JP2011112164A - Damping device, and vehicle provided with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a damping device improving responsiveness of damping control according to the case where it is necessary to significantly change offset vibration caused by a remarkable change in vibration to be damped. <P>SOLUTION: The offset vibration (Vi4) is generated in a position to be damped through an excitation means (a linear actuator 2) based a calculation value of pseudo vibration (Vi3') required for offsetting vibration (Vi3) in the position to be damped. Vibration remaining as an offset error between the vibration (Vi3) and the offset vibration (Vi4) in the position to be damped is detected. Then, calculation of an adaptive filter (32f) is repeatedly performed so that the vibration remaining as the offset error is reduced, and the pseudo vibration (Vi3') and adaptive filter (32f) are converged to a true value by repeating the calculation. Further, information on deviation corresponding to deviation between the vibration (Vi3) and the offset vibration (Vi4) generated in the position to be damped based on the pseudo vibration (Vi3') is acquired, and a convergence coefficient (32u) is changed based on the acquired information on the deviation so that the converging speed of the adaptive filter (32f) is increased according to an increase in the deviation. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vibration damping device that suppresses generated vibration by adaptive control, and more particularly to a vibration damping device that improves the response and stability of adaptive control, and a vehicle equipped with the vibration damping device.

  2. Description of the Related Art Conventionally, there is known a vibration damping device that cancels vibration generated at a vibration generation source such as an engine of a vehicle and canceling vibration generated through a vibrating means at a position where vibration is to be suppressed. As such conventional vibration damping devices, Patent Document 1 and Patent Document 2 calculate a pseudo vibration corresponding to the vibration to be controlled using an adaptive filter, and based on the calculated pseudo vibration, an excitation of an actuator or the like. The cancellation vibration is generated at the position to be controlled through the means, the vibration remaining as the cancellation error between the generated cancellation vibration and the vibration to be controlled is detected by the acceleration sensor, and the remaining vibration as the detected cancellation error is reduced. A method is disclosed in which the calculation of the adaptive filter is repeatedly executed, and the pseudo vibration and the adaptive filter are converged to a true value by accumulation of the calculation.

  A vibration damping device that performs such adaptive control typically has a configuration in which calculation of adaptive filters is stacked using a convergence coefficient that indicates the degree to which the adaptive filter approaches a true value for each calculation. The speed of convergence to the true value of is determined. The convergence coefficient is generally a constant convergence coefficient as exemplified in Patent Document 2.

JP 2003-202902 A JP 2008-250131 A

  However, in a conventional vibration damping device with a constant convergence coefficient, for example, the vibration to be damped changes depending on the engine speed and the accelerator opening, for example, and the canceling vibration to be generated corresponding to this change is large. When it is necessary to change, the convergence of the adaptive filter is slow, the response is lowered, and the desired damping effect cannot be exhibited. In addition, when there is no need to greatly change the cancellation vibration to be generated due to a slight change in the vibration to be controlled, the adaptive filter converges faster and the behavior becomes larger. Impairs stability.

  The present invention has been made paying attention to such a problem, and its purpose is when the canceling vibration generated due to a significant change in the vibration to be controlled needs to be changed greatly or not. Alternatively, even if these are mixed, it is an object to provide a vibration damping device and a vehicle equipped with the vibration damping device in which the response or stability of the vibration damping control is improved appropriately in response to this.

  In order to achieve this object, the present invention takes the following measures.

  That is, the vibration damping device according to the present invention uses an adaptive filter to reduce the vibration generated from the vibration generation source and the canceling vibration generated through the excitation means from the vibration generation source using an adaptive filter. Pseudo vibration calculation means for calculating a pseudo vibration necessary for canceling the vibration transmitted to the position to be shaken, and the vibration to be controlled through the excitation means based on the pseudo vibration calculated by the pseudo vibration calculation means A canceling vibration generation command means for generating the canceling vibration at a position; and a vibration detecting means for detecting a vibration remaining as a canceling error between the vibration generated at the vibration generating source and the canceling vibration at the position to be damped. The pseudo vibration calculating means cancels the cancellation based on the vibration detected by the vibration detecting means and a convergence coefficient that determines a speed at which the adaptive filter converges to a true value. A vibration damping device that repeatedly executes the calculation of the adaptive filter so as to reduce vibration remaining as a difference, and converges the pseudo vibration and the adaptive filter to a true value by accumulating the calculation, the vibration damping from the vibration source Deviation information acquisition means for acquiring deviation information corresponding to the deviation between the vibration transmitted to the power position and the cancellation vibration generated at the position to be controlled based on the pseudo vibration, and acquired by the deviation information acquisition means Convergence coefficient changing means for changing the convergence coefficient so as to increase the speed of convergence of the adaptive filter according to an increase in the deviation based on deviation information is provided.

  According to this configuration, the pseudo vibration necessary for canceling the vibration transmitted from the vibration source to the position to be controlled is calculated by the pseudo vibration calculating means using the adaptive filter, and based on the calculated pseudo vibration. The canceling vibration generation command means generates a canceling vibration at a position to be damped through the vibrating means, and the vibration detecting means causes a vibration remaining at the position to be damped as a cancellation error between the vibration generated at the vibration source and the canceling vibration. Based on the detected vibration and the convergence coefficient that determines the speed at which the adaptive filter converges to the true value, the adaptive filter is calculated by the pseudo vibration calculating means so that the vibration remaining as an offset error is reduced. Vibration suppression control for converging the pseudo vibration and the adaptive filter to the true value is performed by stacking. In this case, there is a deviation between the vibration that remains as a cancellation error and the cancellation vibration that is generated at the position to be controlled based on the pseudo vibration when it is necessary to greatly change the cancellation vibration in response to the change in the vibration to be controlled. Focusing on the increase, the deviation information acquisition means acquires deviation information corresponding to the deviation, and based on the acquired deviation information, the convergence coefficient is increased so that the adaptive filter converges as the deviation increases. Is changed by the convergence coefficient changing means, so that when the canceling vibration generated at the position to be damped needs to be greatly changed, the speed at which the adaptive filter converges is increased to increase the response and improve the response of the vibration suppression control. Can be made.

