basis of the frequency with the largest transfer gain.

Further, in the above-described fourth embodiment, the amplitude of the sine wave signal from the sine wave generator 21 is adjusted by the inverse characteristic filter 23, but the present invention is not limited to this. For example, the amplitude of the identification signal y at another frequency may be adjusted with the frequency having the largest transfer gain of the transfer function as a reference by the gain adjusting unit as used in the above-described first embodiment. .

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of an active vibration control device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration for vibration reduction processing in a control device of the active vibration control device.

FIG. 3 is a block diagram showing a configuration for identification processing in a control device of the active vibration control device.

FIG. 4 is a block diagram showing a configuration of an identification signal generation unit of the active vibration control device according to the first embodiment.

FIG. 5 is a characteristic diagram showing an example of noise transmission characteristics to an occupant.

FIG. 6 is a flowchart showing a procedure of the vibration reduction process.

FIG. 7 is a flowchart showing a procedure of the identification processing.

FIG. 8 is a block diagram showing a configuration of an identification signal generation unit of the active vibration control device according to the second embodiment.

FIG. 9 is a characteristic diagram showing characteristics of an inverse characteristic filter of the identification signal generation unit in the second embodiment.

FIG. 10 is a block diagram showing a configuration of an identification signal generation unit of the active vibration control device according to the third embodiment.

FIG. 11 is a flowchart showing a switching timing between a first inverse characteristic filter and a second inverse characteristic filter in the third embodiment.

FIG. 12 is a characteristic diagram showing an example of a transmission characteristic of vibration to an occupant.

FIG. 13 is a characteristic diagram showing an approximate form of an inverse characteristic with respect to a transmission characteristic of vibration.

FIG. 14 is a block diagram showing a configuration of an identification signal generation unit of the active vibration control device according to the fourth embodiment.

[Explanation of symbols]

1 control device 2 Motor control unit 3 motor generator 4 engine 5 Rotational fluctuation measuring instrument 7 battery 8 Hybrid drive control unit 10 Identification signal generator 11 Transfer function filter 12 LMS processing unit 13 Adaptive digital filter 14 FFT processing unit 15 Inverse FFT processing section 16 pulse signal generator 21 Sine wave generator 22 Gain adjuster 23 Inverse characteristic filter 24,25 Inverse characteristic filter 26 Noise Characteristic Generator 27 microphones 28 FFT processing unit 29 Inverse FFT processing unit 30 Noise characteristic filter

Claims (9)

[Claims] 1. A control vibration source capable of generating a control vibration that interferes with a vibration generated by the vibration source, and a reference signal generating means for detecting a vibration generation state of the vibration source and outputting the reference signal as a reference signal.
A residual vibration detecting means for detecting the vibration after the interference and outputting it as a residual vibration signal, and a control algorithm including a transfer function between the control vibration source and the residual vibration detecting means based on the reference signal and the residual vibration signal are used. The active control means for driving the controlled vibration source so that the vibration is reduced, and the residual signal input in response to the identification signal having a frequency selected from within a predetermined frequency range is output to the vibration source. In an active vibration control device comprising a transfer function identification means for identifying the transfer function based on a vibration signal, an evaluation point for evaluating noise or vibration generated by the identification of the transfer function is set, and the control is performed. It is characterized by further comprising identification signal amplitude adjusting means for adjusting the amplitude of the identification signal based on the frequency characteristic of the transfer function between the vibration source and the evaluation point. Active vibration control system. 2. The identification signal amplitude adjusting means sets the amplitude of the identification signal of a frequency selected in the predetermined frequency region,
Even if the identification signal of the frequency at which the transfer gain of the transfer function from the controlled vibration source to the evaluation point is maximized is used, the noise or vibration corresponding to the identification signal at the evaluation point is adjusted to be a predetermined level or less. The active vibration control device according to claim 1, wherein: 3. The identification signal amplitude adjusting means adjusts the amplitude of the identification signal of a frequency selected in the predetermined frequency region,
2. The active vibration control device according to claim 1, wherein the characteristic of the identification signal with respect to the frequency change is adjusted to be the inverse characteristic of the frequency characteristic of the transfer function from the controlled vibration source to the evaluation point. . 4. The active element according to claim 1, wherein the identification signal amplitude adjusting means adjusts the amplitude of the identification signal based on amplitude adjustment information obtained in advance. Type vibration control device. 5. A detection means for detecting noise or vibration at the evaluation point is provided, and the identification signal amplitude adjustment means adjusts an amplitude level of the identification signal based on a detection result of the detection means. The active vibration control device according to any one of claims 1 to 4. 6. The identification signal amplitude adjusting means adjusts the amplitude of the identification signal based on a transfer function between the plurality of evaluation points and the controlled vibration source. The active vibration control device according to any one of claims. 7. The active vibration control device according to claim 1, wherein the evaluation point is a portion where a user senses noise or vibration during actual use. 8. An active vibration control device for a vehicle, wherein the active vibration control device according to any one of claims 1 to 5 is configured to be mounted on a vehicle, and the evaluation point is within a vehicle interior. An active vibration control device for a vehicle, which is a part where noise, steering vibration, vehicle body floor vibration, or seat vibration is detected. 9. An active vibration control device for a vehicle, wherein the active vibration control device according to claim 6 is mounted on a vehicle, wherein the plurality of evaluation points are noise in a vehicle interior, steering. Of the vehicle, the vibration of the floor of the vehicle body, or the vibration of the seat is detected at a plurality of locations, and an active vibration control device for a vehicle is provided.