  In addition, the vibration damping device according to the present invention uses an adaptive filter to offset the vibration generated from the vibration generation source and the canceling vibration generated through the vibration excitation unit from the vibration generation source using an adaptive filter. Pseudo vibration calculation means for calculating a pseudo vibration necessary for canceling the vibration transmitted to the position to be shaken, and the vibration to be controlled through the excitation means based on the pseudo vibration calculated by the pseudo vibration calculation means A canceling vibration generation command means for generating the canceling vibration at a position; and a vibration detecting means for detecting a vibration remaining as a canceling error between the vibration generated at the vibration generating source and the canceling vibration at the position to be damped. The pseudo-vibration calculating unit is configured to perform the cancellation error based on the vibration detected by the vibration detecting unit and a convergence coefficient that determines a speed at which the adaptive filter converges to a true value. The adaptive filter repeatedly executes calculation of the adaptive filter so as to reduce the remaining vibration, and converges the pseudo vibration and the adaptive filter to a true value by accumulating the calculation. Deviation information acquisition means for acquiring deviation information corresponding to the deviation between the vibration transmitted to the power position and the cancellation vibration generated at the position to be controlled based on the pseudo vibration, and acquired by the deviation information acquisition means Convergence coefficient changing means is provided for changing the convergence coefficient so that the speed at which the adaptive filter converges according to a decrease in the deviation is reduced based on deviation information.

  According to this configuration, the vibration that remains as a cancellation error when there is no need to greatly change the cancellation vibration in response to the change in the vibration to be controlled, and the cancellation vibration that is generated at the position to be controlled based on the pseudo vibration. The deviation information corresponding to the deviation is acquired by the deviation information acquisition means, and the speed at which the adaptive filter converges according to the decrease in the deviation is reduced based on the acquired deviation information. Thus, the convergence coefficient is changed by the convergence coefficient changing means, so when there is no need to greatly change the canceling vibration to be excited, the speed at which the adaptive filter converges is reduced to reduce the behavior of the canceling vibration, thereby suppressing vibration. Control stability can be improved.

  Furthermore, the vibration damping device according to the present invention uses an adaptive filter to reduce the vibration generated from the vibration generating source and the canceling vibration generated through the exciting means from the vibration generating source using an adaptive filter. Pseudo vibration calculation means for calculating a pseudo vibration necessary for canceling the vibration transmitted to the position to be shaken, and the vibration to be controlled through the excitation means based on the pseudo vibration calculated by the pseudo vibration calculation means A canceling vibration generation command means for generating the canceling vibration at a position; and a vibration detecting means for detecting a vibration remaining as a canceling error between the vibration generated at the vibration generating source and the canceling vibration at the position to be damped. The pseudo-vibration calculating unit is configured to perform the cancellation error based on the vibration detected by the vibration detecting unit and a convergence coefficient that determines a speed at which the adaptive filter converges to a true value. The vibration control apparatus repeatedly executes calculation of the adaptive filter so as to reduce the remaining vibration, and converges the pseudo vibration and the adaptive filter to a true value by accumulating the calculation. Deviation information acquisition means for acquiring deviation information corresponding to the deviation between the vibration transmitted to the position and the cancellation vibration generated at the position to be controlled based on the pseudo vibration, and the deviation acquired by the deviation information acquisition means Convergence coefficient changing means for changing the convergence coefficient so that the speed at which the adaptive filter converges increases as the deviation increases and the speed at which the adaptive filter converges decreases as the deviation decreases based on the information It is characterized by comprising.

  According to this configuration, the vibration that remains as a cancellation error when the cancellation vibration needs to be greatly changed in response to the change in the vibration to be controlled, and the cancellation vibration that is generated at the position to be controlled based on the pseudo vibration. Focusing on the fact that the deviation becomes small when there is no need to greatly change the cancellation vibration, the deviation information acquisition means acquires deviation information corresponding to the deviation, and the acquired deviation information Based on this, the convergence coefficient is changed by the convergence coefficient changing means so that the speed at which the adaptive filter converges increases as the deviation increases, and the speed at which the adaptive filter converges decreases as the deviation decreases. When the canceling vibration needs to be largely changed, the response speed of the adaptive filter can be increased to increase the response, and the response of the vibration suppression control can be improved. In addition, when it is not necessary to greatly change the canceling vibration to be vibrated, the speed at which the adaptive filter converges can be reduced to reduce the behavior of the canceling vibration, thereby improving the stability of the damping control. Therefore, it is possible to appropriately perform the vibration suppression control when there are cases where the canceling vibration to be generated needs to be largely changed or when there is no need to change it.

  As a specific configuration for realizing vibration suppression using deviation information corresponding to the deviation, the deviation information acquisition means is generated as a deviation information corresponding to the deviation at a position to be controlled based on the pseudo vibration. The excitation force amplitude component corresponding to the amplitude value of the canceling vibration is acquired, and the convergence coefficient changing unit changes the convergence coefficient according to the excitation force amplitude component acquired by the deviation information acquisition unit. It is done.

  As another specific configuration for realizing the vibration suppression using the deviation information corresponding to the deviation, the deviation information acquisition unit remains as a cancellation error detected by the vibration detection unit as the deviation information corresponding to the deviation. The vibration amplitude component may be acquired, and the convergence coefficient changing unit may change the convergence coefficient according to the vibration amplitude component remaining as the cancellation error acquired by the deviation information acquisition unit.

  As another specific configuration for realizing the vibration suppression using the deviation information corresponding to the deviation, the deviation information acquisition unit may generate a signal related to vibration generated at the vibration source as deviation information corresponding to the deviation. The amount of vibration frequency change at the position to be damped is acquired based on, and the convergence coefficient changing means changes the convergence coefficient according to the amount of frequency fluctuation acquired by the deviation information acquiring means. Is mentioned.

  As another specific configuration for realizing the vibration suppression using the deviation information corresponding to the deviation, the deviation information acquisition unit includes the phase of the vibration remaining as the cancellation error as the deviation information corresponding to the deviation and the pseudo vibration. The convergence coefficient changing means changes the convergence coefficient in accordance with the phase difference acquired by the deviation information acquiring means. Is mentioned.

  In order to provide a comfortable ride for the occupant, it is possible to provide the vehicle with the above vibration damping device.

  As described above, the present invention is generated at the position to be damped based on the vibration remaining as a cancellation error and the pseudo vibration when it is necessary to largely change the cancellation vibration in response to the change of the vibration to be damped. Focusing on the fact that the deviation from the canceling vibration increases, the convergence coefficient is changed to change the speed at which the adaptive filter converges according to this deviation. It is possible to improve the response or stability of the vibration suppression control without being influenced by whether or not the canceling vibration to be greatly changed is necessary.

1 is a schematic overall schematic diagram of a vibration damping device according to a first embodiment of the present invention. The schematic block diagram of a structure and function of the control means which concern on 1st Embodiment. The block diagram which shows the structure of the control means which concerns on 1st Embodiment in detail. Explanatory drawing regarding the vibration transmitted to the position which should be damped from a vibration means. The figure which shows the relationship between the amplitude value of cancellation vibration, and the convergence coefficient changed according to this amplitude value. The block diagram which shows the structure of the control means concerning 2nd Embodiment of this invention in detail. The block diagram which shows in detail the structure of the control means which concerns on 3rd Embodiment of this invention. The block diagram which shows in detail the structure of the control means which concerns on 4th Embodiment of this invention. Explanatory drawing regarding the vibration which remains as a cancellation error of the vibration transmitted to the position which should be damped from a vibration generation source, and cancellation vibration in 4th Embodiment.

<First Embodiment>
Hereinafter, a vibration damping device according to a first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 1, the vibration damping device of the present embodiment is mounted on a vehicle such as an automobile, and includes a vibration detection unit 1 such as an acceleration sensor provided at a position pos to be damped such as a seat st. The vibration means 2 using a linear actuator that generates the vibration Vi2 by vibrating the auxiliary mass 2a having a predetermined mass, the ignition pulse signal of the engine that is the vibration generation source gn, and the detection signal from the vibration detection means 1 And the control means 3 for generating the canceling vibration Vi4 at the position pos to be damped by transmitting the vibration Vi2 generated by the oscillating means 2 to the position pos to be damped, and the vehicle body frame frm. The vibration Vi1 generated by the vibration generation source gn of the engine or the like mounted on the mounter gnm and the canceling vibration Vi4 generated at the position pos to be controlled through the vibration means 2 are damped. Is intended to reduce vibration at the position pos should be damped by offset by to position pos.

  As shown in FIG. 2, the control means 3 generates vibrations at the position pos to be damped in order to generate a canceling vibration Vi4 that accurately cancels the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped. A pseudo vibration Vi3 ′ simulating the vibration Vi3 transmitted from the generation source gn to the position pos to be damped is calculated using the adaptive filter 32f of the adaptive algorithm, and is controlled through the vibration means 2 based on the calculated pseudo vibration Vi3 ′. A canceling vibration Vi4 is generated at the position pos to be shaken. The control means 3 detects the remaining vibration (Vi3 + Vi4) as a cancellation error between the cancellation vibration Vi4 and the vibration Vi3 transmitted from the vibration means 2 to the position pos to be controlled by the vibration detection means 1, and detects the detected cancellation error. As described above, the calculation of the adaptive filter 32f is repeatedly executed so that the remaining vibration (Vi3 + Vi4) becomes small, and the vibration suppression control for converging the pseudo vibration Vi3 ′ and the adaptive filter 32f to the true value by the accumulation of the calculation is performed. In the present embodiment, the pseudo vibration necessary to cancel the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped is the pseudo vibration Vi3 ′ simulating the vibration Vi3. It is also possible to directly simulate the canceling vibration Vi4 transmitted from the vibration means 2 to the position pos to be damped without performing the above.

  As shown in FIG. 2, the control means 3 that executes the vibration suppression control by the adaptive control includes a pseudo vibration calculation means 32 and a canceling vibration generation command means 33.

  The pseudo vibration calculating means 32 calculates the pseudo vibration Vi3 'using the adaptive filter 32f, and sequentially updates the adaptive filter 32f so that the vibration (Vi3 + Vi4) remaining as a cancellation error input from the vibration detecting means 1 is reduced. Specifically, the pseudo vibration calculation means 32 includes a pseudo vibration calculation unit 32a and a learning adaptation unit 32b. The pseudo vibration calculating unit 32a calculates the pseudo vibration Vi3 ′ by changing the amplitude and phase of the reference wave by applying filtering using the adaptive filter 32f to the reference wave that is a basis for calculating the pseudo vibration Vi3 ′. . The learning adaptation unit 32b calculates the adaptive filter from the reference wave, which is the basis of the calculation of the adaptive filter 32f, toward the true value of the adaptive filter so that the vibration (Vi3 + Vi4) remaining as the cancellation error input from the vibration detection unit 1 is eliminated. It is repeatedly executed, and the pseudo vibration Vi3 ′ and the adaptive filter 32f are converged to the true value by accumulating the calculations. When calculating the adaptive filter 32f, a convergence coefficient 32u indicating the degree of approaching the adaptive filter 32f to the true value is used for each calculation, and the speed at which the adaptive filter 32f converges to the true value is determined by the convergence coefficient 32u. ing.

  The cancellation vibration generation command means 33 generates the cancellation vibration Vi4 at the position pos to be damped through the vibration means 2 based on the pseudo vibration Vi3 'calculated by the pseudo vibration calculation means 32. In generating the canceling vibration, as shown in FIG. 4, if vibration Vi3 having a reverse waveform of vibration Vi3 is applied to vibration Vi3 transmitted from vibration generation source gn to position pos to be controlled. Although the amplitude or phase of the vibration Vi2 generated by the vibration means 2 changes in the process of transmission to the position pos to be damped, the canceling vibration Vi4 is present at the position pos to be damped in consideration of this change. The vibration Vi2 needs to be generated by the vibration means 2 so as to be applied. Specifically, the inverse transfer function of the vibration transfer function G that changes the amplitude and phase of vibration transmitted from the vibration means 2 to the position pos to be damped is stored in advance in the inverse transfer function storage unit 33a. The vibration Vi2 is calculated by adding a reverse transfer function to the canceling vibration Vi4 having a reverse waveform of the pseudo vibration Vi3 ′ simulating the vibration Vi3 at the position pos to be shaken. Here, the amplitude component of the inverse transfer function is set to 1 / G, and the phase component is stored as P in the inverse transfer function storage unit 33a. A vibration transfer function for changing the amplitude or phase of vibration transmitted from the vibration source gn to the position pos to be damped is denoted by G ′.

  In contrast to the above configuration, the present embodiment further includes deviation information acquisition means 34 and convergence coefficient changing means 35 as shown in FIG.

  The deviation information acquisition means 34 is a deviation corresponding to the deviation between the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped and the canceling vibration Vi4 generated at the position pos to be damped based on the pseudo vibration Vi3 ′. Get information.

  The convergence coefficient changing means 35 changes the convergence coefficient so that the speed at which the adaptive filter 32f converges increases as the excitation force amplitude component acquired by the deviation information acquisition means 34 increases.

  A specific control block for realizing such control means 3 will be described with reference to FIG.

  As shown in FIG. 3, the frequency detection unit 41 inputs an engine pulse signal indicating the initiation timing of the engine that is the vibration generation source gn, and the vibration Vi3 at the position pos where the frequency of the input engine pulse signal is to be damped. The frequency f of the vibration Vi3 is recognized. Of course, other signals such as a detection pulse signal from a sensor that detects the rotation speed of the engine crank may be used instead of the engine ignition pulse signal. The basic electrical angle calculator 42 receives the recognized frequency f and calculates the basic electrical angle θ (= ωt). The reference wave generator 43 generates a reference sine wave sin θ and a reference cosine wave cos θ, which are reference waves, based on the calculated basic electrical angle θ. These reference waves serve as references for the amplitude and phase of the waveform in the signal processing by the control means 3.

  The vibration at the position pos to be controlled detected by the vibration detection means 1 that is an acceleration sensor includes other vibrations in addition to the vibration generated at the vibration generation source gn. By applying a BPF (band pass filter) 44 that extracts only the signal of the frequency f component recognized by the frequency detector 41 to the output signal, only the vibration generated at the vibration source gn is detected as the vibration signal.

  In order to simulate this vibration signal, the vibration signal is assumed to be Asin (θ + φ), θ = ωt, and the following equation is used.

First, when the vibration signal Asin (θ + φ) is multiplied by 2 sin θ,
2 Asin (θ + φ) × sin θ = A cos φ−A cos (2θ + φ)
And can be transformed. When this expression is integrated using the convergence coefficient μ, the integration of the second term Acos (2θ + φ) on the right side is (μA / 2ω) sin (2θ + φ). If μ is set to a very small value compared to A, the amplitude is small. Since (μA / 2ω) sin (2θ + φ) is negligible because it is an integral of a periodic function, the entire right side has an amplitude component of a value A ′ close to the true value A and a phase component of a value φ ′ close to the true value φ. converge to 'cosφ'.

Similarly, when the vibration signal Asin (θ + φ) is multiplied by 2 cos θ,
2 Asin (θ + φ) × cos θ = Asin φ + Asin (2θ + φ)
And can be transformed. When this expression is integrated using the convergence coefficient μ, the integration of the second term Asin (2θ + φ) on the right side is also an integration of the periodic function as described above, and can be ignored, and the amplitude of the value A ′ whose entire right side is close to the true value A It converges to A′sinφ ′ having a component and a phase component of a value φ ′ close to the true value φ.

When A ′ cos φ ′ and A ′ sin φ ′ obtained above are multiplied by sin θ and cos θ, respectively,
sinθ × A′cosφ ′ + cosθ × A′sinφ ′ = A′sinθ × cosφ ′ + A′cosθ × sinφ ′ = A′sin (θ + φ ′)
And can be transformed. Therefore, the pseudo vibration A′sin (θ + φ ′) simulating the vibration signal Asin (θ + φ) can be calculated by performing the above calculation on the vibration signal. These A ′ cos φ ′ and A ′ sin φ ′ are adaptive filters 32 f in so-called adaptive control, and in order to converge the amplitude A ′ and phase φ ′ of the pseudo vibration to the true amplitude A and phase φ by the input of the vibration signal. Self-adapt. In addition, the adaptive filter is transformed into pseudo vibration by multiplying and adding the reference wave to the adaptive filter, and thus can be said to represent the amplitude difference and phase difference between the pseudo vibration and the reference wave.

  In order to calculate the pseudo vibration while learning and updating the adaptive filter 32f based on the vibration signal Asin (θ + φ) using the above arithmetic processing, the pseudo vibration calculating means 32 is configured as shown in FIG. That is, the multiplier 45 multiplies the vibration signal Asin (θ + φ) and the convergence coefficient based on 2μ. The multipliers 46 and 47 multiply the multiplication result of the multiplier 45 by the reference sine wave sin θ and the reference cosine wave cos θ output from the reference wave generation unit 43, respectively, and output the result to the integrators 48 and 49. The integrators 48 and 49 integrate the outputs from the multipliers 46 and 47, and output A ′ cos φ ′ and A ′ sin φ ′ as the adaptive filter 32f representing the amplitude difference and phase difference between the pseudo vibration and the reference wave. .

  When the adaptive filter 32f is multiplied by the reference sine wave sin θ and the reference cosine wave θ and added, the pseudo vibration A′sin (θ + φ ′) is obtained as described above. In the present embodiment, the amplitude component and the phase component are obtained. The reference wave taking into account the inverse transfer function is generated before multiplication with the adaptive filter 32f. Of course, the inverse transfer function of the amplitude component and the phase component may be added after calculating the pseudo vibration. Specifically, in the present embodiment, the inverse transfer function amplitude setting unit 53 stores the amplitude component of the inverse transfer function corresponding to the frequency in advance, and receives the recognized frequency f to input the amplitude component 1 / of the inverse transfer function. G is specified. Similarly, the inverse transfer function phase setting unit 50 stores the phase component of the inverse transfer function corresponding to the frequency in advance, and specifies the phase component P of the inverse transfer function by inputting the recognized frequency f. The identified phase component P and the basic electrical angle θ are added by the adder 51 and input to the oscillator 52. The oscillator 52 generates a sine wave sin (θ + P) and a cosine wave cos (θ + P) in which the phase component P of the inverse transfer function is added. The multipliers 54 and 55 respectively multiply the generated sine wave sin (θ + P) and cosine wave cos (θ + P) by the amplitude component 1 / G of the inverse transfer function specified by the inverse transfer function amplitude setting unit 53. Then, a reference wave that takes into account the inverse transfer function of the amplitude and phase is generated.

  The above-mentioned adaptive filter 32f is applied to the reference waves (1 / G) sin (θ + P) and (1 / G) cos (θ + P) taking into account the amplitude and phase inverse transfer functions generated by the multipliers 54 and 55. A'cosφ 'and A'sinφ' are multiplied by multipliers 56 and 57, respectively. When the multiplication results of the multipliers 56 and 57 are added by the adder 58 and the added result is multiplied by −1 by the multiplier 59, the cancellation vibration [− (A ′ / G) sin (θ + φ ′ + P)] is obtained. A canceling signal for commanding generation is generated, and canceling vibration [− (A ′ / G) sin (θ + φ ′ + P)] is vibrated by the vibration means 2.

  In addition to the above-described configuration for performing vibration suppression control using adaptive control, an excitation force amplitude component acquisition unit 34c constituting the deviation information acquisition unit 34 and a convergence coefficient changing unit 35 are provided.

  The excitation force amplitude component acquisition unit 34c constituting the deviation information acquisition unit 34 has a vibration (Vi3 + Vi4) that remains as a cancellation error when a change occurs in the vibration generated in the vibration generation source gn as the amplitude value of the cancellation vibration Vi4 increases. Accordingly, the deviation between the vibration Vi3 transmitted from the vibration generation source gn to the position pos to be damped and the canceling vibration Vi4 generated at the position pos to be damped based on the pseudo vibration Vi3 ′ increases. Focusing on the above, the excitation force amplitude component corresponding to the amplitude value of the canceling vibration Vi4 is acquired as an index of the deviation. Specific examples of this excitation force amplitude component include the amplitude component of the adaptive filter 32f that is the basis of the amplitude value of the canceling vibration Vi4, the amplitude component of the pseudo vibration Vi3 'calculated by the pseudo vibration calculation means 32, and the like. Specifically, in the present embodiment, A ′ cos φ ′ and A ′ sin φ ′, which are the adaptive filters 32f output by the integrators 48 and 49, are input, and the amplitude component A of the adaptive filter 32f is input based on the input adaptive filter 32f. 'Is acquired as the excitation force amplitude component.

  The convergence coefficient changing unit 35 changes the convergence coefficient 32 u according to the amplitude component A ′ of the adaptive filter 32 f which is the excitation force amplitude component acquired by the deviation information acquisition unit 34. The convergence coefficient 32u is changed by changing the basic value 2μ as a basis by outputting the gain to the multiplier 35a. As shown in FIG. 5, when the amplitude component A ′ of the adaptive filter 32f, which is the excitation force amplitude component, is equal to or less than a preset threshold value Ath, the convergence coefficient changing means 35 has a constant convergence speed of the adaptive filter 32f. When the gain is output so as to be Ds, and the amplitude component A ′ exceeds the threshold value Ath, the gain is output so that the convergence speed increases linearly, and the convergence speed reaches the preset upper limit value Dmax. In this case, the gain is output so that the convergence speed becomes the upper limit value Dmax regardless of the increase of the amplitude component A ′. The upper limit value Dmax is provided to prevent this because the adaptive filter 32f diverges when the convergence speed determined by the convergence coefficient 32u exceeds a certain upper limit and becomes faster. The convergence coefficient changing means 35 changes the convergence coefficient 32u so as to increase the speed at which the adaptive filter 32f converges according to the increase in the excitation force amplitude component as described above, and also according to the decrease in the excitation force amplitude component. The convergence coefficient 32u is changed so that the speed at which the adaptive filter 32f converges becomes slower. Of course, only the configuration in which the convergence coefficient 32u is changed so that the speed at which the adaptive filter 32f converges may be increased, or only the configuration in which the convergence coefficient 32u is changed so that the speed at which the adaptive filter 32f converges may be decreased.

  As described above, the vibration damping device according to the present embodiment cancels the vibration Vi3 generated by the vibration generation source gn and the canceling vibration Vi4 generated through the vibration means 2 at the position pos where vibration is to be suppressed. Is used to calculate a pseudo vibration Vi3 ′ necessary for canceling the vibration Vi3 transmitted from the vibration source gn to the position pos to be controlled, and the pseudo vibration calculated by the pseudo vibration calculation means 32. Based on the vibration Vi3 ′, the cancellation vibration generation command means 33 for generating the cancellation vibration Vi4 at the position pos to be damped through the vibration means 2, and the vibration Vi3 generated at the vibration source gn at the position pos to be damped. Vibration detection means 1 for detecting vibration (Vi3 + Vi4) remaining as an offset error with vibration Vi4, and pseudo vibration calculation means 32 includes vibration detection means. The calculation of the adaptive filter 32f is repeated so that the vibration (Vi3 + Vi4) remaining as an offset error is reduced on the basis of the vibration (Vi3 + Vi4) detected by the above and the convergence coefficient 32u that determines the convergence speed of the adaptive filter 32f to the true value. The pseudo vibration Vi3 ′ and the adaptive filter 32f are converged to true values by executing and accumulating calculations, and the vibration suppression is performed based on the vibration Vi3 and the pseudo vibration Vi3 ′ transmitted from the vibration generation source gn to the position pos to be controlled. The deviation information acquisition means 34 for acquiring deviation information corresponding to the deviation from the canceling vibration Vi4 generated at the position pos to be applied, and adapted according to the increase in deviation based on the deviation information acquired by the deviation information acquisition means 34 The speed at which the adaptive filter 32f converges so that the speed at which the filter 32f converges increases and the deviation decreases. Characterized in that a convergence factor changing means 35 for changing the convergence factor 32u so slower.

  In the present embodiment, the pseudo vibration Vi3 ′ necessary for canceling the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped is calculated and calculated by the pseudo vibration calculating means 32 using the adaptive filter 32f. Based on the pseudo vibration Vi3 ′, the cancellation vibration generation command means 33 generates the cancellation vibration Vi4 at the position pos to be damped through the vibration means 2, and the vibration Vi3 generated at the vibration source gn at the position pos to be damped. The vibration (Vi3 + Vi4) remaining as a canceling error between the canceling vibration Vi4 and the canceling vibration Vi4 is detected by the vibration detecting means 1, and the detected vibration (Vi3 + Vi4) and the convergence coefficient 32u that determines the speed at which the adaptive filter 32f converges to the true value. On the basis of this, an adaptive filter is used by the pseudo vibration calculation means 32 so that the vibration (Vi3 + Vi4) remaining as a cancellation error is reduced. 2f is calculated, damping control for converging a pseudo vibration Vi3 'and the adaptive filter 32f to the true value is carried out by stacking the calculation. In this case, when the cancellation vibration Vi4 needs to be greatly changed in response to the change of the vibration Vi3 to be damped, it is generated at the position pos to be damped based on the vibration (Vi3 + Vi4) remaining as a cancellation error and the pseudo vibration Vi3 ′. While the deviation from the canceling vibration Vi4 is increased, the deviation is reduced when the cancellation vibration Vi4 does not need to be greatly changed. Based on the acquired deviation information, the convergence coefficient 32u is adjusted so that the speed at which the adaptive filter 32f converges increases as the deviation increases and the speed at which the adaptive filter 32f converges decreases as the deviation decreases. Is changed by the convergence coefficient changing means 35, it is necessary to greatly change the canceling vibration Vi4 generated at the position pos to be damped. The speed at which the adaptive filter 32f converges is increased to increase the response, and when the canceling vibration Vi4 to be vibrated does not need to be greatly changed, the speed at which the adaptive filter 32f converges is decreased to reduce the behavior of the canceling vibration Vi4. It is possible to improve the response and stability of the vibration suppression control by reducing the frequency to realize appropriate vibration suppression control even when there is a case where the cancellation vibration Vi4 needs to be largely changed or not. it can.

In particular, in the present embodiment, the larger the amplitude value of the canceling vibration Vi4 generated at the position pos to be controlled based on the pseudo vibration Vi3 ′, the larger the amplitude value of the canceling vibration Vi3 generated at the vibration generating source gn remains as a canceling error. Focusing on the fact that the vibration (Vi3 + Vi4) increases and the deviation increases, the deviation information acquisition means 34 cancels the position pos to be controlled based on the pseudo vibration Vi3 ′ as deviation information corresponding to the deviation. The amplitude component A ′ of the adaptive filter 32f that is the excitation force amplitude component corresponding to the amplitude value of the vibration Vi4 is acquired, and the convergence coefficient changing unit 35 is the excitation force amplitude component acquired by the deviation information acquisition unit 34. As the amplitude component A ′ of the adaptive filter 32f increases, the speed at which the adaptive filter 32f converges increases and the amplitude component A ′ of the adaptive filter 32f decreases. Since the convergence coefficient 32u is changed so that the speed at which the adaptive filter 32f converges is reduced, the magnitude of the excitation force amplitude component is used as an index of the deviation to improve the response and stability of the damping control. The configuration can be realized.
Second Embodiment

  Next, a vibration damping device according to a second embodiment of the present invention will be described with reference to FIG.

  FIG. 6 is a block diagram showing the configuration and function of the control means 103 of this embodiment. The control unit 103 has substantially the same configuration as that of the control unit 3 according to the first embodiment, but a residual vibration amplitude component acquisition unit 34a instead of the excitation force amplitude component acquisition unit 34c constituting the deviation information acquisition unit 34. have.

  The residual vibration amplitude component acquisition unit 34a pays attention to the fact that the above-mentioned deviation increases as the amplitude component of the vibration (Vi3 + Vi4) remaining as the cancellation error increases, and the amplitude component of the vibration (Vi3 + Vi4) remaining as the cancellation error becomes the above deviation. Obtained as an indicator. Specifically, the vibration signal Asin (θ + φ) output from the BPF (bandpass filter) 44 is input, and the vibration component A is acquired from the input vibration signal Asin (θ + φ).

Corresponding to the residual vibration amplitude component acquisition unit 34a, the convergence coefficient changing unit 35 inputs the vibration component A acquired by the residual vibration amplitude component acquisition unit 34a, and the adaptive filter 32f according to the increase of the input vibration component A. The convergence coefficient is changed so that the speed at which the adaptive filter 32f converges becomes slower according to the decrease in the input vibration component A. Specifically, the gain is output so that the amplitude component A ⁿ × predetermined coefficient k becomes the convergence coefficient 32u. Of course, as long as it corresponds to the amplitude component, the convergence coefficient 32u may be determined by other processing such as PI control (proportional integral control) for setting the target value to 0 for the amplitude component A, for example.

  As described above, in the vibration damping device according to the present embodiment, the residual vibration amplitude component acquisition unit 34a that constitutes the deviation information acquisition unit 34 has a cancellation error detected by the vibration detection unit 1 as deviation information corresponding to the deviation. The amplitude component A of the remaining vibration (Vi3 + Vi4) is acquired, and the amplitude component of the vibration (Vi3 + Vi4) remaining as a canceling error acquired by the convergence coefficient changing unit 35 by the remaining vibration amplitude component acquiring unit 34a constituting the deviation information acquiring unit 34. The convergence coefficient 32u is changed so that the speed at which the adaptive filter 32f converges as A increases and the speed at which the adaptive filter 32f converges as the amplitude component A decreases.

In the present embodiment, as the amplitude component A of the vibration (Vi3 + Vi4) remaining as a cancellation error is larger, the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped and the position pos to be damped based on the pseudo vibration Vi3 ′. Focusing on the fact that the deviation from the generated canceling vibration Vi4 becomes large, the amplitude component A of the vibration (Vi3 + Vi4) remaining as the canceling error detected by the vibration detecting means 1 is obtained as deviation information corresponding to this deviation, The convergence coefficient 32u is changed so that the speed at which the adaptive filter 32f converges increases as the acquired amplitude component A increases, and the speed at which the adaptive filter 32f converges decreases as the acquired amplitude component A decreases. Therefore, by using the amplitude component A of the vibration that remains as a cancellation error as an indicator of the deviation, the response and stability of the vibration suppression control are improved. It is possible to realize the configuration to be made.
<Third Embodiment>

  Next, a vibration damping device according to a third embodiment of the present invention will be described with reference to FIG.

  FIG. 7 is a block diagram showing the configuration and function of the control means 203 of this embodiment. The control unit 203 has substantially the same configuration as that of the control unit 3 according to the first embodiment, but a frequency fluctuation amount acquisition unit 34b is used instead of the excitation force amplitude component acquisition unit 34c constituting the deviation information acquisition unit 34. Have.

  The frequency fluctuation amount acquisition unit 34b pays attention to the fact that the above-described deviation increases as the frequency fluctuation amount of the vibration Vi3 at the position pos to be damped increases, and generates a signal related to the vibration generated at the vibration source gn. Based on this, the amount of change in the vibration frequency at the position pos to be damped is acquired as an index of the deviation. Specifically, the frequency variation acquisition unit 34b receives the frequency f recognized by the frequency detection unit 41, and acquires a variation amount of the frequency f by performing differentiation processing or the like on the input frequency f.

  Corresponding to the frequency fluctuation amount acquisition unit 34b, the convergence coefficient changing unit 35 inputs the fluctuation amount of the frequency f of the vibration Vi3 acquired by the frequency fluctuation amount acquisition unit 34b, and adapts according to the increase of the input fluctuation amount. The convergence coefficient is changed so that the speed at which the filter 32f converges increases and the speed at which the adaptive filter 32f converges decreases as the input fluctuation amount decreases. Specifically, the convergence coefficient 32u is determined so that the convergence speed of the adaptive filter 32f increases in proportion to the fluctuation amount of the frequency f. Of course, depending on the amount of fluctuation of the frequency f, for example, a certain gain is multiplied, or one convergence is selected from a plurality of convergence coefficients 32u set in advance depending on whether the amount of fluctuation of the frequency f exceeds a predetermined threshold. You may comprise so that switching is possible so that the coefficient 32u may be used.

  As described above, in the vibration damping device according to the present embodiment, the frequency fluctuation amount acquisition unit 34b constituting the deviation information acquisition unit 34 has a signal related to the vibration Vi3 generated in the vibration source 1 as the deviation information corresponding to the deviation. The amount of change in the frequency f of the vibration Vi3 at the position pos to be damped is acquired based on the engine pulse signal, and the convergence coefficient changing unit is acquired by the frequency fluctuation amount acquiring unit 34b constituting the deviation information acquiring unit 34. Convergence is performed so that the speed at which the adaptive filter 32f converges increases as the fluctuation amount of the frequency f is increased, and the speed at which the adaptive filter 32f converges decreases as the fluctuation amount of the acquired frequency f decreases. The coefficient 32u is changed.

In the present embodiment, paying attention to the fact that the deviation increases as the fluctuation amount of the frequency f of the vibration Vi3 at the position pos to be damped increases, and the vibration generated at the vibration source gn as deviation information corresponding to this deviation. Based on the engine pulse signal that is a signal related to Vi3, the amount of change in the frequency f of the vibration Vi3 at the position pos to be damped is acquired, and the adaptive filter 32f converges according to the increase in the amount of change in the acquired frequency f. Since the convergence coefficient 32u is changed so that the speed at which the adaptive filter 32f converges becomes slower according to the decrease in the change amount of the acquired frequency f, the position pos to be damped as an index of the deviation. By using the amount of fluctuation of the frequency f of the vibration Vi3 at, it is possible to realize a configuration that improves the response and stability of the vibration suppression control.
<Fourth embodiment>

  Next, a vibration damping device according to a fourth embodiment of the present invention will be described with reference to FIGS.

  FIG. 8 is a block diagram showing the configuration and function of the control means 303 of this embodiment. The control unit 303 has substantially the same configuration as the control unit 3 according to the first embodiment, but includes a phase difference acquisition unit 34d instead of the excitation force amplitude component acquisition unit 34c that constitutes the deviation information acquisition unit 34. is doing.

  As shown in FIG. 9, the phase difference acquisition unit 34d has a phase φ ′ of the vibration (Vi3 + Vi4) remaining as a cancellation error and a phase φ ′ of the cancellation vibration Vi4 generated at the position pos to be controlled based on the pseudo vibration Vi3 ′. Phase difference Δφ (= φ−φ ′). The configuration will be specifically described below.

  As shown in FIG. 8, first, the divider 60a divides the vibration signal Asin (θ + φ) by the amplitude A detected by the real-time amplitude detector 60 to obtain sin (θ + φ) of amplitude 1.

  The real-time amplitude detector 60 has an integral value of (−cosπ) − (− cos0) = (1) − (− 1) = 2 in the half cycle 0 to π of the sine wave sin θ having the amplitude 1, and the average value thereof is A notch filter that uses 2 / π because it is an average from 0 to π, inputs a vibration signal Asin (θ + φ), adds absolute value processing, and removes double frequency components. Thus, the amplitude A is acquired immediately by removing the pulsation component by LPF (low pass filter) and multiplying by 2 / π.

  Multipliers 61 and 62 multiply sin (θ + φ), which is the result of division by divider 60a, by 2 sin θ and 2 cos θ, respectively, and obtain cos φ−cos (2θ + φ) and sin φ + sin (2θ + φ) from the product-sum theorem. . A notch process 63 for removing a double frequency component is applied to cos φ−cos (2θ + φ), which is an operation result of the multiplier 61, and a pulsation component is removed by an LPF (low pass filter) process 65 to obtain cos φ. Similarly, a notch process 64 for removing a double frequency component is applied to sin φ + sin (2θ + φ), which is a calculation result of the multiplier 62, and a pulsation component is removed by an LPF (low-pass filter) process 66 to obtain sin φ. In this way, cos φ and sin φ having the phase component of the vibration signal Asin (θ + φ) are immediately identified.

The phase difference specifying unit 67 specifies the phase difference based on the specified cos φ and sin φ and the adaptive filter 32f, A ′ cos φ ′ and A ′ sin φ ′. Specifically, since the phase φ and the phase φ ′ represent a phase shift based on the common basic electrical angle θ, the phase of the pseudo vibration and the phase of the vibration at the position pos to be controlled Are equal to each other, φ and φ ′ are equal. Therefore, the phase difference Δφ is defined as φ−φ ′, and the phase difference is expressed by a sine component α and a cosine component β of the phase difference calculated using the following equations.
Sine component α = A′sin (φ−φ ′) = A ′ (sinφcosφ′−cosφsinφ ′) = sinφ (A′cosφ ′) − cosφ (A′sinφ ′)
Cosine component β = A′cos (φ−φ ′) = A ′ (cosφcosφ ′ + sinφsinφ ′) = cosφ (A′cosφ ′) + sinφ (A′sinφ ′)

  In the above adaptive control algorithm, it has been found that when the phase difference Δφ exceeds the range of ± 60 degrees, the control diverges and the vibration cannot be controlled, and therefore the sine component α under the condition of the cosine component β> 0. It can be determined whether Δφ is advanced or delayed by the sign of, and the amount of deviation of the phase difference Δφ can be grasped by the magnitude of the sine component α.

  Corresponding to the phase difference acquisition unit 34d, the convergence coefficient changing unit 35 inputs a sine component α and a cosine component β indicating the phase difference Δφ acquired by the phase difference acquisition unit 34d, and an adaptive filter according to the phase difference Δφ. The convergence coefficient is changed so that the speed at which 32f converges changes. Specifically, when the frequency f of the position pos to be controlled fluctuates, the phase difference Δφ also often fluctuates. Therefore, if the phase difference Δφ fluctuates, the adaptive filter is proportional to the fluctuation amount. The convergence coefficient 32u is determined so that the convergence speed of 32f changes. Of course, depending on the amount of fluctuation of the phase difference Δφ, for example, a constant gain is multiplied, or one of a plurality of convergence coefficients 32u set in advance depending on whether the amount of fluctuation of the phase difference Δφ exceeds a predetermined threshold. You may comprise so that switching is possible so that the one convergence coefficient 32u may be used.

  As described above, in the vibration damping device according to the present embodiment, the phase difference acquisition unit 34d that constitutes the deviation information acquisition unit 34 and the phase φ of the vibration (Vi3 + Vi4) that remains as a cancellation error as the deviation information corresponding to the deviation are simulated. Based on the vibration Vi3 ′, the phase difference Δφ (φ−φ ′) with the phase φ ′ of the canceling vibration Vi4 generated at the position pos to be damped is acquired, and the convergence coefficient changing unit 35 sets the deviation information acquiring unit 34. The speed at which the adaptive filter 32f converges increases as the phase difference Δφ acquired by the phase difference acquisition unit 34d is increased, and the speed at which the adaptive filter 32f converges decreases as the phase difference Δφ decreases. The convergence coefficient 32u is changed to the above.

  In the present embodiment, the phase difference Δφ (φ−φ ′) between the phase φ of the vibration (Vi3 + Vi4) remaining as a cancellation error and the phase φ ′ of the cancellation vibration Vi4 generated at the position pos to be damped based on the pseudo vibration Vi3 ′. ) Tends to increase, the vibration frequency at the position pos to be damped often fluctuates, and the vibration Vi3 and the pseudo vibration Vi3 ′ transmitted from the vibration source gn to the position pos to be damped are often found. Focusing on the fact that the deviation from the cancellation vibration Vi4 generated at the position pos to be damped based on this increases, the phase difference Δφ is obtained as deviation information corresponding to this deviation, and the obtained phase difference Δφ is increased. Accordingly, the convergence coefficient 32u is changed so that the speed at which the adaptive filter 32f converges increases and the speed at which the adaptive filter 32f converges according to the decrease in the phase difference Δφ. The Δφ becomes possible to realize a configuration to improve the response and stability of damping control by using as an indicator of the deviation.

  As mentioned above, although embodiment of this invention was described based on drawing, it should be thought that a specific structure is not limited to these embodiment. The scope of the present invention is shown not only by the above description of the embodiments but also by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the first to fourth embodiments, the convergence coefficient changing unit 35 changes the convergence coefficient 32u so that the speed at which the adaptive filter 32f converges and the speed at which the adaptive filter 32f converges become slower. In this way, the convergence coefficient changing means may be configured to change the convergence coefficient 32u so that the speed at which the adaptive filter 32f converges increases. Only a configuration in which the convergence coefficient 32u is changed so that the speed at which the adaptive filter 32f converges is slow may be used.

  Further, the deviation information acquisition means includes the excitation force amplitude component as deviation information corresponding to the deviation, the amplitude component of vibration remaining as a cancellation error, the amount of change in the frequency of vibration to be damped, and the phase of vibration remaining as a cancellation error. The deviation information of one of the phase differences from the phase of the vibration generated at the position to be controlled based on the pseudo vibration is acquired, but the convergence coefficient is changed by acquiring a plurality of deviation information. You may comprise as follows. In the configuration in which single deviation information is acquired, deviation information in which signs of increase or decrease in the deviation do not easily appear may be acquired. In this case, it is considered that the change of the convergence coefficient is delayed. However, when it is configured to acquire multiple deviation information, it is more responsive to acquire deviation information that tends to show signs of increase or decrease of the deviation than the configuration that acquires single deviation information. And control accuracy such as safety can be improved.

  In addition, the specific configuration of each unit is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

1 …… Vibration detection means (acceleration sensor)
2 ………… Excitation means (linear actuator)
3 ....... Control means 32... Pseudo vibration calculation means 32 f... Adaptive filter 32 u .. convergence coefficient 33... Canceling vibration generation command means 34. φ, φ ′, phase Δφ,... phase difference gn, vibration source pos, vibration position Vi1, vibration Vi2 generated at the vibration source, vibration Vi3 generated by the vibration means, vibration suppression Vibration Vi3 'at the position to be vibrated ... Simulated vibration Vi4 at the position to be damped Vi4 ... Canceling vibration

Claims (5)

When canceling the vibration generated at the vibration source and the canceling vibration generated through the excitation means at the position to be controlled, the vibration transmitted from the vibration source to the position to be controlled is canceled using an adaptive filter. Pseudo-vibration calculating means for calculating a pseudo-vibration necessary for generating the canceling vibration, and generating the canceling vibration at the position to be damped through the excitation means based on the pseudo-vibration calculated by the pseudo-vibration calculating means Command means and vibration detection means for detecting vibration remaining as a cancellation error between the vibration generated at the vibration source at the position to be controlled and the cancellation vibration, and the pseudo vibration calculation means includes the vibration Based on the vibration detected by the detecting means and the convergence coefficient that determines the speed at which the adaptive filter converges to a true value, the vibration remaining as the cancellation error is reduced. Said adaptive calculation of filter repeatedly executed by stacking of calculating a pseudo vibration and adaptive filter a vibration damping device to converge to the true value,
Deviation information acquisition means for acquiring deviation information corresponding to the deviation between the vibration transmitted from the vibration source to the position to be damped and the cancellation vibration generated at the position to be damped based on the pseudo vibration;
Convergence coefficient changing means for changing the convergence coefficient so that the speed at which the adaptive filter converges according to the increase in the deviation is increased based on the deviation information acquired by the deviation information acquisition means. Damping device. When canceling the vibration generated at the vibration source and the canceling vibration generated through the excitation means at the position to be controlled, the vibration transmitted from the vibration source to the position to be controlled is canceled using an adaptive filter. Pseudo-vibration calculating means for calculating a pseudo-vibration necessary for generating the canceling vibration, and generating the canceling vibration at the position to be damped through the excitation means based on the pseudo-vibration calculated by the pseudo-vibration calculating means Command means and vibration detection means for detecting vibration remaining as a cancellation error between the vibration generated at the vibration source at the position to be controlled and the cancellation vibration, and the pseudo vibration calculation means includes the vibration Based on the vibration detected by the detecting means and the convergence coefficient that determines the speed at which the adaptive filter converges to a true value, the vibration remaining as the cancellation error is reduced. Said adaptive calculation of filter repeatedly executed by stacking of calculating a pseudo vibration and adaptive filter a vibration damping device to converge to the true value,
Deviation information acquisition means for acquiring deviation information corresponding to the deviation between the vibration transmitted from the vibration source to the position to be damped and the cancellation vibration generated at the position to be damped based on the pseudo vibration;
Convergence coefficient changing means for changing the convergence coefficient based on the deviation information acquired by the deviation information acquisition means so as to reduce the convergence speed of the adaptive filter according to a decrease in the deviation. Damping device. When canceling the vibration generated at the vibration source and the canceling vibration generated through the excitation means at the position to be controlled, the vibration transmitted from the vibration source to the position to be controlled is canceled using an adaptive filter. Pseudo-vibration calculating means for calculating a pseudo-vibration necessary for generating the canceling vibration, and generating the canceling vibration at the position to be damped through the excitation means based on the pseudo-vibration calculated by the pseudo-vibration calculating means Command means and vibration detection means for detecting vibration remaining as a cancellation error between the vibration generated at the vibration source at the position to be controlled and the cancellation vibration, and the pseudo vibration calculation means includes the vibration Based on the vibration detected by the detecting means and the convergence coefficient that determines the speed at which the adaptive filter converges to a true value, the vibration remaining as the cancellation error is reduced. Said adaptive calculation of filter repeatedly executed by stacking of calculating a pseudo vibration and adaptive filter a vibration damping device to converge to the true value,
Deviation information acquisition means for acquiring deviation information corresponding to the deviation between the vibration transmitted from the vibration source to the position to be damped and the cancellation vibration generated at the position to be damped based on the pseudo vibration;
Based on the deviation information acquired by the deviation information acquisition means, the speed at which the adaptive filter converges increases as the deviation increases, and the speed at which the adaptive filter converges decreases as the deviation decreases. A vibration damping device comprising a convergence coefficient changing means for changing the convergence coefficient. The deviation information acquisition means acquires an excitation force amplitude component corresponding to an amplitude value of a canceling vibration generated at a position to be controlled based on the pseudo vibration as deviation information corresponding to the deviation,
The damping device according to any one of claims 1 to 3, wherein the convergence coefficient changing unit changes the convergence coefficient according to an excitation force amplitude component acquired by the deviation information acquisition unit. The vehicle provided with the damping device in any one of Claims 1-4.

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